CN114947647A

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

Info

Publication number: CN114947647A
Application number: CN202210573213.8A
Authority: CN
Inventors: 阎玉芹; 曲京儒; 孙捷; 路来骁; 付娜; 褚福水; 卓越; 郑明皓
Original assignee: Shandong Jianzhu University
Current assignee: Shandong Jianzhu University
Priority date: 2022-05-25
Filing date: 2022-05-25
Publication date: 2022-08-30
Anticipated expiration: 2042-05-25
Also published as: CN114947647B

Abstract

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

Description

Intelligent cleaning robot for glass curtain wall and use method thereof

Technical Field

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

Background

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

Most of the prior art solutions only aim at certain specific and local functions, and lack an integrated intelligent cleaning robot.

For example, based on safety considerations, in the adsorption mode, suction by a suction cup or negative pressure attachment by a turbofan is common, it can be seen that most of the non-magnetic-conductive wall surfaces adopt negative pressure adsorption by a sealed cavity, and a machine is attached to a glass curtain wall by using negative pressure generated by a fan rotating at a high speed.

For example, in the movement mode, the wheel type wall climbing robot is generally difficult to cross when meeting obstacles and cannot adapt to window frames between some glass curtain walls; although the obstacle crossing performance of the foot type wall climbing robot is excellent, the overall stability is poor during movement, and a cleaning tool cannot be carried to carry out cleaning operation; although the crawler-type wall climbing robot has a high moving speed, the steering performance is poor.

For another example, in the intelligent cleaning and purifying field, when most of curtain wall cleaning robots clean the counter plates, because no wastewater recovery device and no circulating water tank are carried, when a complete glass building is cleaned, a large amount of water resource waste is easily caused, and the cleaning water also can cause certain pollution to the environment.

4. Most of curtain wall cleaning robots are heavy in body structure, too long, large in occupied space, not easy to transport and troublesome in installation process.

5. The cleaning robot has no overturn-preventing structure, and the normal cross-shaped cleaning robot is adsorbed on the transverse frame, so that the machine body is unstable and shakes during the motion of the longitudinal frame.

6. The cleaning structure can not automatically replace cleaning rags, and the cleaning rags are attached by dust and stains, so that the cleaning effect is reduced, and the cleanliness is reduced.

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

Disclosure of Invention

Based on the background, a mobile cleaning robot capable of working on a glass curtain wall is developed. The pursuit of the glass curtain wall cleaning robot will eventually drive the robot automation. The invention provides an intelligent cleaning robot for a glass curtain wall, which integrates functions of obstacle identification, automatic walking, intelligent judgment, automatic cleaning and purification, and provides a safe and reliable use method, which automatically operates, solves the problems of insufficient safety and reliability and insufficient intellectualization in the prior art, and particularly has preferential applicability to the cleaning operation of a fully hidden frame, a semi hidden frame and an internal point support glass curtain wall.

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

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

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

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

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

the cleaning module is arranged on the conversion rack, the cleaning module works in a mode that cleaning cloth is attached to glass to be cleaned and water is sprayed for cleaning, and an automatic filtering device and a water supply device are arranged in the cleaning module;

the spot identification module comprises a sensor and a camera which are used in a matched mode, wherein an obstacle avoidance sensor or/and a camera are/is carried at the end part of the transverse advancing rack or/and the longitudinal advancing rack, and image information acquired by the obstacle avoidance camera is combined with a GPS (global positioning system) to record and feed back the advancing state of the cleaning robot; a nine-axis sensor is carried in the frame module to feed back the attitude information of the machine body;

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

each sucker is provided with an air pressure sensor, so that the negative pressure value inside the sucker is measured in real time, and the safety and reliability of the sucker adsorption are ensured;

the walking gas circuit module utilizes compressed air generated by an air compressor to generate negative pressure adsorption force through a vacuum generator and act on the sucker;

the intelligent control module takes Arduino Mega2560 as a core, controls the on-off of the relay module, controls the on-off and the suction of the electromagnetic valve and the air pump, and coordinates the cooperative work of the spot identification module, the walking air circuit module and the cleaning module by combining the data collected by the sensor and the camera.

A conversion frame of a folding structure is composed of a top plate, a bottom plate, a rotary plate and a lock pin, and has 90-degree folding action and position locking functions, wherein the rotary plate is arranged between the top plate and the bottom plate, the top plate and the bottom plate can rotate within a 90-degree range, through the rotation, the frame is rotated from a cross shape to a linear folding structure, the lock pin is arranged between the top plate and the bottom plate, the lock pin is provided with corresponding pin holes at two rotation limit positions, the position locking is realized, and after the locking position is realized, the stability of folding and unfolding positions can be realized.

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

This glass curtain wall intelligence cleaning machines people adopts the mode of external water supply, and the fuselage only carries on the waste water circulation tank of a light, and external water supply gets water from devices such as the fire hydrant of roof, and the air compressor who provides compressed air also carries on the roof to reduce the holistic load of machine.

The cleaning module carries a waste water recovery device on the outer side of the lower end of the longitudinally advancing rack, collected waste water is injected into the filtering device through the single throttle valve, then the collected waste water is conveyed to the circulating water tank carried above the cleaning module through the water pipe, and the filtered cleaning water is supplied to the cleaning module for cleaning operation through the water pump of the circulating water tank, so that partial recycling of the cleaning water is realized.

And a turbidity detection sensor is arranged in the cleaning module to detect the quality of the filtered water, and when the detected water quality exceeds the standard, intelligent reminding is carried out, and the cleaning water is stopped and replaced.

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

The cleaning module adopts the circulation rag from taking power, and the circulation rag is end to end's annular and attached and clean the glass surface under the drive of micromotor to and at scraper blade of installation of the top laminating of this circulation rag, this scraper blade has the absorption slot, and this scraper blade provides the mode of negative pressure through the pump, siphons off some with the sewage in the rag, plays the effect that self-cleaning scrubbed the rag, guarantees the whole cleanliness of rag.

The circulating cleaning cloth is a composite closely-woven cleaning cloth consisting of an outermost layer lint, a middle layer sponge layer and an innermost layer lint.

The filtering device is located above the cleaning cloth system and comprises a Laval nozzle structure, a filtering element and a filtering bin, the Laval nozzle structure is adopted, positive pressure compressed air is used as power, waste water from the scraper and the waste water recovery cover is lifted, and the waste water smoothly enters the filtering bin of the filtering device, wherein the Laval nozzle structure is a power lifting structure and is used for extracting waste water from the scraper and the waste water recovery cover.

The filter element is a disposable filter element which can be replaced and is arranged in the filter bin.

And a clear water supply port is also arranged on one side of the clear water of the circulating water tank and used for supplying the clear water.

The spray nozzle in the cleaning module sprays water or water mist to the cleaning cloth along the two ends of the cleaning cloth, so that the effects of wetting and cleaning the cleaning cloth are achieved. The clear water source of the spray nozzle is from a circulating water tank and high-altitude water supply.

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

In order to improve the information transmission speed and save the data storage space, the lower computer compresses an image collected by the sensor through Discrete Cosine Transform (DCT), and then sends the image to the upper computer, the upper computer performs Inverse Discrete Cosine Transform (IDCT) to restore the image, the DCT generally divides the image into 8 x 8 subblocks, performs DCT on each subblock, and then quantizes and encodes the transform result.

The cleaning process of the intelligent glass curtain wall cleaning robot provided by the invention comprises the following steps:

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

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

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

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

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

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

The intelligent water circulation process: the method comprises three paths, wherein one path is as follows: scraper blade, laval pipe, filter element, filter bin, water pump, circulation tank. The two routes are as follows: waste water recovery cover, water pump, circulation tank. The three paths are a roof water replenishing tank, an external water pipe, an electromagnetic valve and a circulating water tank.

The water spray is divided into two paths, one path is as follows: circulation tank, water pump, atomizer I are located inside the cleaning module shell for wash the rag humidification, the water supply here is used for the washing of curtain cleaning rag. . Two paths are as follows: a circulating water tank, a water pump and a spray nozzle II. And the spray nozzle II is positioned on the outer side of the cleaning module shell and used for spraying cleaning water and a cleaning agent to the glass panel. Set up the water level gauge in the circulating water tank for the control of liquid level can automatic alarm when the water level is too high or cross the time excessively, and when too high, can make external water supply stop, supplies water again after the water level resumes normally.

The invention has the beneficial effects that:

1. in the cleaning robot, the ultrasonic sensor and the camera can be utilized to realize flexible obstacle avoidance under the synergistic effect, and the real-time monitoring of the advancing process is obtained.

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

3. The foldable and detachable traveling rack framework design can greatly save occupied space, is convenient to carry and transport, and has low assembly difficulty and high structural stability.

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

5. External water supply and external air compressor have reduced cleaning robot's weight to a great extent, and the safety rope of the hoist cable safety module that the fuselage carried on has in addition guaranteed cleaning work's safe and reliable to a great extent.

6. The transmission mode that the servo motor drives the ball screw and matches the slide block and the guide rail is adopted, the transmission is stable, the friction is small, the response speed and the sensitivity of a working mechanism are high, the motion rigidity of the whole machine is higher, and the high-precision, smooth and stable linear motion can be realized.

Drawings

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

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

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

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

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

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

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

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

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

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

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

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

Fig. 13 is another view of fig. 12.

FIG. 14 is a schematic diagram of a dust-collecting and dehumidifying device.

Figure 15 schematic view of robot cleaning.

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

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

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

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

Fig. 20 cleaning path planning.

Fig. 21 is a transverse gait plan (suction cup blacked out end is mobile end).

Fig. 22 shows the longitudinal gait plan (the suction cup blacked out end being the mobile end).

In the figure: a 100 sling safety module, a 200 rack module,

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

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

300. a 90 degree fold configuration, 310 top panel, 320 bottom panel, 330 dial, 340 latch,

a 400 cleaning module, a 410 waste water recovery device, a 411 waste water recovery cover,

420 filter unit, 421 laval nozzle structure, 422 filter element, 423 filter cartridge,

a circulating water tank 430, a filtering screen 431,

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

Detailed Description

The utility model provides a glass curtain wall intelligence cleaning machines people, divides according to the function, and this robot comprises hoist cable safety module, frame module, cleaning module, spot identification module, walking gas circuit module and intelligent central control module, and wherein, spot identification module provides reliable walking data for the walking through the discernment of various sensing terminal to cooperation cleaning module effectively washs glass.

The intelligent water supply system has the functional designs of transverse and longitudinal walking, obstacle crossing, glass panel cleaning, intelligent water supply, real-time monitoring, waste water recovery and overturn prevention. The intelligent and controllable obstacle crossing device can monitor the actual condition of advancing, the longitudinal and transverse flexible advancing and the intelligent and controllable obstacle crossing, and has the characteristics of high automation degree, high cleaning efficiency, high wastewater recovery rate, good mobility, strong operability, wide application range, higher energy-saving and environment-friendly degree and the like.

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

For ease of description, the physical vertical direction of the building is oriented as the longitudinal direction, i.e., the longitudinal X coordinate. The following description of the various embodiments is based on the definition of the horizontal direction of the building as the transverse direction, i.e. the transverse Y coordinate, and the direction perpendicular to the glass to be cleaned as the Z coordinate.

In the present embodiment, for convenience of description and illustration, the same specification components installed at different positions are distinguished by means of i, ii and … …, such as vacuum chuck i and vacuum chuck ii, and such naming manner should not be unnecessarily ambiguous.

The details are described and illustrated below with reference to the specific figures 1 to 22.

And a sling safety module 100 installed at a roof position of a building. The frame in this robot mainly is through the mode of absorption walking along treating the glass face of washing, and the hoist cable safety module of this department suspends the frame in midair through the mode of rope, is a safety measure, adopts auxiliary mode between rope and the frame, for example sets up and prevents weighing down the lock, prevents the air crash. It is within the scope of the present invention that the sling safety module may be replaced with an anchor point of fixed construction.

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

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

The upper end of the rope is bound on the winch, and the lower end of the rope is connected with the rack module after bypassing the anti-winding cross rod.

The rack module 200 adopts a foldable cross rack and aims at the problem of poor motion stability of the traditional cross rack. The invention makes the following design for the transverse and longitudinal advancing machine frame: the upper end and the lower end of the longitudinal traveling frame 210 are respectively fixed with a vacuum sucker at the bottom of the cylinder through a connecting plate, the left end and the right end of the transverse traveling frame 220 are respectively fixed with three vacuum suckers arranged in a triangular structure at the bottom of the cylinder through a connecting plate, and stepping in the transverse direction (X-direction axis) and the up-down direction (Y-direction axis) is realized. Meanwhile, aiming at the problems that the traditional cross-shaped frame is large in size and inconvenient to carry, the invention adopts a more advanced folding frame, and after the folding frame is folded, the frame is in a straight shape, so that the size of the frame is greatly reduced.

The position adjustment of the transverse and longitudinal advancing racks is carried out by adopting an electrically driven lead screw and slide block structure, so that transverse and longitudinal stepping actions are realized.

The folding function comprises

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

And the length of the longitudinal advancing rack and the length of the guide rail are both increased by 30-40% (adjustable) in order to realize the folding of the machine body.

Specifically, the rack is composed of a transverse traveling rack 220, a longitudinal traveling rack 210, and a 90-degree folding structure 300 (a transfer rack). The main frame of the transverse traveling frame 220 is formed by assembling aluminum alloy profiles, and forms a transverse rectangular frame II 221 and fixing frames II 222 positioned at two ends of the transverse rectangular frame II, wherein the fixing frames II are used for installing a cylinder II 223 and a vacuum chuck II 224, and the fixing frames are in a door shape and are perpendicular to the rectangular frame. At the terminal fixed mounting cylinder mounting panel II 225 of Z direction of fixed frame II, this cylinder mounting panel II 225 also is the installation position of cylinder II, and this cylinder II is two pole cylinders, and sucking disc mounting panel II 226 is installed to the piston rod end of cylinder II, two vacuum chuck II 224 of fixed mounting on this sucking disc mounting panel II, and this vacuum chuck II chooses the sucking disc that conventional market is selling for use, adopts the negative pressure to adsorb the principle, adsorbs with the glass contact. An air pressure sensor is additionally arranged in each sucker and used for detecting the negative pressure value between the sucker and the adsorption glass so as to judge whether the adsorption is in a normal state or not.

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

The cleaning module 400 is mounted just below the center of the rectangular frame 221, that is, the cleaning module 400 operates together with the rectangular frame 221.

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

And the length of the longitudinal advancing rack and the length of the guide rail are respectively lengthened by 30-40 percent so as to form a space for accommodating the transverse advancing rack in a folded state, and a waste water recovery device is arranged at the bottom end of the longitudinal advancing rack.

The outer sides of the transverse frame and the longitudinal frame are respectively provided with the ultrasonic sensor and the real-time camera, the cleaning robot is provided with the two cameras, the cleaning work of the cleaning robot on the hidden frame glass curtain wall is accurately controlled, the obstacle crossing preparation of the cleaning robot is controlled, and the safe use condition of the glass panel fed back in the cleaning process is recorded. Therefore, flexible obstacle avoidance is realized. And the image information fed back to the background by the camera is combined with a GPS positioning system so as to record and feed back the advancing state of the cleaning robot. The gyroscope angle sensor mounted on the body performs data transmission in two modes of TCP and UDP and feeds back body attitude information (angular velocity and angle).

The 90-degree folding structure 300 is designed and manufactured to facilitate carrying, transportation and disassembly of the cleaning robot. Specifically, the 90-degree folding structure is composed of a top plate 310, a bottom plate 320, a rotating disc 330 and a locking pin 340, and has 90-degree folding action and position locking functions. Specifically, the top plate 310 and the bottom plate 320 are square aluminum plates, holes are drilled in the aluminum plates, the two plates are stacked in an aligned manner, and the rotating disc 330 is arranged at the central position, that is, the state between the top plate and the bottom plate can rotate within a range of 90 degrees, and through the rotation, the rack is rotated from a cross shape to a straight folding structure. And a lock pin is arranged between the top plate and the bottom plate, the lock pin is provided with corresponding pin holes at two rotation limit positions to realize position locking, and after the lock position is locked, the stability of the folding and unfolding positions can be realized.

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

The self-locking mechanism is not unique in style, and can be quickly folded by adopting an electric turntable structure.

The conversion frame can be replaced by an aluminum plate without a folding function, a non-folding cross-shaped walking frame is adopted, and the bottom of each frame is provided with a pneumatic sucking disc and a bidirectional pneumatic cylinder. The retraction speed of the sucker is realized by regulating and controlling the pneumatic cylinder so as to realize walking and adsorption. The ball screw nut mechanism is adopted, as shown in fig. 8-3, transverse and longitudinal movement is realized, and the central panel is fixed on the guide rail. Such a design is also within the scope of the present invention.

Referring to fig. 9 to 14 and fig. 1, the washing module 400 is configured such that a wastewater recovery unit 410 is mounted on the outer side of the lower end of the longitudinal traveling frame, collected wastewater is injected into a filtering unit 420 through a single throttle valve, and then is delivered to a circulation tank 430 mounted above the washing module through a water pipe, and the filtered cleaning water is supplied to a washing unit 440 by a water pump of the circulation tank to perform a cleaning operation, thereby circulating the washing water. A turbidity detection sensor is arranged in the cleaning module to detect the quality of filtered water, and intelligent reminding and shutdown are carried out to replace clean water after the detected water quality exceeds the standard.

The detailed module composition is described in detail:

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

The cleaning module 440 adopts a self-powered circulating cleaning cloth system, specifically, cleaning cloth 441 in the cleaning module is driven by two rotating shafts 442 to rotate, and the power of the rotating shafts is driven by a chain-driven micromotor 443. And a scraper 444 is attached to the upper side of the circulating cleaning cloth, the scraper is provided with an adsorption narrow slit, and the scraper sucks away part of sewage in the cleaning cloth in a negative pressure mode provided by a pump, so that the cleaning cloth can be automatically cleaned, and the overall cleanliness of the cleaning cloth is ensured. Specifically, the composite close-woven cleaning rag is adopted (comprising three layers, namely, an outmost flannelette layer, which is used for wiping dust and removing dirt, an intermediate layer sponge layer, which is used for absorbing sewage, and an innermost flannelette layer, which is used for fixing a conveying belt on the outer side of a rolling shaft and has a compact structure, strong wear resistance and stickiness). When the cleaning cloth with dirt and dust in the suction nozzle at the scraper 444 is rotated from under it, the dirt and dust on the cloth is sucked by the strong suction force and becomes dry and clean, so that the next area can be cleaned better. The dust-collecting water absorber inputs the obtained cleaning water into the waste water circulating water tank after sewage and dust pass through the small-sized filtering device. The scraper between the cleaning cloth and the cleaning module shell can scrape off part of the sewage absorbed by the cleaning cloth surface layer and the sponge layer and remove the sewage.

The filtering device 420 is located above the rag system, adopts a laval nozzle structure 421, uses positive pressure compressed air as power, lifts the waste water from the scraper 444 and the waste water recovery cover 411, and enters a filtering bin of the filtering device in a familiar manner. The filtering device 420 comprises a laval nozzle structure 421, a filtering element 422 and a filtering cabin 423, wherein the laval nozzle structure 421 is a power lifting structure and is used for extracting the waste water from the scraper 444 and the waste water recycling cover 411. The filter element 422 is a disposable filter cartridge, replaceable, and is installed in the filter cartridge. In the filtering bin, impurities and dirt are intercepted by the filtering element 422, the filtering belongs to primary filtering, filtered water is input into the circulating water tank again through a filtered water output pipe at the bottom of the filtering bin for filtering, a large number of filtering plates and filtering bags are arranged in the circulating water tank, and water in the circulating water tank is finely filtered. Wherein the power lifting between the filter bin and the circulating water tank also adopts a Laval nozzle structure.

The water in the circulation water tank 430 is of two specifications, namely waste water and clean water, wherein the waste water in front of the filter screen 431 is discharged out through a special water return pipe, and the clean water is filtered by a water pump of the circulation water tank and is supplied to the cleaning device 440 for cleaning operation.

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

The spray nozzle 445 of the cleaning device is installed to spray water or water mist to the cleaning cloth along the two ends of the cleaning cloth, i.e. the position near the rotating shaft, so as to wet and clean the cleaning cloth. The clean water source of the spray nozzle is from the circulating water tank.

The intelligent system and the working principle are explained as follows:

1. the air path control process and principle of the vacuum system are as follows:

the vacuum system gas circuit, referring to fig. 16, mainly includes the following hardware components: the air compressor (including air supply, gas holder, pneumatic trigeminy piece, snuffle valve), two five solenoid valve, single choke valve, double-pole cylinder, two three solenoid valve, vacuum generator subassembly, vacuum chuck group.

The working process of gas circuit control: 1) firstly, electrifying, then opening an air compressor, enabling the air compressor to operate to generate compressed air to be stored in an air storage tank, enabling the air pressure in the tank to be continuously increased, and then automatically stopping pressurization after a rated value is reached; 2) the discharged gas is dry and clean, and the total gas path is divided into four parts which are respectively communicated with a sucker and a cylinder at each support leg of the newly-entered rack; 3) the air circuit connection at each support leg is the same, the total air circuit obtained by dividing each support leg divides the compressed air into two parts through a tee joint, one part of the compressed air passes through a three-position two-way electromagnetic valve for controlling the sucker group and is communicated with the vacuum generator and the vacuum sucker through an air pipe, and the other part of the compressed air passes through a two-position five-way electromagnetic valve and is connected with the throttle valve and the double-rod air cylinder through the air pipe. The expansion of the double-rod cylinder is realized by controlling a two-position five-way electromagnetic valve through a circuit, and the air suction and release of the sucker group are realized by controlling a two-position three-way electromagnetic valve through a circuit. (pressure detection device-pressure relay can be arranged at the suction cup air inlet pipeline for detecting the suction force of the suction cup group and ensuring whether the suction cup group is closely adsorbed with the working surface.)

In the above-mentioned subassembly, vacuum generator's theory of operation does, sprays the compressed air who comes the transmission through its inside laval spray tube structure, and the laval spray tube sunction inlet is connected with the vacuum chuck extraction opening through the trachea, and according to gaseous entrainment effect, the air of laval spray tube vacuum opening department is rolled up and is siphoned away in succession, makes the cavity between vacuum chuck and the adsorption surface form certain vacuum degree from this to make the sucking disc tightly adsorb the curtain surface. The vacuum generator is selected as the vacuum generating device of the curtain wall cleaning robot due to small volume, simple structure, light weight and convenient installation.

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

2. Motion control

Before curtain wall cleaning operation, firstly, measuring the building surface structure, wherein the measured data comprises the following data: the single panel size, the window frame height, the standard layer, the non-standard layer relevant parameters and the like, and then data input is carried out on the single chip microcomputer, wherein the data comprises the following steps: travel path planning, travel gantry travel distance, end position, etc. In order to avoid the collision between the robot and an opened window (exhaust fan), the camera and the sensor at the support leg position the detected and searched barrier in the robot traveling process, and transmit the barrier to the control system, so that real-time communication is realized, and smooth cleaning operation is ensured.

3. Optoelectronic isolation

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

4. Gas circuit vacuum detection function

The real-time detection of the vacuum degree of the sucker is realized through the air pressure sensor, and a signal is output when the vacuum degree meets the requirement of a threshold value, so that the lower computer controls the robot to move. The negative pressure value that records from baroceptor is the analog quantity, can not audio-visual judgement sucking disc's pressure value, also is not convenient for Mega2560 to carry out data processing and then control the robot action simultaneously, consequently uses the relay to control the break-make, and Mega2560 can directly judge the pressure value of sucking disc this moment through simple numerical value transform to the host computer display is carried. The air pressure sensor is arranged between the electromagnetic valve and the vacuum generator, as shown in fig. 17, the suction cups detect the negative pressure value of each suction cup in real time through the air pressure sensor, data are transmitted to the Mega2560 through analog-to-digital conversion, and the Mega2560 realizes negative pressure closed-loop control by controlling the rotating speed of the negative pressure motor. The whole adsorption module provides reliable adsorption force for the movement and operation of the robot under the control of the lower computer.

5. Automatic obstacle avoidance function

The four support legs of the robot traveling frame are respectively provided with an ultrasonic sensor for monitoring the moving direction of the robot in real time. In order to guarantee that the curtain wall cleaning robot does not collide with the window frame, set for and advance each stabilizer blade of frame and the critical value between the obstacle be 5cm, the robot utilizes many ultrasonic sensor to combine frame drive module of marcing just can realize independently keeping away the obstacle function, and concrete process is: when the cleaning of the single curtain wall panel is not finished, the robot meets an obstacle in the moving process, when the transverse distance between the robot and the obstacle is smaller than or equal to a critical value, the robot stops moving according to the original moving direction to perform longitudinal displacement, the displacement distance is the width of the cleaning device, and after the displacement is finished, the robot performs movement in the direction opposite to the original direction. When the longitudinal distance is smaller than or equal to the critical value, the robot performs transverse displacement, the displacement distance is the width of the cleaning module, the robot performs movement in the direction opposite to the original movement direction after displacement, and the robot performs obstacle crossing when the cleaning of the curtain wall panel is completed and the curtain wall panel moves to a certain corner of the curtain wall panel, so that the purposes of obstacle detection, autonomous obstacle avoidance and obstacle crossing preparation are achieved, and the flow chart of the autonomous obstacle avoidance of the robot is shown in fig. 18.

6. Motion state detection

The nine-axis sensor WT901 can be selected as a robot attitude detection device, the support TCP/UDP connection is formed by a three-axis gyroscope, a three-axis accelerometer, a three-axis Euler angle and a three-axis magnetic field, and output digital quantity is 16 bits. The Digital Motion Processor (DMP) of the WT901, in combination with the embedded Motion Processing Library (MPL), can directly convert the sensor raw data into quaternion data for output, and on the basis of the quaternion, the euler angles, that is, the pitch angle pitch, roll angle roll and yaw angle yaw, can be conveniently calculated.

The stain recognition module comprises various sensors and cameras which are matched for use. The brain in the stain recognition module takes Arduino Mega2560 as a driving and adsorption part main control single chip microcomputer to control modules such as a relay, a 42-type stepping motor, a TB6600 driver and the like. 220v alternating current voltage is converted into stable 24v direct current voltage through a 24v switching power supply, and power is supplied to the whole product. The 24v direct-current voltage is reduced to a 12v direct-current power supply through three LM2596s DC-DC voltage reduction modules, wherein two of the three LM2596s DC-DC voltage reduction modules are connected to GND and VCC pins of TB6600 to supply power for a TB6600 stepping motor driver and lay a voltage foundation for the normal operation of a 42-type stepping motor, A +, A-, B + and B-are respectively connected to four signal pin ports of the stepping motor, ENA-, DIR-and PUL-are connected in common, ENA +, DIR + and PUL + are connected to Arduino Mega2560 pins, ENA + is connected with low level, the high level and the low level of DIR + control the positive and negative rotation of the stepping motor, and PUL + inputs sine waves of high and low points to control the movement of the stepping motor.

And the other LM2596s DC-DC voltage reduction module reduces the 24v DC voltage to 12v DC voltage to supply power to the water pump and the DC motor, and controls the operation of the water pump and the DC motor through the on-off of the relay module. The 24v direct current voltage is directly connected with the LM2596 voltage-stabilized power supply module, the voltage of the output port is reduced to 3.3v and 5v through a potentiometer, power is supplied to the Arduino Mega2560, and high potential of a switch and a relay is provided. The Arduino Mega2560 high level is transmitted by pressing the switch button to achieve the control effect. The Arduino Mega2560 controls the on-off of the relay module to control the on-off and suction of the electromagnetic valve and the air pump, so that the whole system is controlled more coordinately to work in a cooperative mode. The ultrasonic sensor and the real-time camera are carried on the outer sides of the transverse frame and the longitudinal frame, so that flexible obstacle avoidance is achieved, and the advancing state of the cleaning robot is recorded and fed back by combining image information fed back to the background by the camera and a GPS positioning system. The gyroscope angle sensor carried by the body transmits data in two modes of TCP and UDP and feeds back the attitude information (angular velocity and angle) of the body. The dust density of the glass panel is observed in real time by a camera externally connected to the upper portion of the cleaning module, the cleaning mode is adjusted according to the cleanliness of the glass panel (when the panel has more dust, a mode of multiple times and accelerated cleaning speed is adopted, an air pressure sensor is arranged at each support leg sucker of the advancing rack, the negative pressure value inside the sucker is measured, and the safety and reliability of the sucker adsorption are ensured.

The mechanical transmission in the stain recognition module adopts a servo motor to drive a ball screw, the ball screw penetrates through a nut seat, and the other end of the ball screw is fixed on a screw support seat. The nut seat is connected with the supporting plate, the sliding block fixed on the conversion frame is driven to move in a guide rail way by the rotation of the screw rod, and the stepping span in the transverse direction and the longitudinal direction at each time is controlled by controlling the servo motor.

The four-end sucker groups of the travelling frame are respectively connected with corresponding double-rod cylinders, and the machine body is lifted and lowered through the cylinders. The double-rod cylinder has four states (completely ejected, completely retracted, half ejected stroke and one fourth ejected stroke), and an induction switch (a selectable magnetic switch, a proximity switch or a photoelectric switch for control) is arranged at the position where the cylinder stops by adopting a three-position five-way electromagnetic valve.

Specifically, referring to fig. 15, when the cleaning robot performs a longitudinal cleaning operation, the cylinder of the longitudinal traveling frame pops up a quarter of a stroke, the cleaning rag is pressed on the glass, the cylinder of the transverse traveling frame is fully retracted, the transverse traveling frame is in a suspended state, the cleaning rag cleans the glass along the surface of the glass in the longitudinal stroke range under the driving of the servo motor of the longitudinal traveling frame, and the cleaning process adopts the sequence from top to bottom to clean the glass one by one.

When stains which are difficult to clean are needed, starting a special program, wherein the starting process of the special program is as follows: when stubborn stains are cleaned, the air cylinders at the transverse and longitudinal traveling rack are all popped up for a quarter of stroke, namely, six suckers on the transverse and longitudinal traveling rack are all adsorbed on the glass panel at the same time, the pressure of the brush roller and the glass is increased, and the stains are cleaned at fixed points.

In order to guarantee the cleaning speed of the cleaning robot and conveniently control the advance of the robot. The glass wall surface is cleaned in a mode of transverse reciprocating motion and an S-shaped traveling route. As shown in fig. 5-7, the cleaning robot starts cleaning from the top left corner of the top of the wall surface, when the cleaning robot moves to the top of the horizontal wall surface, the longitudinal station is changed by a distance of 200mm, then the cleaning robot continues moving leftwards, the cycle is repeated until the cleaning of the whole area to be cleaned is completed, and the cleaning path planning refers to fig. 20.

When the horizontal cleaning is needed, the cylinder at the horizontal moving rack pops up a quarter of stroke, the longitudinal cylinder is completely withdrawn, and the cleaning is carried out in a left-to-right or right-to-left mode. When the cleaning robot crosses the obstacle, the ejection height of the sucker of the travelling rack is adjusted according to the height of the obstacle (such as a window frame and the like), when the obstacle is transversely crossed, the longitudinal travelling rack is totally ejected, the air cylinders at the transverse travelling rack are totally retracted and transversely crossed, and when the 1/2-3/4 of the machine body crosses the obstacle, the air cylinders at the transverse rack are totally ejected and tightly adsorb the glass panel. At the moment, the sucker of the longitudinal advancing rack deflates, the cylinder retracts to the full stroke, the longitudinal rack spans rightwards, after the longitudinal rack completely spans, the cylinder is completely popped out, the sucker tightly adsorbs the panel, and the spanning action is repeated until the other sucker group of the transverse rack also crosses the obstacle.

Considering the weight problem of the machine body, an external water supply mode is adopted, and the machine body is only provided with a light wastewater circulating water tank. The sucking disc group adopts an external air compressor pipeline to complete the sucking and exhausting functions of the sucking disc group. External water supply takes water from devices such as a fire hydrant on the roof, and an air compressor is also carried on the roof to reduce the load of the whole machine.

In order to ensure the cleaning speed of the cleaning robot and to control the movement conveniently, the glass panel is cleaned by adopting a reciprocating s-shaped moving route, referring to fig. 15.

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

1. Control system

The brain in the intelligent control system takes Arduino Mega2560 as a main control single chip microcomputer of a driving and adsorption part to control modules such as a relay, a 42-type stepping motor, a TB6600 driver and the like. 220v alternating current voltage is converted into stable 24v direct current voltage through a 24v switching power supply, and power is supplied to the whole product. The 24v direct-current voltage is reduced to a 12v direct-current power supply through three LM2596s DC-DC voltage reduction modules, wherein two of the three LM2596s DC-DC voltage reduction modules are connected to GND and VCC pins of TB6600 to supply power for a TB6600 stepping motor driver and lay a voltage foundation for the normal operation of a 42-type stepping motor, A +, A-, B + and B-are respectively connected to four signal pin ports of the stepping motor, ENA-, DIR-and PUL-are connected in common, ENA +, DIR + and PUL + are connected to ArduinoMega2560 pins, ENA + is connected with low level, the high level and the low level of DIR + control the positive and negative rotation of the stepping motor, and PUL + inputs sine waves of high and low points to control the movement of the stepping motor.

Two NEMA17(42 type stepping motors) are driven by controlling TB6600 through Mega2560, the lead screw is driven by the positive rotation and the negative rotation of the two stepping motors to control the up-down and left-right movement of the machine, and the suction of an electromagnetic valve of eight paths and a relay of each pipeline are controlled, so that the suction disc is controlled. Through the digital motor of control ripples case, the drive washs the dish and rotates to control the water pump and spray water to the panel through external water pipe, through the coordination of upper portion glass scraper and rotatory washing dish, make the clean effect of panel better.

2. Power supply system

The LM2596s DC-DC voltage reduction module reduces the 24v DC voltage to 12v DC voltage, supplies power for the water pump and the DC motor, and controls the operation of the water pump and the DC motor through the on-off of the relay module. The 24v direct current voltage is directly connected with the LM2596 voltage-stabilized power supply module, the voltage of the output port is reduced to 3.3v and 5v through a potentiometer, power is supplied to the Arduino.Mega 2560, and high potential of a switch and a relay is provided. The Arduino Mega2560 high level is transmitted by pressing the switch button to achieve the control effect. The Arduino Mega2560 controls the on-off of the relay module to control the on-off and suction of the electromagnetic valve and the air pump, so that the whole system is controlled more coordinately to work cooperatively.

3. Cleanliness detection

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

The DCT transform must be combined with quantization to achieve compression. And the quantization is to divide the DCT coefficient by the quantization factor, round the DCT coefficient and select the nearest fractional integer by referring to a gray scale quantization table. After DCT, the low-frequency coefficient (image main information) is mainly concentrated on the upper left corner of the matrix, and the high-frequency coefficient is mainly concentrated on the lower right corner of the matrix, has small value and becomes zero through quantization, so that the number of the coefficient with value is small. According to the variable length coding principle, the bytes with high probability are coded by the short code words, and the bytes with low probability are coded by the long code words, so that the purpose of quickly transmitting image information is achieved by compressing the image.

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

The communication processor CP343-1 is used for connecting CP343-1 to the industrial Ethernet, through ISO and TCP/IP, PROFINET IO controller or PROFINET input/output device, integrate 2-port switch ERTEC 200S7 communication, extract/write, send/receive RFC1006, Multicast, DHCP, NTC-CPU Sync with and without diagnosis, through the initialization of the local area network, 2 RJ45 interfaces, suitable for 10/100Mbit/S of the local area network.

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

A CPU with a large capacity of program memory and program size can be used for demanding applications. Cross-domain automation tasks for use in series machines, specialty machines, and factories are used as centralized controllers on production lines with centralized and distributed O. PROFINET interface with dual port switch having higher processing capability for binary and floating point operations. And the PROFINET IO controller can realize distributed/O operation through the PROFINET. PROFINET I-Device, an intelligent PROFINET Device used as a CPU with attached SIMATIC or third party PROFINET controllers. Distributed intelligence is implemented via PROFINET in a Component Based Automation (CBA) system. PROFINET agent for PROFIBUS DP smart devices in a Component Based Automation (CBA) system. An integrated Web server with options to create user-defined Web sites focuses on the MPI/profile DP master/slave interface. The simultic engineering tool is supported via an isochronous synchronization mode of PROFIBUS and PROFINET.

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

step one, place cleaning robot device to need abluent glass curtain wall panel on, supply water and electricity for cleaning robot through external electric wire, trachea and the water pipe that dangles, make sucking disc and the contact of glass curtain wall in transversely marcing the sucking disc in the frame and vertically marcing the frame, give control signal, the external air pump of sucking disc simultaneously by total controller: namely, two suckers in the frame of vertically marching adsorb on curtain wall glass, and two sucker groups in the frame of transversely marching also adsorb on curtain wall glass simultaneously.

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

The sucking disc of the longitudinal advancing rack is adjusted to be separated from the glass panel of the curtain wall, a pressure signal is detected through an air pressure sensor arranged at the sucking disc of the transverse advancing rack, and at the moment, the whole robot system is mainly adsorbed on the glass curtain wall by means of two sucking disc groups of the transverse advancing rack. Simultaneously, open the driving motor on the cleaning module, drive the drive gear that links to each other and rotate to drive the synchronous rotation of axis of rotation that links to each other with driven gear through driving drive chain, make the rag circulate and roll thereupon, the rag is end to end's annular and rotates along with the axis of rotation, thereby realizes wiping the operation to glass curtain wall, and this process is dynamic cycle, is enough to keep wiping the effect. Meanwhile, the master controller gives a control signal to a power air pump of the scraper, a negative pressure cavity is formed at a narrow slit of the scraper under the action of active air flow of the power air pump, a suction nozzle of the scraper faces to the direction opposite to the rotation direction of cleaning cloth to be cleaned circularly, and the scraper is designed in an inclined mode to play a certain extrusion scraping effect on the cleaning cloth, so that sewage and dirt for cleaning the cleaning cloth are sucked into a dust suction channel, the cleaning cloth is kept in a clean state, the dirt on the surface of curtain wall glass is taken away by the cleaning cloth and then is scraped by the scraper with the suction nozzle, the scraped dirt and sewage pass through a filtering device consisting of a Laval nozzle structure, a filtering element and a filtering bin, the waste water is filtered by the filtering element, air is discharged from an air leakage filtering cover and flows into the filtering bin, a water pump is arranged outside the filtering bin, one end of the water pump is connected with a water outlet pipeline of the filtering bin, and the other end of the water pump is communicated with a water inlet pipeline of the circulating water tank and is put into the circulating water tank, so that the filtered water is used for fresh water supply after being filtered. Meanwhile, one end of the circulating cleaning water inlet pipeline is communicated with an external water supply pipe for cleaning the curtain wall, the other end of the circulating cleaning water inlet pipeline is connected with an external water pump water outlet pipe of the circulating water tank, and water is supplied and utilized through circulating suction of the water pump. Circulating water is continuously sprayed onto the cleaning cloth (the cleaning cloth is wetted) through a spray nozzle inside the cleaning shell (the upper edge of the cleaning cloth), cleaning water is fed into the glass curtain wall panel by the spray nozzle outside the cleaning shell and sprayed, so that stains on the glass curtain wall can be better cleaned, a wastewater recovery cover of the cleaning wastewater recovery device is fixedly connected to a longitudinally advancing rack and is positioned under a cleaning module, two filter screens are arranged inside the cleaning module, cleaning wastewater flows down along the glass panel and is collected into a wastewater recovery cover positioned under the cleaning module after being filtered by a first filter screen, a second wastewater filter screen is arranged in the wastewater recovery cover, solid dirt cleaned by the second filter screen is filtered and is left in a dirt collecting tank, filtered water is conveyed by a water pump, the water pump is arranged outside the wastewater recovery cover, and one end of the water pump is connected with a water outlet pipe of the wastewater recovery cover, the other end is connected with a water inlet pipe of the circulating water tank, so that the filtered water is conveyed to the circulating water tank.

Referring to the paths in fig. 20 to fig. 22, a Mega2560 master controller starts a servo motor ii fixed on the transverse traveling rack to drive a ball screw to rotate, so that the conversion rack enables a longitudinal traveling rack connected with the conversion rack to transversely move left and right, and the cleaning mechanism is ensured to complete the cleaning operation of the transverse rectangular area glass curtain wall. After the cleaning of the part is finished, a servo motor I fixed on the longitudinal walking frame is started by a Mega2560 master controller to drive a longitudinal ball screw to rotate, so that the transverse walking frame connected with the conversion frame moves up and down, and the cleaning operation of the glass curtain wall with the longitudinal (vertical) rectangular area is realized.

No matter transverse cleaning or longitudinal cleaning operation is carried out, when stubborn stains are encountered, the OV2710 image sensor transmits detection information to the upper computer, and an operator controls the longitudinal walking servo motor II and the transverse walking servo motor I to stop running or reduce the cleaning speed according to the pollution degree of the glass curtain wall by the Mega2560, so that the cleaning module repeatedly wipes the stains on the curtain wall until the stains are cleaned, and the cleaning effect is improved.

And (3) longitudinal walking cleaning process: and starting a longitudinal walking servo motor I by a Mega2560 master controller to drive a longitudinal walking screw rod to rotate, so that a transverse walking frame connected with the conversion frame longitudinally moves until the transverse walking frame is 5cm away from the lowest end of the longitudinal walking frame. Control signal is given to horizontal sucking disc air pump by Mega2560, and the horizontal walking sucking disc of adjustment produces the adsorption affinity with curtain wall glass, through the baroceptor detection pressure signal that horizontal sucking disc group department set up to in time feedback makes the person of controlling in time know curtain wall robot's operating condition's fail safe nature. The Mega2560 master controller enables the two suckers to longitudinally walk to fall off the glass curtain wall, and at the moment, the whole robot is mainly adsorbed on the glass curtain wall by the two transverse sucker groups. The Mega2560 master controller controls the longitudinal walking servo motor I to drive the longitudinal walking screw rod to rotate, so that the longitudinal walking rack moves longitudinally, the longitudinal walking process is realized, and the cleaning module finishes the cleaning operation all the time in the process. When the cleaning process is not completed, and the traveling rack moves to the position near the window frame, the ultrasonic sensors arranged at the supporting legs of the traveling rack are matched with the rack driving module to realize the automatic obstacle avoidance function, and the nine-axis sensors timely acquire the posture information of the robot in the movement process and feed the posture information back to the upper computer, so that an operator timely grasps the posture and the stable state of the robot and makes corresponding adjustment. When the cleaning process is completed and the advancing rack moves to the position near the window frame, the ultrasonic sensor arranged at the supporting foot of the advancing rack is matched with the rack driving module, parameters are fed back to the upper computer, and one-key obstacle crossing is realized through the control of an operator. And similarly, carrying out the cleaning operation process of the next glass panel.

The water spray is divided into two paths, one path is as follows: circulation tank, water pump, atomizer I are located inside the cleaning module shell for wash the rag humidification, the water supply here is used for the washing of curtain cleaning rag. . The two routes are as follows: a circulating water tank, a water pump and a spray nozzle II. And the spray nozzle II is positioned outside the cleaning module shell and used for spraying cleaning water and a cleaning agent to the glass panel. Set up the water level gauge in the circulating water tank for the control of liquid level can automatic alarm when the water level is too high or cross the time excessively, and when too high, can make external water supply stop, supplies water again after the water level resumes normally.

Claims

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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