CN106515675B - The vehicle-mounted auxiliary clean appearance machine people of one kind and its control method - Google Patents
The vehicle-mounted auxiliary clean appearance machine people of one kind and its control method Download PDFInfo
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- CN106515675B CN106515675B CN201610917873.8A CN201610917873A CN106515675B CN 106515675 B CN106515675 B CN 106515675B CN 201610917873 A CN201610917873 A CN 201610917873A CN 106515675 B CN106515675 B CN 106515675B
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- robot
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- cleaning
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- people
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000004140 cleaning Methods 0.000 claims abstract description 32
- 238000000465 moulding Methods 0.000 claims abstract description 16
- 240000002836 Ipomoea tricolor Species 0.000 claims abstract description 15
- 239000000523 sample Substances 0.000 claims abstract description 12
- 238000009434 installation Methods 0.000 claims abstract 2
- 238000011084 recovery Methods 0.000 claims description 13
- 230000008054 signal transmission Effects 0.000 claims description 8
- 238000004064 recycling Methods 0.000 claims description 5
- 230000003245 working effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 2
- 239000007858 starting material Substances 0.000 claims 1
- 238000013024 troubleshooting Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003068 static effect Effects 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 present invention relates to a kind of vehicle-mounted auxiliary clean appearance machine people and its control methods, including flying saucer moulding shell (5), installation Feng Xi mechanism (1), robot mobile device, cleaning device, on-vehicle machines people's signal collection processor (8), radar probe (10), robot carrier camera (11) and remote control device.The present invention provides vehicle-mounted auxiliary clean appearance machine people, may be implemented in the car can to needing clean place to clean outside vehicle, realization to vehicle outside some security risks prompting and can simply troubleshooting effort.
Description
Technical field
The present invention relates to a kind of robots, more particularly, to a kind of vehicle-mounted auxiliary clean appearance machine people and its controlling party
Method.
Background technique
At present vehicle traveling or it is static when, cleaning on some vehicle body positions not in place will affect driving safety.Because
Vehicle can not stop immediately in the upper form of high speed, at this time need this robot to pass through the remote control operation of other interior members, go
Remove the cleaning problems transported to and possible security risk in vehicle travel process and carry out early warning, and simple earth fault into
Row excludes or replaces work.
There is not the application for vehicle-mounted automobile clean machine people also at present, in particular for vehicle in movement.
Summary of the invention
The technical issues of present invention devises a kind of vehicle-mounted auxiliary clean appearance machine people and its control method, solution be
There is not the application for vehicle-mounted automobile clean machine people also at present, in particular for vehicle in movement.
In order to solve above-mentioned technical problem, present invention employs following scheme:
A kind of vehicle-mounted auxiliary clean appearance machine people, it is characterised in that: flying saucer moulding shell (5) is used to install wind suction
Mechanism (1), robot mobile device, cleaning device, on-vehicle machines people's signal collection processor (8), radar probe (10) and
Robot carrier camera (11)；
The Feng Xi mechanism (1) be used for the flying saucer moulding shell (5) that ensures to walk on vehicle body have enough suction without
It can separate；
The robot mobile device is for driving flying saucer moulding shell (5) to be moved in bodywork surface；
The cleaning device is for clearing up the dirt or obstacle of bodywork surface；
The on-vehicle machines people signal collection processor (8) is used to carry out signal transmission with interior remote control device；
The radar probe (10) is for guaranteeing robot operation to the evacuation of obstacle on operating path；
The robot carrier camera (11) is for transfer robot work realtime graphic and working effect judgement；
The remote control device is for controlling Feng Xi mechanism (1), robot mobile device, cleaning device, radar probe (10)
And the work of robot carrier camera (11), and when robot is working properly or when robot work remote control failure
It waits, control robot returns to the default storage parking place of vehicle.
Further, the remote control device includes main control remote controler (01), robot signal processing center (02), robot
Working device (03), robot active recovery controller (04), robot failed controller (05) and robot failure recycling control
Device (06) processed；The signal that robot signal processing center (02) issues main control remote controler (01) is handled；Machine is artificial
When making normal, robot signal processing center (02) connects (03) by robot working device and starts robot active recovery controller
(04)；When robot works remote control failure, robot signal processing center (02) starts robot failed controller (05)
Signal transmission control is carried out to on-vehicle machines people's signal collection processor (08) by wire-controlled apparatus (7).
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
The sequence of driving wheel (6), another rear drive sprocket (2) and another steering assistance wheel (9) forms a ring structure.
Further, the Feng Xi mechanism (1) is mounted in the ring structure.
Further, the cleaning device includes rectangular cleaner arm (3) and round cleaner arm (4), rectangular cleaner arm
(3) it is suitble to cleaning plane, round cleaner arm (4) is suitble to cleaning cambered surface.
Further, robot carrier camera (11) is mounted on the top of flying saucer moulding shell (5) to obtain preferably
The visual field.
A kind of control method of vehicle-mounted auxiliary clean appearance machine people, comprising the following steps:
Step 1, when vehicle rain or bad weathers and the driving conditions such as blow in or stationary state under, to relating to
And front windshield, camera, the cleaning of light component and the parameter of judgement of traffic safety meet the preset operating condition of robot
When, main control remote controler (01) issues work order.Robot signal processing center (02) handles received signal；
Step 2, on-vehicle machines people's signal collection processor (8) identify the signal received；Pass through preset vehicle
Information, to realize the judgement to operating position；Robot working device connects after (03) receive working signal, starts Feng Xi mechanism (1)
The flying saucer moulding shell (5) for ensuring to walk on vehicle body has enough suction；
Step 3, robot are being done by robot mobile device, are cleaned to surface of vehicle, until cleaning
It finishes；
After step 4, cleaning, robot is recycled.
Further, in step 4 when robot is working properly, robot signal processing center (02) is worked by robot
Device connects (03) starting robot active recovery controller (04), i.e. on-vehicle machines people signal collection processor (8) is to receiving back
When to quay information, control is carried out to robot and start back pool program, guaranteed that robot returns to vehicle and presets and store parking place.
Further, in step 4 when robot works remote control failure, robot signal processing center (02) starts machine
People's failed controller (05) carries out signal transmission control to on-vehicle machines people's signal collection processor (8) by wire-controlled apparatus (7)
System, robot failure recovery controller (06) are connected by the line of wire-controlled apparatus (7), are started between parking place and robot
Line connects recover, carries out rigidity recycling berth by wire-controlled apparatus (7).
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, and may be implemented in the car can be clean to needing outside vehicle
Place is cleaned, realize some security risks outside to vehicle prompting and can simply troubleshooting effort.
Detailed description of the invention
Fig. 1: the working principle 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 bottom view of the vehicle-mounted auxiliary clean appearance machine people of the present invention.
Description of symbols:
01-main control remote controler；02-robot signal processing center；03-robot working device；04-robot master
Dynamic recovery controller；05-robot failed controller；06-robot failure recovery controller；
1-Feng Xi mechanism；2-rear drive sprockets；3-rectangular cleaner arms；4-round cleaner arms；5-flying saucer moulding shells
Body；6-front driving wheels；7-wire-controlled apparatus；8-on-vehicle machines people's signal collection processors；9-steering assistance wheels；10-radars
Probe；11-robot carrier cameras.
Specific embodiment
Below with reference to Fig. 1 to Fig. 4, the present invention will be further described:
As shown in Figure 1, the working principle of the vehicle-mounted auxiliary clean appearance machine people of the present invention is as follows:
When vehicle is in rain or blow equal bad weathers and driving conditions or under stationary state, to being related to driving a vehicle
When the parameter of cleaning and the judgement of components such as front windshield, camera, light of safety meets robot preset operating condition,
Main control remote controler 01 issues work order.Robot signal processing center 02 handles received signal.
On-vehicle machines people's signal collection processor 8 identifies the signal received.By preset vehicle information, come
Realize the judgement to operating position.Robot working device connect 03 receive working signal after, starting Feng Xi mechanism 1 ensure on vehicle body
The flying saucer moulding shell 5 of walking has enough suction, guarantees robot operation, even if can also accomplish in vehicle traveling
Windage is minimum.
Pass through the starting and steering assistance of rear drive sprocket 2, front driving wheel 6 and steering assistance wheel 9.It realizes on vehicle body freely
Walking, cooperation wind inhale function, it is ensured that the stability of robot work.6 wheels of whole body guarantee the resistance advanced on vehicle body simultaneously
Power is minimum.
Rectangular cleaner arm 3 and round cleaner arm 4, for the cleaning shape for different location on vehicle body come specific aim
Design.Rectangular cleaner arm 3, which can be more suitable, cleans plane, and round cleaner arm 4 is suitble to cleaning cambered surface.
Robot carrier camera 11, for transmitting the effect of work realtime graphic and working effect judgement.
Radar probe 10 guarantees robot operation to the evacuation purpose of obstacle on operating path.
Cleaning needs recycling machine people after finishing, and can have robot normal mode of operation and robot work remote control is lost
The processing of effect mode.
Specifically, when robot is working properly, robot signal processing center 02 connects 03 by robot working device and opens
Mobile robot active recovery controller 04, i.e. on-vehicle machines people signal collection processor 8 to receive return to quay information when, it is right
Robot carries out control and starts back pool program.Guarantee that robot returns to the default storage parking place of vehicle.
When robot works remote control failure, robot signal processing center 02 starts robot failed controller 05 and 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, and the line started between parking place and robot connects recover, passes through wire-controlled apparatus 7
Carry out rigidity recycling berth.
In addition, this technology and principle can be applied to the purposes such as cleaning and the 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 shell 5 is used for
Install Feng Xi mechanism 1, robot mobile device, cleaning device, on-vehicle machines people's signal collection processor 8, radar probe 10 with
And robot carrier camera 11；
The flying saucer moulding shell 5 that Feng Xi mechanism 1 is used to ensure to walk on vehicle body has enough suction without separating；
Robot mobile device is for driving flying saucer moulding shell 5 to be moved in bodywork surface；
Cleaning device is for clearing up the dirt or obstacle of bodywork surface；
On-vehicle machines people's signal collection processor 8 is used to carry out signal transmission with interior remote control device；
Radar probe 10 is for guaranteeing robot operation to the evacuation of obstacle on operating path；
Robot carrier camera 11 is for transfer robot work realtime graphic and working effect judgement；
Remote control device is for controlling Feng Xi mechanism 1, robot mobile device, cleaning device, radar probe 10 and machine
The work of people's carrier camera 11, and when robot is working properly or when robot work remote control failure, control machine
People returns to the default storage parking place of vehicle.
As shown in figure 3, cleaning device includes rectangular cleaner arm 3 and round cleaner arm 4, rectangular cleaner arm 3 is suitble to
Plane is cleaned, round cleaner arm 4 is suitble 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 sequence of driving wheel 2 and another steering assistance wheel 9 forms a ring structure.Feng Xi mechanism 1 is mounted in above-mentioned ring structure.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as use the inventive concept and technical scheme of the present invention carry out various improvement, or it is not improved will be of the invention
Conception and technical scheme directly apply to other occasions, be within the scope of the invention.
Claims (6)
1. a kind of vehicle-mounted auxiliary clean appearance machine people, it is characterised in that: flying saucer moulding shell (5) is used to install wind and inhales 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 flying saucer moulding shell (5) that the Feng Xi mechanism (1) is used to ensure to walk on vehicle body has enough suction without dividing
From；
The robot mobile device is for driving flying saucer moulding shell (5) to be moved in bodywork surface；
The cleaning device is for clearing up the dirt or obstacle of bodywork surface；
The on-vehicle machines people signal collection processor (8) is used to carry out signal transmission with interior remote control device；
The radar probe (10) is for guaranteeing robot operation to the evacuation of obstacle on operating path；
The robot carrier camera (11) is for transfer robot work realtime graphic and working effect judgement；
The remote control device for control Feng Xi mechanism (1), robot mobile device, cleaning device, radar probe (10) and
The work of robot carrier camera (11), and when robot is working properly or when robot work remote control failure, control
Robot processed returns to the default storage parking place of vehicle;
The remote control device includes main control remote controler (01), robot signal processing center (02), robot working device, machine
People's active recovery controller (04), robot failed controller (05) and robot failure recovery controller (06)；Robot
The signal that signal processing center (02) issues main control remote controler (01) is handled；When robot is working properly, robot
Signal processing center (02) connects starting robot active recovery controller (04) by robot working device；When robot work is distant
When control failure, it is i.e. right by wire-controlled apparatus (7) that robot signal processing center (02) starts robot failed controller (05)
On-vehicle machines people's signal collection processor (08) carries out signal transmission control.
2. vehicle-mounted auxiliary clean appearance machine people according to claim 1, it is characterised in that: the robot mobile device packet
Two rear drive sprockets (2), two front driving wheels (6) and two steering assistance wheels (9) are included, 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 drive sprocket (2) and another steering
The sequence of auxiliary wheel (9) forms a ring structure.
3. vehicle-mounted auxiliary clean appearance machine people according to claim 2, it is characterised in that: Feng Xi mechanism (1) installation
In the ring structure.
4. vehicle-mounted auxiliary clean appearance machine people described in any one of -3 according to claim 1, it is characterised in that: the cleaning
Device includes rectangular cleaner arm (3) and round cleaner arm (4), and rectangular cleaner arm (3) is suitble to cleaning plane, circle cleaning
Arm (4) is suitble to cleaning cambered surface.
5. vehicle-mounted auxiliary clean appearance machine people according to claim 4, it is characterised in that: robot carrier camera (11)
The top of flying saucer moulding shell (5) is mounted on to obtain the better visual field.
6. the control method of vehicle-mounted auxiliary clean appearance machine people described in a kind of any one of claim 1-5, including it is following
Step:
Step 1, when vehicle rain or blow bad weather and driving conditions in or stationary state under, to being related to driving a vehicle
It is main when front windshield, camera, the cleaning of light component and the parameter of judgement of safety meet robot preset operating condition
It controls remote controler (01) and issues work order, robot signal processing center (02) handles received signal；
Step 2, on-vehicle machines people's signal collection processor (8) identify the signal received；Believed by preset vehicle
Breath, to realize the judgement to operating position；After robot working device receives working signal, starting Feng Xi mechanism (1) ensures
The flying saucer moulding shell (5) walked on vehicle body has enough suction；
Step 3, robot clean surface of vehicle in the case where being acted on by robot mobile device, until cleaning finishes；
After step 4, cleaning, robot is recycled;
In step 4 when robot is working properly, robot signal processing center (02) connects starter motor by robot working device
Device people's active recovery controller (04), i.e. on-vehicle machines people signal collection processor (8) to receive return to quay information when, it is right
Robot carries out control and starts back pool program, guarantees that robot returns to the default storage parking place of vehicle;Work as robot in step 4
When work remote control failure, robot signal processing center (02) starting robot failed controller (05) passes through wire-controlled apparatus
(7) signal transmission control is carried out to on-vehicle machines people's signal collection processor (8), robot failure recovery controller (06) passes through
The line of wire-controlled apparatus (7) connects, and the line started between parking place and robot connects recover, by wire-controlled apparatus (7) into
Row rigidity recycling 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 |
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| Publication Number | Publication Date |
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| CN106515675A CN106515675A (en) | 2017-03-22 |
| CN106515675B true CN106515675B (en) | 2019-03-12 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111348002A (en) * | 2018-12-21 | 2020-06-30 | 宁波恒帅股份有限公司 | Optical sensor and radar active cleaning device for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| US9675226B2 (en) * | 2012-10-26 | 2017-06-13 | 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 |
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