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A platform for research: civil engineering, architecture and urbanism
Curtain wall cleaning robot and obstacle avoidance method thereof
The invention discloses a curtain wall cleaning robot and an obstacle avoidance method thereof, relates to the technical field of robots, and aims to solve the problems that an existing cleaning robot for a curtain wall is large in equipment size and weight, needs multi-person operation in transverse movement, is large in workload and is low in efficiency. A front cleaning module is installed at the front end of the front body, front obstacle detection sensors are installed on the left side and the right side of the front surface of the front cleaning module, a rear cleaning module is installed at the rear end of the rear body, a middle cleaning assembly is installed at the position, close to the front, of the lower end of the rear body, and left and right edge-extending walking detection modules are arranged on the inner sides of the rear cleaning module and the front cleaning module. An obstacle crossing lifting module is installed on the inner side of the connecting assembly, negative pressure adsorption motors are installed on the upper end surfaces of the rear body and the front body, three visual cameras are installed on the upper end surface of the front body, and two cliff detection sensors are arranged at the rear end of the front cleaning module. According to the curtain wall cleaning robot and the obstacle avoidance method thereof, the additionally arranged obstacle crossing lifting module enables the robot to directly cross obstacles, and the working efficiency is improved.
本发明公开了幕墙清洗机器人及其避障方法，涉及机器人技术领域，为解决现有用于幕墙的清洗机器人设备体积大、重量大，横向移动需要多人操作工作量大且效率低的问题。前主体前端安装有前清洁模组，前清洁模组前表面左右两侧均安装有前方障碍物检测传感器，后主体后端安装有后清洁模组，后主体下端靠近前方处安装有中清洁组件，后清洁模组与前清洁模组内侧设置有左右两个延边行走检测模组，连接组件内侧安装有越障升降模组，后主体和前主体上端表面安装有负压吸附电机，前主体上端表面安装有三个视觉相机，前清洁模组后端设置有两个悬崖检测传感器。该幕墙清洗机器人及其避障方法，增设的越障升降模组使机器人可直接越过阻碍物提高工作效率。
Curtain wall cleaning robot and obstacle avoidance method thereof
The invention discloses a curtain wall cleaning robot and an obstacle avoidance method thereof, relates to the technical field of robots, and aims to solve the problems that an existing cleaning robot for a curtain wall is large in equipment size and weight, needs multi-person operation in transverse movement, is large in workload and is low in efficiency. A front cleaning module is installed at the front end of the front body, front obstacle detection sensors are installed on the left side and the right side of the front surface of the front cleaning module, a rear cleaning module is installed at the rear end of the rear body, a middle cleaning assembly is installed at the position, close to the front, of the lower end of the rear body, and left and right edge-extending walking detection modules are arranged on the inner sides of the rear cleaning module and the front cleaning module. An obstacle crossing lifting module is installed on the inner side of the connecting assembly, negative pressure adsorption motors are installed on the upper end surfaces of the rear body and the front body, three visual cameras are installed on the upper end surface of the front body, and two cliff detection sensors are arranged at the rear end of the front cleaning module. According to the curtain wall cleaning robot and the obstacle avoidance method thereof, the additionally arranged obstacle crossing lifting module enables the robot to directly cross obstacles, and the working efficiency is improved.
本发明公开了幕墙清洗机器人及其避障方法，涉及机器人技术领域，为解决现有用于幕墙的清洗机器人设备体积大、重量大，横向移动需要多人操作工作量大且效率低的问题。前主体前端安装有前清洁模组，前清洁模组前表面左右两侧均安装有前方障碍物检测传感器，后主体后端安装有后清洁模组，后主体下端靠近前方处安装有中清洁组件，后清洁模组与前清洁模组内侧设置有左右两个延边行走检测模组，连接组件内侧安装有越障升降模组，后主体和前主体上端表面安装有负压吸附电机，前主体上端表面安装有三个视觉相机，前清洁模组后端设置有两个悬崖检测传感器。该幕墙清洗机器人及其避障方法，增设的越障升降模组使机器人可直接越过阻碍物提高工作效率。
Curtain wall cleaning robot and obstacle avoidance method thereof
幕墙清洗机器人及其避障方法
HE JIAN (author) / ZHU LINXIAO (author)
2023-06-06
Patent
Electronic Resource
Chinese
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