With the development of modern cities, the demand for cleaning glass curtain walls in urban skyscrapers is increasing, and therefore, many researches on facade cleaning robots have been carried out in the past few decades. In this article, a novel type of facade cleaning robot based on four-ducted fan is proposed. To improve the load capacity of the robot, the lifting and horizontal movement are, respectively, supported by an independent lifting mechanism and a lateral movement mechanism. Unlike the previous passive and active suction, the powerful suction power of the robot is provided by the four-ducted fan. Meanwhile, the obstacle-climbing force is caused by the forward of the four-ducted fan that improves the crossing obstacle ability. In addition, an incremental sliding mode algorithm is applied for controlling the posture when the robot crosses obstacles, which can ensure the stable performance of the cleaning robot under disturbance. Some simulations and experiments are conducted and the results demonstrate the effectiveness and robustness of the designed facade cleaning robot.

随着现代城市的发展，对城市摩天大楼玻璃幕墙的清洁需求不断增加，因此，近几十年来，对立面清洁机器人进行了大量的研究。本文提出了一种基于四风道风扇的新型立面清洁机器人。为提高机器人的承载能力，升降和水平运动分别由独立的升降机构和横向运动机构支撑。不同于以往的被动和主动吸力，机器人强大的吸力是由四风道风扇提供的。同时，通过四风道风扇的前方产生越障力，提高了越障能力。此外，采用增量滑模算法控制机器人越障时的姿态，保证扫地机器人在扰动下的稳定性能。进行了一些模拟和实验，结果证明了所设计的立面清洁机器人的有效性和鲁棒性。