Building external glass cleaning robot with self-identification and obstacle avoidance capability and control method thereof

Abstract

The invention discloses a building external glass cleaning robot with self-identification and obstacle avoidance capability and a control method thereof. in the robot, a fixture is horizontally fixedly installed on that upper edge of the glass curtain wall outside the building, moving horizontally slidably connected to the power module on the fixture. A main frame fix module is adsorbed on that outside of the out glass curtain wall of the building, the main frame control module is installed on the outside of the main frame fixed module in parallel, the top of the main frame control module is connected with the power module through the moving wire rope, the intelligent cleaning module is slidably connected with the main frame control module, and the walking device is installed on the insideof the main frame control module. The control method comprises a robot cleaning glass curtain wall control method, a robot vertical movement control method and a robot horizontal lateral movement control method. The robot of the invention can move freely outside the building and can realize the functions of self-identification and obstacle avoidance, so that the robot can still keep stable operation under high-altitude wind or other special weather environment.

Description

technical field [0001] The invention belongs to the technical field of cleaning equipment, and in particular relates to a building exterior glass-wiping robot with self-identification and obstacle-avoiding capabilities, which is used for large-area and rapid cleaning of glass curtain walls, and a control method thereof. Background technique [0002] Glass curtain wall is a new type of wall widely used in contemporary buildings. Although glass curtain wall is beautiful and magnificent, it is difficult to clean and maintain. The traditional glass curtain wall cleaning often adopts the manual cleaning method, and the workers are hung on the outside of the glass curtain wall for cleaning. This cleaning method is not only greatly affected by weather factors, but also has great hidden dangers to the cleaning workers' work safety. When using manual cleaning to carry out operations, it is necessary to focus on the condition of the roof, check whether the hanging basket and hanging p...

AI Technical Summary

Problems solved by technology

[0002] Glass curtain wall is a new type of wall widely used in contemporary buildings. Although the glass curtain wall is beautiful and atmospheric, it is difficult to clean and maintain

The traditional glass curtain wall cleaning often adopts the manual cleaning method, and the workers are hung on the outside of the glass curtain wall for cleaning. This cleaning method is not only greatly affected by weather factors, but also has great hidden dangers to the cleaning workers' work safety.

When using manual cleaning to carry out operations, it is necessary to focus on the condition of the roof, check whether the hanging basket and hanging plate can be installed, and whether the lifting tool is moving on the roof without obstacles, etc. It is also necessary to determine the special Therefore, this method of manually cleaning the glass curtain wall is more limited and cannot meet the high-efficiency cleaning requirements.

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