CN114947647B

CN114947647B - Intelligent cleaning robot for glass curtain wall and using method thereof

Info

Publication number: CN114947647B
Application number: CN202210573213.8A
Authority: CN
Inventors: 阎玉芹; 曲京儒; 孙捷; 路来骁; 付娜; 褚福水; 卓越; 郑明皓
Original assignee: Shandong Jianzhu University
Current assignee: Shandong Jianzhu University
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2023-08-01
Anticipated expiration: 2042-05-25
Also published as: CN114947647A

Abstract

The invention discloses an intelligent cleaning robot for a glass curtain wall and a use method thereof, and develops a movable cleaning robot capable of working on the glass curtain wall vertically. The robot comprises a sling safety module, a frame module, a cleaning module, a walking air circuit module, a stain recognition module and an intelligent central control module, wherein the conversion frame is positioned at the cross transition joint of the transverse traveling frame and the longitudinal traveling frame, and the transverse traveling 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 position of the transverse traveling frame and the conversion frame; the longitudinal advancing rack and the conversion rack are movably matched through a screw rod mechanism and a linear guide mechanism, and the relative position between the longitudinal advancing rack and the conversion rack is driven and adjusted by a servo motor I; the cleaning module is arranged on the conversion frame. The robot and the obstacle recognition, automatic walking, intelligent judgment and automatic cleaning and purifying functions are integrated.

Description

Intelligent cleaning robot for glass curtain wall and using method thereof

Technical Field

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

Background

Aiming at the automatic technology of cleaning the outer wall of the glass curtain wall, active research is carried out at home and abroad, and the ultimate purpose of the research is to provide an intelligent robot which can intelligently identify obstacles, automatically walk, intelligently clean and purify, and is safe and reliable.

Most of the prior art solutions are only aimed at specific and local functions, and lack a powerful intelligent cleaning robot.

For example, in terms of safety, in the adsorption mode, suction disc adsorption or turbofan negative pressure attachment is generally adopted, it can be seen that most of non-magnetic conductive wall surfaces adopt sealed cavity negative pressure adsorption, and a machine is attached to a glass curtain wall by utilizing a fan rotating at a high speed to generate negative pressure, but the disadvantage is that the rotating fan can generate great noise to seriously affect indoor residents.

For example, in the motion mode, a wheeled wall climbing robot is generally difficult to pass when encountering obstacles, and cannot adapt to a window frame between some glass curtain walls; although the foot type wall climbing robot has excellent obstacle crossing performance, the overall stability is poor during movement, and a cleaning tool cannot be carried for cleaning operation; although the crawler type wall climbing robot has higher moving speed, the steering performance is poor.

For another example, in the field of intelligent cleaning and purifying, most curtain wall cleaning robots are used for cleaning a panel, and are not provided with a wastewater recovery device and a circulating water tank, so that a large amount of water resources are wasted when a complete glass building is cleaned, and the cleaning water also causes certain pollution to the environment.

4. Most curtain wall cleaning robots have heavy and long body structures, occupy large space, are not easy to transport and have troublesome installation process.

5. No anti-overturning structure is adopted, the ordinary cross-shaped cleaning robot is adsorbed on the transverse frame, and the machine body is unstable and shakes when the longitudinal frame moves.

6. The cleaning structure can not automatically change the cleaning cloth, and the cleaning cloth is attached along with dust and dirt, so that the cleaning effect is reduced, and the cleanliness is reduced.

To sum up, novel energy-concerving and environment-protective glass curtain wall intelligent cleaning robot can pass through waste water recovery device with clean sewage and purify and recycle to reduce the waste of water resource, improve the utilization ratio of clean water. Therefore, the glass curtain wall cleaning robot designed by the team is mainly used for cleaning operation of the fully hidden frame, the semi-hidden frame and the inner point supporting glass curtain wall, reduces energy consumption in the operation process, reduces carbon emission and saves water resources.

Disclosure of Invention

Based on the background described above, a mobile cleaning robot was developed that can work vertically on a glass curtain wall. The pursuit of glass curtain wall cleaning robots will ultimately drive the robots to be automated. The invention provides an intelligent cleaning robot for a glass curtain wall, which integrates the functions of robot and obstacle identification, automatic walking, intelligent judgment, automatic cleaning and purification, and provides a safe and reliable use method, which can automatically run, solve the problems of insufficient safety and reliability and insufficient intellectualization in the prior art, and has preferential applicability especially for cleaning operation of a fully hidden frame, a semi hidden frame and an internal point supported glass curtain wall.

The technical scheme adopted for solving the technical problems is as follows:

the intelligent cleaning robot for the glass curtain wall comprises a sling safety module, a frame module, a cleaning module, a stain identification module, a walking gas circuit module and an intelligent central control module, wherein,

the sling safety module is fixedly arranged at the roof position of the building and is used for carrying out crash-proof connection on the frame module in a safety rope manner;

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

At least one cylinder is respectively fixed at two ends of the transverse travelling frame and the longitudinal travelling frame, the tail end of a piston rod of the cylinder is fixed with a sucker, and the sucker generates negative pressure adsorption force not lower than 0.5 Mpa;

the cleaning module is arranged on the conversion frame, the cleaning module is attached to glass to be cleaned through a rag and performs operation in a water spraying cleaning mode, and an automatic filtering device and a water supply device are arranged in the cleaning module;

the stain identification module comprises a sensor and a camera which are matched for use, wherein an obstacle avoidance sensor and/or a camera is/are mounted at the end part of the transverse travelling rack or/and the end part of the longitudinal travelling rack, and the travelling state of the cleaning robot is recorded and fed back by combining image information acquired by the obstacle avoidance camera with a GPS positioning system; nine-axis sensors are carried in the frame module to feed back the attitude information of the machine body;

a monitoring camera or/and an image sensor for observing the dust density of the glass panel in real time are arranged on the cleaning module;

each sucking disc is provided with an air pressure sensor, so that the negative pressure value in the sucking disc is measured in real time, and the sucking disc is ensured to be adsorbed safely and reliably;

the walking air circuit module generates negative pressure adsorption force by utilizing compressed air generated by an air compressor through a vacuum generator and acts on the sucker;

And the intelligent control module takes Arduino Mega 2560 as a core, controls the on-off of the relay module to control the on-off and the attraction of the electromagnetic valve and the air pump, and coordinates the cooperative work of the spot recognition module, the walking air circuit module and the cleaning module by combining the data acquired by the sensor and the camera.

The utility model provides a change-over stand of beta structure comprises roof, bottom plate, carousel and lockpin, have 90 degrees folding actions and position locking function, the carousel sets up between roof, bottom plate and makes the state between roof and the bottom plate can rotate in 90 degrees scope, through this rotation, realize that the frame is rotated into "one" style of calligraphy beta structure by "ten" font to and set up the lockpin between roof and bottom plate, this lockpin is provided with corresponding pinhole in two rotation extreme positions, realize the position locking, after the locked position, can realize folding and the firm of expansion position.

The conversion frame is only a square aluminum plate, and the frame is kept in a cross-shaped state through the conversion frame.

The intelligent glass curtain wall cleaning robot adopts an external water supply mode, the machine body is only provided with a light wastewater circulating water tank, the external water supply is used for taking water from devices such as a fire hydrant on the roof, and an air compressor for providing compressed air is also provided on the roof, so that the overall load of the machine is reduced.

The cleaning module is provided with a wastewater recovery device outside the lower end of the longitudinal travelling frame, collected wastewater is injected into the filtering device after passing through the single throttle valve, then the water pipe is conveyed to the circulating water tank arranged above the cleaning module, and the filtered cleaning water is supplied to the cleaning module for cleaning operation by the water pump of the circulating water tank, so that the partial recycling of the cleaning water is realized.

And a turbidity detection sensor is arranged in the cleaning module to detect the quality of the filtered water, and the intelligent reminding and the shutdown of the cleaning module for cleaning water replacement are carried out after the exceeding of the quality is detected.

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

The cleaning module adopts a self-powered circulating rag, the circulating rag is annular in an end-to-end connection mode and attached to the surface of glass under the drive of a micro motor, a scraper is mounted above the circulating rag and is provided with an adsorption narrow slit, the scraper provides negative pressure through a pump, part of sewage in the rag is sucked away, the effect of automatically cleaning the scrubbing rag is achieved, and the overall cleanliness of the rag is guaranteed.

The circulating rag is a composite type dense-woven cleaning rag consisting of an outermost layer flannel, a middle layer sponge layer and an innermost layer flannel.

The filtering device is positioned above the rag system and consists of a Laval nozzle structure, a filtering element and a filtering bin, the Laval nozzle structure is adopted, positive pressure compressed air is used as power to lift the waste water from the scraping plate and the waste water recovery cover, and the waste water smoothly enters the filtering bin of the filtering device, wherein the Laval nozzle structure is a power lifting structure and is used for extracting the waste water from the scraping plate and the waste water recovery cover.

The filter element is a disposable filter element, is replaceable, and is arranged in the filter bin.

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

The spray nozzles in the cleaning module spray water or mist along the two ends of the cleaning cloth, so that the cleaning cloth is wetted and cleaned. The clean water source of the spray nozzle comes from the circulating water tank and the high-altitude water supply.

In the spot recognition module, an OV2710 KS2A17 high-speed 120fps high-frame rate 200 ten thousand USB image sensor is used for monitoring the glass curtain wall and transmitting detection information back to an upper computer, an operator on the ground adjusts the running speed of the robot according to the pollution degree of the high-rise glass curtain wall, if the pollution degree of a glass area to be cleaned is relatively large, the speed of the robot is reduced, and then the cleaning head repeatedly wipes the part, so that the cleaning effect is improved. The lower computer mainly realizes image acquisition, image digitizing and image related data sending to the upper computer through the image sensor, and the upper computer realizes image restoration for operators to check after receiving the digitized image information and calculating through an algorithm, and the whole process is essentially image transmission of the upper computer and the lower computer.

In order to improve the information transmission speed and save the data storage space, the lower computer compresses the image acquired by the sensor through Discrete Cosine Transform (DCT), then sends the compressed image to the upper computer, and the upper computer carries out Inverse Discrete Cosine Transform (IDCT) to realize image restoration, wherein the DCT generally divides the image into 8×8 sub-blocks, carries out DCT on each sub-block respectively, and then quantizes and encodes the transformation result.

The cleaning working process of the intelligent cleaning robot for the glass curtain wall is as follows:

step one, a sling safety module is fixed on the roof, a cleaning robot device is placed at a high point position of a glass curtain wall to be cleaned, a waterway, a circuit and a gas circuit are connected, a master controller gives control signals, an external air pump of a longitudinal sucking disc group and a transverse sucking disc group is started at the same time, and four sucking discs in the transverse direction on a transverse travelling rack are contacted with two longitudinal sucking discs on the longitudinal travelling rack and the glass curtain wall after ventilation, so that the cleaning robot device is in an initial state;

step two, starting the cleaning operation of the glass curtain wall, and giving a control signal to the longitudinal sucking disc air pump by the master controller, wherein the sucking disc of the longitudinal travelling rack is separated from the glass panel of the glass curtain wall, and the transverse travelling rack is adsorbed on the glass curtain wall; starting a cleaning module, wiping the glass curtain wall by using a circulating rag, squeezing and scraping sewage and stains on the circulating rag by using a suction nozzle opening of a scraper, and enabling the sewage and stains to pass through a Laval nozzle structure, a filter element and a filter bin in sequence and then enter a circulating water tank; cleaning water is sprayed into the circulating rag and the glass curtain wall panel through the spray nozzle, the cleaning sewage flows down along the glass panel, and reaches the waste water recovery cover after being filtered and is conveyed to the circulating water tank after being filtered;

The master controller starts the longitudinal travelling frame to transversely move left and right to finish the cleaning operation of the transverse rectangular area glass curtain wall, and after the cleaning of the part is finished, the master controller starts the transverse travelling frame to move up and down to realize the cleaning operation of the longitudinal rectangular area glass curtain wall;

when the cleaning module encounters stubborn stains, the image sensor transmits detection information to an 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 stained parts of the curtain wall until the cleaning module is cleaned;

the longitudinal walking cleaning process comprises the following steps: the master 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 the conversion frame realizes longitudinal movement until the transverse walking frame is 5cm away from the lowest end of the longitudinal walking frame; the master controller gives a control signal to the transverse sucking disc air pump, adjusts the transverse travelling sucking disc and curtain wall glass to generate adsorption force, detects a pressure signal through an air pressure sensor arranged at the transverse sucking disc group and feeds back the pressure signal in time, so that a manipulator can know the working state of the curtain wall robot in time; the glass curtain wall is formed by enabling the two vertical travelling sucking discs to fall off through the master controller, the vertical travelling servo motor I is controlled by the master controller to drive the vertical travelling screw rod to rotate, so that the vertical travelling frame moves vertically, and the vertical travelling process is realized.

When the cleaning process is not finished, the travelling rack moves to the vicinity of the window frame, an ultrasonic sensor arranged at a stand bar of the travelling rack is matched with a rack driving module to realize an automatic obstacle avoidance function, and a nine-axis sensor timely acquires the posture information of the robot in the motion process and feeds back to an upper computer, so that a manipulator timely grasps the posture and the stable state of the robot and makes corresponding adjustment; when the cleaning process is finished, the advancing rack moves to the vicinity of the window frame, the ultrasonic sensors arranged at the supporting legs of the advancing rack are matched with the rack driving module, parameters are fed back to the upper computer, and one-key obstacle surmounting is realized through the control of a manipulator.

Intelligent water circulation process: the method comprises three paths, wherein one path is as follows: the device comprises a scraping plate, a Laval pipe, a filtering element, a filtering bin, a water pump and a circulating water tank. The two paths are as follows: waste water recovery cover, water pump, circulation water tank. The three paths are a roof water replenishing tank, an external water pipe, an electromagnetic valve and a circulating water tank.

The water spraying amount is divided into two paths, one path is as follows: circulation tank, water pump, spray nozzle I are located inside the cleaning module shell for wash the rag humidification, the water supply here is used for the curtain to wash the washing of rag. . The two paths are as follows: a circulating water tank, a water pump and a spray nozzle II. The spray nozzle II is positioned at the outer side of the cleaning module shell and is used for spraying cleaning water and cleaning agent to the glass panel. The water level gauge is arranged in the circulating water tank and used for controlling the liquid level, and can automatically alarm when the water level is too high or too low, and when the water level is too high, external water supply can be stopped until the water level is recovered to be normal, and then water supply is performed.

The beneficial effects of the invention are as follows:

1. in the cleaning robot, the flexible obstacle avoidance can be realized by utilizing the synergistic effect of the ultrasonic sensor and the camera, and the real-time monitoring of the advancing process can be obtained.

2. Novel cleaning module design, through atomizing nozzle and roll abluent simultaneous working, but guarantee waste water cyclic utilization, practice thrift cleaning water and high-efficient high-quality cleaning effect.

3. The foldable and detachable travelling rack architecture design can save occupied space to a great extent, is convenient to carry and transport, and is low in assembly difficulty and high in structural stability.

4. The intelligent control system supports various control modes such as wired, infrared and wireless modes, can finish a plurality of cleaning instructions by one key, and simplifies the workload of operators.

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

6. The servo motor is adopted to drive the ball screw to match with the sliding block and the guide rail, the transmission is stable, the friction is small, the response speed and the sensitivity of the working mechanism are high, the motion rigidity of the whole machine is high, and the linear motion with high precision and smoothness and stability can be realized.

Drawings

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

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

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

Fig. 4 is a plan view of the robot in a folded state.

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

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

Fig. 7 is a partial view of the folding mechanism.

Fig. 8 is a top view of fig. 7.

Fig. 9 is a perspective view of a cleaning module.

Fig. 10 is a side view of fig. 9.

Fig. 11 is a front view of fig. 9.

Fig. 12 is an exploded view of the interior of a cleaning module incorporating a drive motor assembly.

Fig. 13 is another view of fig. 12.

Fig. 14 is a schematic diagram showing the structure of the dust-absorbing and dehumidifying device.

Fig. 15 is a schematic view of robotic cleaning.

Fig. 16 is a schematic diagram of the air path control of the vacuum system.

Fig. 17 is a schematic diagram of the air path vacuum detection control.

Fig. 18 is a flow chart of autonomous obstacle avoidance by a robot.

Fig. 19 is a general block diagram of a robot control system.

Fig. 20 cleans the path plan.

Fig. 21 is a lateral gait plan (suction cup black end is mobile end).

Fig. 22 is a longitudinal gait plan (suction cup black end is mobile end).

In the figure: 100 sling safety modules, 200 frame modules,

210 longitudinal travelling frame, 211 rectangular frame I, 212 fixed frame II, 213 vacuum chuck I, 214 double-rod cylinder I,

220 transverse travelling frame, 221 rectangular frame II, 222 fixed frame II, 223 cylinder II, 224 vacuum chuck II, 225 cylinder mounting plate II, 226 chuck mounting plate II, 227 screw II, 228 servo motor II, 229 linear guide rail II,

300. a 90 degree fold structure, a 310 top panel, a 320 bottom panel, a 330 turntable, a 340 latch,

400 cleaning modules, 410 waste water recovery devices, 411 waste water recovery hoods,

420 filter arrangement, 421 laval nozzle arrangement, 422 filter element, 423 filter cartridge,

430 the circulating water tank, 431 the filter screen,

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

Detailed Description

The intelligent cleaning robot for the glass curtain wall comprises a sling safety module, a frame module, a cleaning module, a spot recognition module, a walking gas circuit module and an intelligent central control module according to functional division, wherein the spot recognition module is used for providing reliable walking data for walking through recognition of various sensing terminals and is matched with the cleaning module to effectively clean glass.

The intelligent water supply device has the functions of transverse and longitudinal walking, obstacle crossing, glass panel cleaning, intelligent water supply, real-time monitoring, wastewater recovery and anti-overturning. The intelligent and controllable obstacle surmounting device can monitor travelling live, longitudinal and transverse flexible travelling in real time, is intelligent and controllable, and has the characteristics of high automation degree, high cleaning efficiency, high wastewater recovery rate, good mobility, strong operability, wide application range, higher energy conservation and environmental protection degree and the like.

The robot cleaning device is used for replacing the traditional manual high-altitude cleaning operation, the whole cleaning process does not need a person to contact with a robot or a glass panel, and the purpose of robot replacement is achieved.

For ease of description, the physical vertical direction of the building is positioned as the longitudinal direction, i.e. longitudinal X coordinate. The horizontal direction of the building is defined as the lateral direction, i.e., the lateral Y-coordinate, and the direction perpendicular to the glass to be cleaned is defined as the Z-coordinate, on which the various descriptions in the following implementations are based.

In this embodiment, for convenience of description and illustration, the components of the same specification installed at different positions are distinguished by means of i, ii, … …, for example, the vacuum chuck i, ii, which naming does not cause unnecessary ambiguity.

The following detailed description and description refers to the accompanying drawings, which are incorporated in and constitute a part of this specification, of the present invention.

The sling security module 100 is installed in a roof location of a building. The frame in this robot is mainly through absorbing the mode walking along waiting to wash glass face, and the hoist cable safety module of this department hangs the frame through the mode of rope, is a safety measure, adopts auxiliary mode between rope and the frame, for example sets up anti-falling lock, prevents the crash. The sling safety module can also adopt the anchoring point of a fixed structure for substitution, and is also within the protection scope of the invention.

The sling safety module described above combines the ability to adjust position in a lateral direction.

The sling safety module consists of an electric driving trolley, a winch and a rope, wherein the electric driving trolley is a wheeled trolley and has the basic capability of walking at fixed distance along the Y direction, namely, the electric driving trolley can travel for a certain stroke along the Y direction.

The upper end of the rope is bound on the winch, and the lower end of the rope, which winds around the anti-winding cross rod, is connected with the frame module.

The rack module 200 adopts a foldable cross-shaped rack and aims at the problem of poor motion stability of the traditional cross-shaped rack. The invention designs the transverse and longitudinal travelling frames as follows: the upper and lower ends of the longitudinal travelling frame 210 are respectively fixed with a vacuum chuck at the bottom of the cylinder through a connecting plate, and the left and right ends of the transverse travelling frame 220 are respectively fixed with three vacuum chucks arranged in a triangular structure at the bottom of the cylinder through connecting plates, so as to realize the stepping in the transverse direction (X-direction axis) and the up-down direction (Y-direction axis). Meanwhile, aiming at the problems that the traditional cross-shaped rack is large in size and inconvenient to carry, the invention adopts the more advanced folding rack, and the rack is in a straight shape after being folded, so that the size of the rack is greatly reduced.

The position adjustment of the transverse and longitudinal travelling frames is performed by adopting an electrically driven screw rod sliding block structure, so that the stepping action in the transverse and longitudinal directions is realized.

The folding function comprises

Function a: in order to facilitate carrying, transporting and disassembling of the cleaning robot, a conversion frame between the transverse and longitudinal travelling frames is improved, so that the transverse and longitudinal frames can rotate (the rotation range is 0-90 degrees). The travelling frame can be rotated into a shape of one from a cross shape, and the conversion frame rotating device is provided with two self-locking mechanisms, so that the frame can realize self locking when in the cross shape and the one shape, and the stability of the machine body mechanism is ensured.

And the length of the longitudinal advancing rack and the length of the guide rail are both lengthened by 30-40% (adjustable) for realizing the folding of the machine body.

Specifically, the frame is composed of a lateral travel frame 220, a longitudinal travel frame 210, and a 90 degree fold structure 300 (conversion frame). The main frame of the transverse travelling frame 220 is formed by assembling aluminum alloy profiles, so as to form a transverse rectangular frame II 221 and fixing frames II 222 positioned at two ends of the transverse rectangular frame II, wherein the fixing frames II are used for installing an air cylinder II 223 and a vacuum chuck II 224, are shaped like a door and are perpendicular to the rectangular frames. At the terminal fixed mounting cylinder mounting panel II 225 of Z direction of fixed frame II, this cylinder mounting panel II 225 also is the installation site of cylinder II, and this cylinder II is two pole cylinders, and a sucking disc mounting panel II 226 is installed to the piston rod end of cylinder II, and two vacuum chuck II 224 of fixed mounting on this sucking disc mounting panel II, and this vacuum chuck II selects the sucking disc that the conventional market was selling, adopts the negative pressure absorption principle, and adsorb with glass contact. And an air pressure sensor is added in each sucking disc and used for detecting the negative pressure value between the sucking discs and the sucking glass so as to judge whether the sucking is in a normal state or not.

The length direction of the rectangular frame II is provided with a screw rod II 227, one end of the screw rod II is movably connected with the rectangular frame II through a bearing, and the other end of the screw rod II is connected with a servo motor II 228 through a coupler. Specifically, a pair of linear guide rails ii 229 are mounted on the double track of the rectangular frame ii, and the linear guide rails ii are connected to the top plate of the 90-degree folding structure 300 through a slider, that is, the top plate is matched with the linear guide rails through a linear guide rail assembly. The screw rod sliding block matched with the screw rod is fixedly arranged on the top plate by using a screw. In the working process, the servo motor II drives the transverse travelling frame to horizontally move in the X direction, namely, the distance is set by stepping each time, so that transverse travelling is realized.

The cleaning module 400 is installed directly under the rectangular frame 221 at a position close to the center, that is, the cleaning module 400 is operated together with the rectangular frame 221.

The longitudinal traveling frame 210 is substantially the same as the above-described transverse traveling frame structure, and is also composed of a rectangular frame i 211, a fixed frame i 212, a vacuum chuck i 213, a double-rod cylinder i 214, and the like, except that in this structure, the number of chucks is two. And the screw rod sliding block in the longitudinal advancing rack is fixedly connected with a bottom plate, and the bottom plate belongs to a specific part of the 90-degree folding structure.

And the length of the longitudinal travelling frame and the length of the guide rail are both lengthened by 30% -40%, so that a space for accommodating the transverse travelling frame in a folded state is formed, and meanwhile, a waste water recovery device is arranged at the bottom end of the longitudinal travelling frame.

The outside of the transverse and longitudinal frames are respectively provided with an ultrasonic sensor and a real-time camera, the cleaning robot is provided with two cameras, the cleaning work of the cleaning robot on the hidden frame glass curtain wall is accurately controlled, the preparation of obstacle surmounting during cleaning is controlled, and the safe use condition of the glass panel fed back in the cleaning process is recorded. Thereby realizing flexible obstacle avoidance. And the image information fed back to the background by the camera is combined with a GPS positioning system so as to record and feed back the running state of the cleaning robot. The gyro angle sensor carried by the machine body performs data transmission through two modes of TCP and UDP and feeds back the attitude information (angular velocity and angle) of the machine body.

The 90 degree fold structure 300 is designed and manufactured for convenient carrying, transporting and disassembling 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 90-degree folding action and a position locking function. Specifically, the top plate 310 and the bottom plate 320 are square aluminum plates, holes are drilled in the aluminum plates, the two plates are stacked in an aligned manner, and a turntable 330 is arranged in the center, that is, the state between the top plate and the bottom plate can rotate within a range of 90 degrees, and the frame is rotated from a cross shape to a straight shape folding structure through the rotation. And a lock pin is arranged between the top plate and the bottom plate, and the lock pin is provided with corresponding pin holes at two rotation limit positions, so that position locking is realized, and after the position locking is realized, the stability of folding and unfolding positions can be realized.

The lock pin and the pin hole form a self-locking mechanism at the position, so that the frame can realize self-locking in the cross shape and the linear shape, and the stability of the machine body mechanism is ensured.

The self-locking mechanism is not unique in style, and can also adopt an electric rotary table structure, and can also realize rapid folding.

The conversion frame can also be replaced by an aluminum plate, has no folding function, adopts a non-folding cross-shaped walking frame, and is provided with a pneumatic sucker and a bidirectional pneumatic cylinder at the bottom of each frame. The retraction speed of the sucker is realized by regulating the pneumatic cylinder so as to realize walking and adsorption. The ball screw nut mechanism is adopted, as shown in fig. 8-3, so that the transverse and longitudinal movement is realized, and the center panel is fixed on the guide rail. Such a version is also within the scope of the invention.

Referring to fig. 9 to 14, and 1, a washing module 400 includes a wastewater recovery device 410 mounted on the outer side of the lower end of a longitudinal traveling frame, and the collected wastewater is injected into a filtering device 420 through a single throttle, and then is transferred to a circulation water tank 430 mounted above the washing module through a water pipe, and the filtered cleaning water is supplied to the washing device 440 by a water pump of the circulation water tank to perform a cleaning operation, thereby realizing circulation of the cleaning water. The turbidity detection sensor is arranged in the cleaning module to detect the quality of filtered water, and the intelligent reminding and the shutdown of cleaning water replacement are carried out after the exceeding of the quality is detected.

Detailed description detailed module composition:

the waste water recovery device 410 is composed of a waste water recovery cover 411 and a filter screen, wherein the waste water recovery cover is located at the lowest point of the device, namely the lowest end of the rectangular frame I211, and is fixed by an L-shaped cantilever, and the waste water recovery cover is used for collecting water drops, water stains and the like which are missed from high points and returns to the filter device 420 for filtering.

The cleaning module 440 adopts a self-powered circulating rag system, specifically, rag 441 in the cleaning module is driven by two rotating shafts 442 to rotate, and the power of the rotating shafts is driven by a chain-driven micro motor 443. And a scraper 444 is attached above the circulating rag, the scraper is provided with an adsorption narrow slit, the scraper sucks away part of sewage in the rag in a negative pressure mode through a pump, the function of automatically cleaning the scrubbing rag is achieved, and the overall cleanliness of the rag is guaranteed. In particular to a composite type dense-woven cleaning rag (comprising three layers, namely, the outmost flannel layer, the dust wiping and decontaminating layer, the middle sponge layer and the sewage sucking layer), wherein the outmost flannel layer, the structure is compact, has strong wear resistance and has viscosity and is fixed with a conveying belt at the outer side of a roller). When the cleaning wipe with dirt and dust on the suction nozzle at blade 444 passes under it, the very strong suction will cause the dirt and dust on the wipe to be pulled away and dried and cleaned, thereby allowing better cleaning of the next area. The dust-absorbing water absorber inputs the obtained clean water into the wastewater circulating water tank after the sewage and dust pass through the small-sized filtering device. The scraper blade between the rag and the cleaning module shell can scrape part of the sewage adsorbed by the surface layer of the rag and the sponge layer and remove the sewage.

The filter 420 is located above the rag system, and employs a Laval nozzle structure 421 to lift the waste water from the scraper 444 and the waste water recovery hood 411 using positive pressure compressed air as a motive force, and is familiar to the filter bin of the filter. The filtering device 420 is composed of a laval nozzle structure 421, a filtering element 422 and a filtering bin 423, wherein the laval nozzle structure 421 is a power lifting structure for extracting the wastewater from the scraper 444 and the wastewater recovery hood 411. The filter element 422 is a disposable filter cartridge, replaceable, and is mounted within the filter cartridge. In the filter house, impurities and dirt are trapped by the filter element 422, and belong to primary filtration, filtered water is input into the circulating water tank again through the filtered water output pipe at the bottom of the filter house for filtration, a large number of filter plates and filter bags are arranged in the circulating water tank, and the water in the circulating water tank is subjected to fine filtration. Wherein, the power lifting between the filtering bin and the circulating water tank also adopts a Laval nozzle structure.

The water in the circulation tank 430 is divided into two types of waste water and clean water, wherein the waste water in front of the filter screen 431 is discharged through a dedicated return pipe, and the clean water is supplied to the cleaning device 440 for cleaning by the water pump of the circulation tank.

Further, a clean water supply port is arranged on one clean water side of the circulating water tank and used for supplying clean water.

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

The following describes the present intelligent system and the working principle:

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

vacuum system gas circuit, referring to fig. 16, the hardware composition mainly includes: the air compressor (including air source, air storage tank, pneumatic triple piece, air release valve), two-position five-way electromagnetic valve, single throttle valve, double-rod air cylinder, two-position three-way electromagnetic valve, vacuum generator component, and vacuum chuck group.

The working flow of the gas circuit control is as follows: 1) Firstly powering on, then opening an air compressor, and enabling the air compressor to operate to generate compressed air to be stored in an air storage tank, so that the air pressure in the tank is continuously increased, and then automatically stopping pressurizing after reaching a rated value; 2) The discharged gas is dry and clean, the total gas path is divided into four parts, and the four parts are respectively led to the sucking discs and the cylinders at the supporting feet of the newly-fed frame; 3) The gas paths at each support leg are identical, the total gas path at each support leg divides the compressed gas into two parts through a tee joint, one path of compressed gas passes through a three-position two-way electromagnetic valve for controlling the sucker group and is communicated with the vacuum generator and the vacuum sucker through a gas pipe, and the other path of compressed gas passes through a two-position five-way electromagnetic valve and is connected with the throttle valve and the double-rod cylinder through a gas pipe. The expansion and contraction of the double-rod air cylinder are realized by controlling a two-position five-way electromagnetic valve through a circuit, and the suction and discharge of the sucker group are realized by controlling a two-position three-way electromagnetic valve through a circuit. (pressure detecting means-a pressure relay may be provided at the suction cup air inlet line for detecting the suction force of the suction cup group and ensuring whether the suction cup group is closely adhered to the working surface.)

In the above-mentioned subassembly, vacuum generator's theory of operation is, sprays the compressed air of coming through its inside Laval nozzle structure, and Laval nozzle sunction inlet is connected with vacuum chuck extraction opening through the trachea, according to the effect of sucking of gas, and the air of Laval nozzle vacuum mouth department is rolled up and is sucked away in succession, makes the cavity formation certain vacuum between vacuum chuck and the adsorption surface from this to make the sucking disc tightly adsorb curtain wall surface. Because of small volume, simple structure, light weight and convenient installation, the vacuum generator is selected as the vacuum generating device of the curtain wall cleaning robot.

The vacuum generator vacuumizes the sucker group, when the sucker is not completely attached or partially attached, the vacuum safety valve at the sucker air inlet pipe can block air from entering, when the sucker is tightly adsorbed on the surface of the glass curtain wall, the vacuum generator continues vacuumizing, and a vacuum switch for detecting the vacuum degree of the sucker group can be arranged in the partial circuit, and the vacuum degree condition of the sucker group is converted into an input signal to be transmitted to the singlechip (control system).

2. Motion control

Before curtain wall cleaning operation, firstly, the construction surface structure is measured, and the measured data comprise: the single panel size, the window frame height, the standard layer, the non-standard layer related parameters and the like, and then the data input is carried out on the singlechip, wherein the data comprise: travel path planning, travel distance of the travel frame, end position, etc. In order to avoid collision between the robot and an opened window (exhaust fan), the camera and the sensor at the support leg position are used for positioning the detected and searched obstacle in the moving process of the robot and transmitting the obstacle to the control system to realize real-time communication, so that smooth cleaning operation is ensured.

3. Optoelectronic isolation

In order to prevent the failure of the motor driving part from burning out the lower computer, a photoelectric isolation module is respectively added between the lower computer and the motor driving plate, so that the lower computer is protected. The photoelectric isolation isolates the input signal from the output signal through the optical coupler, so that the anti-interference capability of the circuit can be effectively improved, the microcontroller or the main control board is protected, and meanwhile, the signal voltage can be converted.

4. Air circuit vacuum detection function

The real-time detection of the vacuum degree of the sucker is realized by an air pressure sensor, and a signal is output when the vacuum degree reaches the threshold value requirement, 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 quantity, the pressure value of the sucker cannot be intuitively judged, and meanwhile, the data processing of the Mega2560 is inconvenient to conduct so as to control the action of the robot, so that the relay is used for controlling the on-off, the Mega2560 can directly judge the pressure value of the sucker at the moment through simple numerical conversion, and the pressure value is conveyed to an upper computer for display. The air pressure sensor is arranged between the electromagnetic valve and the vacuum generator, as shown in fig. 17, the suction cup detects the negative pressure value of each suction cup in real time through the air pressure sensor, data are transmitted to the Mega2560 through analog-to-digital conversion, and the Mega2560 realizes negative pressure closed loop control by controlling the rotating speed of the negative pressure motor. The whole adsorption module provides reliable adsorption force for robot movement and operation under the control of a lower computer.

5. Automatic obstacle avoidance function

The four support legs of the robot walking frame are respectively provided with an ultrasonic sensor, and the movement direction of the robot is monitored in real time. In order to ensure that the curtain wall cleaning robot does not collide with a window frame, the critical value between each supporting leg of the advancing rack and the obstacle is set to be 5cm, the robot can realize an autonomous obstacle avoidance function by combining a multi-ultrasonic sensor with the advancing rack driving module, and the specific process is as follows: when the single curtain wall panel is not cleaned, the robot encounters an obstacle in the moving process, and when the transverse distance between the robot and the obstacle is smaller than or equal to a critical value, the robot stops moving in the original moving direction to perform longitudinal displacement, the displacement distance is the width of the cleaning device, and after the displacement is completed, the robot performs movement in the direction opposite to the original direction. When the longitudinal distance is smaller than or equal to the critical value, the robot transversely shifts, the shifting distance is the width of the cleaning module, the robot moves in the direction opposite to the original movement direction after shifting, and when the curtain wall panel is completely cleaned and moves to a certain corner of the curtain wall panel, obstacle surmounting is performed, so that the purposes of obstacle detection, autonomous obstacle avoidance and obstacle surmounting preparation are achieved, and the autonomous obstacle avoidance flow chart of the robot is shown in fig. 18.

6. Motion state detection

Nine-axis sensor WT901 can be selected as a robot gesture detection device, and the robot gesture detection device 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 output digital quantity is 16 bits. The WT901 can directly convert the original data of the sensor into quaternion output by combining a Digital Motion Processor (DMP) with an embedded Motion Processing Library (MPL), and can conveniently calculate Euler angles (pitch angle, roll angle roll and yaw angle yaw) on the basis of the quaternion.

The stain identification module comprises various sensors and cameras which are matched for use. The brain in the spot recognition module uses Arduino Mega 2560 as a driving and adsorbing part to control the modules such as a relay, a 42 type stepping motor, a TB6600 driver and the like. The 220v alternating voltage is converted into the stable 24v direct voltage through the 24v switching power supply, and the whole product is supplied with power. Through three LM2596s DC-DC step-down modules, 24v direct current voltage is reduced to 12v direct current power supply, wherein two GND and VCC pins connected to TB6600 supply power for a TB6600 stepping motor driver, voltage foundation is laid for normal work of a 42 stepping motor, A+, A-, B+ and B-are respectively connected to four signal pin ports of the stepping motor, ENA-, DIR-and PUL-are connected to the ground, ENA+, DIR+ and PUL+ are connected to an Arduino Mega 2560 pin, ENA+ is connected to a low level, the high and low levels of DIR+ control positive and negative turning of the stepping motor, PUL+ inputs sine waves of high and low comments, and movement of the stepping motor is controlled.

And the other LM2596s DC-DC voltage reducing module reduces the 24v DC voltage to 12v DC voltage to supply 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 direct current voltage is directly connected with the LM2596 stabilized voltage power supply module, and the voltage of the output port is reduced to 3.3v and 5v through the potentiometer, so that the Arduino Mega 2560 is powered, and the high potential of the switch and the relay is provided. The Arduino Mega 2560 high level is transmitted through pressing of the switch key, so that the control effect is achieved. Arduino Mega 2560 controls relay module break-make to control the switch and the actuation of solenoid valve and air pump, more coordinated control entire system, collaborative work. The outside of the transverse frame and the outside of the longitudinal frame are respectively provided with an ultrasonic sensor and a real-time camera, so that flexible obstacle avoidance is realized, and the advancing state of the cleaning robot is recorded and fed back by combining the image information fed back to the background by the cameras with a GPS positioning system. The gyro angle sensor carried by the machine body performs data transmission through two modes of TCP and UDP and feeds back the attitude information (angular velocity and angle) of the machine body. The dust density of the glass panel is observed in real time by a camera externally connected above the cleaning module, and the cleaning mode is adjusted according to the cleanliness condition of the glass panel (when the panel has more dust, the cleaning speed is increased for many times, each supporting leg sucker of the travelling rack is provided with an air pressure sensor, the negative pressure value inside the sucker is measured, and the sucker is ensured to be adsorbed safely and reliably.

The mechanical transmission in the spot recognition module adopts a servo motor to drive a ball screw, the ball screw penetrates through the nut seat, and the other end of the ball screw is fixed on the screw support seat. The nut seat is connected with the supporting plate, the sliding block fixed on the conversion frame is driven to move in a guide rail mode through rotation of the lead screw, and the stepping spans in each transverse direction and the longitudinal direction are controlled through the control servo motor.

Four-end sucking disc groups of the travelling frame are respectively connected with corresponding double-rod air cylinders, and the machine body is lifted and lowered through the air cylinders. The double-rod air cylinder has four states (full ejection, full retraction, half ejection stroke and one fourth ejection stroke), and an induction switch (an optional magnetic switch, a proximity switch or a photoelectric switch is used for controlling the position where the air cylinder is stopped) by adopting a three-position five-way electromagnetic valve.

Specifically, referring to fig. 15, when the cleaning robot performs a longitudinal cleaning operation, the air cylinder of the longitudinal travelling rack ejects a quarter of a stroke, and makes the cleaning cloth press on the glass, and the air cylinder of the transverse travelling rack is fully retracted, so that the transverse travelling rack is in a suspended state, and the cleaning cloth cleans the glass along the surface of the glass within a longitudinal stroke range under the driving of the servo motor of the longitudinal travelling rack, and the cleaning process adopts a top-down sequence to clean the glass one by one.

When a stain which is difficult to clean is required, a backup program is started, and the starting process of the backup program is as follows: when the stubborn stains are cleaned, the air cylinders at the transverse and longitudinal travelling frames are ejected out by a quarter stroke, namely six suckers on the transverse and longitudinal travelling frames are simultaneously adsorbed on the glass panel, so that the pressure of the brush roller and the glass is increased, and the stains are cleaned at fixed points.

In order to ensure the cleaning speed of the cleaning robot and to facilitate the control of the travel of the robot. The glass wall surface is cleaned by adopting a transverse reciprocating motion and S-shaped travelling route. As shown in fig. 5 to 7, the cleaning robot starts the cleaning operation from the upper left corner of the top of the wall surface, performs the change of the longitudinal station when the cleaning robot moves to the top of the horizontal wall surface, the change distance is 200mm, then continues to move leftwards, and continuously repeats the cycle until the whole area to be cleaned is cleaned, and the cleaning path planning refers to fig. 20.

When the transverse cleaning is needed, the air cylinder at the transverse travelling rack ejects a quarter stroke, and the longitudinal air cylinders are all retracted, so that the cleaning is performed in a left-to-right or right-to-left mode. When the cleaning robot passes over the obstacle, the ejection height of the sucker of the travelling rack is adjusted according to the height of the obstacle (window frame and the like), when the robot transversely spans the obstacle, the longitudinal travelling rack is all ejected, the air cylinder at the transverse travelling rack is all retracted and transversely spans, and when 1/2-3/4 of the machine body spans the obstacle, the air cylinder at the transverse rack is all ejected and tightly adsorbs the glass panel. At this time, the suction cup of the longitudinal advancing rack is deflated, the air cylinder is retracted for full stroke, the longitudinal rack spans rightwards, after the longitudinal rack spans completely, the air cylinder is totally ejected, the suction cup tightly adsorbs the panel, and then the spanning action is repeated until the other suction cup group of the transverse rack also passes over the obstacle.

Considering the weight of the machine body, the machine body is only provided with a light wastewater circulating water tank by adopting an external water supply mode. The sucking disc group adopts an external air compressor pipeline to complete the sucking and discharging function of the sucking disc group. External water supply is used for taking water from devices such as fire hydrants on the roof, and an air compressor is also mounted on the roof so as to reduce the overall load of the machine.

To ensure the cleaning speed of the cleaning robot and to facilitate the control of travel, the glass panel is cleaned by using a travel path that reciprocates into an s-shape, see fig. 15.

Specifically, referring to fig. 19, the intelligent control section in the stain recognition module has the following composition and function.

1. Control system

The brain in the intelligent control system uses Arduino Mega2560 as a driving and adsorbing part to control modules such as a relay, a 42 type stepping motor, a TB6600 driver and the like. The 220v alternating voltage is converted into the stable 24v direct voltage through the 24v switching power supply, and the whole product is supplied with power. Through three LM2596s DC-DC step-down modules, 24v direct current voltage is reduced to 12v direct current power supply, wherein two GND and VCC pins connected to TB6600 supply power for a TB6600 stepping motor driver, voltage foundation is laid for normal work of a 42 stepping motor, A+, A-, B+ and B-are respectively connected to four signal pin ports of the stepping motor, ENA-, DIR-and PUL-are connected to the ground, ENA+, DIR+ and PUL+ are connected to an ArduinoMega2560 pin, ENA+ is connected to a low level, the high and low levels of DIR+ control positive and negative turning of the stepping motor, PUL+ inputs sine waves of high and low comments, and movement of the stepping motor is controlled.

The suction cup is controlled by controlling the TB 6600 through the Mega 2560 to drive two NEMA17 (42 type stepping motors), driving the screw rod through forward rotation and reverse rotation of the two stepping motors to control the machine to move up and down and left and right, and controlling the suction of the electromagnetic valve of eight paths and the relay of each pipeline. The cleaning disc is driven to rotate by controlling the wave box digital motor, the water pump is controlled to spray water to the panel through the external water pipe, and the cleaning effect of the panel is better through the coordination effect of the upper glass scraper and the rotating cleaning disc.

2. Power supply system

And the LM2596s DC-DC voltage reducing module reduces the 24v DC voltage to 12v DC voltage to supply power for the water pump and the DC motor, and controls the operation of the water pump and the DC motor by switching on and switching off the relay module. The 24v direct current voltage is directly connected with the LM2596 stabilized voltage power supply module, and the voltage of the output port is reduced to 3.3v and 5v through the potentiometer, so that the Arduino.Mega 2560 is supplied with power, and the high potential of the switch and the relay is provided. The Arduino Mega 2560 high level is transmitted through pressing of the switch key, so that the control effect is achieved. Arduino Mega 2560 controls relay module break-make to control the switch and the actuation of solenoid valve and air pump, more coordinated control entire system, collaborative work.

3. Cleaning degree detection

In order to improve the cleaning effect of the robot, an OV2710 KS2A17 high-speed 120fps high-frame rate 200 ten thousand USB image sensor is used for monitoring the glass curtain wall and transmitting detection information back to an upper computer, an operator on the ground adjusts the running speed of the robot according to the pollution degree of the high-rise glass curtain wall, if the pollution degree of a glass area to be cleaned is relatively large, the speed of the robot is reduced, and then the cleaning head repeatedly wipes the part, so that the cleaning effect is improved. The lower computer mainly realizes image acquisition, image quantization and image related data transmission to the upper computer through the image sensor, and the upper computer realizes image restoration for operators to check after receiving the digitized image information through a related algorithm, and the whole process is essentially image transmission of the upper computer and the lower computer. Image data occupies a much larger memory space than text data, and in general, there is redundancy in the image data, so that 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 compresses the image acquired by the sensor through Discrete Cosine Transform (DCT) and then sends the compressed image to the upper computer, and the upper computer then performs Inverse Discrete Cosine Transform (IDCT) to realize image restoration. The DCT transform typically partitions the image into 8 x 8 sub-blocks, and performs the DCT transform on each sub-block separately, and then quantizes and encodes the transform result.

The DCT transform must be combined with quantization to achieve compression. Quantization is to divide the DCT coefficients by quantization factors and then round and select the nearest integer by referring to a gray scale quantization table. After DCT transformation, low-frequency coefficients (image main information) are mainly concentrated at the left upper corner of the matrix, high-frequency coefficients are mainly concentrated at the right lower corner of the matrix, the values are small, the low-frequency coefficients become zero after quantization, and therefore the number of valued coefficients is small. According to the variable length coding principle, the bytes with large probability are coded by short code words, and the bytes with small probability are coded by long code words, so that the aim of quickly transmitting image information is fulfilled by image compression.

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

The communication processor CP343-1 is used for connecting the CP343-1 to the industrial Ethernet, integrating 2-port switch ERTEC 200S7 communication, extracting/writing, sending/receiving RFC1006, multicast, DHCP, NTC-CPU Sync with and without diagnosis through ISO and TCP/IP, PROFINET IO controller or PROFINET input/output equipment, initializing through local area network, 2 RJ45 interfaces, and being applicable to local area network 10/100Mbit/S.

The lower computer is used as the main controller of the robot body and is mainly used for actually controlling various movements of the robot. The upper computer is used as an object for remote control of an operator and is mainly used for indirectly controlling the motion of the robot body or obtaining related motion parameters. In order to realize normal data exchange between the upper computer and the lower computer, a reasonable communication mode is required to be selected according to a communication environment. Therefore, an operator can realize real-time monitoring of the robot working at high altitude through the upper computer, so that the robot at high altitude is prevented from being separated from the control range of the person, and the safety is improved. By utilizing the communication mode between the upper computer and the lower computer, an operator can control the motion state of the robot, and meanwhile, the surrounding working environment of the robot can be perceived through the related information fed back by the robot sensing system, so that the intelligence and the flexibility of the robot control system are improved.

A CPU with a large program memory and a program scale can be used for very demanding applications. Cross-domain automation tasks for use in series machines, specialty machines, and factories are used as a centralized controller on a production line with centralized and distributed O. PROFINET connection with dual port switch with higher processing power for binary and floating point operations. The PROFINET IO controller can realize distributed/O operation through PROFINET. PROFINET I-Device, an intelligent PROFINET Device used as a CPU connected with a SIMATIC or third party PROFINET to controller. In a component-based automation (CBA) system, distributed intelligence is implemented via PROFINET. A PROFINET agent for PROFIBUS DP smart devices in a component-based automation (CBA) system. The integrated Web server with the option to create a user-defined Web site is burnt as the MPI/PROFIRIIS DP master/slave interface. SIMATIC engineering tools are supported via the isochronous mode of PROFIBUS and PROFINET.

step one, placing a cleaning robot device on a glass curtain wall panel to be cleaned, supplying water and electricity to the cleaning robot through an externally-connected suspended electric wire, an air pipe and a water pipe, enabling a sucker on a transverse advancing rack to be in contact with the glass curtain wall with the sucker on a longitudinal advancing rack, giving a control signal by a master controller, and simultaneously enabling an external air pump of the sucker to be in contact with the glass curtain wall: that is, two suction cups in the longitudinal travelling frame are adsorbed on the curtain wall glass, and two suction cup groups in the transverse travelling frame are also adsorbed on the curtain wall glass at the same time.

And step two, starting the cleaning operation of the glass curtain wall, and giving a control signal to the longitudinal sucking disc air pump by the master controller.

The suction disc of the longitudinal advancing rack is adjusted to separate from the glass panel of the curtain wall, and the pressure signal is detected by the air pressure sensor arranged at the suction disc of the transverse advancing rack, at this time, the whole robot system is mainly adsorbed on the glass curtain wall by virtue of the two suction disc groups of the transverse advancing rack. Meanwhile, a driving motor on the cleaning module is started to drive a connected driving gear to rotate, so that a driving chain is driven to drive a rotating shaft connected with a driven gear to synchronously rotate, the cleaning cloth is enabled to roll circularly along with the driving gear, the cleaning cloth is annular in an end-to-end connection and rotates along with the rotating shaft, and therefore the glass curtain wall is cleaned. Meanwhile, the master controller gives out control signals to the power air pump of the scraping plate, a negative pressure cavity is formed at the narrow slit of the scraping plate formed under the action of the active air flow of the power air pump, the suction nozzle opening of the scraping plate faces to the direction opposite to the rotation direction of the cleaning cloth for circular cleaning, and the inclined design plays a certain role in squeezing and scraping the cleaning cloth, so that sewage and dirt of the cleaning cloth are sucked into a dust collection channel, the cleaning cloth is kept in a clean state, dirt on the glass surface of the curtain wall is taken away by the cleaning cloth through the process, then scraped by the scraping plate with the suction nozzle, the scraped dirt and sewage are filtered by the filtering device consisting of a Laval nozzle structure, a filtering element and a filtering bin, the waste water is discharged from a leakage cover, the filtered water flows into the filtering bin, a water pump is arranged outside the filtering bin, one end of the water pump is connected with a water outlet pipeline of the filtering bin, and the other end of the water pump is communicated with a water inlet pipeline of a circulating water tank and is inserted into the circulating water tank, so that the filtered water is used for clean water replenishment. Meanwhile, one end of the circulating cleaning water inlet pipeline is communicated with the curtain wall cleaning external water supply pipe, and the other end of the circulating cleaning water inlet pipeline is connected with the water outlet pipe of the circulating water tank external water pump, and water supply utilization is carried out through water pump circulating suction. The circulating water is continuously sprayed onto the cleaning cloth through the spray nozzle in the cleaning shell (the upper edge of the cleaning cloth), the spray nozzle outside the cleaning shell sprays cleaning water into the glass curtain wall panel, so that better cleaning of stains on the glass curtain wall is facilitated, the waste water recovery cover of the cleaning sewage waste water recovery device is fixedly connected to the longitudinal advancing rack and is positioned under the cleaning module, two filter screens are arranged in the cleaning module, the cleaning waste water flows down along the glass panel, the waste water recovery cover positioned under the cleaning sewage is collected after being filtered by the first filter screen, a second waste water filter screen is arranged in the waste water recovery cover, the solid waste cleaned by the second filter screen is filtered and stays in the waste water collecting tank, the filtered water is conveyed by the water pump, one end of the water pump is connected with the waste water outlet pipe of the waste water recovery cover, and the other end of the water pump is connected with the water inlet pipe of the circulating water tank, so that the filtered water is conveyed to the circulating water tank.

Referring to the paths in fig. 20 to 22, a Mega 2560 master controller starts a servo motor II fixed on a transverse traveling frame to drive a ball screw to rotate, and the conversion frame enables a longitudinal traveling frame connected with the conversion frame to transversely move left and right, so that the cleaning mechanism is ensured to complete the cleaning operation of the transverse rectangular area glass curtain wall. After the cleaning of the part is completed, a Mega 2560 master controller starts a servo motor I fixed on the longitudinal traveling rack to drive the longitudinal ball screw to rotate, so that the transverse traveling rack connected with the conversion rack moves up and down, and the cleaning operation of the longitudinal (vertical) rectangular area glass curtain wall is realized.

No matter carry out horizontal washing or vertical washing operation, when meetting stubborn spot, OV2710 image sensor will detect information transfer and give the host computer, and operating personnel is according to the pollution degree of glass curtain wall, by the stop operation of Mega 2560 control vertical walking servo motor II, horizontal walking servo motor I or reduce the washing speed, makes the washing module clean this curtain wall spot part repeatedly, until the sanitization to improve the cleaning effect.

The longitudinal walking cleaning process comprises the following steps: and the Mega 2560 master 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 the conversion frame realizes longitudinal movement until the transverse walking frame is 5cm away from the lowest end of the longitudinal walking frame. The Mega 2560 gives a control signal to the transverse sucking disc air pump, adjusts the transverse walking sucking disc and curtain wall glass to generate adsorption force, detects pressure signals through the air pressure sensor arranged at the transverse sucking disc group, and feeds back in time, so that a manipulator can know the safe reliability of the working state of the curtain wall robot in time. The Mega 2560 master controller enables the two vertically walking sucking discs to fall off the glass curtain wall, and at the moment, the whole robot is mainly adsorbed on the glass curtain wall by the two horizontally sucking disc groups. The Mega 2560 master controller controls the longitudinal walking servo motor I to drive the longitudinal walking screw rod to rotate, so that the longitudinal walking frame longitudinally moves, a longitudinal walking process is realized, and the cleaning module always completes cleaning operation in the process. When the cleaning process is not finished, the advancing rack moves to the vicinity of the window frame, the ultrasonic sensor arranged at the supporting legs of the advancing rack is matched with the rack driving module to realize an automatic obstacle avoidance function, and the nine-axis sensor timely acquires the posture information of the robot in the motion process and feeds back the posture information to the upper computer, so that a manipulator timely grasps the posture and the stable state of the robot and makes corresponding adjustment. When the cleaning process is finished, the advancing rack moves to the vicinity of the window frame, the ultrasonic sensors arranged at the supporting legs of the advancing rack are matched with the rack driving module, parameters are fed back to the upper computer, and one-key obstacle surmounting is realized through the control of a manipulator. And the cleaning operation process of the next glass panel is carried out in the same way.

The water spraying amount is divided into two paths, one path is as follows: circulation tank, water pump, spray nozzle I are located inside the cleaning module shell for wash the rag humidification, the water supply here is used for the curtain to wash the washing of rag. . The two paths are as follows: a circulating water tank, a water pump and a spray nozzle II. The spray nozzle II is positioned at the outer side of the cleaning module shell and is used for spraying cleaning water and cleaning agent to the glass panel. The water level gauge is arranged in the circulating water tank and used for controlling the liquid level, and can automatically alarm when the water level is too high or too low, and when the water level is too high, external water supply can be stopped until the water level is recovered to be normal, and then water supply is performed. (completed).

Claims

1. The intelligent cleaning robot for the glass curtain wall comprises a sling safety module, a frame module, a cleaning module, a walking gas circuit module, a stain identification module and an intelligent central control module, and is characterized in that,

The frame module comprises a transverse travelling frame, a longitudinal travelling frame and a conversion frame, wherein the conversion frame is positioned at the cross transitional joint of the transverse travelling frame and the longitudinal travelling frame, the transverse travelling frame and the longitudinal travelling frame are of a frame structure, and the transverse travelling 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 position of the transverse travelling frame and the longitudinal travelling frame; the longitudinal advancing rack and the conversion rack are movably matched through a screw rod mechanism and a linear guide mechanism, and the relative position between the longitudinal advancing rack and the conversion rack is driven and adjusted by a servo motor I;

the conversion frame consists of a top plate, a bottom plate, a rotary table and a locking pin, has 90-degree folding action and position locking functions, is arranged between the top plate and the bottom plate, enables the state between the top plate and the bottom plate to rotate within a 90-degree range, realizes that the frame rotates into a straight folding structure from a cross shape through the rotation, and is provided with the locking pin between the top plate and the bottom plate, and the locking pin is provided with corresponding pin holes at two rotation limit positions to realize position locking and realize stability of folding and unfolding positions after the position locking;

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

the cleaning module is arranged on the conversion frame, works in a mode that the cleaning module is attached to glass to be cleaned through rags and performs water spraying cleaning, and a circulating water tank for storing water is fixed on the conversion frame;

the stain recognition module is used for carrying a sensor for obstacle avoidance or/and a camera at the end part of the transverse travelling rack or/and the longitudinal travelling rack; nine-axis sensors are 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 are arranged on the cleaning module;

the walking air path module generates negative pressure adsorption force by compressed air through a vacuum generator and acts on the sucker; a negative pressure sensor is arranged in the air path to measure the negative pressure value in the sucker in real time;

and the intelligent central control module is used for controlling the on-off of the relay module by the master controller to control the on-off and the attraction of the electromagnetic valve and the air pump and coordinate the cooperative work of the spot recognition module, the walking air circuit module and the cleaning module.

2. The intelligent cleaning robot for glass curtain walls according to claim 1, wherein the conversion frame is only a square aluminum plate, and the frame is kept in a cross-shaped state by the conversion frame.

3. The intelligent cleaning robot for glass curtain wall according to claim 1, wherein the intelligent cleaning robot for glass curtain wall adopts an external water supply mode, the external water supply is used for taking water from the roof and is connected with the circulating water tank through the electromagnetic valve, and the air compressor for providing compressed air is arranged on the roof.

4. The intelligent cleaning robot for glass curtain wall according to claim 1, wherein a wastewater recovery hood is mounted on the outer side of the lower end of the longitudinal traveling frame, and the collected wastewater is lifted up after being filtered and injected into the circulating water tank.

5. The intelligent cleaning robot for the glass curtain wall according to claim 1, wherein a turbidity detection sensor is arranged in the circulating water tank to detect the quality of filtered water, and intelligent reminding and shutdown for cleaning water replacement are performed when the quality of water is detected to exceed the standard.

6. The intelligent cleaning robot for the glass curtain wall according to claim 1, wherein the cleaning module adopts a self-powered circulating rag which is annular end to end and wipes the surface of the glass under the drive of a micro motor, and a scraper is mounted above the circulating rag in a fitting manner, the scraper is provided with a negative pressure suction nozzle, and the negative pressure suction nozzle is sequentially connected with a Laval nozzle structure, a filter element and a filter bin backwards, wherein the filter bin is connected with a circulating water tank.

7. The intelligent cleaning robot for glass curtain walls according to claim 6, wherein the circulating cleaning cloth is a composite type dense-woven cleaning cloth consisting of an outermost layer flannel, an intermediate layer sponge layer and an innermost layer flannel.

8. The intelligent cleaning robot for the glass curtain wall according to claim 1, wherein the cleaning module is provided with a spray nozzle I for spraying the circulating rag and a spray nozzle II for spraying the glass.

9. The use method of the intelligent cleaning robot for the glass curtain wall according to claims 1 to 8, characterized in that:

whether transversely wash or vertically wash the operation, when meetting stubborn spot, image sensor will detect information transfer and give the host computer, and operating personnel stops the operation or reduces the washing speed according to glass curtain wall's pollution degree, makes the cleaning module clean this curtain wall spot part repeatedly, until the sanitization.

10. The method for using the intelligent cleaning robot for the glass curtain wall, according to claim 9, is characterized in that: the longitudinal walking cleaning process comprises the following steps: the master 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 the conversion frame realizes longitudinal movement until the transverse walking frame is 5cm away from the lowest end of the longitudinal walking frame; the master controller gives a control signal to the transverse sucking disc air pump, adjusts the transverse travelling sucking disc and curtain wall glass to generate adsorption force, detects a pressure signal through an air pressure sensor arranged at the transverse sucking disc group and feeds back the pressure signal in time, so that a manipulator can know the working state of the curtain wall robot in time; the glass curtain wall is formed by enabling the two vertical travelling sucking discs to fall off through the master controller, the vertical travelling servo motor I is controlled by the master controller to drive the vertical travelling screw rod to rotate, so that the vertical travelling frame moves vertically, and the vertical travelling process is realized.

11. The method for using the intelligent cleaning robot for the glass curtain wall, according to claim 9, is characterized in that: when the cleaning process is not finished, the travelling rack moves to the vicinity of the window frame, an ultrasonic sensor arranged at a stand bar of the travelling rack is matched with a rack driving module to realize an automatic obstacle avoidance function, and a nine-axis sensor timely acquires the posture information of the robot in the motion process and feeds back to an upper computer, so that a manipulator timely grasps the posture and the stable state of the robot and makes corresponding adjustment; when the cleaning process is finished, the advancing rack moves to the vicinity of the window frame, the ultrasonic sensors arranged at the supporting legs of the advancing rack are matched with the rack driving module, parameters are fed back to the upper computer, and one-key obstacle surmounting is realized through the control of a manipulator.