CN112315389A

CN112315389A - Glass curtain wall cleaning robot

Info

Publication number: CN112315389A
Application number: CN202011318875.8A
Authority: CN
Inventors: 吴金龙; 陈应洪
Original assignee: Shenzhen Monster Robot Co ltd
Current assignee: Shenzhen Monster Robot Co ltd
Priority date: 2020-11-23
Filing date: 2020-11-23
Publication date: 2021-02-05

Abstract

The invention relates to a glass curtain wall cleaning robot, which comprises a vehicle body, wherein the vehicle body comprises a chassis and a support frame arranged on the chassis, the chassis is provided with a fixed plate and a shell, the support frame is fixedly arranged on the chassis, the fixed plate is fixedly arranged at the upper end of the support frame, and the shell is coated on the fixed plate; the position that lies in left side and right side on the chassis all is provided with running gear, the automobile body still includes adsorption apparatus, central authorities' rotatory sucking disc subassembly and clean subassembly, clean subassembly includes the water tank, miniature peristaltic pump, the clean cylinder manifold of front side and the clean cylinder manifold of rear side, water tank and miniature peristaltic pump are fixed respectively to be set up on the fixed plate, the fixed front side that sets up on the chassis of the clean cylinder manifold of front side, the fixed rear side that sets up on the chassis of the clean cylinder manifold of rear side, the water tank passes through the raceway and links to each other with the clean cylinder manifold of front side, miniature peristaltic pump sets up on the raceway. The invention has the characteristics of simple structure, safety, reliability and high cleaning efficiency.

Description

Glass curtain wall cleaning robot

Technical Field

The invention relates to a glass curtain wall cleaning robot.

Background

A cleaning robot generally comprises four modules: walking module, clean module, orientation module, path planning module, glass curtain wall cleaning machines people still need to add the absorption module, combs industry prior art according to above five modules. The adsorption module is currently in vacuum adsorption, negative pressure adsorption, bionic adsorption and other modes. The walking module generally has the modes such as wheel formula, crawler-type, multi-legged, but current glass curtain wall robot does not support to stride the seam. The cleaning module mainly cleans the wall surface by installing cleaning rags and wetting cleaning liquid on the cleaning rags.

Positioning module, most glass curtain wall robots of industry do not possess positioning system at present, adopt traditional control mode to cover cleanly, the mode that a small part adopted wheeled encoder cooperation inertia measuring unit is fixed a position, because glass curtain wall external condition factor is different, the condition that the robot skidded on the curtain track is different, this leads to wheeled encoder can't obtain accurate mileage information, the gesture information that inertia measuring unit provided simultaneously can produce the drift along with the change of time and temperature, the mileage information that leads to cleaning machines people drifts along with it. Therefore, the mode completely fails after the wheel slips, cannot adapt to complex scenes, cannot well complete the covering operation of the cleaning robot, is low in cleaning efficiency and has certain potential safety hazards.

The path planning module cuts a polygonal area by a group of parallel line segment sets which are parallel and have certain intervals in a traditional covering algorithm, acquires intersection points as target points of a covering path, and connects all the target points in series according to a certain sequence to form a complete covering path. The existing algorithm does not distinguish and separate two motions of linear walking and rotation, and the walking path of the cleaning robot is arc-shaped, so that the coverage rate is reduced; and if the cleaning robot does not distinguish and separate the straight line walking and the rotation, the central sucker cannot be used for adsorption when the cleaning robot rotates in place, so that the situation of gliding easily occurs during the rotation in place, and the gliding can influence the execution of the subsequent path of the cleaning robot and the cleaning efficiency. Meanwhile, the edge of the glass in the middle area is not considered in the existing algorithm, and the adsorption module is just positioned at the joint of the glass when the robot walks, so that the robot deviates from the line and even drops, and the overall cleaning effect is influenced.

Disclosure of Invention

In view of the above problems in the prior art, a primary object of the present invention is to provide a glass curtain wall cleaning robot with simple structure, safety and reliability, and high cleaning efficiency.

The technical scheme of the invention is as follows:

a glass curtain wall cleaning robot comprises a vehicle body, wherein the vehicle body comprises a chassis and a support frame arranged on the chassis, a fixed plate and a shell are arranged on the chassis, the support frame is fixedly arranged on the chassis, the fixed plate is fixedly arranged at the upper end of the support frame, and the shell is arranged on the fixed plate in a covering manner; the position that lies in left side and right side on the chassis all is provided with running gear, the automobile body is in walk under running gear's the drive, the automobile body still includes adsorption apparatus structure, central authorities' rotating chuck subassembly and clean subassembly, wherein: the adsorption mechanism comprises a first adsorption assembly, a second adsorption assembly, a third adsorption assembly and a fourth adsorption assembly, the first adsorption assembly and the second adsorption assembly are respectively and fixedly arranged on the left side of the chassis, the third adsorption assembly and the fourth adsorption assembly are respectively and fixedly arranged on the right side of the chassis, the cleaning assembly comprises a water tank, a micro peristaltic pump, a front side cleaning confluence plate and a rear side cleaning confluence plate, the water tank and the micro peristaltic pump are respectively and fixedly arranged on the fixing plate, the front side cleaning confluence plate is fixedly arranged on the front side of the chassis, the rear side cleaning confluence plate is fixedly arranged on the rear side of the chassis, the water tank is connected with the front side cleaning confluence plate through a water pipe, and the micro peristaltic pump is arranged on the water pipe.

The chassis is square, and the central rotary sucker component is fixedly arranged at the central position of the chassis.

The bottom of the front side cleaning bus plate and the bottom of the rear side cleaning bus plate are both adhered with cleaning rags through magic tapes.

Rotatory sucking disc subassembly of central authorities includes steering wheel fixed establishment, steering wheel mechanism, elevating system and rotatory adsorption apparatus structure, steering wheel mechanism is fixed to be set up on the steering wheel fixed establishment, wherein: the steering engine fixing mechanism comprises a steering engine fixing plate and a plurality of fixing support columns, the fixing support columns are vertically arranged, and the steering engine fixing plate is arranged at the top ends of the fixing support columns; the steering engine mechanism comprises a steering engine, a steering engine support, a steering engine arm and a steering engine arm support, the steering engine is fixedly arranged below the steering engine fixing plate through the steering engine support, a driving shaft of the steering engine is fixedly connected with one end of the steering engine arm, the other end of the steering engine arm is movably connected with one end of the steering engine arm support, and the other end of the steering engine arm support is movably connected with the lifting mechanism; the rotary adsorption mechanism is arranged at the lower end of the lifting mechanism, the lifting mechanism is driven by the steering engine mechanism to ascend and descend, and meanwhile the lifting mechanism drives the rotary adsorption mechanism to ascend and descend in the ascending and descending processes.

The number of the fixed supporting columns is four, the steering engine fixing plate is square, and the steering engine fixing plate is horizontally arranged at the top ends of the four fixed supporting columns.

Elevating system includes first fixed plate, second fixed plate, first guide rail, second guide rail, first slider, second slider and connecting plate, wherein: the first fixing plate is arranged on the left side below the steering engine fixing plate in the vertical direction, the first guide rail is fixedly arranged on the first fixing plate in the length direction, and the first sliding block is sleeved on the first guide rail and can slide up and down along the first guide rail; the second fixing plate is arranged on the right side below the steering engine fixing plate in the vertical direction, the second guide rail is fixedly arranged on the second fixing plate in the length direction, and the second sliding block is sleeved on the second guide rail and can slide up and down along the second guide rail; the left end of the connecting plate is fixedly arranged on the first sliding block, and the right end of the connecting plate is fixedly arranged on the second sliding block.

The lower extreme left side downwardly extending of connecting plate is provided with first installation department, the lower extreme right side downwardly extending of connecting plate is provided with the second installation department, rotatory adsorption apparatus construct through first installation department and second installation department with connecting plate fixed connection.

Rotatory adsorption apparatus constructs including central authorities' sucking disc, fixed disc, deep groove ball bearing, bearing frame and upper cover, wherein: the fixed disc is fixedly arranged at the upper end of the central sucker, a first cylindrical mounting convex part extends upwards from the upper surface of the fixed disc along the central axis, a second mounting convex part extends upwards from the upper surface of the first mounting convex part, a first fixed concave part is arranged on the outer side wall of the upper end of the second mounting convex part along the circumferential direction, and a first clamp spring is arranged in the first fixed concave part; the shape of bearing frame is cylindrical, the position of bearing frame edge the central axis is provided with positioning hole, the bearing frame is located positioning hole's lateral wall indent is formed with the installation concave part, deep groove ball bearing activity sets up in the installation concave part, just deep groove ball bearing cover is established on the second installation convex part.

Running gear includes driving motor, drive wheel, rubber track, take-up pulley and synchronizing wheel, wherein: an output shaft of the driving motor is fixedly connected with the driving wheel, and the driving wheel is driven by the driving motor to rotate; the driving wheel drives the synchronizing wheel to rotate through the rubber crawler, and a plurality of tensioning wheels are arranged between the driving wheel and the synchronizing wheel.

The braced frame includes first backup pad, second backup pad, third backup pad and fourth backup pad, wherein: the first supporting plate is arranged on the left side wall of the chassis in the length direction, the second supporting plate is arranged on the front side wall of the chassis in the length direction, the third supporting plate is arranged on the right side wall of the chassis in the length direction, and the fourth supporting plate is arranged on the rear side wall of the chassis.

The invention has the following advantages and beneficial effects: the glass curtain wall cleaning robot provided by the embodiment of the invention can realize full-coverage cleaning operation of large-scale indoor and outdoor glass curtain wall clusters, increases the adaptability to complex environments, improves the degree of automation, reduces the labor cost, reduces the potential safety hazard of manual cleaning and improves the cleaning efficiency.

Drawings

Fig. 1 is a schematic top view of a glass curtain wall cleaning robot according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of a glass curtain wall cleaning robot according to an embodiment of the present invention.

Fig. 3 is a schematic top view of the glass curtain wall cleaning robot provided in the embodiment of the present invention, with the housing and the fixing plate removed.

Fig. 4 is a schematic top view of the glass curtain wall cleaning robot provided in the embodiment of the present invention, with the housing removed.

Fig. 5 is a schematic view of a glass curtain wall cleaning robot provided by the embodiment of the invention for acquiring a glass boundary.

Fig. 6 is a schematic view of a walking path of the glass curtain wall cleaning robot provided in the embodiment of the present invention during cleaning.

Fig. 7 is a schematic perspective view of a central rotating chuck assembly according to an embodiment of the present invention.

FIG. 8 is an exploded view of a central rotating chuck assembly according to an embodiment of the present invention.

Fig. 9 is a schematic structural diagram of a central swivel suction cup assembly with a rudder in a standby state according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a rudder in a central swivel suction cup assembly according to an embodiment of the present invention in an operating state.

Fig. 11 is an enlarged exploded schematic view of a rotary adsorption mechanism according to an embodiment of the present invention.

Fig. 12 is an enlarged exploded view of the rotary suction mechanism of the present invention with the rotatable air tube connector and the upper cover removed.

Fig. 13 is a schematic front view of a rotary adsorption mechanism according to an embodiment of the present invention.

Fig. 14 is a schematic sectional view in the direction of a-a in fig. 13.

Fig. 15 is a schematic cross-sectional view of the central sucking disk, the fixing disk, the bearing seat and the upper cover according to the embodiment of the present invention.

Fig. 16 is an enlarged cross-sectional structural schematic view of a bearing seat according to an embodiment of the present invention.

Fig. 17 is an enlarged perspective view of the upper cover according to the embodiment of the present invention.

Fig. 18 is an enlarged perspective view of a bearing seat according to an embodiment of the present invention.

Detailed Description

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1 to 18: the glass curtain wall cleaning robot provided by the embodiment of the invention comprises a vehicle body 100, wherein the vehicle body 100 comprises a chassis 101 and a supporting frame arranged on the chassis 101, the chassis 101 is provided with a fixing plate 104 and a shell 105, the supporting frame is fixedly arranged on the chassis 101, the fixing plate 104 is fixedly arranged at the upper end of the supporting frame, and the shell 105 is arranged on the fixing plate 104 in a covering manner; the position that lies in left side and right side on chassis 101 all is provided with running gear, automobile body 100 is in walk under running gear's the drive, automobile body 100 still includes adsorption apparatus structure, the rotatory sucking disc subassembly of central authorities and clean subassembly, wherein: the adsorption mechanism includes a first adsorption component 210, a second adsorption component 220, a third adsorption component 230 and a fourth adsorption component 240, the first adsorption assembly 210 and the second adsorption assembly 220 are respectively and fixedly arranged at the left side of the base plate 101, and the third adsorption assembly 230 and the fourth adsorption assembly 240 are respectively and fixedly arranged at the right side of the chassis 101, the cleaning assembly includes a water tank 250, a micro peristaltic pump 251, a front side cleaning manifold 252 and a back side cleaning manifold 253, the water tank 250 and the micro peristaltic pump 251 are respectively fixedly disposed on the fixing plate 104, the front side cleaning confluence plate 252 is fixedly arranged at the front side of the base plate 101, the rear side cleaning confluence plate 253 is fixedly arranged at the rear side of the base plate 101, the water tank 250 is connected to the front side cleaning manifold 252 through a water pipe (not shown), and the micro peristaltic pump 251 is disposed on the water pipe.

The chassis 101 is square, and the central rotary sucker assembly is fixedly arranged at the center of the chassis 101.

Cleaning rags (not shown) are adhered to the bottoms of the front side cleaning bus plate 252 and the rear side cleaning bus plate 253 through magic tapes. When the cleaning robot moves, the cleaning liquid is extracted from the water tank 250 by the micro peristaltic pump 251 and is conveyed to the front side cleaning confluence plate 252, the cleaning rag adhered to the front side cleaning confluence plate 252 through magic tape is wetted, the cleaning rag wetted at the front side and the dry cleaning rag adhered to the rear side cleaning confluence plate 253 through magic tape are pressed on the wall surface of the glass curtain wall by the vehicle body 100 of the cleaning robot, the cleaning robot drives the front cleaning rag and the rear cleaning rag to move when moving, and the cleaning of wall surface stains and the wiping of water stains are realized.

A first positioning through hole 106 and a second positioning through hole 107 are respectively arranged at the left side and the right side of the chassis 101, and a rubber track 112 is arranged in each of the first positioning through hole 106 and the second positioning through hole 107. With the above design, the traveling mechanisms are disposed at the left and right sides of the bottom of the vehicle body 100.

The support frame includes a first support plate 121, a second support plate 122, a third support plate 123, and a fourth support plate 124, wherein: the first supporting plate 121 is disposed on the left side wall of the chassis 101 along the length direction, the second supporting plate 122 is disposed on the front side wall of the chassis 101 along the length direction, the third supporting plate 123 is disposed on the right side wall of the chassis 101 along the length direction, and the fourth supporting plate 124 is disposed on the rear side wall of the chassis 101.

The height of first backup pad 121, second backup pad 122, third backup pad 123 and fourth backup pad 124 is all the same, just first backup pad 121, second backup pad 122, third backup pad 123 and fourth backup pad 124 are integrated into one piece, and then can improve the fastness that first backup pad 121, second backup pad 122, third backup pad 123 and fourth backup pad 124 combined together, and the fail safe nature obtains the improvement of certain degree, and then reaches extension braced frame's life's purpose.

The central rotary sucker component comprises a steering engine fixing mechanism, a steering engine mechanism, a lifting mechanism and a rotary adsorption mechanism, wherein the steering engine mechanism is fixedly arranged on the steering engine fixing mechanism, the steering engine fixing mechanism comprises a steering engine fixing plate 321 and a plurality of fixed supporting columns 322, the plurality of fixed supporting columns 322 are vertically arranged, the steering engine fixing plate 321 is arranged at the top ends of the plurality of fixed supporting columns 322, the steering engine mechanism comprises a steering engine 390, a steering engine bracket 391, a steering engine arm 392 and a steering engine arm bracket 393, the steering engine 390 is fixedly arranged below the steering engine fixing plate 321 through the steering engine bracket 391, a driving shaft (not shown in the figure) of the steering engine 390 is fixedly connected with one end of the steering engine arm 392, the other end of the steering engine arm 392 is movably connected with one end of the steering engine arm bracket 393, and the other end of the steering engine arm bracket 393 is movably connected with the lifting mechanism, the rotary adsorption mechanism is arranged at the lower end of the lifting mechanism, the lifting mechanism is driven by the steering engine mechanism to ascend and descend, and meanwhile the lifting mechanism drives the rotary adsorption mechanism to ascend and descend in the ascending and descending processes.

A plurality of fixed support column 322's quantity is four, the shape of steering wheel fixed plate 321 is square, just steering wheel fixed plate 321 level sets up four the top of fixed support column 322. Through the setting, also the quantity design of fixed support column 322 is 4, and then can make the steady and safe setting of steering wheel fixed plate 321 at the top of four fixed support column 322, fail safe nature obtains the promotion of certain degree.

Among four fixed support columns 322, two fixed support columns 322 set up respectively steering wheel fixed plate 321 left front end and rear end, and two in addition fixed support columns 322 set up respectively steering wheel fixed plate 321 right side front end and rear end. Concretely, can be provided with four fixed orificess 380 on steering wheel fixed plate 321, and the upper end of fixed stay 322 is provided with fixed part 383, just fixed part 383 sets up in fixed orificess 380, also promptly fixed stay 322's upper end is through fixed part 383 and fixed orificess 380 cooperation and steering wheel fixed plate 321 fixed connection, and fail safe nature obtains further promotion, and then can make fixed stay 322 and steering wheel fixed plate 321 combine together more firmly to reach the life that prolongs this cleaning machines uses fixed point and turn to the device.

The lifting mechanism includes a first fixing plate 323, a second fixing plate 324, a first guide rail 325, a second guide rail 326, a first slider 327, a second slider 328, and a connecting plate 329, wherein: the first fixing plate 323 is arranged on the left side below the steering engine fixing plate 321 along the vertical direction, the first guide rail 325 is fixedly arranged on the first fixing plate 323 along the length direction, and the first sliding block 327 is sleeved on the first guide rail 325 and can slide up and down along the first guide rail 325; the second fixing plate 324 is vertically arranged on the right side below the steering engine fixing plate 321, the second guide rail 326 is fixedly arranged on the second fixing plate 324 along the length direction, and the second sliding block 328 is sleeved on the second guide rail 326 and can slide up and down along the second guide rail 326; the left end of the connecting plate 329 is fixedly arranged on the first slide block 327, and the right end of the connecting plate 329 is fixedly arranged on the second slide block 328. Through the above design, that is, the lower ends of the first fixing plate 323 and the second fixing plate 324 are respectively fixed on the body of the cleaning robot through the fastening bolts, the first guide rail 325 is fixed on the first fixing plate 323 through the fastening screws, and the second guide rail 326 is fixed on the second fixing plate 324 through the fastening screws, so that the firmness of the combination of the first guide rail 325 and the first fixing plate 323 and the firmness of the combination of the second guide rail 326 and the second fixing plate 324 are improved; in addition, the first sliding block 327 is sleeved on the first guide rail 325 and can freely slide up and down along the first guide rail 325, and the second sliding block 328 is sleeved on the second guide rail 326 and can freely slide up and down along the second guide rail 326; meanwhile, since one end of the connection plate 329 is fixedly provided to the first slider 327 by a screw and the other end of the connection plate 329 is fixedly provided to the second slider 328 by a screw, the connection plate 329 moves up and down along the first and

second guide rails

325 and 326 by the first and

second sliders

327 and 328.

The lower end left side downwardly extending of connecting plate 329 is provided with first installation department 381, the lower end right side downwardly extending of connecting plate 329 is provided with second installation department 382, rotatory adsorption mechanism pass through first installation department 381 and second installation department 382 with connecting plate 329 fixed connection. Through the above design, that is, the left side and the right side of the lower end of the connecting plate 329 are respectively provided with the first mounting part 381 and the second mounting part 382 in a downward extending manner, so that the firmness of combining the first mounting part 381 and the second mounting part 382 with the connecting plate 329 can be improved, and the safety and reliability are improved; meanwhile, the first mounting portion 381 and the second mounting portion 382 are respectively fastened and connected with the rotary suction mechanism through fastening bolts, so that the purpose of firmly connecting the rotary suction mechanism with the connecting plate 329 is achieved, and the service life of the fixed-point steering device for the cleaning robot is further prolonged.

The rotary adsorption mechanism comprises a central suction disc 394, a fixed disc 395, a deep groove ball bearing 396, a bearing seat 397 and an upper cover 398, wherein: the fixed disc 395 is fixedly arranged at the upper end of the central suction disc 394, a cylindrical first mounting convex part 401 extends upwards from the upper surface of the fixed disc 395 along the position of the central axis, a second mounting convex part 402 extends upwards from the upper surface of the first mounting convex part 401, a first fixing concave part 440 is arranged on the outer side wall of the upper end of the second mounting convex part 402 along the circumferential direction, and a first clamp spring 441 is arranged in the first fixing concave part 440; the bearing seat 397 is cylindrical, a positioning through hole 404 is formed in the position, along the central axis, of the bearing seat 397, an installation concave portion 403 is formed in the concave portion of the side wall of the positioning through hole 404 of the bearing seat 397, the deep groove ball bearing 396 is movably arranged in the installation concave portion 403, and the deep groove ball bearing 396 is sleeved on the second installation convex portion 402. Through the design, namely, the upper end of the fixed disc 395 is sequentially provided with the first mounting convex part 401 and the second mounting convex part 402 in an upward extending manner, so that the firmness of the combination of the first mounting convex part 401 and the second mounting convex part 402 with the fixed disc 395 is improved; further, the mounting recess 403 is formed in the bearing housing 397 so as to be recessed in the inner wall of the positioning through hole 404, and the deep groove ball bearing 396 is disposed in the mounting recess 403, whereby the safety and reliability are improved.

A second fixing recess 480 is formed in the lower circumferential direction of the inner side wall of the mounting recess 403 of the bearing seat 397, a second snap spring 444 is arranged in the second fixing recess 480, and when the deep groove ball bearing 396 is mounted in the mounting recess 403, the lower surface of the deep groove ball bearing 396 abuts against the second snap spring 444. Through the above design, that is, the second fixing recess 480 is formed at the lower portion of the inner side wall of the mounting recess 403 on the bearing seat 397 in a concave manner along the circumferential direction, the inner diameter of the second fixing recess 480 is larger than that of the mounting recess 403, the second snap spring 444 is mounted in the second fixing recess 480, the deep groove ball bearing 396 can be stably and firmly located in the mounting recess 403 through the second snap spring 444, that is, the deep groove ball bearing 396 is well supported by the second snap spring 444, the deep groove ball bearing 396 can be prevented from slipping off from the mounting recess 403, and the safety and reliability are improved.

The upper cover 398 is cylindrical, the upper cover 398 is fixedly arranged on the upper surface of the bearing seat 397, a third mounting convex portion 399 is arranged on the upper surface of the upper cover 398 in an upward extending mode along the central axis, a mounting hole 405 is arranged in the third mounting convex portion 399, the mounting hole 405 penetrates through the upper cover 398, an opening 406 communicated with the mounting hole 405 is arranged on the side wall of the third mounting convex portion 399, and the opening 406 extends to the upper surface of the third mounting convex portion 399.

The rotary suction mechanism further comprises a rotatable air pipe connector 385, the rotatable air pipe connector 385 is arranged in the mounting hole 405, the lower end of the rotatable air pipe connector 385 is fixedly connected with the second mounting convex part 402, and the rotatable air pipe connector 385 is communicated with the suction cavity 400 of the central suction disc 394.

A first fixing convex portion 407 and a second fixing convex portion 408 are respectively arranged on the left side and the right side of the outer side wall of the third mounting convex portion 399 on the upper surface of the upper cover 398, the first fixing convex portion 407 is fixedly connected with the first mounting portion 381, and the second fixing convex portion 408 is fixedly connected with the second mounting portion 382; the first installation part 381 and the second installation part 382 are located between the first guide rail 325 and the second guide rail 326, a first installation groove 409 is arranged in the first fixing convex part 407, the first installation part 381 is arranged in the first installation groove 409 and connected through a fastening bolt, a second installation groove 410 is arranged in the second fixing convex part 408, and the second installation part 382 is arranged in the second installation groove 410 and connected through a fastening bolt.

Traveling mechanisms are arranged at the left side and the right side of the chassis 101, and the mobile robot moves under the driving of the traveling mechanisms. Wherein: the running gear includes driving motor 110, drive wheel 111, rubber track 112, take-up pulley 113 and synchronizing wheel 114, wherein: an output shaft of the driving motor 110 is fixedly connected with the driving wheel 111, and the driving wheel 111 rotates under the driving of the driving motor 110; the driving wheel 111 rotates the synchronizing wheel 114 via the rubber crawler 112, and a plurality of tension wheels 113 are provided between the driving wheel 111 and the synchronizing wheel 114. Through above-mentioned design, when the rubber track provided the absorption subassembly and adsorbs, the frictional force of cleaning machines people and wall made the absorption that cleaning machines people can be stable on the wall to drive through driving motor 110 can be on the smooth-going removal of wall. When the cleaning robot needs to rotate, a steering engine arranged on a central rotary sucker module at the center of a vehicle body 100 of the cleaning robot pushes a lifting mechanism, a sucker on a rotary adsorption mechanism is attached to a wall surface, then the sucker is adsorbed on the wall surface through an air pump, and then the robot is enabled to accurately turn around the sucker at a fixed point through forward and reverse rotation of the crawler belts on two sides.

Because the fixed setting of central authorities' rotatory sucking disc subassembly is in on the automobile body 100 to reinforcing cleaning machines people turns to the accuracy of angle, realizes that the precision of cleaning machines people fixed point turns to, reduces the influence to the clean route of planning, and the clean coverage of increase robot has increased the adaptability to complex environment, has realized complete autonomic traveling, reduces the human cost, has maintained stable clean effect, and clean efficiency promotes greatly.

Specifically, the central suction cup of the central rotary suction cup assembly of the embodiment of the present invention is installed at the rotation center of the cleaning robot in an ideal state, the first fixing plate 323, the second fixing plate 324 and the four fixing support columns 322 are fixed on the chassis of the cleaning robot, when the cleaning robot normally moves forward or moves backward, the central rotary suction cup assembly of the embodiment of the present invention is in a standby state, when the cleaning robot needs to rotate by an angle to change the direction of travel, the walking assembly of the cleaning robot stops working first, the cleaning robot is in a stationary state, the steering engine 390 rotates to drive the rudder arm 392 and the steering engine arm support 393 to push the lifting mechanism to move downward, the lifting mechanism drives the rotary suction mechanism to move downward, when the central suction cup 394 is tightly attached to the wall surface, the steering engine 390 stops rotating and locks, and then the rotatable air pipe joint 385 and the external vacuum pump are passed through, air in the central suction cup 394 is pumped out, the central suction cup 394 is tightly attached to the wall surface under the atmospheric pressure, the walking assembly of the cleaning robot continues to work at the moment, the walking assemblies on the two sides rotate forwards and backwards to enable the vehicle body of the robot cleaner to rotate by a certain angle, at the moment, the parts, connected with the fixed disc 395, of the inner ring of the deep groove ball bearing 396, the shaft check ring and the rotatable air pipe joint 385 are static and do not move, the rest parts of the central rotary suction cup assembly rotate together with the vehicle body, after the preset angle is reached, the walking assembly stops working, the cleaning robot is in a static state, the vacuum pump stops pumping, the air pressure inside and outside the central suction cup 394 reaches a balanced state, and then the steering engine 390 rotates reversely to drive the steering engine arm 392 and the steering engine arm support 393 to push.

According to the glass curtain wall cleaning robot provided by the embodiment of the invention, the vehicle body 100 is further provided with a positioning system, the positioning system comprises an inertia measurement unit 102, a wheel type encoder 103 and a plurality of cameras, wherein: the inertial measurement unit 102 is used for acquiring IMU data of the environment where the cleaning robot is located to obtain attitude information of the cleaning robot; the wheel type encoder 103 is used for acquiring the wheel speed of the cleaning robot, and then performing track deduction by combining the posture information of the cleaning robot to obtain the wheel type mileage of the cleaning robot; acquiring multi-angle image data of the environment where the cleaning robot is located through a plurality of cameras, then performing semantic segmentation or end-to-end learning and other methods through a deep learning model, extracting boundary data of a single array where the cleaning robot is located, and then projecting the boundary data; matching the projected boundary data with the array boundary data in a preset or real-time constructed map coordinate system, calculating a re-projection error, and obtaining the visual mileage of the cleaning robot which enables the re-projection error to be minimum through nonlinear optimization; and then the visual mileage and the wheel-type mileage are fused through an extended Kalman filter to obtain the final pose of the cleaning robot, so that the positioning function is realized.

Specifically, the plurality of cameras include a first camera 131, a second camera 132, and a third camera 133, where: the first camera 131 is fixedly disposed on an outer side wall of a left end of the second support plate 122, the second camera 132 is fixedly disposed on an outer side wall of the second support plate 122 along a central position of the second support plate in a length direction, and the third camera 133 is fixedly disposed on an outer side wall of a right end of the second support plate 122. Meanwhile, the first camera 131, the second camera 132 and the third camera 133 are all 1080p 130-degree wide-angle cameras.

The glass curtain wall cleaning robot provided by the embodiment of the invention can obtain a basic global positioning through the close coupling of the wheel type encoder 103 and the inertia measurement unit 102, and the positioning is mainly used for global image construction and ensuring the basic positioning requirement of the cleaning robot when visual information is lost; the invention adopts three external cameras (namely a first camera 131, a second camera 132 and a third camera 133) to cooperate with the semantic SLAM technology to provide a floating-free and accurate visual positioning information for the cleaning robot by using the glass boundary as the perception information.

Specifically, the positioning of the invention is obtained by fusing wheel mileage and visual mileage. And wheel type mileage is obtained by directly using the attitude information measured by the inertia measurement unit as the attitude information deduced by the track of the wheel type encoder and combining the wheel speed obtained by the encoder and tightly coupling the two. The vision mileage is that the traditional vision positioning technology is difficult to obtain a better effect on the glass curtain wall because the number of reference objects which can be used for positioning on the glass curtain wall is small and the scene similarity is high. The invention applies semantic SLAM technology, obtains environment pictures through three external 1080P 130-degree wide-angle cameras, performs semantic segmentation or end-to-end learning and other methods through a deep learning model, extracts the boundary of a single piece of glass (comprising effective characteristics such as glass suspension edges, connecting lines between the glass and a wall surface, and the connectivity between the glass and a metal frame, wherein the material comprises rubber, plastic and the like), matches the boundary with a map which is built in advance or in real time, calculates a reprojection error, and obtains the pose of a robot which enables the reprojection error to be minimum through nonlinear optimization. In consideration of the situation that visual information is possibly lost in a complex environment, the two positioning methods are fused through the extended Kalman filter, and finally a global, reliable, accurate and stable positioning system is formed.

The path planning method comprises a global path planning part and a local path planning part, wherein all target points which can cover the whole operation area are obtained through the global path, the real-time speed planning of reaching the target points is obtained through the local path planning part, and the coverage cleaning of the whole area can be completed by sequentially visiting all the target points. Local path planning is implemented by the DWA algorithm. Global path planning, the invention makes the following improvements and innovations on the traditional coverage algorithm: (1) when all the glasses are treated as a polygonal area to be integrally covered and cleaned, the information of whether all the single glasses are cleaned or not is reserved, so that after the robot terminates the operation due to factors such as accidents and the like, the robot can directly start the operation from the previously recorded uncleaned area without completely cleaning again; (2) when the path is generated, the linear walking part is separated from the rotating part so as to be matched with the work of the central sucker, so that the robot is prevented from sliding downwards during rotation, and the coverage rate and the walking efficiency of the mobile robot are improved; (3) the edge area is specially processed, when the residual width is smaller than the fixed interval, the glass area can be completely covered by adjusting, and meanwhile, the problem that the adsorption assembly walks to the position above the glass joint seam is solved.

The positioning system can provide centimeter-level global non-floating positioning information for the mobile robot, and the positioning system can accurately acquire the sliding information of the mobile robot on the glass plane and the photovoltaic plane. After visual information is lost, basic positioning requirements of the mobile robot can be guaranteed within a certain time range through a wheel speed meter and inertial navigation, and the mobile robot can complete high-precision tasks such as point-to-point navigation, area coverage and the like in a complex glass scene. The positioning method has extremely high robustness and accuracy, the cost of the positioning method is extremely low (low-cost sensor and certain calculation cost), and meanwhile, the array boundary information for visual positioning is the basic information of all glass array scenes and photovoltaic array scenes, so the positioning method also has very high applicability; for other array scenes with similar boundary information, centimeter-level positioning effect can be obtained by the positioning method provided by the invention.

Therefore, the invention specifically extracts the glass boundary information under the glass scene by a deep learning method based on the semantic SLAM technology, establishes a plane 2D map containing all glass boundary information (a gap between glass, a connecting line between glass and a wall surface, a connecting line between glass and a metal frame, a boundary at a glass suspension position and the like, and the materials comprise rubber, plastic and the like), and then obtains centimeter-level visual positioning information based on the map. It should be noted that if there is only one piece of glass boundary information in the camera range during positioning, only the distance of the robot relative to the line and the orientation of the robot can be obtained at this time, and the position information of the robot along the line segment direction cannot be obtained.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a glass curtain wall cleaning machines people which characterized in that: the vehicle comprises a vehicle body, wherein the vehicle body comprises a chassis and a supporting frame arranged on the chassis, the chassis is provided with a fixed plate and a shell, the supporting frame is fixedly arranged on the chassis, the fixed plate is fixedly arranged at the upper end of the supporting frame, and the shell is coated on the fixed plate; the position that lies in left side and right side on the chassis all is provided with running gear, the automobile body is in walk under running gear's the drive, the automobile body still includes adsorption apparatus structure, central authorities' rotating chuck subassembly and clean subassembly, wherein: the adsorption mechanism comprises a first adsorption assembly, a second adsorption assembly, a third adsorption assembly and a fourth adsorption assembly, the first adsorption assembly and the second adsorption assembly are respectively and fixedly arranged on the left side of the chassis, the third adsorption assembly and the fourth adsorption assembly are respectively and fixedly arranged on the right side of the chassis, the cleaning assembly comprises a water tank, a micro peristaltic pump, a front side cleaning confluence plate and a rear side cleaning confluence plate, the water tank and the micro peristaltic pump are respectively and fixedly arranged on the fixing plate, the front side cleaning confluence plate is fixedly arranged on the front side of the chassis, the rear side cleaning confluence plate is fixedly arranged on the rear side of the chassis, the water tank is connected with the front side cleaning confluence plate through a water pipe, and the micro peristaltic pump is arranged on the water pipe.

2. The glass curtain wall cleaning robot as claimed in claim 1, wherein the chassis is square in shape, and the central rotary sucker assembly is fixedly disposed at a central position of the chassis.

3. The glass curtain wall cleaning robot as claimed in claim 2, wherein cleaning rags are adhered to the bottoms of the front side cleaning bus plate and the rear side cleaning bus plate through magic tapes.

4. The glass curtain wall cleaning robot as claimed in any one of claims 1-3, wherein the central rotary sucker assembly comprises a steering engine fixing mechanism, a steering engine mechanism, a lifting mechanism and a rotary adsorption mechanism, the steering engine mechanism is fixedly arranged on the steering engine fixing mechanism, and the steering engine fixing mechanism comprises:

the steering engine fixing mechanism comprises a steering engine fixing plate and a plurality of fixing support columns, the fixing support columns are vertically arranged, and the steering engine fixing plate is arranged at the top ends of the fixing support columns;

the steering engine mechanism comprises a steering engine, a steering engine support, a steering engine arm and a steering engine arm support, the steering engine is fixedly arranged below the steering engine fixing plate through the steering engine support, a driving shaft of the steering engine is fixedly connected with one end of the steering engine arm, the other end of the steering engine arm is movably connected with one end of the steering engine arm support, and the other end of the steering engine arm support is movably connected with the lifting mechanism;

the rotary adsorption mechanism is arranged at the lower end of the lifting mechanism, the lifting mechanism is driven by the steering engine mechanism to ascend and descend, and meanwhile the lifting mechanism drives the rotary adsorption mechanism to ascend and descend in the ascending and descending processes.

5. The glass curtain wall cleaning robot as claimed in claim 4, wherein the number of the fixed support columns is four, the steering engine fixing plate is square, and the steering engine fixing plate is horizontally arranged at the top ends of the four fixed support columns.

6. The glass curtain wall cleaning robot of claim 4, wherein the lifting mechanism comprises a first fixing plate, a second fixing plate, a first guide rail, a second guide rail, a first slider, a second slider, and a connecting plate, wherein:

the first fixing plate is arranged on the left side below the steering engine fixing plate in the vertical direction, the first guide rail is fixedly arranged on the first fixing plate in the length direction, and the first sliding block is sleeved on the first guide rail and can slide up and down along the first guide rail;

the second fixing plate is arranged on the right side below the steering engine fixing plate in the vertical direction, the second guide rail is fixedly arranged on the second fixing plate in the length direction, and the second sliding block is sleeved on the second guide rail and can slide up and down along the second guide rail; the left end of the connecting plate is fixedly arranged on the first sliding block, and the right end of the connecting plate is fixedly arranged on the second sliding block.

7. The glass curtain wall cleaning robot as claimed in claim 6, wherein a first mounting part is arranged on the left side of the lower end of the connecting plate in a downward extending mode, a second mounting part is arranged on the right side of the lower end of the connecting plate in a downward extending mode, and the rotary adsorption mechanism is fixedly connected with the connecting plate through the first mounting part and the second mounting part.

8. The glass curtain wall cleaning robot as claimed in claim 7, wherein the rotary suction mechanism comprises a central sucker, a fixed disc, a deep groove ball bearing, a bearing seat and an upper cover, wherein:

the fixed disc is fixedly arranged at the upper end of the central sucker, a first cylindrical mounting convex part extends upwards from the upper surface of the fixed disc along the central axis, a second mounting convex part extends upwards from the upper surface of the first mounting convex part, a first fixed concave part is arranged on the outer side wall of the upper end of the second mounting convex part along the circumferential direction, and a first clamp spring is arranged in the first fixed concave part;

the shape of bearing frame is cylindrical, the position of bearing frame edge the central axis is provided with positioning hole, the bearing frame is located positioning hole's lateral wall indent is formed with the installation concave part, deep groove ball bearing activity sets up in the installation concave part, just deep groove ball bearing cover is established on the second installation convex part.

9. The glass curtain wall cleaning robot according to any one of claims 1-3, wherein the traveling mechanism comprises a driving motor, a driving wheel, a rubber track, a tension wheel and a synchronizing wheel, wherein: an output shaft of the driving motor is fixedly connected with the driving wheel, and the driving wheel is driven by the driving motor to rotate; the driving wheel drives the synchronizing wheel to rotate through the rubber crawler, and a plurality of tensioning wheels are arranged between the driving wheel and the synchronizing wheel.

10. The glass curtain wall cleaning robot of claim 4, wherein the support frame comprises a first support plate, a second support plate, a third support plate, and a fourth support plate, wherein: the first supporting plate is arranged on the left side wall of the chassis in the length direction, the second supporting plate is arranged on the front side wall of the chassis in the length direction, the third supporting plate is arranged on the right side wall of the chassis in the length direction, and the fourth supporting plate is arranged on the rear side wall of the chassis.