CN109464060B - Novel high-rise glass window cleaning robot - Google Patents
Novel high-rise glass window cleaning robot Download PDFInfo
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- CN109464060B CN109464060B CN201811415001.7A CN201811415001A CN109464060B CN 109464060 B CN109464060 B CN 109464060B CN 201811415001 A CN201811415001 A CN 201811415001A CN 109464060 B CN109464060 B CN 109464060B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 142
- 239000011521 glass Substances 0.000 title claims abstract description 65
- 230000009194 climbing Effects 0.000 claims abstract description 71
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000001179 sorption measurement Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 37
- 239000002184 metal Substances 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 6
- 239000000956 alloy Substances 0.000 claims description 2
- 229910045601 alloy Inorganic materials 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 1
- 230000009897 systematic effect Effects 0.000 claims 1
- 238000005406 washing Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 230000001276 controlling effect Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 230000000875 corresponding effect Effects 0.000 description 8
- 241000252254 Catostomidae Species 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000010926 purge Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention discloses a novel high-rise glass window cleaning robot, which comprises a remote controller module and a wall climbing robot host module connected with the remote controller module through signals; a first MCU is arranged in the remote controller module; the first MCU is respectively connected with the alarm, the remote controller display module, the input controller button and the first communication module; a second MCU is arranged in the wall climbing robot host module; the second MCU is respectively connected with the cleaning system, the low-voltage detection circuit, the adsorption wall climbing system and the second communication module; the second communication module is in signal connection with the first communication module. The robot cleaning device has the advantages of small volume, light weight, good adsorption wall climbing and cleaning effect, high practicability and popularization, and can effectively solve the problems that the existing robot cleaning device for cleaning high-rise glass has certain limitation and poor cleaning effect.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a novel high-rise glass window cleaning robot.
Background
In recent years, the urban appearance of China is changed in a manner of turning over the sky and covering the land, and the high-rise building is pulled up, so that not only is the land resource saved, but also the urban appearance is refreshed, and the urban appearance becomes one of important marks of the urban modernization level, but also the problems such as high-altitude glass scrubbing, high-altitude fire-fighting first aid, high-altitude building construction and the like are brought. Taking the cleaning of the outer wall surface of a high-rise building and the cleaning of a window in a home by high-rise residents as examples, a manual operation mode of hanging a hanging basket or lifting by a hydraulic lifting table is adopted at present, but the high-rise building has the problems of high labor intensity, low efficiency, high potential safety hazard and the like.
The development of the intelligent robot cleaning system can liberate the labor force engaged in the dangerous work, can automatically clean the walls of the tall buildings, and can further improve the technical level and the productivity of the building maintenance industry. The robotic cleaning system may be used with different buildings, which may save the expense of building the cleaning system for individual buildings. In this context, various solutions for wall cleaning robots have been proposed by researchers, but there are still certain limitations. For example, the magnetic chuck wall climbing robot can only be used on a magnetic conductive metal wall surface, but cannot be applied to a common glass wall; many large-scale suspension type cleaning robots require roof suspension mechanisms; the crawler robot turns difficultly, and the like, which brings difficulty to application.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a novel high-rise glass window cleaning robot, so as to solve the problems that the existing robot has certain limitation and poor cleaning effect in cleaning high-rise glass.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a novel high-rise glass window cleaning robot comprises a remote controller module and a wall climbing robot host module in signal connection with the remote controller module;
a first MCU is arranged in the remote controller module; the first MCU is respectively connected with the alarm, the remote controller display module, the input controller button and the first communication module; a second MCU is arranged in the wall climbing robot host module; the second MCU is respectively connected with the cleaning system, the low-voltage detection circuit, the adsorption wall climbing system and the second communication module; the second communication module is in signal connection with the first communication module.
Preferably, the first MCU and the second MCU are MSP430F149 as a master control chip; the first communication module and the second communication module are both NRF905 single-chip wireless communication modules.
Preferably, the NRF905 monolithic wireless communications module operates at 433/868/915MHz.
Preferably, the adsorption wall climbing system comprises transverse plates respectively positioned at two lateral sides of the main plate, and vertical plates respectively positioned at two vertical sides of the main plate; the two transverse plates and the two vertical plates are connected through metal rods; the bottom of the main board is provided with a plurality of rows of hanging rings in parallel; the transverse metal rod passes through the hanging ring to connect the two transverse plates; the main board is connected with a first steering engine through a supporting pipe, and the first steering engine is meshed and connected with a horizontal sawtooth strip on the transverse metal rod; the transverse plate is connected with a second steering engine through a supporting pipe, and the second steering engine is meshed and connected with a horizontal rack arranged on the main plate; the main board is connected with a third steering engine through a supporting pipe, and the third steering engine is meshed and connected with a horizontal rack arranged on the vertical board; a fourth steering engine meshed with the vertical metal rod is arranged in the main board; the vertical plate is meshed and connected with a vertical sawtooth strip on the main plate through the supporting pipe and the fifth steering engine.
Preferably, the vacuum sensor is an MS5611-01BA high sensitivity vacuum sensor that is communicatively coupled to the second MCU via an SPI communication protocol.
Preferably, the cleaning system comprises a light-weight rolling brush sleeved on the cross-shaped alloy frame.
Preferably, the wall climbing robot further comprises a power circuit for supplying power to the wall climbing robot host module; the power supply circuit comprises an LM7806 with an output voltage of 6V for supplying power to the steering engine and an LM7805 with an output voltage of 5V for supplying power to the second MCU and other modules.
The control method of the novel wall climbing robot host module of the high-rise glass window cleaning robot is characterized by comprising the following steps:
initializing hardware;
receiving an action instruction sent by a remote controller module;
judging the cleaning mode of the current action instruction;
if the current cleaning mode is judged to be an automatic cleaning mode, controlling the adsorption wall climbing system to clean according to a right-lower-left-lower-right circulation mode;
when the robot moves to the dead zone, the robot is separated from an automatic cleaning mode and enters a manual cleaning mode;
and if the current cleaning mode is the manual cleaning mode, controlling the wall climbing system to act according to the received action command sent by the remote controller.
A control method of a novel high-rise glass window cleaning robot remote controller module comprises the following steps:
initializing hardware;
according to the pressing of a button by an operator, triggering interruption;
judging an action instruction assigned by an operator when the operator presses a button according to the interrupt signal;
and sending the assigned action instruction to the wall climbing robot host module.
A control method of a novel high-rise glass window cleaning robot comprises the following steps:
initializing hardware;
the remote controller module triggers interruption according to the pressing of a button by an operator;
judging an action instruction assigned by an operator when the operator presses a button according to the interrupt signal;
sending the assigned action instruction to a wall climbing robot host module;
the wall climbing robot host module receives an action instruction sent by the remote controller module;
judging the cleaning mode of the current action instruction;
if the current cleaning mode is judged to be an automatic cleaning mode, controlling the adsorption wall climbing system to clean according to a right-lower-left-lower-right circulation mode;
when the robot moves to the dead zone, the robot is separated from an automatic cleaning mode and enters a manual cleaning mode;
and if the current cleaning mode is the manual cleaning mode, controlling the wall climbing system to act according to the received action command sent by the remote controller.
The novel high-rise glass window cleaning robot provided by the invention has the following beneficial effects:
eight suckers are arranged, and the robot walks and cleans on the glass wall by matching with a vacuum degree sensor, an electromagnetic valve and a vacuum pump; and according to the actual automatic cleaning and manual cleaning modes, the automatic cleaning and manual cleaning device has the man-machine interaction function. The robot cleaning device has the advantages of small volume, light weight, good adsorption wall climbing and cleaning effect, high practicability and popularization, and can effectively solve the problems that the existing robot cleaning device for cleaning high-rise glass has certain limitation and poor cleaning effect.
Drawings
Fig. 1 is a schematic block diagram of a novel high-rise glass window cleaning robot.
Fig. 2 is a diagram of a novel high-rise glass window cleaning robot.
Fig. 3 is a circuit diagram of a novel main control chip MSP430f149 of the high-rise glass window cleaning robot.
Fig. 4 is a structural diagram of the novel high-rise glass window cleaning robot adsorption wall climbing system.
Fig. 5 is a circuit diagram of a novel high-rise glass window cleaning robot vacuum sensor.
Fig. 6 is a diagram of a novel high-rise glass window cleaning robot solenoid valve and vacuum pump drive circuit.
Fig. 7 is a schematic circuit diagram of a novel power module of the high-rise glass window cleaning robot.
Fig. 8 is a wireless communication circuit of the novel high-rise glass window cleaning robot.
Fig. 9 is a circuit diagram of a novel high-rise glass window cleaning robot impact sensor.
Fig. 10 is a flowchart of a novel high-rise glass window cleaning robot host module program.
Fig. 11 is a flow chart of a novel high-rise glass window cleaning robot remote controller module program.
Fig. 12 is a state transition diagram of the novel high-rise glass window cleaning robot.
Fig. 13 is a schematic diagram of PID closed-loop control of the novel high-rise glass window cleaning robot.
Fig. 14 is a flow chart of a PD procedure of the novel high-rise glass window cleaning robot.
Wherein, 1, a vertical plate; 2. a main board; 3. a cross plate; 4. a crank connecting rod; 5. a support tube; 6. a metal rod; 7. hanging rings; 8. the first steering engine; 9. the second steering engine; 10. the third steering engine; 11. a fourth steering engine; 12. a fifth steering engine; 13. and (3) a saw rack.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
According to one embodiment of the application, referring to fig. 1, the novel high-rise glass window cleaning robot of the scheme comprises a remote controller module and a wall climbing robot host module in signal connection with the remote controller module.
The remote controller module and the wall climbing robot host module are described in detail below, respectively:
the remote controller module is used for selecting a cleaning mode according to actual needs and sending a selected result to the wall climbing robot host module in the form of an action instruction.
A first MCU is arranged in the remote controller module; the first MCU is respectively connected with the alarm, the remote controller display module, the input controller button and the first communication module.
The wall climbing robot host module is used for receiving the action instruction sent by the remote controller module and controlling the corresponding action instruction according to the action instruction.
The wall climbing robot host module is internally provided with a second MCU which is respectively connected with the cleaning system, the low-voltage detection circuit, the adsorption wall climbing system and the second communication module, and the second communication module is in signal connection with the first communication module.
Referring to fig. 3, the first MCU and the second MCU are both MSP430F149 as a master chip; the chip has the characteristics of ultra-low power consumption, high operation speed, strong processing capability, abundant on-chip resources, convenience, high efficiency, environment development and the like. Two MSP430F149 singlechips in the system are respectively installed in a remote controller module and a wall climbing robot host module. The wall climbing robot host computer module MCU realizes the overall control of the wall climbing robot from the following three aspects:
1. MCU controls the switch of solenoid valve, the atmospheric pressure value of vacuum pump, the rotational speed of steering wheel in the absorption wall climbing system of wall climbing robot to make the robot adsorb on glass wall surface walking firmly.
2. When the low voltage detection module detects a low voltage signal, the MCU sends the low voltage signal to a liquid crystal display screen of the remote controller through the transmitter, and simultaneously an alarm on the remote controller sends an alarm signal to remind a user to replace a battery or charge a robot battery.
3. When an operator uses the remote controller to remotely control the wall climbing robot host, a remote control signal is sent to a receiving end of the robot main body part through a wireless communication sending end on the remote controller, and the MCU controls the robot to make corresponding actions according to the received data signal so as to complete corresponding cleaning work.
The first communication module and the second communication module are both NRF905 single-chip wireless communication modules.
Referring to fig. 8, the nrf905 single chip wireless communication module operates in the ISM band of 433/868/915MHZ and is composed of an integrated frequency modulator, a receiver with demodulator, a power amplifier, a crystal oscillator and a regulator. The chip is characterized in that under the shock burst working mode: the preamble and CRC are automatically generated, and can be easily configured by programming through an SPI interface. The whole robot system uses two NRF905 chips which are respectively arranged on a wall climbing robot main body module and a remote controller module and can be used as a transmitter and a receiver.
When an operator controls the operation of the wall climbing robot through the remote controller, an NRF905 chip arranged in the remote controller is used as a transmitter to send out a control signal, and an NRF905 chip arranged in the main body part of the wall climbing robot is used as a receiver to receive the signal; when the wall climbing robot works, an NRF905 chip arranged on the main body part of the robot is used as a transmitter to transmit a working state signal of the wall climbing robot to a receiving end, and an NRF905 chip arranged on a remote controller is used as a receiver to receive the working state signal from the main body of the robot.
Adsorption wall climbing system
Because most of the building wall surfaces are made of non-magnetic materials, such as glass, ceramic tiles, paint and the like, the adsorption mode is preferably vacuum adsorption. The single sucker is simple in structure and easy to control, but reliability is difficult to guarantee, so that the invention adopts a mode of combining multiple suckers for adsorption.
Referring to fig. 2, the adsorption wall climbing system comprises transverse plates 3 respectively positioned at two lateral sides of a main plate 2, and vertical plates 1 respectively positioned at two vertical sides of the main plate 2; the two transverse plates 3 and the two vertical plates 1 are connected through a metal rod 6; a plurality of rows of hanging rings 7 are arranged at the bottom of the main board 2 in parallel; the transverse metal rod 6 passes through the hanging ring 7 to connect the two transverse plates 3; the main board 2 is connected with a first steering engine 8 through a supporting pipe 5, and the first steering engine 8 is meshed and connected with a horizontal sawtooth strip on a transverse metal rod 6; the transverse plate 3 is connected with a second steering engine 9 through a supporting pipe 5, and the second steering engine 9 is meshed and connected with a horizontal rack arranged on the main plate 2; the main board 2 is connected with a third steering engine 10 through a supporting pipe 5, and the third steering engine 10 is meshed with a horizontal rack arranged on the vertical board 1; a fourth steering engine 11 meshed and connected with the vertical metal rod 6 is arranged in the main board 2; the vertical plate 1 is meshed and connected with a vertical sawtooth strip on the main plate 2 through a supporting pipe 5 and a fifth steering engine 12.
The saw rack 13 includes a horizontal saw rack gear and a vertical saw rack gear.
Suction cups are arranged on the bottom surfaces of each main board 2, each vertical board 1 and each transverse board 3, the supporting tube 5 is hollow, and the inside of the supporting tube is used for electric connection between the steering engine and the main boards 2, the vertical boards 1 and the transverse boards 3.
Referring to fig. 4, the suction cup works on the principle that a vacuum pump is used for pumping out gas in the suction cup to enable the suction cup to be adsorbed on the glass wall surface, and the suction cup on the same side is collected to the electromagnetic valve on the side through a pipeline and connected to the vacuum pump to form a vacuum pumping system. The electromagnetic valve controls the suction or release of the suction disc through air suction, so that the vertical plate can realize free movement left and right and up and down when the transverse plate is fixed on the glass wall surface, and the transverse plate only needs to move left and right when the vertical plate is fixed.
Referring to fig. 6, the working states of the electromagnetic valve and the vacuum pump are realized by controlling the on-off of the power supply, and the relay array is used in the circuit to control the on-off of the power supply so as to realize the control of the electromagnetic valve and the vacuum pump, so that the robot can freely move on the glass wall surface. If the MCU controls the relay array to be conducted, the electromagnetic valve is controlled to be closed, the vacuum pump works, the gas in the corresponding sucker is pumped out, and the sucker can be adsorbed on the glass wall.
The vacuum pump adopts a small vacuum pump, so that the excessive power consumption of the vacuum pump is avoided, the robot is ensured to perform cleaning work on the glass curtain wall for a long time, and the cruising ability and the safety are improved.
Referring to fig. 5, the vacuum sensor is an MS5611-01BA high sensitivity vacuum sensor that is communicatively coupled to the MCU via an SPI communication protocol. And the vacuum degree sensor circuit is used for collecting the vacuum value in the sucker where the vacuum degree sensor circuit is currently positioned, sending the vacuum value to the MCU, and controlling the action of the electromagnetic valve and the vacuum pump by the MCU according to the vacuum value.
The cleaning system is a light rolling brush sleeved in the transverse plate 3 at the tail end of the transverse metal rod 6, the light rolling brush rolls along with the movement of the metal rod 6, and the glass wall is cleaned in the rolling process.
Referring to fig. 7, the power supply circuit includes a patch of LM7806 with an output voltage of 6V for supplying power to the steering engine, and a patch of LM7805 with an output voltage of 5V for supplying power to the second MCU and other modules.
Referring to fig. 9, the impact sensor is embedded in the outer edges of the transverse plate 3 and the vertical plate 1 of the wall climbing robot and controlled by the MCU. When the robot walks to the edge of the window to generate tiny impact, the micro switch is closed, the output level of VOUT is immediately set low, and the MCU responds to corresponding interruption to respond appropriately.
Control of the vacuum pump air pressure value:
referring to fig. 13, accurate control of the vacuum pump air pressure value is achieved by using a PID controller, so as to ensure that the air pressure difference between the vacuum pump air pressure and the external atmospheric pressure can enable the wall climbing robot to be closely adsorbed on the glass wall surface and not to fall, the PID controller is composed of a proportional unit (P), an integral unit (I) and a differential unit (D), and a differential equation of an output U (t) with respect to an input E (t) is as follows:
wherein: kp is the scaling factor; ti is a calculus time constant; td is the differential time constant.
The output of the proportional control is in proportional relation with the input error signal, and the output of the system has errors when only the proportional control exists; the output of the integral control is in direct proportion to the integral of the input error signal, and an integral link is introduced into the controller to eliminate steady-state error; the output of the differential control is proportional to the differential of the input error signal. In order to increase the cleaning speed, the time for fixing the suction cup at a certain position is required to be short in cleaning, the vacuum degree is not required to reach a steady state through I adjustment, and only a threshold value is required to be exceeded to reach reliable suction, so that PD control, namely 'proportional plus differential' control is adopted for controlling the vacuum pump, and the following formula is adopted:
wherein: kp is the scaling factor; kd is a differential coefficient, ki is an integral coefficient and let ki=0. Practice shows that the controller can well control the system.
Referring to fig. 14, the algorithm flow of the PD control algorithm, when the program enters the PD control adjustment function, the main control chip reads the vacuum pump air pressure value P0 at the current moment, calculates the air outlet pressure difference Δp from Δp=p-P0 (P is the atmospheric pressure), judges whether the air outlet pressure difference Δp exceeds the threshold value for enabling the robot to be reliably adsorbed on the glass, performs PD adjustment according to the set gain parameter if the air outlet pressure difference exceeds the threshold value, and performs air pressure sampling at the next moment if the air outlet pressure difference exceeds the threshold value.
Single step displacement calculation of robot:
the metal rod 6 is connected with a robot main body module (various circuits and an MCU are embedded in the metal rod), suckers in the upper direction, the lower direction, the left direction and the right direction, and the metal rod 6 and the middle main body 2 are movable.
The metal rod 6 is provided with a saw rack, and a gear on the output shaft of the steering engine drives the saw rack on the metal rod 6 to move, so as to drive the metal rod 6 to move.
The moving distance is closely related to the radius of the gear and the angle of the steering engine, and according to the bearing rotation principle, the moving distance of the robot is equal to the arc length L of the rotation of the gear.
Wherein, the arc length C corresponding to 360 DEG central angle is:
C＝2πr
the arc length l corresponding to the 1-degree central angle is:
l＝C/360°
the arc length L corresponding to the n-degree central angle is as follows:
L＝n°πr/180°
so the moving distance S is
S＝L＝n°πr/180°
It is known from m=f×l (M is the moment of force F on the rotation axis O) that the radius of the gear cannot be too large, and if the radius is too large, the moment arm of the steering engine is increased to increase the moment, so that the steering engine may crash, and therefore, the radius of the gear is smaller than the maximum torque of the steering engine. The gears with the radius of 3cm are adopted through multiple test comparison, and when the steering engine rotates 90 degrees, the single-step moving distance is calculated to be 4.71cm.
The working principle of adsorption wall climbing is as follows:
when the vertical plate 1 and the main plate 2 are in an adsorption state, the sucking disc of the transverse plate 3 is loosened, the transverse plate 3 is driven to move left and right by the horizontal sawtooth strips on the transverse rod driven by the first steering engine 8 on the main plate 2, the transverse cleaning is repeatedly carried out on the glass wall surface by the rolling brush in the transverse plate 3 at the tail end of the transverse metal rod 6 driven by friction force, the first steering engine 8 is closed when the last time moves to the right proper position of the movable range, the transverse plate 3 is stopped, and then the sucking disc is reused for adsorbing the transverse plate 3.
Loosening a sucker on the vertical plate 1, driving the vertical rod to move rightwards by the third steering engine 10 to a proper position, and then re-adsorbing the vertical plate 1; and then loosening the sucker of the main board 2, driving the main board 2 to move rightwards to a proper position by the second steering engine 9, and then re-adsorbing the main board 2. So far, after transverse cleaning, the transverse plate 3, the vertical plate 1 and the main plate 2 respectively move the same distance from the original point to the right, the whole transverse cleaning and the whole transverse cleaning move together with the sucker of the transverse rod device which is loosened for the second time, and the cycle is started again until the transverse cleaning of one row is completed.
Then when diaphragm 3, mainboard 2 are in the adsorption state, loosen riser 1 sucking disc, drive the vertical sawtooth strip on the montant by fourth steering wheel 11 on the mainboard 2 and move the montant and move down, be equipped with the movable crank connecting rod 4 in center and connect riser 1 in one end, the other end is connected mainboard 2, can cushion the downmovement of riser 1 in order to avoid the gear to skid, moreover the buffer strength is bigger more down, the lower speed that leads to down, thereby fourth steering wheel 11 can accurate control down move the terminal point in suitable position, riser 1 adsorbs fixedly thereupon.
A fifth steering engine 12 is led out of the vertical plate 1, and the fifth steering engine 12 can drive the vertical sawtooth strip on the main plate 2 to move down. After the suction cup of the diaphragm 3 is loosened, the diaphragm 3 is supported by the hanging rings 7 on the back surface of the main board 2, so that the diaphragm 3 is supported by the main board 2, the suction cup of the main board 2 is loosened again, then the main board 2 moves downwards together with the diaphragm 3, but is buffered by the crank connecting rod 4 with the movable center, the downwards moving speed is gradually slow, and the fifth steering engine 12 can accurately control the downwards moving end point of the main board 2 to be at a proper position, so that the whole downwards moving of the main board 2 and the diaphragm 3 after the vertical board 1 is completed once, and then the second row of transverse cleaning is prepared, namely, the cycle is performed.
Referring to fig. 10, according to an embodiment of the present application, a method for controlling a novel wall climbing robot host module of a high-rise glass window cleaning robot includes:
initializing hardware;
receiving an action instruction sent by a remote controller module;
judging the cleaning mode of the current action instruction;
if the current cleaning mode is judged to be an automatic cleaning mode, controlling the adsorption wall climbing system to clean according to a right-lower-left-lower-right circulation mode;
when the robot moves to the dead zone, the robot is separated from an automatic cleaning mode and enters a manual cleaning mode;
and if the current cleaning mode is the manual cleaning mode, controlling the wall climbing system to act according to the received action command sent by the remote controller.
Referring to fig. 11, a control method of a novel remote controller module of a high-rise glass window cleaning robot includes:
initializing hardware;
according to the pressing of a button by an operator, triggering interruption;
judging an action instruction assigned by an operator when the operator presses a button according to the interrupt signal;
and sending the assigned action instruction to the wall climbing robot host module.
A control method of a novel high-rise glass window cleaning robot comprises the following steps:
initializing hardware;
the remote controller module triggers interruption according to the pressing of a button by an operator;
judging an action instruction assigned by an operator when the operator presses a button according to the interrupt signal;
sending the assigned action instruction to a wall climbing robot host module;
the wall climbing robot host module receives an action instruction sent by the remote controller module;
judging the cleaning mode of the current action instruction;
if the current cleaning mode is judged to be an automatic cleaning mode, controlling the adsorption wall climbing system to clean according to a right-lower-left-lower-right circulation mode;
when the robot moves to the dead zone, the robot is separated from an automatic cleaning mode and enters a manual cleaning mode;
and if the current cleaning mode is the manual cleaning mode, controlling the wall climbing system to act according to the received action command sent by the remote controller.
When the wall climbing robot host module executes a cleaning task, the nRF905 chip receives signals, the MSP430F149 chip judges relative actions of the robot in a left-hand, right-hand, upward-hand, downward-hand or automatic mode working state, then judges whether the power supply module is in a low-voltage state according to signals acquired by the low-voltage detection module, if the power supply module is in the low-voltage state, the robot main control chip sends under-voltage signals to the remote controller module, and otherwise, the power supply module sends normal signals.
When the operator selects the automatic mode to work, the robot automatically cleans the glass wall surface, and the program realizes the automatic cleaning function of the robot through the control mode of the state machine. When the wall climbing robot automatically cleans and encounters a dead zone, the robot can be separated from an automatic cleaning mode and call for manual remote control, an operator is required to take over the robot to conduct manual remote control, the manual remote control cleaning keys are provided with an upper key, a lower key, a left key and a right key, and a controller can complete cleaning tasks by controlling the keys.
The control chip of the remote controller module adopts an MSP430F149 singlechip as well, the program starts to initialize hardware first, when an operator controls the remote controller to trigger interruption, the program automatically jumps to the interruption function program, judges which key (such as up, down, left, right, automatic mode and the like) is pressed by the operator according to the signal, assigns the value to a buffer and returns to the interruption site to continue executing the program of the main function.
The operation state of the wall climbing robot host module is as follows:
the automatic cleaning mode adopts a control mode of a state machine, so that the robot can be simply and effectively controlled to complete the cleaning task. In order to reduce power consumption and improve efficiency, the wall climbing robot firstly climbs to the upper left corner of the glass wall to be scrubbed when in cleaning work, and the proceeding direction from the upper left corner is as follows: the right-lower-left-lower-right scanning action cycle mode completes the cleaning function.
TABLE 1
Referring to fig. 12 and table 1, the state machine has 5 states: a start state S0, a left-to-right lateral purge S1, a downward movement S2, a right-to-left lateral purge S3, and an end state S4. The starting state S0 is a state when the robot is positioned at the left upper corner of the glass wall, at the moment, the sensors e1 and e3 can sense signals at the same time, and the robot automatically moves rightwards to carry out right transverse cleaning-is in the S1 state. When the robot moves to the right edge of the glass wall, the sensor e2 generates a sensing signal, the robot moves downwards, and the downward moving distance is set to be 4.71cm, namely, the state S2 is achieved. And then, the robot carries out transverse cleaning to the left, namely the S3 state. When the robot reaches the left edge of the glass wall, the sensor e1 generates a sensing signal, the robot moves downwards again, the moving distance is set to be 4.71cm, and then the robot moves rightwards to perform right-direction cleaning. And the cycle is repeated until the sensor e4 generates a sensing signal to start an interrupt program to stop moving downwards and start the last transverse cleaning when the robot moves downwards to the lower end of the glass wall, and when the cleaning of the row is finished, the sensing signal of e14 or e24 drives the robot to automatically enter an ending state S4 to jump out of an automatic cleaning mode.
The robot cleaning device has the advantages of small volume, light weight, good adsorption wall climbing and cleaning effect, high practicability and popularization, and can effectively solve the problems that the existing robot cleaning device for cleaning high-rise glass has certain limitations and poor cleaning effect.
Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.
Claims (9)
1. Novel high-rise glass window cleaning robot, its characterized in that: the wall climbing robot comprises a remote controller module and a wall climbing robot host module which is connected with the remote controller module through signals;
the remote controller module is internally provided with a first MCU; the first MCU is respectively connected with the alarm, the remote controller display module, the input controller button and the first communication module; a second MCU is arranged in the wall climbing robot host module; the second MCU is respectively connected with the cleaning system, the low-voltage detection circuit, the adsorption wall climbing system and the second communication module; the second communication module is in signal connection with the first communication module;
the adsorption wall climbing system comprises transverse plates respectively positioned at two lateral sides of the main plate and vertical plates respectively positioned at two vertical sides of the main plate; the two transverse plates and the two vertical plates are connected through metal rods; a plurality of rows of hanging rings are arranged at the bottom of the main board in parallel; the transverse metal rod passes through the hanging ring to connect the two transverse plates; the main board is connected with a first steering engine through a supporting pipe, and the first steering engine is meshed and connected with a horizontal sawtooth strip on the transverse metal rod; the transverse plate is connected with a second steering engine through a supporting pipe, and the second steering engine is meshed and connected with a horizontal rack arranged on the main board; the main board is connected with a third steering engine through a supporting pipe, and the third steering engine is meshed with a horizontal rack arranged on the vertical board; a fourth steering engine meshed with the vertical metal rod is arranged in the main board; the vertical plate is meshed and connected with a vertical sawtooth strip on the main plate through a supporting pipe and a fifth steering engine;
sucking the gas in the sucker by adopting a vacuum pump to enable the sucker to be adsorbed on the wall surface of the glass;
the control of the vacuum pump adopts PD control:
wherein: kp is the scaling factor; kd is a differential coefficient, ki is an integral coefficient and let ki=0;、/>、/>all are systematic errors;
when the program enters the PD control regulation function, the main control chip reads the current vacuum pump air pressure value P0, and the PD control algorithm is used for controlling the PD control regulation functionP is atmospheric pressure, calculating an air outlet pressure difference delta P, judging whether the air outlet pressure difference delta P exceeds a threshold value for enabling the robot to be reliably adsorbed on glass, if the air outlet pressure difference delta P exceeds the threshold value, performing PD regulation according to a set gain parameter, otherwise, performing air pressure sampling at the next moment;
when the vertical plate and the main plate are in an adsorption state, loosening the sucker of the transverse plate, driving the transverse plate to move left and right by a horizontal sawtooth strip on the transverse rod through a first steering engine on the main plate, driving a rolling brush in the transverse metal rod tail end transverse plate to repeatedly and transversely clean the glass wall surface through friction, closing the first steering engine when the glass wall surface moves to the right side of the movable range for the last time, stopping the movement of the transverse plate, and then adsorbing the transverse plate through the sucker again;
loosening a sucker on the vertical plate, driving the vertical rod to move rightwards by a third steering engine, and then re-adsorbing the vertical plate; loosening the main board sucker, driving the main board to move rightwards by the second steering engine, and then re-adsorbing the main board; so far, after transverse cleaning, the transverse plate, the vertical plate and the main plate respectively move the same distance from the original point to the right, one-time translation is integrally completed, and the actions of transverse cleaning firstly and then integral translation are started and circulated again along with the second loosening of the sucker of the transverse rod device until one-line transverse cleaning is completed;
then when the transverse plate and the main plate are in an adsorption state, loosening the vertical plate sucker, driving the vertical saw-tooth strip on the vertical rod to move the vertical rod downwards by a fourth steering engine on the main plate, wherein one end of a crank connecting rod with a movable center is connected with the vertical plate, the other end of the crank connecting rod is connected with the main plate, the downwards movement of the vertical plate can be buffered to avoid gear slipping, the fourth steering engine controls the downwards movement end position, and the vertical plate is adsorbed and fixed immediately;
a fifth steering engine is led out of the vertical plate and can drive the vertical sawtooth strip on the main plate to move down; after loosening the sucking disc of diaphragm, because the diaphragm is held by a plurality of link at the back of the mainboard, so the diaphragm is changed by the mainboard bearing, loosen the sucking disc of mainboard again, then the mainboard moves down together with the diaphragm, but receive the buffering of the movable crank connecting rod in above-mentioned center, the speed of moving down gradually slows down, thereby the final point of moving down of fifth steering wheel can accurate control mainboard also is in suitable position to accomplish the whole of moving down of riser earlier then mainboard, diaphragm, then prepare the horizontal washing of second line, so circulated promptly.
2. The novel high-rise glass window cleaning robot of claim 1, wherein: the first MCU and the second MCU are MSP430F149 serving as a master control chip; the first communication module and the second communication module are both NRF905 single-chip wireless communication modules.
3. The novel high-rise glass window cleaning robot of claim 2, wherein: the working frequency band of the NRF905 single-chip wireless communication module is 433/868/915MHz.
4. The novel high-rise glass window cleaning robot of claim 1, wherein: the vacuum sensor is an MS5611-01BA high-sensitivity vacuum sensor and is in communication connection with the second MCU through an SPI communication protocol.
5. The novel high-rise glass window cleaning robot of claim 1, wherein: the cleaning system comprises a light rolling brush sleeved on the cross-shaped alloy frame.
6. The novel high-rise glass window cleaning robot of claim 1, wherein: the wall climbing robot further comprises a power supply circuit for supplying power to the wall climbing robot host module; the power supply circuit comprises an LM7806 with an output voltage of 6V for supplying power to the steering engine and an LM7805 with an output voltage of 5V for supplying power to the second MCU and other modules.
7. The novel high-rise glass window cleaning robot according to any one of claims 1 to 6, wherein the control method of the wall climbing robot host module comprises the following steps:
initializing hardware;
receiving an action instruction sent by a remote controller module;
judging the cleaning mode of the current action instruction;
if the current cleaning mode is judged to be an automatic cleaning mode, controlling the adsorption wall climbing system to clean according to a right-lower-left-lower-right circulation mode;
when the robot moves to the dead zone, the robot is separated from an automatic cleaning mode and enters a manual cleaning mode;
and if the current cleaning mode is the manual cleaning mode, controlling the wall climbing system to act according to the received action command sent by the remote controller.
8. The novel high-rise glass window cleaning robot according to any one of claims 1 to 6, wherein the control method of the remote controller module comprises:
initializing hardware;
according to the pressing of a button by an operator, triggering interruption;
judging an action instruction assigned by an operator when the operator presses a button according to the interrupt signal;
and sending the assigned action instruction to the wall climbing robot host module.
9. The control method of the novel high-rise glass window cleaning robot according to any one of claims 1 to 6, comprising the steps of:
initializing hardware;
the remote controller module triggers interruption according to the pressing of a button by an operator;
judging an action instruction assigned by an operator when the operator presses a button according to the interrupt signal;
sending the assigned action instruction to a wall climbing robot host module;
the wall climbing robot host module receives an action instruction sent by the remote controller module;
judging the cleaning mode of the current action instruction;
if the current cleaning mode is judged to be an automatic cleaning mode, controlling the adsorption wall climbing system to clean according to a right-lower-left-lower-right circulation mode;
when the robot moves to the dead zone, the robot is separated from an automatic cleaning mode and enters a manual cleaning mode;
and if the current cleaning mode is the manual cleaning mode, controlling the wall climbing system to act according to the received action command sent by the remote controller.
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