Design Of Glass Curtain Wall Cleaning Robot Control System

In recent years,with the rapid development of cities in China,a large number of labor force poured into cities,resulting in the shortage of urban land.In order to alleviate the pressure of urban population,many high-rise buildings have sprung up.These buildings exposed outdoors are vulnerable to rain and sand erosion.In order to ensure the beauty of these buildings,especially glass curtain walls,regular cleaning is needed.At present,the main cleaning method of glass curtain wall in high-rise buildings is manual cleaning,which is inefficient,expensive and easy to cause casualties.In order to solve the problem of cleaning high-rise glass curtain wall,it is necessary to design a robot to clean glass curtain wall,so as to liberate people from high-risk environment.In this paper,TX2 and STM32 are used as the core processors of the system hardware,and the control system including hardware,software,background and mobile terminal is designed.Design the overall system control scheme of the robot for the application needs.The robot control system is divided into an underlying driver layer,a data processing layer,and a human-computer interaction layer according to the function module.The underlying driver layer mainly reads the data of the sensor and drives the motor through the STM32 control board;the data processing layer is equivalent to the brain of the robot,belongs to the decision-making layer,and is responsible for receiving the underlying sensor data,processing the image information collected by the camera,and The data is processed,and the processed information is sent to the bottom layer to complete the control of the robot;the human-computer interaction layer connects the data processing layer and the control terminal PC through the remote login desktop,and completes the state of the robot through the visual UI interface and the keyboard correspondingly.Observation and external control of the robot.In order to achieve reliable data transmission,the underlying and data communication layer communication protocols are designed.Aiming at the stability problem of glass curtain wall cleaning robot during motion,a control method combining linear quadratic optimal control and double closed loop PID control is proposed.For the control of the attitude angle during the working process of the robot,the linear quadratic optimal control method is adopted to design the linear quadratic optimization controller,and the appropriate gain matrix Q and gain matrix R are selected by using MATLAB tool;A classic double-closed-loop PID controller was designed along the displacement of the coordinate axis,and the displacement of the robot along the coordinate axis was simulated using the SIMULINK tool.The robot needs to complete the spanning of the window frame during the running process.In order to identify the window frame and reduce the influence of the illumination,the collected image is color-space transformed,and the window frame is identified according to the color,and then acquired according to the monocular camera ranging model.The distance information of the obstacle finally returns the distance information obtained by the monocular camera to the underlying driving layer,and assists the robot to complete the next motion.Finally,an experimental platform was built to evaluate the stability of the glass curtain wall cleaning robot.The experimental results show that the control system designed in this paper can meet the stability requirements of multi-robot operation.