WO2020181453A1 - Smart all-terrain glass curtain wall cleaning robot and cleaning control method therefor - Google Patents

Smart all-terrain glass curtain wall cleaning robot and cleaning control method therefor Download PDF

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Publication number
WO2020181453A1
WO2020181453A1 PCT/CN2019/077645 CN2019077645W WO2020181453A1 WO 2020181453 A1 WO2020181453 A1 WO 2020181453A1 CN 2019077645 W CN2019077645 W CN 2019077645W WO 2020181453 A1 WO2020181453 A1 WO 2020181453A1
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Prior art keywords
suction cup
cleaning
cleaning brush
solenoid valve
terrain
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PCT/CN2019/077645
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French (fr)
Chinese (zh)
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魏天魁
伍虹臣
谭许和
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魏天魁
伍虹臣
谭许和
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Priority to PCT/CN2019/077645 priority Critical patent/WO2020181453A1/en
Publication of WO2020181453A1 publication Critical patent/WO2020181453A1/en

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    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24Floor-sweeping machines, motor-driven
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like

Abstract

A smart all-terrain glass curtain wall cleaning robot, comprising a machine body (1), suction cup-type moving devices (2), laser range finders (3), terrain detectors (4), a motion controller (5), a cleaning nozzle (6), and grouped cleaning brush devices (7) and residual liquid cleaners (8); each of the suction cup-type moving devices (2) comprises a suction cup (21), a suction cup connecting rod (22), a suction cup steering driving mechanism, a suction cup lifting driving mechanism and a suction cup vacuumizing mechanism; each of the grouped cleaning brush devices (7) comprises a cleaning brush (71), a cleaning brush lifting driving mechanism and a cleaning brush rotating driving mechanism. The laser range finders (3) can measure distances between obstacles, the terrain detectors (4) can analyze terrains, and the motion controller (5) can analyze data, formulate a motion policy, control the robot to walk on the glass curtain wall and run across the obstacles, and can control, according to different terrains, the cleaning brushes (71) and the residual liquid cleaners (8) to perform grouped operation; this will not influence the cleaning operation, and cleaning can be performed across multiple groups of glass, solving the difficulties of cleaning an outdoor all-terrain glass curtain wall.

Description

全地形的智能型玻璃幕墙清扫机器人及其清扫控制方法All-terrain intelligent glass curtain wall cleaning robot and its cleaning control method 技术领域Technical field
本发明涉及玻璃幕墙清扫机设备技术领域,更具体地说,是涉及一种全地形的智能型玻璃幕墙清扫机器人及其清扫控制方法。The invention relates to the technical field of glass curtain wall cleaning machine equipment, and more specifically, to an all-terrain intelligent glass curtain wall cleaning robot and a cleaning control method thereof.
背景技术Background technique
长久以来,室外玻璃幕墙的清洁主要靠人工进行清洁,俗称“蜘蛛人”。清洁工作人员利用吊篮悬吊于高空,靠手工进行玻璃幕墙的清洁。这种清洁方式主要有以下弊端:(1)高空作业,存在很大的安全隐患,高空坠落事故频发,直接威胁作业人员的安全;(2)清洁效率低,一个“蜘蛛人”每天的清洁面积不到200平方米,一栋大楼往往需要多人工作一个月的时间才能完成清洁工作;(3)清洁费用高,由于是高危行业,基本每个“蜘蛛人”的月薪都在一万以上,这就造成幕墙的清洁成本居高不下。For a long time, the outdoor glass curtain wall was cleaned mainly by manual cleaning, commonly known as "Spiderman". The cleaning staff used a hanging basket to hang high in the sky and clean the glass curtain wall manually. This cleaning method mainly has the following disadvantages: (1) Working at heights, there are great safety hazards, and falling accidents from high altitudes occur frequently, which directly threaten the safety of operators; (2) The cleaning efficiency is low, and a "spider man" cleans every day With an area of less than 200 square meters, a building often requires multiple people to work for a month to complete the cleaning work; (3) The cleaning cost is high. Because it is a high-risk industry, basically every "Spiderman" earns more than 10,000 a month. , This causes the cleaning cost of the curtain wall to remain high.
为了解决此问题,目前市面上开始出现了一些玻璃幕墙清扫机器设备,但大多只能适应单面玻璃的地形,不能横跨两块玻璃之间的凸起边框(如1字形边框、十字形边框)等障碍物,对存在沿突的情况难以适应。In order to solve this problem, some glass curtain wall cleaning machines and equipment have appeared on the market, but most of them can only adapt to the terrain of single-sided glass, and cannot span the raised frame between two pieces of glass (such as 1-shaped frame, cross-shaped frame) ) And other obstacles, it is difficult to adapt to the situation of edge protrusion.
发明内容Summary of the invention
本发明的目的在于克服现有技术中的上述缺陷,提供一种全地形的智能型玻璃幕墙清扫机器人及其清扫控制方法。The purpose of the present invention is to overcome the above-mentioned defects in the prior art and provide an all-terrain intelligent glass curtain wall cleaning robot and its cleaning control method.
为实现上述目的,本发明的第一方面提供了一种全地形的智能型玻璃幕墙清扫机器人,包括:To achieve the above objective, the first aspect of the present invention provides an all-terrain intelligent glass curtain wall cleaning robot, including:
机体;Body
吸盘式移动装置,其设有至少四组并布置在机体的四周,每组吸盘式移动装置均包括吸盘、吸盘连接杆、吸盘转向驱动机构、吸盘升降驱动机构和吸盘抽真空机构,所述吸盘转向驱动机构通过吸盘连接杆与吸盘传动连接,所述吸盘升降驱动机构与吸盘转向驱动机构传动连接,所述吸盘的气孔与吸盘抽真空机构相连接;The suction cup type moving device is provided with at least four groups and arranged around the body. Each group of the suction cup type moving device includes a suction cup, a suction cup connecting rod, a suction cup steering drive mechanism, a suction cup lifting drive mechanism and a suction cup vacuuming mechanism. The steering drive mechanism is drivingly connected with the suction cup through the suction cup connecting rod, the suction cup lifting driving mechanism is drivingly connected with the suction cup steering driving mechanism, and the air hole of the suction cup is connected with the suction cup vacuuming mechanism;
激光测距仪,其至少设置在机体的前端和/或两侧面;A laser rangefinder, which is arranged at least on the front end and/or both sides of the body;
地形探测器,其设置在机体的前端或机体的底部前端,包括至少一个图像摄像头;A terrain detector, which is arranged at the front end of the body or the bottom front end of the body, and includes at least one image camera;
运动控制器,分别与吸盘式移动装置、激光测距仪和地形探测器电连接并设置在机体的内部;The motion controller is electrically connected to the suction cup type moving device, the laser rangefinder and the terrain detector and is set inside the body;
清洁喷嘴,其设置在机体的底部并与机体内部的储液箱相连接;The cleaning nozzle is set at the bottom of the machine body and connected with the liquid storage tank inside the machine body;
分组式清洁刷装置,包括多组独立的清洁刷、多组清洁刷升降驱动机构和多组清洁刷旋转驱动机构,多组清洁刷排列设置在机体的底部,所述清洁刷升降驱动机构和清洁刷旋转驱动机构分别与各自对应的清洁刷传动连接,所述清洁刷升降驱动机构与运动控制器电连接;The grouped cleaning brush device includes multiple groups of independent cleaning brushes, multiple groups of cleaning brush lifting drive mechanisms and multiple groups of cleaning brush rotation drive mechanisms. The multiple groups of cleaning brushes are arranged at the bottom of the body. The cleaning brush lifting drive mechanism and cleaning The brush rotation drive mechanism is respectively connected to the corresponding cleaning brush in transmission, and the cleaning brush lifting drive mechanism is electrically connected to the motion controller;
残液清洁器,其设有多组并分别通过联动机构与各自对应的清洁刷保持联动升降,所述分组式清洁刷装置位于残液清洁器与清洁喷嘴之间。Residual liquid cleaner, which is provided with a plurality of groups and maintained in linkage with the respective corresponding cleaning brushes through a linkage mechanism, and the grouped cleaning brush device is located between the residual liquid cleaner and the cleaning nozzle.
作为优选的方式,所述吸盘转向驱动机构包括分别安装在机体内的吸盘转向齿轮、电机齿轮和转向驱动电机,所述转向驱动电机的输出轴与电机齿轮相连接,所述电机齿轮与吸盘转向齿轮相啮合,所述吸盘通过吸盘连接杆固定在吸盘转向齿轮上,所述转向驱动电机与运动控制器电连接。As a preferred mode, the suction cup steering drive mechanism includes a suction cup steering gear, a motor gear, and a steering drive motor that are respectively installed in the body. The output shaft of the steering drive motor is connected to the motor gear, and the motor gear is steering with the suction cup. The gears are meshed, the suction cup is fixed on the suction cup steering gear through the suction cup connecting rod, and the steering drive motor is electrically connected with the motion controller.
作为优选的方式,所述吸盘升降驱动机构包括分别安装在机体内的吸盘升降驱动气缸、吸盘升降真空箱、第一三通电磁阀和第二三通电磁阀, 所述吸盘升降驱动气缸的活塞杆与吸盘转向齿轮相连接,所述第一三通电磁阀的两个阀口分别通过气管连接在吸盘升降真空箱与吸盘升降驱动气缸之间,所述第一三通电磁阀的第三个阀口通向大气,所述第二三通电磁阀的两个阀口分别通过气管连接在吸盘升降真空箱与吸盘升降驱动气缸之间,所述第二三通电磁阀的第三个阀口通向大气,所述第一三通电磁阀和第二三通电磁阀分别与运动控制器电连接。As a preferred mode, the suction cup lifting drive mechanism includes a suction cup lifting drive cylinder, a suction cup lifting vacuum box, a first three-way solenoid valve, and a second three-way solenoid valve respectively installed in the machine body, and the piston of the suction cup lifting drive cylinder The rod is connected to the steering gear of the suction cup, the two valve ports of the first three-way solenoid valve are respectively connected between the suction cup lifting vacuum box and the suction cup lifting drive cylinder through the air pipe, and the third of the first three-way solenoid valve The valve port is open to the atmosphere, the two valve ports of the second three-way solenoid valve are respectively connected between the suction cup lifting vacuum box and the suction cup lifting drive cylinder by air pipes, and the third valve port of the second three-way solenoid valve Open to the atmosphere, and the first three-way solenoid valve and the second three-way solenoid valve are respectively electrically connected with the motion controller.
作为优选的方式,所述吸盘抽真空机构包括吸盘真空泵、吸盘抽真空箱、真空控制器、压力探头、第一吸盘电磁阀和第二吸盘电磁阀,所述吸盘真空泵、吸盘抽真空箱、真空控制器、第一吸盘电磁阀和第二吸盘电磁阀均设置在机体内,所述吸盘真空泵、吸盘抽真空箱、第一吸盘电磁阀和吸盘分别通过气管依次连接,所述第一吸盘电磁阀与吸盘之间的气管穿过中空的吸盘连接杆,所述第二吸盘电磁阀的一个阀口通过气管连接吸盘,所述第二吸盘电磁阀的另一个阀口通向大气,所述真空控制器分别与吸盘真空泵和位于吸盘抽真空箱内的压力探头电连接,所述第一吸盘电磁阀和第二吸盘电磁阀分别与运动控制器电连接。As a preferred mode, the suction cup vacuuming mechanism includes a suction cup vacuum pump, a suction cup vacuum box, a vacuum controller, a pressure probe, a first suction cup solenoid valve and a second suction cup solenoid valve, the suction cup vacuum pump, a suction cup vacuum box, and a vacuum The controller, the first suction cup solenoid valve, and the second suction cup solenoid valve are all arranged in the body. The suction cup vacuum pump, the suction cup vacuum box, the first suction cup solenoid valve and the suction cup are respectively connected in sequence through a trachea. The first suction cup solenoid valve The air pipe between the suction cup and the suction cup passes through the hollow suction cup connecting rod, one valve port of the second suction cup solenoid valve is connected to the suction cup through the air pipe, and the other valve port of the second suction cup solenoid valve is open to the atmosphere, and the vacuum control The device is respectively electrically connected with the suction cup vacuum pump and the pressure probe located in the suction cup vacuum box, and the first suction cup solenoid valve and the second suction cup solenoid valve are respectively electrically connected with the motion controller.
作为优选的方式,所述清洁刷升降驱动机构包括清洁刷真空箱、第三三通电磁阀、第四三通电磁阀、清洁刷升降驱动气缸和支点连杆,所述第三三通电磁阀的两个阀口分别通过气管连接在清洁刷真空箱与清洁刷升降驱动气缸之间,所述第三三通电磁阀的第三个阀口通向大气,所述第四三通电磁阀的两个阀口分别通过气管连接在清洁刷真空箱与清洁刷升降驱动气缸之间,所述第四三通电磁阀的第三个阀口通向大气,所述第三三通电磁阀和第四三通电磁阀分别与运动控制器电连接,所述支点连杆铰接在机体内的固定支点上,所述支点连杆的两端分别与清洁刷升降驱动气缸 的活塞杆和清洁刷相连接。As a preferred manner, the cleaning brush lifting drive mechanism includes a cleaning brush vacuum box, a third three-way solenoid valve, a fourth three-way solenoid valve, a cleaning brush lifting drive cylinder, and a fulcrum connecting rod, and the third three-way solenoid valve The two valve ports are respectively connected between the cleaning brush vacuum box and the cleaning brush lifting drive cylinder by air pipes, the third valve port of the third three-way solenoid valve is open to the atmosphere, and the fourth three-way solenoid valve Two valve ports are respectively connected between the cleaning brush vacuum box and the cleaning brush lifting drive cylinder through air pipes, the third valve port of the fourth three-way solenoid valve is open to the atmosphere, and the third three-way solenoid valve and the The four or three-way solenoid valves are respectively electrically connected to the motion controller, the fulcrum link is hinged on a fixed fulcrum in the machine body, and both ends of the fulcrum link are respectively connected with the piston rod and the cleaning brush of the cleaning brush lifting drive cylinder .
作为优选的方式,所述清洁刷旋转驱动机构设置为清洁刷旋转驱动电机,所述清洁刷旋转驱动电机的输出轴与清洁刷相连接,所述清洁刷旋转驱动电机与运动控制器电连接。As a preferred manner, the cleaning brush rotation drive mechanism is configured as a cleaning brush rotation drive motor, the output shaft of the cleaning brush rotation drive motor is connected to the cleaning brush, and the cleaning brush rotation drive motor is electrically connected to the motion controller.
作为优选的方式,所述残液清洁器设置为玻璃刮,所述联动机构设置为玻璃刮连杆,每个玻璃刮分别通过玻璃刮连杆与各自对应的支点连杆相连接。As a preferred manner, the residual liquid cleaner is configured as a glass scraper, the linkage mechanism is configured as a glass scraper link, and each glass scraper is connected to its corresponding fulcrum link through the glass scraper link.
本发明的第二方面提供了一种全地形的智能型玻璃幕墙清扫机器人的清扫控制方法,包括以下步骤:The second aspect of the present invention provides a cleaning control method of an all-terrain intelligent glass curtain wall cleaning robot, which includes the following steps:
通过清洁喷嘴将清洁剂喷洒于玻璃幕墙上;Spray the cleaning agent on the glass curtain wall through the cleaning nozzle;
利用激光测距仪测量障碍物的距离和通过地形探测器分析地形,测量障碍物的形状、尺寸大小和/或高度,并将测量得到的数据反馈至运动控制器;Use laser range finder to measure the distance of obstacles and analyze terrain through terrain detectors, measure the shape, size and/or height of obstacles, and feed back the measured data to the motion controller;
运动控制器对接收到的数据进行分析判断,制定运动策略,控制吸盘转向驱动机构、吸盘升降驱动机构和吸盘抽真空机构协调动作,从而驱动机器人在玻璃幕墙上行走和跨越障碍,以及根据地形情况控制每一组清洁刷升降驱动机构驱动对应的清洁刷和残液清洁器进行释放或收起,并控制清洁刷旋转驱动机构驱动清洁刷清扫玻璃幕墙。The motion controller analyzes and judges the received data, formulates a motion strategy, controls the suction cup steering drive mechanism, the suction cup lift drive mechanism and the suction cup vacuum mechanism to coordinate actions, thereby driving the robot to walk on the glass curtain wall and cross obstacles, and according to the terrain conditions Control each group of cleaning brush lifting drive mechanism to drive the corresponding cleaning brush and residual liquid cleaner to release or retract, and control the cleaning brush rotation drive mechanism to drive the cleaning brush to clean the glass curtain wall.
作为优选的方式,当机器人到达障碍物时,吸盘升降驱动机构需带动吸盘抬起到至少h1的高度,吸盘转向驱动机构需带动吸盘挪移至少L长度的距离,其中,h1=h-H/tanα 1,L=(tanα 3/tanα 1–1)×H,公式中,h1为障碍物的高度,h为地形探测器的高度,H为激光测距仪测定的到障碍物的距离,L为障碍物的宽度。 As a preferred way, when the robot reaches an obstacle, the suction cup lifting drive mechanism needs to drive the suction cup to a height of at least h1, and the suction cup steering drive mechanism needs to drive the suction cup to move by a distance of at least L length, where h1=hH/tanα 1 , L=(tanα 3 /tanα 1 –1)×H, in the formula, h1 is the height of the obstacle, h is the height of the terrain detector, H is the distance to the obstacle measured by the laser rangefinder, and L is the obstacle The width.
作为优选的方式,当障碍物为1字形的玻璃边框时,只收起对应玻璃边框处的清洁刷,而对应玻璃边框两侧的清洁刷继续清扫;当障碍物为十字形的玻璃边框时,收起所有清洁刷。As a preferred way, when the obstacle is a 1-shaped glass frame, only the cleaning brushes corresponding to the glass frame are stowed, and the cleaning brushes on both sides of the corresponding glass frame continue to clean; when the obstacle is a cross-shaped glass frame, Put away all cleaning brushes.
与现有技术相比,本发明的有益效果在于:Compared with the prior art, the present invention has the following beneficial effects:
本发明可通过激光测距仪测量障碍物的距离和通过地形探测器分析地形,运动控制器能够对测量数据进行分析判断,制定运动策略,控制机器人在玻璃幕墙上行走和跨越障碍,并且能够根据不同的地形控制清洁刷和残液清洁器实现分组工作,不会对清洁工作造成影响,本发明可跨多组玻璃进行清洁,解决了全地形的室外玻璃幕墙的清洁难题。The invention can measure the distance of obstacles through a laser rangefinder and analyze the terrain through a terrain detector. The motion controller can analyze and judge the measurement data, formulate motion strategies, control the robot to walk on the glass curtain wall and cross obstacles, and can be based on Different terrain control cleaning brushes and residual liquid cleaners realize grouping work without affecting the cleaning work. The present invention can clean across multiple groups of glass and solves the cleaning problem of all-terrain outdoor glass curtain walls.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are For some of the embodiments of the present invention, those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.
图1是本发明实施例提供的全地形的智能型玻璃幕墙清扫机器人的结构示意图;Fig. 1 is a schematic structural diagram of an all-terrain intelligent glass curtain wall cleaning robot provided by an embodiment of the present invention;
图2是本发明实施例提供的吸盘转向驱动机构和吸盘升降驱动机构的结构示意图;Figure 2 is a schematic structural view of a suction cup steering drive mechanism and a suction cup lifting drive mechanism provided by an embodiment of the present invention;
图3是本发明实施例提供的吸盘抽真空机构的结构示意图;Figure 3 is a schematic structural diagram of a suction cup vacuuming mechanism provided by an embodiment of the present invention;
图4是本发明实施例提供的分组式清洁刷装置和残液清洁器的单组结构示意图;4 is a schematic diagram of a single group structure of a grouped cleaning brush device and a residual liquid cleaner provided by an embodiment of the present invention;
图5是本发明实施例提供的分组式清洁刷装置的排布图。Fig. 5 is an arrangement diagram of a grouped cleaning brush device provided by an embodiment of the present invention.
[根据细则91更正 10.04.2019] 
图6是本发明实施例提供的机器人对障碍物的测绘图;
[Corrected 10.04.2019 according to Rule 91]
Figure 6 is a mapping of obstacles by a robot according to an embodiment of the present invention;
[根据细则91更正 10.04.2019] 
图7是本发明实施例提供的玻璃幕墙的两种地形图。
[Corrected 10.04.2019 according to Rule 91]
Fig. 7 is two topographic maps of the glass curtain wall provided by the embodiment of the present invention.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
请参考图1,本发明的实施例提供了一种全地形的智能型玻璃幕墙清扫机器人,包括机体1、吸盘式移动装置2、激光测距仪3、地形探测器4、运动控制器5、清洁喷嘴6、分组式清洁刷装置7和残液清洁器8,下面结合附图对本实施例各个组成部分进行详细说明。Please refer to FIG. 1, an embodiment of the present invention provides an all-terrain intelligent glass curtain wall cleaning robot, including a body 1, a suction cup moving device 2, a laser rangefinder 3, a terrain detector 4, and a motion controller 5. The cleaning nozzle 6, the grouped cleaning brush device 7 and the residual liquid cleaner 8 will be described in detail below with reference to the drawings.
具体实施时,机体1的形状可以根据实际需要任意设置,机体1的内部可以设有储液箱,储液箱的形状也可以根据机体1的尺寸和形状进行匹配设置,只要能够储存清洁剂即可实施。In specific implementation, the shape of the body 1 can be arbitrarily set according to actual needs. The body 1 can be provided with a liquid storage tank, and the shape of the liquid storage tank can also be matched according to the size and shape of the body 1, as long as it can store the cleaning agent. Can be implemented.
如图1所示,吸盘式移动装置2设有至少四组并布置在机体1的四周,其中,每组吸盘式移动装置2均包括吸盘21、吸盘连接杆22、吸盘转向驱动机构、吸盘升降驱动机构和吸盘抽真空机构,吸盘转向驱动机构通过吸盘连接杆22与吸盘21传动连接,吸盘升降驱动机构与吸盘转向驱动机构传动连接,吸盘21的气孔与吸盘抽真空机构相连接。As shown in Figure 1, the suction cup type mobile device 2 is provided with at least four groups and arranged around the body 1, wherein each group of the suction cup type mobile device 2 includes a suction cup 21, a suction cup connecting rod 22, a suction cup steering drive mechanism, and a suction cup lifting mechanism. The driving mechanism and the suction cup vacuuming mechanism, the suction cup steering driving mechanism is connected to the suction cup 21 through the suction cup connecting rod 22, the suction cup lifting driving mechanism is drivingly connected with the suction cup steering driving mechanism, and the air hole of the suction cup 21 is connected with the suction cup vacuuming mechanism.
具体而言,如图2所示,吸盘转向驱动机构可以包括分别安装在机体1内的吸盘转向齿轮23、电机齿轮24和转向驱动电机25,转向驱动电机25的输出轴与电机齿轮24相连接,电机齿轮24与吸盘转向齿轮23相啮合,吸盘21通过吸盘连接杆22固定在吸盘转向齿轮23上,转向驱动电机25与运动控制器5电连接,转向驱动电机25能够带动吸盘连接杆22上的吸盘21实现360度的自由旋转。Specifically, as shown in FIG. 2, the suction cup steering drive mechanism may include a suction cup steering gear 23, a motor gear 24, and a steering drive motor 25 respectively installed in the body 1. The output shaft of the steering drive motor 25 is connected to the motor gear 24 , The motor gear 24 meshes with the suction cup steering gear 23, the suction cup 21 is fixed on the suction cup steering gear 23 through the suction cup connecting rod 22, the steering drive motor 25 is electrically connected to the motion controller 5, and the steering driving motor 25 can drive the suction cup connecting rod 22 The suction cup 21 realizes 360-degree free rotation.
具体而言,如图2所示,吸盘升降驱动机构可以包括分别安装在机体1内的吸盘升降驱动气缸27、吸盘升降真空箱28、第一三通电磁阀29和第二三通电磁阀210,吸盘升降驱动气缸27的活塞杆与吸盘转向齿轮23相连接,吸盘升降驱动气缸27能够带动吸盘转向齿轮23和吸盘连接杆22上下移动,此时吸盘转向齿轮23的尺寸高度需要大于电机齿轮24,这样在吸盘转向齿轮23上下移动的过程中,吸盘转向齿轮23仍能与电机齿轮24保持良好的啮合状态,第一三通电磁阀29的两个阀口分别通过气管连接在吸盘升降真空箱28与吸盘升降驱动气缸27之间,第一三通电磁阀29的第三个阀口通向大气,第二三通电磁阀210的两个阀口分别通过气管连接在吸盘升降真空箱28与吸盘升降驱动气缸27之间,第二三通电磁阀210的第三个阀口通向大气,第一三通电磁阀29和第二三通电磁阀210分别与运动控制器5电连接,吸盘升降真空箱28可以由泵体抽真空。Specifically, as shown in FIG. 2, the suction cup lifting drive mechanism may include a suction cup lifting drive cylinder 27, a suction cup lifting vacuum box 28, a first three-way solenoid valve 29, and a second three-way solenoid valve 210 respectively installed in the body 1. The piston rod of the suction cup lifting drive cylinder 27 is connected to the suction cup steering gear 23. The suction cup lifting drive cylinder 27 can drive the suction cup steering gear 23 and the suction cup connecting rod 22 to move up and down. At this time, the size and height of the suction cup steering gear 23 needs to be larger than the motor gear 24 In this way, when the suction cup steering gear 23 moves up and down, the suction cup steering gear 23 can still maintain a good meshing state with the motor gear 24. The two valve ports of the first three-way solenoid valve 29 are connected to the suction cup lifting vacuum box through the air pipes. 28 and the suction cup lifting drive cylinder 27, the third valve port of the first three-way solenoid valve 29 is open to the atmosphere, and the two valve ports of the second three-way solenoid valve 210 are respectively connected to the suction cup lifting vacuum box 28 and Between the suction cup lifting drive cylinder 27, the third valve port of the second three-way solenoid valve 210 is open to the atmosphere, the first three-way solenoid valve 29 and the second three-way solenoid valve 210 are respectively electrically connected to the motion controller 5, and the suction cup The lifting vacuum box 28 can be evacuated by the pump body.
当然,在其他实施例中,作为另一种可实施的方式,吸盘升降驱动机构也可以设置成电机+丝杠的驱动装置,丝杠可以与吸盘转向齿轮23的中心孔螺纹连接。Of course, in other embodiments, as another implementable manner, the suction cup lifting drive mechanism can also be configured as a motor + screw drive device, and the screw can be threadedly connected with the central hole of the suction cup steering gear 23.
具体而言,如图3所示,吸盘抽真空机构可以包括吸盘真空泵211、吸盘抽真空箱212、真空控制器213、压力探头214、第一吸盘电磁阀215和第二吸盘电磁阀216,吸盘真空泵211、吸盘抽真空箱212、真空控制器213、第一吸盘电磁阀215和第二吸盘电磁阀216均设置在机体1内,吸盘真空泵211、吸盘抽真空箱212、第一吸盘电磁阀215和吸盘分别通过气管依次连接,第一吸盘电磁阀215与吸盘之间的气管穿过中空的吸盘连接杆22,第二吸盘电磁阀216的一个阀口通过气管连接吸盘21,第二吸盘电磁阀216的另一个阀口通向大气,真空控制器213分别与吸盘真空泵211 和位于吸盘抽真空箱212内的压力探头214电连接,第一吸盘电磁阀215和第二吸盘电磁阀216分别与运动控制器5电连接。Specifically, as shown in FIG. 3, the suction cup vacuuming mechanism may include a suction cup vacuum pump 211, a suction cup vacuum box 212, a vacuum controller 213, a pressure probe 214, a first suction cup solenoid valve 215 and a second suction cup solenoid valve 216. The vacuum pump 211, the suction cup vacuum box 212, the vacuum controller 213, the first suction cup solenoid valve 215 and the second suction cup solenoid valve 216 are all arranged in the body 1, the suction cup vacuum pump 211, the suction cup vacuum box 212, and the first suction cup solenoid valve 215 The suction cup and the suction cup are respectively connected in sequence through a trachea. The trachea between the first suction cup solenoid valve 215 and the suction cup passes through the hollow suction cup connecting rod 22. A valve port of the second suction cup solenoid valve 216 is connected to the suction cup 21 through the trachea. The second suction cup solenoid valve The other valve port of 216 is open to the atmosphere. The vacuum controller 213 is electrically connected to the suction cup vacuum pump 211 and the pressure probe 214 located in the suction cup vacuum box 212. The first suction cup solenoid valve 215 and the second suction cup solenoid valve 216 are respectively connected to the movement The controller 5 is electrically connected.
当吸盘21需要移动时,第一吸盘电磁阀215关闭,第二吸盘电磁阀216打开,吸盘21可以从玻璃上移开。当吸盘21需要吸附在玻璃上时,第二吸盘电磁阀216关闭,第一吸盘电磁阀215先打开,这时吸盘21中的空气就与吸盘抽真空箱212相连通,吸盘21中的压力会下降,就可以吸附到玻璃上,待吸盘21吸紧后,再关闭电磁阀1。When the suction cup 21 needs to be moved, the first suction cup solenoid valve 215 is closed, the second suction cup solenoid valve 216 is opened, and the suction cup 21 can be removed from the glass. When the suction cup 21 needs to be adsorbed on the glass, the second suction cup solenoid valve 216 is closed, and the first suction cup solenoid valve 215 is opened first. At this time, the air in the suction cup 21 is connected to the suction cup vacuum box 212, and the pressure in the suction cup 21 will change. When it is lowered, it can be adsorbed to the glass. After the suction cup 21 is tightly sucked, the solenoid valve 1 is closed.
吸盘抽真空箱212中的真空度由真空控制器213控制,真空控制器213通过压力探头214检测吸盘抽真空箱212中的压力值,当压力过高时,吸盘真空泵211开始工作,抽真空,当压力降到特定压力值以下,吸盘真空泵211停止工作,始终保持吸盘抽真空箱212中的真空度在规定值以下。The vacuum degree in the suction cup vacuum box 212 is controlled by the vacuum controller 213. The vacuum controller 213 detects the pressure value in the suction cup vacuum box 212 through the pressure probe 214. When the pressure is too high, the suction cup vacuum pump 211 starts to work and vacuum, When the pressure drops below a certain pressure value, the suction cup vacuum pump 211 stops working, and always keeps the vacuum degree in the suction cup vacuum box 212 below the specified value.
激光测距仪3至少设置在机体1的前端和/或两侧面,如图1所示,在本实施例中,优选的,为了增加可靠性,激光测距仪3在机体1的前端设置两个,两侧面各一个。激光测距仪在测量到前方有障碍物时,可以精确地对障碍物的距离进行测量。民用级的激光测距仪探测距离可以达到几十米,并且精度可以控制在2mm以内,完全可以满足本实施例的要求。The laser rangefinder 3 is provided at least on the front end and/or both sides of the body 1, as shown in FIG. 1. In this embodiment, preferably, in order to increase reliability, the laser rangefinder 3 is provided at the front end of the body 1. One on each side. The laser rangefinder can accurately measure the distance of the obstacle when it measures the obstacle ahead. The detection distance of a civilian-grade laser rangefinder can reach several tens of meters, and the accuracy can be controlled within 2 mm, which can fully meet the requirements of this embodiment.
如图1所示,地形探测器4设置在机体1的底部前端,包括至少一个图像摄像头。虽然激光测距仪能够探测到机器人与障碍物的距离,但障碍物的形状、大小、高度等系列信息,需要图像识别系统进行识别。图像摄像头在对障碍物进行分析后,可以得到如下信息:障碍物的最高点h1、障碍物的宽度L。As shown in Fig. 1, the terrain detector 4 is arranged at the bottom front end of the body 1, and includes at least one image camera. Although the laser rangefinder can detect the distance between the robot and the obstacle, the shape, size, and height of the obstacle need to be identified by an image recognition system. After the image camera analyzes the obstacle, it can obtain the following information: the highest point h1 of the obstacle, and the width L of the obstacle.
运动控制器5分别与吸盘式移动装置2、激光测距仪3和地形探测器4电连接并设置在机体1的内部。The motion controller 5 is electrically connected to the suction cup type moving device 2, the laser rangefinder 3 and the terrain detector 4 and is arranged inside the body 1.
如图1所示,清洁喷嘴6设置在机体1的底部,并能够与机体1内部的储液箱相连接。As shown in FIG. 1, the cleaning nozzle 6 is arranged at the bottom of the body 1 and can be connected to a liquid storage tank inside the body 1.
如图1、图4和图5所示,分组式清洁刷装置7包括七组独立的清洁刷71、七组清洁刷升降驱动机构和七组清洁刷旋转驱动机构,七组清洁刷71排列设置在机体1的底部,清洁刷升降驱动机构和清洁刷旋转驱动机构分别与各自对应的清洁刷71传动连接,清洁刷升降驱动机构与运动控制器5电连接。分组清洁刷装置7可以根据地形对每一组清洁刷进行独立升降(即伸缩),以适应复杂的玻璃幕墙外形。As shown in Figure 1, Figure 4 and Figure 5, the grouped cleaning brush device 7 includes seven groups of independent cleaning brushes 71, seven groups of cleaning brush lifting and lowering drive mechanisms, and seven groups of cleaning brush rotation drive mechanisms. The seven groups of cleaning brushes 71 are arranged in a row. At the bottom of the body 1, the cleaning brush lifting drive mechanism and the cleaning brush rotation drive mechanism are respectively connected to the corresponding cleaning brush 71 in transmission, and the cleaning brush lifting drive mechanism is electrically connected to the motion controller 5. The grouped cleaning brush device 7 can independently lift each group of cleaning brushes (ie, telescopic) according to the terrain, so as to adapt to the complex glass curtain wall shape.
具体而言,如图4所示,每组清洁刷升降驱动机构均包括清洁刷真空箱72、第三三通电磁阀73、第四三通电磁阀74、清洁刷升降驱动气缸75和支点连杆76,第三三通电磁阀73的两个阀口分别通过气管连接在清洁刷真空箱72与清洁刷升降驱动气缸75之间,第三三通电磁阀73的第三个阀口通向大气,第四三通电磁阀74的两个阀口分别通过气管连接在清洁刷真空箱72与清洁刷升降驱动气缸75之间,第四三通电磁阀74的第三个阀口通向大气,第三三通电磁阀73和第四三通电磁阀74分别与运动控制器5电连接,支点连杆76铰接在机体1内的固定支点上,支点连杆76的两端分别与清洁刷升降驱动气缸75的活塞杆和清洁刷71相连接。清洁刷真空箱72可以由泵体抽真空。Specifically, as shown in FIG. 4, each group of cleaning brush lifting drive mechanisms includes a cleaning brush vacuum box 72, a third three-way solenoid valve 73, a fourth three-way solenoid valve 74, a cleaning brush lifting drive cylinder 75 and a fulcrum connection. The rod 76 and the two valve ports of the third three-way solenoid valve 73 are respectively connected by air pipes between the cleaning brush vacuum box 72 and the cleaning brush lifting drive cylinder 75. The third valve port of the third three-way solenoid valve 73 leads to Atmosphere, the two valve ports of the fourth three-way solenoid valve 74 are respectively connected between the cleaning brush vacuum box 72 and the cleaning brush lifting drive cylinder 75 through air pipes, and the third valve port of the fourth three-way solenoid valve 74 is open to the atmosphere , The third three-way solenoid valve 73 and the fourth three-way solenoid valve 74 are respectively electrically connected to the motion controller 5, the fulcrum link 76 is hinged on the fixed fulcrum in the body 1, and the two ends of the fulcrum link 76 are respectively connected with the cleaning brush The piston rod of the lift drive cylinder 75 is connected to the cleaning brush 71. The cleaning brush vacuum box 72 can be evacuated by the pump body.
在本实施例中,清洁刷旋转驱动机构可以优选设置为清洁刷旋转驱动电机77,清洁刷旋转驱动电机77的输出轴与清洁刷71相连接,清洁刷旋转驱动电机77与运动控制器5电连接。In this embodiment, the cleaning brush rotation drive mechanism may preferably be configured as a cleaning brush rotation drive motor 77, the output shaft of the cleaning brush rotation drive motor 77 is connected to the cleaning brush 71, and the cleaning brush rotation drive motor 77 is electrically connected to the motion controller 5. connection.
单个清洁刷71可以在清洁刷旋转驱动电机77的驱动下转动,转动时可以清洁玻璃。当需要放下单个清洁刷让它清洁时,第四三通电磁阀74 与清洁刷真空箱72连通,第三三通电磁阀73与大气连通,清洁刷升降驱动气缸75中的活塞由大气推动上移,支点连杆76绕固定支点转动,清洁刷71被放下。当需要收起单个清洁刷让它停止工作时,第三三通电磁阀73与清洁刷真空箱72连通,第四三通电磁阀74与大气连通,清洁刷升降驱动气缸75中的活塞由大气推动下移,支点连杆76绕固定支点转动,清洁刷71被收起。The single cleaning brush 71 can be rotated under the driving of the cleaning brush rotation driving motor 77, and can clean the glass when rotated. When a single cleaning brush needs to be put down for cleaning, the fourth three-way solenoid valve 74 is in communication with the cleaning brush vacuum box 72, the third three-way solenoid valve 73 is in communication with the atmosphere, and the piston in the cleaning brush lifting drive cylinder 75 is pushed up by the atmosphere. Move, the fulcrum link 76 rotates around the fixed fulcrum, and the cleaning brush 71 is lowered. When a single cleaning brush needs to be put away to stop working, the third three-way solenoid valve 73 communicates with the cleaning brush vacuum box 72, and the fourth three-way solenoid valve 74 communicates with the atmosphere. The cleaning brush lifts and drives the piston in the cylinder 75 from the atmosphere. When pushed down, the fulcrum link 76 rotates around the fixed fulcrum, and the cleaning brush 71 is retracted.
如图1、图4和图5所示,分组式清洁刷装置7位于残液清洁器8与清洁喷嘴6之间,残液清洁器8也可以设有七组并分别通过联动机构与各自对应的清洁刷71保持联动升降。在本实施例中,残液清洁器8可以设置为长条状的玻璃刮81,联动机构设置可以为玻璃刮连杆82,每个玻璃刮81分别通过玻璃刮连杆82与各自对应的支点连杆76相连接,支点连杆76能够带动玻璃刮连杆82转动。在清洁刷71清洁后,玻璃刮81能够对余留的残液及灰尘进行清洁。As shown in Figure 1, Figure 4 and Figure 5, the grouped cleaning brush device 7 is located between the residual liquid cleaner 8 and the cleaning nozzle 6. The residual liquid cleaner 8 can also be provided with seven groups and correspond to each through a linkage mechanism. The cleaning brush 71 maintains linkage lifting. In this embodiment, the residual liquid cleaner 8 can be set as a long glass scraper 81, and the linkage mechanism can be set as a glass scraper link 82. Each glass scraper 81 passes through the glass scraper link 82 and its corresponding fulcrum. The connecting rod 76 is connected, and the fulcrum connecting rod 76 can drive the glass scraper connecting rod 82 to rotate. After the cleaning brush 71 is cleaned, the glass scraper 81 can clean the remaining liquid and dust.
具体实施时,全地形的智能型玻璃幕墙清扫机器人的清扫控制方法包括以下步骤:In specific implementation, the cleaning control method of the all-terrain intelligent glass curtain wall cleaning robot includes the following steps:
(1)通过清洁喷嘴6将清洁剂喷洒于玻璃幕墙上;(1) Spray the cleaning agent on the glass curtain wall through the cleaning nozzle 6;
(2)利用激光测距仪3测量障碍物的距离和通过地形探测器4分析地形,测量障碍物的形状、尺寸大小和/或高度,并将测量得到的数据反馈至运动控制器5;(2) Use the laser rangefinder 3 to measure the distance of the obstacle and analyze the terrain through the terrain detector 4, measure the shape, size and/or height of the obstacle, and feed back the measured data to the motion controller 5;
(3)运动控制器5对接收到的数据进行分析判断,制定运动策略,控制吸盘转向驱动机构、吸盘升降驱动机构和吸盘抽真空机构协调动作,从而驱动机器人在玻璃幕墙上行走和跨越障碍,以及根据地形情况控制每一组清洁刷升降驱动机构驱动对应的清洁刷71和残液清洁器8进行释放 或收起,并控制清洁刷旋转驱动机构驱动清洁刷71清扫玻璃幕墙。(3) The motion controller 5 analyzes and judges the received data, formulates a motion strategy, controls the suction cup steering drive mechanism, the suction cup lift drive mechanism and the suction cup vacuum mechanism to coordinate actions, thereby driving the robot to walk on the glass curtain wall and cross obstacles. And according to the terrain, control each group of cleaning brush lifting drive mechanism to drive the corresponding cleaning brush 71 and residual liquid cleaner 8 to release or retract, and control the cleaning brush rotation drive mechanism to drive the cleaning brush 71 to clean the glass curtain wall.
如图6所示,假设机器人行走的距离为S,激光测距仪测定的到障碍物的距离为H,当机器人到达障碍物时,吸盘升降驱动机构需带动单组吸盘抬起到至少h1的高度,吸盘转向驱动机构需带动吸盘挪移至少L长度的距离,其中,h1=h-H/tanα 1,L=(tanα 3/tanα 1–1)×H,公式中,h1为障碍物的高度,h为地形探测器的高度,L为障碍物的宽度。 As shown in Figure 6, assuming that the walking distance of the robot is S and the distance to the obstacle measured by the laser rangefinder is H, when the robot reaches the obstacle, the suction cup lifting drive mechanism needs to drive a single group of suction cups to at least h1 Height, the suction cup steering drive mechanism needs to drive the suction cup to move at least a distance of L length, where h1=hH/tanα 1 , L=(tanα 3 /tanα 1 –1)×H, in the formula, h1 is the height of the obstacle, h Is the height of the terrain detector and L is the width of the obstacle.
以上是一种简单的障碍物识别方法,当然,在其他实施例中也可以采用遗传算法,通过训练的方式来提高识别系统的准确性。The above is a simple obstacle recognition method. Of course, genetic algorithms can also be used in other embodiments to improve the accuracy of the recognition system through training.
机器人在玻璃幕墙清洁的工作中,考虑到每栋大厦的玻璃幕墙结构、大小有很大的差异,如果存在图7所示的两种情形时,采用分组式的清洁刷非常有必要。当障碍物为1字形的玻璃边框时,如果对应玻璃边框处的清洁刷不能自动收回,这将直接影响两侧玻璃的清洗效果,造成无法清洗,甚至损坏机器人的情况,因此可以收起对应玻璃边框处的清洁刷,而对应玻璃边框两侧的清洁刷继续清扫。当障碍物为十字形的玻璃边框时,此时可以收起所有清洁刷,这样不会影响机器人的跨障动作。In the work of cleaning the glass curtain wall of the robot, considering the large difference in the structure and size of the glass curtain wall of each building, if there are two situations shown in Figure 7, it is necessary to use grouped cleaning brushes. When the obstacle is a 1-shaped glass frame, if the cleaning brush at the corresponding glass frame cannot be retracted automatically, it will directly affect the cleaning effect of the glass on both sides, resulting in unable to clean, or even damage the robot, so the corresponding glass can be stored The cleaning brushes at the frame and the cleaning brushes on both sides of the glass frame continue to clean. When the obstacle is a cross-shaped glass frame, all the cleaning brushes can be put away at this time, so as not to affect the robot's obstacle-crossing motion.
机器人的工作过程如下:The working process of the robot is as follows:
当机器人开始工作时,其随身携带的水箱提供清洁剂,通过清洁喷嘴将清洁剂喷洒于玻璃上,分组式清洁刷装置根据地形情况,判断释放或收起对应的清洁刷,清洁刷开始旋转,对玻璃进行清洁,残液清洁器紧贴于玻璃上,它与清洁刷保持同步,当分组式清洁刷装置中对应的清洁刷收起时,残液清洁器也收起,反之,则释放。When the robot starts to work, the water tank it carries provides cleaning agent, and the cleaning agent is sprayed on the glass through the cleaning nozzle. The grouped cleaning brush device judges to release or retract the corresponding cleaning brush according to the terrain conditions, and the cleaning brush starts to rotate. To clean the glass, the residual liquid cleaner is close to the glass, and it is synchronized with the cleaning brush. When the corresponding cleaning brush in the grouped cleaning brush device is retracted, the residual liquid cleaner is also retracted, otherwise, it is released.
上述实施例为本发明较佳的实施方式,但本发明的实施方式并不受上述实施例的限制,其他的任何未背离本发明的精神实质与原理下所作的改 变、修饰、替代、组合、简化,均应为等效的置换方式,都包含在本发明的保护范围之内。The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, etc. made without departing from the spirit and principle of the present invention Simplified, all should be equivalent replacement methods, and they are all included in the protection scope of the present invention.

Claims (10)

  1. 一种全地形的智能型玻璃幕墙清扫机器人,其特征在于,包括:An all-terrain intelligent glass curtain wall cleaning robot, which is characterized in that it includes:
    机体;Body
    吸盘式移动装置,其设有至少四组并布置在机体的四周,每组吸盘式移动装置均包括吸盘、吸盘连接杆、吸盘转向驱动机构、吸盘升降驱动机构和吸盘抽真空机构,所述吸盘转向驱动机构通过吸盘连接杆与吸盘传动连接,所述吸盘升降驱动机构与吸盘转向驱动机构传动连接,所述吸盘的气孔与吸盘抽真空机构相连接;The suction cup type moving device is provided with at least four groups and arranged around the body. Each group of the suction cup type moving device includes a suction cup, a suction cup connecting rod, a suction cup steering drive mechanism, a suction cup lifting drive mechanism and a suction cup vacuuming mechanism. The steering drive mechanism is drivingly connected with the suction cup through the suction cup connecting rod, the suction cup lifting driving mechanism is drivingly connected with the suction cup steering driving mechanism, and the air hole of the suction cup is connected with the suction cup vacuuming mechanism;
    激光测距仪,其至少设置在机体的前端和/或两侧面;A laser rangefinder, which is arranged at least on the front end and/or both sides of the body;
    地形探测器,其设置在机体的前端或机体的底部前端,包括至少一个图像摄像头;A terrain detector, which is arranged at the front end of the body or the bottom front end of the body, and includes at least one image camera;
    运动控制器,分别与吸盘式移动装置、激光测距仪和地形探测器电连接并设置在机体的内部;The motion controller is electrically connected to the suction cup type moving device, the laser rangefinder and the terrain detector and is set inside the body;
    清洁喷嘴,其设置在机体的底部并与机体内部的储液箱相连接;The cleaning nozzle is set at the bottom of the machine body and connected with the liquid storage tank inside the machine body;
    分组式清洁刷装置,包括多组独立的清洁刷、多组清洁刷升降驱动机构和多组清洁刷旋转驱动机构,多组清洁刷排列设置在机体的底部,所述清洁刷升降驱动机构和清洁刷旋转驱动机构分别与各自对应的清洁刷传动连接,所述清洁刷升降驱动机构与运动控制器电连接;The grouped cleaning brush device includes multiple groups of independent cleaning brushes, multiple groups of cleaning brush lifting drive mechanisms and multiple groups of cleaning brush rotation drive mechanisms. The multiple groups of cleaning brushes are arranged at the bottom of the body. The cleaning brush lifting drive mechanism and cleaning The brush rotation drive mechanism is respectively connected to the corresponding cleaning brush in transmission, and the cleaning brush lifting drive mechanism is electrically connected to the motion controller;
    残液清洁器,其设有多组并分别通过联动机构与各自对应的清洁刷保持联动升降,所述分组式清洁刷装置位于残液清洁器与清洁喷嘴之间。Residual liquid cleaner, which is provided with a plurality of groups and maintained in linkage with the respective corresponding cleaning brushes through a linkage mechanism, and the grouped cleaning brush device is located between the residual liquid cleaner and the cleaning nozzle.
  2. 根据权利要求1所述的全地形的智能型玻璃幕墙清扫机器人,其特征在于,所述吸盘转向驱动机构包括分别安装在机体内的吸盘转向齿 轮、电机齿轮和转向驱动电机,所述转向驱动电机的输出轴与电机齿轮相连接,所述电机齿轮与吸盘转向齿轮相啮合,所述吸盘通过吸盘连接杆固定在吸盘转向齿轮上,所述转向驱动电机与运动控制器电连接。The all-terrain intelligent glass curtain wall cleaning robot according to claim 1, wherein the suction cup steering drive mechanism comprises a suction cup steering gear, a motor gear and a steering drive motor which are respectively installed in the body, and the steering drive motor The output shaft is connected with the motor gear, the motor gear meshes with the suction cup steering gear, the suction cup is fixed on the suction cup steering gear through the suction cup connecting rod, and the steering drive motor is electrically connected with the motion controller.
  3. 根据权利要求2所述的全地形的智能型玻璃幕墙清扫机器人,其特征在于,所述吸盘升降驱动机构包括分别安装在机体内的吸盘升降驱动气缸、吸盘升降真空箱、第一三通电磁阀和第二三通电磁阀,所述吸盘升降驱动气缸的活塞杆与吸盘转向齿轮相连接,所述第一三通电磁阀的两个阀口分别通过气管连接在吸盘升降真空箱与吸盘升降驱动气缸之间,所述第一三通电磁阀的第三个阀口通向大气,所述第二三通电磁阀的两个阀口分别通过气管连接在吸盘升降真空箱与吸盘升降驱动气缸之间,所述第二三通电磁阀的第三个阀口通向大气,所述第一三通电磁阀和第二三通电磁阀分别与运动控制器电连接。The all-terrain intelligent glass curtain wall cleaning robot according to claim 2, wherein the suction cup lifting drive mechanism comprises a suction cup lifting drive cylinder, a suction cup lifting vacuum box, and a first three-way solenoid valve respectively installed in the body And the second three-way solenoid valve, the piston rod of the suction cup lifting drive cylinder is connected with the suction cup steering gear, and the two valve ports of the first three-way solenoid valve are respectively connected to the suction cup lifting vacuum box and the suction cup lifting drive through the air pipe Between the cylinders, the third valve port of the first three-way solenoid valve is open to the atmosphere, and the two valve ports of the second three-way solenoid valve are connected to the suction cup lifting vacuum box and the suction cup lifting drive cylinder through air pipes. Meanwhile, the third valve port of the second three-way solenoid valve is open to the atmosphere, and the first three-way solenoid valve and the second three-way solenoid valve are respectively electrically connected to the motion controller.
  4. 根据权利要求1所述的全地形的智能型玻璃幕墙清扫机器人,其特征在于,所述吸盘抽真空机构包括吸盘真空泵、吸盘抽真空箱、真空控制器、压力探头、第一吸盘电磁阀和第二吸盘电磁阀,所述吸盘真空泵、吸盘抽真空箱、真空控制器、第一吸盘电磁阀和第二吸盘电磁阀均设置在机体内,所述吸盘真空泵、吸盘抽真空箱、第一吸盘电磁阀和吸盘分别通过气管依次连接,所述第一吸盘电磁阀与吸盘之间的气管穿过中空的吸盘连接杆,所述第二吸盘电磁阀的一个阀口通过气管连接吸盘,所述第二吸盘电磁阀的另一个阀口通向大气,所述真空控制器分别与吸盘真空泵和位于吸盘抽真空箱内的压力探头电连接,所述第一吸盘电磁阀和第二吸盘电磁阀分别与运动控制器电连接。The all-terrain intelligent glass curtain wall cleaning robot according to claim 1, wherein the suction cup vacuum mechanism includes a suction cup vacuum pump, a suction cup vacuum box, a vacuum controller, a pressure probe, a first suction cup solenoid valve and a first suction cup Two suction cup solenoid valves, the suction cup vacuum pump, the suction cup vacuum box, the vacuum controller, the first suction cup solenoid valve and the second suction cup solenoid valve are all arranged in the body, the suction cup vacuum pump, the suction cup vacuum box, the first suction cup solenoid The valve and the suction cup are respectively connected in sequence through a trachea. The trachea between the first suction cup solenoid valve and the suction cup passes through the hollow suction cup connecting rod. One valve port of the second suction cup solenoid valve is connected to the suction cup through the trachea. The other valve port of the suction cup solenoid valve is open to the atmosphere. The vacuum controller is respectively electrically connected with the suction cup vacuum pump and the pressure probe located in the suction cup vacuum box. The first suction cup solenoid valve and the second suction cup solenoid valve are respectively connected to the movement The controller is electrically connected.
  5. 根据权利要求1所述的全地形的智能型玻璃幕墙清扫机器人,其 特征在于,所述清洁刷升降驱动机构包括清洁刷真空箱、第三三通电磁阀、第四三通电磁阀、清洁刷升降驱动气缸和支点连杆,所述第三三通电磁阀的两个阀口分别通过气管连接在清洁刷真空箱与清洁刷升降驱动气缸之间,所述第三三通电磁阀的第三个阀口通向大气,所述第四三通电磁阀的两个阀口分别通过气管连接在清洁刷真空箱与清洁刷升降驱动气缸之间,所述第四三通电磁阀的第三个阀口通向大气,所述第三三通电磁阀和第四三通电磁阀分别与运动控制器电连接,所述支点连杆铰接在机体内的固定支点上,所述支点连杆的两端分别与清洁刷升降驱动气缸的活塞杆和清洁刷相连接。The all-terrain intelligent glass curtain wall cleaning robot according to claim 1, wherein the cleaning brush lifting drive mechanism includes a cleaning brush vacuum box, a third three-way solenoid valve, a fourth three-way solenoid valve, and a cleaning brush The two valve ports of the third three-way solenoid valve are respectively connected between the cleaning brush vacuum box and the cleaning brush lifting drive cylinder through air pipes. The third three-way solenoid valve Two valve ports of the fourth three-way solenoid valve are connected to the atmosphere, and the two valve ports of the fourth three-way solenoid valve are respectively connected between the cleaning brush vacuum box and the cleaning brush lifting drive cylinder by air pipes. The valve port is open to the atmosphere, the third three-way solenoid valve and the fourth three-way solenoid valve are respectively electrically connected to the motion controller, the fulcrum link is hinged on a fixed fulcrum in the body, and the two fulcrum links are The ends are respectively connected with the piston rod of the cleaning brush lifting drive cylinder and the cleaning brush.
  6. 根据权利要求1所述的全地形的智能型玻璃幕墙清扫机器人,其特征在于,所述清洁刷旋转驱动机构设置为清洁刷旋转驱动电机,所述清洁刷旋转驱动电机的输出轴与清洁刷相连接,所述清洁刷旋转驱动电机与运动控制器电连接。The all-terrain intelligent glass curtain wall cleaning robot according to claim 1, wherein the cleaning brush rotation drive mechanism is configured as a cleaning brush rotation drive motor, and the output shaft of the cleaning brush rotation drive motor is in phase with the cleaning brush. Connected, the cleaning brush rotation driving motor is electrically connected with the motion controller.
  7. 根据权利要求5所述的全地形的智能型玻璃幕墙清扫机器人,其特征在于,所述残液清洁器设置为玻璃刮,所述联动机构设置为玻璃刮连杆,每个玻璃刮分别通过玻璃刮连杆与各自对应的支点连杆相连接。The all-terrain intelligent glass curtain wall cleaning robot according to claim 5, wherein the residual liquid cleaner is set as a glass scraper, the linkage mechanism is set as a glass scraper link, and each glass scraper passes through the glass respectively. The scraping link is connected with the corresponding fulcrum link.
  8. 一种权利要求1~7中任意一项所述的全地形的智能型玻璃幕墙清扫机器人的清扫控制方法,其特征在于,该方法包括以下步骤:A cleaning control method for an all-terrain intelligent glass curtain wall cleaning robot according to any one of claims 1 to 7, characterized in that the method comprises the following steps:
    通过清洁喷嘴将清洁剂喷洒于玻璃幕墙上;Spray the cleaning agent on the glass curtain wall through the cleaning nozzle;
    利用激光测距仪测量障碍物的距离和通过地形探测器分析地形,测量障碍物的形状、尺寸大小和/或高度,并将测量得到的数据反馈至运动控制器;Use laser range finder to measure the distance of obstacles and analyze terrain through terrain detectors, measure the shape, size and/or height of obstacles, and feed back the measured data to the motion controller;
    运动控制器对接收到的数据进行分析判断,制定运动策略,控制吸盘 转向驱动机构、吸盘升降驱动机构和吸盘抽真空机构协调动作,从而驱动机器人在玻璃幕墙上行走和跨越障碍,以及根据地形情况控制每一组清洁刷升降驱动机构驱动对应的清洁刷和残液清洁器进行释放或收起,并控制清洁刷旋转驱动机构驱动清洁刷清扫玻璃幕墙。The motion controller analyzes and judges the received data, formulates a motion strategy, controls the suction cup steering drive mechanism, the suction cup lift drive mechanism and the suction cup vacuum mechanism to coordinate actions, thereby driving the robot to walk on the glass curtain wall and cross obstacles, and according to the terrain conditions Control each group of cleaning brush lifting drive mechanism to drive the corresponding cleaning brush and residual liquid cleaner to release or retract, and control the cleaning brush rotation drive mechanism to drive the cleaning brush to clean the glass curtain wall.
  9. 根据权利要求8所述的全地形的智能型玻璃幕墙清扫机器人的清扫控制方法,其特征在于,当机器人到达障碍物时,吸盘升降驱动机构需带动吸盘抬起到至少h1的高度,吸盘转向驱动机构需带动吸盘挪移至少L长度的距离,其中,h1=h-H/tanα 1,L=(tanα 3/tanα 1–1)×H,公式中,h1为障碍物的高度,h为地形探测器的高度,H为激光测距仪测定的到障碍物的距离,L为障碍物的宽度。 The cleaning control method of an all-terrain intelligent glass curtain wall cleaning robot according to claim 8, wherein when the robot reaches an obstacle, the suction cup lifting drive mechanism needs to drive the suction cup to a height of at least h1, and the suction cup is turned to drive The mechanism needs to drive the suction cup to move a distance of at least L length, where h1=hH/tanα 1 , L=(tanα 3 /tanα 1 –1)×H, in the formula, h1 is the height of the obstacle and h is the height of the terrain detector Height, H is the distance to the obstacle measured by the laser rangefinder, L is the width of the obstacle.
  10. 根据权利要求8所述的全地形的智能型玻璃幕墙清扫机器人的清扫控制方法,其特征在于,当障碍物为1字形的玻璃边框时,只收起对应玻璃边框处的清洁刷,而对应玻璃边框两侧的清洁刷继续清扫;当障碍物为十字形的玻璃边框时,收起所有清洁刷。The cleaning control method of an all-terrain intelligent glass curtain wall cleaning robot according to claim 8, wherein when the obstacle is a 1-shaped glass frame, only the cleaning brush at the corresponding glass frame is stored, and the corresponding glass frame The cleaning brushes on both sides of the frame continue to clean; when the obstacle is a cross-shaped glass frame, put away all the cleaning brushes.
PCT/CN2019/077645 2019-03-11 2019-03-11 Smart all-terrain glass curtain wall cleaning robot and cleaning control method therefor WO2020181453A1 (en)

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CN205697569U (en) * 2016-02-03 2016-11-23 南京聚特机器人技术有限公司 A kind of glass curtain wall clean robot
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101293541A (en) * 2008-03-31 2008-10-29 浙江大学 Telecontrol wall-climbing cleaning robot
CN103110396A (en) * 2013-03-12 2013-05-22 贵州大学 Automatic cleaning machine for high-rise buildings
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