CN102835935B - Wireless robot for cleaning wall surface control system - Google Patents
Wireless robot for cleaning wall surface control system Download PDFInfo
- Publication number
- CN102835935B CN102835935B CN201210353957.5A CN201210353957A CN102835935B CN 102835935 B CN102835935 B CN 102835935B CN 201210353957 A CN201210353957 A CN 201210353957A CN 102835935 B CN102835935 B CN 102835935B
- Authority
- CN
- China
- Prior art keywords
- module
- motor
- robot
- processor
- drive singal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 67
- 238000011084 recovery Methods 0.000 claims abstract description 7
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 4
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000009977 dual effect Effects 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 description 12
- 238000010521 absorption reaction Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 7
- 230000001276 controlling effect Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 239000010865 sewage Substances 0.000 description 3
- 239000002253 acid Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013517 stratification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
A kind of wireless robot for cleaning wall surface control system, by described controller, control signal is divided into the first drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal, the first described drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal control the first described sucker motor respectively, second sucker motor, cleaning motor, reclaim motor and elevator motor, wherein, by the first drive singal of the first described sucker motor, by the second drive singal of the second described sucker motor, by the 3rd drive singal of described cleaning motor, four-wheel drive signal by described recovery motor and the 5th drive singal by described elevator motor are after signal processor synthesis, the motion of control.Antijamming capability of the present invention strengthens greatly, solves the limitation of existing metope cleaning.
Description
Technical field
The invention relates to robot UAV(UnmannedAerialVehicle) technical field, and relate to wireless robot for cleaning wall surface control system especially.
Background technology
Due to the requirement of urban look and the art of architecture, flat shape and the vertical build of building are increasingly sophisticated, metope lines, concavo-convex, punch that it is more also to adopt.Curtain wall geometric modeling is rich and varied, have vertically, inclined-plane, the face of cylinder, terrace with edge face and sphere etc., curtain wall has the versions such as bright frame, hidden frame, half hidden frame and full glass curtain wall.Flexibly connect between curtain wall and main house body structure, reserved micro-deformation leeway in level, vertical, inward-outward direction, and between adjacent glass reserved " expansion joint ", bottom, gap rubber strip separates with compensate for temperature effects.But be through after using a period of time and can find:
(1) on its wall, have the pollutants such as a large amount of clods, dust, dust stratification and grease, and these things cannot clean and cause staying for a long time on peripheral wall wall, obviously have impact on the attractive in appearance of building;
(2) as building, need to check for a long time, and the detection of the metope of high building belongs to work high above the ground, belongs to dangerous industry;
(3) the metope expense of at every turn cleaning is too high.
Climbing robot is the robot that can carry out operation on steep slope, and it, as a kind of robot apparatus of high-altitude limit operation, is more and more subject to people's attention.Wall surface cleaning robot belongs to the one of portable service robot, and it can move in vertical walls and roof the clean-out operation carrying out body surface.The use of robot for cleaning wall surface will reduce the cleaning cost of skyscraper greatly, improve the work situation of workman, will raise labour productivity, have suitable society, economic implications and wide application prospect.And also there is no comparative maturity, reliably scheme for the research of this type of robot at present.
Summary of the invention
For the problems referred to above, the object of this invention is to provide a kind of wireless robot for cleaning wall surface control system, solve the limitation of existing metope cleaning.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of wireless robot for cleaning wall surface control system, comprise processor unit, controller, first sucker motor, second sucker motor, cleaning motor, reclaim motor, elevator motor, signal processor, robot and terrestrial wireless control desk, described processor unit and terrestrial wireless console communication, described processor unit sends and controls signal to described controller, by described controller, control signal is divided into the first drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal, the first described drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal control the first described sucker motor respectively, second sucker motor, cleaning motor, reclaim motor and elevator motor, wherein, by the first drive singal of the first described sucker motor, by the second drive singal of the second described sucker motor, by the 3rd drive singal of described cleaning motor, by the four-wheel drive signal of described recovery motor and by the 5th drive singal of described elevator motor after signal processor synthesis, the motion of control.
In a preferred embodiment of the present invention, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at master system and the kinetic control system of dsp processor and FPGA processor, described master system comprises human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module and online output module, described kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module, wherein, dsp processor is for controlling human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module, online output module, data acquisition memory module and I/O control module, FPGA processor is for controlling multiple-axis servo control module, and carry out exchanges data in real time and call between dsp processor and FPGA processor.
In a preferred embodiment of the present invention, described wireless robot for cleaning wall surface control system also comprises battery, described battery is connected with the output terminal of the first sucker motor and elevator motor further, and processor unit is connected to the tie point between the first sucker motor output end and battery and the tie point between elevator motor output end and battery further respectively.
In a preferred embodiment of the present invention, described battery is connected with the second sucker motor and the output terminal reclaiming motor further, and the tie point that processor unit is connected to the tie point between the second sucker motor output end and battery further respectively and reclaims between motor output end and battery.
In a preferred embodiment of the present invention, described battery is connected with the output terminal of cleaning motor further, and processor unit is connected to the tie point between cleaning motor output end and battery further.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises coder module, and whether described coder module is used for the actual speed of measuring robots, judges whether to meet rate request, too fast or excessively slow, and sends control signal.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises current module, and described current module reaches the scope of robot needs for the output power adjusting battery.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises acceleration module, described acceleration module is connected with coder module communication, when coder module measuring robots actual speed is too fast or excessively slow, acceleration module regulates robot actual speed according to the result that coder module detects.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises displacement module, described displacement module be used for measuring robots whether arrive set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Wireless robot for cleaning wall surface control system of the present invention, in order to improve arithmetic speed, ensure stability and the reliability of wireless robot for cleaning wall surface control system, the present invention introduces FPGA processor in the dsp processor of monolithic, form the dual core processor based on DSP+FPGA, this processor takes into full account the effect of battery in this system, realize the function of Single Controller synchro control five axle, give FPGA processor five maximum for workload in wireless robot for cleaning wall surface control system axle servo-drive systems to control, give full play to FPGA processor data processing speed feature faster, and human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module, online output module, the functions such as data acquisition memory module and I/O control module are given dsp processor and are controlled, so just achieve the division of labor of dsp processor and FPGA processor, dsp processor is freed from hard work amount, antijamming capability strengthens greatly, solve the limitation of existing metope cleaning.
Accompanying drawing explanation
Fig. 1 is the block scheme of the wireless robot for cleaning wall surface control system of present pre-ferred embodiments;
Fig. 2 is the block scheme of processor unit in Fig. 1;
Fig. 3 is the operation schematic diagram of Tu1Zhong robot.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present invention is described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Along with development and the maturation of microelectric technique and Automated library system chip fabrication techniques, digital signal processing chip (DSP) is due to its computing power fast, not only be widely used in communication and video frequency signal processing, be also applied in gradually in various senior control system.TMS320F2812 is the fixed point 32 bit DSP processor on the C2000 platform of American TI Company release, is suitable for Industry Control, Electric Machine Control etc., of many uses.Run clock and also can reach 150MHz soon, handling property can reach 150MIPS, every bar instruction cycle 6.67ns, and I/O port enriches, enough the application general concerning user, two serial ports.There is the AD conversion etc. of the 0 ~ 3.3v of 12.Have the in-chip FLASH of 128k × 16 in sheet, the SRAM of 18K × 16, general application system can not want outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, greatly can design by peripheral circuits, reduce system cost and system complexity, also substantially increase the stores processor ability of data.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design robotization (EDA) technology has occurred a kind of brand-new design philosophy recent years.Although FPGA itself is the cell array of standard, there is no the function that general integrated circuit has, but user can according to the design needs of oneself, by specific placement-and-routing instrument, connection is reconfigured to its inside, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because FPGA processor adopts the design philosophy of software implementation to realize the design of hardware circuit, so just the system based on FPGA CPU design is made to have good reusable and amendment property, this brand-new design philosophy has been applied on high performance interchange drived control gradually, and fast-developing.
As shown in Figure 2, be the block scheme of the wireless robot for cleaning wall surface control system of present pre-ferred embodiments.In the present embodiment, wireless robot for cleaning wall surface control system comprises battery, processor unit, controller, the first sucker motor, the second sucker motor, cleaning motor, reclaims motor, elevator motor, signal processor, robot and terrestrial wireless control desk, described processor unit and terrestrial wireless console communication.Wherein, described battery is lead-acid battery, is a kind of electric supply installation, for the work of whole system provides operating voltage.Described battery is connected with the output terminal of the first sucker motor and elevator motor further, and processor unit is connected to the tie point between the first sucker motor output end and battery and the tie point between elevator motor output end and battery further respectively; Described battery is connected with the second sucker motor and the output terminal reclaiming motor further, and the tie point that processor unit is connected to the tie point between the second sucker motor output end and battery further respectively and reclaims between motor output end and battery; Described battery is connected with the output terminal of cleaning motor further, and processor unit is connected to the tie point between cleaning motor output end and battery further.
The built-in control system of processor unit described in the present invention and control circuit, described processor unit sends and controls signal to described controller, by described controller, control signal is divided into the first drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal, the first described drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal control the first described sucker motor respectively, second sucker motor, cleaning motor, reclaim motor and elevator motor, wherein, by the first drive singal of the first described sucker motor, by the second drive singal of the second described sucker motor, by the 3rd drive singal of described cleaning motor, four-wheel drive signal by described recovery motor and the 5th drive singal by described elevator motor are after signal processor synthesis, the motion of control.
The present invention ensures the stability of robot for cleaning wall surface and the particular/special requirement of rapidity, has given up the mode of operation of the dsp processor of monolithic, has provided the brand-new control model of DSP+FPGA processor.Control panel with FPGA processor for process core, realize the real-time process of digital signal, dsp processor is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of FPGA processor, and response is interrupted, realize data communication and store live signal.
Refer to Fig. 2, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two can communication mutually, carries out exchanges data in real time and calls.Described processor unit also comprises the master system and kinetic control system of being located at dsp processor and FPGA processor, described master system comprises human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module and online output module, and described kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module.Wherein, dsp processor is for controlling human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module, online output module, data acquisition memory module and I/O control module, and FPGA processor is for controlling multiple-axis servo control module.
Master system comprises human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module and online output module.Human-computer interface module comprises and starts/restart button and function selecting key; Detection of obstacles module, water level detecting module and negative pressure module are mainly for detection of whether having barrier, detecting the height of water level in water tank and detecting the absorption affinity of sucker; Position setting module needs position and the optimum configurations of cleaning for locating metope; Online output module module, for pointing out the duty of robot, is such as in the robot course of work or the condition prompting that arrives at a station.
Kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module.Wherein, data acquisition memory module module is a storer; I/O control module comprises RS-232 serial line interface, ICE port etc.Multiple-axis servo control module comprises modular converter, coder module, current module, acceleration module, displacement module and altitude module further.
Wherein, described modular converter comprises analog-digital converter (ADC, AnalogtoDigitalConverter) and digital analog converter (DAC, DigitaltoAnalogConverter); Whether described coder module is used for the actual speed of measuring robots, judges whether to meet rate request, too fast or excessively slow, and sends control signal.
Described current module is connected with battery and controller, modular converter.Modular converter, according to the electric current of battery and controller, judges operating power, and power condition is fed back to battery, and current module reaches for the output power adjusting battery the scope that robot needs.
Described acceleration module is connected with coder module communication, and when coder module measuring robots actual speed is too fast or excessively slow, acceleration module regulates the actual speed of robot according to the result that coder module detects.
Whether described displacement module measuring robots arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Be a dual core processor for processor unit, under power-on state, first worked by human-computer interface module, again according to real work needs, human-computer interface module is selected the path planning of robot, robot according to real sensor ruuning situation Ambient Transfer parameter to the dsp processor in processor unit, with the communication of FPGA processor after dsp processor process, then by the servocontrol of FPGA processor process four motors, and process data communication to dsp processor, continue the follow-up running status of process by dsp processor.
Describe in conjunction with above, master system comprises the functions such as human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module, online output module; Kinetic control system comprises the functions such as multiple-axis servo control module, data acquisition memory module, I/O control module.The multiple-axis servo control module that wherein workload is maximum is given FPGA processor and is controlled, remaining comprises master system and gives dsp processor control, so just achieve the division of labor of dsp processor and FPGA processor, therebetween also can carry out communication simultaneously, carry out exchanges data in real time and call.
Refer to Fig. 3, the functional realiey that in the present invention, wireless robot for cleaning wall surface control system is concrete is as follows:
1) before robot does not receive order, it generally can wait in waiting area the order that controller or terrestrial wireless control desk send, once after receiving task, can enter normal cleaning area along waiting area;
2) robot enters normal wash region, the pressure transducer of its first sucker and the second sucker is by work, judge that the pressure of its inside is setting value, if pressure is inadequate, first sucker motor and the second sucker motor are by work, the air of finding time in sucker chamber, thus make to occur negative pressure in sucker, the service voltage of controller by regulating the drive singal PWM ripple of supply sucker first sucker motor and the second sucker motor to regulate the first sucker motor and the second sucker motor, thus change the rotating speed of the first sucker motor and the second sucker motor, thus determine the value of negative pressure in sucker chamber, if when the pressure transducer of the first sucker and the second sucker thinks that system does not possess enough pressure to adsorb robot all the time, interrupt request will be sent to dsp processor, dsp processor can do very first time response to interruption, the process if the interrupt response of dsp processor is not able to do in time, self-locking device in robot will be triggered, robot is made to be locked in current state, and then reach the function of protection,
3) if the first sucker and the second sucker provide enough absorption affinities, cleaning motor in robot is by work, the water tank that now robot is born will open valve automatically, this Time Controller by the speed of PWM ripple adjustment cleaning motor speed, thus can reach the speed regulating cleaning brush cleaning metope;
4) bear in robot the moment that Cistern valve opens, controlling the recovery motor that sewage reclaims will open, and by by receiving trap, hydraulic pressure be contracted to robot sewage absorption plant with it, can save water source like this;
5) after robot completes the cleaning in a region, its the second sucker motor will be filled with air to the second sucker, second sucker is automatically disengaged, now the latter half mechanism of robot is in movable state, now elevator motor puts next distance by the latter half mechanism at the second sucker place, now the second sucker motor will take the air of the second sucker away again, robot does not glide to make the second sucker have enough absorption affinities to ensure, then the first sucker motor will be filled with air to the first sucker, first sucker is automatically disengaged, now the first half mechanism of robot is in movable state, now elevator motor puts next distance by the first half mechanism at the first sucker place, now the first sucker motor will take the air of the first sucker away again, the first sucker and the second sucker is made jointly to provide absorption affinity to overcome the gravity of robot, then the cleaning of a new round is entered,
6) if the sensor of robot bottom has detected barrier enter range of operation, its the second sucker motor will be filled with air to the second sucker, second sucker is automatically disengaged, now the latter half mechanism of robot is in movable state, now elevator motor rolls an angle the latter half mechanism, then next distance is put in the latter half mechanism at the second sucker place and escape barrier, then the latter half mechanism is being put back to plumbness, the second sucker is made to be close to metope, now the second sucker motor will take the air of the second sucker away again, robot does not glide to make the second sucker have enough absorption affinities to ensure.Then the first sucker motor will be filled with air to the first sucker, first sucker is automatically disengaged, now the first half mechanism of robot is in movable state, now elevator motor rolls an angle the first half mechanism, then next distance is put in the first half mechanism at the first sucker place and escape barrier, then the first half mechanism is being put back to plumbness, the first sucker is made to be close to metope, now the first sucker motor will take the air of the first sucker away again, the first sucker and the second sucker is made jointly to provide absorption affinity to overcome the gravity of robot, then the cleaning of a new round is entered,
7) in whole cleaning process, liquid level sensor will detect water level in case, when cistern water level is lower than setting threshold, to send to dsp processor and stop cleaning request, then controller earthward terrestrial wireless control desk will send water-filling request, terrestrial wireless control desk will send water-filling order to recovery motor, and the sewage of absorption will be pressed in water tank by recovery motor and go after circularly purifying, serve the object that water automatic cycle utilizes;
8) in order to better protect battery, when system enters area of low pressure, voltage sensor in robot can be opened automatically, when reading low pressure feedback, robot controller can send charge request to terrestrial wireless control desk, then ground automatic charging station is got back to along perform region, then automatic charging;
9) at robot duration of work, ground staff according to work on the spot situation, can be optimized the region of robot cleaning metope, can arbitrarily change its cleaning area by controlled in wireless;
10) when robot travels by fixed route; multiple acoustooptic alarm system in system is by work; detect the existence of various barrier around very easily; when dangerous exist time; controller can send stopping purge signal; then notify that terrestrial wireless control desk makes a request for help, be conducive to like this protecting robot body.
The beneficial effect that robot for cleaning wall surface control system that the present invention is wireless has is:
1: owing to have employed robot, the easy degree of the cleaning of metope is increased greatly, and is a simple robot motion, so expense reduces greatly;
2: in motion process, take into full account battery effect in this system, based on the DSP+FPGA processor moment all to the running status of robot with discharge current is monitored and computing, so the phenomenon fundamentally solving battery over-discharge can occurs, avoid the generation of lead-acid battery overaging phenomenon;
3: in order to better protect battery, when system enters area of low pressure, voltage sensor in robot can be opened automatically, when reading low pressure feedback, controller can notify terrestrial wireless control desk, then automatically return to charged area to charge, fundamentally stop the danger that battery low pressure is brought;
4: by the full Digitized Servo Control of each motor of FPGA processor process, substantially increase arithmetic speed, the dsp processor solving monolithic runs slower bottleneck, shorten the construction cycle short, and system portable ability is strong;
5: fully achieve veneer and control, not only save control panel to take up room, decrease the volume that control panel takies in the robot finite space, but also fully achieve the synchronous of multi-motor control signal, be conducive to the stability and the dynamic property that improve robot;
6: the data adopting the process of FPGA processor a large amount of due to this controller and algorithm, and taken into full account interference source around, and dsp processor is freed from hard work amount, antijamming capability strengthens greatly;
7: robot adds the function that automatically declines, when running into barrier, controller can send the function that automatically declines, and the elevator motor now in robot helps its upper and lower adsorbent equipment to escape barrier;
8: when robot run into one of them sucker there is pressure release time, a remaining sucker motor can work and himself pressure is increased, and prevents because pressure causes robot absorption affinity not enough not and causes the phenomenon of robot landing to occur;
9: add water level detecting module, avoid the possibility of dry-cleaning;
10: the water of this robot to cleaning reclaims, and avoids the waste of resource;
11: robot, can according to the cleaning situation of in good time situation human intervention metope with wireless remote controller;
12: after adopting robot to carry out wireless metope cleaning, the situation that manual labor is participated in reduces, operating personnel can by the on-the-spot emergency case of wireless device control according to field condition.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1. a wireless robot for cleaning wall surface control system, is characterized in that, comprise processor unit, controller, first sucker motor, second sucker motor, cleaning motor, reclaim motor, elevator motor, signal processor, robot and terrestrial wireless control desk, described processor unit and terrestrial wireless console communication, described processor unit sends and controls signal to described controller, by described controller, control signal is divided into the first drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal, the first described drive singal, second drive singal, 3rd drive singal, four-wheel drive signal and the 5th drive singal control the first described sucker motor respectively, second sucker motor, cleaning motor, reclaim motor and elevator motor, wherein, by the first drive singal of the first described sucker motor, by the second drive singal of the second described sucker motor, by the 3rd drive singal of described cleaning motor, by the four-wheel drive signal of described recovery motor and by the 5th drive singal of described elevator motor after signal processor synthesis, the motion of control,
In above-mentioned, described processor unit is a dual core processor, comprise dsp processor and FPGA processor, under power-on state, first worked by human-computer interface module, again according to real work needs, human-computer interface module is selected the path planning of robot, robot according to real sensor ruuning situation Ambient Transfer parameter to the dsp processor in processor unit, with the communication of FPGA processor after dsp processor process, then by the servocontrol of FPGA processor process five motors, and process data communication to dsp processor, the follow-up running status of process is continued by dsp processor,
Wherein, described processor unit also comprises the master system and kinetic control system of being located at dsp processor and FPGA processor, described master system comprises human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module and online output module, described kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module, wherein, dsp processor is for controlling human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, position setting module, online output module, data acquisition memory module and I/O control module, FPGA processor is for controlling multiple-axis servo control module, and carry out exchanges data in real time and call between dsp processor and FPGA processor.
2. wireless robot for cleaning wall surface control system according to claim 1, it is characterized in that, described wireless robot for cleaning wall surface control system also comprises battery, described battery is connected with the output terminal of the first sucker motor and elevator motor further, and processor unit is connected to the tie point between the first sucker motor output end and battery and the tie point between elevator motor output end and battery further respectively.
3. wireless robot for cleaning wall surface control system according to claim 2, it is characterized in that, described battery is connected with the second sucker motor and the output terminal reclaiming motor further, and the tie point that processor unit is connected to the tie point between the second sucker motor output end and battery further respectively and reclaims between motor output end and battery.
4. wireless robot for cleaning wall surface control system according to claim 2, is characterized in that, described battery is connected with the output terminal of cleaning motor further, and processor unit is connected to the tie point between cleaning motor output end and battery further.
5. wireless robot for cleaning wall surface control system according to claim 1, is characterized in that, described multiple-axis servo control module also comprises modular converter, and described modular converter is used for digital signal to convert simulating signal to.
6. wireless robot for cleaning wall surface control system according to claim 1, it is characterized in that, described multiple-axis servo control module also comprises coder module, described coder module is used for the actual speed of measuring robots, judge whether to meet rate request, whether too fast or excessively slow, and send control signal.
7. wireless robot for cleaning wall surface control system according to claim 2, is characterized in that, described multiple-axis servo control module also comprises current module, and described current module reaches the scope of robot needs for the output power adjusting battery.
8. wireless robot for cleaning wall surface control system according to claim 6, it is characterized in that, described multiple-axis servo control module also comprises acceleration module, described acceleration module is connected with coder module communication, when coder module measuring robots actual speed is too fast or excessively slow, acceleration module regulates robot actual speed according to the result that coder module detects.
9. wireless robot for cleaning wall surface control system according to claim 1, it is characterized in that, described multiple-axis servo control module also comprises displacement module, and described displacement module is used for measuring robots and whether arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210353957.5A CN102835935B (en) | 2012-09-21 | 2012-09-21 | Wireless robot for cleaning wall surface control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210353957.5A CN102835935B (en) | 2012-09-21 | 2012-09-21 | Wireless robot for cleaning wall surface control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102835935A CN102835935A (en) | 2012-12-26 |
| CN102835935B true CN102835935B (en) | 2016-01-20 |
Family
ID=47363862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210353957.5A Active CN102835935B (en) | 2012-09-21 | 2012-09-21 | Wireless robot for cleaning wall surface control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102835935B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107348917B (en) * | 2014-09-03 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, wall cleaning method thereof and wall cleaning system adopting unmanned aerial vehicle |
| CN105517476B (en) | 2014-09-03 | 2017-09-12 | 深圳市大疆创新科技有限公司 | The method of UAV and its cleaning wall, the wall cleaning systems using the UAV |
| CN106074040A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of wireless double-core three-wheel is freely lifted the electric hospital bed controller of high speed robot |
| CN106176094A (en) * | 2016-07-28 | 2016-12-07 | 江苏若博机器人科技有限公司 | A kind of wireless double-core single wheel drive is freely lifted robot electric sick bed controller |
| CN106074044A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of wireless double-core electric hospital bed controller of single wheel drive high speed robot |
| CN106074049A (en) * | 2016-07-28 | 2016-11-09 | 江苏若博机器人科技有限公司 | A kind of double-core single wheel drive is freely lifted the electric hospital bed controller of high speed robot |
| CN106137620A (en) * | 2016-07-28 | 2016-11-23 | 江苏若博机器人科技有限公司 | A kind of wireless double-core two-wheel is freely lifted the machine high speed electric hospital bed controller of device people |
| CN106176085A (en) * | 2016-07-28 | 2016-12-07 | 江苏若博机器人科技有限公司 | A kind of wireless double-core electric hospital bed controller of three-wheel drive high speed robot |
| CN106137617A (en) * | 2016-07-28 | 2016-11-23 | 江苏若博机器人科技有限公司 | A kind of wireless double-core single-wheel is freely lifted the electric hospital bed controller of high speed robot |
| CN106137616A (en) * | 2016-07-28 | 2016-11-23 | 江苏若博机器人科技有限公司 | A kind of wireless three core three-wheel drive are freely lifted robot electric sick bed controller |
| CN112783054B (en) * | 2021-01-04 | 2022-03-08 | 海门市帕源路桥建设有限公司 | Electric remote control system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1846949A (en) * | 2005-04-14 | 2006-10-18 | Lg电子株式会社 | Wireless controllable cleaning robot and remote controlling system for controlling the same |
| CN202920087U (en) * | 2012-09-21 | 2013-05-08 | 苏州工业园区职业技术学院 | Control system of wireless wall surface cleaning robot with multiple suckers |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7194321B2 (en) * | 2004-10-29 | 2007-03-20 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
-
2012
- 2012-09-21 CN CN201210353957.5A patent/CN102835935B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1846949A (en) * | 2005-04-14 | 2006-10-18 | Lg电子株式会社 | Wireless controllable cleaning robot and remote controlling system for controlling the same |
| CN202920087U (en) * | 2012-09-21 | 2013-05-08 | 苏州工业园区职业技术学院 | Control system of wireless wall surface cleaning robot with multiple suckers |
Non-Patent Citations (2)
| Title |
|---|
| 基于DSP+FPGA的工业机器人运动控制器的研究;罗伟涛;《中国优秀硕士学位论文全文数据库（电子期刊）》;20111215(第12期);见第6、7、9、12、13、28、35、37、42、45页 * |
| 竖直玻璃幕墙清洗机器人的设计;徐东 等;《中国科技信息》;20110415(第8期);第176页，第183页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102835935A (en) | 2012-12-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102835935B (en) | Wireless robot for cleaning wall surface control system | |
| CN102854881B (en) | Unmanned plane UAV automatic control system | |
| CN204349507U (en) | Box-like the filling of green flexible stereo smart group changes electric the complete sets of equipment | |
| CN109571472A (en) | Self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system | |
| CN201996470U (en) | Cleaning robot for solar wall | |
| CN104732729B (en) | A kind of energy-saving garage floods method for early warning and device | |
| CN102835937B (en) | Wireless multi-sucker robot for cleaning wall surface control system | |
| CN202920086U (en) | Control system of wireless wall surface cleaning robot | |
| CN202920087U (en) | Control system of wireless wall surface cleaning robot with multiple suckers | |
| CN207115160U (en) | Pipe gallery intelligent monitoring and controlling device based on PLC | |
| CN107297744A (en) | A kind of multifunctional household mobile device and its paths planning method | |
| CN102841619A (en) | Rapid exploration automatic control system for micro-mouse | |
| CN102835936B (en) | Robot for cleaning wall surface control system | |
| CN202837905U (en) | Control system of a wall cleaning robot | |
| CN105159323A (en) | Six-wheel single-core fully automated type low-speed fire-extinguishing robot servo controller | |
| CN206301485U (en) | A kind of novel intelligent traffic lights command system | |
| CN106514663A (en) | Multilayer distributed-type building outer surface cleaning robot | |
| CN203724031U (en) | Environment-friendly cleaning device for glass curtain wall of high-rise building | |
| CN211454270U (en) | IOT wisdom building site system | |
| CN203535485U (en) | Exploring controller of two-wheel micro-mouse based on ARM9 controller | |
| CN205060548U (en) | Portable dustbin management system | |
| Dai | Design of High-altitude Curtain Wall Cleaning Robot | |
| CN109124501A (en) | A kind of lavatory robot | |
| CN103713592A (en) | PLC-based stereo garage control system | |
| CN202143212U (en) | Base station remote monitoring equipment with back-up power supply |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Haoming Inventor before: Zhang Haoming Inventor before: Wang Yinghai Inventor before: Gong Yali |
|
| COR | Change of bibliographic data | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160223 Address after: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee after: Zhang Haoming Address before: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee before: Suzhou Industrial Park Institute of Vocational Technology |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160701 Address after: 211106, Jiangsu, Nanjing, Jiangning economic and Technological Development Zone, No. 19 Su source Avenue, Kowloon lake international enterprise headquarters park, block C4, first floor Patentee after: Jiangsu Robobor Bobot Technology Co., Ltd. Address before: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee before: Zhang Haoming |
|
| CB03 | Change of inventor or designer information |
Inventor after: Li Huajing Inventor after: Zhang Haoming Inventor before: Zhang Haoming |
|
| COR | Change of bibliographic data |