CN102426455B - Solar mirror surface cleaning robot system - Google Patents
Solar mirror surface cleaning robot system Download PDFInfo
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- CN102426455B CN102426455B CN 201110457889 CN201110457889A CN102426455B CN 102426455 B CN102426455 B CN 102426455B CN 201110457889 CN201110457889 CN 201110457889 CN 201110457889 A CN201110457889 A CN 201110457889A CN 102426455 B CN102426455 B CN 102426455B
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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 refers to utilize large scale array parabolic or dish-shaped minute surface to collect solar thermal energy, provides steam by heat-exchanger rig, in conjunction with the technique of traditional turbodynamo, thereby reaches the purpose of generating.Minute surface cleans and mainly to clean truck by manned minute surface and finish in existing solar light-heat power-generation mirror field, and these cleaning Vehicle mostly are and install wiper mechanism additional at existing truck and convert.Someone drives the minute surface cleaning Vehicle, although have preferably control and flexibility ratio, but 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 large, and it is larger to clean on-the-spot dust, and it is healthy to affect the cleaning personnel.
At present existing automatic minute surface cleaning robot mainly is some cleaning devices that are used for the building exposed wall glass cleaning, and its structure mostly is absorption type, and real is used for the automatic minute surface cleaning robot that solar light-heat power-generation mirror field minute surface cleans.
Summary of the invention
In order to overcome the defective of prior art; the invention provides a kind of sun power minute surface cleaning robot system; comprise minute surface cleaning robot and application controls platform; described minute surface cleaning robot is connected with described application controls platform; described minute surface robot is provided with laser detector and gyroscope is independently located; reach automatic directional steering mechanism and brake control mechanism and be used for auto-steering and brake; the 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 are finished independent navigation in conjunction with control and drive part and are automatically stopped barrier and keep away barrier.The present invention can, have than the high automation level automatically to specifying the minute surface in the mirror field to carry out cleaning according to predetermined set under rugged environment comparatively, need not can finish under the manual control to specifying the minute surface cleaning; Use simultaneously robot to replace the people to finish the cleaning of photo-thermal power generation mirror plane of field lens, can significantly reduce field staff's working strength, improve circumstance.
Technical scheme of the present invention is as follows:
A kind of sun power minute surface cleaning robot system, comprise the minute surface cleaning robot and be used for to set up application controls platform with user interactions, described minute surface cleaning robot is connected with described application controls platform, wherein, described minute surface cleaning robot is provided with to be measured and map structuring part, control and drive part and mechanical part, and described measurement and map structuring part and control and drive part all are located on the described mechanical part;
Described measurement and map structuring part: be used for collection and comprise the status information of ambient condition information, minute surface cleaning robot, the information of operation information, and feed back to described control and drive part, also receive the instruction from described control and drive part simultaneously;
Described control and drive part: for the instruction that receives the transmission of application controls platform and through after the instruction parsing instruction being sent to each topworks, also receive the information of measurement and map structuring part and mechanical part, and described information is formed instruction according to result be sent to respective execution mechanisms after data are processed, described data processed result and command information feed back to described application controls platform simultaneously;
The topworks of described mechanical part for cleaning and walking can receive the instruction of described control and drive part, also feeds back the running state information of minute surface cleaning robot simultaneously to described control and drive part.
Preferably, described mechanical part comprises machinery chassis and wiper mechanism, and described wiper mechanism is located on the described machinery chassis, and described machinery chassis comprises the cleaning Vehicle body, and described cleaning Vehicle body portion is provided with deflecting roller, and the rear portion is provided with power wheel;
Described machinery chassis comprises automatic directional steering mechanism, and described automatic directional steering mechanism comprises steer motor and steering axle, and described steer motor is connected with described steering axle, and described steering axle is connected with described deflecting roller, is used for driving described deflecting roller and turns to.
Preferably, described machinery chassis also comprises brake control mechanism, described brake control mechanism comprises brake motor and brake gear, described brake motor is connected with described brake gear, described brake gear is connected with power wheel with described deflecting roller, is used for described deflecting roller and power wheel are carried out braking brake.
Preferably, described measurement and map structuring partly are provided with laser detector and gyroscope and carry out location, position and map structuring; And laser detector and gyrostatic relative position are fixed, and all are located at described cleaning Vehicle body the place ahead.
Preferably, described measurement and map structuring part also are provided with radio frequency identification devices and scrambler, and they detect the structure that surrounding environment, robot pose and mirror position information are also carried out three-dimensional map by this jointly in conjunction with described laser detector and gyroscope; Wherein
Radio frequency identification devices is located on the chassis overhang, is used for the zone location of minute surface cleaning robot;
Described scrambler is located on the power motor of described chassis, is used for measuring gait of march and generating odometer information, and above-mentioned information is used for structure and the autonomous location of three-dimensional map jointly.
Preferably, wherein said minute surface cleaning robot also comprises the safeguard protection part, and it is located on the described mechanical part;
Described safeguard protection partly is used for scanning and detects ambient condition information and the obstacle information of minute surface cleaning robot, and above-mentioned information is fed back to described control and drive part, also receives the instruction of described control and drive part simultaneously.
Preferably, described 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 it is located at the front portion of described cleaning Vehicle body, is used for preventing from bumping with minute surface.
Preferably, described active safety protection module also comprises ultrasonic sensor, and it is located at the described cleaning Vehicle body outside;
Described passive security protection module comprises impact switch, and it is located at around the described cleaning Vehicle body.
Preferably, described infrared anticollision feeler is infrared photoelectric sensor.
Preferably, described automatic directional steering mechanism also comprises steering angle sensor, and described steering angle sensor is located on the described steer motor, is used for measuring steering angle, and above-mentioned steering angle information is fed back to described control and drive part;
Described brake control mechanism also includes the braking force sensor, and described braking force sensor is located on the described brake motor, is used for measuring braking force numerical value, and described braking force numerical information is fed back to described control and drive part.
Preferably, described cleaning Vehicle body also comprises chassis overhang and chassis case, and described chassis overhang is located at described power wheel and deflecting roller top, and described chassis case is located on the described chassis overhang;
Described machinery chassis also comprises chassis power motor and power source, and described chassis power motor and described power source all are located on the described chassis overhang, and described power source outside also is provided with attemperator.
Preferably, described wiper mechanism comprises hairbrush, belt and power motor, and described belt is connected with described power motor, and described hairbrush is fixedly installed on described belt surface;
Continuous rotation can be with electric brush to rotate to described belt by described power motor drive, and mirror is cleaned.
Preferably, described wiper mechanism also comprises water tank, and it is arranged on the described chassis overhang, is used for providing the water source of cleaning mirror.
Preferably, described mechanical part also comprises gasoline engine generator, and it is located on the described chassis overhang, is used to wiper mechanism that auxiliary power is provided.
Preferably, described 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 described water tank, gasoline engine generator and the cleaning Vehicle body, be used for measuring high water tank height, gasoline engine generator oil mass and environment temperature.
Preferably, described passive security protection module also comprises the car body scram button, and it is located on the described cleaning Vehicle body.
Preferably, described 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 described data processing module all is integrated in described control and drive part.
Preferably, described control and drive part comprise control module and drive part, and described control module is connected with described drive part;
Described control module is used for receiving the instruction that described application controls platform sends, and through after the instruction parsing analysis result being sent to described drive part and sensor, also receive topworks's information of described drive part and sensor feedback, and after data are processed, be sent to respective execution mechanisms according to result formation instruction, simultaneously described data processed result and command information are fed back to the application controls platform;
Described drive part will feed back to from the information of each topworks described control module, and receive the instruction from described control module, be sent to afterwards each topworks.
Preferably, described control module comprises host computer and slave computer, and described host computer is connected with the application controls platform, and described slave computer is connected with host computer, and described slave computer is connected with sensor with drive part;
Described host computer receives the instruction of application controls platform transmission also through after the instruction parsing instruction being sent to each topworks, also receive topworks's information of slave computer feedback, and described information is formed instruction according to result be sent to respective execution mechanisms after data are processed, described data processed result and command information feed back to described application controls platform simultaneously;
Described slave computer collect self-driven part and sensor information and process after feed back to host computer, and the dependent instruction that transmits described host computer is to described drive part and sensor, simultaneously described slave computer also sends instruction to drive part according to data processed result, and described result and command information also feed back to described host computer and then to described application controls platform.
Preferably, described active safety protected data processing module is integrated in described host computer.
Preferably, the laser detector of described measurement and map structuring part directly is connected with described host computer, and the information transmission between them is directly to transmit.
Preferably, described slave computer comprises the first module, the second module and controller, and described the first module connects host computer, and described the second module connects the first module and controller, and described controller connects drive part or sensor;
Data between described the first module transmission host computer and the second module;
Described the second module collect self-controller information and process after feed back to host computer by the first module, and receive host computer instruction that the first module transmits to described drive part and sensor, simultaneously described the second module is also sent instruction to drive part according to data processed result, and described result and command information also feed back to described host computer and then to described application controls platform;
Described controller is used for the data transmission of drive part and sensor and the second module.
Preferably, described passive security protected data processing module is integrated in described the second module.
Preferably, described 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, described drive part comprises and turns to brake driver and chassis driver, and the described brake driver that turns to is connected with brake control mechanism with automatic directional steering mechanism, and described chassis driver is connected with described machinery chassis.
Preferably, also comprise Wireless Communication Equipment, described application controls platform be connected the minute surface cleaning robot and connect by Wireless Communication Equipment;
Described minute surface cleaning robot and application controls platform are respectively equipped with corresponding wireless telecommunications part;
The wireless telecommunications part of described minute surface cleaning robot is connected with the host computer of described control and drive part.
Preferably, also can comprise telepilot, it is used at the scene robot being controlled;
Described the first module also is provided with the telepilot information receiving unit, is used for receiving the command information of telepilot and is sent to each topworks via the second module, corresponding controllers and drive part, and described command information also feeds back to host computer simultaneously;
The passive security protection module of described safeguard protection part comprises that also telepilot suddenly stops receiving element, and it is integrated in the telepilot information receiving unit of described the first module.
Preferably, described application controls platform mainly comprises main control computer, and described wireless telecommunications partly are located on the described main control computer;
Described main control computer also comprises Operating Interface Module and data memory module, and described Operating Interface Module is used for the man-machine interaction with operating personnel, and described data memory module is used for storage from the data of minute surface cleaning robot.
Compared with prior art, beneficial effect of the present invention is as follows:
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, possessing simultaneously vehicle guides automatically, the location, position, automatic obstacle-avoiding stops barrier, map is the function such as structure and optimum path search automatically, guarantee that minute surface cleaning robot highly effective and safe finishes the minute surface cleaning, have than the high automation level, need not to finish under the manual control to specifying the minute surface cleaning, use simultaneously robot to replace the people to finish the cleaning of photo-thermal power generation mirror plane of field lens, can significantly reduce field staff's working strength, improve circumstance.
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 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 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 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 for explanation the present invention, and are not intended to limit the scope of the invention.
Embodiment
A kind of sun power minute surface cleaning robot system, comprise minute surface cleaning robot 1 and be used for to set up and the application controls platform 2 of user interactions, also comprise in the present embodiment Wireless Communication Equipment 3, minute surface cleaning robot 1 carries out wireless connections with application controls platform 2 by Wireless Communication Equipment 3.In addition, minute surface cleaning robot 1 is connected with the application controls platform and also can be adopted other effective connected modes to connect, and such as electric connection, application controls this moment platform 2 can be set directly on the minute surface cleaning robot 1, and only for for example, the present invention does not limit this herein.In addition, in the present embodiment, described 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 described wireless telecommunications part combining wireless network equipment 3 is finished the data transmission of minute surface cleaning robot 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; described measurement and map structuring part, control and drive part and safeguard protection part all are located on the described mechanical part; described control and drive part partly are connected with described wireless telecommunications, and the annexation of each several part is seen Fig. 2.During implementation, the setting of minute surface cleaning robot 1 also can have a lot of distortion, and only for giving an example, the present invention does not limit this herein.
In the present embodiment, the topworks of mechanical part for cleaning and walking can receive the instruction from described control and drive part, also feeds back the running state information of minute surface cleaning robot simultaneously to described control and drive part.Mechanical part specifically comprises machinery chassis, wiper mechanism and utility appliance, and described wiper mechanism and utility appliance all are located on the described machinery chassis.Described machinery chassis comprises the cleaning Vehicle body, described cleaning Vehicle body specifically comprises chassis overhang, chassis case, be located at anterior deflecting roller and be located at the power wheel at rear portion, described deflecting roller and power wheel are located at the chassis overhang below, and described chassis case is positioned at described chassis overhang top.
Described machinery chassis also comprises automatic directional steering mechanism and brake control mechanism:
Described automatic directional steering mechanism comprises steer motor and steering axle, and steering axle is used bearing circle herein, and described steer motor is connected with described bearing circle, and described bearing circle is connected with described deflecting roller, turns to for the drive deflecting roller; Described steer motor is provided with steering angle sensor, is specially the absolute value encoder of being located on the steer motor herein, be used for to measure steering angle and above-mentioned steering angle information is fed back to described control and drive part and then to described application controls platform.
Described brake control mechanism comprises brake motor and brake gear, and described brake motor is connected with described brake gear, and described brake gear and the described sub-connection of taking turns are used for described wheel is carried out braking brake; Described brake motor is provided with the braking force sensor, is specially the absolute value encoder of being located on the brake motor, be used for to measure the braking force size and described braking force numerical information is fed back to described control and drive part and then to described application controls platform.During implementation, the automatic directional steering mechanism of minute surface cleaning robot 1 and the setting of brake control mechanism also can have a lot of distortion, and described sensor also has a lot of the selection, and only for giving an example, the present invention does not limit this herein.
Described machinery chassis also comprises chassis power motor and power source, described chassis power motor is connected with described power wheel, be used for driving described power wheel, power source described herein uses electrokinetic cell, it is installed on the chassis overhang, for all motors provide power, described electrokinetic cell outside also is provided with attemperator simultaneously.During implementation, the setting of the machinery chassis of minute surface cleaning robot 1 also can have a lot of distortion, and only for giving an example, the present invention does not limit this herein.
The wiper mechanism of described mechanical part comprises hairbrush, belt and power motor, and described belt is connected with described power motor, and described hairbrush is fixedly installed on described belt surface; Continuous rotation can be with electric brush to rotate to described belt by described power motor drive, thereby realizes mirror is cleaned.Also be provided with water tank, it is located on the described chassis overhang, is used for providing the water source that cleans mirror.Further comprise gasoline engine generator, it is used to wiper mechanism that auxiliary power is provided.Cleaning process is as follows: 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 finish the cleaning to two edge mirrors, the minute surface cleaning robot moves forward along the road that is made of mirror, and wiper mechanism has just been finished the road cleaning of all mirrors on both sides of the road.During implementation, the setting of described wiper mechanism and composition also can have a lot of distortion, and the present invention does not limit this.
Below only for giving an example, during implementation, the setting of mechanical part also can have a lot of distortion, and the present invention does not make restriction to this.
In the present embodiment, described measurement and map structuring partly are used for comprising status information and the operation information of collecting ambient condition information, minute surface cleaning robot and feeding back to described control and drive part, also receive the instruction from described control and drive part simultaneously.Described measurement and map structuring partly are provided with radio frequency identification devices, laser detector and gyroscope, also comprise scrambler, use incremental encoder herein; Wherein radio frequency identification devices is located on the chassis overhang of described mechanical part, and laser detector and gyrostatic relative position are fixed, and they all are located at described chassis case the place ahead, and described scrambler is located on the power motor of described chassis.Wherein the position of radio frequency identification devices 121 in the minute surface cleaning robot seen Fig. 4 for details, laser detector and the position of gyroscope 122 in the minute surface cleaning robot are seen Fig. 5 for details, wherein Fig. 4 is side view, and Fig. 5 is 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 position location 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 by 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 determined independently locates, and wherein laser detector and gyroscope also can be used for measuring barrier; Described incremental encoder is used for measuring gait of march and generating odometer information, and above-mentioned information is used for structure and the autonomous location 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 described water tank, gasoline engine generator and the machinery chassis, are respectively applied to measure high water tank height, gasoline engine generator oil mass and environment temperature.
Below only for giving an example, during implementation, the setting of described measurement and map structuring part also can have a lot of distortion, and the present invention does not limit this.
In the present embodiment, described safeguard protection partly is used for scanning and detects ambient condition information and the obstacle information of minute surface cleaning robot, and above-mentioned information is fed back to described control and drive part, also receives the instruction of described control and drive part simultaneously.Described safeguard protection partly comprises active safety protection module and passive security protection module.
Described active safety protection module comprises ultrasonic sensor, infrared anticollision feeler and active safety protected data processing module; Described ultrasonic sensor is located at around the described chassis case, respectively arrange two wherein, about respectively arrange three, described infrared anticollision feeler is located at the left and right sides in described chassis case the place ahead, wherein every side arranges two, arranges altogether four, and described ultrasonic sensor and the position of described infrared anticollision feeler in the minute surface cleaning robot are seen Fig. 5 for details, wherein 131 is ultrasonic sensor, and 132 is infrared anticollision feeler.During 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, described infrared anticollision feeler comprises feeler and infrared photoelectric sensor, described feeler is located on the described chassis case, described infrared photoelectric sensor is located on the described feeler, infrared photoelectric sensor used herein is the infrared emission sensor, also can use the infrared external reflection sensor in addition.During implementation, the structure of described infrared anticollision feeler also can have a lot of distortion, and only for giving an example, the present invention does not limit this herein.
Described ultrasonic sensor and infrared anticollision feeler are in conjunction with measuring and map structuring laser detector and gyroscope partly, mirror or barrier around the minute surface cleaning robot are carried out real time scan, and feed data back to active safety protected data processing module; Described active safety protected data processing module is sent to each topworks for the treatment of the data of the sensor feedback and according to described result formation instruction, and described data processed result and command information also feed back to the application controls platform simultaneously; Described active safety protected data processing module can be integrated in described control and drive part.During implementation, described scan mode also can not used real time scan, and only for giving an example, the present invention does not limit this herein.
Only for giving an example, during implementation, the setting of described active safety protection module also can have a lot of distortion herein, and the present invention does not limit this.
Described 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 described impact switch and described car body scram button receive can feed back to described passive security protected data processing module, sends instructions to respective execution mechanisms after described passive security protected data processing module is processed signal data; Described impact switch is located at the place ahead and the left and right sides of described chassis case, and when bumping, the minute surface cleaning robot will brake immediately; Described car body scram button is located at the front and back of described chassis case, and the urgency that is used for manual control minute surface cleaning robot is stopped operation; Described telepilot is anxious to stop the instruction that receiving element is used for receiving described telepilot, and instruction is sent to corresponding topworks, and suddenly stopping receiving element all can be integrated in described control and drive part for described passive security protected data processing module and described telepilot.Only for giving an example, during implementation, the setting of described passive security protection module also can have a lot of distortion herein, and the present invention does not limit this.
Below only for giving an example, during 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, described control and drive part can receive the instruction of application controls platform and send to each topworks after instruction is resolved, also receive the other parts feedack simultaneously and process through data after with result through described wireless telecommunications partial feedback to the application controls platform; Described control and drive part also can directly form instruction according to described data processed result, then send to each topworks, also related data are fed back to the application controls platform simultaneously.
Described control and drive part comprise control module and drive part, described control module comprises host computer and slave computer, described slave computer further comprises the first module, the second module and some controllers, host computer uses Industrial PC herein, the first module of slave computer and the second module are used microprocessor, and be labeled as respectively MCU1 and MCU2, described host computer partly is connected with described wireless telecommunications, described the first module MCU1 is connected with described host computer, described the second module MCU2 is connected with described the first module MCU1, described the second module MCU2 is connected with described controller, described controller connects with corresponding drive part or sensor respectively, described drive part is connected with respective execution mechanisms, sees Fig. 6 for details.During implementation, the setting of described control and drive part also can have a lot of distortion, and the present invention does not limit this.
Described host computer PC is used for the information of receiving is processed, and with result by the wireless telecommunications partial feedback to the application controls platform, and partly receive the instruction of application controls platform by wireless telecommunications, be sent to slave computer and each topworks; Simultaneously, described host computer also can carry out independently sending instruction to slave computer and then arrival drive part and each topworks according to result after data are processed, and described 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 described host computer.During implementation, the active safety protected data processing module of described safeguard protection part also can be integrated in other module, and only for giving an example, the present invention does not limit this herein.
Described the first module MCU1 is provided with data transmission module, is used for the data between transmission host computer PC and the second module MCU2; Described the first module also is provided with the telepilot information receiving unit, is used for receiving the command information of telepilot 4 and is sent to each topworks via the second module MCU2, controller and drive part, and described command information also feeds back to host computer and application controls platform simultaneously; The telepilot of the passive security protection module of described safeguard protection part suddenly stops the telepilot information receiving unit that receiving element also is integrated in described the first module.During implementation, the Module Division of described the first module and function also can have a variety of distortion, and the present invention does not limit this.
Described the 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 will receive and sends to each corresponding controllers and then to sensor and drive part and each topworks, and will feed back to from the information of described controller described the first module MCU1 again to host computer PC, described data processing module receives the information of self-controller and carries out data and process, and described data processed result feeds back to host computer PC and application controls platform by described the first module MCU1.In addition, described the second module MCU2 also can independently send instructions according to the result of described information to described each corresponding controllers and then to sensor and drive part and each topworks, and described result and command information also feed back to host computer PC and application controls platform by the first module MCU1 simultaneously.The passive security protected data processing module of described safeguard protection part is integrated in described the second module MCU2, mainly processes the impact switch of safeguard protection passive security protection module partly and the information that the car body scram button is sent.Herein, the communication between described host computer and slave computer and the slave computer each several part is undertaken by 485 modes.During implementation, information transmission mode also can have a lot of distortion, and only for giving an example, the present invention does not limit this herein.
The information of described controller self-driven part in future and sensor feeds back to the second module MCU2, and transmit respectively corresponding instruction to each drive part and sensor, it mainly comprises and turns to brake controller, chassis controller and sensor interconnecting module, described brake controller, the chassis controller of turning to is connected to corresponding drive part, and described sensor interconnecting module connects each sensor.Described drive part will feed back to from the information of each topworks described controller, and receive the instruction from described controller, drive afterwards each relevant topworks.Referring to Fig. 6, described 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.Herein, described drive part uses circuit board.Only for for example, during 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.
Especially, described measurement and map structuring the part one of them sensor--laser detector directly links to each other with described host computer, and the data between them and command are without described slave computer.Only for giving an example, during implementation, laser detector also can use other connected modes herein, and the present invention does not limit this.
Below only for giving an example, during implementation, the setting of control and drive part also can have a lot of distortion, and the present invention does not make restriction to this.
In the present embodiment, described application controls platform mainly comprises main control computer, and described wireless telecommunications partly are located on the described main control computer.In addition, described main control computer also comprises Operating Interface Module and data memory module; Described Operating Interface Module is used for the man-machine interaction with operating personnel, and operating personnel understand the robot running status and send instruction by described Operating Interface Module; Described data memory module is used for storage to be inquired about to back up and to be convenient to from the data of minute surface cleaning robot.
Below only for giving an example, during implementation, the module of application controls platform and ingredient setting also can have a lot of distortion, and the present invention does not make restriction to this.
In the present embodiment, described telepilot comprises anxious stopping, and advances, and retreats, and turns the functional modules such as high water tank demonstration and the demonstration of gasoline engine generator oil mass.Only for giving an example, during implementation, telepilot also can comprise other functional modules, perhaps also can comprise above-mentioned all functions module herein, and the present invention does not make restriction to this.
The cleaning process of the minute surface cleaning robot robot system of the embodiment of the invention is as follows:
Before cleaning for the first time, at first need to 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, in beginning to run to the overall process of finishing walking, measure and map structuring radio frequency identification devices partly, laser detector and gyroscope, the sensors such as incremental encoder are to the surrounding environment of cleaning Vehicle body, comprise mirror and barrier, and the speed of travel and the mileage of cleaning Vehicle body carry out real time scan, wherein said laser detector the data obtained directly transfers to host computer PC, other sensor the data obtaineds feed back to host computer PC by following path: sensor → sensor interconnecting module → the second module MCU2 → first module MCU1 → host computer PC, host computer PC is carried out the structure of data processing and three-dimensional map, and the Map Design that foundation builds goes out optimal route also simultaneously with described map and optimal route storage backup, in addition described map and optimal route also by described wireless telecommunications partial feedback to described application controls platform, the wireless telecommunications of described application controls platform partly receive and send to data memory module after the above-mentioned data and carry out storage backup.During 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, then minute two parts sent to measurement and the map structuring part of described minute surface cleaning robot after host computer PC was resolved above-mentioned command information, wherein the instruction relevant with laser detector directly sends to described laser detector, the first module MCU1 of slave computer is passed through in the instruction relevant with other sensor successively, the second module MCU2, the sensor interconnecting module sends to radio frequency identification devices, gyroscope, the sensor will begin the surrounding environment of starting point is scanned, the identification surrounding environment, wherein said radio frequency identification devices, the ambient condition information that gyroscope is collected feeds back to host computer PC by sensor → sensor interconnecting module → second module MCU2 → the 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 mates, and determines 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 repeat no more herein.During implementation, above-mentioned flow process also can be done a lot of distortion, and the present invention does not limit this.
From beginning cleaning, laser detector and the gyroscope of described measurement and map structuring part and ultrasonic sensor and the infrared emission sensor on the infrared anticollision feeler of being located on cleaning Vehicle body-chassis case carry out real time scan with regard to beginning to the surrounding environment of cleaning Vehicle body, position and barrier with mirror around determining, the ambient condition information that described laser detector is collected directly transfers to host computer PC, the information data of the described surrounding environment (comprising mirror and barrier) that other sensor is collected is passed through the transfer path Real-time Feedback of sensor → sensor interconnecting module → second module MCU2 → first module MCU1 → host computer PC to host computer PC, described host computer PC is processed all information of receiving and judge, carry out automatic obstacle avoidance, can design and seek new route in case of necessity detours, narrower or surrounding environment does not satisfy when keeping away the barrier condition and when the road surface, host computer PC can be sent and stop hindering instruction, makes the minute surface cleaning robot stop walking.Above-mentioned information and data handling procedure also can be used for optimum path search in addition, best route selection aspect.Wherein said laser detector and gyroscope are located at the place ahead of cleaning Vehicle body, for detection of centered by laser, and mirror and barrier in the direct of travel 10m; Described infrared anticollision feeler is located at the left and right sides of described cleaning Vehicle body, for detection of the unusual mirror of anterior position; Described ultrasonic sensor is located at around the described cleaning Vehicle body, for detection of the mirror vertical with the ultrasound wave direction of transfer, also can be used for measuring other thicker barrier.During implementation, the setting position of each sensor also can change, and the present invention does not limit this.
Simultaneously, the passive security protection module of described 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, described impact switch is met anything and all can be caused its feedback data to the second module MCU2 of the slave computer of control and drive part, causes the second module MCU2 to send instruction and by 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 by 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 by the second module MCU2.Above-mentioned deal with data and result will feed back to the application controls platform by host computer PC and be used for storage and backup.During implementation, the setting position of described impact switch and car body scram button also can have multiple, and 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 carry out storage backup with the data Real-time Feedback that records to host computer PC and application controls platform, and operating personnel also can carry out Real Time Monitoring to minute surface cleaning robot human behavior according to described data.Wherein, the instruction that sends of described application controls platform can comprise that indication minute surface cleaning robot starts working, quits work and revise the aspect such as running route.Only for giving an example, during implementation, the instruction that the application controls platform sends can comprise that also other are multiple, and the present invention does not make restriction to this.
Field staff's 4 pairs of minute surface cleaning robots 1 that also can use a teleswitch are controlled, and can regulate according to on-site actual situations the operation of robot, 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 (27)
1. sun power minute surface cleaning robot system, it is characterized in that, comprise the minute surface cleaning robot and be used for to set up application controls platform with user interactions, described minute surface cleaning robot is connected with described application controls platform, wherein, described minute surface cleaning robot is provided with to be measured and map structuring part, control and drive part and mechanical part, and described measurement and map structuring part and control and drive part all are located on the described mechanical part;
Described measurement and map structuring part: be used for collection and comprise the status information of ambient condition information, minute surface cleaning robot, the information of operation information, and feed back to described control and drive part, also receive the instruction from described control and drive part simultaneously;
Described control and drive part: for the instruction that receives the transmission of application controls platform and through after the instruction parsing instruction being sent to each topworks, also receive the information of measurement and map structuring part and mechanical part, and described information is formed instruction according to result be sent to respective execution mechanisms after data are processed, described result and command information feed back to described application controls platform simultaneously;
The topworks of described mechanical part for cleaning and walking can receive the instruction of described control and drive part, also feeds back the running state information of minute surface cleaning robot simultaneously to described control and drive part;
The safeguard protection part, it is located on the described mechanical part; Described safeguard protection partly is used for scanning and detects ambient condition information and the obstacle information of minute surface cleaning robot, and above-mentioned information is fed back to described control and drive part, also receives the instruction of described control and drive part simultaneously.
2. the system as claimed in claim 1 is characterized in that, described mechanical part comprises machinery chassis and wiper mechanism, described wiper mechanism is located on the described machinery chassis, described machinery chassis comprises the cleaning Vehicle body, and described cleaning Vehicle body portion is provided with deflecting roller, and the rear portion is provided with power wheel;
Described machinery chassis comprises automatic directional steering mechanism, and described automatic directional steering mechanism comprises steer motor and steering axle, and described steer motor is connected with described steering axle, and described steering axle is connected with described deflecting roller, is used for driving described deflecting roller and turns to.
3. system as claimed in claim 2, it is characterized in that, described machinery chassis also comprises brake control mechanism, described brake control mechanism comprises brake motor and brake gear, described brake motor is connected with described brake gear, described brake gear is connected with power wheel with described deflecting roller, is used for described deflecting roller and power wheel are carried out braking brake.
4. system as claimed in claim 3 is characterized in that, described measurement and map structuring partly are provided with laser detector and gyroscope carries out location, position and map structuring; And laser detector and gyrostatic relative position are fixed, and all are located at described cleaning Vehicle body the place ahead.
5. system as claimed in claim 4, it is characterized in that, described measurement and map structuring part also are provided with radio frequency identification devices and scrambler, and they detect the structure that surrounding environment, robot pose and mirror position information are also carried out three-dimensional map by this jointly in conjunction with described laser detector and gyroscope; Wherein
Radio frequency identification devices is located on the chassis overhang, is used for the zone location of minute surface cleaning robot;
Described scrambler is located on the power motor of chassis, is used for measuring gait of march and generating odometer information, and above-mentioned information is used for structure and the autonomous location of three-dimensional map jointly.
6. system as claimed in claim 4; it is characterized in that; described 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; it is located at the front portion of described cleaning Vehicle body, is used for preventing from bumping with minute surface.
7. system as claimed in claim 6 is characterized in that, described active safety protection module also comprises ultrasonic sensor, and it is located at the described cleaning Vehicle body outside;
Described passive security protection module comprises impact switch, and it is located at around the described cleaning Vehicle body.
8. system as claimed in claim 7 is characterized in that, described infrared anticollision feeler is infrared photoelectric sensor.
9. system as claimed in claim 6 is characterized in that,
Described automatic directional steering mechanism also comprises steering angle sensor, and described steering angle sensor is located on the described steer motor, is used for measuring steering angle, and above-mentioned steering angle information is fed back to described control and drive part;
Described brake control mechanism also includes the braking force sensor, and described braking force sensor is located on the described brake motor, is used for measuring braking force numerical value, and described braking force numerical information is fed back to described control and drive part.
10. system as claimed in claim 9 is characterized in that, described cleaning Vehicle body also comprises chassis overhang and chassis case, and described chassis overhang is located at described power wheel and deflecting roller top, and described chassis case is located on the described chassis overhang;
Described machinery chassis also comprises chassis power motor and power source, and described chassis power motor and described power source all are located on the described chassis overhang, and described power source outside also is provided with attemperator.
11. system as claimed in claim 10 is characterized in that, described wiper mechanism comprises hairbrush, belt and power motor, and described belt is connected with described power motor, and described hairbrush is fixedly installed on described belt surface;
Continuous rotation can be with electric brush to rotate to described belt by described power motor drive, and mirror is cleaned.
12. system as claimed in claim 11 is characterized in that, described wiper mechanism also comprises water tank, and it is arranged on the described chassis overhang, is used for providing the water source of cleaning mirror.
13. system as claimed in claim 12 is characterized in that, described mechanical part also comprises gasoline engine generator, and it is located on the described chassis overhang, is used to wiper mechanism that auxiliary power is provided.
14. system as claimed in claim 13, it is characterized in that, described 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 described water tank, gasoline engine generator and the cleaning Vehicle body, be used for measuring high water tank height, gasoline engine generator oil mass and environment temperature.
15. system as claimed in claim 7 is characterized in that, described passive security protection module also comprises the car body scram button, and it is located on the described cleaning Vehicle body.
16. system as claimed in claim 14; it is characterized in that; described active safety protection module is provided with active safety protected data processing module; described passive security protection module is provided with passive security protected data processing module, and described active safety protected data processing module and described passive security protected data processing module all are integrated in described control and drive part.
17. system as claimed in claim 16 is characterized in that, described control and drive part comprise control module and drive part, and described control module is connected with described drive part;
Described control module is used for receiving the instruction that described application controls platform sends, and through after the instruction parsing analysis result being sent to described drive part and sensor, also receive topworks's information of described drive part and sensor feedback, and after data are processed, be sent to respective execution mechanisms according to result formation instruction, simultaneously described result and command information are fed back to the application controls platform;
Described drive part will feed back to from the information of each topworks described control module, and receive the instruction from described control module, be sent to afterwards each topworks.
18. system as claimed in claim 17 is characterized in that, described control module comprises host computer and slave computer, and described host computer is connected with the application controls platform, and described slave computer is connected with host computer, and described slave computer is connected with sensor with drive part;
Described host computer receives the instruction of application controls platform transmission also through after the instruction parsing instruction being sent to each topworks, also receive topworks's information of slave computer feedback, and described information is formed instruction according to result be sent to respective execution mechanisms after data are processed, described result and command information feed back to described application controls platform simultaneously;
Described slave computer collect self-driven part and sensor information and process after feed back to host computer, and the dependent instruction that transmits described host computer is to described drive part and sensor, simultaneously described slave computer also sends instruction to drive part according to data processed result, and described result and command information also feed back to described host computer and then to described application controls platform.
19. system as claimed in claim 18 is characterized in that, described active safety protected data processing module is integrated in described host computer.
20. system as claimed in claim 18 is characterized in that, the laser detector of described measurement and map structuring part directly is connected with described host computer, and the information transmission between them is directly to transmit.
21. system as claimed in claim 18, it is characterized in that described slave computer comprises the first module, the second module and controller, described the first module connects host computer, described the second module connects the first module and controller, and described controller connects drive part or sensor;
Data between described the first module transmission host computer and the second module;
Described the second module collect self-controller information and process after feed back to host computer by the first module, and receive host computer instruction that the first module transmits to described drive part and sensor, simultaneously described the second module is also sent instruction to drive part according to data processed result, and described result and command information also feed back to described host computer and then to described application controls platform;
Described controller is used for the data transmission of drive part and sensor and the second module.
22. system as claimed in claim 21 is characterized in that, described passive security protected data processing module is integrated in described the second module.
23. system as claimed in claim 21 is characterized in that, described 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.
24. system as claimed in claim 23, it is characterized in that, described drive part comprises and turns to brake driver and chassis driver, and the described brake driver that turns to is connected with brake control mechanism with automatic directional steering mechanism, and described chassis driver is connected with described machinery chassis.
25. system as claimed in claim 18 is characterized in that, also comprises Wireless Communication Equipment, described application controls platform be connected the minute surface cleaning robot and connect by Wireless Communication Equipment;
Described minute surface cleaning robot and application controls platform are respectively equipped with corresponding wireless telecommunications part;
The wireless telecommunications part of described minute surface cleaning robot is connected with the host computer of described control and drive part.
26. system as claimed in claim 21 is characterized in that, also can comprise telepilot, it is used at the scene robot being controlled;
Described the first module also is provided with the telepilot information receiving unit, is used for receiving the command information of telepilot and is sent to each topworks via the second module, corresponding controllers and drive part, and described command information also feeds back to host computer simultaneously;
The passive security protection module of described safeguard protection part comprises that also telepilot suddenly stops receiving element, and it is integrated in the telepilot information receiving unit of described the first module.
27. system as claimed in claim 25 is characterized in that, described application controls platform mainly comprises main control computer, and described wireless telecommunications partly are located on the described main control computer;
Described main control computer also comprises Operating Interface Module and data memory module, and described Operating Interface Module is used for the man-machine interaction with operating personnel, and described data memory module is used for storage from the data of 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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| CN102426455A CN102426455A (en) | 2012-04-25 |
| CN102426455B true CN102426455B (en) | 2013-10-30 |
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