| With the increase of high-rise buildings,modern people have high requirements for daylighting and tend to use large area of glass,which leads to the problem of cleaning.The traditional manual cleaning method has low cleaning efficiency,and high-altitude operation is very dangerous.Using robot to replace the manual way brings a new idea to the cleaning of highrise building external window.In this paper,a double track window cleaning robot based on magnetic adsorption is designed.Using permanent magnet adsorption mechanism,it can clean both sides of the glass at the same time,which improves the cleaning efficiency.The robot is divided into two parts: master and slave mechanism.The permanent magnets installed on the two parts interact to generate adsorption force,which makes the robot adsorb on the wall.The motor drives the double track movement.STM32 development board is used as the main control chip of the robot,micro switch and inclination sensor are installed to sense the working environment of the robot,and communicate with the host computer through Wi Fi module.In order to ensure the stability of the robot adsorption,the finite element simulation method is used to calculate the adsorption force of the magnet and optimize the parameter design of the magnet unit.Then,through the force analysis of the robot moving on the vertical wall,the condition that the robot can move stably without overturning risk is obtained,and the installation position of the magnet unit is designed.In order to ensure that the robot moves according to the preset trajectory,the trajectory of the robot needs to be corrected.The robot uses the tilt angle sensor to sense the body attitude angle,and uses the fuzzy PID controller to compensate the double track speed according to the body angle,so as to ensure that the robot can effectively perform the operation Path task.The numerical simulation method is used to test the trajectory control effect of the robot controller,and finally through the experimental verification,the maximum deviation of x-axis direction is less than ± 5mm. |
