阅读说明：本技术 一种飞升越障玻璃幕墙清洗机器人 (Flying obstacle-crossing glass curtain wall cleaning robot ) 是由 *** 王昕� 冯斌 于 2019-11-20 设计创作，主要内容包括：本发明公开了一种飞升越障玻璃幕墙清洗机器人,属于特种环境自动化保洁技术领域。所述飞升越障玻璃幕墙清洗机器人包括支撑底盘、清洗装置、二层底盘、吸附装置及相机云台；所述支撑底盘通过固连件连着所述清洗装置、所述吸附装置、超声波传感器；所述清洗装置装有两个柔性盘刷、两个刮条、四个牛眼滚轮、水泵及水泵调速器；所述支撑底盘通过减震模块连接所述二层底盘；所述二层底盘通过固连件连接所述相机云台、控制模块、稳压电路。所述吸附装置包括风扇和对应连接件固连在所述支撑底盘的四侧,所述风扇为“十字形”布置使其解耦易于控制,且左右风扇可旋转抵抗横风,采用双层结构减小震动,用所述风扇完成清洗工作和飞跃障碍。(The invention discloses a flying obstacle-crossing glass curtain wall cleaning robot, and belongs to the technical field of special environment automatic cleaning. The flying obstacle-crossing glass curtain wall cleaning robot comprises a supporting chassis, a cleaning device, a two-layer chassis, an adsorption device and a camera holder; the supporting chassis is connected with the cleaning device, the adsorption device and the ultrasonic sensor through a fixing piece; the cleaning device is provided with two flexible disc brushes, two scraping strips, four bull eye rollers, a water pump and a water pump speed regulator; the supporting chassis is connected with the two-layer chassis through a damping module; the two-layer chassis is connected with the camera holder, the control module and the voltage stabilizing circuit through the fixing member. The adsorption device comprises fans and corresponding connecting pieces fixedly connected to four sides of the supporting chassis, the fans are arranged in a cross shape, so that decoupling is easy to control, the left and right fans can rotate to resist cross wind, a double-layer structure is adopted to reduce vibration, and the fans are used for completing cleaning work and obstacle jumping.)

1. A flying obstacle-crossing glass curtain wall cleaning robot comprises a supporting chassis, a cleaning device, a two-layer chassis, an adsorption device and a camera holder; the supporting chassis is connected with the cleaning device, the adsorption device, the ultrasonic sensor, the miniature water tank and the shell through a fixing piece on the basis of a bottom plate; the cleaning device is provided with a flexible disc brush, a scraping strip, a roller, a water pump and a water pump speed regulator; the supporting chassis is connected with the two-layer chassis through a rubber damping module; the two-layer chassis is respectively connected with the camera holder, the control module and the voltage stabilizing circuit through a fixing member.

2. The robot for cleaning flying obstacle-crossing glass curtain wall as claimed in claim 1, wherein the number of the flexible disk brushes and the scraping strips is at least two.

3. The cleaning robot for the glass curtain wall with the flying obstacle-surmounting function as claimed in claim 1, wherein the rollers are bull's eye rollers and are at least four.

4. The flying obstacle-surmounting glass curtain wall cleaning robot as claimed in claim 1, wherein the cleaning device is mounted on the lower surface of the supporting chassis, the roller is lower than the scraping strip and the flexible disk brush, the flexible disk brush is fixedly connected to the lower surface of the supporting chassis by two direct current motors through a connecting piece, and the water pump speed regulator are fixedly mounted on the upper surface of the supporting base plate through a connecting piece.

5. The flying obstacle-surmounting glass curtain wall cleaning robot as claimed in claim 1, wherein the suction device comprises four fans and corresponding connectors, and the fans are arranged in a cross shape and are fixedly connected to four sides of the supporting chassis.

6. The flying obstacle-surmounting glass curtain wall cleaning robot as claimed in claim 5, wherein the fans are distributed on the left and right sides of the supporting chassis in the transverse direction and are connected with the supporting chassis through self-locking steering engines and bearing seats respectively and can rotate 180 degrees.

7. The flying obstacle-surmounting glass curtain wall cleaning robot as claimed in claim 1, wherein the two-layer chassis is mounted on the upper part of the upper surface of the supporting chassis through a rubber shock absorption module and is placed in parallel with the supporting chassis.

8. The flying obstacle-surmounting glass curtain wall cleaning robot as claimed in claim 1, wherein the control module comprises an NVIDIA TX2 control board, an STM32 control board, an inertia measurement unit and a voltage reduction circuit.

9. The flying obstacle-surmounting glass curtain wall cleaning robot as claimed in claim 1, wherein the camera pan-tilt is connected with the depth camera through a connecting piece.

Technical Field

The invention relates to the technical field of automatic cleaning of special environments, in particular to a flying obstacle-crossing glass curtain wall cleaning robot.

Background

In the aspect of cleaning the glass curtain wall, from traditional manual cleaning to the cleaning of the existing flying obstacle-surmounting glass curtain wall cleaning robot, the danger of manual construction is reduced, and the cleaning cost is reduced. The existing flying obstacle-crossing glass curtain wall cleaning robot is in a form that a higher obstacle cannot be spanned in the cleaning process, the control is not stable enough, the structural design of the robot needs to be optimized, and the problem of the operation of the existing high-altitude glass curtain wall is solved.

Disclosure of Invention

Aiming at the defects in the prior art, the invention adopts a more exquisite design and a more reasonable arrangement mode, adopts the fan to replace a propeller to avoid the exposure of blades and enhance the safety; the fans are arranged around the robot body in a cross shape, so that the control of the fans is decoupled, and the control is simplified; the left fan and the right fan can rotate 180 degrees through the steering engine, and have certain wind resistance; meanwhile, a double-layer placing structure is adopted, the depth camera and the control module are arranged on the upper layer, and the upper layer and the lower layer are connected by using a damping device, so that the vibration of the cleaning device is isolated, and the influence on the control precision of the robot is reduced; meanwhile, the four rollers are utilized to ensure the stability of the cleaning process, so that the cleaning device can be suitable for different working scenes and is more accurate and stable in control; meanwhile, the depth camera is used for recognizing, different cleaning modes are adopted for stains with different degrees, and the cleaning efficiency and effect are improved while the cost is reduced.

In order to solve the above technical problem, specifically, the technical solution of the present invention is as follows:

a flying obstacle-crossing glass curtain wall cleaning robot comprises a supporting chassis, a cleaning device, a two-layer chassis, an adsorption device and a camera holder; the supporting chassis is connected with the cleaning device, the adsorption device, the ultrasonic sensor, the miniature water tank and the shell through a fixing piece on the basis of a bottom plate; the cleaning device is provided with a flexible disc brush, a scraping strip, a roller, a water pump and a water pump speed regulator; the supporting chassis is connected with the two-layer chassis through a rubber damping module; the two-layer chassis is respectively connected with the camera holder, the control module and the voltage stabilizing circuit through a fixing member.

Further, the flexible disc brush and the scraping strip are at least two.

Further, the rollers are bull's eye rollers and are at least four.

Furthermore, the cleaning device is installed on the lower surface of the supporting chassis, the idler wheels are lower than the scraping strips and the flexible disk brushes, the flexible disk brushes are fixedly connected to the lower surface of the supporting chassis through connecting pieces by two direct current motors, and the water pump speed regulator are fixedly connected to the upper surface of the supporting bottom plate through the connecting pieces.

Furthermore, the adsorption device comprises four fans and corresponding connecting pieces, wherein the fans are arranged in a cross shape and fixedly connected to four sides of the supporting chassis.

Furthermore, the fans are distributed on the left side and the right side of the supporting chassis in the transverse direction, are connected with the supporting chassis through self-locking steering engines and bearing seats respectively, and can rotate for 180 degrees.

Further, the fan is a ducted fan.

Furthermore, the two-layer chassis is arranged on the upper part of the upper surface of the supporting chassis through a rubber damping module and is arranged in parallel with the supporting chassis.

Further, the control module comprises an NVIDIA TX2 control board, an STM32 control board, an inertia measurement unit and a voltage reduction circuit.

Further, the camera cloud platform is connected with the depth camera through a connecting piece.

Has the advantages that: by adopting the technical scheme, the structure is more compact, reasonable and convenient to control, the high-altitude glass curtain wall cleaning device can be suitable for different working scenes, has a certain wind resistance effect, can greatly improve the cleaning efficiency and effect, and reduces the labor cost in the operation of the high-altitude glass curtain wall.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic overall structure diagram of a flying obstacle-crossing glass curtain wall cleaning robot body provided by the invention;

FIG. 2 is a schematic structural diagram of the appearance of a flying obstacle-surmounting glass curtain wall cleaning robot body provided by the invention;

FIG. 3 is a schematic structural view of a cleaning device of a flying obstacle-surmounting glass curtain wall cleaning robot provided by the invention;

FIG. 4 is a schematic view of an overall structure of a flying obstacle-crossing glass curtain wall cleaning robot body shelling provided by the invention;

FIG. 5 is a schematic structural view of a support chassis of a flying obstacle-crossing glass curtain wall cleaning robot provided by the invention;

FIG. 6 is a schematic view of a two-layer chassis structure of a flying obstacle-crossing glass curtain wall cleaning robot structure provided by the invention;

in the above drawings: 01-a housing; 02-ultrasonic sensors; 03-ducted fan; 04-supporting the chassis; 05-scraping strip; 06-bull's eye rollers; 07-a flexible disc brush; 08-spray head; 09-a rubber damping module; 10-a fan steering engine; 11-a direct current motor; 12-a water pump; 13-a water tank; 14-water pump speed regulator; 15-a voltage reduction module; a 16-NVIDIA TX2 control board; 17-STM32 control panel; 18-an inertial measurement unit; 19-a camera head; 20-an electronic governor; 21-two-layer chassis;

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The invention is described in detail below with reference to the figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

A flying obstacle-crossing glass curtain wall cleaning robot comprises a supporting chassis, a cleaning device, a two-layer chassis, an adsorption device and a camera holder; the supporting chassis is connected with the cleaning device, the adsorption device and the ultrasonic sensor through a fixing piece; the cleaning device is provided with two flexible disc brushes, two scraping strips, four bull eye rollers, a water pump and a water pump speed regulator; the supporting chassis is connected with the two-layer chassis through a rubber damping module; the two-layer chassis is connected with the camera holder, the control module and the voltage stabilizing circuit through the fixing member.

Furthermore, the supporting chassis is based on a bottom plate and is fixedly connected with the cleaning device, the adsorption device, the ultrasonic sensor, the miniature water tank and the shell.

Further, belt cleaning device installs support chassis lower surface, the bull's eye gyro wheel is slightly less than scrape strip and flexible dish brush, flexible dish brush is two and links firmly through the connecting piece by two direct current motor, the water pump reaches the water pump speed regulator links firmly through the connecting piece and installs support bottom plate upper surface.

Furthermore, the adsorption device comprises four ducted fans and corresponding connecting pieces, and the four ducted fans are arranged in a cross shape and fixedly connected to four sides of the supporting chassis. The ducted fans on the left side and the right side are connected with the supporting chassis through self-locking steering engines and bearing seats.

Furthermore, the two-layer chassis is arranged on the upper part of the upper surface of the supporting chassis through a rubber damping module, is arranged in parallel with the supporting chassis and is fixedly connected with the control module, the camera holder and the voltage stabilizing circuit through a fixedly connecting piece.

Further, the control module comprises an NVIDIA TX2 control board, an STM32 control board, an inertia measurement unit and a voltage reduction circuit.

Furthermore, the camera cloud platform is fixedly connected with the two-layer chassis through a fixing piece and is connected with the depth camera through a connecting piece.

As shown in fig. 1 to 6, an embodiment of the present invention provides a flying obstacle-crossing glass curtain wall cleaning robot, which mainly includes a supporting chassis, a cleaning device, an adsorption device, a two-layer chassis and a camera pan-tilt;

the robot comprises a supporting chassis in a robot body, wherein the structure is fixedly connected with an ultrasonic sensor, an adsorption device, a cleaning device, a two-layer chassis and a shell for protecting an internal structure; the adsorption device comprises a ducted fan generating lift force and thrust force and fan connecting pieces ensuring the corresponding positions of the ducted fan, and the ducted fan is arranged at the central axes of the four sides of the supporting chassis; the cleaning device comprises two direct current motors which are connected with the flexible disc brush through designed connecting pieces; the cleaning device is provided with an upper flexible disk brush, a lower flexible disk brush, two scraping strips, eight nozzles, a water pump and a water pump speed regulator; the two flexible disc brushes are positioned on the glass curtain wall under the action of the adsorption device and the four universal wheels, the two disc brushes are rotationally cleaned by the belt wires, and the cleaning solution and the stains are scraped away by the scraping strips; the second-layer chassis is connected with the supporting chassis through a rubber damping module and is fixedly connected with an NVIDIA TX2 control panel, an electronic speed regulator, a voltage reduction module, an STM32 control panel, an inertia measurement unit and a camera pan-tilt through a fixing piece;

the flying obstacle-crossing glass curtain wall cleaning robot selects four stepless speed-regulating ducted fans, is arranged in a cross structure mode, and controls the thrust force of the ducted fans, which is absorbed on the glass curtain wall and separated from the glass curtain wall, so that the robot finishes cleaning work or passes over a frame obstacle on the glass curtain wall to finish obstacle-crossing action; the motor is controlled by the microprocessor to drive the flexible disk brush to rotate, the curtain wall is cleaned by friction, and then residual cleaning solution and stains are scraped away by the scraping strip; the front obstacle and the obstacle distance are automatically identified through a visual sensing module and an ultrasonic sensor on a camera holder, and the obstacle avoidance function is automatically completed;

referring to fig. 1 to 6, an embodiment of the present invention provides a flying obstacle-crossing glass curtain wall cleaning robot system, wherein a robot body mainly includes a supporting chassis (04), a cleaning device, an adsorption device, a two-layer chassis (21), and a camera pan-tilt (19); the supporting chassis (04) is fixedly connected with an ultrasonic sensor (02), a water pump (12), a water pump speed regulator (14), a ducted fan (03), a fan steering engine (10), a cleaning device, a two-layer chassis (21) and a shell (01); the cleaning device comprises two direct current motors (11), two flexible disc brushes (07), two scraping strips (05), eight spray heads (08) and four bull eye rollers (06); the two-layer chassis (21) is connected with the supporting chassis (04) through a rubber damping module (09), and the two-layer chassis (21) is fixedly connected with an NVIDIA TX2 control board (16), an electronic speed regulator (20), a voltage reduction module (15), an STM32 control board (17), an inertia measurement unit (18) and a camera pan-tilt (19) through a fixing piece;

in the embodiment, the supporting chassis is mainly used for ensuring the relative positions of the flexible disk brush (07), the scraping strip (05) and the two-layer chassis (21).

In the embodiment, the ducted fan (03) is controlled to generate negative pressure adsorption force or flying force, so that the robot can perform actions of adsorbing the glass surface under negative pressure or flying away from the glass surface, and the cleaning work and the crossing of a curtain wall obstacle are completed.

In the embodiment, the obstacle in front of the robot is identified through the camera holder (19) and the ultrasonic sensor (02), the distance information is measured, and the ducted fan (03) is controlled to enable the robot to complete the obstacle crossing function.

In this embodiment, the two-layer chassis (21) is mainly used for connecting with the supporting chassis (04) through the rubber damping module (09), so that the vibration caused by the cleaning device is isolated from the measurement and control circuit, the influence of the vibration on the sensor and the control circuit is avoided, and more accurate control is completed.

In this embodiment, the control circuit drives the motor (11) to rotate to drive the flexible disk brush (07) to rotate to work, so that the flexible disk brush and the wall surface form friction contact, the artificial cleaning cloth is simulated to wipe through movement, and the residual cleaning solution and the stains are scraped by the scraping strip (05).

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.