Intelligent robot for glass cleaning at high altitude based on rotating shaft connection and stm32 control

Abstract

At present, there are few high-altitude glass cleaning equipment on the market that can cross obstacles, usually requiring manual transfer. Even with intelligent obstacle avoidance system, it is still difficult to climb over the floor, the frame between the glass and so on. The automation of the project is low. To solve the above problems, the glass cleaning robot designed in this paper can autonomic obstacle avoidance transfer through the stm32f407 core control board, and Raspberry PI to jointly complete the obstacle avoidance, navigation, movement and other control tasks. And the use of a new mechanical structure, through the quadcopter wing folding contraction, to complete the process of wiping glass push and pull. During the transition from flight to climbing, horizontal to vertical changes are achieved by folding the fuselage. Through many experiments, the design is reliable and practical.