Control Hierarchy Realization and Cleaning Trajectory Evaluation of a Wall Cleaning Robot

Aimed at cleaning the curved glass wall of Shanghai Science and Technology Museum, a fully pneumatic climbing robot is presented to meet the requirements of cleaning efficiency and simple operation. After an overview of the robotic system, this paper emphasizes the software hierarchy realization and path planning evaluation. The hierarchy of the control function is studied in detail, which consists of path planning and task planning. Then a mathematic model is proposed to describe the features of the work target. Considering the movement security, cleaning efficiency and the percentage of cleaning coverage, a new approach to path planning for wall-cleaning robots is presented. In the end, the successful on-site test confirms the principles described above and the robot's ability.