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《Science & Technology Vision》 2018-17Add to Favorite Get Latest Update
ZHANG Dong-nan;LI Hua-guang;Qingdao Huanghai College;
Design and Study of High Altitude Glass Cleaning Robot
With the rapid development of the economy, more and more tall buildings with glass curtain walls appear, which brings about the problem of how to clean glass curtain walls. However, the existing cleaning methods in the market have low safety factor and high cost, so the purpose of this paper is to make use of the existing cleaning robot technology to form an array of cleaning robots and to use PC machines. PLC technology is used for real-time monitoring and route control, which makes it efficient, safe and cheap.
Key words: high-altitude glass curtain wall cleaning robot PLC
In recent years, due to the thorough implementation of reform and opening up and the rapid development of domestic economy, there are more and more high-rise buildings in the city, and various skyscrapers have become a beautiful landscape in the modern city. The glass curtain wall is widely used in the exterior wall construction of high-rise buildings because of its advantages of good lighting, sound insulation, heat preservation and moisture-proof, high wind pressure strength and practical beauty. But what is lacking in the ointment is that the exterior glass is liable to be stained with water stains, dust or other dirt. In order to keep the architectural appearance neat and beautiful, the glass wall should be cleaned regularly to beautify the city. Especially in many cities. After the policy stipulates that glass curtain wall must be cleaned every year, the problem of how to clean glass curtain wall safely and efficiently is attracting more and more attention.
In modern cities, more and more high-rise buildings, all kinds of skyscrapers become a beautiful landscape in the modern city. In the construction industry, because of the good lighting of glass, the good performance of heat preservation and moisture-proof, the utility and beauty of stained glass, the outer walls of high-rise buildings are more and more constructed with glass curtain walls, but in order to ensure the clean and beautiful appearance of the buildings, it takes a long time. Need to clean the wall to beautify the city. Many open cities require that tall buildings be cleaned several times a year.
At present, there are two main cleaning methods for glass curtain walls in high-rise buildings. One is cleaning glass curtain walls by means of lifting platforms or hanging baskets. Although it is simple and easy to carry out, it has a high labor intensity and low working efficiency. Belongs to the high altitude limit work to the personal safety and the glass wall has the very big threat. The other is to automatically scrub the windows with the track and slings installed on the roof. The initial investment cost of this method is high (millions of dollars), and the window cleaning system is required to be considered at the beginning of the design of the building, which limits its use. Therefore, it is urgently needed to replace people and have some flexibility and applicability. The glass curtain wall is generally large in area, mostly at a height of tens of meters or even hundreds of meters, and there is no climbing support around it, which makes the cleaning of the glass curtain wall a heavy and dangerous task. An expensive job. If the person goes to clean, not only high cost, and safety is difficult to guarantee. Especially at present, some countries and regions have passed legislation to restrict the artificial climbing, including window cleaning, so people have to find other solutions.
It is under this background that the high-rise building cleaning robot emerges as the times require. Its appearance will greatly reduce the cleaning cost of high-rise buildings, improve the working environment of workers, improve production efficiency, and will greatly promote the development of cleaning industry, bringing about considerable social and economic benefits. Therefore, many research institutions at home and abroad are actively carrying out this research work.
With the development of urban modernization and the increasing population, in order to save land resources, more and more high-rise buildings, all kinds of skyscrapers become a beautiful landscape in the modern city. In the construction industry, due to the good daylighting, insulation, moisture proof, and the use of colored glass beautiful, The appearance of high-rise buildings is more and more using glass curtain wall structure where there is no glass covering and more use ceramic tile covering to increase the aesthetic sense of the building but also derived from the heavy curtain wall cleaning task.
Most of the cleaning work of high-rise building in our country is still done by traditional manpower. This kind of high altitude extreme operation is very dangerous, such as strong air flow, which is a great threat to personal safety and glass surface. Therefore, it is necessary to replace manual operation with an automatic machine which can replace manual cleaning task and has some flexibility and adaptability.
The high-rise external wall cleaning machine is used in this background. It can clean the surface of the object by moving the vertical wall and the roof. Its appearance and further study will greatly reduce the cleaning cost of the exterior wall of buildings and improve the working environment of workers, improve the production efficiency, and bring about considerable social and economic benefits.
Industrial robots have been widely used in the field of robotics, such as automobile, metallurgy and so on. However, with the improvement of people's living standards, a new and dynamic service robot has emerged in the field of robotics.
Service robots are mainly involved in cleaning, transporting, monitoring, checking and detecting to provide and complete services to human beings. Among them, cleaning is one of the most widely used fields of service robot. Today, the technology of cleaning robots needs to be improved and improved.
1 prospects for development
At present, there are two main cleaning methods for glass curtain walls in high-rise buildings. One is to use lifting platform baskets to carry out cleaning of glass curtain walls. Although it is simple and easy to carry out, it is characterized by high labor intensity and low work efficiency, and belongs to high-altitude extreme operations. It is very dangerous to personal safety and glass wall.
The other is to automatically scrub the windows with the track and slings installed on the roof. The initial investment cost is high (millions of yuan) and the window cleaning system must be considered at the beginning of the building design, so it can not be added later. The disadvantages of this system limit its use.
The glass curtain wall is generally large, mostly located at the height of tens of meters or even hundreds of meters, and there is no climbing support around it, which makes the cleaning of the glass curtain wall a heavy, dangerous and expensive task. If the person goes to clean, the cost is high, is not safe. In addition, some countries and regions have already passed legislation to restrict the artificial climbing in the upper air, including window cleaning, in order to find an automatic machine which can replace people and has certain flexibility and applicability to finish cleaning. It is under this background that the high-rise building cleaning robot emerges as the times require. Its appearance will greatly reduce the cleanliness of high-rise buildings. Washing cost, improving workers' working environment and increasing production efficiency will greatly promote the development of cleaning industry and bring about considerable social and economic benefits. Therefore, many research institutions at home and abroad are actively carrying out this research work.
2. Related Product Analysis
Internationally, a South Korean company invented a glass cleaning robot called WINDORO a few years ago. It uses neodymium magnets to hold the two robots to each side of the window for cleaning, with distance sensors and anti-fall features. The cleaners with mats hanging across the window will follow the magnets. And installed artificial intelligence, can automatically identify the thickness and width of the window, and set the cleaning method, after cleaning,? Returns to its initial position. During cleaning, the robot automatically injects the green cleaner into the glass window, further enhancing its cleanliness.
The first successful cleaning robot was commissioned by German airline Hansez, SKYWAH. The main structure of the arm is a multi-joint giant telescopic arm with a working distance of 33 meters, with 11 degrees of freedom, 6 main axes, 3 wrist joints and two adaptive shafts, with a total of 12 programmable axes. The rest of the chain allows it to perform complex motions without any changes in its structure. All shafts are hydraulically driven and use tensile steel, so they are light in structure. The cleaning brush is 1.2 m long and the positioning accuracy is 50 mm. The machine Man is mounted on a standard car chassis and can be set out from four positions. The robot moves in a predetermined mode under human surveillance to clean almost all surfaces of the plane. Its characteristic is the movement is nimble, is suitable for each kind of specification airplane.
A kind of fixed track automatic window cleaning robot, which is successfully developed by BE Company of Japan, is mounted on the roof of the building and hoisting system to make the window cleaning machine pointing at the window and moving vertically up and down along the guide groove fixed on the surface of the building for cleaning. Cleaning mechanism with multiple rotary brush. The automation of the equipment is highly efficient, but the price is also very expensive. In addition, it is required to take the window cleaning system into account and lay track at the beginning of the building design, which greatly limits the scope of use and efficiency of the robot.
(IPA) is the main production and automation research center in Magburg, Germany. It has developed a series of automatic systems for cleaning glass in buildings. The giant glass tunnel at Berlin's new railway station was automatically cleaned. The robot is suspended on a horizontal transverse track, which can move along the left and right of the track, and the transverse track can move up and down along the vertical guide groove, thus the whole glass can be cleaned.
Germany's Fraunhofer Institute has developed a wall cleaning robot called SIRIUSC. At the top of the building above the robot, the robot has a follower car, which, in addition to a safety function, is also a positioning device for the displacement of the robot. The robot can only move up and down. The left and right movement is realized by the traction of the following car. Crawler mechanism is based on two linear modules, each module is equipped with several vacuum suckers, each pair of modules have a servo motor drive.
Sky Washer, a wall climbing robot used to clean skyscrapers, has been developed by the International Robot Company of USA. It weighs 19.95 kg, about 0.9 × 0.9m.The movement of the robot is realized by two sets of L-shaped frames sliding relatively and adsorbing alternately. Each frame has three soles and two vacuum suckers on each. The sucker can move in a straight line relative to the wall. The robot can move horizontally and can cross a certain height obstacle. It is equipped with washing liquid and wiping system to finish the window work, the working capacity is 4645m2 per day, and can exceed the obstacle of 5cm height and 25cm width. .
In addition, Canada, Germany, Spain, Israel, Singapore, Austria, Russia, the United Kingdom, Australia and other countries have carried out wall cleaning robot research.
The research on wall mobile robot in our country started late, but developed rapidly. The special robot research room of the Institute of Robotics of Harbin University of Technology has successfully developed two series of negative pressure adsorption and magnetic adsorption which can be used to clean ceramic tile and glass wall. The window cleaning robot prototype developed by Beijing University of Aeronautics and Astronautics and Beijing Railway Administration has eight vacuum suckers for cleaning the glass ceiling of Beijing West passenger Station. The biped wall-climbing robot developed by the Institute of Robotics of Shanghai University of Science and Technology is simpler than that of walking biped robot. Recently, Beijing University of Aeronautics and Astronautics will promote wall machines The man attached to the wall. However, the robot itself does not have the function of autonomous movement. The cable car mounted on the roof of the building pulls the robot up and down through the cable. The moving mechanism of the robot has no power and is only four steering wheels. The structure is extremely simple.
After reform and opening up, China's economic construction has a rapid development, high-rise buildings such as bamboo shoots, everywhere. However, because the architectural design is not standard, most of the high-rise buildings in China are cleaned manually by hanging blue. Based on this situation, the Institute of Robotics of Beijing University of Aeronautics and Astronautics has developed a glass roof cleaning robot (about 3000 square meters) for Beijing West Railway Station in cooperation with the Science Research Institute of Beijing Railway Administration of the Ministry of Railways.
The project was formally approved by the National 863 Plan and strongly supported by the National Grand Theater owners Committee. It was scheduled for acceptance in August / September 2003 and delivered to use in 2004. And our country engaged in building cleaning robot research also Harbin University of Technology and Shanghai University, they also have their own products. As a completely new concept and operation of cleaning, Germany, Japan, Israel and other countries in the world are actively developing and developing cleaning robots for high-rise buildings, but generally speaking, Countries still have to go through a series of technical theories and practices to achieve complex movement and cleaning functions. Mature stage.
At the present stage, there are still some difficulties in entering the market for tall building cleaning robots. In addition, as a new concept of cleaning and operation, it must go through a traditional way of withdrawal and people's acceptance of new things, identification process. However, in order to improve the environment of city and create a good living space, it is the trend to replace the traditional cleaning method with clean robot in the era of architectural design.
3.Technical analysis of "glass scrubber for tall building"
Let's imagine, these are all individual robots, and if you put these robots into practice, a ten-story tall building, how long will it take to clean up with such a robot? And the current robot power consumption, half of the work damage, shutdown everywhere, know the actual operation of the problem, we try to find a more optimized solution to clean glass curtain wall.
The "high building glass scrubber" proposed by the author is mainly improved on the basis of the existing glass wall cleaning robot, making it both small in volume, lighter in weight, stronger in adsorption, faster in cleaning speed, higher in efficiency and simpler in operation. The advantage of low cost.
The glass scrubber in tall building is mainly a group of wall cleaning robot arrays (determining the number of robots according to the actual cleaning area), and the cleaning robot array uses field bus technology to form an industrial control network. This system can realize the automatic cleaning of high building wall surface, work simultaneously in both directions, and monitor the cleaning process of each robot in real time through PC machine and PLC. In PC machine, the robot motion control operation, information storage, state visualization processing are completed. A series of commands are issued to PLC or to the robot directly. PLC mainly completes output control, data acquisition, state identification and real-time transmission of robot. Working state, the robot and PC machine, PLC through the construction of the field bus network to communicate. Each robot equipped with GPS can see the position of the robot at any time, and can perform fault detection, see foreign body alarm, cleanliness check score. When a failure occurs during the cleaning process, the redundant controller is activated to return to the set position.
The design principle of glass scrubber in tall building is to construct a wall cleaning robot control network by using fieldbus technology. Each robot can be monitored and controlled in real time by PC machine or PLC. Setting redundancy mechanism can make each robot return to the starting point after completing the task. Each component of this robot consists of crawling mechanism, pneumatic vacuum module and so on. Crawling mechanism by click driven link, imitation of the gecko crawling movement. The pneumatic vacuum module produces vacuum by vacuum device, which makes the robot adsorb on glass. Glass wipe module by click drive to achieve the action of glass wipe. Bottom foot automatic spray The water mechanism is accomplished by setting detergent and water at the base of the bracket near the bottom foot and automatically switching water. The pneumatic vacuum module produces a vacuum by the vacuum device, which makes the sucker produce enough adsorption force to adsorb on the wall. The glass-cleaning module is driven by the motor and can automatically spray water. Mobile modules such as quadruped move similar, first move one side, a zigzag movement. There are fault detection agencies, see foreign body alarm, cleanliness inspection score and other institutions. The technology involved in the implementation process: robot structure design, robot control technology, field bus technology.
4. Key issues to be addressed
4.1 Design issues
The design of robot structure, cleaning device, safety device and control system is improved to make it smaller in volume, lighter in weight, stronger in adsorption, faster in cleaning speed, higher in efficiency, simpler in operation and lower in cost. A field bus technology is used to construct an industrial control network for clean robot to realize distributed control. The monitoring interface in PC machine is designed to make it convenient to operate, to obtain accurate information, to know the working status of each robot in time, and to carry out fault diagnosis and alarm in time. Automatic movement of the machine and marginal detection, as well as water transportation and recovery.
4.2 Price issues
Today's high-altitude cleaning robots cost around a few thousand yuan, but they are a burden to ordinary families. Therefore, how to achieve the price of the people-friendly, but also we need to solve one of the problems.
4.3 sudden problems
The curtain walls of tall buildings may be too high, thus resulting in insufficient water pressure. And the robot should avoid being damaged by water and other sudden problems.
5 Summary
The development of machine instead of manual technology has become one of the trends of the times. In recent years, artificial intelligence technology has been rising and developing at home and abroad, science and technology has changed our lives, artificial intelligence means has not only been limited to large-scale manufacturing, it has been integrated into every corner of our lives, Like the "high-altitude glass scrubber" intelligent robot, it not only brings convenience and efficiency to high altitude work, but also can be used in our home life. The design and implementation based on artificial intelligence involves many theories, methods and techniques, and there are many new methods for the intelligent robot of "high-altitude glass scrubber". Problems need to be solved, need to be accumulated and improved in practical application, and further research and development are needed.
reference
Liu Shuxia, Zhao Yanzheng, Wang Yan. Study on the Wall-cleaning Robot and related Technology of tall Building [J]. Automation Expo, 1999 (5): 22-25.
Yao Chongbin. Research and application analysis of intelligent glass wiping robot [J]. Technology Wind, 2015 (15): 119-120.
