Design And Implementation Of An Intelligent Window Climbing Robot

In recent years,due to the rapid development of our society and population explosion,urban residential buildings are getting higher and higher.The cleaning task of windows in residential houses seems to be burdensome and dangerous.This paper designs an intelligent window cleaning wall climbing robot for family users.In the process of design,a new simple passive negative pressure adsorption structure is proposed,which effectively improves the shortcomings of traditional vacuum negative pressure adsorption mode,such as high power consumption and high noise.The main contents and research results of this paper are as follows:Firstly,the overall design of the robot is proposed in this paper.Through comparing the advantages and disadvantages of different mobile modes,different adsorption methods and different cleaning methods,the whole mechanical scheme of multi sucker vacuum vacuum adsorption,crawler mobile and chassis with a cleaning cloth at the front and rear ends is selected.In order to improve the disadvantages of traditional vacuum negative pressure adsorption mode,such as high power consumption and high noise,a new passive passive vacuum adsorption structure is designed.A kinematic model is established and analyzed based on the overall mechanical structure.Based on the analysis results,two kinds of full coverage cleaning schemes are designed,which are automatic cleaning and remote control cleaning.Secondly,the model of the main control chip of the robot hardware control system,the suction disc motor,the caterpillar motor and the remote communication mode are selected and analyzed.According to the analysis results,this paper confirms the hardware system scheme that takes K10 microcontroller as main control chip,DC motor control sucker action,stepper motor control crawler action and Wi-Fi mode as remote communication mode,and designs related hardware circuits.In the development environment of Visual Studio2010,with C# as the main programming language and the underlying hardware control system,the PC remote control software is written.The host computer communicates with the window cleaning robot through Wi-Fi and remotely controls the movement of the robot.Finally,a robot used for experiment is made in this paper.And relevant experiments are designed to test the stability of the mobile robot and the innovative advantages of simple passive adsorption structure.The experimental results not only verify the feasibility of the overall design of the robot and the innovative advantages of simple passive adsorption structure,such as low power consumption and small noise,but also shows the reinforced rubber with a diameter of 100 mm and a thickness of 4.8mmis the best quality sucker for the simple passive negative pressure adsorption mechanism.