Abstract
With the rapid development of the society, space utilization is constantly increasing, and the building height is also increasing rapidly, the problems of wall surface cleaning, damage detection and equipment maintenance are coming up. Using robots to replace human tasks can not only reduce the risk and cost but also improve the efficiency of the operation. Glass wall cleaning robot with negative pressure type double suction cup can move smoothly by sliding friction between suckers and glasses, therefore, by studying a reliable control algorithm, the robot can be controlled to move smoothly on the glass wall, at the same time, the glasses can be cleaned by the cleaning devices. In order to solve the obstacle avoidance and balance problem, a glass wall cleaning robot controlled by ATMEGA128A is proposed. Through designing the core algorithms such as mobile module algorithm, adsorption system algorithm etc., the robot can complete the scheduled cleaning tasks. The experiments of the designed glass wall cleaning robot prototype show that this glass wall cleaning robot designed here can clean wall, which can meet the realization requirements, and the given control algorithms are fast and stable.