摘要
为解决高楼玻璃幕墙清洗成本高、工作量大和危险性高三大问题,受四旋翼模型在空中保持平稳飞行的启迪,研制了一款多涵道控制的玻璃幕墙清洗机器人。该机器人本体采用多涵道驱动方式为机器人本体提供清洗压力、越障升力及抗风阻力,具有良好的稳定性;清洗机构采用污水回收循环利用装置,可提高清洗效率,有效避免二次污染;控制系统由上位机和以STM32F103单片机为核心的底层控制系统组成,采用无线蓝牙通信可实现远程操控。试验结果表明,该机器人生产成本低,具有良好的自主清洗和稳定性能,为商业化生产提供了理论参考。
In order to solve the three common problems of high cost,heavy workload and high risk of glass curtain-wall cleaning of high-rise buildings,inspired by the quadrotor model’s stable flight in the air,a glass curtain-wall cleaning robot with multi-channel control is developed.The robot body adopts a multi-channel drive method to provide cleaning pressure,obstacle lift and wind resistance for the robot body,and has good stability.The cleaning mechanism adopts a sewage recycling device,which can improve the cleaning efficiency and effectively avoid secondary pollution.The control system is composed of the upper computer and the underlying control system with STM32 F103 single-chip microcomputer as the core,and remote control could be realized by using wireless bluetooth communication.The test results show that the robot has low production cost and good autonomous cleaning and stability performance,which provides a theoretical reference for commercial production.
作者
鄢鹏
吴明晖
钱莉
YAN Peng;WU Minghui;QIAN Li(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《智能计算机与应用》
2022年第6期127-130,136,共5页
Intelligent Computer and Applications
关键词
幕墙清洗机器人
多涵道
清洗机构
越障
控制系统
curtain-wall cleaning robot
multiple ducts
cleaning mechanism
obstacle crossing
control system
