Design And Implementation Of Swing-arm Glass-wall Cleaning Robot

With the modernization of the city,people have much higher requirements on health,confort and convenience.As a smart home product which can liberate manpower and reduce the risk of high-level window cleaning,glass-wall cleaning robot appears to be widely welcomed.In this paper,a new swing-arm glass-wall cleaning robot with high erasure rate and good reliability is proposed to overcome the shortcomings of wipe window dead zone and low cleanliness.at the same time,the mechanical structure,master control system,motion control system are analyzed and designed.In accordance with the modular approach and the principle of scalability,the components of the swing-arm glass-wall cleaning robot are designed with Solid Works,which the driving parts,air channel structure and base shell are analyzed and designed emphatically.Driven structural parts are designed by means of internal and external meshing of four independent cylindrical gears.According to the working principle of negative pressure adsorption,an efficient air flow path is designed.Then the STM32F103C8T6 is designed as the core and the power supply processing,motor drive,power detection,attitude feedback,data transmission and UPS standby power supply switching are designed as peripheral equipment,the design goals of Low-cose and high-performance is implemented.Among them,PWM pulse width modulation is used to control motor drive chip A4950 to achieve the motor steering speed control,and the motor power feedback is calculated by sampling the internal ADC of the microprocessor.Based on the design of the hardware system,the software of control system of swing-arm glass-wall cleaning robot is designed,which including AD sampling,motor drive,wireless communications and motion control.In order to reduce the difficulty of software writing and maintenance and increase program flexibility and scalability,the complete window cleaning task is divided into four modes: environment monitoring,upper edge searching,normal walking and finish cleaning,and the concrete method of mode switching control is provided.At the same time,in order to effectively reduce the occurrence of window cleaning dead zone,increase the cleaning intensity and improve the erasure rate,a fault-tolerant judgment method is proposed to solve the problem of edge detection of glass,and the cross-movement counting method is proposed to realize the downward movement of the swing arm glass-wall cleaning robot in the edge position of the glass.After applying the designed software control method to the swing-arm glass-wall cleaning robot hardware platform,the basic erasure function,security function and remote control function of swing-arm glass-wall cleaning robot are verified in this paper.The experimental results provided in this thesis demonstrate that the glass-wall cleaning robot which is studied and implemented in this paper can achieve the basic function of windows clean housework.It meets the performance specifications and have the advantages of high erasure rate and good reliability.