Design And Attitude Control Of Glass Curtain Cleaning Robot Based On Ducted Fan

At present,there are more and more high-rise buildings in cities.Most of them adopt beautiful glass curtain wall structure,so the cleaning of glass wall is very arduous.At present,manual cleaning work has still been done in the wall cleaning operation.So the research of glass curtain wall cleaning robot has gre at economic value.In this thesis,a new type of glass curtain wall cleaning robot system based on culvert fan is presented.According to the design requirements and application scenarios,the overall scheme of the cleaning robot system is designed.The functions of each module are defined,and the design indexes are put forward.The parts are also selected designed by mathematical calculation.And the three-dimensional model of the robot system is established by using solidworks.In this thesis,an independent robot body,lifting mechanism and transverse movement mechanism are designed.The rotor driving mode is designed to provide cleaning negative pressure and flying force to cross the barrier.An anhydrous cleaning strategy is adopted by using artificial cleaning tray.Dust vacuum enrichment device is used to complete cleaning operation;A unified host computer automatic control scheme and detection program is given,and ZigBee radio communication mode is adopted;The wall positioning algorithm is studied,which is combined with visual ranging,ultrasonic ranging and IMU information of inertial navigation unit.Aiming at the influence of machine vibration caused by fan rotation on sensor accuracy,a dynamic model of suspension vibration is also proposed in this thesis.And the effects of excitation frequency,rope length and lifting speed on vibration response are studied with Simulink tests.Then a method to reduce vibration is put forward.Aiming at the vibration of the body structure,the modal analysis of the body robot is carried out,and the vibration mode is obtained to adjust the speed of the fan to avoid the resonance frequency and adjust the layout of the parts.Aiming at the disturbance of attitude when flying over obstacles,a dynamic model of the obstacle-crossing state of the robot body is proposed.And an incremental sliding mode controller is designed for good robustness.A PID control scheme is designed to meet the accuracy requirements.The effects of the two controllers are shown with simulation results.The appropriate controller parameters are selected.Finally,an engineering prototype is built to test the obstacle-surmounting ability of the robot.The hardware and software are completed.The effectiveness of the attitude control algorithm is verified.