Design And Research On Glass-curtain Wall Cleaning Robot

With the development of urban modernization and the rise of technology companies,the number of companies in major cities is increasing,so there are more and more high-rise building in order to savelimited land resources.In the construction industry,especoally high-rise office building,the appearance of the building mostly decorated with glass curtain wall due to the better lighting,moisture and beautiful features of it.So the task of glass curtain wall cleaning becomes more and more heavy,the current cleaning method is still in traditional manual way,and this method is not only dangerous but also inefficient.To solve this problem,this thesis focuses on the design of a glass curtain wall cleaning robot to replace people engaged in high-risk work.In this thesis,the general environment of the glass curtain wall cleaning robot and the problems that may be encounted in the cleaning process are analyzed,and the necessary function of the cleaning robot is studied,that is,it can be adsorbed on the surface of the glass curtain wall and can move on the whole glass curtain wall,at the sametime,the robot should move across the window frame encountered while cleaning.According to the functional requirements,the mechanical system and control system platform of the cleaning robot are design,including the overall design of the program,the design of the suction force generation mechanism,the design of cleaning mechanism,the design of anti-collision protection mechanism,the selection of drive motor,the selection of sensor and the design and construction of control system.Through the analysis of a variety of structural programs to determine the final program of the robot,that is,the robot has not its own driving mechanism,but it can move on the glass surfaces depending on its own gravity and the lifting force of the trolley crane on the building roof while sdhering to the surface depending on the force generated by four propellers.This solution not only can ensure the robot's operation stability,but also has a flexble and efficient obstacle crossing capability.The kinematics model is established for the proposed and the ontology structure,and the adams modeling and simulation is carried out to improve the motion model,which provides theoretical basis for the establishment of the control system.According to the actual working environment of the robot,the obstacle recognition algorithm based on the combination of vision and ultrasonic is studied,and the mean shift filter algorithm is used to remove the noise caused by glass transparency and reflection,and then the canny edge detection algorithm is used to extract the edge information of the window frame.And then the Kalman filter algorithm is used to deal with the obstacle distance information of the window frame detected by the ultrasonic sensor,and the more accurate obstacle distance information is obtained due to the measurement error caused by the non-vertical of the ultrasonic sensor and the obstacle.On the basis of the above functional design and theoretical research,the prototype of the first generation of glass curtain wall cleaning robot was developed and the experimental environment of glass curtain wall was designed to verify the design function of the cleaning robot.Experiments show that the developed robot prototype can achieve the expected design function,and in the course of the experiment,the motion parameters of each movement stage are measured.And the cleaning robot will be developed in the direction that is more autonomous,stable in operation and better in cleaning performance.