Design of Intelligent Glass Cleaning Robot Measurement and Control System Under Machine Vision

Currently, glass curtain walls are commonly used on the exterior walls of high-rise buildings, but their cleaning is still in the manual cleaning stage. The cleaning of glass curtain walls relying on machine vision technology is an urgent problem. This article uses a monocular ranging algorithm to convert RGB (Red, Green, Blue) color space model images into HSV (Hue, Saturation, Value) color space model images, and achieves detection of window frames and glass. To verify the simulation results, this article explores the response time of the intelligent glass cleaning robot (IGCR) measurement and control system, the autonomous obstacle avoidance of the robot, and the angle changes under the condition of no external interference. When there is no external interference, the variation of the IGCR around the X and Y axes is less than
$\pm 1^{\circ}$
. The displacement change of the IGCR around the Z-axis is less than
$\pm 3^{\circ}$
, which meets the design requirements.