A curtain wall cleaning robot control method and system based on four-rope parallelism

Abstract

The application provides a curtain wall cleaning robot control method and system based on four-rope parallelism, relates to the motion control field of a curtain wall cleaning robot, and is applied to a curtain wall cleaning robot based on four-rope parallelism. The method comprises the following steps: establishing a motion mapping model; obtaining current expected motion parameters, wherein the current expected motion parameters at least comprise expected x-direction acceleration and expected y-direction acceleration; obtaining current body state data of the curtain wall cleaning robot based on four-rope parallelism; based on the current expected motion parameters, the current body state data and the motion mapping model, generating traction mechanism control parameters of a next control cycle; and controlling the operation of a left upper rope traction mechanism, a left lower rope traction mechanism, a right upper rope traction mechanism and a right lower rope traction mechanism through the traction mechanism control parameters of the next control cycle, so that the motion accuracy and stability of the curtain wall cleaning robot based on four-rope parallelism are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of curtain wall cleaning robot motion control, and particularly relates to a curtain wall cleaning robot control method and system based on four-rope parallel connection. BACKGROUND

[0002] As an important part of traditional manufacturing industry, the textile industry generally adopts large-area glass curtain wall or metal composite panel curtain wall structure for its plant buildings to meet the needs of lighting, energy saving and aesthetics. However, the fiber dust, oil stains and chemical substances generated in the textile production process are easy to form stubborn dirt on the surface of the curtain wall, which not only affects the appearance of the plant, but also may increase the indoor lighting energy consumption due to the blocking of light, and even accelerate the aging of the curtain wall due to the residual of corrosive substances. The traditional curtain wall cleaning method mainly relies on manual work, and the cleaning workers work on the building facade by hanging in a basket or a rope. This method has many disadvantages: first, the labor intensity is large, and the cleaning workers need to maintain concentration and physical strength for a long time in the high-altitude working environment, which is a heavy workload; second, the safety risk is high, and the high-altitude working environment is complex, which is affected by many factors such as weather and equipment, and the consequences of accidents are unpredictable; third, the cleaning efficiency is low, and it is difficult to ensure the consistency of cleaning quality, especially for large-area curtain walls, the cleaning period is long, and it is difficult to meet the needs of modern building rapid maintenance.

[0003] With the continuous progress of science and technology, curtain wall cleaning robots have emerged as the times require, which can replace manual work to complete the curtain wall cleaning task, effectively solve the problems of high labor intensity, high safety risk and low cleaning efficiency existing in the traditional manual cleaning method, and become an important development direction of the curtain wall cleaning industry. Most existing rope traction type robots adopt a relatively simple rope traction structure, for example, two or three rope traction mechanisms are arranged at specific positions, and the movement of the robot is realized by controlling the length change of the ropes. In the prior art, the speed and acceleration control of the motors of multiple traction mechanisms (such as the common two-rope or three-rope traction structure) often adopts a relatively simple and independent control method. The motor control of each traction mechanism is relatively isolated, and the complex mechanical relationship and motion coupling characteristics between the traction mechanisms are not fully considered. When the robot body wants to move at a certain speed, due to the lack of precise cooperative control strategy, the speed and acceleration of the motors of each traction mechanism are difficult to accurately match. This may cause the robot to be unstable in posture, sway or even deviate from the predetermined trajectory during actual movement. For example, when moving horizontally, if the speed of the motors of the left and right traction mechanisms is not consistent, the robot may tilt to one side, affecting the normal progress of the cleaning work, and even may damage the equipment due to collision with the curtain wall.

[0004] Therefore, it is necessary to provide a curtain wall cleaning robot control method and system based on four-rope parallel connection to improve the accuracy and stability of the motion of the curtain wall cleaning robot based on four-rope parallel connection. SUMMARY

[0005] The application provides a curtain cleaning robot control method based on four-rope parallelism, which is applied to a curtain cleaning robot based on four-rope parallelism. The curtain cleaning robot based on four-rope parallelism comprises a left upper rope traction mechanism, a left lower rope traction mechanism, a right upper rope traction mechanism, a right lower rope traction mechanism and a curtain cleaning robot connected with the four rope traction mechanisms through ropes. The method comprises the following steps: establishing a motion mapping model; obtaining current expected motion parameters, wherein the current expected motion parameters at least comprise expected x-direction acceleration and expected y-direction acceleration; obtaining current body state data of the curtain cleaning robot based on four-rope parallelism; generating traction mechanism control parameters of a next control cycle based on the current expected motion parameters, the current body state data and the motion mapping model; and controlling the left upper rope traction mechanism, the left lower rope traction mechanism, the right upper rope traction mechanism and the right lower rope traction mechanism to operate through the traction mechanism control parameters of the next control cycle.

[0006] Further, the current body state data at least comprises current x-direction velocity and current y-direction velocity of the curtain cleaning robot, current horizontal plane angle scalars of four traction rope directions and current actual traction velocities of the four traction ropes.

[0007] Further, the motion mapping model is established by the following steps: constructing a motion state model of the curtain cleaning robot in a next control cycle; and constructing the motion mapping model based on the motion state model of the curtain cleaning robot in the next control cycle.

[0008] Further, a motion mapping model is established, including: constructing a motion state model for the next control cycle of the curtain wall cleaning robot; constructing a desired acceleration mapping model for the four traction rope directions, wherein the independent variables of the desired acceleration mapping model include the current desired motion parameters, and the dependent variables of the desired acceleration mapping model include the desired acceleration in the four traction rope directions; constructing a theoretical velocity mapping model for the four traction ropes, wherein the independent variables of the theoretical velocity mapping model include the current x-direction velocity, the current y-direction velocity, and the current horizontal plane angle scalars in the four traction rope directions, and the dependent variables of the theoretical velocity mapping model include the current theoretical traction velocity of the four traction ropes; based on the desired acceleration mapping model for the four traction rope directions and the theoretical velocity mapping model for the four traction ropes, constructing an actual acceleration mapping model for the four traction ropes, wherein the independent variables of the actual acceleration mapping model include the current theoretical traction velocity and the current actual traction velocity of the four traction ropes, and the actual acceleration mapping model... The dependent variables include the actual acceleration of the four traction ropes; based on the actual acceleration mapping model of the four traction ropes, an actual velocity mapping model of the four traction ropes is constructed, wherein the independent variables of the actual velocity mapping model include the actual acceleration of the four traction ropes and the current theoretical traction velocity of the four traction ropes, and the dependent variable of the actual velocity mapping model includes the traction velocity of the four traction ropes in the next control cycle; based on the motion state model of the curtain wall cleaning robot in the next control cycle, the expected acceleration mapping model of the four traction rope directions, the theoretical velocity mapping model of the four traction ropes, the actual acceleration mapping model of the four traction ropes, and the actual velocity mapping model of the four traction ropes, a motion mapping model is constructed, wherein the independent variables of the motion mapping model include the current horizontal plane angle scalar of the four traction rope directions, the current x-direction velocity and the current y-direction velocity of the curtain wall cleaning robot, and the current actual traction velocity of the four traction ropes, and the dependent variable of the motion mapping model includes the traction velocity of the four traction ropes in the next control cycle.

[0009] Furthermore, the desired acceleration mapping model for the four traction rope directions is as follows:

[0010]

[0011]

[0012]

[0013]

[0014] in, Let be the desired acceleration in the direction of the upper left traction rope. For the desired acceleration in the x-direction, This is the current horizontal angle scalar of the upper left traction rope. For the desired acceleration in the y-direction, Let be the desired acceleration in the direction of the lower left traction rope. This is the current horizontal angle scalar of the lower left traction rope. Let be the desired acceleration in the direction of the upper right traction rope. This is the current horizontal angle scalar of the upper right traction rope. Let be the desired acceleration in the direction of the lower right traction rope. This is the current horizontal angle scalar of the lower right traction rope.

[0015] Furthermore, the theoretical velocity mapping model for the four traction ropes is as follows:

[0016]

[0017]

[0018]

[0019]

[0020] in, This represents the current theoretical traction speed in the direction of the upper left traction rope. This represents the current theoretical traction speed in the direction of the lower left traction rope. This represents the current theoretical traction speed in the direction of the upper right traction rope. This represents the current theoretical traction speed in the direction of the lower right traction rope. Let x be the current velocity of the curtain wall cleaning robot. This represents the current y-direction velocity of the curtain wall cleaning robot.

[0021] Furthermore, the actual acceleration mapping model of the four traction ropes is as follows:

[0022]

[0023]

[0024]

[0025]

[0026] in, This is the actual acceleration in the direction of the upper left traction rope. This represents the actual acceleration in the direction of the lower left traction rope. This is the actual acceleration in the direction of the upper right traction rope. This represents the actual acceleration in the direction of the lower right traction rope. This represents the current actual traction speed in the direction of the upper left traction rope. This represents the current actual traction speed in the direction of the lower left traction rope. This represents the current actual traction speed in the direction of the upper right traction rope. This represents the current actual traction speed in the direction of the lower right traction rope. One control cycle.

[0027] Furthermore, the actual speed mapping model of the four traction ropes is as follows:

[0028]

[0029]

[0030]

[0031]

[0032] in, This refers to the traction speed for the next control cycle in the direction of the upper left traction rope. This refers to the traction speed for the next control cycle in the direction of the lower left traction rope. This refers to the traction speed for the next control cycle in the direction of the upper right traction rope. This refers to the traction speed for the next control cycle in the direction of the lower right traction rope.

[0033] Furthermore, the traction mechanism control parameters for the next control cycle include at least the traction speed of the four traction ropes for the next control cycle.

[0034] The operation of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism is controlled by the control parameters of the next control cycle, including:

[0035] Based on the traction speed of the four traction ropes in the next control cycle, the reduction ratio of the traction motor, and the rotation radius, the rotation speed and rotation acceleration of the traction motors of the upper left rope traction mechanism, the lower left rope traction mechanism, the upper right rope traction mechanism, and the lower right rope traction mechanism are calculated.

[0036] The operation of the upper left, lower left, upper right, and lower right rope traction mechanisms is controlled by the rotational speed and acceleration of their respective traction motors.

[0037] This invention provides a control system for a curtain wall cleaning robot based on four-rope parallel connection. Applying the aforementioned control method for a curtain wall cleaning robot based on four-rope parallel connection, the system includes: a model building module for establishing a motion mapping model; a data acquisition module for acquiring current desired motion parameters, wherein the current desired motion parameters include at least desired x-direction acceleration and desired y-direction acceleration, and also for acquiring current body state data of the curtain wall cleaning robot based on four-rope parallel connection; a parameter generation module for generating traction mechanism control parameters for the next control cycle based on the current desired motion parameters, current body state data, and motion mapping model; and a motion control module for controlling the operation of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism using the traction mechanism control parameters for the next control cycle.

[0038] Compared with existing technologies, the control method and system for a curtain wall cleaning robot based on four-rope parallel connection provided by this invention has at least the following beneficial effects:

[0039] The motion mapping model maps the robot's desired acceleration in the x and y directions to the desired acceleration and velocity of the four traction ropes, ensuring that the robot's actual motion is highly consistent with the desired motion. By acquiring current robot state data (such as position, velocity, and angle), control parameters are adjusted in real time to adapt to the dynamically changing working environment, reduce motion errors, and improve the efficiency and quality of cleaning the curtain walls of textile factories.

[0040] The four-rope parallel structure requires four traction mechanisms to work in coordination. This method, by comprehensively considering the traction speed and acceleration of the four ropes, ensures that the robot moves without shaking or tilting, thus improving the stability of the cleaning operation.

[0041] By establishing a motion mapping model and integrating the current desired motion parameters with the robot's state data, precise, stable, and efficient control of a curtain wall cleaning robot based on four-rope parallel connection was achieved. This not only improves the robot's motion performance and cleaning quality but also optimizes resource utilization, enhances the adaptability and fault tolerance of the four-rope parallel connection curtain wall cleaning robot, and provides reliable technical support for curtain wall cleaning operations. Attached Figure Description

[0042] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0043] Figure 1 This is a structural schematic diagram of a curtain wall cleaning robot based on four-rope parallel connection, as shown in some embodiments of this specification.

[0044] Figure 2This is a flowchart illustrating a control method for a curtain wall cleaning robot based on four-rope parallel connection, according to some embodiments of this specification.

[0045] Figure 3 This is a flowchart illustrating the process of establishing a motion mapping model according to some embodiments of this specification;

[0046] Figure 4 This is a schematic diagram showing the difference between the calculated speed and the actual speed that should be reached for each rope according to some embodiments of this specification;

[0047] Figure 5 This is a schematic diagram showing the peak of the difference between the theoretical speed and the actual speed that should be reached for each rope, according to some embodiments of this specification.

[0048] Figure 6 This is a schematic diagram of a control system for a curtain wall cleaning robot based on four-rope parallel connection, as shown in some embodiments of this specification. Detailed Implementation

[0049] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0050] A control method for a curtain wall cleaning robot based on four-rope parallel connection can be applied to curtain wall cleaning robots based on four-rope parallel connection. Figure 1 This is a structural schematic diagram of a curtain wall cleaning robot based on four-rope parallel connection, as shown in some embodiments of this specification. Figure 1 As shown, the curtain wall cleaning robot based on four-rope parallel connection includes an upper left rope traction mechanism, a lower left rope traction mechanism, an upper right rope traction mechanism, a lower right rope traction mechanism, and a curtain wall cleaning robot connected to the four rope traction mechanisms by ropes.

[0051] When using a curtain wall cleaning robot based on a four-rope parallel connection, the upper left, lower left, upper right, and lower right rope traction mechanisms are placed at four angles on the robot. These corner rope traction mechanisms are connected to four sets of suspension points on the roof and ground via static ropes. The movement of the curtain wall cleaning robot is controlled by the contraction and release of the ropes through the four sets of traction mechanisms on the robot's body (i.e., the upper left, lower left, upper right, and lower right rope traction mechanisms). Typically, after cleaning one column, the curtain wall cleaning robot changes suspension points to move to the next column for cleaning. However, with the four-rope traction mechanism, after cleaning one column, the robot can move laterally to another column without changing suspension points to clean that column. This entire movement involves the curtain wall cleaning robot's lateral and longitudinal movement in the xy-plane. Therefore, this method solves the problem of how the four rope traction mechanisms control the speed and acceleration of the motors of the four traction mechanisms when the curtain wall cleaning robot wants to perform a cleaning of a column at a certain speed.

[0052] Figure 2 This is a flowchart illustrating a control method for a curtain wall cleaning robot based on four-rope parallel connection, as shown in some embodiments of this specification. Figure 2 As shown, a control method for a curtain wall cleaning robot based on four-rope parallel connection may include the following steps:

[0053] Step 210: Establish a motion mapping model.

[0054] In some embodiments, step 210 specifically includes:

[0055] Construct a motion state model for the next control cycle of the curtain wall cleaning robot, for example:

[0056] =

[0057] =

[0058] in, The velocity in the x-direction for the next control cycle of the curtain wall cleaning robot. The y-direction velocity of the curtain wall cleaning robot in the next control cycle;

[0059] Based on the motion state model of the curtain wall cleaning robot in the next control cycle, a motion mapping model is constructed, for example:

[0060]

[0061]

[0062]

[0063]

[0064] in, This refers to the traction speed for the next control cycle in the direction of the upper left traction rope. This refers to the traction speed for the next control cycle in the direction of the lower left traction rope. This refers to the traction speed for the next control cycle in the direction of the upper right traction rope. This refers to the traction speed for the next control cycle in the direction of the lower right traction rope. This is the current horizontal angle scalar of the upper left traction rope. This is the current horizontal angle scalar of the lower left traction rope. This is the current horizontal angle scalar of the upper right traction rope. This is the current horizontal angle scalar of the lower right traction rope.

[0065] Figure 3 This is a flowchart illustrating the process of establishing a motion mapping model according to some embodiments of this specification, such as... Figure 3 As shown, in some embodiments, step 210 specifically includes:

[0066] Construct a motion state model for the next control cycle of the curtain wall cleaning robot;

[0067] Construct a desired acceleration mapping model in four traction rope directions. The independent variables of the desired acceleration mapping model include the current desired motion parameters, and the dependent variables of the desired acceleration mapping model include the desired acceleration in the four traction rope directions.

[0068] Construct a theoretical velocity mapping model for the four traction ropes. The independent variables of the theoretical velocity mapping model include the current velocity in the x-direction, the current velocity in the y-direction, and the current horizontal plane angle scalars of the four traction rope directions. The dependent variables of the theoretical velocity mapping model include the current theoretical traction velocity of the four traction ropes.

[0069] Based on the expected acceleration mapping model of the four traction rope directions and the theoretical velocity mapping model of the four traction ropes, an actual acceleration mapping model of the four traction ropes is constructed. The independent variables of the actual acceleration mapping model include the current theoretical traction velocity and the current actual traction velocity of the four traction ropes, and the dependent variable of the actual acceleration mapping model includes the actual acceleration of the four traction ropes.

[0070] Based on the actual acceleration mapping model of the four traction ropes, an actual velocity mapping model of the four traction ropes is constructed. The independent variables of the actual velocity mapping model include the actual acceleration of the four traction ropes and the current theoretical traction velocity of the four traction ropes. The dependent variables of the actual velocity mapping model include the traction velocity of the four traction ropes in the next control cycle.

[0071] Based on the motion state model of the curtain wall cleaning robot in the next control cycle, the expected acceleration mapping model of the four traction rope directions, the theoretical velocity mapping model of the four traction ropes, the actual acceleration mapping model of the four traction ropes, and the actual velocity mapping model of the four traction ropes, a motion mapping model is constructed. The independent variables of the motion mapping model include the current horizontal plane angle scalar of the four traction rope directions, the current x-direction velocity and the current y-direction velocity of the curtain wall cleaning robot, and the current actual traction velocity of the four traction ropes. The dependent variables of the motion mapping model include the traction velocity of the four traction ropes in the next control cycle.

[0072] The motion state model for the next control cycle of the curtain wall cleaning robot is as follows:

[0073] =

[0074] =

[0075] in, The velocity in the x-direction for the next control cycle of the curtain wall cleaning robot. The y-axis velocity of the curtain wall cleaning robot in the next control cycle.

[0076] The desired x-axis and desired y-axis accelerations of the curtain wall cleaning robot are distributed across the desired accelerations in the four traction rope directions, resulting in the following desired acceleration mapping model for the four traction rope directions:

[0077]

[0078]

[0079]

[0080]

[0081] in, Let be the desired acceleration in the direction of the upper left traction rope. For the desired acceleration in the x-direction, This is the current horizontal angle scalar of the upper left traction rope. For the desired acceleration in the y-direction, Let be the desired acceleration in the direction of the lower left traction rope. This is the current horizontal angle scalar of the lower left traction rope. Let be the desired acceleration in the direction of the upper right traction rope. This is the current horizontal angle scalar of the upper right traction rope. Let be the desired acceleration in the direction of the lower right traction rope. This is the current horizontal angle scalar of the lower right traction rope.

[0082] The current horizontal angle scalar of the traction rope can be obtained in real time in any feasible way. For example, a rotating rod can be installed on the traction motor connected to the traction rope. One end of the rod is fixed to the traction motor, and the other end can rotate around a fixed point. The rotation angle of the rod is driven by the tension of the traction rope, and its rotation direction is synchronized with the angle change of the traction rope. A collar is fixed to the rotating rod and rotates synchronously with it. The traction rope passes through the inside of the collar and can slide freely within the collar. When the rotating rod rotates, the collar causes the traction rope to swing in the horizontal plane, and the rotation angle of the rotating rod is the same as (or in a fixed proportion to) the angle change of the traction rope. An angle sensor is directly installed on the rotating rod to detect the rotation angle of the rod in real time, thereby determining the current horizontal angle scalar of the traction rope.

[0083] The theoretical velocity mapping model for the four traction ropes is as follows:

[0084]

[0085]

[0086]

[0087]

[0088] in, This represents the current theoretical traction speed in the direction of the upper left traction rope. This represents the current theoretical traction speed in the direction of the lower left traction rope. This represents the current theoretical traction speed in the direction of the upper right traction rope. This represents the current theoretical traction speed in the direction of the lower right traction rope. Let x be the current velocity of the curtain wall cleaning robot. This represents the current y-direction velocity of the curtain wall cleaning robot.

[0089] During this operation, it is necessary to eliminate the error between the current traction speed and the theoretical speed. Therefore, the actual acceleration mapping model of the four traction ropes is obtained as follows:

[0090]

[0091]

[0092]

[0093]

[0094] in, This is the actual acceleration in the direction of the upper left traction rope. This represents the actual acceleration in the direction of the lower left traction rope. This is the actual acceleration in the direction of the upper right traction rope. This represents the actual acceleration in the direction of the lower right traction rope. This represents the current actual traction speed in the direction of the upper left traction rope. This represents the current actual traction speed in the direction of the lower left traction rope. This represents the current actual traction speed in the direction of the upper right traction rope. This represents the current actual traction speed in the direction of the lower right traction rope. One control cycle.

[0095] Meanwhile, because the curtain wall cleaning robot moves relatively slowly, The time can be approximated by the fact that the traction mechanism and the corresponding suspension point connecting ropes at the four corner points of the task remain unchanged, and the horizontal plane is also constant. Therefore, the actual speed mapping model of the four traction ropes is as follows:

[0096]

[0097]

[0098]

[0099]

[0100] in, This refers to the traction speed for the next control cycle in the direction of the upper left traction rope. This refers to the traction speed for the next control cycle in the direction of the lower left traction rope. This refers to the traction speed for the next control cycle in the direction of the upper right traction rope. This refers to the traction speed for the next control cycle in the direction of the lower right traction rope.

[0101] The motion mapping model is as follows:

[0102]

[0103] The effectiveness of the second motion mapping model described above will be verified using experimental data.

[0104] The XY coordinates of the top-left lifting point are set to (100, 8), in meters; the XY coordinates of the top-right lifting point are set to (100, -8); the XY coordinates of the bottom-left lifting point are set to (0, 8); and the XY coordinates of the bottom-right lifting point are set to (0, -8). The curtain wall cleaning robot has a length of 0.6m in the X direction and a length of 1.0m in the Y direction. In this scenario, the difference between the expected speed of the traction motor-controlled rope movement and the expected speed of the rope movement generated by the actual traction after the vehicle body moves is calculated. After 100,000 iterations... and Random numbers with an absolute value less than 0.1 were randomly generated, and the absolute value of the overall vehicle speed was guaranteed to be less than 0.2 m / s. The maximum error in calculating the speed was less than 0.002 m / s, meeting practical usage requirements. See the test data chart below. Figure 4 The peak of the difference between the theoretical speed and the actual speed that should be reached for each rope is as follows: Figure 5 As shown.

[0105] Step 220: Obtain the current desired motion parameters.

[0106] The desired motion parameters include at least the desired acceleration in the x-direction and the desired acceleration in the y-direction.

[0107] Step 230: Obtain the current body status data of the curtain wall cleaning robot based on four-rope parallel connection.

[0108] The current machine status data includes at least the current x-direction velocity and current y-direction velocity of the curtain wall cleaning robot, as well as the current horizontal plane angle scalar of the four traction rope directions and the current actual traction speed of the four traction ropes.

[0109] Step 240: Based on the current desired motion parameters, current body state data, and motion mapping model, generate the traction mechanism control parameters for the next control cycle.

[0110] Among them, the traction mechanism control parameters for the next control cycle include at least the traction speed of the four traction ropes for the next control cycle.

[0111] Step 250: Control the operation of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism by using the traction mechanism control parameters of the next control cycle.

[0112] Specifically, it includes:

[0113] Based on the traction speed of the four traction ropes in the next control cycle, the reduction ratio of the traction motor, and the rotation radius, the rotation speed and rotation acceleration of the traction motors of the upper left rope traction mechanism, the lower left rope traction mechanism, the upper right rope traction mechanism, and the lower right rope traction mechanism are calculated.

[0114] The operation of the upper left, lower left, upper right, and lower right rope traction mechanisms is controlled by the rotational speed and acceleration of their respective traction motors.

[0115] Specifically, the rotational speed and acceleration of the traction motors of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism can be calculated using the following formulas:

[0116]

[0117]

[0118]

[0119]

[0120]

[0121]

[0122]

[0123]

[0124] in, The rotational speed of the traction motor of the upper left rope traction mechanism. The radius of rotation of the traction motor of the upper left rope traction mechanism. This refers to the reduction ratio of the traction motor in the upper left rope traction mechanism. The rotational speed of the traction motor of the lower left rope traction mechanism. The radius of rotation of the traction motor of the lower left rope traction mechanism is given. This refers to the reduction ratio of the traction motor in the lower left rope traction mechanism. The rotational speed of the traction motor of the upper right rope traction mechanism. This represents the rotation radius of the traction motor of the upper right rope traction mechanism. This refers to the reduction ratio of the traction motor of the upper right rope traction mechanism. This represents the rotational speed of the traction motor of the lower right rope traction mechanism. This represents the rotation radius of the traction motor of the lower right rope traction mechanism. This refers to the reduction ratio of the traction motor in the lower right rope traction mechanism. The rotational acceleration of the traction motor of the upper left rope traction mechanism. The rotational acceleration of the traction motor of the lower left rope traction mechanism is shown. The rotational acceleration of the traction motor of the upper right rope traction mechanism. This represents the rotational acceleration of the traction motor of the lower right rope traction mechanism.

[0125] Figure 6 This is a schematic diagram of a control system for a curtain wall cleaning robot based on four-rope parallel connection, as shown in some embodiments of this specification. Figure 6 As shown, a control system for a curtain wall cleaning robot based on four-rope parallel connection may include a model building module, a data acquisition module, a parameter generation module, and a motion control module.

[0126] The model building module is used to build motion mapping models;

[0127] The data acquisition module is used to acquire the current expected motion parameters, which include at least the expected x-direction acceleration and the expected y-direction acceleration. It is also used to acquire the current body state data of the curtain wall cleaning robot based on four-rope parallel connection.

[0128] The parameter generation module is used to generate the traction mechanism control parameters for the next control cycle based on the current desired motion parameters, the current body state data, and the motion mapping model.

[0129] The motion control module is used to control the operation of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism by using the traction mechanism control parameters of the next control cycle.

[0130] A control system for a curtain wall cleaning robot based on four-rope parallel connection can be applied to the above-mentioned control method for a curtain wall cleaning robot based on four-rope parallel connection, which will not be elaborated here.

[0131] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A control method for a curtain wall cleaning robot based on four-rope parallel connection, applied to a curtain wall cleaning robot based on four-rope parallel connection, the curtain wall cleaning robot based on four-rope parallel connection includes an upper left rope traction mechanism, a lower left rope traction mechanism, an upper right rope traction mechanism, a lower right rope traction mechanism, and a curtain wall cleaning robot connected to the four rope traction mechanisms via ropes, characterized in that, The method includes: Establish a motion mapping model, specifically including: a desired acceleration mapping model based on the four traction rope directions, a theoretical velocity mapping model based on the four traction ropes, an actual acceleration mapping model based on the four traction ropes, and an actual velocity mapping model based on the four traction ropes, and construct a motion mapping model. Obtain the current desired motion parameters, wherein the current desired motion parameters include at least the desired acceleration in the x-direction and the desired acceleration in the y-direction; Obtain the current body status data of the curtain wall cleaning robot based on four-rope parallel connection. The current body status data includes at least the current x-direction velocity and current y-direction velocity of the curtain wall cleaning robot, as well as the current horizontal plane angle scalar of the four traction rope directions and the current actual traction speed of the four traction ropes. Based on the current desired motion parameters, current body state data, and motion mapping model, the traction mechanism control parameters for the next control cycle are generated. The operation of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism is controlled by the traction mechanism control parameters of the next control cycle.

2. The control method for a curtain wall cleaning robot based on four-rope parallel connection according to claim 1, characterized in that, Establish a motion mapping model, including: Construct a desired acceleration mapping model for four traction rope directions, wherein the independent variables of the desired acceleration mapping model include the current desired motion parameters and the current horizontal plane angle scalars for the four traction rope directions, and the dependent variables of the desired acceleration mapping model include the desired acceleration for the four traction rope directions. A theoretical velocity mapping model for four traction ropes is constructed. The independent variables of the theoretical velocity mapping model include the current x-direction velocity, the current y-direction velocity of the curtain wall cleaning robot, and the current horizontal plane angle scalar of the four traction rope directions. The dependent variables of the theoretical velocity mapping model include the current theoretical traction velocity of the four traction ropes. Based on the expected acceleration mapping model of the four traction rope directions and the theoretical velocity mapping model of the four traction ropes, an actual acceleration mapping model of the four traction ropes is constructed. The independent variables of the actual acceleration mapping model include the current theoretical traction velocity of the four traction ropes, the current actual traction velocity of the four traction ropes, and the expected acceleration in the four traction rope directions. The dependent variable of the actual acceleration mapping model includes the actual acceleration of the four traction ropes. Based on the actual acceleration mapping model of the four traction ropes, an actual velocity mapping model of the four traction ropes is constructed. The independent variables of the actual velocity mapping model include the actual acceleration of the four traction ropes and the current theoretical traction velocity of the four traction ropes. The dependent variables of the actual velocity mapping model include the traction velocity of the four traction ropes in the next control cycle. The independent variables of the motion mapping model include the current horizontal plane angle scalars of the four traction rope directions, the current x-direction velocity and the current y-direction velocity of the curtain wall cleaning robot, and the current actual traction speed of the four traction ropes. The dependent variables of the motion mapping model include the traction speed of the four traction ropes in the next control cycle.

3. The control method for a curtain wall cleaning robot based on four-rope parallel connection according to claim 2, characterized in that, The desired acceleration mapping model for the four traction rope directions is as follows: ， ， ， ， in, Let be the desired acceleration in the direction of the upper left traction rope. For the desired acceleration in the x-direction, This is the current horizontal angle scalar of the upper left traction rope. For the desired acceleration in the y-direction, Let be the desired acceleration in the direction of the lower left traction rope. This is the current horizontal angle scalar of the lower left traction rope. Let be the desired acceleration in the direction of the upper right traction rope. This is the current horizontal angle scalar of the upper right traction rope. Let be the desired acceleration in the direction of the lower right traction rope. This is the current horizontal angle scalar of the lower right traction rope.

4. The control method for a curtain wall cleaning robot based on four-rope parallel connection according to claim 3, characterized in that, The theoretical velocity mapping model for the four traction ropes is as follows: ， ， ， ， in, This represents the current theoretical traction speed in the direction of the upper left traction rope. This represents the current theoretical traction speed in the direction of the lower left traction rope. This represents the current theoretical traction speed in the direction of the upper right traction rope. This represents the current theoretical traction speed in the direction of the lower right traction rope. Let x be the current velocity of the curtain wall cleaning robot. This represents the current y-direction velocity of the curtain wall cleaning robot.

5. The control method for a curtain wall cleaning robot based on four-rope parallel connection according to claim 4, characterized in that, The actual acceleration mapping model for the four traction ropes is as follows: ， ， ， ， in, This is the actual acceleration in the direction of the upper left traction rope. This represents the actual acceleration in the direction of the lower left traction rope. This is the actual acceleration in the direction of the upper right traction rope. This represents the actual acceleration in the direction of the lower right traction rope. This represents the current actual traction speed in the direction of the upper left traction rope. This represents the current actual traction speed in the direction of the lower left traction rope. This represents the current actual traction speed in the direction of the upper right traction rope. This represents the current actual traction speed in the direction of the lower right traction rope. One control cycle.

6. The control method for a curtain wall cleaning robot based on four-rope parallel connection according to claim 5, characterized in that, The actual speed mapping model for the four traction ropes is as follows: ， ， ， ， in, This refers to the traction speed for the next control cycle in the direction of the upper left traction rope. This refers to the traction speed for the next control cycle in the direction of the lower left traction rope. This refers to the traction speed for the next control cycle in the direction of the upper right traction rope. This refers to the traction speed for the next control cycle in the direction of the lower right traction rope.

7. A control method for a curtain wall cleaning robot based on four-rope parallel connection according to any one of claims 1-6, characterized in that, The traction mechanism control parameters for the next control cycle include at least the traction speed of the traction ropes for the next control cycle. The operation of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism is controlled by the control parameters of the next control cycle, including: Based on the traction speed of the four traction ropes in the next control cycle, the reduction ratio of the traction motor, and the rotation radius, the rotation speed and rotation acceleration of the traction motors of the upper left rope traction mechanism, the lower left rope traction mechanism, the upper right rope traction mechanism, and the lower right rope traction mechanism are calculated. The operation of the upper left, lower left, upper right, and lower right rope traction mechanisms is controlled by the rotational speed and acceleration of their respective traction motors.

8. A control system for a curtain wall cleaning robot based on four-rope parallel connection, characterized in that, The control method for a curtain wall cleaning robot based on four-rope parallel connection according to any one of claims 1-7 includes: The model building module is used to build motion mapping models; The data acquisition module is used to acquire the current expected motion parameters, wherein the current expected motion parameters include at least the expected x-direction acceleration and the expected y-direction acceleration, and is also used to acquire the current body state data of the curtain wall cleaning robot based on four-rope parallel connection; The parameter generation module is used to generate the traction mechanism control parameters for the next control cycle based on the current desired motion parameters, the current body state data, and the motion mapping model. The motion control module is used to control the operation of the upper left rope traction mechanism, lower left rope traction mechanism, upper right rope traction mechanism, and lower right rope traction mechanism by using the traction mechanism control parameters of the next control cycle.

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