毕业设计翻译小型攀爬式窗户清洗机器人.docx

毕业设计翻译小型攀爬式窗户清洗机器人.docx

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毕业设计翻译小型攀爬式窗户清洗机器人

SMALL-SIZEWINDOWCLEANINGROBOTBYWALLCLIMBINGMECHANISM

1.INTRODUCTION

Recently,therehavebeenmanydemandsforautomaticcleaningsystemonoutsidesurfaceofbuildingssuchaswindowglassbyincreasingofmodernarchitectures.Somecustomizedwindowcleaningmachineshavealreadybeeninstalledintothepracticaluseinthefieldofbuildingmaintenance.However,almostofthemaremountedonthebuildingfromthebeginningandtheyneedsveryexpensivecosts.Therefore,requirementsforsmall,lightweightandportablewindowcleaningrobotarealsogrowinginthefieldofbuildingmaintenance.Astheresultsofsurveyingtherequirementsforthewindowcleaningrobot,thefollowingpointsarenecessaryforprovidingthewindowcleaningrobotforpracticaluse:

1）Itshouldbesmallsizeandlightweightforportability.

2）Cleanthecornerofwindowbecausefoulingisleftthereoften.

3）Sweepthewindowpanecontinuouslytopreventfrommakingstripedpatternonawindowpane

4）Automaticoperationduringmovingonthewindow.

Thelocomotionmechanismmustbechosentosatisfythesedemands,especiallylatertwosubjects.Herelocomotionmechanismmeansthecombinationofadheringmechanism,travelingmechanismandamechanismforchangingatravelingdirection.

Firstrequirementbroughtthefollowingspecificationsfordesigningthewindowcleaningrobot.

★Weight:

lessthan5kg,includingtheweightofbatteryandwashingwater,

★Size:

300mmx300mmx100mm.

Thesewerealsodefinedbytheresultsofsurveyingthedemandsfromthecleaningcompanies.Inpreviousresearches,wehaveproposedoutlineofmechanicalsystemforwindowcleaningrobotforfillingabovementioneddemands.Andweconfirmedbasicpropertiesanditspossibilitybytheexperiments.Thatmechanicalsystemconsistsoftwo-wheelcentereddifferentialdrivespecializedinmakingaright-angledturnatthecornerofwindowandasuctioncupwithvacuumpompasadheringmethod.Bythismechanicalsystem,windowcleaningrobotcanmoveon

verticalwindowwithadheringsmoothly.Fig.1istherenderingatasceneofpracticaluseofproposedwindowcleaningrobot.Thisrobotadheresonawindowpanewithcleaningasmovingonlargewindows.

Thispaperdealswithtravelingcontrolsysteminorderthatabovementionedmechanicalsystemofwindowcleaningrobotcanbeoperatedautomatically.Weknowalotofstudiesonwallclimbingrobotincludingwindowcleaningrobotbyvariousresearchgroups[1]-[10],buttherearefewresearchesanddevelopmentofmotioncontrolofwallclimbingrobot.Howevertheenvironmentofrobotwhichmovesonverticalorinclinedplaneisquitedifferentfromtherobotmovesonhorizontalplaneatconditionsofmotioncontrol.ThisisduetodifferenceofdirectionofFig.1Renderingofsmall-sizewindowcleaningrobotgravityworksontherobot.

Fig.1Renderingofsmall-sizewindowcleaningrobot

Inthispaper,weexplainwindowcleaningrobotinstalledtravelingcontrolsystemandreportresultsofbasictravelingexperimentsandautonomouswipingmotiononverticalwindowmajoredquantitatively.Thispaperincludesfourchapters.Thesecondchapterillustratesprototypedmechanicalsystemsusedforexperimentsandmovingpathofwindowcleaning.Thethirdchaptershowsexperimentalresultofbasictravelingcontrolandwindowwipingmotionbycomparingtowithorwithoutofmotionedcontrolsystemandsayssomediscussionsineachexperiment.AndthethirdchapterTheforthchaptergivesaconclusion.

2.MECHANICALSYSTEMS

Inthisstudy,weuseclimbingmechanismwhichconsistsofthetwo-wheellocomotionmechanismandadheringmechanismbyasuctioncup.Thismechanismisreportedinpreviousresearches[11].Thismechanismwasdesignedunderfocusingonthewindowcleaningrobotforjustasinglewindowpane.Itisapparentlynecessarytocrossoverthewindowframeorjointlinetouseitatanywindow,butthesinglewindowpaneslikeasashowwindowalsoexistasanimportantapplication.

A.Travelingpath

Inordertosweepalloverthewindowplane,twotypesoftravelingpathsshowninFig.2wereconsidered.Hereweadoptedtype（A）inFig.2becauseofenergyefficiencyandcleaningaffectivity.Type（A）inFig.2principallyinvolveshorizontaldirectionmovements.Therobotwillclimbupjustonce.Ontheotherhandpathoftype（B）consistsofmainlyverticaldirectionmovements,i.e.therobotmustcontinuetoclimbupandgodownthewindowrecursively.Thereforetype（A）isbetteronenergyefficiency.Andfurther,wemustrememberthattherobothasapossibilitytobeindamageofbringingpollutionstowherecleanedalready,iftherobotmovesalongthepathoftype（B）.

B.LocomotionMechanismandrobotbody

Therobotmovesonwindowpanebytwo-wheellocomotionmechanismwithholingthebodyonthesurfaceusingasuctioncupvacuumedbyapump.Themost

importantpointinthemechanismisthefrictioncoefficientofsuctioncupandtireagainsttheadheringsurface,e.g.highfrictionbetweenthetireandthesurfaceofwindowcantransmitsthetorque,andlowfrictionbetweenthesuctioncupandthesurfaceofwindowcanachievestomovetherobotwithholdingthebodyonthewindow.WeselectedPTFE（Polytetrafluoroethylene）forthematerialsofsurface

ofasuctioncup,andsiliconrubberforthematerialoftires.

C.TurningMechanismandrobotbody

Turningmechanismisakeytocleanevenatthecornerofwindow.Fig.3showsthescenesthattherobotchangesitstravelingdirectionatthecorner.Fig.3-（a）showsausualturningwaylikeasturningofmotorcars.Inthiscase,sincetherobotchangesadirectionastracinganarc,itcannotreachtheendofcornerofwindow.Itneedstherobotcannotmovealongdesiredlines.Inconsequence,therobotcannotcoverthewindowsurfacewithoutanyhole,ortherobotcometodeadendbygoingoffthecoursethereforetherobotcannotcontinueoperationanymoreshownasFig.8

Itseemsthatthisproblemiscausedbythegravitywhosedirectionintersectswithtravelingdirectionoftherobotatgrade.Itisaparticularproblemintravelingcontroloftherobotmovesonverticalorinclinedplanelikeaswindows.Todeterminethisproblem,weadoptedattitudecontrolusingaccelerationsensor.Thischapterexplainsitscontrolmethodsandoutlineofelectronicsystem.Inthiscontrol,inputvalueisthedesiredattitudeangleθ0,outputvalueisattitudeangleoftherobotθwhichismeasuredbyaccelerationsensorwhosecharacteristicsareshowninTable2.ThissensorwasinstalledintotherobotbodyasshowninFig.10.

Inordertocontroltheattitude,therobotmeasuresadirectionofgravitysincetherelatedanglebetweengravitydirectionandrobotbodygivesattitudeangle.Whenthe

robotmovesonthewindow,thereisapossibilitythatthesensordetectconvolutedvalueboththeaccelerationgravityandaccelerationbythemotionoftherobot.Buttherobotwillbeoperatedwithstaticandlowvelocity.Thereforetheaccelerationbymotionoftherobotisever-smallerthanaccelerationgravity.So,inthiscontrol,wedonotconsidercomplicatedprocessasfollowstocleanthecornerbysuchrobot:

first,therobotgoesintoacorner,nextitmovesbackthedistancetoturn,thenitchangesitsdirectionastracinganarc.Therobotcancleanacornereasilyandrapidly.Round-shaperobotiseasilyabletoturnatthecorner,butitunabletoreachtheendofcorner.Ontheotherhand,aquadrangularrobotcancleantotheendofcorner,butneverturnitselfthere.TogetafunctiontochangedirectionasshowninFigure3-（b）,wedesignedthemechanismthatamobileunitandacleaningpartarerotatablyconnectedatthecentershaftasshowninFig.4.

3.EXPERIMENTSANDDISCUSSIONS

ThischapterreportsexperimentalresultofmotioncontrolofprototypedwindowcleaningrobotinstalledattitudecontrollerillustratedinChapterIII.Thisexperiment

consistsoftwokindsofexperiments.Oneismeasurementofperformanceofattitudecontrolwhentherobotmovestohorizontaldirectionandelevationangleof45degrees.Theotherisanexperienceofwindowwipingoperationwithattitudecontrolleronactualwindowglass.Therobotwasexaminedonthewindowstoodvertically.Theglassofthewindowisflat,clearandthethicknessof8mm.Theglassisheldbywindowframemadeofaluminium.Inalltheexperiment,themotionsofrobotmeasuredbydigitalstereovisioncamera,Bumblebee.Thiscamerasystemcanrecodeabsolutepositioncoordinateoftherobotbymeasuringthepositionofcoloredlightmountedonthetwocornersoftherobotindarkroom.TheexperimentalsetupsareillustratedinFig.9.Inthisexperiment,electricpowerissuppliedformbatteriesplacedintherobot,i.e.therobotisoperatedwithoutanycables

Test1:

Horizontaldirection

Movingofhorizontaldirectionwasmeasuredastwoconditions;oneiswithoutattitudecontrolandtheotheriswithattitudecontrolusinganaccelerationsensor.Eachexperimentismeasuredinsamepositiononthewindow,andsamemovingdistanceof1.8meters.Atthestartingpoint,therobotisattachedonthewindowdirecttohorizontaldirectionshownasFig.14-（A）.Fig.15showsmotiontrajectorybothcontrolledanduncontrolledbyattitudecontrolsystem.Asquareinthefigurerepresentsthepositionandattitudeofrobotbodyrecordedevery1second.Fig.15saysthatastherobotgoes,itstrajectoryisdecurved.Theaveragemovingvelocitiesofcontrolledcaseis0.199m/s;uncontrolledcaseis0.374m/s.

Thetrajectoryofcontrolledcaseshift0.226mofthe–Ydirectionatgoalpoint（X=1.80m）.Thetrajectoryofuncontrolledcaseshift0.862mofthe–Ydirectionatgoalpoint（X=