Research Of Electric Control System Of Glass-curtain Wall Cleaning Robot

With the popularization of high-rise buildings and the wide application of glass-curtain wall,the curtain-wall cleaning robot has attracted more and more attention from the market,and the cleaning robot is easily affected by extreme weather or uncertain factors in the high altitude operation.While ensuring the cleaning effect,the cleaning robot also has high requirements on the stability and anti-interference ability of the electric control system.The electrical control system is the core part of the glass curtain-wall cleaning robot.In order to ensure the stable and efficient operation of the cleaning robot in any extreme case,the electrical control system with high reliability and high performance is needed.In view of the characteristics and functional requirements of vertical rolling glass-curtain wall cleaning robot in its working process,a set of corresponding electrical control system is researched in this paper.The system uses SIEMENS S7-200 Smart PLC as the core controller.The hardware module and software function of PLC are analyzed in detail in this paper.The cleaning mechanism control module,the robot motion control module,the control platform man-machine interaction module,the intelligent obstacle avoidance module and the sensor monitoring module are introduced respectively,and the different cleaning modes are customized according to the actual situation.On this basis,a complete set of electrical control system of glass-curtain wall cleaning robot is realized,and the robot is tested.Meanwhile,a fault prediction and health management model based on robot is also researched in this paper,which realizes the health management and fault prediction of robot.