CN106515675A - Vehicle-mounted auxiliary exterior cleaning robot and control method thereof - Google Patents
Vehicle-mounted auxiliary exterior cleaning robot and control method thereof Download PDFInfo
- Publication number
- CN106515675A CN106515675A CN201610917873.8A CN201610917873A CN106515675A CN 106515675 A CN106515675 A CN 106515675A CN 201610917873 A CN201610917873 A CN 201610917873A CN 106515675 A CN106515675 A CN 106515675A
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- China
- Prior art keywords
- robot
- vehicle
- cleaning
- machine people
- signal
- 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.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 239000000523 sample Substances 0.000 claims abstract description 11
- 240000002836 Ipomoea tricolor Species 0.000 claims description 15
- 238000000465 moulding Methods 0.000 claims description 15
- 238000011084 recovery Methods 0.000 claims description 11
- 230000008054 signal transmission Effects 0.000 claims description 8
- 230000003245 working effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013024 troubleshooting Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S3/00—Vehicle cleaning apparatus not integral with vehicles
- B60S3/04—Vehicle cleaning apparatus not integral with vehicles for exteriors of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention relates to a vehicle-mounted auxiliary exterior cleaning robot and a control method thereof. The vehicle-mounted auxiliary exterior cleaning robot comprises a flying saucer-shaped housing (5), and a wind suction mounting mechanism (1), a robot moving device, a cleaning device, a vehicle-mounted robot signal collecting processor (8), a radar probe (10), a robot carrier camera (11) and a remote control device. According to the vehicle-mounted auxiliary exterior cleaning robot provided by the invention, the cleaning robot can clean the parts needing cleaning on the exterior of the vehicle inside the vehicle, give warnings for potential safety hazards outside the vehicle, and easily eliminate a trouble.
Description
Technical field
The present invention relates to a kind of robot, more particularly, to the vehicle-mounted auxiliary clean appearance machine people of one kind and its controlling party
Method.
Background technology
At present vehicle traveling or it is static when, cleaning on some vehicle body positions not in place can affect driving safety.Because
Vehicle form in high speed cannot be stopped immediately, at this time need this robot by the straighforward operation of in-car other members, go
The cleaning problems transported in vehicle travel process are removed, and possible potential safety hazard carries out early warning, and simple earth fault enters
Row is excluded or replaces work.
Also there is not the application for vehicle-mounted automobile clean machine people at present, in particular for vehicle in movement.
The content of the invention
The present invention devises a kind of vehicle-mounted auxiliary clean appearance machine people and its control method, and its technical problem for solving is
Also there is not the application for vehicle-mounted automobile clean machine people at present, in particular for vehicle in movement.
In order to solve above-mentioned technical problem, below scheme is present invention employs：
A kind of vehicle-mounted auxiliary clean appearance machine people, it is characterised in that：Flying saucer moulding housing（5）, which is used for installing Feng Xi mechanisms
（1）, robot mobile device, cleaning device, on-vehicle machines people's signal collection processor（8）, radar probe（10）And machine
People's carrier camera（11）；
The Feng Xi mechanisms（1）For the flying saucer moulding housing for guaranteeing to walk on vehicle body（5）With enough suction without dividing
From；
The robot mobile device is used for driving flying saucer moulding housing（5）Move in bodywork surface；
The cleaning device is for clearing up to the dirt or obstacle of bodywork surface；
The on-vehicle machines people signal collection processor（8）For carrying out signal transmission with in-car remote control；
The radar probe（10）For ensureing avoidance of the robot operation to obstacle on operating path；
The robot carrier camera（11）Judge for transfer robot work realtime graphic and working effect；
The remote control is used for controlling Feng Xi mechanisms（1）, robot mobile device, cleaning device, radar probe（10）And
Robot carrier camera（11）Work, and when robot is working properly or robot work remote control fail when, control
Robot processed returns to the default storage parking place of vehicle.
Further, the remote control includes main control remote control（01）, robot signal transacting center（02）, robot
Working device（03）, robot active recovery controller（04）, robot failed controller（05）And control is reclaimed in robot failure
Device processed（06）；Robot signal transacting center（02）To main control remote control（01）The signal for sending is processed；Machine is artificial
When making normal, robot signal transacting center（02）Connect by robot working device（03）Start machine people's active recovery controller
（04）；When robot work remote control is failed, robot signal transacting center（02）Start machine people's failed controller（05）
Pass through wire-controlled apparatus（7）To on-vehicle machines people's signal collection processor（08）Carry out signal transmission control.
Further, the robot mobile device includes two rear drive sprockets（2）, two front driving wheels（6）And two
Steering assistance wheel（9）, six wheels are with a rear drive sprocket（2）, a front driving wheel（6）, a steering assistance wheel（9）, another forerunner
Driving wheel（6）, another rear drive sprocket（2）And another steering assistance wheel（9）Order constitute a loop configuration.
Further, the Feng Xi mechanisms（1）In the loop configuration.
Further, the cleaning device includes square cleaner arm（3）With circular cleaner arm（4）, square cleaner arm
（3）It is adapted to cleaning plane, circular cleaner arm（4）It is adapted to cleaning cambered surface.
Further, robot carrier camera（11）Installed in flying saucer moulding housing（5）Top obtaining preferably
The visual field.
A kind of control method of vehicle-mounted auxiliary clean appearance machine people, comprises the following steps：
Step 1, when vehicle rain or bad weather and the driving conditions such as blow in or inactive state under, to being related to row
When the front windshield of car safety, camera, the parameter of the cleaning of light part and judgement meet robot default condition of work,
Main control remote control（01）Send work order.Robot signal transacting center（02）Signal to receiving is processed；
Step 2, on-vehicle machines people's signal collection processor（8）To the signal for receiving, it is identified；Believed by preset vehicle
Breath, realizes the judgement to operating position；Robot working device connects（03）After receiving working signal, start Feng Xi mechanisms（1）Really
The flying saucer moulding housing that guarantor walks on vehicle body（5）With enough suction；
Step 3, robot are being done by robot mobile device, and surface of vehicle is cleaned, until cleaning is finished；
After step 4, cleaning are finished, robot is reclaimed.
Further, in step 4 when robot is working properly, robot signal transacting center（02）Worked by robot
Device connects（03）Start machine people's active recovery controller（04）, i.e. on-vehicle machines people signal collection processor（8）To receiving back
During to quay information, robot is controlled and starts back pool program, it is ensured that robot returns to the default storage parking place of vehicle.
Further, in step 4 when robot work remote control is failed, robot signal transacting center（02）Start machine
People's failed controller（05）Pass through wire-controlled apparatus（7）To on-vehicle machines people's signal collection processor（8）Carry out signal transmission control
System, robot failure recovery controller（06）By wire-controlled apparatus（7）Line connection, start between parking place and robot
Line connects recover, by wire-controlled apparatus（7）Carry out rigidity and reclaim berth.
The vehicle-mounted auxiliary clean appearance machine people and its control method have the advantages that：
The present invention provides vehicle-mounted auxiliary clean appearance machine people, it is possible to achieve where in the car just can be to needing cleaning outside car
It is cleaned, realizes to the prompting of some potential safety hazards outside car and can simply troubleshooting effort.
Description of the drawings
Fig. 1：The fundamental diagram of the vehicle-mounted auxiliary clean appearance machine people of the present invention；
Fig. 2：The side view of the vehicle-mounted auxiliary clean appearance machine people of the present invention；
Fig. 3：The top view of the vehicle-mounted auxiliary clean appearance machine people of the present invention；
Fig. 4：The upward view of the vehicle-mounted auxiliary clean appearance machine people of the present invention.
Description of reference numerals：
01 main control remote control；02 robot signal transacting center；03 robot working device；04 robot is actively returned
Admission controller；05 robot failed controller；06 robot failure recovery controller；
1 Feng Xi mechanisms；2 rear drive sprockets；3 square cleaner arms；4 circular cleaner arms；5 flying saucer moulding housings；
6 front driving wheels；7 wire-controlled apparatus；8 on-vehicle machines people's signal collection processors；9 steering assistance wheels；10 radars are visited
Head；11 robot carrier cameras.
Specific embodiment
With reference to Fig. 1 to Fig. 4, the present invention will be further described：
As shown in figure 1, the operation principle of the vehicle-mounted auxiliary clean appearance machine people of the present invention is as follows：
When vehicle rain or bad weather and the driving conditions such as blow in or inactive state under, to being related to traffic safety
Front windshield, camera, the cleaning of part such as light and the parameter of judgement be when meeting the default condition of work of robot, master control
Remote control processed 01 sends work order.The signal of the 02 pair of reception in robot signal transacting center is processed.
On-vehicle machines people's signal collection 8 pairs of signals for receiving of processor, are identified.By preset vehicle information, come
Realize the judgement to operating position.Robot working device connect 03 receive working signal after, starting Feng Xi mechanisms 1 guarantees on vehicle body
The flying saucer moulding housing 5 of walking has enough suction, it is ensured that robot operation, even if during vehicle is advanced, it is also possible to accomplish
Windage is minimum.
By rear drive sprocket 2, the startup of front driving wheel 6 and steering assistance wheel 9 and steering assistance.Realize on vehicle body freely
Walking, coordinates wind to inhale function, it is ensured that the stability of robot work.6 wheels of whole body ensure the resistance advanced on vehicle body simultaneously
Power is minimum.
Square cleaner arm 3 and circular cleaner arm 4, for carrying out specific aim for the cleaning shape of diverse location on vehicle body
Design.Square cleaner arm 3 can be more suitable for cleaning plane, and circular cleaner arm 4 is adapted to cleaning cambered surface.
Robot carrier camera 11, for transmitting the effect that work realtime graphic and working effect judge.
Radar probe 10 ensures avoidance purpose of the robot operation to obstacle on operating path.
Cleaning needs recycling machine people after finishing, and can there is robot normal mode of operation and robot work remote control is lost
The process of effect pattern.
Specifically, when robot is working properly, robot signal transacting center 02 connects 03 by robot working device and opens
Mobile robot active recovery controller 04, i.e., it is when on-vehicle machines people signal collection processor 8 pairs is received and returns to quay information, right
Robot is controlled and starts back pool program.Ensure that robot returns to the default storage parking place of vehicle.
When robot work remote control is failed, 02 start machine people failed controller 05 of robot signal transacting center is
Signal transmission control is carried out to on-vehicle machines people's signal collection processor 8 by wire-controlled apparatus 7.Robot failure recovery controller
06 is connected by the line of wire-controlled apparatus 7, starts the line connection recover between parking place and robot, by wire-controlled apparatus 7
Carry out rigidity and reclaim berth.
Additionally, this technology and principle can apply to the purposes such as the cleaning and fault diagnosis of the high-risk building such as building, bridge.
As shown in Fig. 2 a kind of vehicle-mounted auxiliary clean appearance machine people, it is characterised in that：Flying saucer moulding housing 5, which is used for
Install Feng Xi mechanisms 1, robot mobile device, cleaning device, on-vehicle machines people's signal collection processor 8, radar probe 10 with
And robot carrier camera 11；
Feng Xi mechanisms 1 are used for guaranteeing that the flying saucer moulding housing 5 walked on vehicle body has enough suction without separating；
Robot mobile device is used for driving flying saucer moulding housing 5 to move in bodywork surface；
Cleaning device is for clearing up to the dirt or obstacle of bodywork surface；
On-vehicle machines people's signal collection processor 8 is for carrying out signal transmission with in-car remote control；
Radar probe 10 is used for ensureing avoidance of the robot operation to obstacle on operating path；
Robot carrier camera 11 is for transfer robot work realtime graphic and working effect judgement；
Remote control is used for controlling Feng Xi mechanisms 1, robot mobile device, cleaning device, radar probe 10 and robot load
The work of tool camera 11, and when robot is working properly or when robot work remote control is failed, control robot is returned
To the default storage parking place of vehicle.
As shown in figure 3, cleaning device includes square cleaner arm 3 and circular cleaner arm 4, square cleaner arm 3 is adapted to
Cleaning plane, circular cleaner arm 4 are adapted to cleaning cambered surface.
As shown in figure 4, robot mobile device includes that two rear drive sprockets, 2, two front driving wheels 6 and two steerings are auxiliary
Wheel 9 is helped, six wheels are with a rear drive sprocket 2, a front driving wheel 6, a steering assistance wheel 9, another front driving wheel 6, another rear-guard
The order of driving wheel 2 and another steering assistance wheel 9 constitutes a loop configuration.Feng Xi mechanisms 1 are arranged in above-mentioned loop configuration.
Exemplary description is carried out to the present invention above in conjunction with accompanying drawing, it is clear that aforesaid way is not received in the realization of the present invention
Restriction, it is as long as employing method of the present invention design and the various improvement that carry out of technical scheme, or not improved by the present invention
Design and technical scheme directly apply to other occasions, within the scope of the present invention.
Claims (9)
1. one kind is vehicle-mounted aids in clean appearance machine people, it is characterised in that：Flying saucer moulding housing（5）, which is used for installing wind suction machine
Structure（1）, robot mobile device, cleaning device, on-vehicle machines people's signal collection processor（8）, radar probe（10）And machine
Device people's carrier camera（11）；
The Feng Xi mechanisms（1）For the flying saucer moulding housing for guaranteeing to walk on vehicle body（5）With enough suction without dividing
From；
The robot mobile device is used for driving flying saucer moulding housing（5）Move in bodywork surface；
The cleaning device is for clearing up to the dirt or obstacle of bodywork surface；
The on-vehicle machines people signal collection processor（8）For carrying out signal transmission with in-car remote control；
The radar probe（10）For ensureing avoidance of the robot operation to obstacle on operating path；
The robot carrier camera（11）Judge for transfer robot work realtime graphic and working effect；
The remote control is used for controlling Feng Xi mechanisms（1）, robot mobile device, cleaning device, radar probe（10）And
Robot carrier camera（11）Work, and when robot is working properly or robot work remote control fail when, control
Robot processed returns to the default storage parking place of vehicle.
It is 2. vehicle-mounted according to claim 1 to aid in clean appearance machine people, it is characterised in that：The remote control includes master control
Remote control processed（01）, robot signal transacting center（02）, robot working device（03）, robot active recovery controller
（04）, robot failed controller（05）And robot failure recovery controller（06）；Robot signal transacting center（02）
To main control remote control（01）The signal for sending is processed；When robot is working properly, robot signal transacting center（02）
Connect by robot working device（03）Start machine people's active recovery controller（04）；When robot work remote control is failed,
Robot signal transacting center（02）Start machine people's failed controller（05）Pass through wire-controlled apparatus（7）On-vehicle machines people is believed
Number collecting and treating apparatus（08）Carry out signal transmission control.
3. it is according to claim 1 or claim 2 it is vehicle-mounted auxiliary clean appearance machine people, it is characterised in that：The robot movement dress
Put including two rear drive sprockets（2）, two front driving wheels（6）And two steering assistance wheels（9）, six wheels are driving after one
Wheel（2）, a front driving wheel（6）, a steering assistance wheel（9）, another front driving wheel（6）, another rear drive sprocket（2）And another turn
To auxiliary wheel（9）Order constitute a loop configuration.
It is 4. vehicle-mounted according to claim 3 to aid in clean appearance machine people, it is characterised in that：The Feng Xi mechanisms（1）Install
In the loop configuration.
It is 5. vehicle-mounted according to any one of claim 1-4 to aid in clean appearance machine people, it is characterised in that：The cleaning
Device includes square cleaner arm（3）With circular cleaner arm（4）, square cleaner arm（3）It is adapted to cleaning plane, circular cleaning
Arm（4）It is adapted to cleaning cambered surface.
It is 6. vehicle-mounted according to any one of claim 1-5 to aid in clean appearance machine people, it is characterised in that：Robot is carried
Tool camera（11）Installed in flying saucer moulding housing（5）Top obtaining the more preferable visual field.
7. a kind of control method of vehicle-mounted auxiliary clean appearance machine people, comprises the following steps：
Step 1, when vehicle rain or bad weather and the driving conditions such as blow in or inactive state under, to being related to row
When the front windshield of car safety, camera, the parameter of the cleaning of light part and judgement meet robot default condition of work,
Main control remote control（01）Send work order；Robot signal transacting center（02）Signal to receiving is processed；
Step 2, on-vehicle machines people's signal collection processor（8）To the signal for receiving, it is identified；Believed by preset vehicle
Breath, realizes the judgement to operating position；Robot working device connects（03）After receiving working signal, start Feng Xi mechanisms（1）Really
The flying saucer moulding housing that guarantor walks on vehicle body（5）With enough suction；
Step 3, robot are being done by robot mobile device, and surface of vehicle is cleaned, until cleaning is finished；
After step 4, cleaning are finished, robot is reclaimed.
8. according to claim 7 it is vehicle-mounted auxiliary clean appearance machine people control method, it is characterised in that：In step 4 when
When robot is working properly, robot signal transacting center（02）Connect by robot working device（03）Start machine people actively returns
Admission controller（04）, i.e. on-vehicle machines people signal collection processor（8）When returning to quay information to receiving, robot is carried out
Control starts back pool program, it is ensured that robot returns to the default storage parking place of vehicle.
9. according to claim 7 it is vehicle-mounted auxiliary clean appearance machine people control method, it is characterised in that：In step 4 when
When robot work remote control is failed, robot signal transacting center（02）Start machine people's failed controller（05）Pass through line
Control device（7）To on-vehicle machines people's signal collection processor（8）Carry out signal transmission control, robot failure recovery controller
（06）By wire-controlled apparatus（7）Line connection, start the line connection recover between parking place and robot, filled by line traffic control
Put（7）Carry out rigidity and reclaim berth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917873.8A CN106515675B (en) | 2016-10-21 | 2016-10-21 | The vehicle-mounted auxiliary clean appearance machine people of one kind and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610917873.8A CN106515675B (en) | 2016-10-21 | 2016-10-21 | The vehicle-mounted auxiliary clean appearance machine people of one kind and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106515675A true CN106515675A (en) | 2017-03-22 |
| CN106515675B CN106515675B (en) | 2019-03-12 |
Family
ID=58332885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610917873.8A Active CN106515675B (en) | 2016-10-21 | 2016-10-21 | The vehicle-mounted auxiliary clean appearance machine people of one kind and its control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2550040A (en) * | 2016-03-24 | 2017-11-08 | Ford Global Tech Llc | Systems and methods for efficient automatic vehicle washing |
| CN108327683A (en) * | 2018-02-27 | 2018-07-27 | 攀枝花市德铭再生资源开发有限公司 | Portable vehicle vehicle body automatic cleaning machine |
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|---|---|---|---|---|
| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
| EP2725443A2 (en) * | 2012-10-26 | 2014-04-30 | LG Electronics, Inc. | Robot cleaner system and control method of the same |
| KR101395888B1 (en) * | 2013-03-21 | 2014-05-27 | 엘지전자 주식회사 | Robot cleaner and operating method |
| CN204471362U (en) * | 2015-03-16 | 2015-07-15 | 姚琦 | The high-risk operations telecar system that a kind of mobile terminal controls |
-
2016
- 2016-10-21 CN CN201610917873.8A patent/CN106515675B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
| EP2725443A2 (en) * | 2012-10-26 | 2014-04-30 | LG Electronics, Inc. | Robot cleaner system and control method of the same |
| KR101395888B1 (en) * | 2013-03-21 | 2014-05-27 | 엘지전자 주식회사 | Robot cleaner and operating method |
| CN204471362U (en) * | 2015-03-16 | 2015-07-15 | 姚琦 | The high-risk operations telecar system that a kind of mobile terminal controls |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2550040A (en) * | 2016-03-24 | 2017-11-08 | Ford Global Tech Llc | Systems and methods for efficient automatic vehicle washing |
| US10173647B2 (en) | 2016-03-24 | 2019-01-08 | Ford Global Technologies, Llc | Systems and methods for efficient automatic vehicle washing |
| CN108327683A (en) * | 2018-02-27 | 2018-07-27 | 攀枝花市德铭再生资源开发有限公司 | Portable vehicle vehicle body automatic cleaning machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106515675B (en) | 2019-03-12 |
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