異形玻璃幕墻清洗機(jī)器人設(shè)計(jì)研究

摘" 要：隨著現(xiàn)代城市化的發(fā)展，如今眾多高層建筑都采用了玻璃幕墻結(jié)構(gòu)，此類建筑需要經(jīng)常性的清潔維護(hù)。目前玻璃幕墻清洗工作大都仍采用人工的方式，僅僅有少量豎直玻璃幕墻清洗機(jī)器人問世。隨著人類社會(huì)發(fā)展的進(jìn)步，人們對(duì)于審美追求也逐漸提高，異形玻璃幕墻的市場份額將會(huì)逐漸增大，但是目前國內(nèi)異形玻璃幕墻清洗機(jī)器人幾乎是一個(gè)空白領(lǐng)域。文章針對(duì)高空玻璃幕墻清洗現(xiàn)狀，提出了一種仿生蜘蛛爬壁機(jī)器人結(jié)構(gòu)。采用一足多吸技術(shù)，結(jié)合SLAM和OpenCV輔助控制，使用氣缸控制清洗滾筒伸縮，實(shí)現(xiàn)清洗機(jī)器人在異形玻璃幕墻的應(yīng)用，更好地解決人工清洗造成的高成本、高危險(xiǎn)性和工程冗雜等問題，具有十分廣闊的應(yīng)用前景。

關(guān)鍵詞：異形玻璃幕墻;清洗機(jī)器人;一足多吸;SLAM;OpenCV

中圖分類號(hào)：TP242" " " 文獻(xiàn)標(biāo)志碼：A" " " " "文章編號(hào)：2095-2945（2021）13-0102-04

Abstract： With the development of modern urbanization， many high-rise buildings now adopt glass curtain wall structure， such buildings need frequent cleaning and maintenance. At present， most of the glass curtain wall cleaning work is still manual， and only a small number of vertical glass curtain wall cleaning robots come out. With the development of human society， people's pursuit of aesthetics is also gradually improved， and the market share of special-shaped glass curtain wall will gradually increase， but at present， the domestic special-shaped glass curtain wall cleaning robot can almost be said to be a blank field. In this paper， a kind of bionic spider climbing robot structure is proposed according to the current situation of high-altitude glass curtain wall cleaning. Using single-foot multi-suction technology， combined with SLAM and OpenCV auxiliary control， using cylinder to control the expansion of cleaning drum， it is possible to apply the cleaning robot to the profile-shaped glass curtain wall， so as to better solve the problems of high cost， high risk and engineering complexity caused by manual cleaning. It has a very broad application prospect.

Keywords： special-shaped glass curtain wall; Cleaning robot; One foot more suction; SLAM; OpenCV

1 緒論

1.1 研究背景

當(dāng)今社會(huì)，眾多高層建筑都采用了玻璃幕墻結(jié)構(gòu)，相比磚墻，幕墻質(zhì)輕，能大大減輕樓宇重量，提升城市美觀度。據(jù)調(diào)查顯示，目前中國建筑面積有500億平方米，其中幕墻建筑面積占5%，每年新建幕墻高達(dá)9000萬平方米。國內(nèi)的幕墻清洗市場規(guī)模在百億以上。但如此廣闊的市場，卻一直主要依賴三種清潔方式：（1）“蜘蛛人”一人，一繩，一板，一桶的是最常見的清洗方式。（2）利用升降平臺(tái)、吊籃等工具承載清潔工清洗。（3）樓頂?shù)跛鬈壍老到y(tǒng)將擦窗機(jī)對(duì)準(zhǔn)窗戶進(jìn)行清潔。這幾種清潔方式成本高、安全低、勞動(dòng)強(qiáng)度大、效率差;第三種初期投入高，不好實(shí)現(xiàn)。……