The Design and Realization of Intelligent Glass Climbing-Cleaning Robot

Transcription

1 Applied Mechanics and Materials Online: ISSN: , Vols , pp doi: / Trans Tech Publications, Switzerland The Design and Realization of Intelligent Glass Climbing-Cleaning Robot GOU Yuntao 1, a, ZHANG Mingyi 1,b, ZHANG Dongxia 2,c 1 College of Information Engineering, China University of Geosciences Beijing, Beijing , China 2 Beijing Vocational College of Agriculture, Beijing , China a @qq.com, b @qq.com, c xcya6475@sohu.com Keywords: Intelligent; Glass climbing and cleaning; Robot; Negative pressure adsorbing;joystick Abstract: We use ATmegal128 single-chip microcomputer as control processor to realize climbing wall-cleaning robot, by using four wheel drive structure and the principle of negative pressure adsorbing. This paper introduces the composition structure, function index of the robot, hardware and software design.the robot experiments show that the robot has a certain ability to adapt to the wall, which can remain stable posture during the cleaning process.also it can finish surface cleaning work very good with characteristics of small volume, easy operation and low cost. Introduction In the daily chores, outside wall of glass and the high glass indoor are also the most difficult to clean and is very dangerous housework. Intelligent Glass Climbing and Cleaning Robot can be a very good solution to these problems, and make the glass wall cleaning process is fast, safe and effective. Japan started climbing robot developed in 1966 which started relatively early[1]. Britain has developed a "Robug Ⅲ" type of climbing robot in the 80 s. At present, Intelligent Glass Climbing and Cleaning Robot research has a certain achievement. But the common problem is this kind of cleaning robots are big in volume and weight, also the cost is high. Intelligent Glass Climbing and Cleaning Robot developed by Harbin industrial university is a small lightweight, weighing 23.2 kg. According to the Robot research status, we independently developed a four wheel drive Intelligent Glass Climbing and Cleaning Robot with Characteristics of quality light, control flexibility and low cost, which can be easily used in facades and housing glass clean. This kind of cleaning robot is quiet suitable for the family and promoting building surface cleaning, etc. The structure design Fig.1 Robot structure diagram The robot we designed use a car model structure, the car body is made up with six parts(as shown in Fig.1): drive components, adsorption component, power component, cleaning component and security assistant component. The drive component adopts four DC-micromotors to realize four-wheel drive which can increase the robot's flexibility on the glass and make the control easily. All rights reserved. No part of contents of this paper may be reproduced or transmitted in any form or by any means without the written permission of Trans Tech Publications, (ID: , Pennsylvania State University, University Park, USA-11/05/16,02:43:24)

2 Applied Mechanics and Materials Vols The cleaning component is composed of wiper blade and cleaning arm. It can clear away sewage and large particles of dust by the wiper blade, and then do the second cleaning by the cleaning arm. Besides, we choose the half wet wiping that can make the rubber blade keep a sufficient wettability to have a high toughness to keep good gas tightness with the glass. For ensuring safety, we also set a security assistant component (rope haulage protecting).fixing a vacuum chuck on the upper right corner securely; it can support 1.1times weight of the robot. This component is used mainly in the sudden accident to protect the robot. Meanwhile, it can ensure the security of the surrounding facilities and the operator. The adsorption component uses the principle of negative pressure adsorbing.because of the vacuum pump can produce a high vacuum degree in the suction cup, so that interior forms a high negative pressure. Therefore, a small suction cup can produce a sufficient strength to make the robot adsorb on the smooth surface which make the robot smaller and lighter. From Fig.2, we know that the car body keep adsorbing steady under five forces [2] (Here frictional force can be ignored). Calculation formula of force analysis is as follows: Here we suppose the distance from left to right of the car is l 1, the distance from up to down is l 2. (1) Fig.2 Force diagram [3] (2) Note: 0.8, g =10N/kg, l 1 =4cm, l 2 =9cmN: suction (N),P: vacuum (kpa),c: chuck area( ) Through calculation, the selected pump and suction cups we select can ensure balance absorption on the wall. So the experiment with the basic conditions can ensure the safety of car to sticktite. The electrical design 1.The hardware circuit design Fig.3 The hardware block diagram As shown in Fig.3,it is the hardware circuit structure. The power source supply to the vacuum pump through the voltage regulator chip, make the car adsorb on the glass. At the same time, we send serial port signals which include the direction of travel by PC keyboard or joystick to the PC which transmit the signals to the

3 1722 Frontiers of Manufacturing Science and Measuring Technology III single chip microcomputer through the serial port.after parse the received signals, the microcomputer outputs various PWM waveform to control the motors, in order to realize the moving of the robot on the glass. We choose ATmegal128 SCM as the main control of our robot, mainly using its output PWM and serial communication. Otherwise, we adopt more flexible four-wheel drive with two units of motors in two side of the car. All the four wheels can produce frictional force to overcome the resistance.[4] Two characteristics control functions in realizing the robot are: (1)Braking function: When closing to the wiping area, the robot will suspend movement to reach that goal stably and accurately.before doing the next step; it will adjust the direction first. (2)Smooth running: The motor control signal is modulated by PWM waveform, by adjusting the duty ratio of PWM to control the motors' speed. (3)Two travel speeds: Fast model for moving to the target area, slow model for moving steadily to clean. 2. The software design We use c language programming with software design. From Fig.4, we know program of the software mainly include main function, hardware initialization function, direction function and serial port function. The main function make full use of the switch function to judge the serial signal and its process is shown in the picture, it also executes different direction function instructions for different serial signals in order to make it convenient for the operator to control. The serial port part uses a joystick control the PC's serial port to send serial signals to the single chip microcomputer. The single chip microcomputer transform the serial signals that it received to the corresponding signals and then executes different direction function instructions to realize the moving of the robot on the glass. The direction function is achieved by the control register B's controlling of motors. It can control the Fig.4 Software flow chart robot' s five working states: left-hand rotation, back, forward, right-hand rotation and brake. Function and test The Intelligent Glass Climbing and Cleaning Robot we designed can achieve the following objective function : (1) The robot can reliably absorb on the glass or wall using the suction cup and vacuum pump. (2) The robot dynamic system can overcome the force of suction cups, walls, etc which can make the car body move neatly on the glass while adsorption. (3) We use the serial port to connect ATmage128 Fig.5 Car's figure single-chip computer and PC machine, which enables the operator to handle remote control or PC keyboard while controlling vehicle.

4 Applied Mechanics and Materials Vols (4) Car cleaning device can be used to better clear the dirt on the glass, and ensure that won't produce secondary pollution. After the design of Intelligent Glass Climbing and Cleaning Robot, related tests are carried out in laboratory conditions. With our interior glazing wall, we respectively do the experiment in two different glasses of pollutants (daily dust and contaminated sewage) to test cleaning effect. A lot of experimental tests show that our robot can absorb and walk on glass surface smoothly. The experimental data is as follows: The maximum height for climbing: 3m (Mainly limited by the power cord length, after the improvement with the wireless remote control module does not exist the problem) Effective clean area: 2 ( In the premise of the remote control device fixed without moving) Slow speed of driving mode: 0.12m/s High speed of driving mode: 0.36m/s Cleaning degree of glass: Single wipe to complete 65% of the cleaning work, repeatedly wipe can make the purity of the glass to 85% Conclusion The Intelligent Glass Climbing and Cleaning Robot described on the principle of negative pressure adsorption with four-wheel drive migration, can achieve surface adsorption, flexible control, freedom of action, and other functions, which has small volume(wide 28 cm long 35 cm high 15 cm), weight (about 2 kg), low cost, etc. We use a solid rectangle in robot appearance structure, which not only can be symmetrically arranged motor position and also keep operating in steady state. In electrical design we use EXP ATmegal128 drive motor and microcontroller which has the high performance and low power consumption as the main controller. And we adopt dc permanent magnet motor as drive. Principle of negative pressure using Vacuum pump and suction cups with adsorption is not only simple in structure, convenient in use, but also can achieve our anticipate better and reduce weight. While operation, just six buttons on the control handle can realize All of the functions,such as forward, turn, back, stop and speed up, and other functions. It is convenient and easy to learn, operate, and promote. At present our robot can realize absorption of glass, and is artificial by using PC or console controlled to clean the designated area. Our robot, of course, still have a lot to consummate. For example, it can't get rid of the PC platform while operating. We plan in the future research to improve control technique by using the handle directly to transmit signals without the PC platform, and use USES wireless to transmit signals which can not only make the robot act in a wide range. The study gained favor with the innovation experimental base of information technology, China university of geosciences (Beijing), We are grateful for its support. References [1] FU Yi-li,LI Zhi-hai.Researching headway of wall-climbing robots [J]. Journal of machine design,2008(4) [2]QIAN Zhi-yuan,FU Zhuang,LIU Ren-qiang,ZHAO Yan-zheng,Analysis of the Adaptability of Cleaning Robot to Glass-Curtain Wall Surface [J].Journal of ShanghaiJiaotong University,2006(07) [3]Information on [4]LI Zhihai,FU Yili,WANG Shuguo. Dynamic Analysis on Four-wheel Driving Wall-climbing Robot with Sliding Suction Cups [J].Robot,201

5 Frontiers of Manufacturing Science and Measuring Technology III / The Design and Realization of Intelligent Glass Climbing-Cleaning Robot /