CN102426455A - Solar mirror surface cleaning robot system - Google Patents
Solar mirror surface cleaning robot system Download PDFInfo
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- CN102426455A CN102426455A CN2011104578892A CN201110457889A CN102426455A CN 102426455 A CN102426455 A CN 102426455A CN 2011104578892 A CN2011104578892 A CN 2011104578892A CN 201110457889 A CN201110457889 A CN 201110457889A CN 102426455 A CN102426455 A CN 102426455A
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Abstract
The invention discloses a solar mirror surface cleaning robot system comprising a mirror surface cleaning robot and an application console, wherein the mirror surface cleaning robot is connected with the application console, the mirror surface cleaning robot is provided with a laser detector and a gyro which are used for realizing autonomous positioning and an automatic direction steering mechanism and a brake control mechanism which are used for automatic steering and braking, and is also provided with an infrared anticollision antenna, an ultrasonic wave sensor, a collision switch, a car body stop button and other safety protection devices, and the equipment or sensor and driving parts complete autonomous navigation and automatic obstacle stopping and obstacle avoidance under association control. The solar mirror surface cleaning robot system disclosed by the invention can automatically clean a mirror surface in a designated mirror field according to predetermined setting in a hostile environment, has higher automation level and can complete cleaning on the designated mirror surface without human control; and meanwhile, the robot is used for replacing a person to complete cleaning on the mirror surface in a photo-thermal generating mirror field, the working strength of field staff can be greatly reduced, and the working environment of the staff can be improved.
Description
Technical field
The present invention relates to the robot field, particularly a kind of sun power minute surface cleaning robot system.
Background technology
Solar light-heat power-generation is meant and utilizes large scale array parabolic or dish-shaped minute surface to collect solar thermal energy, through heat-exchanger rig steam is provided, and in conjunction with the technology of traditional turbodynamo, thereby reaches the purpose of generating.Minute surface cleans mainly and is accomplished by manned minute surface cleaning truck in existing solar light-heat power-generation mirror field, and mostly these cleaning Vehicle are that on existing truck, installing wiper mechanism additional converts.Someone drives the minute surface cleaning Vehicle, though have control and flexibility ratio preferably, the photo-thermal power generation many places are in the desert region; For guaranteeing normal power generation; Minute surface must evening cleans, and a Jing Chang has up to ten thousand mirrors at least, and the major defect that therefore has the people to drive the minute surface cleaning Vehicle is that on-the-spot cleaning personnel workload is big; And it is bigger to clean on-the-spot dust, and it is healthy to influence the cleaning personnel.
At present existing automatic minute surface cleaning robot mainly is that some are used for cleaning devices that the building exterior wall glass cleans, and mostly its structure is absorption type, and really is not used for the automatic minute surface cleaning robot of solar light-heat power-generation mirror field minute surface cleaning.
Summary of the invention
In order to overcome the defective of prior art; The present invention provides a kind of sun power minute surface cleaning robot system; Comprise minute surface cleaning robot and application controls platform; Said minute surface cleaning robot is connected with said application controls platform, and said minute surface robot is provided with laser detector and gyroscope carries out autonomous positioning, and automatic directional steering mechanism is used for turning to automatically and braking with the brake control gear; Safety guards such as infrared anticollision feeler and ultrasonic sensor and impact switch and car body scram button are set simultaneously, and the said equipment or sensor combine control and drive part completion independent navigation and stop barrier automatically and keep away barrier.The present invention can automatically to specifying the minute surface in the mirror field to carry out cleaning, have higher automatization level according to predetermined set under rugged environment comparatively, can accomplish down the cleaning of appointment minute surface need not artificial control; Use robot to replace the people to accomplish the cleaning of photo-thermal power generation mirror plane of field lens simultaneously, can significantly reduce field staff's working strength, improve the employee work environment.
Technical scheme of the present invention is following:
A kind of sun power minute surface cleaning robot system; Comprise minute surface cleaning robot and the application controls platform that is used to set up with user interactions; Said minute surface cleaning robot is connected with said application controls platform; Wherein, said minute surface cleaning robot is provided with to be measured and map structuring part, control and drive part and mechanical part, and said measurement and map structuring part and control and drive part all are located on the said mechanical part;
Said measurement and map structuring part: be used to collect the status information that comprises ambient condition information, minute surface cleaning robot, the information of operation information; And feed back to said control and drive part, also receive instruction simultaneously from said control and drive part;
Said control and drive part: after being used to receive the instruction of application controls platform transmission and passing through the instruction parsing instruction is sent to each topworks; Also receive the information of measurement and map structuring part and mechanical part; And said information is formed instruction according to result be sent to respective execution mechanisms after data processing, said data processed result and command information feed back to said application controls platform simultaneously;
The topworks of said mechanical part for cleaning and walking can receive the instruction of said control and drive part, also feeds back running state information to the said control and the drive part of minute surface cleaning robot simultaneously.
Preferably, said mechanical part comprises machinery chassis and wiper mechanism, and said wiper mechanism is located on the said machinery chassis, and said machinery chassis comprises the cleaning Vehicle body, and said cleaning Vehicle body portion is provided with deflecting roller, and the rear portion is provided with power wheel;
Said machinery chassis comprises automatic directional steering mechanism, and said automatic directional steering mechanism comprises steer motor and steering axle, and said steer motor is connected with said steering axle, and said steering axle is connected with said deflecting roller, is used to drive said deflecting roller and turns to.
Preferably; Said machinery chassis also comprises the brake control gear; Said brake control gear comprises brake motor and brake gear; Said brake motor is connected with said brake gear, and said brake gear is connected with power wheel with said deflecting roller, is used for said deflecting roller and power wheel are carried out braking brake.
Preferably, said measurement and map structuring partly are provided with laser detector and gyroscope carries out location positioning and map structuring; And laser detector and gyrostatic relative position are fixed, and all are located at said cleaning Vehicle body the place ahead.
Preferably, said measurement and map structuring part also are provided with radio frequency identification devices and scrambler, and they combine said laser detector and gyroscope to detect surrounding environment, robot pose and mirror position information jointly and carry out the structure of three-dimensional map by this; Wherein
Radio frequency identification devices is located on the chassis overhang, is used for the zone location of minute surface cleaning robot;
Said scrambler is located on the power motor of said chassis, is used to measure gait of march and generates odometer information, and above-mentioned information is used for the structure and the autonomous positioning of three-dimensional map jointly.
Preferably, wherein said minute surface cleaning robot also comprises the safeguard protection part, and it is located on the said mechanical part;
Said safeguard protection partly is used to scan and detect the ambient condition information and the obstacle information of minute surface cleaning robot, and with above-mentioned information feedback to said control and drive part, also receives the instruction of said control and drive part simultaneously.
Preferably, said safeguard protection partly comprises active safety protection module and passive security protection module, and wherein said active safety protection module comprises infrared anticollision feeler, and the front portion that it is located at said cleaning Vehicle body is used to prevent bump with minute surface.
Preferably, said active safety protection module also comprises ultrasonic sensor, and it is located at the said cleaning Vehicle body outside;
Said passive security protection module comprises impact switch, and it is located at around the said cleaning Vehicle body.
Preferably, said infrared anticollision feeler is an infrared photoelectric sensor.
Preferably, said automatic directional steering mechanism also comprises steering angle sensor, and said steering angle sensor is located on the said steer motor, is used to measure steering angle, and with above-mentioned steering angle information feedback to said control and drive part;
Said brake control gear also includes the braking force sensor, and said braking force sensor is located on the said brake motor, is used to measure braking force numerical value, and said braking force numerical information is fed back to said control and drive part.
Preferably, said cleaning Vehicle body also comprises chassis overhang and chassis shell, and said chassis overhang is located at said power wheel and deflecting roller top, and said chassis shell is located on the said chassis overhang;
Said machinery chassis also comprises chassis power motor and power source, and said chassis power motor and said power source all are located on the said chassis overhang, and said power source outside also is provided with attemperator.
Preferably, said wiper mechanism comprises hairbrush, belt and power motor, and said belt is connected with said power motor, and said hairbrush is fixedly installed on said belt surface;
Continuous rotation can drive the hairbrush rotation to said belt by said power motor drive, and mirror is cleaned.
Preferably, said wiper mechanism also comprises water tank, and it is arranged on the said chassis overhang, is used to provide the water source of cleaning mirror.
Preferably, said mechanical part also comprises gasoline engine generator, and it is located on the said chassis overhang, is used to wiper mechanism auxiliary power is provided.
Preferably; Said measurement and map structuring part also comprise high water tank sensor, gasoline engine generator fuel-quantity transducer and temperature sensor; Be located at respectively on said water tank, gasoline engine generator and the cleaning Vehicle body, be used to measure high water tank height, gasoline engine generator oil mass and environment temperature.
Preferably, said passive security protection module also comprises the car body scram button, and it is located on the said cleaning Vehicle body.
Preferably, said active safety protection module and passive security protection module also are respectively equipped with active safety protected data processing module and passive security protected data processing module, and said data processing module all is integrated in said control and drive part.
Preferably, said control and drive part comprise control module and drive part, and said control module is connected with said drive part;
Said control module is used to receive the instruction that said application controls platform sends; And through after the instruction parsing analysis result being sent to said drive part and sensor; Also receive topworks's information of said drive part and sensor feedback; And after data processing, be sent to respective execution mechanisms according to result formation instruction, simultaneously said data processed result and command information are fed back to the application controls platform;
Said drive part will be from the information feedback of each topworks to said control module, and receives the instruction from said control module, is sent to each topworks afterwards.
Preferably, said control module comprises host computer and slave computer, and said host computer is connected with the application controls platform, and said slave computer is connected with host computer, and said slave computer is connected with sensor with drive part;
After instruction that said host computer reception application controls platform sends and process instruction are resolved instruction is sent to each topworks; Also receive topworks's information of slave computer feedback; And said information is formed instruction according to result be sent to respective execution mechanisms after data processing, said data processed result and command information feed back to said application controls platform simultaneously;
Said slave computer collects to feed back to host computer from the information that drives part and sensor and after handling; And the dependent instruction that transmits said host computer to said drive part and sensor; Simultaneously said slave computer also sends according to data processed result and instructs to drive part, and said result and command information also feed back to said host computer and then to said application controls platform.
Preferably, said active safety protected data processing module is integrated in said host computer.
Preferably, the laser detector of said measurement and map structuring part directly is connected with said host computer, and the information transmission between them is directly to transmit.
Preferably, said slave computer comprises first module, second module and controller, and said first module connects host computer, and said second module connects first module and controller, and said controller connects drive part or sensor;
Data between said first module transmission host computer and second module;
Said second module collect self-controller information and handle the back feed back to host computer through first module; And the host computer that receives the transmission of first module instructs to said drive part and sensor; Simultaneously said second module is also sent according to data processed result and is instructed to drive part, and said result and command information also feed back to said host computer and then to said application controls platform;
Said controller is used for the data transmission of drive part and the sensor and second module.
Preferably, said passive security protected data processing module is integrated in said second module.
Preferably, said controller comprises and turns to brake controller, chassis controller and sensor interconnecting module that they are connected with turning to brake driver, chassis driver and sensor respectively.
Preferably, said drive part comprises and turns to brake driver and chassis driver, and the said brake driver that turns to is connected with the control gear that brakes with automatic directional steering mechanism, and said chassis driver is connected with said machinery chassis.
Preferably, also comprise Wireless Communication Equipment, said application controls platform is connected through Wireless Communication Equipment with said minute surface cleaning robot;
Said minute surface cleaning robot and application controls platform are respectively equipped with corresponding wireless telecommunications part;
The wireless telecommunications part of said minute surface cleaning robot is connected with the host computer of said control and drive part.
Preferably, also can comprise telepilot, it is used at the scene robot being controlled;
Said first module also is provided with the telepilot information receiving unit, is used to receive the command information of telepilot and is sent to each topworks via second module, corresponding controllers and drive part, and said command information also feeds back to host computer simultaneously;
The passive security protection module of said safeguard protection part comprises that also telepilot suddenly stops receiving element, and it is integrated in the telepilot information receiving unit of said first module.
Preferably, said application controls platform mainly comprises main control computer, and said wireless telecommunications partly are located on the said main control computer;
Said main control computer also comprises operation interface module and data memory module, and said operation interface module is used for the man-machine interaction with operating personnel, and said data memory module is used to store the data from the minute surface cleaning robot.
Compared with prior art, beneficial effect of the present invention is following:
The intelligentized sun power minute surface of height of the present invention cleaning robot system can be under rugged environment comparatively; Automatically the minute surface in the appointment mirror field is carried out cleaning according to predetermined set; Possess simultaneously that vehicle guiding automatically, location positioning, automatic obstacle-avoiding stop barrier, map makes up automatically and function such as optimum path search, guarantee that minute surface cleaning robot highly effective and safe accomplishes the minute surface cleaning, have higher automatization level; Need not to accomplish under the artificial control to specifying the minute surface cleaning; Use robot to replace the people to accomplish the cleaning of photo-thermal power generation mirror plane of field lens simultaneously, can significantly reduce field staff's working strength, improve the employee work environment.
Description of drawings
Fig. 1 is four part synoptic diagram of embodiment of the invention minute surface cleaning robot robot system;
Fig. 2 is five ingredients of embodiment of the invention minute surface cleaning robot and the synoptic diagram of annexation;
Fig. 3 is the wiper mechanism and the principle of work synoptic diagram thereof of the mechanical part of embodiment of the invention minute surface cleaning robot;
Fig. 4 is the measurement of embodiment of the invention minute surface cleaning robot and the position view of map structuring radio frequency identification devices partly;
Fig. 5 is the measurement of embodiment of the invention minute surface cleaning robot and the laser detector and the gyroscope of map structuring part, the ultrasonic sensor of safeguard protection part and the position view of infrared anticollision feeler;
Fig. 6 is the control of embodiment of the invention minute surface cleaning robot and the structure and the principle of work synoptic diagram of drive part.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be appreciated that these embodiment only are used to explain the present invention, and are not used in qualification protection scope of the present invention.
Embodiment
A kind of sun power minute surface cleaning robot system; Comprise minute surface cleaning robot 1 and the application controls platform 2 that is used to set up with user interactions; Also comprise Wireless Communication Equipment 3 in the present embodiment, minute surface cleaning robot 1 carries out wireless connections with application controls platform 2 through Wireless Communication Equipment 3.In addition, minute surface cleaning robot 1 also can adopt other effective connected modes to be connected with application controls platform 2, and such as electric connection, application controls this moment platform 2 can be set directly on the minute surface cleaning robot 1, is merely for example here, and the present invention does not limit this.In addition, in the present embodiment, said sun power minute surface cleaning robot system also comprises telepilot 4, and wherein the control authority of telepilot 4 is higher than application controls platform 2, and each part mentioned above and annexation see for details shown in Figure 1.
In the present embodiment; Minute surface cleaning robot 1 and application controls platform 2 are respectively equipped with the wireless telecommunications part corresponding with Wireless Communication Equipment 3, and the said wireless telecommunications part combining wireless network equipment 3 is accomplished the data transmission of minute surface cleaning robots 1 and application controls platform 2.
In the present embodiment; Minute surface cleaning robot 1 is except being provided with the wireless telecommunications part; Also be provided with mechanical part, measurement and map structuring part, control and drive part and safeguard protection part; Said measurement and map structuring part, control and drive part and safeguard protection part all are located on the said mechanical part, and said control and drive part partly are connected with said wireless telecommunications, and the annexation of each several part is seen Fig. 2.During practical implementation, the setting of minute surface cleaning robot 1 also can have a lot of distortion, is merely for example here, and the present invention does not limit this.
In the present embodiment, the topworks of mechanical part for cleaning and walking can receive the instruction from said control and drive part, and the running state information of also feeding back the minute surface cleaning robot simultaneously is to said control and drive part.Mechanical part specifically comprises machinery chassis, wiper mechanism and utility appliance, and said wiper mechanism and utility appliance all are located on the said machinery chassis.Said machinery chassis comprises the cleaning Vehicle body; Said cleaning Vehicle body specifically comprises chassis overhang, chassis shell, be located at anterior deflecting roller and be located at the power wheel at rear portion; Said deflecting roller and power wheel are located at the chassis overhang below, and said chassis shell is positioned at said chassis overhang top.
Said machinery chassis also comprises automatic directional steering mechanism and brake control gear:
Said automatic directional steering mechanism comprises steer motor and steering axle, steering axle service orientation dish here, and said steer motor is connected with said bearing circle, and said bearing circle is connected with said deflecting roller, is used to drive deflecting roller and turns to; Said steer motor is provided with steering angle sensor, is specially the absolute value encoder of being located on the steer motor here, is used to measure steering angle and with above-mentioned steering angle information feedback to said control and drive part and then to said application controls platform.
Said brake control gear comprises brake motor and brake gear, and said brake motor is connected with said brake gear, and said brake gear is connected with said wheel, is used for said wheel is carried out braking brake; Said brake motor is provided with the braking force sensor, is specially to be located at the absolute value encoder of brake on the motor, is used to measure the braking force size and said braking force numerical information is fed back to said control and drive part and then to said application controls platform.During practical implementation, the automatic directional steering mechanism of minute surface cleaning robot 1 and the setting of brake control gear also can have a lot of distortion, and said sensor also has a lot of the selection, is merely for example here, and the present invention does not limit this.
Said machinery chassis also comprises chassis power motor and power source; Said chassis power motor is connected with said power wheel; Be used to drive said power wheel, power source working power battery described herein, it is installed on the chassis overhang; For all motors provide power, said electrokinetic cell outside also is provided with attemperator simultaneously.During practical implementation, the setting of the machinery chassis of minute surface cleaning robot 1 also can have a lot of distortion, is merely for example here, and the present invention does not limit this.
The wiper mechanism of said mechanical part comprises hairbrush, belt and power motor, and said belt is connected with said power motor, and said hairbrush is fixedly installed on said belt surface; Continuous rotation can drive the hairbrush rotation to said belt by said power motor drive, thereby realizes mirror is cleaned.Also be provided with water tank, it is located on the said chassis overhang, is used to provide the water source that cleans mirror.Further comprise gasoline engine generator, it is used to wiper mechanism auxiliary power is provided.Cleaning process is following: referring to Fig. 3; Comprise two row mirrors among the figure, each mirror includes mirror 51 and mirror holder 52, and mirror 51 is located on the mirror holder 52; The wiper mechanism of minute surface cleaning robot 1 comprises belt 111 and hairbrush 112, and wherein hairbrush 112 is located at belt 111 surfaces.Its principle of work and flow process can be described below: minute surface cleaning robot 1 is walked between two row mirrors; The hairbrush 112 of its wiper mechanism is along with belt 111 constantly rotates; Thereby accomplish cleaning to two edge mirrors; The minute surface cleaning robot moves forward along the road that is made up of mirror, and wiper mechanism has just been accomplished the road cleaning of all mirrors on both sides of the road.During practical implementation, the setting of said wiper mechanism and composition also can have a lot of distortion, and the present invention does not limit this.
More than be merely for example, during practical implementation, the setting of mechanical part also can have a lot of distortion, and the present invention does not make qualification to this.
In the present embodiment; Said measurement and map structuring partly are used to comprise status information and the operation information of collecting ambient condition information, minute surface cleaning robot and feed back to said control and drive part, also receive the instruction from said control and drive part simultaneously.Said measurement and map structuring partly are provided with radio frequency identification devices, laser detector and gyroscope, also comprise scrambler, use incremental encoder here; Wherein radio frequency identification devices is located on the chassis overhang of said mechanical part, and laser detector and gyrostatic relative position are fixed, and they all are located at shell the place ahead, said chassis, and said scrambler is located on the power motor of said chassis.Wherein radio frequency identification devices 121 sees Fig. 4 for details in the position of minute surface cleaning robot philtrum; Laser detector and gyroscope 122 see Fig. 5 for details in the position of minute surface cleaning robot philtrum; Wherein Fig. 4 is a side view, and Fig. 5 is a front elevation, and 113 is the wheel of mechanical part among the figure.
Radio frequency identification devices, laser detector and gyroscope and scrambler are used to complete the location positioning of minute surface cleaning robot and map structuring on every side jointly, and wherein radio frequency identification devices is used for the zone location of minute surface cleaning robot; Laser detector and gyroscope detect surrounding environment, robot pose and mirror position information jointly to carry out the structure of three-dimensional map; Its principle be through one can luffing two-dimensional laser and the attitude information that gyroscope provides; Make up a three-dimensional laser detector; The structure that is used for three-dimensional map, and the zone that the combining wireless radio frequency identification equipment is confirmed carries out autonomous positioning, wherein laser detector and gyroscope also can be used for measuring barrier; Said incremental encoder is used to measure gait of march and generates odometer information, and above-mentioned information is used for the structure and the autonomous positioning of three-dimensional map jointly.
In addition; Measurement and map structuring part also comprise high water tank sensor, gasoline engine generator fuel-quantity transducer and the temperature sensor of being located on said water tank, gasoline engine generator and the machinery chassis, are respectively applied for and measure high water tank height, gasoline engine generator oil mass and environment temperature.
More than be merely for example, during practical implementation, the setting of said measurement and map structuring part also can have a lot of distortion, and the present invention does not limit this.
In the present embodiment, said safeguard protection partly is used to scan and detect the ambient condition information and the obstacle information of minute surface cleaning robot, and with above-mentioned information feedback to said control and drive part, also receives the instruction of said control and drive part simultaneously.Said safeguard protection partly comprises active safety protection module and passive security protection module.
Said active safety protection module comprises ultrasonic sensor, infrared anticollision feeler and active safety protected data processing module; Said ultrasonic sensor is located at around the shell of said chassis, respectively is provided with two before and after wherein, about respectively be provided with three; Said infrared anticollision feeler is located at the left and right sides in shell the place ahead, said chassis; Wherein every side is provided with two, is provided with four altogether, and said ultrasonic sensor and said infrared anticollision feeler see Fig. 5 for details in the position of minute surface cleaning robot philtrum; Wherein 131 is ultrasonic sensor, and 132 is infrared anticollision feeler.During practical implementation, also can there be a lot of distortion the position of ultrasonic sensor and infrared anticollision feeler, and the present invention does not limit this.Further; Said infrared anticollision feeler comprises feeler and infrared photoelectric sensor; Said feeler is located on the shell of said chassis; Said infrared photoelectric sensor is located on the said feeler, and the infrared photoelectric sensor that here uses is infrared correlation sensor, also can use the infrared external reflection sensor in addition.During practical implementation, the structure of said infrared anticollision feeler also can have a lot of distortion, is merely for example here, and the present invention does not limit this.
Said ultrasonic sensor and infrared anticollision feeler combine to measure and map structuring laser detector and gyroscope partly; Mirror or barrier to around the minute surface cleaning robot carry out real time scan, and data are fed back to active safety protected data processing module; Said active safety protected data processing module is used to handle the sensor feedback data and is sent to each topworks according to said result formation instruction, and said data processed result and command information also feed back to the application controls platform simultaneously; Said active safety protected data processing module can be integrated in said control and drive part.During practical implementation, said scan mode also can not used real time scan, is merely for example here, and the present invention does not limit this.
Be merely for example, during practical implementation, the setting of said active safety protection module also can have a lot of distortion here, and the present invention does not limit this.
Said passive security protection module comprises impact switch, car body scram button, anxious receiving element and the passive security protected data processing module of stopping of telepilot; The signal that said impact switch and said car body scram button receive can feed back to said passive security protected data processing module, sends instructions to respective execution mechanisms after said passive security protected data processing module is handled signal data; Said impact switch is located at the place ahead and the left and right sides of said chassis shell, and when bumping, the minute surface cleaning robot will brake immediately; Said car body scram button is located at the front and back of said chassis shell, and the urgency that is used for artificially controlling the minute surface cleaning robot is stopped operation; Said telepilot is anxious to stop the instruction that receiving element is used to receive said telepilot, and instruction is sent to corresponding topworks, and suddenly stopping receiving element all can be integrated in said control and drive part for said passive security protected data processing module and said telepilot.Be merely for example, during practical implementation, the setting of said passive security protection module also can have a lot of distortion here, and the present invention does not limit this.
More than be merely for example, during practical implementation, the setting of safeguard protection part also can have a lot of distortion, and the present invention does not limit this.
In the present embodiment; Said control and drive part can receive the instruction of application controls platform and after instruction is resolved, send to each topworks, also receive other part feedack simultaneously and through after the data processing result are partly fed back to the application controls platform through said wireless telecommunications; Said control and drive part also can directly form instruction according to said data processed result, send to each topworks then, also related data are fed back to the application controls platform simultaneously.
Said control and drive part comprise control module and drive part, and said control module comprises host computer and slave computer, and said slave computer further comprises first module, second module and some controllers; Host computer uses Industrial PC here; First module of slave computer and second module are used microprocessor, and are labeled as MCU1 and MCU2 respectively, and said host computer partly is connected with said wireless telecommunications; The said first module MCU1 is connected with said host computer; The said second module MCU2 is connected with the said first module MCU1, and the said second module MCU2 is connected with said controller, and said controller connects with corresponding drive part or sensor respectively; Said drive part is connected with respective execution mechanisms, sees Fig. 6 for details.During practical implementation, the setting of said control and drive part also can have a lot of distortion, and the present invention does not limit this.
Said host computer PC is used for the information of receiving is handled, and result is partly fed back to the application controls platform through wireless telecommunications, and partly receives the instruction of application controls platform through wireless telecommunications, is sent to slave computer and each topworks; Simultaneously, said host computer also can be after carrying out data processing independently sends according to result and instructs to slave computer and then arrive drive part and each topworks, and said result and command information also feed back to the application controls platform simultaneously; The active safety protected data processing module of wherein said safeguard protection part is integrated in said host computer.During practical implementation, the active safety protected data processing module of said safeguard protection part also can be integrated in other module, is merely for example here, and the present invention does not limit this.
The said first module MCU1 is provided with data transmission module, is used to transmit the data between the host computer PC and the second module MCU2; Said first module also is provided with the telepilot information receiving unit, is used to receive the command information of telepilot 4 and is sent to each topworks via the second module MCU2, controller and drive part, and said command information also feeds back to host computer and application controls platform simultaneously; The telepilot of the passive security protection module of said safeguard protection part suddenly stops the telepilot information receiving unit that receiving element also is integrated in said first module.During practical implementation, the Module Division of said first module and function also can have a variety of distortion, and the present invention does not limit this.
The said second module MCU2 is provided with data distribution transport module and data processing module; Wherein said data distribution transport module is used for the instruction classification that receives and sends to each corresponding controllers and then to sensor and drive part and each topworks; And will from the information feedback of said controller to the said first module MCU1 again to host computer PC; Said data processing module receives the information of the self-controller line data of going forward side by side to handle, and said data processed result feeds back to host computer PC and application controls platform through the said first module MCU1.In addition; The said second module MCU2 also can independently send instructions to said each corresponding controllers and then to sensor and drive part and each topworks according to said information processing result, and said result and command information also feed back to host computer PC and application controls platform through the first module MCU1 simultaneously.The passive security protected data processing module of said safeguard protection part is integrated in the said second module MCU2, the impact switch of the passive security protection module of main processing safeguard protection part and the information that the car body scram button is sent.Here, the information transmission between said host computer and slave computer and the slave computer each several part is carried out through 485 modes.During practical implementation, information transmission mode also can have a lot of distortion, is merely for example here, and the present invention does not limit this.
Said controller will be from information feedback to the second module MCU2 that drives part and sensor; And transmit corresponding instruction respectively to each drive part and sensor; It mainly comprises and turns to brake controller, chassis controller and sensor interconnecting module; Said brake controller, the chassis controller of turning to is connected to corresponding drive part, and said sensor interconnecting module connects each sensor.Said drive part will be from the information feedback of each topworks to said controller, and receives the instruction from said controller, drives each relevant topworks afterwards.Referring to Fig. 6, said drive part comprises mainly and turns to brake driver and chassis driver that they are connected with turn to brake actuating mechanism, the chassis topworks of mechanical part respectively.Here, said drive part uses circuit board.Be merely for example, during practical implementation, other controllers and corresponding driven unit can be set also, drive part also can use any other can reach the element of effect same, and the present invention does not limit this.
Special, said measurement and map structuring part one of them sensor--laser detector directly links to each other with said host computer, the data between them are transmitted without said slave computer with instruction.Be merely for example, during practical implementation, laser detector also can use other connected modes here, and the present invention does not limit this.
More than be merely for example, during practical implementation, the setting of control and drive part also can have a lot of distortion, and the present invention does not make qualification to this.
In the present embodiment, said application controls platform mainly comprises main control computer, and said wireless telecommunications partly are located on the said main control computer.In addition, said main control computer also comprises operation interface module and data memory module; Said operation interface module is used for the man-machine interaction with operating personnel, and operating personnel understand the robot running status and send instruction through said operation interface module; The data that said data memory module is used to store from the minute surface cleaning robot are inquired about to back up and to be convenient to.
More than be merely for example, during practical implementation, the module of application controls platform and ingredient setting also can have a lot of distortion, and the present invention does not make qualification to this.
In the present embodiment, said telepilot comprises anxious stopping, and advances, and retreats, and turns functional modules such as high water tank demonstration and the demonstration of gasoline engine generator oil mass.Be merely for example, during practical implementation, telepilot also can comprise other functional modules, perhaps also can comprise above-mentioned all functions module here, and the present invention does not make qualification to this.
The cleaning process of the minute surface cleaning robot robot system of the embodiment of the invention is following:
Before cleaning for the first time; At first need make up map and the storage of whole Jing Chang; Concrete steps are: the minute surface cleaning robot is walked once along the path of whole Jing Chang; Beginning to run in the overall process of accomplishing walking; Radio frequency identification devices, laser detector and the sensors such as gyroscope, incremental encoder of measurement and map structuring part comprise mirror and barrier to the surrounding environment of cleaning Vehicle body, and the speed of travel and the mileage of cleaning Vehicle body carry out real time scan; Wherein said laser detector gained data directly transfer to host computer PC; Other sensor gained data feed back to host computer PC through following path: the sensor → sensor interconnecting module → second module MCU2 → first module MCU1 → host computer PC, and host computer PC is carried out the structure of data processing and three-dimensional map, and goes out optimal route also simultaneously with said map and optimal route storage backup according to the Map Design that builds; Said in addition map and optimal route also partly feed back to said application controls platform through said wireless telecommunications, and the wireless telecommunications of said application controls platform partly receive and send to data memory module after the above-mentioned data and carry out storage backup.During practical implementation, above-mentioned flow process also can be done a lot of distortion, and the present invention does not limit this.
Before cleaning; At first host computer PC is sent in the instruction that will begin to clean of application controls platform; Host computer PC is resolved measurement and the map structuring part that back branch two parts send to said minute surface cleaning robot with above-mentioned command information then; Wherein relevant with laser detector instruction directly sends to said laser detector; The instruction relevant with other sensor sends to radio frequency identification devices, gyroscope through the first module MCU1, the second module MCU2, the sensor interconnecting module of slave computer successively; The sensor will begin the surrounding environment of starting point is scanned; The identification surrounding environment, the ambient condition information that wherein said radio frequency identification devices, gyroscope are collected feeds back to host computer PC through sensor → sensor interconnecting module → second module MCU2 → first module MCU1 → host computer PC path, and wherein the information of laser detector collection directly transfers to host computer PC; Map with its storage after all information processings that host computer PC will be received matees, and confirms to clean according to pre-set running orbit behind the position.The cleaning process of wiper mechanism such as top description and shown in Figure 3 are repeated no more here.During practical implementation, above-mentioned flow process also can be done a lot of distortion, and the present invention does not limit this.
From beginning cleaning; The laser detector and the gyroscope of said measurement and map structuring part and ultrasonic sensor and the infrared correlation sensor of being located on cleaning Vehicle body-chassis shell on the infrared anticollision feeler carry out real time scan with regard to beginning to the surrounding environment of cleaning Vehicle body; Position and barrier with mirror around confirming; The ambient condition information that said laser detector is collected directly transfers to host computer PC; The information data of the said surrounding environment (comprising mirror and barrier) that other sensor is collected feeds back to host computer PC in real time through the transfer path of the sensor → sensor interconnecting module → second module MCU2 → first module MCU1 → host computer PC, and judgement is handled and made to said host computer PC with all information of receiving, carries out initiatively keeping away barrier; Can design and seek new route in case of necessity detours; And narrower or surrounding environment does not satisfy when keeping away the barrier condition when the road surface, and host computer PC can be sent and stop the barrier instruction, makes the minute surface cleaning robot stop walking.Above-mentioned in addition information and data handling procedure also can be used for optimum path search, best route selection aspect.Wherein said laser detector and gyroscope are located at the place ahead of cleaning Vehicle body, and being used for detecting with laser is the center, mirror and barrier in the direct of travel 10m; Said infrared anticollision feeler is located at the left and right sides of said cleaning Vehicle body, is used to detect the unusual mirror of anterior position; Said ultrasonic sensor is located at around the said cleaning Vehicle body, is used to detect the mirror vertical with the ultrasound wave direction of transfer, also can be used for measuring other thicker barrier.During practical implementation, the position is set also can changes of each sensor, the present invention does not limit this.
Simultaneously; The passive security protection module of said safeguard protection part also brings into operation; Comprising impact switch; It is arranged on the place ahead and the left and right sides of cleaning Vehicle body; Be used in that the active safety protection module lost efficacy or minute surface cleaning robot speed cause too soon car can't self-braking situation under, said impact switch is met anything and all can be caused its feedback data to give the second module MCU2 of the slave computer of control and drive part, causes the second module MCU2 to send instruction and through chassis controller, chassis driver the chassis power motor is stopped; Also comprise the car body scram button; It is located at the place ahead and the rear of cleaning Vehicle body; When something unexpected happened; Press the second module MCU2 that this button can feed back to related data information the slave computer of control and drive part, cause the second module MCU2 to send instruction and make the minute surface cleaning robot out of service; Further comprise the anxious receiver module that stops of telepilot; After the field staff finds emergency condition and sends stop command through telepilot, above-mentioned instruction will be received by the telepilot information receiving unit of the first module MCU1 of the slave computer of control and drive part and be sent to corresponding controllers, driver and topworks through the second module MCU2.Above-mentioned deal with data and result will feed back to the application controls platform through host computer PC and be used for storage and backup.During practical implementation, the position is set also can has multiplely of said impact switch and car body scram button, the feedback path of data also can have a lot of distortion, and the present invention does not limit this.
In addition; In the operational process of minute surface cleaning robot; The high water tank sensor; Gasoline engine generator fuel-quantity transducer, temperature sensor, steering angle sensor and braking force sensor also the data in real time that records are fed back to host computer PC and the application controls platform carries out storage backup, and operating personnel also can monitor the state of minute surface cleaning robot according to said data in real time.Wherein, the instruction of sending of said application controls platform can comprise that indication minute surface cleaning robot starts working, quits work and revise aspect such as running route.Be merely for example, during practical implementation, the instruction that the application controls platform sends can comprise that also other are multiple, and the present invention does not make qualification to this.
Field staff's 4 pairs of minute surface cleaning robots 1 that also can use a teleswitch are controlled, and can regulate the operation of robot according to on-site actual situations, for example anxious stopping; Advance; Retreat, turn etc., also can use a teleswitch high water tank and gasoline engine generator oil mass are monitored.
Claims (28)
1. sun power minute surface cleaning robot system; It is characterized in that; Comprise minute surface cleaning robot and the application controls platform that is used to set up with user interactions, said minute surface cleaning robot is connected with said application controls platform, wherein; Said minute surface cleaning robot is provided with to be measured and map structuring part, control and drive part and mechanical part, and said measurement and map structuring part and control and drive part all are located on the said mechanical part;
Said measurement and map structuring part: be used to collect the status information that comprises ambient condition information, minute surface cleaning robot, the information of operation information; And feed back to said control and drive part, also receive instruction simultaneously from said control and drive part;
Said control and drive part: after being used to receive the instruction of application controls platform transmission and passing through the instruction parsing instruction is sent to each topworks; Also receive the information of measurement and map structuring part and mechanical part; And said information is formed instruction according to result be sent to respective execution mechanisms after data processing, said data processed result and command information feed back to said application controls platform simultaneously;
The topworks of said mechanical part for cleaning and walking can receive the instruction of said control and drive part, also feeds back running state information to the said control and the drive part of minute surface cleaning robot simultaneously.
2. the system of claim 1 is characterized in that, said mechanical part comprises machinery chassis and wiper mechanism; Said wiper mechanism is located on the said machinery chassis; Said machinery chassis comprises the cleaning Vehicle body, and said cleaning Vehicle body portion is provided with deflecting roller, and the rear portion is provided with power wheel;
Said machinery chassis comprises automatic directional steering mechanism, and said automatic directional steering mechanism comprises steer motor and steering axle, and said steer motor is connected with said steering axle, and said steering axle is connected with said deflecting roller, is used to drive said deflecting roller and turns to.
3. system as claimed in claim 2; It is characterized in that; Said machinery chassis also comprises the brake control gear, and said brake control gear comprises brake motor and brake gear, and said brake motor is connected with said brake gear; Said brake gear is connected with power wheel with said deflecting roller, is used for said deflecting roller and power wheel are carried out braking brake.
4. according to claim 1 or claim 2 system is characterized in that said measurement and map structuring partly are provided with laser detector and gyroscope carries out location positioning and map structuring; And laser detector and gyrostatic relative position are fixed, and all are located at said cleaning Vehicle body the place ahead.
5. system as claimed in claim 4; It is characterized in that; Said measurement and map structuring part also are provided with radio frequency identification devices and scrambler, and they combine said laser detector and gyroscope to detect surrounding environment, robot pose and mirror position information jointly and carry out the structure of three-dimensional map by this; Wherein
Radio frequency identification devices is located on the chassis overhang, is used for the zone location of minute surface cleaning robot;
Said scrambler is located on the power motor of said chassis, is used to measure gait of march and generates odometer information, and above-mentioned information is used for the structure and the autonomous positioning of three-dimensional map jointly.
6. the system of claim 1 is characterized in that, wherein said minute surface cleaning robot also comprises the safeguard protection part, and it is located on the said mechanical part;
Said safeguard protection partly is used to scan and detect the ambient condition information and the obstacle information of minute surface cleaning robot, and with above-mentioned information feedback to said control and drive part, also receives the instruction of said control and drive part simultaneously.
7. system as claimed in claim 6; It is characterized in that; Said safeguard protection partly comprises active safety protection module and passive security protection module; Wherein said active safety protection module is provided with infrared anticollision feeler, and the front portion that it is located at said cleaning Vehicle body is used to prevent bump with minute surface.
8. like claim 6 or 7 described systems, it is characterized in that said active safety protection module also comprises ultrasonic sensor, it is located at the said cleaning Vehicle body outside;
Said passive security protection module comprises impact switch, and it is located at around the said cleaning Vehicle body.
9. system as claimed in claim 8 is characterized in that, said infrared anticollision feeler is an infrared photoelectric sensor.
10. like claim 2 or 3 described systems, it is characterized in that,
Said automatic directional steering mechanism also comprises steering angle sensor, and said steering angle sensor is located on the said steer motor, is used to measure steering angle, and with above-mentioned steering angle information feedback to said control and drive part;
Said brake control gear also includes the braking force sensor, and said braking force sensor is located on the said brake motor, is used to measure braking force numerical value, and said braking force numerical information is fed back to said control and drive part.
11. system as claimed in claim 2 is characterized in that, said cleaning Vehicle body also comprises chassis overhang and chassis shell, and said chassis overhang is located at said power wheel and deflecting roller top, and said chassis shell is located on the said chassis overhang;
Said machinery chassis also comprises chassis power motor and power source, and said chassis power motor and said power source all are located on the said chassis overhang, and said power source outside also is provided with attemperator.
12. system as claimed in claim 2 is characterized in that, said wiper mechanism comprises hairbrush, belt and power motor, and said belt is connected with said power motor, and said hairbrush is fixedly installed on said belt surface;
Continuous rotation can drive the hairbrush rotation to said belt by said power motor drive, and mirror is cleaned.
13. system as claimed in claim 12 is characterized in that, said wiper mechanism also comprises water tank, and it is arranged on the said chassis overhang, is used to provide the water source of cleaning mirror.
14. system as claimed in claim 11 is characterized in that, said mechanical part also comprises gasoline engine generator, and it is located on the said chassis overhang, is used to wiper mechanism auxiliary power is provided.
15. like claim 11 or 13 or 14 described systems; It is characterized in that; Said measurement and map structuring part also comprise high water tank sensor, gasoline engine generator fuel-quantity transducer and temperature sensor; Be located at respectively on said water tank, gasoline engine generator and the cleaning Vehicle body, be used to measure high water tank height, gasoline engine generator oil mass and environment temperature.
16. system as claimed in claim 8 is characterized in that, said passive security protection module also comprises the car body scram button, and it is located on the said cleaning Vehicle body.
17. system as claimed in claim 7; It is characterized in that; Said active safety protection module and passive security protection module also are respectively equipped with active safety protected data processing module and passive security protected data processing module, and said data processing module all is integrated in said control and drive part.
18. the system of claim 1 is characterized in that, said control and drive part comprise control module and drive part, and said control module is connected with said drive part;
Said control module is used to receive the instruction that said application controls platform sends; And through after the instruction parsing analysis result being sent to said drive part and sensor; Also receive topworks's information of said drive part and sensor feedback; And after data processing, be sent to respective execution mechanisms according to result formation instruction, simultaneously said data processed result and command information are fed back to the application controls platform;
Said drive part will be from the information feedback of each topworks to said control module, and receives the instruction from said control module, is sent to each topworks afterwards.
19. system as claimed in claim 18 is characterized in that, said control module comprises host computer and slave computer, and said host computer is connected with the application controls platform, and said slave computer is connected with host computer, and said slave computer is connected with sensor with drive part;
After instruction that said host computer reception application controls platform sends and process instruction are resolved instruction is sent to each topworks; Also receive topworks's information of slave computer feedback; And said information is formed instruction according to result be sent to respective execution mechanisms after data processing, said data processed result and command information feed back to said application controls platform simultaneously;
Said slave computer collects to feed back to host computer from the information that drives part and sensor and after handling; And the dependent instruction that transmits said host computer to said drive part and sensor; Simultaneously said slave computer also sends according to data processed result and instructs to drive part, and said result and command information also feed back to said host computer and then to said application controls platform.
20., it is characterized in that said active safety protected data processing module is integrated in said host computer like claim 17 or 19 described systems.
21., it is characterized in that the laser detector of said measurement and map structuring part directly is connected with said host computer like claim 4 or 19 described systems, the information transmission between them is directly to transmit.
22. system as claimed in claim 19; It is characterized in that said slave computer comprises first module, second module and controller, said first module connects host computer; Said second module connects first module and controller, and said controller connects drive part or sensor;
Data between said first module transmission host computer and second module;
Said second module collect self-controller information and handle the back feed back to host computer through first module; And the host computer that receives the transmission of first module instructs to said drive part and sensor; Simultaneously said second module is also sent according to data processed result and is instructed to drive part, and said result and command information also feed back to said host computer and then to said application controls platform;
Said controller is used for the data transmission of drive part and the sensor and second module.
23., it is characterized in that said passive security protected data processing module is integrated in said second module like claim 17 or 22 described systems.
24. the system of claim 22 is characterized in that, said controller comprises and turns to brake controller, chassis controller and sensor interconnecting module that they are connected with turning to brake driver, chassis driver and sensor respectively.
25. like claim 18 or 24 described systems; It is characterized in that; Said drive part comprises and turns to brake driver and chassis driver, and the said brake driver that turns to is connected with the control gear that brakes with automatic directional steering mechanism, and said chassis driver is connected with said machinery chassis.
26., it is characterized in that like claim 1 or 19 described systems, also comprise Wireless Communication Equipment, said application controls platform is connected through Wireless Communication Equipment with said minute surface cleaning robot;
Said minute surface cleaning robot and application controls platform are respectively equipped with corresponding wireless telecommunications part;
The wireless telecommunications part of said minute surface cleaning robot is connected with the host computer of said control and drive part.
27. the system of claim 1 is characterized in that, also can comprise telepilot, it is used at the scene robot being controlled;
Said first module also is provided with the telepilot information receiving unit, is used to receive the command information of telepilot and is sent to each topworks via second module, corresponding controllers and drive part, and said command information also feeds back to host computer simultaneously;
The passive security protection module of said safeguard protection part comprises that also telepilot suddenly stops receiving element, and it is integrated in the telepilot information receiving unit of said first module.
28. system as claimed in claim 26 is characterized in that, said application controls platform mainly comprises main control computer, and said wireless telecommunications partly are located on the said main control computer;
Said main control computer also comprises operation interface module and data memory module, and said operation interface module is used for the man-machine interaction with operating personnel, and said data memory module is used to store the data from the minute surface cleaning robot.
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| CN 201110457889 CN102426455B (en) | 2011-12-31 | 2011-12-31 | Solar mirror surface cleaning robot system |
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| CN 201110457889 CN102426455B (en) | 2011-12-31 | 2011-12-31 | Solar mirror surface cleaning robot system |
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