부산대학교 도서관

The photovoltaic curtain wall cavity cleaning robot is an intelligent device designed specifically for the cleaning problem of the cavity structure between the photovoltaic curtain wall and the building glass curtain wall. The robot has a functional structure of adsorption, movement, and obstacle avoidance. However, due to the narrow internal space and complex structure of the photovoltaic curtain wall cavity and it being invisible to the naked eye, traditional automatic control algorithms cannot fully exert the structural advantages of the robot. Therefore, this paper developed a human-robot collaborative control system with remote control and monitoring functions for photovoltaic curtain wall cavity cleaning robots. In addition, this system combines artificial visual judgment experience with beam recognition and visual ranging technology to realize simultaneous monitoring of the robot's working environment while providing distance information between glass curtain wall beams and robots. Experiments show that this system can assist operators in remotely controlling robots and predicting beam distances, improving the safety of robot collaborative control in complex cavity scenes.