Special-shaped glass curtain wall cleaning robot

Abstract

The invention provides a special-shaped glass curtain wall cleaning robot which comprises a robot body and a plurality of leg structures connected to the robot body, the robot body is provided with a displacement sensor, and each leg structure comprises a connecting rod mechanism and an adsorption part connected to the tail end of the connecting rod mechanism; the displacement sensor is used for obtaining distance information of the robot relative to the working surface when the robot is located at different positions, the robot determines contour information of the working surface based on the distance information, and then the posture of at least one connecting rod mechanism and the inclination angle of the adsorption part are adjusted. And the plurality of leg structures are enveloped and adsorbed on the working surface. Compared with the prior art, self-adaptive enveloping type adsorption of complex curved glass is achieved. Meanwhile, dynamic stability in movement is achieved, and overall instability is avoided. And through the combined design of the horizontal rotating piece and the multi-stage connecting rod mechanism, the suction cups at the tail ends of the legs are endowed with multiple motion freedom degrees, and obstacle avoidance and adjustment of a cleaning area are facilitated.

Description

Technical Field

[0001] This invention belongs to the field of robot control technology, specifically relating to a cleaning robot for irregularly shaped glass curtain walls. Background Technology

[0002] Curved glass is increasingly used in modern architecture. Traditional manual cleaning methods suffer from problems such as high risks associated with working at heights, low efficiency, high costs, and difficulty in handling complex curved surfaces.

[0003] Currently, most glass cleaning robots on the market are designed for flat or low-curvature glass, and their movement mechanisms typically employ wheeled, tracked, or simple vacuum suction stepping methods. When dealing with curved glass surfaces with greater curvature or complex three-dimensional contours, existing robots generally suffer from the following limitations:

[0004] First, traditional mobile mechanisms have limited degrees of freedom, making it impossible for the robot's end effector to accurately adapt to changes in the normal direction of curved surfaces. This can lead to problems such as jamming, slippage, or inability to reach certain areas when traversing undulating surfaces or moving along complex paths, resulting in blind spots in cleaning. Second, most robots lack real-time perception and proactive adaptation mechanisms for the contours of curved glass surfaces. Their movement paths typically rely on preset programs, making it difficult to dynamically adjust leg postures and suction cup angles to conform to changing surface geometry, affecting cleaning effectiveness and operational smoothness. Furthermore, when facing common small obstacles such as curtain wall seams and decorative strips, existing robot structures often cannot flexibly lift and traverse them, easily leading to collisions or obstructions and interrupting the cleaning task.

[0005] Therefore, in order to address the above-mentioned technical problems, it is necessary to provide a robot leg structure, a glass cleaning method, and a system.

[0006] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] The purpose of this invention is to provide a robot leg structure, a glass cleaning method and system that can maintain stable adsorption with high adaptability to complex curved surfaces.

[0008] To achieve the above objectives, a specific embodiment of the present invention provides the following technical solution:

[0009] The present invention provides a cleaning robot for irregularly shaped glass curtain walls, including a body and multiple leg structures connected to the body. The body is equipped with a displacement sensor, and the leg structures include a linkage mechanism and an adsorption component connected to the end of the linkage mechanism.

[0010] The displacement sensor is used to acquire distance information of the robot relative to the working surface at different positions. The robot determines the contour information of the working surface based on the distance information, and then adjusts the posture of at least one of the linkage mechanisms and the tilt angle of the adsorption member so that the multiple leg structures are enveloped and adsorbed onto the working surface.

[0011] In one or more embodiments of the present invention, adjusting the attitude of at least one of the linkage mechanisms and the tilt angle of the adsorption member includes:

[0012] Obtain the spatial coordinates of the current adsorption point of the adsorption component at the end of the linkage mechanism on the working surface;

[0013] Based on the contour information of the working surface, the maximum curvature, minimum curvature, and the direction corresponding to the maximum curvature at the current adsorption point are obtained.

[0014] Based on the maximum curvature, minimum curvature, and the direction corresponding to the maximum curvature at the current adsorption point, the surface normal vector at the current adsorption point is determined, and the surface normal vector is set as the target normal vector direction of the suction cup.

[0015] Calculate the spatial geometric relationship between the current normal vector direction of the suction cup and the target normal vector direction, wherein the spatial geometric relationship includes at least the rotation axis determined by the cross product of the two vectors and the rotation angle determined by the dot product of the two vectors;

[0016] Based on the rotation axis and rotation angle, the target tilt angle required for the suction cup to fit the curved glass is determined.

[0017] In one or more embodiments of the present invention, the fuselage is provided with a monitoring module;

[0018] The monitoring module is used to monitor obstacles in front of the robot and identify the type, location and outline of the obstacles based on an image recognition model. When an obstacle enters the robot's preset working radius, an independent laser distance sensor is triggered to collect the height of the obstacle and respond to the height data of the obstacle, causing the mechanical legs passing through the obstacle to rise to the corresponding height.

[0019] In one or more embodiments of the present invention, the plurality of leg structures include a first functional group and a second functional group;

[0020] At the first moment, the robot is also used to control the unattached second functional group to adjust the posture of at least one of the linkage mechanisms and the tilt angle of the adsorption member based on the contour information when controlling the first functional group to adsorb onto the working surface, so that the second functional group moves and adsorbs onto the first desired point on the working surface.

[0021] At the second moment, the robot is also configured to, while controlling the second functional group to adhere to the working surface, control the unadhered first functional group to adjust the posture of at least one of the linkage mechanisms and the tilt angle of the adsorption member based on the contour information, so that the first functional group moves and adheres to the second desired point on the working surface.

[0022] In one or more embodiments of the present invention, the linkage mechanism includes a first linkage assembly, a second linkage assembly, and a third linkage assembly connected sequentially from the near fuselage end to the far fuselage end;

[0023] The first linkage assembly includes a first connecting rod, a second connecting rod, and a first frame; the first frame is fixedly connected to the horizontal rotating member, and the first end of the first connecting rod is rotatably connected to the first connection point of the first frame; the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod; the second end of the second connecting rod is rotatably connected to the second connection point of the first frame.

[0024] The second linkage assembly includes a first lever arm, a second lever arm, and a transmission component; the transmission component has a fixed rotation center, the second end of the first lever arm is rotatably connected to the transmission component at a third connection point, the first end of the second lever arm is rotatably connected to the transmission component at a fourth connection point, and the third connection point and the fourth connection point are located on both sides of the rotation center;

[0025] The third linkage assembly includes a second frame, a third connecting rod, a fourth connecting rod, and a connecting rod; the first end of the third connecting rod is rotatably connected to the fifth connection point of the second frame; the second end of the third connecting rod is rotatably connected to the first end of the connecting rod; the first end of the fourth connecting rod is rotatably connected to the sixth connection point of the second frame; the second end of the fourth connecting rod is rotatably connected to the second end of the connecting rod, and the adsorption element is movably connected to the third linkage assembly.

[0026] In one or more embodiments of the present invention, the sequential connection from the near fuselage end to the far fuselage end includes:

[0027] The first linkage assembly also includes a first slide rail that is fixedly disposed thereon;

[0028] The first end of the first lever arm is slidably connected to the first slide rail; the second end of the second lever arm is rotatably connected to the second frame.

[0029] In one or more embodiments of the present invention, the first connecting rod includes a sliding portion and a connecting rod portion, the connecting rod portion being rotatably connected to the sliding portion; a second slide rail is provided on the first frame along the projection direction of the second direction, and the sliding portion is slidably disposed on the second slide rail; and / or

[0030] A seventh connection point is fixedly provided on the second connecting rod, and the transmission component is rotatably connected to the second connecting rod based on the seventh connection point and the rotation center of the transmission component.

[0031] In one or more embodiments of the present invention, the irregular glass curtain wall cleaning robot further includes a vector nozzle, a cleaning brush and a drying assembly connected to the body;

[0032] The vector nozzle can be rotated in a controlled manner to rinse target stains on the work surface; the cleaning brush can be moved in a controlled manner on the work surface to clean the work surface; the drying assembly can be adjusted in a controlled manner at a distance from the work surface to dry the surface.

[0033] In one or more embodiments of the present invention, the cleaning brush includes three brush heads driven by planetary gears; and / or, the body is connected to a four-axis robotic arm, and the cleaning brush is connected to the four-axis robotic arm; and / or, the drying assembly further includes a temperature sensor and a distance sensor, and the robot is used to control the distance between the drying assembly and the working surface and the drying temperature based on the feedback signals from the temperature sensor and the distance sensor.

[0034] In one or more embodiments of the present invention, the fuselage is provided with a plurality of displacement sensors having a predetermined interval, and adjacent displacement sensors are configured to have overlapping scanning areas on the target surface.

[0035] Compared to existing technologies, this invention utilizes a spider-like six-legged mechanical leg structure, combined with a multi-link mechanism and rotary joints, to achieve adaptive envelope adsorption on complex curved glass surfaces. Simultaneously, by grouping the robot's legs and implementing a strategy of grouped support and alternating movement, it ensures that some suction cups always provide reliable adsorption support during the robot's movement and cleaning process, achieving dynamic stability during motion and preventing overall instability. The combined design of "horizontal rotating components + multi-stage linkage mechanism" gives the suction cups at the leg ends multiple degrees of freedom of movement. The suction cups can not only rotate horizontally but also flexibly rise, fall, and tilt vertically via the linkage mechanism, facilitating obstacle avoidance and adjustment of the cleaning area. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of a cleaning robot for irregularly shaped glass curtain walls from one perspective in one embodiment of the present invention;

[0038] Figure 2 This is a top view of an irregularly shaped glass curtain wall cleaning robot according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the leg structure of an irregularly shaped glass curtain wall cleaning robot in one embodiment of the present invention;

[0040] Figure 4 This is a partial enlarged view of the irregular glass curtain wall cleaning robot in one embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of a three-legged gait movement in a specific embodiment of the present invention.

[0042] Explanation of key figure labels:

[0043] Body-1, Displacement sensor-11, Horizontal rotating component-12, Linkage mechanism-2, First link assembly-21, First connecting rod-211, Sliding part-2111, Link part-2112, Second connecting rod-212, First frame-213, Second slide rail-2131, First slide rail-214, Second link assembly-22, First lever arm-221, Second lever arm-222, Transmission component-223, Third link assembly-23, Second frame-231, Third connecting rod-232, Fourth connecting rod-233, Link-234, Adsorption component-3, Monitoring module-4, Vector nozzle-5, Cleaning brush-6, Drying assembly-7. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0045] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0046] In the field of curtain wall cleaning, robots mostly rely on magnetic adsorption devices to fix themselves to the glass surface and move in conjunction with other transmission mechanisms, using single cleaning methods such as water spraying and roller brushes. Improvements mainly focus on adjusting movement stability by adopting tracked or wheeled transmission methods and structures.

[0047] The aforementioned improvement strategies are all based on the premise that the robot operates on a flat or low-curvature surface. Due to the widespread use of irregularly shaped curtain walls, these mechanisms lack adaptive adjustment capabilities and have limited degrees of freedom of movement. This inevitably leads to problems such as unstable adsorption on irregularly shaped glass curtain walls with complex curved surfaces and corners, easy detachment, numerous cleaning blind spots, inability to cross window frames or glass seams, as well as residual water stains after cleaning, discontinuous work processes, and low efficiency.

[0048] To address the inherent shortcomings of existing technologies in the application scenario planning of curtain wall robots, the inventors proposed a new technical approach: by adding multiple spider-leg-like mechanical legs to the curtain wall cleaning robot, multi-degree-of-freedom movement of the legs is achieved through a multi-link mechanism 2 and a rotary joint. Combined with a linear laser displacement sensor array 11 that scans the glass surface contour in real time, the robot can adaptively adjust the posture of each leg and the tilt angle of the suction cup for irregular curved surfaces, achieving adaptive envelope adsorption.

[0049] Meanwhile, by introducing triped gait planning, the multiple mechanical legs are divided into alternating swing and support phases to ensure movement stability. Combined with monitoring module 4, obstacle type and height recognition and dynamic obstacle-crossing control are achieved. This systematically solves the inherent defects of traditional glass curtain wall cleaning robots in terms of curved surface adaptation, obstacle-crossing ability, cleaning effect, and operation process, achieving a comprehensive improvement in the safety, efficiency, and automation level of curtain wall cleaning operations. In an exemplary embodiment, monitoring module 4 may include, but is not limited to, visual sensors and distance sensors.

[0050] Please refer to Figure 1-4The image shows an embodiment of an irregularly shaped glass curtain wall cleaning robot according to the present invention. This robot includes a body 1 and multiple leg structures connected to the body 1. The body 1 is equipped with a displacement sensor 11. The leg structures include linkage mechanisms 2 and adsorption components 3 connected to the ends of the linkage mechanisms 2. The displacement sensor 11 is used to acquire distance information of the robot relative to the working surface at different positions. Based on the distance information, the robot determines the contour information of the working surface and then adjusts the posture of at least one linkage mechanism 2 and the tilt angle of the adsorption component 3 so that the multiple leg structures envelop and adsorb onto the working surface.

[0051] The main body 1, serving as the core structure of the irregularly shaped glass curtain wall cleaning robot, typically integrates a central controller. This controller processes data from various sensors, implements core algorithms including surface fitting, gait planning, inverse kinematics, and obstacle recognition, and generates corresponding control commands to coordinate the movements of joint motors, cleaning actuators, and other components. The central controller may include, but is not limited to, a main control computer or a PLC; this embodiment of the invention does not impose such limitations.

[0052] In terms of the structural coordination and motion logic of the irregular glass curtain wall cleaning robot, the body 1 is also used to support, position and protect other components, serve as the installation base for other accessories and provide the necessary shape and structural strength for the robot to move on the surface to be cleaned.

[0053] In one embodiment, the first end of the linkage mechanism 2 of the robot's leg is hinged to the robot's body 1 based on a horizontal rotating member 12, thereby giving the linkage mechanism 2 the ability to rotate in a first direction. An array of line-scan laser displacement sensors 11 is arranged at predetermined intervals on the side of the body 1 facing the surface to be cleaned (working surface), so that adjacent displacement sensors 11 are configured to have overlapping scanning areas on the target surface.

[0054] The displacement sensor 11 uses a laser line as the projection light source and captures the positional changes of the reflected light with the help of a high-resolution imaging device, thereby depicting the two-dimensional cross-sectional contour. During data acquisition, the robot moves at a predetermined constant speed, and the displacement sensor 11 rapidly captures continuous two-dimensional cross-sectional data, providing support for high-density three-dimensional data modeling. Since the cross-scanning areas of adjacent sets of linear laser displacement sensors 11 ensure the continuity of the two-dimensional cross-sectional data, after the computer performs multi-step filtering on the acquired raw distance data using a mean filtering algorithm to remove abnormal jumps caused by ambient light interference, a curved glass contour model can be constructed using fitting, and the curvature distribution function of the curved glass can be output. This provides data support for the subsequent adsorption control of the mechanical leg.

[0055] Furthermore, the leg structure used to realize robot movement and adsorption can be composed of multiple sets of linkage assemblies connected sequentially from the near end of the robot body 1 to the far end of the robot body 1. In an exemplary embodiment, the linkage mechanism 2 includes three sets of linkage assemblies connected sequentially from the near end of the robot body 1 to the far end of the robot body 1, namely a first linkage assembly 21, a second linkage assembly 22, and a third linkage assembly 23;

[0056] Specifically, the first linkage assembly 21 may include a first frame 213 fixedly connected to the horizontal rotating member 12, a first connecting rod 211 and a second connecting rod 212 that drive the second linkage assembly 22 and the third linkage assembly 23 to move in a second direction perpendicular to the first direction. The first end of the first connecting rod 211 is rotatably connected to the first connection point of the first frame 213; the second end of the first connecting rod 211 is rotatably connected to the first end of the second connecting rod 212; and the second end of the second connecting rod 212 is rotatably connected to the second connection point of the first frame 213. The power output by the first connecting rod 211 moving in the second direction is transmitted to the second connecting rod 212. Through the rotatable connection between the second connecting rod 212 and the first frame 213, the second connecting rod 212 drives the second linkage assembly 22 and the third linkage assembly 23 to move within a predetermined angle range with its second end as an axis.

[0057] Understandably, the motion of the first linkage assembly 21 is the origin and foundation of the entire linkage mechanism 2. The first linkage assembly 21 is directly connected to the body 1 and serves as the power input and motion transmission starting point for the entire kinematic chain. Its rotation direction directly determines the motion trend and possibilities of the subsequent second and third linkage assemblies 23. Furthermore, in multi-stage linkage transmission, the working range of the end effector is the result of the progressive superposition and amplification of the motions of each linkage stage. As the starting stage, the first linkage assembly 21 needs to provide a sufficiently large basic swing angle to leave ample working space for the end effector output. Typically, its own swing range needs to cover the mapping angle of the end effector's required working range at the beginning of the kinematic chain; therefore, its required physical swing range is the largest in the linkage mechanism 2.

[0058] To ensure that the first link assembly 21 has a large physical swing space in the second direction, the present invention provides an embodiment. In this exemplary embodiment, the first link 211 may include a sliding part 2111 and a connecting part 2112, the connecting part 2112 being rotatably connected to the sliding part 2111; a second slide rail 2131 is provided on the first frame 213 along the projection direction of the second direction, and the sliding part 2111 is slidably disposed on the second slide rail 2131.

[0059] In this embodiment, the swing angle of the first connecting rod 211 is no longer limited to a fixed fan-shaped area around one end, but can dynamically change its instantaneous center of rotation as the slide rail slides. That is, during movement, the first connecting rod 211 of this invention can reach positions and postures that are unattainable by traditional hinge connections. This allows the other end of the first connecting rod 211 to reach farther or more off-center positions, thereby expanding both the angular and spatial coverage range and extending the overall physical swing range of the first connecting rod assembly 21.

[0060] Furthermore, the second linkage assembly 22 may include a first lever arm 221, a second lever arm 222, and a transmission component 223; the transmission component 223 is provided with a fixed rotation center, the second end of the first lever arm 221 is rotatably connected to the transmission component 223 at a third connection point, the first end of the second lever arm 222 is rotatably connected to the transmission component 223 at a fourth connection point, and the third connection point and the fourth connection point are located on both sides of the rotation center;

[0061] In one embodiment, a seventh connection point is fixedly provided on the second connecting rod 212. Based on the seventh connection point and the rotation center of the transmission member 223, the transmission member 223 is rotatably connected to the second connecting rod 212, providing a fixed rotation center for the second link assembly 22. The first link assembly 21 also includes a fixedly provided first slide rail 214. The first end of the first lever arm 221 is slidably connected to the first slide rail 214. The second end of the second lever arm 222 is rotatably connected to the second frame 231. When the first end of the first lever arm 221 slides along the slide rail, it applies a force to the transmission member 223 through the third connection point, causing the transmission member 223 to rotate around its rotation center. Since the third connection point and the fourth connection point are located on opposite sides of the rotation center, the rotation of the transmission member 223 will cause the fourth connection point to move in the opposite direction to the movement direction of the first lever arm 221, thereby pulling the second lever arm 222 to move in the opposite direction accordingly, thus forming a coordinated linkage transmission mechanism, with the transmission member 223 as a joint to drive the third link assembly 23 to move in the second direction.

[0062] The third linkage assembly 23 may include a second frame 231, a third connecting rod 232, a fourth connecting rod 233, and a connecting rod 234; the first end of the third connecting rod 232 is rotatably connected to the fifth connection point of the second frame 231; the second end of the third connecting rod 232 is rotatably connected to the first end of the connecting rod 234; the first end of the fourth connecting rod 233 is rotatably connected to the sixth connection point of the second frame 231; the second end of the fourth connecting rod 233 is rotatably connected to the second end of the connecting rod; and the adsorption member 3 is movably connected to the third linkage assembly 23.

[0063] It should be noted that the third link assembly 23 also includes a fixing member, one end of which is rotatably connected to the first frame 213, and the other end is rotatably connected to the third frame. This means that the displacement of the second frame 231 is simultaneously affected by both the first link assembly 21 and the second link assembly 22.

[0064] Specifically, the other end of the second frame 231 forms a follow-up constraint with the first linkage assembly 21 based on the fixed component and their rotational connection. When the second lever arm 222 pulls one end of the third frame to move, the other end of the second frame 231 rotates at a certain angle based on the follow-up constraint to adjust the attitude of the second frame 231.

[0065] In the third link assembly 23, the input swing of the third link 232 is subject to the geometric constraints of the link during the transmission process, and the motion is transformed. It no longer swings in a simple arc around a single fulcrum, but rotates and displaces relative to the third link 232 in a way determined by the geometric relationship of the four links, so that the second end of the third link 232 obtains a displacement output that simultaneously includes horizontal and vertical components.

[0066] In addition, in an exemplary embodiment, to simplify the design and manufacturing process, the second frame 231 and the third connecting rod 232 can be an integral design or a fixed connection, rather than a rotating connection.

[0067] Through this motion conversion method, the connecting rod connected to the adsorption element 3 can flexibly drive the adsorption element 3 to perform composite displacement in a more reasonable arrangement, so that the adsorption element 3 can achieve the desired tilt angle based on the calculation, and take into account the needs of angle change and height change during the migration process.

[0068] To further improve the flexibility of the robot's legs moving in the second direction and make the tilt angle of the suction element 3 more controllable, the fourth connecting rod 233 can be set as a pressure telescopic rod. It controls the tilt angle of the suction cup based on the curvature change of the curved glass surface, enabling real-time adaptive envelope adsorption.

[0069] It's important to note that the desired tilt angle is calculated because irregularly shaped glass has significant curvature variations. When there's an angle between the suction cup plane and the surface of the workpiece being adsorbed, the sealing contact area decreases, potentially leading to insufficient vacuum and reduced gripping force. Furthermore, the presence of an angle means the generation of lateral forces, making the robot prone to slipping or tipping over during movement. By precisely calculating and adjusting the tilt angle, the suction cup can achieve maximum contact area with the surface to be cleaned, establishing reliable vacuum adsorption.

[0070] In an exemplary embodiment, adjusting the posture of at least one linkage mechanism 2 and the tilt angle of the suction member 3 includes: obtaining the spatial coordinates of the current suction point of the suction member 3 at the end of the linkage mechanism 2 on the working surface; obtaining the maximum curvature, minimum curvature, and the direction corresponding to the maximum curvature at the current suction point based on the contour information of the working surface; determining the surface normal vector at the current suction point based on the maximum curvature, minimum curvature, and the direction corresponding to the maximum curvature, and setting the surface normal vector as the target normal vector direction of the suction cup; calculating the spatial geometric relationship between the current normal vector direction and the target normal vector direction of the suction cup, wherein the spatial geometric relationship includes at least the rotation axis determined by the product of the two vectors and the rotation angle determined by the dot product of the two vectors; and determining the target tilt angle required for the suction cup to conform to the curved glass according to the rotation axis and the rotation angle.

[0071] The adsorption point can be defined as the geometric center or centroid of the projection of the adsorption element 3 onto the working plane. Numerous curves exist passing through an adsorption point P on the curved glass surface. (Maximum principal curvature) and The minimum principal curvature is the extreme value of the curvature of all curves at that point. These two values ​​quantitatively describe the degree of curvature of the surface at point P along the two principal directions. and The larger the absolute value, the more pronounced the curvature along that direction at that point. Main direction The maximum principal curvature is defined above. The orientation angle. It is usually expressed as the angle with a reference axis (such as the robot's forward direction). This indicates the direction in which the surface is "most curved" at point P. The minimum principal curvature... The direction is automatically determined to be perpendicular to The directions are θ + 90°. These two directions are perpendicular to each other on the tangent plane of point P. and Together, they define the local shape of the surface near point P. For example: if ≈ If >0, then the area around that point is similar to a sphere; if >0, =0, then the vicinity of that point is similar to a cylindrical surface; if >0, If the value is less than 0, then the area around that point resembles a saddle shape.

[0072] The ultimate goal of setting the suction cup's target tilt angle is to ensure that the flat suction surface of the suction cup perfectly aligns with the curved glass at point P. Mathematically, this can be represented as aligning the suction cup's flat surface with the tangent plane of the curved surface at point P. In practical applications, this involves obtaining the normal vector of the suction cup's flat surface. The normal vector of the surface at point P should be the same as the normal vector of the surface. The directions are parallel. The local shape of the surface is completely determined by the principal curvature and principal directions, and the normal vector is perpendicular to the local tangent plane. Therefore, the direction of the normal vector is determined by... and It is directly determined by the defined local geometry.

[0073] In the robot's body coordinate system, the unit normal vector at point P is calculated using the surface model. This vector is the target normal vector direction of the suction cup. The suction cup currently has its own current normal vector direction. The calculation will Rotate to The shortest path rotation required for parallelism. This rotation can be defined by a rotation axis and a rotation angle:

[0074] The rotation axis A can be obtained through the cross product of vectors, i.e., A = × Rotation angle It can be obtained through the dot product of vectors, i.e. This rotation angle It is a major component of the target tilt angle, which determines the angle at which the suction cup needs to be tilted to make its plane parallel to the tangent plane.

[0075] In most cases, completing the above steps will achieve stable adsorption. However, in certain specific applications, it may be necessary to optimize the orientation of the suction cup. Main direction This is where it comes into play. For example, when the suction cup is not circular or needs to cross obstacles such as glass seams, it may be necessary to adjust the orientation of the suction cup around its own normal. In this case, the control system can command the suction cup to rotate around its already aligned normal. Rotate by an angle so that one of its axes of symmetry is aligned with the principal direction. Or align it vertically to optimize obstacle crossing path or stress distribution. This rotation angle around the normal is the azimuth adjustment angle. The axis of symmetry can be, for example, the major axis.

[0076] Finally, the calculated main body rotation angle, rotation axis, azimuth angle, etc., are synthesized into a set of motion commands that can directly drive the end effectors of the mechanical leg (such as pressure telescopic rods and rotary joints) through coordinate transformation. The posture corresponding to this set of commands is the target tilt angle of the suction cup.

[0077] It should also be noted that, in the practical application of the irregular glass curtain wall cleaning robot of the present invention, based on the dual requirements of movement and fixed support, in one embodiment, the present invention divides the multiple leg structures connected to the robot body into a first functional group and a second functional group. Specifically, at the first moment, the robot is also used to control the unattached second functional group to adjust the posture of at least one linkage mechanism 2 and the tilt angle of the adsorption member 3 based on contour information while controlling the first functional group to adhere to the working surface, so that the second functional group moves and adheres to a first desired point on the working surface; at the second moment, the robot is also used to control the unattached first functional group to adjust the posture of at least one linkage mechanism 2 and the tilt angle of the adsorption member 3 based on contour information while controlling the second functional group to adhere to the working surface, so that the first functional group moves and adheres to a second desired point on the working surface. Specific implementation examples include... Figure 5 The diagram shows a three-legged gait. In this specific embodiment, the six mechanical legs are divided into two groups, and the distribution of the mechanical legs in each functional group forms a stable triangular arrangement.

[0078] The setup of the first and second functional groups, by dividing the six mechanical legs into two alternating groups, enables continuous and stable movement of the robot on vertical curtain walls. This solves the core problems of traditional cleaning robots, such as interrupted adsorption, poor stability, and clumsy obstacle crossing during movement. It ensures that at least one leg structure provides stable adsorption as a support phase at all times, avoiding the risk of overall instability. Simultaneously, the swinging legs can freely and flexibly perform picking, swinging, and precise placement actions, thus achieving efficient and smooth movement. Furthermore, this grouping mode provides a framework for intelligent obstacle crossing and surface adaptation. The swinging legs can independently adjust their height to adapt to changes in obstacles or surfaces, while the support legs always maintain overall stability. This allows the robot to smoothly cross obstacles and conform to complex geometric surfaces without interrupting operations, fundamentally improving the safety, efficiency, and adaptability of high-altitude cleaning.

[0079] Furthermore, to ensure that the robot is not affected by obstacles during its movement, the body 1 is equipped with a monitoring module 4; to achieve a cleaning effect, the body 1 is also equipped with a vector nozzle 5, a cleaning brush 6, and a drying assembly 7. In an exemplary embodiment, the monitoring module 4 may include, but is not limited to, a vision sensor, a distance sensor, etc.

[0080] The monitoring module 4 is used to monitor obstacles in front of the robot and identify the type, location, and outline of the obstacles based on an image recognition model. When an obstacle enters the robot's preset working radius, an independent laser distance sensor is triggered to collect the height of the obstacle and, in response to the obstacle's height data, the mechanical legs passing through the obstacle are raised to the corresponding height. The cleaning brush 6 includes three brush heads driven by planetary gears; and / or, the body 1 is connected to a four-axis robotic arm, and the cleaning brush 6 is connected to the four-axis robotic arm; and / or, the drying assembly 7 also includes a temperature sensor and a distance sensor, which the robot uses to control the distance between the drying assembly 7 and the working surface and the drying temperature based on the feedback signals from the temperature sensor and the distance sensor.

[0081] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0082] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A cleaning robot for irregularly shaped glass curtain walls, characterized in that, The device includes a body and multiple leg structures connected to the body. The body is equipped with a displacement sensor, and the leg structures include a linkage mechanism and an adsorption component connected to the end of the linkage mechanism. The displacement sensor is used to acquire distance information of the robot relative to the working surface at different positions. The robot determines the contour information of the working surface based on the distance information, and then adjusts the posture of at least one of the linkage mechanisms and the tilt angle of the adsorption member so that the multiple leg structures are enveloped and adsorbed onto the working surface.

2. The irregularly shaped glass curtain wall cleaning robot according to claim 1, characterized in that, Adjusting the attitude of at least one of the linkage mechanisms and the tilt angle of the adsorption element includes: Obtain the spatial coordinates of the current adsorption point of the adsorption component at the end of the linkage mechanism on the working surface; Based on the contour information of the working surface, the maximum curvature, minimum curvature, and the direction corresponding to the maximum curvature at the current adsorption point are obtained. Based on the maximum curvature, minimum curvature, and the direction corresponding to the maximum curvature at the current adsorption point, the surface normal vector at the current adsorption point is determined, and the surface normal vector is set as the target normal vector direction of the suction cup. Calculate the spatial geometric relationship between the current normal vector direction of the suction cup and the target normal vector direction, wherein the spatial geometric relationship includes at least the rotation axis determined by the cross product of the two vectors and the rotation angle determined by the dot product of the two vectors; Based on the rotation axis and rotation angle, the target tilt angle required for the suction cup to fit the curved glass is determined.

3. The irregularly shaped glass curtain wall cleaning robot according to claim 1, characterized in that, The fuselage is equipped with a monitoring module; The monitoring module is used to monitor obstacles in front of the robot and identify the type, location and outline of the obstacles based on an image recognition model. When an obstacle enters the robot's preset working radius, an independent laser distance sensor is triggered to collect the height of the obstacle and respond to the height data of the obstacle, causing the mechanical legs passing through the obstacle to rise to the corresponding height.

4. The irregularly shaped glass curtain wall cleaning robot according to claim 1, characterized in that, The plurality of leg structures include a first functional group and a second functional group; At the first moment, the robot is also used to control the unattached second functional group to adjust the posture of at least one of the linkage mechanisms and the tilt angle of the adsorption member based on the contour information when controlling the first functional group to adsorb onto the working surface, so that the second functional group moves and adsorbs onto the first desired point on the working surface. At the second moment, the robot is also configured to, while controlling the second functional group to adhere to the working surface, control the unadhered first functional group to adjust the posture of at least one of the linkage mechanisms and the tilt angle of the adsorption member based on the contour information, so that the first functional group moves and adheres to the second desired point on the working surface.

5. The irregularly shaped glass curtain wall cleaning robot according to any one of claims 1-4, characterized in that, The linkage mechanism includes a first linkage assembly, a second linkage assembly, and a third linkage assembly connected sequentially from the near end of the fuselage to the far end of the fuselage. The first linkage assembly includes a first connecting rod, a second connecting rod, and a first frame; the first frame is fixedly connected to the horizontal rotating member, and the first end of the first connecting rod is rotatably connected to the first connection point of the first frame; the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod; the second end of the second connecting rod is rotatably connected to the second connection point of the first frame. The second linkage assembly includes a first lever arm, a second lever arm, and a transmission component; the transmission component has a fixed rotation center, the second end of the first lever arm is rotatably connected to the transmission component at a third connection point, the first end of the second lever arm is rotatably connected to the transmission component at a fourth connection point, and the third connection point and the fourth connection point are located on both sides of the rotation center; The third linkage assembly includes a second frame, a third connecting rod, a fourth connecting rod, and a connecting rod; the first end of the third connecting rod is rotatably connected to the fifth connection point of the second frame; the second end of the third connecting rod is rotatably connected to the first end of the connecting rod; the first end of the fourth connecting rod is rotatably connected to the sixth connection point of the second frame; the second end of the fourth connecting rod is rotatably connected to the second end of the connecting rod, and the adsorption element is movably connected to the third linkage assembly.

6. The irregularly shaped glass curtain wall cleaning robot according to claim 5, characterized in that, The sequential connection from the near fuselage end to the far fuselage end includes: The first linkage assembly also includes a first slide rail that is fixedly disposed thereon; The first end of the first lever arm is slidably connected to the first slide rail; the second end of the second lever arm is rotatably connected to the second frame.

7. The irregularly shaped glass curtain wall cleaning robot according to claim 5, characterized in that, The first connecting rod includes a sliding part and a connecting rod part, the connecting rod part being rotatably connected to the sliding part; a second slide rail is provided on the first frame along the projection direction of the second direction, and the sliding part is slidably disposed on the second slide rail; and / or A seventh connection point is fixedly provided on the second connecting rod, and the transmission component is rotatably connected to the second connecting rod based on the seventh connection point and the rotation center of the transmission component.

8. The irregularly shaped glass curtain wall cleaning robot according to any one of claims 1-4, characterized in that, The irregularly shaped glass curtain wall cleaning robot also includes a vector nozzle, a cleaning brush, and a drying assembly connected to the body; The vector nozzle can be rotated in a controlled manner to rinse the target stains on the working surface; The cleaning brush can be moved in a controlled manner on the working surface to clean the working surface; the drying assembly can be adjusted in a controlled manner at a distance from the working surface to dry the surface.

9. The irregularly shaped glass curtain wall cleaning robot according to claim 8, characterized in that, The cleaning brush includes three brush heads driven by planetary gears; and / or, the body is connected to a four-axis robotic arm, and the cleaning brush is connected to the four-axis robotic arm; and / or, the drying assembly further includes a temperature sensor and a distance sensor, and the robot is used to control the distance between the drying assembly and the working surface and the drying temperature based on the feedback signals from the temperature sensor and the distance sensor.

10. The irregularly shaped glass curtain wall cleaning robot according to any one of claims 1-4, characterized in that, The body is equipped with a plurality of displacement sensors with predetermined intervals, and adjacent displacement sensors are configured to have overlapping scanning areas on the target surface.

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