Principle of glass cleaning robot

Glass cleaning robot is a robot that can automatically clean glass windows. It can work on the external walls of high-rise buildings, providing us with convenience. The principle of glass cleaning robot is to complete the function of automatic cleaning through the combination of mechanical structure and intelligent control. This paper will comprehensively analyze the principle of glass cleaning robot from four aspects: mechanical structure, sensor, motion control and intelligent control.

I. Mechanical structure

The mechanical structure of the glass cleaning robot is mainly divided into three parts: suspension mechanism, wiping mechanism and driving mechanism. The suspension mechanism is the supporting and moving part of the glass cleaning robot, which consists of two suspension arms and a suspension base. The wiping mechanism is the wiping part of the glass cleaning robot, which consists of two wiping wheels and a wiping cloth. The driving mechanism is the power part of the glass cleaning robot, which consists of a motor, a reducer and a transmission wheel.

Second, the sensor

The sensors of glass cleaning robot mainly include vision sensor, distance sensor and force sensor. The vision sensor is used to detect the position and size of the glass window, the distance sensor is used to detect the distance between the wiping mechanism and the glass window, and the force sensor is used to detect the wiping force of the wiping mechanism.

Thirdly, motion control.

The motion control of glass cleaning robot mainly includes the motion control of suspension mechanism and the motion control of wiping mechanism. The motion control of the suspension mechanism drives the rotation of the suspension arm and the movement of the suspension base through the motor and reducer, and realizes the movement of the glass cleaning robot on the glass window. The motion control of the wiping mechanism drives the wiping wheel to rotate through the motor and reducer, so as to realize the wiping function of the wiping mechanism.

Fourth, intelligent control.

Intelligent control of glass cleaning robot mainly includes path planning, attitude control and safety protection. Path planning is to detect the position and size of the glass window through sensors and calculate the wiping path of the glass cleaning robot. Attitude control is to detect the attitude of the glass cleaning robot through sensors, adjust the actions of the suspension mechanism and the wiping mechanism, and ensure the contact between the wiping mechanism and the glass window. Safety protection is to detect the state of the glass cleaning robot through sensors, stop the movement of the robot in time, and ensure the safety of personnel and robots.

The operation steps of the glass cleaning robot are as follows:

1. Hang the glass cleaning robot on the glass window and start the robot.

2. The robot detects the position and size of the glass window through the sensor and calculates the wiping path.

3. The robot detects the distance and wiping force between the wiping mechanism and the glass window through the sensor, and adjusts the action of the wiping mechanism.

4. The robot detects its posture through the sensor, adjusts the actions of the suspension mechanism and the wiping mechanism, and ensures the contact between the wiping mechanism and the glass window.

5. After finishing the wiping task, the robot stops moving and waits for the next task.

In this paper, the principle of glass cleaning robot is comprehensively analyzed from four aspects: mechanical structure, sensor, motion control and intelligent control. The automatic wiping function of glass cleaning robot provides convenience for us, and also provides a safer and more efficient solution for the maintenance of high-rise buildings.