Magnetofluid adsorption type self-adaptive curtain wall cleaning robot

Abstract

The invention provides a magnetofluid adsorption type self-adaptive curtain wall cleaning robot which comprises a vehicle body, and a crawler belt advancing mechanism, a magnetofluid adsorption mechanism, a central cleaning mechanism, a cleaning liquid spraying device, a path planning camera, a dirt checking camera and a control unit which are arranged on the vehicle body, the magnetic fluid adsorption mechanism is used for forming periodic alternate adsorption force under regulation and control of the control unit, so that the high-altitude curtain wall cleaning robot is adsorbed to the surface of a to-be-cleaned curtain wall; the path planning camera and the pollution checking camera are used for collecting curtain wall surface image information; the control unit obtains the collected curtain wall surface image information, recognizes the curtain wall structure contour, the obstacle position and the stain distribution through a visual algorithm, generates an advancing path instruction and a cleaning task instruction, and controls the advancing direction of the crawler belt advancing mechanism according to the advancing path instruction. And the vibration cleaning frequency and amplitude of the central cleaning mechanism are adjusted according to the cleaning task instruction, and the spraying amount and the spraying time sequence of the cleaning liquid spraying device are synchronously adjusted.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a magnetohydrodynamic adsorption-based adaptive curtain wall cleaning robot. Background Technology

[0002] Currently, with the accelerating pace of urbanization, the number of high-rise buildings is rapidly increasing, making the maintenance and cleaning of building facades a pressing issue. Traditional curtain wall cleaning methods mainly rely on manual high-altitude operations, which are not only labor-intensive and risky, but also inefficient and unevenly covered, making them unsuitable for the maintenance needs of modern buildings. In recent years, automated and intelligent cleaning robots have been gradually introduced into the curtain wall cleaning field to replace high-risk manual labor. However, current high-altitude curtain wall cleaning robots on the market still have many limitations. For example, traditional vacuum adsorption cleaning robots rely on mechanical pumps or fans to generate negative pressure for adsorption, but this structure generally suffers from high power consumption, poor adsorption stability, and low energy utilization. While permanent magnet adsorption solutions have the advantage of strong adsorption force, they are only suitable for metal surfaces and cannot effectively adsorb non-magnetic materials such as glass curtain walls. In addition, most existing cleaning structures are fixed and rigid designs, unable to adaptively adjust the cleaning intensity and frequency according to the distribution of stains on the curtain wall surface, resulting in poor cleaning effects. Meanwhile, in terms of robot motion and attitude control, due to the complex high-altitude environment and large changes in wind pressure, tracked or wheeled travel mechanisms are prone to slippage and detachment, making it difficult to ensure stable movement of the robot on vertical smooth surfaces. Therefore, developing a new type of high-altitude curtain wall cleaning robot that combines efficient adsorption, flexible movement, and adaptive cleaning capabilities has significant practical significance and application value. Summary of the Invention

[0003] The purpose of this invention is to propose a magnetohydrodynamic adsorption-based adaptive curtain wall cleaning robot, which aims to solve the problems of high labor costs, high operational risks, poor adsorption stability, and low cleaning efficiency in the existing curtain wall cleaning process.

[0004] To achieve the above objectives, the technical solution of the present invention is: a magnetic fluid adsorption type adaptive curtain wall cleaning robot, including a vehicle body, and a tracked travel mechanism, a magnetic fluid adsorption mechanism, a central cleaning mechanism, a cleaning liquid spraying device, a path planning camera, a dirt detection camera and a control unit disposed on the vehicle body. The tracked travel mechanism, the magnetohydrodynamic adsorption mechanism, the central cleaning mechanism, the cleaning liquid spraying device, and the pollution detection camera are located at the bottom of the vehicle body; wherein, the central cleaning mechanism is located at the center of the bottom of the vehicle body, the tracked travel mechanism is located at the four corners of the bottom of the vehicle body, and the magnetohydrodynamic adsorption mechanism is embedded in the bottom of the tracked travel mechanism. The path planning camera is located on the top of the vehicle body; The control unit is electrically connected to the tracked travel mechanism, the magnetohydrodynamic adsorption mechanism, the central cleaning mechanism, the cleaning liquid spraying device, the path planning camera, and the pollution detection camera, respectively. The magnetohydrodynamic adsorption mechanism is used to form a periodic alternating adsorption force under the control of the control unit, so that the high-altitude curtain wall cleaning robot can be adsorbed onto the surface of the curtain wall to be cleaned. The path planning camera and the pollution detection camera are used to collect image information of the curtain wall surface; The control unit acquires image information of the curtain wall surface collected by the path planning camera and the dirt detection camera. It identifies the outline of the curtain wall structure, the location of obstacles and the distribution of stains through a visual algorithm, and generates travel path instructions and cleaning task instructions. It controls the travel direction of the tracked travel mechanism according to the travel path instructions, adjusts the vibration cleaning frequency and amplitude of the central cleaning mechanism according to the cleaning task instructions, and simultaneously adjusts the spray volume and spraying sequence of the cleaning liquid spraying device, so that vibration cleaning and cleaning liquid spraying form a linkage closed loop control.

[0005] Preferably, the tracked travel mechanism includes a housing, a drive control device disposed on the housing, a spherical motor mounted on the top of the housing, and synchronous gears and tracks disposed on both sides of the housing; The housing is mounted on the bottom of the machine body via a spherical motor. The spherical motor is driven by a synchronous gear, which in turn is driven by a track. The spherical motor drives the track through the synchronous gear to achieve forward, backward, lateral, and turning movements. The spherical motor has height adjustment capability, adjusting the distance between the housing and the vehicle body by extending and retracting its own axis. The drive control device is electrically connected to the control unit, the spherical motor, and the magnetohydrodynamic adsorption mechanism embedded in the bottom of the track travel mechanism housing, so as to coordinate the control unit to regulate the adsorption intensity of the magnetohydrodynamic adsorption mechanism and the track driving force of the spherical motor.

[0006] Preferably, the bottom of the tracked travel mechanism housing is equipped with four magnetohydrodynamic adsorption mechanisms; the number of pollution detection cameras is four, which are respectively arranged in four positions on the bottom of the vehicle body.

[0007] Preferably, the magnetic fluid adsorption mechanism includes a magnetic core, a coil, a magnetic shielding baffle, a magnetic fluid cavity, a magnetic fluid channel, a magnetic core baffle, a magnetic fluid sealing assembly, a vacuum cavity, a thin film fixing frame, a negative pressure adsorption film, and magnetic fluid stored in the magnetic fluid cavity. The magnetic core is fixed inside the track travel mechanism housing, the coil is electrically connected to the drive control device and wound around the outside of the magnetic core, the magnetic shielding baffle is arranged around the coil, and the magnetofluid cavity is located below the magnetic core, the coil and the magnetic shielding baffle. The magnetofluid cavity includes an upper cavity and a lower cavity, which are connected by a magnetofluid flow channel. A core separator is provided in the middle of the magnetofluid cavity, recessed from the upper surface of the upper cavity towards the lower surface of the lower cavity to accommodate the magnetic core. The core separator prevents direct contact between the magnetic core and the magnetofluid. The lower end face of the lower cavity is sealed by a magnetofluid sealing assembly. The vacuum chamber is located below the magnetic fluid sealing assembly, and the upper end face of the vacuum chamber is sealed by the magnetic fluid sealing assembly. The negative pressure adsorption film is fixed to the lower end face of the vacuum cavity by a film fixing frame, and the negative pressure adsorption film protrudes from the lower surface of the tracked travel mechanism box to contact the curtain wall surface.

[0008] Preferably, the magnetohydrodynamic sealing assembly includes a central flexible diaphragm and a rigid metal sealing frame for fixing the central flexible diaphragm; The central flexible diaphragm is disposed in the gap between the lower end face of the lower cavity of the magnetofluid cavity and the upper end face of the vacuum cavity to achieve end face sealing between the lower cavity of the magnetofluid cavity and the vacuum cavity, isolate the magnetofluid, and transmit the magnetofluid pressure in the lower cavity of the magnetofluid cavity to the vacuum cavity. The rigid metal sealing frame is a frame structure with an opening in the middle for fixing the central flexible diaphragm; the rigid metal sealing frame is installed on the outer wall of the magnetohydrodynamic cavity or vacuum cavity.

[0009] Preferably, the film fixing frame is a frame structure with an opening in the middle for fixing the negative pressure adsorption film; the film fixing frame is disposed on the outer wall of the vacuum cavity to achieve the coverage of the lower end surface of the vacuum cavity by the negative pressure adsorption film.

[0010] Preferably, the central flexible diaphragm or negative pressure adsorption film is covered and tensioned and fixed to the corresponding frame by screws.

[0011] Preferably, the magnetic fluid is an oil-based nanomagnetic fluid, the magnetic particles are Fe3O4, and the carrier liquid is silicone oil or fluorinated liquid.

[0012] Preferably, the central cleaning mechanism includes a cleaning box with a downward opening, a plurality of connecting mechanisms disposed on the top of the cleaning box, a vibrating magnetic core and a vibrating coil disposed inside the cleaning box, as well as an elastic support layer, a vibrating metal layer and a cleaning wheel; The cleaning chamber is installed at the bottom of the machine body via a connecting mechanism; The vibration coil is electrically connected to the control unit and is wound around the outside of the vibration magnetic core; The elastic support layer is fixed at the lower opening of the cleaning box, the vibrating metal layer is located on the side surface of the elastic support layer near the cleaning box, opposite the vibrating magnetic core and the vibrating coil, and the cleaning wheel is located on the side surface of the elastic support layer away from the cleaning box.

[0013] Preferably, the connecting mechanism includes a push rod sleeve, an electric linear push rod, a spring support, and a pressure sensor; One end of the push rod sleeve is connected to the bottom of the machine body, and the other end is provided with a receiving cavity to accommodate and guide the telescopic movement of the electric linear push rod; One end of the electric linear push rod is fixed to the inner wall of the push rod sleeve, and the other end is connected to the spring support. The electric linear push rod is electrically connected to the control unit and can extend and retract in the vertical direction under the drive of the control unit to realize the macroscopic height adjustment of the cleaning mechanism. The end of the spring support away from the electric linear push rod is connected to one side of the pressure sensor, and the other side of the pressure sensor is connected to the cleaning chamber. The pressure sensor is electrically connected to the control unit and is used to detect the contact pressure between the central cleaning mechanism and the glass curtain wall in real time, and to feed the pressure signal back to the control unit to realize the macroscopic height adjustment of the central cleaning mechanism.

[0014] Compared with the prior art, the present invention has the following beneficial effects: Compared with traditional negative pressure adsorption robots, this invention achieves stable adjustment of negative pressure adsorption force by electromagnetically controlling the flow direction and pressure of the magnetic fluid, enabling the robot to reliably attach to vertical smooth curtain walls, avoiding the problems of unstable adsorption and high energy consumption of traditional vacuum suction cups. Compared with traditional cleaning robots, the central cleaning mechanism achieves dual-layer adaptive height control at both macro and micro levels through a combination of "electric linear push rod + spring support + pressure sensor", and achieves high-frequency decontamination through electromagnetic vibration, effectively improving cleaning efficiency. Compared with existing visual cleaning equipment, this invention utilizes visual recognition and dirt detection feedback to form a closed-loop control of the vibration cleaning and spraying system, significantly improving intelligence and cleaning accuracy. At the same time, through the synchronous control of the tracked travel mechanism and the magnetohydrodynamic adsorption mechanism, the robot can move stably and overcome obstacles under strong adsorption conditions, making it suitable for various curtain wall structures and complex exterior wall environments.

[0015] Compared with existing electromagnetic vacuum chuck adsorption structures, this invention uses magnetohydrodynamic (MHD)-driven migration to generate negative pressure, resulting in fundamental differences in its working mechanism, sealing structure, and adsorption control method. Firstly, this invention can automatically adapt to the microscopic irregularities of the curtain wall surface and eliminates the need for vacuum pumps, one-way valves, and other air extraction mechanisms. Its significantly lighter structure makes it more suitable for installation on high-altitude mobile equipment. Attached Figure Description

[0016] Figure 1 This is one of the three-dimensional images of the high-altitude curtain wall cleaning robot of the present invention; Figure 2 This is the second three-dimensional image of the high-altitude curtain wall cleaning robot of the present invention; Figure 3 This is a schematic diagram of the vehicle body of the present invention; Figure 4 This is a schematic diagram of the tracked travel mechanism of the present invention; Figure 5 This is a bottom perspective view of the tracked travel mechanism of the present invention; Figure 6 This is a schematic diagram of the magnetohydrodynamic adsorption mechanism of the present invention; Figure 7 This is one of the schematic diagrams of the central cleaning mechanism of the present invention; Figure 8 This is the second schematic diagram of the central cleaning mechanism of the present invention.

[0017] In the picture: 1-Vehicle body, 2-Control unit, 3-Path planning camera, 4-Clean liquid spraying device, 5-Pollution detection camera, 6-Spherical motor, 7-Crawler, 8-Drive control device, 9-Synchronous gear, 10-Magnetic core, 11-Magnetic shielding baffle, 12-Coil, 13-Magnetic fluid cavity, 14-Magnetic fluid flow channel, 15-Magnetic core baffle, 16-Metal rigid sealing frame, 17-Central flexible diaphragm, 18-Vacuum cavity, 19-Thin film fixing frame, 20-Negative pressure adsorption film, 21-Push rod sleeve, 22-Electric linear push rod, 23-Spring support, 24-Pressure sensor, 25-Clean box, 26-Clean wheel, 27-Elastic support layer, 28-Vibrating magnetic core, 29-Vibrating coil, 30-Vibrating metal layer. Detailed Implementation

[0018] The following is in conjunction with the appendix Figure 1-8 The technical solution of the present invention will be described in detail below.

[0019] This invention proposes a magnetohydrodynamic (MHD) adsorption-type adaptive curtain wall cleaning robot, including a vehicle body 1, and a tracked travel mechanism, a MHD adsorption mechanism, a central cleaning mechanism, a cleaning liquid spraying device 4, a path planning camera 3, a dirt detection camera 5, and a control unit 2, all installed on the vehicle body 1; the vehicle body 1 is an integrated load-bearing structure, used to install various functional modules and provide overall rigid support. The tracked travel mechanism, the magnetic fluid adsorption mechanism, the central cleaning mechanism, the cleaning liquid spraying device 4, and the pollution detection camera 5 are located at the bottom of the vehicle body 1; wherein, the central cleaning mechanism is located at the center of the bottom of the vehicle body 1, the tracked travel mechanism is located at the four corners of the bottom of the vehicle body 1, and the magnetic fluid adsorption mechanism is embedded in the bottom of the tracked travel mechanism. The path planning camera 3 is located on the top of the vehicle body 1; The control unit 2 is electrically connected to the tracked travel mechanism, the magnetohydrodynamic adsorption mechanism, the central cleaning mechanism, the cleaning liquid spraying device 4, the path planning camera 3, and the pollution detection camera 5, respectively. The magnetohydrodynamic adsorption mechanism is used to form a periodic alternating adsorption force under the control of the control unit 2, so that the high-altitude curtain wall cleaning robot can be adsorbed onto the surface of the curtain wall to be cleaned. The path planning camera 3 and the dirt detection camera 5 are used to collect image information of the curtain wall surface; The control unit acquires image information of the curtain wall surface collected by the path planning camera 3 and the stain detection camera 5. It identifies the curtain wall structure outline, obstacle location, and stain distribution through a visual algorithm, and generates travel path instructions and cleaning task instructions. Based on the travel path instructions, it controls the travel direction of the tracked travel mechanism. Based on the cleaning task instructions, it adjusts the vibration cleaning frequency and amplitude of the central cleaning mechanism, and simultaneously adjusts the spray volume and spraying sequence of the cleaning liquid spraying device 4, so that vibration cleaning and cleaning liquid spraying form a closed-loop control. When residual stains are detected, the system automatically increases the spray flow rate and increases the vibration frequency. After cleaning is completed, the spray volume and vibration intensity automatically decrease, thereby achieving targeted stain removal and adaptive cleaning.

[0020] In this embodiment, the tracked travel mechanism includes a housing, a drive control device 8 disposed on the housing, a spherical motor 6 mounted on the top of the housing, and synchronous gears 9 and tracks 7 disposed on both sides of the housing. The housing is mounted on the bottom of the machine body 1 via a spherical motor 6. The spherical motor 6 is driven by a synchronous gear 9, which in turn is driven by a track 7. The spherical motor 6 drives the track 7 to move forward, backward, laterally, and in a turning direction via the synchronous gear 9. The spherical motor 6 has a height adjustment capability and can adjust the distance between the housing and the vehicle body 1 by extending and retracting its own axis. The drive control device 8 is electrically connected to the control unit 2, the spherical motor 6, and the magnetohydrodynamic adsorption mechanism embedded in the bottom of the track travel mechanism housing. It is used to coordinate the control unit 2 to regulate the adsorption intensity of the magnetohydrodynamic adsorption mechanism and the track driving force of the spherical motor 6, so as to ensure smooth movement and obstacle crossing ability under different working conditions.

[0021] In this embodiment, four magnetohydrodynamic adsorption mechanisms are embedded at the bottom of the tracked travel mechanism housing to form a controllable negative pressure adsorption force on the curtain wall surface; the number of the pollution detection cameras 5 is four, which are respectively arranged at the four positions of the bottom of the vehicle body 1.

[0022] In this embodiment, the magnetic fluid adsorption mechanism includes a magnetic core 10, a coil 12, a magnetic shielding baffle 11, a magnetic fluid cavity 13, a magnetic fluid channel 14, a magnetic core baffle 15, a magnetic fluid sealing assembly, a vacuum cavity 18, a thin film fixing frame 19, a negative pressure adsorption film 20, and magnetic fluid stored in the magnetic fluid cavity 13. The magnetic core 10 is fixed inside the tracked travel mechanism housing. The coil 12 is electrically connected to the drive control device 8 and wound around the outside of the magnetic core 10. The magnetic core 10 and the coil 12 cooperate to concentrate the magnetic flux and enhance the electromagnetic driving force. The magnetic shielding baffle 11 is arranged around the coil 12 to suppress magnetic field leakage and inter-unit magnetic interference. The magnetohydrodynamic cavity 13 is located below the magnetic core 10, the coil 12 and the magnetic shielding baffle 11. The magnetofluid cavity 13 includes an upper cavity and a lower cavity, which are connected by a magnetofluid flow channel 14. A magnetic core partition 15 is provided in the middle of the magnetofluid cavity 13, which is recessed from the upper surface of the upper cavity toward the lower surface of the lower cavity to accommodate the magnetic core 10. The magnetic core partition 15 prevents the magnetic core 10 from direct contact with the magnetofluid. The lower end face of the lower cavity of the magnetofluid cavity 13 is sealed by a magnetofluid sealing assembly. The vacuum chamber 18 is located below the magnetic fluid sealing assembly, and the upper end face of the vacuum chamber 18 is sealed by the magnetic fluid sealing assembly; the central flexible diaphragm 17 is used to isolate the magnetic fluid and transmit the magnetic fluid pressure to the vacuum chamber 18. The negative pressure adsorption film 20 is set on the lower end face of the vacuum cavity 18 by the film fixing frame 19, and the negative pressure adsorption film 20 protrudes from the lower surface of the tracked travel mechanism box to contact the curtain wall surface and achieve adsorption.

[0023] In this embodiment, the magnetohydrodynamic sealing assembly includes a central flexible diaphragm 17 and a metal rigid sealing frame 16 for fixing the central flexible diaphragm 17; the flexible diaphragm 17 is an integral sheet-like elastomer; The central flexible diaphragm 17 is disposed in the gap between the lower end face of the lower cavity of the magnetofluid cavity 13 and the upper end face of the vacuum cavity 18, so as to achieve end face sealing between the lower cavity of the magnetofluid cavity 13 and the vacuum cavity 18, isolate the magnetofluid, and transmit the magnetofluid pressure in the lower cavity of the magnetofluid cavity 13 to the vacuum cavity 18; the vacuum cavity 18 is a closed shallow cavity structure. The rigid metal sealing frame 16 is a frame structure with an opening in the middle for fixing the central flexible diaphragm 17; the rigid metal sealing frame 16 is installed on the outer wall of the magnetohydrodynamic cavity 13 or the vacuum cavity 18.

[0024] In this embodiment, the film fixing frame 19 is a rectangular or circular frame-shaped component, and the film fixing frame 19 is a frame structure with an opening in the middle, so as to fix the negative pressure adsorption film 20; the film fixing frame 19 is disposed on the outer wall of the vacuum cavity 18 so as to cover the lower end surface of the vacuum cavity 18 with the negative pressure adsorption film 20.

[0025] In this embodiment, the central flexible diaphragm 17 or the negative pressure adsorption film 20 is covered and tensioned and fixed to the corresponding frame by screws.

[0026] In this embodiment, the magnetic fluid is an oil-based nano-magnetic fluid, the magnetic particles are Fe3O4, and the carrier liquid is silicone oil or fluorinated liquid; it has high magnetic susceptibility, good sealing performance and low volatility, and can achieve controllable flow under the action of a magnetic field of 0.1-0.5T; after the magnetic field is removed, the magnetic fluid returns to its original state, achieving an adjustable damping effect.

[0027] When coil 12 is energized in the forward direction, the driving magnetofluid flows from the upper cavity to the lower cavity along the magnetofluid channel 14 and presses against the central flexible diaphragm 17, causing the air in the vacuum cavity 18 to be discharged through the gap between the negative pressure adsorption film 20 and the contact end face of the vacuum cavity 18. When coil 12 is energized in the reverse direction, the driving magnetofluid flows from the lower cavity to the upper cavity along the magnetofluid channel 14, thereby causing the negative pressure adsorption film 20 to deform upward. The negative pressure adsorption film 20 deforms towards the vacuum cavity 18 and seals the gap between the contact end face of the vacuum cavity 18. At the same time, the upward deformation of the negative pressure adsorption film 20 forms the adsorption force of the negative pressure adsorption film 20 on the curtain wall surface. By periodically switching between forward and reverse energization, stable adsorption of the curtain wall cleaning robot can be achieved. By adjusting the current intensity of coil 12, the viscosity of the magnetofluid can be changed, thereby achieving adjustable damping control of the adsorption process.

[0028] In this embodiment, the central cleaning mechanism includes a cleaning box 25 with a downward opening, several connecting mechanisms disposed on the top of the cleaning box 25, a vibrating magnetic core 28 and a vibrating coil 29 disposed inside the cleaning box 25, as well as an elastic support layer 27, a vibrating metal layer 30 and a cleaning wheel 26. The cleaning box 25 is installed at the bottom of the body 1 via a connecting mechanism; The vibration coil 29 is electrically connected to the control unit 2 and is wound around the outside of the vibration magnetic core 28; The elastic support layer 27 is fixed at the lower opening of the cleaning chamber 25. The vibrating metal layer 30 is disposed on the side surface of the elastic support layer 27 near the cleaning chamber 25, directly opposite the vibrating magnetic core 28 and the vibrating coil 29. The cleaning wheel 26 is disposed on the side surface of the elastic support layer 27 away from the cleaning chamber 25. The cleaning wheel 26 is made of flexible and wear-resistant material and is used to conform to the glass surface and perform cleaning operations. After an alternating current is applied, the vibrating coil 29 generates an alternating magnetic field with the vibrating magnetic core 28 and forms a driving force. The vibrating metal layer 30 generates periodic vibration under the action of the alternating magnetic field and transmits the vibration to the cleaning wheel 26 to achieve high-frequency vibration cleaning of dirt on the glass surface.

[0029] In this embodiment, the connecting mechanism includes a push rod sleeve 21, an electric linear push rod 22, a spring support 23, and a pressure sensor 24; One end of the push rod sleeve 21 is connected to the bottom of the machine body 1, and the other end is provided with a receiving cavity for accommodating and guiding the telescopic movement of the electric linear push rod 22; One end of the electric linear push rod 22 is fixed to the inner wall of the push rod sleeve 21, and the other end is connected to the spring support 23. The electric linear push rod 22 is electrically connected to the control unit 2 and can extend and retract in the vertical direction under the drive of the control unit 2 to realize the macroscopic height adjustment of the cleaning mechanism. The spring support 23 can provide elastic buffer on the basis of macroscopic adjustment of the push rod to realize the microscopic smooth contact of the cleaning wheel 26 with the glass curtain wall surface. The end of the spring support 23 away from the electric linear push rod 22 is connected to one side of the pressure sensor 24, and the other side of the pressure sensor 24 is connected to the cleaning chamber 25. The pressure sensor 24 is electrically connected to the control unit 2 and is used to detect the contact pressure between the central cleaning mechanism and the glass curtain wall in real time, and to feed the pressure signal back to the control unit 2 to realize the macroscopic height adjustment of the central cleaning mechanism. When the cleaning mechanism is in the glass plane area, it is micro-controlled by the spring support 23. When it encounters the glass curtain wall frame or local protrusions, the pressure increases and is macro-controlled by the electric linear push rod 22 to avoid the cleaning head getting stuck or scratching the curtain wall.

[0030] The above are preferred embodiments of the present invention. Any changes made to the technical solution of the present invention that do not exceed the scope of the technical solution of the present invention shall fall within the protection scope of the present invention.

Claims

1. A magnetohydrodynamic (MHD) adsorption-based adaptive curtain wall cleaning robot, characterized in that: It includes a vehicle body (1), and a tracked travel mechanism, a magnetohydrodynamic adsorption mechanism, a central cleaning mechanism, a cleaning liquid spraying device (4), a path planning camera (3), a pollution detection camera (5), and a control unit (2) installed on the vehicle body (1). The tracked travel mechanism, the magnetic fluid adsorption mechanism, the central cleaning mechanism, the cleaning liquid spraying device (4) and the pollution detection camera (5) are located at the bottom of the vehicle body (1); wherein, the central cleaning mechanism is located at the center of the bottom of the vehicle body (1), the tracked travel mechanism is located at the four corners of the bottom of the vehicle body (1), and the magnetic fluid adsorption mechanism is embedded at the bottom of the tracked travel mechanism. The path planning camera (3) is located on the top of the vehicle body (1); The control unit (2) is electrically connected to the tracked travel mechanism, the magnetic fluid adsorption mechanism, the central cleaning mechanism, the cleaning liquid spraying device (4), the path planning camera (3), and the pollution detection camera (5), respectively. The magnetohydrodynamic adsorption mechanism is used to form a periodic alternating adsorption force under the control of the control unit (2), so that the high-altitude curtain wall cleaning robot is adsorbed onto the surface of the curtain wall to be cleaned. The path planning camera (3) and the dirt detection camera (5) are used to collect image information of the curtain wall surface; The control unit acquires the image information of the curtain wall surface collected by the path planning camera (3) and the dirt inspection camera (5), identifies the outline of the curtain wall structure, the location of obstacles and the distribution of stains through visual algorithms, generates the travel path instruction and the cleaning task instruction, controls the travel direction of the tracked travel mechanism according to the travel path instruction, adjusts the vibration cleaning frequency and amplitude of the central cleaning mechanism according to the cleaning task instruction, and simultaneously adjusts the spraying amount and spraying sequence of the cleaning liquid spraying device (4) so ​​that the vibration cleaning and the cleaning liquid spraying form a linkage closed loop control.

2. The high-altitude curtain wall cleaning robot according to claim 1, characterized in that: The tracked travel mechanism includes a housing, a drive control device (8) mounted on the housing, a spherical motor (6) mounted on the top of the housing, and synchronous gears (9) and tracks (7) respectively located on both sides of the housing. The housing is mounted on the bottom of the machine body (1) via a spherical motor (6). The spherical motor (6) is driven by a synchronous gear (9), which in turn is driven by a track (7). The spherical motor (6) drives the track (7) via the synchronous gear (9) to achieve forward, backward, lateral, and turning movements. The spherical motor (6) has height adjustment capability and adjusts the distance between the housing and the vehicle body (1) by extending and retracting its own axis. The drive control device (8) is electrically connected to the control unit (2), the spherical motor (6), and the magnetic fluid adsorption mechanism embedded in the bottom of the track travel mechanism housing, so as to coordinate the control unit (2) to regulate the adsorption intensity of the magnetic fluid adsorption mechanism and the track driving force of the spherical motor (6).

3. The high-altitude curtain wall cleaning robot according to claim 2, characterized in that: The bottom of the tracked movement mechanism housing is equipped with four magnetic fluid adsorption mechanisms; the number of the pollution detection cameras (5) is four, which are respectively arranged in four positions at the bottom of the vehicle body (1).

4. The high-altitude curtain wall cleaning robot according to claim 2, characterized in that: The magnetic fluid adsorption mechanism includes a magnetic core (10), a coil (12), a magnetic shielding baffle (11), a magnetic fluid cavity (13), a magnetic fluid flow channel (14), a magnetic core baffle (15), a magnetic fluid sealing assembly, a vacuum cavity (18), a thin film fixing frame (19), a negative pressure adsorption film (20), and magnetic fluid stored in the magnetic fluid cavity (13); The magnetic core (10) is fixed inside the track travel mechanism housing. The coil (12) is electrically connected to the drive control device (8) and wound around the outside of the magnetic core (10). The magnetic shield (11) surrounds the coil (12). The magnetohydrodynamic cavity (13) is located below the magnetic core (10), the coil (12) and the magnetic shield (11). The magnetofluid cavity (13) includes an upper cavity and a lower cavity, and the upper cavity and the lower cavity are connected by a magnetofluid flow channel (14); a magnetic core partition (15) is provided in the middle of the magnetofluid cavity (13), which is recessed from the upper surface of the upper cavity toward the lower surface of the lower cavity to accommodate the magnetic core (10), and the magnetic core partition (15) prevents the magnetic core (10) from direct contact with the magnetofluid; the lower end face of the lower cavity of the magnetofluid cavity (13) is sealed by a magnetofluid sealing assembly; The vacuum chamber (18) is located below the magnetic fluid sealing assembly, and the upper end face of the vacuum chamber (18) is sealed by the magnetic fluid sealing assembly; The negative pressure adsorption film (20) is set on the lower end face of the vacuum cavity (18) by the film fixing frame (19), and the negative pressure adsorption film (20) protrudes from the lower surface of the tracked travel mechanism box to contact the curtain wall surface.

5. The high-altitude curtain wall cleaning robot according to claim 4, characterized in that: The magnetohydrodynamic sealing assembly includes a central flexible diaphragm (17) and a metal rigid sealing frame (16) for fixing the central flexible diaphragm (17). The central flexible diaphragm (17) is disposed in the gap between the lower end face of the lower cavity of the magnetofluid cavity (13) and the upper end face of the vacuum cavity (18) to achieve end face sealing between the lower cavity of the magnetofluid cavity (13) and the vacuum cavity (18), isolate the magnetofluid, and transmit the magnetofluid pressure in the lower cavity of the magnetofluid cavity (13) to the vacuum cavity (18). The metal rigid sealing frame (16) is a frame structure with an opening in the middle for fixing the central flexible diaphragm (17); the metal rigid sealing frame (16) is installed on the outer wall of the magnetohydrodynamic cavity (13) or the vacuum cavity (18).

6. The high-altitude curtain wall cleaning robot according to claim 5, characterized in that: The film fixing frame (19) is a frame structure with an opening in the middle, used to fix the negative pressure adsorption film (20); the film fixing frame (19) is set on the outer wall of the vacuum cavity (18) to achieve the coverage of the lower end face of the vacuum cavity (18) by the negative pressure adsorption film (20).

7. The high-altitude curtain wall cleaning robot according to any one of claims 5 or 6, characterized in that: The central flexible diaphragm (17) or negative pressure adsorption film (20) is covered and tensioned to the corresponding frame by screws.

8. The high-altitude curtain wall cleaning robot according to claim 4, characterized in that: The magnetic fluid is an oil-based nano-magnetic fluid, the magnetic particles are Fe3O4, and the carrier liquid is silicone oil or fluorinated liquid.

9. The high-altitude curtain wall cleaning robot according to claim 1, characterized in that: The central cleaning mechanism includes a cleaning box (25) with a downward opening, several connecting mechanisms disposed on the top of the cleaning box (25), a vibrating magnetic core (28) and a vibrating coil (29) disposed inside the cleaning box (25), as well as an elastic support layer (27), a vibrating metal layer (30) and a cleaning wheel (26). The cleaning box (25) is installed at the bottom of the body (1) via a connecting mechanism; The vibration coil (29) is electrically connected to the control unit (2) and wound around the outside of the vibration magnetic core (28); The elastic support layer (27) is fixed at the lower opening of the cleaning box (25). The vibrating metal layer (30) is located on the side surface of the elastic support layer (27) near the cleaning box (25) opposite to the vibrating magnetic core (28) and the vibrating coil (29). The cleaning wheel (26) is located on the side surface of the elastic support layer (27) away from the cleaning box (25).

10. The high-altitude curtain wall cleaning robot according to claim 9, characterized in that: The connecting mechanism includes a push rod sleeve (21), an electric linear push rod (22), a spring support (23), and a pressure sensor (24). One end of the push rod sleeve (21) is connected to the bottom of the machine body (1), and the other end is provided with a receiving cavity for accommodating and guiding the telescopic movement of the electric linear push rod (22); One end of the electric linear push rod (22) is fixed to the inner wall of the push rod sleeve (21), and the other end is connected to the spring support (23). The electric linear push rod (22) is electrically connected to the control unit (2) and can extend and retract in the vertical direction under the drive of the control unit (2) to realize the macroscopic height adjustment of the cleaning mechanism. The end of the spring support (23) away from the electric linear push rod (22) is connected to one side of the pressure sensor (24), and the other side of the pressure sensor (24) is connected to the cleaning box (25). The pressure sensor (24) is electrically connected to the control unit (2) to detect the contact pressure between the central cleaning mechanism and the glass curtain wall in real time and to feed the pressure signal back to the control unit (2) so as to realize the macroscopic height adjustment of the central cleaning mechanism.

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