CN105446340A - Automatic wall climbing trolley - Google Patents
Automatic wall climbing trolley Download PDFInfo
- Publication number
- CN105446340A CN105446340A CN201510994837.7A CN201510994837A CN105446340A CN 105446340 A CN105446340 A CN 105446340A CN 201510994837 A CN201510994837 A CN 201510994837A CN 105446340 A CN105446340 A CN 105446340A
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- module
- sensor module
- chip microcomputer
- trolley
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- 230000009194 climbing Effects 0.000 title abstract description 13
- 230000010365 information processing Effects 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 11
- 230000000087 stabilizing effect Effects 0.000 claims description 9
- 241000380131 Ammophila arenaria Species 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 abstract description 3
- 230000006641 stabilisation Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Abstract
The invention relates to an automatic wall climbing trolley. The automatic wall climbing trolley is composed of a minimum system of a single-chip microcomputer, a voltage stabilization module, a motor driving module, an infrared sensor module, a speed sensor module, a ducted fan, a steering engine, a trolley body and an information processing and control module, wherein the minimum system of the single-chip microcomputer, the voltage stabilization module, the motor driving module, the infrared sensor module, the speed sensor module, the ducted fan and the steering engine are arranged in the trolley body, the motor driving module is connected with a motor inside the trolley body, the infrared sensor module and the speed sensor module are respectively connected with the information processing and control module, the information processing and control module is connected with the single-chip microcomputer, the single-chip microcomputer is connected with the steering engine, and the steering engine is connected with the trolley body. The automatic wall climbing trolley can be effectively adsorbed on the surface of a wall, and has a walking and steering function and a tracking function, can finish some tasks alone under an unattended condition, and has high adaptability to the surface of the wall.
Description
Technical field
the present invention relates to a kind of intelligent robot, particularly one and automatically climb wall car.
Background technology
climbing Robot is an important branch in Research on Intelligent Robots, and it has the ability can walked at vertical metope, can the mankind be replaced to go work in the field of much danger.Since nineteen sixties, various countries research and develop Climbing Robot in succession, and at present, Climbing Robot obtains significant progress.
Summary of the invention
the object of this invention is to provide one and automatically climb wall car, can effectively be adsorbed on metope, there is the function of walking and turning to, and there is tracking function, in unserviced situation, some tasks can be completed alone, and there is good wall wall adaptability, when climbing wall car in the face of wall smooth not time, in time climbing wall car in the face of some little obstacles, dolly still can keep stable operation.
object of the present invention is achieved through the following technical solutions:
one climbs wall car automatically, is made up of the minimum system of single-chip microcomputer, Voltage stabilizing module, motor drive module, infrared sensor module, acceleration sensor module, ducted-fan blower, steering wheel, trolley, information processing and control module; The minimum system of described single-chip microcomputer, Voltage stabilizing module, motor drive module, infrared sensor module, acceleration sensor module, ducted-fan blower, helm gear are inner in trolley, described motor drive module connects trolley motor internal, described infrared sensor module, acceleration sensor module be link information process and control module respectively, described information processing is connected single-chip microcomputer with control module, described single-chip microcomputer connects steering wheel, and described steering wheel connects trolley.
described one climbs wall car automatically, its workflow is: described Voltage stabilizing module is used to provide the demand of the different voltage of system, motor drive module is used for driving the motor of trolley, move along with intelligence climbs wall dolly, infrared sensor module, acceleration sensor module, collect road information, the information that information processing and control module obtain processes, and otiose signal is removed, and then extracts useful information, useful information is sent to single-chip microcomputer, after single-chip microcomputer process information, control steering wheel and turn to, control dolly and move ahead.
beneficial effect of the present invention: one of the present invention climbs wall car automatically, can effectively be adsorbed on metope, there is the function of walking and turning to, and there is tracking function, in unserviced situation, some tasks can be completed alone, and there is good wall wall adaptability, when climbing wall car in the face of wall smooth not time, in time climbing wall car in the face of some little obstacles, dolly still can keep stable operation.
Accompanying drawing explanation
fig. 1 is one-piece construction schematic diagram of the present invention;
fig. 2 is throttle stroke setting figure of the present invention;
fig. 3 is operation schematic diagram of the present invention;
fig. 4 is the closed-loop control figure of motor internal of the present invention;
fig. 5 is motor internal control algolithm process flow diagram of the present invention.
Embodiment
below in conjunction with accompanying drawing, the present invention is described in further detail.
embodiment 1
one climbs wall car automatically, is made up of the minimum system of single-chip microcomputer, Voltage stabilizing module, motor drive module, infrared sensor module, acceleration sensor module, ducted-fan blower, steering wheel, trolley, information processing and control module; The minimum system of described single-chip microcomputer, Voltage stabilizing module, motor drive module, infrared sensor module, acceleration sensor module, ducted-fan blower, helm gear are inner in trolley, described motor drive module connects trolley motor internal, described infrared sensor module, acceleration sensor module be link information process and control module respectively, described information processing is connected single-chip microcomputer with control module, described single-chip microcomputer connects steering wheel, and described steering wheel connects trolley.
described one climbs wall car automatically, its workflow is: described Voltage stabilizing module is used to provide the demand of the different voltage of system, motor drive module is used for driving the motor of trolley, move along with intelligence climbs wall dolly, infrared sensor module, acceleration sensor module, collect road information, the information that information processing and control module obtain processes, and otiose signal is removed, and then extracts useful information, useful information is sent to single-chip microcomputer, after single-chip microcomputer process information, control steering wheel and turn to, control dolly and move ahead.
embodiment 2
described one climbs wall car automatically, its implementation is: the adsorbing mechanism of wall robot is selected, select the adsorbing mechanism of the most applicable the design, such guarantee dolly can reliablely and stablely be adsorbed on work metope, must ensure enough absorption affinities; The travel mechanism of Climbing Robot is selected, allows robot can move linearly, movement of turning stability and high efficiency.Use sensor, realize the realization to the regulation and control of the direction of robot and speed regulation automatic control technology, under the manipulation of control core, according to every program of writing in advance, complete work in every.Control algolithm, needs the program of writing reasonably stability, robot software and hardware so just can be allowed to coordinate, realize the stable operation of system.
climbing wall intelligent carriage is a very typical automatic control system, can be divided into following components:
(1) information processing and control module: intelligence climbs wall dolly can collect many road informations, so the function of this module is exactly, the information obtained to be processed, otiose signal is removed, then extracts useful information, by the program of writing, through computing, finally send out control signal, by topworks, dolly is controlled.
infrared detection module: for the detection of route, has been come by the monitoring of infrared sensor.Different colors is different for the reflection potential of light, and according to this ultimate principle, infrared sensor is finished the work, be responsible for monitoring surface conditions, and information is sent to control system, finally by control system, these information are analyzed, and the traveling of pilot trolley.
velocity measuring module: in the process that dolly travels, expects that dolly can have a constant speed, the operation that such dolly can be more stable, and wants to allow the velocity-stabilization of dolly, just needs closed-loop control.Monitoring modular can check out the rotating speed of car wheel, and then the speed of a motor vehicle of dolly can be learnt, compare with the expectation value set at first, then information is sent to control system, allow control system constantly control in real time dolly, the speed of dolly is stablized down always.
topworks: the topworks of the design is divided into two parts, and one of them part is direct current generator, and the power section of dolly is responsible for by direct current generator, and another part is the steering wheel of dolly, and this part is responsible for the turning function of dolly.
Claims (2)
1. automatically climb a wall car, it is characterized in that: be made up of the minimum system of single-chip microcomputer, Voltage stabilizing module, motor drive module, infrared sensor module, acceleration sensor module, ducted-fan blower, steering wheel, trolley, information processing and control module; The minimum system of described single-chip microcomputer, Voltage stabilizing module, motor drive module, infrared sensor module, acceleration sensor module, ducted-fan blower, helm gear are inner in trolley, described motor drive module connects trolley motor internal, described infrared sensor module, acceleration sensor module be link information process and control module respectively, described information processing is connected single-chip microcomputer with control module, described single-chip microcomputer connects steering wheel, and described steering wheel connects trolley.
2. one according to claim 1 climbs wall car automatically, it is characterized in that: its workflow is: described Voltage stabilizing module is used to provide the demand of the different voltage of system, motor drive module is used for driving the motor of trolley, move along with intelligence climbs wall dolly, infrared sensor module, acceleration sensor module, collect road information, the information that information processing and control module obtain processes, otiose signal is removed, then useful information is extracted, useful information is sent to single-chip microcomputer, after single-chip microcomputer process information, control steering wheel turns to, control dolly moves ahead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510994837.7A CN105446340A (en) | 2015-12-28 | 2015-12-28 | Automatic wall climbing trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510994837.7A CN105446340A (en) | 2015-12-28 | 2015-12-28 | Automatic wall climbing trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105446340A true CN105446340A (en) | 2016-03-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510994837.7A Pending CN105446340A (en) | 2015-12-28 | 2015-12-28 | Automatic wall climbing trolley |
Country Status (1)
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| CN (1) | CN105446340A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231797A (en) * | 2008-01-03 | 2008-07-30 | 上海交通大学 | Hardware on-ring intelligent carriage teaching scientific research experiment flatform |
| CN101976075A (en) * | 2010-11-24 | 2011-02-16 | 重庆大学 | Intelligent self-tracking trolley control system based on voice control |
| CN203338058U (en) * | 2013-07-09 | 2013-12-11 | 常熟理工学院 | Remotely-controlled wall-climbing robot |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
| US20150251713A1 (en) * | 2006-10-06 | 2015-09-10 | Irobot Corporation | Robotic vehicle |
| CN105015640A (en) * | 2015-06-30 | 2015-11-04 | 长安大学 | Wall surface detecting rescue robot and control method thereof |
-
2015
- 2015-12-28 CN CN201510994837.7A patent/CN105446340A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150251713A1 (en) * | 2006-10-06 | 2015-09-10 | Irobot Corporation | Robotic vehicle |
| CN101231797A (en) * | 2008-01-03 | 2008-07-30 | 上海交通大学 | Hardware on-ring intelligent carriage teaching scientific research experiment flatform |
| CN101976075A (en) * | 2010-11-24 | 2011-02-16 | 重庆大学 | Intelligent self-tracking trolley control system based on voice control |
| CN203338058U (en) * | 2013-07-09 | 2013-12-11 | 常熟理工学院 | Remotely-controlled wall-climbing robot |
| CN204374769U (en) * | 2014-11-11 | 2015-06-03 | 浙江大学城市学院 | Based on the Intelligent tracking trolley of photoelectric sensor and photoelectric encoder |
| CN105015640A (en) * | 2015-06-30 | 2015-11-04 | 长安大学 | Wall surface detecting rescue robot and control method thereof |
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Application publication date: 20160330 |
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