异形玻璃幕墙清洗机器人设计研究

随着现代城市化的发展,如今众多高层建筑都采用了玻璃幕墙结构,此类建筑需要经常性的清洁维护。目前玻璃幕墙清洗工作大都仍采用人工的方式,仅仅有少量竖直玻璃幕墙清洗机器人问世。随着人类社会发展的进步,人们对于审美追求也逐渐提高,异形玻璃幕墙的市场份额将会逐渐增大,但是目前国内异形玻璃幕墙清洗机器人几乎是一个空白领域。文章针对高空玻璃幕墙清洗现状,提出了一种仿生蜘蛛爬壁机器人结构。采用一足多吸技术,结合SLAM和OpenCV辅助控制,使用气缸控制清洗滚筒伸缩,实现清洗机器人在异形玻璃幕墙的应用,更好地解决人工清洗造成的高成本、高危险性和工程冗杂等问题,具有十分广阔的应用前景。

With the development of modern urbanization,many high-rise buildings now adopt glass curtain wall structure,such buildings need frequent cleaning and maintenance.At present,most of the glass curtain wall cleaning work is still manual,and only a small number of vertical glass curtain wall cleaning robots come out.With the development of human society,people's pursuit of aesthetics is also gradually improved,and the market share of special-shaped glass curtain wall will gradually increase,but at present,the domestic special-shaped glass curtain wall cleaning robot can almost be said to be a blank field.In this paper,a kind of bionic spider climbing robot structure is proposed according to the current situation of high-altitude glass curtain wall cleaning.Using single-foot multi-suction technology,combined with SLAM and OpenCV auxiliary control,using cylinder to control the expansion of cleaning drum,it is possible to apply the cleaning robot to the profile-shaped glass curtain wall,so as to better solve the problems of high cost,high risk and engineering complexity caused by manual cleaning.It has a very broad application prospect.