A glass curtain wall cleaning robot

Abstract

The application relates to a glass curtain wall cleaning robot, which comprises a vehicle body, the vehicle body comprises a chassis and a supporting frame arranged on the chassis, a fixed plate and a shell are arranged on the chassis, the supporting frame is fixedly arranged on the chassis, the fixed plate is fixedly arranged at the upper end of the supporting frame, and the shell is arranged on the fixed plate in a cladding mode; a walking mechanism is arranged on the left side and the right side of the chassis; the vehicle body further comprises an adsorption mechanism, a central rotating suction disc assembly and a cleaning assembly; the cleaning assembly comprises a water tank, a micro peristaltic pump, a front side cleaning bus plate and a rear side cleaning bus plate; the water tank and the micro peristaltic pump are fixedly arranged on the fixed plate; the front side cleaning bus plate is fixedly arranged on the front side of the chassis; the rear side cleaning bus plate is fixedly arranged on the rear side of the chassis; the water tank is connected with the front side cleaning bus plate through a water conveying pipe; and the micro peristaltic pump is arranged on the water conveying pipe. The application has the characteristics of simple structure, safety and reliability and high cleaning efficiency.

Description

Technical Field

[0001] This invention relates to a glass curtain wall cleaning robot. Background Technology

[0002] Cleaning robots generally consist of four modules: a walking module, a cleaning module, a positioning module, and a path planning module. Glass curtain wall cleaning robots also require an adsorption module. Based on these five modules, we have reviewed the existing technologies in the industry. For the adsorption module, current industry methods include vacuum adsorption, negative pressure adsorption, and biomimetic adsorption. For the walking module, current industry methods generally include wheeled, tracked, and multi-legged types, but existing glass curtain wall robots do not support crossing gaps. The cleaning module mainly involves cleaning the wall surface by attaching a cleaning cloth and wetting it with cleaning solution.

[0003] The positioning module is currently lacking in most glass curtain wall robots in the industry. They rely on traditional control methods for coverage cleaning, with a few using wheel encoders in conjunction with inertial measurement units (IMUs) for positioning. However, due to varying external conditions of glass curtain walls, the robot's tracks slip differently, causing wheel encoders to fail to obtain accurate mileage information. Furthermore, the attitude information provided by the IMU drifts with time and temperature changes, resulting in inconsistent mileage data. Therefore, this method becomes completely ineffective after wheel slippage, making it unsuitable for complex scenarios. The cleaning robot struggles to complete coverage tasks effectively, resulting in low cleaning efficiency and potential safety hazards.

[0004] The path planning module in traditional coverage algorithms uses a set of parallel line segments with certain intervals to cut a polygonal region, obtaining the intersection points as target points for the coverage path, and then connecting all target points in a certain order to form a complete coverage path. Existing algorithms do not distinguish between linear movement and rotation, resulting in an arc-shaped path for the cleaning robot and reduced coverage. Furthermore, without distinguishing between linear movement and rotation, the central suction cup cannot be used for adhesion when the robot is rotating in place, leading to slippage. This slippage affects the robot's subsequent path execution and reduces cleaning efficiency. Additionally, existing algorithms do not consider the glass edges in the middle area, which may cause the adhesion module to be positioned at the glass joint during movement, causing the robot to deviate from the path or even fall, affecting the overall cleaning effect. Summary of the Invention

[0005] In view of the above-mentioned problems in the prior art, the main objective of the present invention is to provide a glass curtain wall cleaning robot that is simple in structure, safe and reliable and has high cleaning efficiency.

[0006] The technical solution of this invention is as follows:

[0007] A glass curtain wall cleaning robot includes a vehicle body, which includes a chassis and a support frame mounted on the chassis. A fixing plate and a shell are mounted on the chassis. The support frame is fixedly mounted on the chassis, and the fixing plate is fixedly mounted on the upper end of the support frame. The shell covers the fixing plate. Walking mechanisms are located on the left and right sides of the chassis, and the vehicle body moves under the drive of these walking mechanisms. The vehicle body also includes an adsorption mechanism, a central rotating suction cup assembly, and a cleaning assembly. The adsorption mechanism includes a first adsorption assembly, a second adsorption assembly, and a third adsorption assembly. The system includes a fourth adsorption component, with the first and second adsorption components fixedly disposed on the left side of the chassis, and the third and fourth adsorption components fixedly disposed on the right side of the chassis. The cleaning component includes a water tank, a micro peristaltic pump, a front cleaning manifold, and a rear cleaning manifold. The water tank and the micro peristaltic pump are fixedly disposed on a fixed plate. The front cleaning manifold is fixedly disposed on the front side of the chassis, and the rear cleaning manifold is fixedly disposed on the rear side of the chassis. The water tank is connected to the front cleaning manifold via a water supply pipe, and the micro peristaltic pump is disposed on the water supply pipe.

[0008] The chassis is square in shape, and the central rotating suction cup assembly is fixedly installed at the center of the chassis.

[0009] The bottom of both the front and rear cleaning manifolds is secured with cleaning cloths via Velcro.

[0010] The central rotating suction cup assembly includes a servo mounting mechanism, a servo mechanism, a lifting mechanism, and a rotating suction mechanism. The servo mechanism is fixedly mounted on the servo mounting mechanism, wherein: the servo mounting mechanism includes a servo mounting plate and multiple fixed support columns, all of which are vertically arranged, and the servo mounting plate is located at the top of the multiple fixed support columns; the servo mechanism includes a servo, a servo bracket, a servo arm, and a servo arm bracket. The servo is fixedly mounted below the servo mounting plate via the servo bracket. The drive shaft of the servo is fixedly connected to one end of the servo arm, and the other end of the servo arm is movably connected to one end of the servo arm bracket, and the other end of the servo arm bracket is movably connected to the lifting mechanism; the rotating suction mechanism is located at the lower end of the lifting mechanism. The lifting mechanism rises and falls under the drive of the servo mechanism, and simultaneously, the lifting mechanism drives the rotating suction mechanism to rise and fall during the rising and falling process.

[0011] The number of the plurality of fixed support columns is four, the servo mounting plate is square in shape, and the servo mounting plate is horizontally arranged at the top of the four fixed support columns.

[0012] The lifting mechanism includes a first fixed plate, a second fixed plate, a first guide rail, a second guide rail, a first slider, a second slider, and a connecting plate. Specifically: the first fixed plate is vertically positioned on the left side below the servo fixed plate; the first guide rail is fixedly mounted on the first fixed plate along its length; and the first slider is fitted onto the first guide rail and can slide up and down along it. The second fixed plate is vertically positioned on the right side below the servo fixed plate; the second guide rail is fixedly mounted on the second fixed plate along its length; and the second slider is fitted onto the second guide rail and can slide up and down along it. The left end of the connecting plate is fixedly mounted on the first slider, and the right end of the connecting plate is fixedly mounted on the second slider.

[0013] A first mounting portion is provided on the lower left side of the connecting plate, and a second mounting portion is provided on the lower right side of the connecting plate. The rotating adsorption mechanism is fixedly connected to the connecting plate through the first mounting portion and the second mounting portion.

[0014] The rotary adsorption mechanism includes a central suction cup, a fixed disc, a deep groove ball bearing, a bearing seat, and a top cover. The fixed disc is fixedly disposed above the central suction cup. A cylindrical first mounting protrusion extends upward from the upper surface of the fixed disc along the central axis. A second mounting protrusion extends upward from the upper surface of the first mounting protrusion. A first fixing recess is provided on the outer side wall of the upper end of the second mounting protrusion along the circumferential direction, and a first retaining spring is disposed in the first fixing recess. The bearing seat is cylindrical in shape and has a positioning through hole along the central axis. A mounting recess is formed within the side wall of the positioning through hole of the bearing seat. The deep groove ball bearing is movably disposed in the mounting recess and is sleeved on the second mounting protrusion.

[0015] The walking mechanism includes a drive motor, a drive wheel, a rubber track, a tension wheel, and a synchronous wheel, wherein: the output shaft of the drive motor is fixedly connected to the drive wheel, and the drive wheel rotates under the drive of the drive motor; the drive wheel drives the synchronous wheel to rotate through the rubber track, and a plurality of tension wheels are provided between the drive wheel and the synchronous wheel.

[0016] The support frame includes a first support plate, a second support plate, a third support plate, and a fourth support plate, wherein: the first support plate is disposed along the length direction on the left side wall of the chassis, the second support plate is disposed along the length direction on the front side wall of the chassis, the third support plate is disposed along the length direction on the right side wall of the chassis, and the fourth support plate is disposed on the rear side wall of the chassis.

[0017] The present invention has the following advantages and beneficial effects: The glass curtain wall cleaning robot provided in the embodiments of the present invention can realize full-coverage cleaning operations of large-scale indoor and outdoor glass curtain wall clusters, increase adaptability to complex environments, improve the degree of automation, reduce labor costs, reduce safety hazards associated with manual cleaning, and improve cleaning efficiency. Attached Figure Description

[0018] Figure 1 This is a top view of the glass curtain wall cleaning robot provided in an embodiment of the present invention.

[0019] Figure 2 This is a three-dimensional structural diagram of a glass curtain wall cleaning robot provided in an embodiment of the present invention.

[0020] Figure 3 This is a top view of the glass curtain wall cleaning robot provided in an embodiment of the present invention after removing the shell and fixing plate.

[0021] Figure 4 This is a top view of the glass curtain wall cleaning robot provided in an embodiment of the present invention after the shell has been removed.

[0022] Figure 5 This is a schematic diagram illustrating how a glass curtain wall cleaning robot acquires glass boundaries, as provided in an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the walking path of the glass curtain wall cleaning robot provided in an embodiment of the present invention during cleaning.

[0024] Figure 7 This is a three-dimensional structural diagram of the central rotating suction cup assembly provided in an embodiment of the present invention.

[0025] Figure 8 This is an exploded structural diagram of the central rotating suction cup assembly provided in an embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of the servo motor in the standby state of the central rotating suction cup assembly provided in an embodiment of the present invention.

[0027] Figure 10 This is a schematic diagram of the servo motor in the working state of the central rotating suction cup assembly provided in an embodiment of the present invention.

[0028] Figure 11 This is an enlarged exploded structural diagram of the rotating adsorption mechanism provided in an embodiment of the present invention.

[0029] Figure 12 This is an enlarged exploded view of the rotating adsorption mechanism provided in this embodiment of the invention after removing the rotatable air pipe connector and the top cover.

[0030] Figure 13 This is a front view schematic diagram of the rotating adsorption mechanism provided in an embodiment of the present invention.

[0031] Figure 14 for Figure 13 A schematic diagram of the cross-sectional structure along the AA direction.

[0032] Figure 15 This is a cross-sectional view of the central suction cup, fixed disk, bearing seat, and upper cover in an embodiment of the present invention.

[0033] Figure 16 This is an enlarged cross-sectional view of the bearing housing provided in an embodiment of the present invention.

[0034] Figure 17 This is an enlarged three-dimensional structural diagram of the top cover provided in an embodiment of the present invention.

[0035] Figure 18 This is an enlarged three-dimensional structural diagram of the bearing housing provided in an embodiment of the present invention. Detailed Implementation

[0036] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0037] like Figures 1 to 18The glass curtain wall cleaning robot provided in this embodiment of the invention includes a vehicle body 100. The vehicle body 100 includes a chassis 101 and a support frame mounted on the chassis 101. A fixing plate 104 and a shell 105 are mounted on the chassis 101. The support frame is fixedly mounted on the chassis 101, and the fixing plate 104 is fixedly mounted on the upper end of the support frame. The shell 105 covers the fixing plate 104. Walking mechanisms are provided on the left and right sides of the chassis 101. The vehicle body 100 moves under the drive of the walking mechanisms. The vehicle body 100 also includes an adsorption mechanism, a central rotating suction cup assembly, and a cleaning assembly. The adsorption mechanism includes a first adsorption assembly 210, a second adsorption assembly 220, a third adsorption assembly 230, and a fourth adsorption assembly 240. The adsorption assembly 240 includes the first adsorption assembly 210 and the second adsorption assembly 220, which are respectively fixedly disposed on the left side of the chassis 101, and the third adsorption assembly 230 and the fourth adsorption assembly 240, which are respectively fixedly disposed on the right side of the chassis 101. The cleaning assembly includes a water tank 250, a micro peristaltic pump 251, a front cleaning manifold 252, and a rear cleaning manifold 253. The water tank 250 and the micro peristaltic pump 251 are respectively fixedly disposed on the fixed plate 104. The front cleaning manifold 252 is fixedly disposed on the front side of the chassis 101, and the rear cleaning manifold 253 is fixedly disposed on the rear side of the chassis 101. The water tank 250 is connected to the front cleaning manifold 252 through a water supply pipe (not shown in the figure), and the micro peristaltic pump 251 is disposed on the water supply pipe.

[0038] The chassis 101 is square in shape, and the central rotating suction cup assembly is fixedly installed at the center of the chassis 101.

[0039] The bottom of both the front cleaning manifold 252 and the rear cleaning manifold 253 are attached with cleaning cloths (not shown in the figure) via Velcro. When the cleaning robot moves, a micro peristaltic pump 251 draws cleaning fluid from the water tank 250 and delivers it to the front cleaning manifold 252, wetting the cleaning cloths attached to it via Velcro. The wetted cleaning cloths on the front manifold 252 and the dry cleaning cloths attached to the rear cleaning manifold 253 are pressed against the glass curtain wall by the robot's body 100. As the cleaning robot moves, it moves the two cleaning cloths, thus cleaning the wall surface and wiping away water stains.

[0040] The chassis 101 has a first positioning through hole 106 and a second positioning through hole 107 located on the left and right sides, respectively, and a rubber track 112 is provided in both the first positioning through hole 106 and the second positioning through hole 107. Through this design, the vehicle body 100 has the running gear located on both the left and right sides of its bottom.

[0041] The support frame includes a first support plate 121, a second support plate 122, a third support plate 123, and a fourth support plate 124, wherein: the first support plate 121 is disposed along the length direction on the left side wall of the chassis 101, the second support plate 122 is disposed along the length direction on the front side wall of the chassis 101, the third support plate 123 is disposed along the length direction on the right side wall of the chassis 101, and the fourth support plate 124 is disposed on the rear side wall of the chassis 101.

[0042] The first support plate 121, the second support plate 122, the third support plate 123, and the fourth support plate 124 are all the same height, and they are integrally formed, which can improve the firmness of the combination of the first support plate 121, the second support plate 122, the third support plate 123, and the fourth support plate 124, improve the safety and reliability to a certain extent, and thus extend the service life of the support frame.

[0043] The central rotating suction cup assembly of the present invention includes a servo motor fixing mechanism, a servo motor mechanism, a lifting mechanism, and a rotating suction mechanism. The servo motor mechanism is fixedly mounted on the servo motor fixing mechanism. The servo motor fixing mechanism includes a servo motor fixing plate 321 and multiple fixed support columns 322, all of which are vertically arranged. The servo motor fixing plate 321 is located at the top of the multiple fixed support columns 322. The servo motor mechanism includes a servo motor 390, a servo motor bracket 391, a servo motor arm 392, and a servo motor arm bracket 393. The servo motor 390 is connected to the servo motor bracket. 391 is fixedly installed below the servo mounting plate 321. The drive shaft of the servo 390 (not shown in the figure) is fixedly connected to one end of the servo arm 392. The other end of the servo arm 392 is movably connected to one end of the servo arm bracket 393. The other end of the servo arm bracket 393 is movably connected to the lifting mechanism. The rotating adsorption mechanism is located at the lower end of the lifting mechanism. The lifting mechanism rises and falls under the drive of the servo mechanism. At the same time, the lifting mechanism drives the rotating adsorption mechanism to rise and fall during the rising and falling process.

[0044] The number of the plurality of fixed support columns 322 is four, and the servo mounting plate 321 is square in shape and is horizontally mounted on top of the four fixed support columns 322. Through this arrangement, i.e., designing the number of fixed support columns 322 to be four, the servo mounting plate 321 can be stably and safely mounted on top of the four fixed support columns 322, thereby improving safety and reliability to a certain extent.

[0045] Of the four fixed support columns 322, two are respectively located at the front and rear ends of the left side of the servo motor mounting plate 321, and the other two are respectively located at the front and rear ends of the right side of the servo motor mounting plate 321. Specifically, four fixing holes 380 are provided on the servo motor mounting plate 321, and a fixing part 383 is provided at the upper end of the fixed support column 322. The fixing part 383 is located in the fixing hole 380. That is, the upper end of the fixed support column 322 is fixedly connected to the servo motor mounting plate 321 through the cooperation of the fixing part 383 and the fixing hole 380. The safety and reliability are further improved, and the fixed support column 322 and the servo motor mounting plate 321 are more firmly combined, thereby extending the service life of the fixed-point steering device for the cleaning robot.

[0046] The lifting mechanism includes a first fixed plate 323, a second fixed plate 324, a first guide rail 325, a second guide rail 326, a first slider 327, a second slider 328, and a connecting plate 329. Specifically: the first fixed plate 323 is vertically positioned on the left side below the servo fixed plate 321; the first guide rail 325 is fixedly mounted on the first fixed plate 323 along its length; and the first slider 327 is fitted onto the first guide rail 325 and can slide up and down along it. The second fixed plate 324 is vertically positioned on the right side below the servo fixed plate 321; the second guide rail 326 is fixedly mounted on the second fixed plate 324 along its length; and the second slider 328 is fitted onto the second guide rail 326 and can slide up and down along it. The left end of the connecting plate 329 is fixedly mounted on the first slider 327, and the right end of the connecting plate 329 is fixedly mounted on the second slider 328. Through the above design, the lower ends of the first fixing plate 323 and the second fixing plate 324 are respectively fixed to the body of the cleaning robot by fastening bolts. The first guide rail 325 is fixed to the first fixing plate 323 by fastening screws, and the second guide rail 326 is fixed to the second fixing plate 324 by fastening screws, thereby improving the firmness of the combination of the first guide rail 325 and the first fixing plate 323, as well as the firmness of the combination of the second guide rail 326 and the second fixing plate 324. In addition, the first slider 327 is sleeved on the first guide rail 325 and can slide freely up and down along the first guide rail 325, and the second slider 328 is sleeved on the second guide rail 326 and can slide freely up and down along the second guide rail 326. At the same time, since one end of the connecting plate 329 is fixed to the first slider 327 by screws, and the other end of the connecting plate 329 is fixed to the second slider 328 by screws, the connecting plate 329 can move up and down along the first guide rail 325 and the second guide rail 326 through the first slider 327 and the second slider 328.

[0047] A first mounting portion 381 extends downward from the lower left side of the connecting plate 329, and a second mounting portion 382 extends downward from the lower right side of the connecting plate 329. The rotary adsorption mechanism is fixedly connected to the connecting plate 329 via the first mounting portion 381 and the second mounting portion 382. Through this design, with the first mounting portion 381 and the second mounting portion 382 extending downward from the lower left and right sides of the connecting plate 329 respectively, the robustness of the connection between the first mounting portion 381 and the second mounting portion 382 and the connecting plate 329 is improved, enhancing safety and reliability. Simultaneously, the first mounting portion 381 and the second mounting portion 382 are securely connected to the rotary adsorption mechanism via fastening bolts, achieving a firm connection between the rotary adsorption mechanism and the connecting plate 329, thereby extending the service life of the fixed-point steering device for the cleaning robot.

[0048] The rotary adsorption mechanism includes a central suction cup 394, a fixed disk 395, a deep groove ball bearing 396, a bearing seat 397, and a top cover 398. The fixed disk 395 is fixedly disposed above the central suction cup 394. A cylindrical first mounting protrusion 401 extends upward along the central axis from the upper surface of the fixed disk 395. A second mounting protrusion 402 extends upward from the upper surface of the first mounting protrusion 401. The outer wall of the upper end of the second mounting protrusion 402 extends along... A first fixing recess 440 is provided in the circumferential direction, and a first retaining ring 441 is provided in the first fixing recess 440; the bearing seat 397 is cylindrical in shape, and a positioning through hole 404 is provided in the bearing seat 397 along the central axis. An installation recess 403 is formed in the side wall of the bearing seat 397 located in the positioning through hole 404. The deep groove ball bearing 396 is movably disposed in the installation recess 403, and the deep groove ball bearing 396 is sleeved on the second installation protrusion 402. Through the above design, that is, the upper end of the fixed disk 395 is provided with the first mounting protrusion 401 and the second mounting protrusion 402 extending upward sequentially, thereby improving the firmness of the combination of the first mounting protrusion 401 and the second mounting protrusion 402 with the fixed disk 395; in addition, by forming a mounting recess 403 in the inner wall of the positioning through hole 404 on the bearing seat 397, the deep groove ball bearing 396 is placed in the mounting recess 403, thereby improving safety and reliability.

[0049] A second fixing recess 480 is provided circumferentially on the lower inner wall of the mounting recess 403 on the bearing housing 397. A second retaining spring 444 is provided in the second fixing recess 480. When the deep groove ball bearing 396 is installed in the mounting recess 403, the lower surface of the deep groove ball bearing 396 abuts against the second retaining spring 444. Through the above design, that is, a second fixing recess 480 is formed circumferentially on the lower inner wall of the mounting recess 403 on the bearing housing 397, and the inner diameter of the second fixing recess 480 is larger than the inner diameter of the mounting recess 403. The second retaining spring 444 is installed in the second fixing recess 480. Through the second retaining spring 444, the deep groove ball bearing 396 can be stably and firmly placed in the mounting recess 403. That is, the second retaining spring 444 provides good support for the deep groove ball bearing 396, which can prevent the deep groove ball bearing 396 from slipping out of the mounting recess 403, thereby improving safety and reliability.

[0050] The upper cover 398 is cylindrical in shape and is fixedly mounted on the upper surface of the bearing seat 397. A third mounting protrusion 399 is provided on the upper surface of the upper cover 398 along the central axis. A mounting hole 405 is provided in the third mounting protrusion 399, which penetrates the upper cover 398. An opening 406 is provided on the side wall of the third mounting protrusion 399, which communicates with the mounting hole 405 and extends to the upper surface of the third mounting protrusion 399.

[0051] The rotary adsorption mechanism also includes a rotatable air pipe connector 385, which is disposed in the mounting hole 405. The lower end of the rotatable air pipe connector 385 is fixedly connected to the second mounting protrusion 402, and the rotatable air pipe connector 385 is connected to the adsorption cavity 400 of the central suction cup 394.

[0052] The upper surface of the cover 398 is provided with a first fixing protrusion 407 and a second fixing protrusion 408 on the left and right sides of the outer side wall of the third mounting protrusion 399, respectively. The first fixing protrusion 407 is fixedly connected to the first mounting part 381, and the second fixing protrusion 408 is fixedly connected to the second mounting part 382. The first mounting part 381 and the second mounting part 382 are both located between the first guide rail 325 and the second guide rail 326. The first fixing protrusion 407 is provided with a first mounting groove 409, and the first mounting part 381 is disposed in the first mounting groove 409 and connected by fastening bolts. The second fixing protrusion 408 is provided with a second mounting groove 410, and the second mounting part 382 is disposed in the second mounting groove 410 and connected by fastening bolts.

[0053] The chassis 101 is equipped with walking mechanisms on both the left and right sides, allowing the mobile robot to move under the drive of these mechanisms. Each walking mechanism includes a drive motor 110, drive wheels 111, a rubber track 112, tension wheels 113, and synchronous wheels 114. The output shaft of the drive motor 110 is fixedly connected to the drive wheels 111, which rotate under its drive. The drive wheels 111 drive the synchronous wheels 114 via the rubber track 112, and multiple tension wheels 113 are positioned between the drive wheels 111 and the synchronous wheels 114. This design provides friction between the cleaning robot and the wall surface during adsorption by the adsorption components, allowing the robot to adhere stably to the wall and move smoothly across it via the drive motor 110. When the cleaning robot needs to rotate, the servo motor on the central rotating suction cup module installed in the center of the cleaning robot's body 100 drives the lifting mechanism to attach the suction cup on the rotating suction mechanism to the wall. Then, the air pump makes the suction cup adhere to the wall, and the forward and reverse rotation of the two side tracks makes the robot achieve precise turning around the suction cup.

[0054] Since the central rotating suction cup assembly is fixedly mounted on the vehicle body 100, the accuracy of the cleaning robot's turning angle is enhanced, enabling the cleaning robot to turn precisely at a fixed point, reducing the impact on the planned cleaning path, increasing the robot's cleaning coverage, increasing its adaptability to complex environments, achieving fully autonomous driving, reducing labor costs, maintaining stable cleaning results, and greatly improving cleaning efficiency.

[0055] Specifically, the central suction cup of the central rotating suction cup assembly of this embodiment is installed at the rotation center position of the cleaning robot in an ideal state. The first fixing plate 323, the second fixing plate 324, and the four fixed support columns 322 are fixed on the chassis of the cleaning robot. When the cleaning robot moves forward or backward normally, the central rotating suction cup assembly of this embodiment is in a standby state. When the cleaning robot needs to rotate to change its direction of travel, the walking component of the cleaning robot first stops working, and the cleaning robot is in a stationary state. The servo motor 390 rotates, driving the servo arm 392 and the servo arm bracket 393 to push the lifting mechanism downward. The lifting mechanism drives the rotating suction mechanism to move downward as well. When the central suction cup 394 is pressed tightly against the wall, the servo motor 390 stops rotating and locks. Then, the rotatable air tube... Connector 385 and the external vacuum pump extract the air from the central suction cup 394. Atmospheric pressure causes the central suction cup 394 to adhere firmly to the wall. At this time, the walking components of the cleaning robot continue to work. The forward and reverse rotation of the walking components on both sides causes the robot body to rotate. At this time, the central suction cup 394, the fixed disc 395, the inner ring of the deep groove ball bearing 396, the shaft retaining ring, and the part of the rotatable air pipe connector 385 connected to the fixed disc 395 remain stationary. The remaining parts of the central rotating suction cup assembly rotate together with the body. After reaching the predetermined angle, the walking components stop working, the cleaning robot is in a stationary state, the vacuum pump stops pumping air, and the air pressure inside and outside the central suction cup 394 reaches a state of equilibrium. Then, the servo motor 390 rotates in the opposite direction, driving the servo arm 392 and the servo arm bracket 393 to push the lifting mechanism upward.

[0056] The glass curtain wall cleaning robot of this invention includes a positioning system on its vehicle body 100. The positioning system comprises an inertial measurement unit 102, a wheel encoder 103, and multiple cameras. The inertial measurement unit 102 acquires IMU data of the robot's environment to obtain its attitude information. The wheel encoder 103 acquires the robot's wheel speed, and then, combined with the robot's attitude information, performs trajectory extrapolation to obtain the robot's wheel mileage. The multiple cameras acquire multi-angle image data of the robot's environment. Then, using deep learning models for semantic segmentation or end-to-end learning, the boundary data of the single array where the robot is located is extracted. This boundary data is then projected. The projected boundary data is then matched with the array boundary data in a pre-set or real-time constructed map coordinate system to calculate the reprojection error. Nonlinear optimization is then used to obtain the visual mileage of the robot that minimizes the reprojection error. Finally, an extended Kalman filter is used to fuse the visual mileage and wheel mileage to obtain the robot's final pose, thus achieving the positioning function.

[0057] Specifically, the plurality of cameras includes a first camera 131, a second camera 132, and a third camera 133, wherein: the first camera 131 is fixedly mounted on the outer wall of the left end of the second support plate 122, the second camera 132 is fixedly mounted on the outer wall of the second support plate 122 at the center position along the length direction, and the third camera 133 is fixedly mounted on the outer wall of the right end of the second support plate 122. Furthermore, the first camera 131, the second camera 132, and the third camera 133 are all 1080p 130-degree wide-angle cameras.

[0058] The glass curtain wall cleaning robot of this invention can obtain a basic global positioning through the tight coupling of the wheel encoder 103 and the inertial measurement unit 102. This positioning is mainly used for global mapping and to ensure the basic positioning requirements of the cleaning robot when visual information is lost. This invention uses three external cameras (i.e., the first camera 131, the second camera 132 and the third camera 133) in conjunction with semantic SLAM technology to provide the cleaning robot with drift-free and accurate visual positioning information using the glass boundary as perception information.

[0059] Specifically, the positioning of this invention is obtained by fusing wheeled odometry and visual odometry. Wheeled odometry uses the attitude information measured by the inertial measurement unit (IMU) directly as the attitude information extrapolated from the wheel encoder's trajectory, combined with the wheel speed obtained by the encoder; the two are tightly coupled to obtain wheeled odometry. Visual odometry addresses the challenge of achieving good results on glass curtain walls due to the limited number of reference points available for positioning and the high similarity of the scenes. This invention applies semantic SLAM technology, acquiring environmental images through three external 1080P 130-degree wide-angle cameras. Then, using deep learning models for semantic segmentation or end-to-end learning, it extracts the boundaries of individual glass panes (including overhanging glass edges, connecting lines between glass panes, connecting lines between glass and the wall, and the connection between glass and the metal frame; materials include rubber and plastic). This is then matched with a pre-built or real-time constructed map to calculate the reprojection error. Finally, nonlinear optimization is used to obtain the robot's pose that minimizes the reprojection error. This visual odometry positioning can accurately determine the robot's displacement and orientation in both horizontal and vertical directions. Considering the possibility of visual information loss in complex environments, this invention ultimately fuses the two positioning methods using an extended Kalman filter, forming a globally reliable, accurate, and stable positioning system.

[0060] The path planning of this invention consists of two parts: global path planning and local path planning. The global path planning obtains all target points that can cover the entire work area, and the local path planning obtains the real-time speed plan to reach the target points. By visiting all target points in sequence, the entire area can be covered and cleaned. The local path planning is implemented by the DWA algorithm. In terms of global path planning, this invention has made the following improvements and innovations to the traditional coverage algorithm: (1) When treating all glass as a polygonal area for overall coverage and cleaning, the information on whether each individual glass is clean is retained. This allows the robot to start working directly from the previously recorded uncleaned area after the operation is terminated due to accidents or other factors, without having to clean the entire area again; (2) When generating the path, the straight walking part and the rotating part are separated to cooperate with the work of the central suction cup, prevent the robot from sliding down during rotation, and improve the coverage and walking efficiency of the mobile robot; (3) The edge area is specially treated. When the remaining width is less than the fixed interval, it is adjusted so that the glass area can be completely covered, and at the same time, the situation where the adsorption component walks on the glass joint is solved.

[0061] The positioning system of this invention provides a mobile robot with centimeter-level global drift-free positioning information, and can accurately acquire slippage information of the mobile robot on glass and photovoltaic planes. Even after visual information loss, wheel velocity measurement and inertial navigation can guarantee the basic positioning needs of the mobile robot within a certain time range, enabling the mobile robot to complete high-precision tasks such as point-to-point navigation and area coverage in complex glass scenarios. The positioning method of this invention has extremely high robustness and accuracy, and its cost is extremely low (low-cost sensors, certain computational costs). Furthermore, the array boundary information used for visual positioning is basic information present in all glass array and photovoltaic array scenarios, thus this invention also has high applicability; for other array scenarios with similar boundary information, centimeter-level positioning results can also be obtained using the positioning method of this invention.

[0062] Therefore, this invention uses semantic SLAM technology and deep learning to specifically extract glass boundary information in glass scenes, establishing a planar 2D map containing all glass boundary information (gap between glass panes, connection lines between glass and walls, connection lines between glass and metal frames, boundaries of glass overhangs, etc., materials including rubber, plastic, etc.). Then, based on this map, centimeter-level visual positioning information is obtained. It is important to note that if only one glass boundary is visible within the camera's range during positioning, only the robot's distance relative to this line and its orientation can be obtained, not its position along this line. Therefore, this solution uses multiple cameras to provide image information to the robot, expanding its field of vision and ensuring that the robot can see multiple glass boundary information in different directions at a single moment.

[0063] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A glass wall cleaning robot, characterized by: The application relates to a vehicle body, which comprises a chassis and a supporting frame arranged on the chassis, a fixed plate and a shell arranged on the chassis, the supporting frame being fixedly arranged on the chassis, the fixed plate being fixedly arranged on the upper end of the supporting frame, and the shell being arranged on the fixed plate; walking mechanisms are arranged on the left and right sides of the chassis, the vehicle body walks under the drive of the walking mechanisms, and the vehicle body further comprises a suction mechanism, a central rotary suction disc assembly and a cleaning assembly, wherein the suction mechanism comprises a first suction assembly, a second suction assembly, a third suction assembly and a fourth suction assembly, the first suction assembly and the second suction assembly are fixedly arranged on the left side of the chassis, and the third suction assembly and the fourth suction assembly are fixedly arranged on the right side of the chassis, the cleaning assembly comprises a water tank, a micro peristaltic pump, a front side cleaning bus plate and a rear side cleaning bus plate, the water tank and the micro peristaltic pump are fixedly arranged on the fixed plate, the front side cleaning bus plate is fixedly arranged on the front side of the chassis, the rear side cleaning bus plate is fixedly arranged on the rear side of the chassis, and the water tank is connected with the front side cleaning bus plate through a water delivery pipe, and the micro peristaltic pump is arranged on the water delivery pipe; the central rotary suction disc assembly comprises a rudder mechanism fixing mechanism, a rudder mechanism, a lifting mechanism and a rotary suction mechanism, the rudder mechanism is fixedly arranged on the rudder mechanism fixing mechanism, wherein the rudder mechanism fixing mechanism comprises a rudder mechanism fixing plate and a plurality of fixed supporting columns, the plurality of fixed supporting columns are vertically arranged, and the rudder mechanism fixing plate is arranged at the top end of the plurality of fixed supporting columns; the rudder mechanism comprises a rudder mechanism, a rudder mechanism support, a rudder mechanism arm and a rudder mechanism arm support, the rudder mechanism is fixedly arranged below the rudder mechanism fixing plate through the rudder mechanism support, the driving shaft of the rudder mechanism is fixedly connected with one end of the rudder mechanism arm, the other end of the rudder mechanism arm is movably connected with one end of the rudder mechanism arm support, and the other end of the rudder mechanism arm support is movably connected with the lifting mechanism; the rotary suction mechanism is arranged at the lower end of the lifting mechanism, the lifting mechanism is lifted and lowered under the drive of the rudder mechanism, and the lifting mechanism drives the rotary suction mechanism to be lifted and lowered in the lifting and lowering process. The rotating adsorption mechanism comprises a central suction disc, a fixed disc, a deep groove ball bearing, a bearing seat and an upper cover, wherein: the fixed disc is fixedly arranged at the upper end of the central suction disc, the upper surface of the fixed disc is provided with a cylindrical first mounting protrusion extending upwards along the central axis, the upper surface of the first mounting protrusion is provided with a second mounting protrusion extending upwards, the outer wall of the upper end of the second mounting protrusion is provided with a first fixing recess in the circumferential direction, and the first fixing recess is provided with a first snap spring.

2. The glass wall cleaning robot according to claim 1, characterized in that, The bottom disc is square in shape, and the central rotating suction disc assembly is fixedly arranged at the central position of the bottom disc.

3. The glass wall cleaning robot according to claim 2, wherein, The bottom of the front and rear cleaning busbars is pasted with a cleaning cloth through a magic tape.

4. The glass wall cleaning robot according to claim 1, wherein, The number of the plurality of fixed support columns is four, the rudder fixing plate is square in shape, and the rudder fixing plate is horizontally arranged at the top end of the four fixed support columns.

5. The glass wall cleaning robot according to claim 1, wherein, The lifting mechanism comprises a first fixed plate, a second fixed plate, a first guide rail, a second guide rail, a first sliding block, a second sliding block and a connecting plate, wherein: The first fixed plate is arranged below the left side of the rudder fixing plate in the vertical direction, the first guide rail is fixedly arranged on the first fixed plate in the length direction, and the first sliding block is sleeved on the first guide rail and can slide up and down thereon; The second fixed plate is arranged below the right side of the rudder fixing plate in the vertical direction, the second guide rail is fixedly arranged on the second fixed plate in the length direction, and the second sliding block is sleeved on the second guide rail and can slide up and down thereon; the left end of the connecting plate is fixedly arranged on the first sliding block, and the right end of the connecting plate is fixedly arranged on the second sliding block.

6. The glass wall cleaning robot according to claim 5, wherein, The lower left end of the connecting plate is provided with a first mounting portion extending downwards, the lower right end of the connecting plate is provided with a second mounting portion extending downwards, and the rotating adsorption mechanism is fixedly connected with the connecting plate through the first mounting portion and the second mounting portion. The support frame comprises a first support plate, a second support plate, a third support plate and a fourth support plate, wherein: the first support plate is arranged on the left side wall of the bottom disc in the length direction, the second support plate is arranged on the front side wall of the bottom disc in the length direction, the third support plate is arranged on the right side wall of the bottom disc in the length direction, and the fourth support plate is arranged on the rear side wall of the bottom disc.

7. The glass wall cleaning robot according to any one of claims 1-3, wherein, The walking mechanism comprises a driving motor, a driving wheel, a rubber track, a tensioning wheel and a synchronous wheel, wherein: the output shaft of the driving motor is fixedly connected with the driving wheel, the driving wheel rotates under the driving of the driving motor; the driving wheel drives the synchronous wheel to rotate through the rubber track, and a plurality of tensioning wheels are arranged between the driving wheel and the synchronous wheel.

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