CN108107896A - A kind of control method of SCM Based ceramic tile gap cleaning - Google Patents
A kind of control method of SCM Based ceramic tile gap cleaning Download PDFInfo
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- CN108107896A CN108107896A CN201711478102.4A CN201711478102A CN108107896A CN 108107896 A CN108107896 A CN 108107896A CN 201711478102 A CN201711478102 A CN 201711478102A CN 108107896 A CN108107896 A CN 108107896A
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- ceramic tile
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- brickwork joint
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- 238000004140 cleaning Methods 0.000 title claims abstract description 138
- 239000000919 ceramic Substances 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 122
- 230000008447 perception Effects 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000006698 induction Effects 0.000 claims description 54
- 239000000428 dust Substances 0.000 claims description 19
- 238000001914 filtration Methods 0.000 claims description 7
- 238000010408 sweeping Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000000465 moulding Methods 0.000 claims description 4
- 230000000977 initiatory effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 1
- 241000196324 Embryophyta Species 0.000 description 69
- 238000010586 diagram Methods 0.000 description 5
- 239000011449 brick Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000013358 Solanum torvum Nutrition 0.000 description 1
- 240000002072 Solanum torvum Species 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning In General (AREA)
Abstract
The present invention proposes a kind of control method of SCM Based ceramic tile gap cleaning, for control band track mechanism trolley form cleaning plant to be paved into structured size ceramic tile ground brickwork joint clear up, the band track mechanism trolley form cleaning plant, its mechanism that tracks is the brickwork joint detection device being connected with control module built in trolley, the built-in computing chip including microcontroller of control module, when cleaning plant works, the computing chip is using cleaning plant initial position as origin, using the brickwork joint perception information received as scale, record the run trace of cleaning plant；The run trace is used to calculate the work area of cleaning plant, is also used for judging to turn to the path in order to avoid before repeating in ceramic tile gap infall；The present invention can search and clean gap between ceramic tile automatically, and can automatically control the walking motion that cooperating equipment is carried out in brush plate position.
Description
Technical field
The present invention relates to cleaning equipment technology field, especially a kind of controlling party of SCM Based ceramic tile gap cleaning
Method.
Background technology
It needs to clear up gap ceramic tile before ceramic tile joint filling and be cleared up, it is necessary to go deep into brickwork joint with brush plate, as can with
Automatic cleaning equipment carries out operation, will be obviously improved cleaning efficiency, but such operation needs to be accurately positioned brickwork joint, and
And cleaning equipment is needed to carry out operation along brickwork joint automatically, this kind equipment how is designed, is a research direction.
The content of the invention
The present invention proposes a kind of control method of SCM Based ceramic tile gap cleaning, can make automatic cleaning equipment right
Ceramic tile brickwork joint is accurately positioned brickwork joint when clearing up, and can carry out operation along brickwork joint automatically.
The present invention uses following technical scheme.
A kind of control method of SCM Based ceramic tile gap cleaning, for band to be controlled to track the trolley form of mechanism
Cleaning plant to be paved into structured size ceramic tile ground brickwork joint clear up, the band track mechanism trolley form cleaning dress
It puts, the mechanism that tracks is the brickwork joint detection device being connected with control module built in trolley, and control module is built-in to exist including microcontroller
Interior computing chip, when cleaning plant works, the computing chip is using cleaning plant initial position as origin, with the brick received
Seam perception information is scale, records the run trace of cleaning plant；The run trace is used to calculate the working face of cleaning plant
Product is also used for judging to turn to the path in order to avoid before repeating in ceramic tile gap infall.
The mechanism that tracks includes four pairs of laser sensors, is installed on the front end on chassis, rear end forms front and rear induction mechanism,
The left side and right side for being also installed on chassis form left and right induction mechanism；Brush plate is located at chassis front end, rear end laser sensor point
At vertical plane where the formed symmetrical line in cloth region；The initial position that cleaning plant is started to work is the intersection of ceramic tile brickwork joint
At point, when cleaning plant is located at initial position, each pair of light of the mechanism that tracks is using ceramic tile slit centers as line of symmetry.
The cleaning plant forepart is equipped with obstacle sensor, has wall or obstacle in front of cleaning plant operating path
During object, obstacle sensor sends collision alarm to control module, and control module control walking mechanism is made to stop or turn to.
The control method specifically includes following methods successively；
A1, job initiation position is determined, and in this, as coordinate origin；
A2, cleaning plant is moved at coordinate origin, make front and rear induction mechanism a pair of of laser sensor light with chassis before
The ceramic tile slit centers of rear direction are line of symmetry, and the light of a pair of of laser sensor of left and right induction mechanism is with chassis left and right directions
Ceramic tile slit centers be line of symmetry；
A3, cleaning plant is started, during cleaning plant advances, when a pair of of laser beam of front and rear induction mechanism is because sweeping to ceramic tile
Gap and when causing light beam reflective condition inconsistent, front and rear induction mechanism sends yaw perception information to control module, controls mould
Block control walking mechanism causes the direct of travel of cleaning plant to recover to identical with front and rear ceramic tile gap direction；
In A4, cleaning plant traveling process, when the inswept ceramic tile gap of the laser sensor light of left and right induction mechanism, left and right sense
Mechanism is answered to send brickwork joint perception information to control module；
A5, when having wall or barrier in front of the cleaning plant operating path, the obstacle sensor of cleaning plant forepart is to control
Molding block sends collision alarm, and control module control walking mechanism is made to stop or turn to；
A6, when cleaning plant turns to, cleaning plant tracks mechanism with the ceramic tile gap on laser beam scanning ground, and is controlled with this
The go to action of walking mechanism processed, make the front and rear induction mechanism of the cleaning plant after steering a pair of of laser sensor light with
Chassis ceramic tile slit centers in the front-back direction are line of symmetry, and the light of a pair of of laser sensor of left and right induction mechanism is left with chassis
The ceramic tile slit centers of right direction are line of symmetry；
A7, the computing chip are using cleaning plant initial position as origin, using the brickwork joint perception information received as scale, with every piece
The length and width dimensions of ceramic tile are each scale length, record the run trace of cleaning plant；The run trace is cleared up for calculating
The work area of device is also used for judging to turn to the path in order to avoid before repeating in ceramic tile gap infall.
The cleaning plant includes control module, chassis, walking mechanism, the mechanism that tracks and gap cleaning agency；The control
Molding block is connected and is controlled by with walking mechanism, the mechanism that tracks, gap cleaning agency；The chassis keeps horizontal in operation
State；The gap cleaning agency includes lifting unit and vertically arranged brush plate, and the lifting unit is connected with brush plate；
The mechanism that tracks includes front and rear induction mechanism and left and right induction mechanism, the front and rear induction mechanism include being arranged on chassis forepart and
The laser sensor at rear portion；The left and right induction mechanism includes the laser sensor arranged on chassis side；The walking mechanism root
Its travelling route is adjusted according to the brickwork joint trend and brickwork joint crossover location for the mechanism sensing that tracks, so that brush plate alignment brickwork joint carries out clearly
It sweeps；When walking mechanism is turned, falls back or suspended, lifting unit promotes brush plate and makes it away from brickwork joint in order to avoid being damaged；
The walking mechanism is arranged on chassis rear portion, and walking mechanism is walked with two independent rear wheel drive motor driving trailing wheels；When
When control module changes rotating speed and the steering of two rear-wheel motors, the cleaning plant turns, turns around or fall back.
When cleaning plant is located at initial position, the laser sensor light of front and rear induction mechanism is in the front-back direction with chassis
Ceramic tile slit centers are line of symmetry, and the laser sensor light of left and right induction mechanism is with the ceramic tile slit centers of chassis left and right directions
For line of symmetry；
In cleaning plant traveling process, when the inswept ceramic tile gap of the laser sensor light of left and right induction mechanism, left and right sensing
Mechanism sends brickwork joint perception information to control module；
In cleaning plant traveling process, when a pair of of laser beam of front and rear induction mechanism causes light beam anti-when sweeping to ceramic tile gap
Penetrate state it is inconsistent when, front and rear induction mechanism to control module send yaw perception information.
The cleaning plant is equipped with display screen and USB interface, in order to read/extract operational data；The cleaning plant
It runs in an automatic fashion or controls operation manually with remote control mode.
The cleaning plant further includes dust collect plant, and the dust collect plant includes air inlet, fan blade, dust filtration device and outlet air
Mouthful；The dust collect plant can detect automatically have been collected weight of dust and has sent information warning；The air intake surface direction of the air inlet
Brush plate；The fan blade is arranged on air inlet, and the dust filtration device is arranged at air outlet.
Ceramic tile gap cleaning plant is creatively designed as trolley form by the present invention, and in the surrounding device laser of trolley
Sensor utilizes the ceramic tile institute floor file face of structured size carefully and neatly done with brickwork joint to scan the ceramic tile gap on ground, horizontal flat perpendicular
Directly, the characteristics of similar coordinate system, cleaning ground is considered as coordinate to carry out cleaning work, so as to eliminate traditional automatic cleaning dress
The tedious steps in path planning, path learning are put, allow cleaning equipment that can quickly carry out cleaning work after reaching scene, so as to big
Improve cleaning efficiency greatly.
The cleaning plant of the present invention can be turned by the use of the brickwork joint of ceramic tile as path foundation during walking in vehicle
Curved, retroversion suspends when non-cleaning work, brush plate brush wheel is proposed from brickwork joint automatically, so as to avoid hairbrush disc brush
Wheel damage, the walking that can also allow cleaning plant are more steady.
In the present invention, the brush wheel of brush plate is vertically arranged in the centre symmetry line of a pair of of the laser sensor light beam in front,
When can allow the cleaning plant to walk, brush plate is automatically positioned at brickwork joint, so as to enormously simplify the mechanism of brush plate work positioning,
The structure for allowing cleaning plant is more simple, is conducive to cost-effective.
Description of the drawings
The present invention is described in more detail with reference to the accompanying drawings and detailed description：
Attached drawing 1 is the schematic diagram of the present invention；
Attached drawing 2 is another schematic diagram of the present invention；
Attached drawing 3 is the flow diagram of the present invention；
Attached drawing 4 is the tile floor schematic diagram to be cleared up of cleaning plant of the present invention；
Attached drawing 5 is the schematic diagram of dust collect plant of the present invention；
In figure：1- walking mechanisms；2- laser sensors；3- trailing wheels；4- lifting units；5- obstacle sensors；6- brush plates；7-
Rear wheel drive motor；8- ceramic tiles；9- ceramic tile brickwork joints；10- walls；11- chassis；12- fan blades；13- dust filtration devices；14- air inlets；
15- air outlets.
Specific embodiment
As Figure 1-Figure 5, a kind of control method of SCM Based ceramic tile gap cleaning, for band to be controlled to track machine
The cleaning plant of the trolley form of structure clears up the brickwork joint 9 that ground is paved into structured size ceramic tile 8, and the band tracks the small of mechanism
The cleaning plant of vehicle form, the mechanism that tracks be with the brickwork joint detection device that is connected of control module built in trolley, in control module
Put the computing chip including microcontroller, when cleaning plant works, the computing chip using cleaning plant initial position as
Origin using the brickwork joint perception information received as scale, records the run trace of cleaning plant；The run trace is clear for calculating
The work area of device is managed, is also used for judging to turn to the path in order to avoid before repeating in 9 infall of ceramic tile gap.
The mechanism that tracks includes four pairs of laser sensors 2, is installed on the front end on chassis 11, rear end forms front and rear induction machine
Structure, the left side and right side for being also installed on chassis 11 form left and right induction mechanism；Brush plate 6 is located at chassis front end, rear end laser
At vertical plane where the formed symmetrical line of sensor distributed areas；The initial position that cleaning plant is started to work is ceramic tile brickwork joint
Intersection, when cleaning plant is located at initial position, each pair of light of the mechanism that tracks is symmetrical using 9 center of ceramic tile gap
Line.
The cleaning plant forepart is equipped with obstacle sensor, there is wall 10 or barrier in front of cleaning plant operating path
When hindering object, obstacle sensor sends collision alarm to control module, and control module control walking mechanism is made to stop or turn to.
The control method specifically includes following methods successively；
A1, job initiation position is determined, and in this, as coordinate origin；
A2, cleaning plant is moved at coordinate origin, make front and rear induction mechanism a pair of of laser sensor light with chassis before
The ceramic tile slit centers of rear direction are line of symmetry, and the light of a pair of of laser sensor of left and right induction mechanism is with chassis left and right directions
Ceramic tile slit centers be line of symmetry；
A3, cleaning plant is started, during cleaning plant advances, when a pair of of laser beam of front and rear induction mechanism is because sweeping to ceramic tile
Gap and when causing light beam reflective condition inconsistent, front and rear induction mechanism sends yaw perception information to control module, controls mould
Block control walking mechanism causes the direct of travel of cleaning plant to recover to identical with front and rear ceramic tile gap direction；
In A4, cleaning plant traveling process, when the inswept ceramic tile gap of the laser sensor light of left and right induction mechanism, left and right sense
Mechanism is answered to send brickwork joint perception information to control module；
A5, when having wall or barrier in front of the cleaning plant operating path, the obstacle sensor of cleaning plant forepart is to control
Molding block sends collision alarm, and control module control walking mechanism is made to stop or turn to；
A6, when cleaning plant turns to, cleaning plant tracks mechanism with the ceramic tile gap on laser beam scanning ground, and is controlled with this
The go to action of walking mechanism processed, make the front and rear induction mechanism of the cleaning plant after steering a pair of of laser sensor light with
Chassis ceramic tile slit centers in the front-back direction are line of symmetry, and the light of a pair of of laser sensor of left and right induction mechanism is left with chassis
The ceramic tile slit centers of right direction are line of symmetry；
A7, the computing chip are using cleaning plant initial position as origin, using the brickwork joint perception information received as scale, with every piece
The length and width dimensions of ceramic tile are each scale length, record the run trace of cleaning plant；The run trace is cleared up for calculating
The work area of device is also used for judging to turn to the path in order to avoid before repeating in ceramic tile gap infall.
The cleaning plant includes control module, chassis 11, walking mechanism 1, the mechanism that tracks and gap cleaning agency；It is described
Control module is connected and is controlled by with walking mechanism, the mechanism that tracks, gap cleaning agency；The chassis 11 is kept in operation
Horizontality；The gap cleaning agency includes lifting unit 4 and vertically arranged brush plate 6, the lifting unit and hairbrush
Disk is connected；The mechanism that tracks includes front and rear induction mechanism and left and right induction mechanism, and the front and rear induction mechanism includes being arranged on bottom
The laser sensor 2 of disk front and rear；The left and right induction mechanism includes the laser sensor arranged on chassis side；The row
It walks mechanism and its travelling route is adjusted according to the brickwork joint trend and brickwork joint crossover location of the mechanism sensing that tracks, so that brush plate is directed at brick
Seam is cleaned；When walking mechanism turn, fall back or pause when, lifting unit promoted brush plate make it away from brickwork joint against
Damage；
The walking mechanism 1 is arranged on chassis rear portion, and walking mechanism drives trailing wheel 3 to walk with two independent rear wheel drive motors 7；
When control module changes rotating speed and the steering of two rear-wheel motors, the cleaning plant turns, turns around or fall back.
When cleaning plant is located at initial position, the laser sensor light of front and rear induction mechanism is in the front-back direction with chassis
Ceramic tile slit centers are line of symmetry, and the laser sensor light of left and right induction mechanism is with the ceramic tile slit centers of chassis left and right directions
For line of symmetry；
In cleaning plant traveling process, when the inswept ceramic tile gap of the laser sensor light of left and right induction mechanism, left and right sensing
Mechanism sends brickwork joint perception information to control module；
In cleaning plant traveling process, when a pair of of laser beam of front and rear induction mechanism causes light beam anti-when sweeping to ceramic tile gap
Penetrate state it is inconsistent when, front and rear induction mechanism to control module send yaw perception information.
The cleaning plant is equipped with display screen and USB interface, in order to read/extract operational data；The cleaning plant
It runs in an automatic fashion or controls operation manually with remote control mode.
The cleaning plant further includes dust collect plant, and the dust collect plant includes air inlet 14, fan blade 12, dust filtration device 13
With air outlet 15；The dust collect plant can detect automatically have been collected weight of dust and has sent information warning；The air inlet into
Wind is facing towards brush plate；The fan blade is arranged on air inlet, and the dust filtration device is arranged at air outlet.
In this example, the initial position that cleaning plant is started to work is the intersection of ceramic tile brickwork joint, during prune job, trolley
The cleaning plant of form is advanced by path of ceramic tile brickwork joint, and along into brickwork joint, bristle brush wheel rotation carries out brickwork joint clear bristle brush wheel wheel
Reason.
Claims (9)
1. a kind of control method of SCM Based ceramic tile gap cleaning, for control band track mechanism trolley form it is clear
Reason device clears up the brickwork joint that ground is paved into structured size ceramic tile, it is characterised in that：The band tracks the trolley form of mechanism
Cleaning plant, the mechanism that tracks be with the brickwork joint detection device that is connected of control module built in trolley, include built in control module
Computing chip including microcontroller, when cleaning plant works, the computing chip using cleaning plant initial position as origin, with
The brickwork joint perception information received is scale, records the run trace of cleaning plant；The run trace is used to calculate cleaning plant
Work area, be also used for ceramic tile gap infall judge turn in case repeat before path.
2. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 1, it is characterised in that：Institute
Stating the mechanism that tracks includes four pairs of laser sensors, is installed on the front end on chassis, rear end forms front and rear induction mechanism, is also installed on bottom
The left side of disk and right side form left and right induction mechanism；Brush plate is located in chassis front end, rear end laser sensor distributed areas
At vertical plane where Axisymmetric Distributed Line；The initial position that cleaning plant is started to work is the intersection of ceramic tile brickwork joint, when clear
When reason device is located at initial position, each pair of light of the mechanism that tracks is using ceramic tile slit centers as line of symmetry.
3. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 2, it is characterised in that：Institute
It states cleaning plant forepart and obstacle sensor is installed, when having wall or barrier in front of cleaning plant operating path, obstacle
Object sensor sends collision alarm to control module, and control module control walking mechanism is made to stop or turn to.
4. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 3, it is characterised in that：Institute
State control method specifically includes following methods successively；
A1, job initiation position is determined, and in this, as coordinate origin；
A2, cleaning plant is moved at coordinate origin, make front and rear induction mechanism a pair of of laser sensor light with chassis before
The ceramic tile slit centers of rear direction are line of symmetry, and the light of a pair of of laser sensor of left and right induction mechanism is with chassis left and right directions
Ceramic tile slit centers be line of symmetry；
A3, cleaning plant is started, during cleaning plant advances, when a pair of of laser beam of front and rear induction mechanism is because sweeping to ceramic tile
Gap and when causing light beam reflective condition inconsistent, front and rear induction mechanism sends yaw perception information to control module, controls mould
Block control walking mechanism causes the direct of travel of cleaning plant to recover to identical with front and rear ceramic tile gap direction；
In A4, cleaning plant traveling process, when the inswept ceramic tile gap of the laser sensor light of left and right induction mechanism, left and right sense
Mechanism is answered to send brickwork joint perception information to control module；
A5, when having wall or barrier in front of the cleaning plant operating path, the obstacle sensor of cleaning plant forepart is to control
Molding block sends collision alarm, and control module control walking mechanism is made to stop or turn to；
A6, when cleaning plant turns to, cleaning plant tracks mechanism with the ceramic tile gap on laser beam scanning ground, and is controlled with this
The go to action of walking mechanism processed, make the front and rear induction mechanism of the cleaning plant after steering a pair of of laser sensor light with
Chassis ceramic tile slit centers in the front-back direction are line of symmetry, and the light of a pair of of laser sensor of left and right induction mechanism is left with chassis
The ceramic tile slit centers of right direction are line of symmetry；
A7, the computing chip are using cleaning plant initial position as origin, using the brickwork joint perception information received as scale, with every piece
The length and width dimensions of ceramic tile are each scale length, record the run trace of cleaning plant；The run trace is cleared up for calculating
The work area of device is also used for judging to turn to the path in order to avoid before repeating in ceramic tile gap infall.
5. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 4, it is characterised in that：Institute
Stating cleaning plant includes control module, chassis, walking mechanism, the mechanism that tracks and gap cleaning agency；The control module and row
Mechanism, the mechanism that tracks, gap cleaning agency is walked to be connected and be controlled by；The chassis keeps horizontality in operation；It is described
Gap cleaning agency includes lifting unit and vertically arranged brush plate, and the lifting unit is connected with brush plate；It is described to track
Mechanism includes front and rear induction mechanism and left and right induction mechanism, and the front and rear induction mechanism includes swashing arranged on chassis front and rear
Optical sensor；The left and right induction mechanism includes the laser sensor arranged on chassis side；The walking mechanism is according to the machine of tracking
The brickwork joint trend and brickwork joint crossover location of structure sensing adjust its travelling route, so that brush plate alignment brickwork joint is cleaned；Work as row
When walking mechanism turning, falling back or suspend, lifting unit promotes brush plate and makes it away from brickwork joint in order to avoid being damaged.
6. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 5, it is characterised in that：Institute
Walking mechanism is stated arranged on chassis rear portion, walking mechanism is walked with two independent rear wheel drive motor driving trailing wheels；When control mould
When block changes rotating speed and the steering of two rear-wheel motors, the cleaning plant turns, turns around or fall back.
7. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 4, it is characterised in that：When
When cleaning plant is located at initial position, the laser sensor light of front and rear induction mechanism is in the ceramic tile gap in the front-back direction of chassis
The heart is line of symmetry, and the laser sensor light of left and right induction mechanism is using the ceramic tile slit centers of chassis left and right directions as line of symmetry；
In cleaning plant traveling process, when the inswept ceramic tile gap of the laser sensor light of left and right induction mechanism, left and right sensing
Mechanism sends brickwork joint perception information to control module；
In cleaning plant traveling process, when a pair of of laser beam of front and rear induction mechanism causes light beam anti-when sweeping to ceramic tile gap
Penetrate state it is inconsistent when, front and rear induction mechanism to control module send yaw perception information.
8. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 4, it is characterised in that：Institute
Cleaning plant is stated equipped with display screen and USB interface, in order to read/extract operational data；The cleaning plant is in an automatic fashion
Operation controls operation with remote control mode manually.
9. a kind of control method of SCM Based ceramic tile gap cleaning according to claim 5, it is characterised in that：Institute
It states cleaning plant and further includes dust collect plant, the dust collect plant includes air inlet, fan blade, dust filtration device and air outlet；The collection
Dirt device can detect automatically have been collected weight of dust and has sent information warning；The air intake surface of the air inlet is towards brush plate；Institute
Fan blade is stated arranged on air inlet, the dust filtration device is arranged at air outlet.
Priority Applications (1)
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|---|---|---|---|
| CN201711478102.4A CN108107896B (en) | 2017-12-29 | 2017-12-29 | Control method for cleaning gaps of tiles based on single chip microcomputer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478102.4A CN108107896B (en) | 2017-12-29 | 2017-12-29 | Control method for cleaning gaps of tiles based on single chip microcomputer |
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| CN108107896A true CN108107896A (en) | 2018-06-01 |
| CN108107896B CN108107896B (en) | 2023-05-12 |
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| JPH07124080A (en) * | 1993-06-15 | 1995-05-16 | Nippon Yusoki Co Ltd | Automatic cleaner |
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| JP2015070922A (en) * | 2013-10-02 | 2015-04-16 | 株式会社ダスキン | Cleaning robot and cleaning robot system |
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| CN106886221A (en) * | 2017-03-28 | 2017-06-23 | 武汉理工大学 | A kind of trace follow control device for being applied to photovoltaic module cleaning apparatus for self |
| CN106930515A (en) * | 2017-03-29 | 2017-07-07 | 哈尔滨理工大学 | Automatic tracking Mei Feng joint fillings robot |
| CN106988513A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | The robot of ceramic tile U.S. seam |
-
2017
- 2017-12-29 CN CN201711478102.4A patent/CN108107896B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07124080A (en) * | 1993-06-15 | 1995-05-16 | Nippon Yusoki Co Ltd | Automatic cleaner |
| CN202537420U (en) * | 2012-04-04 | 2012-11-21 | 方卓然 | Automatic floor tile gap cleaning machine |
| JP2015070922A (en) * | 2013-10-02 | 2015-04-16 | 株式会社ダスキン | Cleaning robot and cleaning robot system |
| CN106437097A (en) * | 2016-12-01 | 2017-02-22 | 衢州市依科达节能技术有限公司 | Trolley type ceramic tile gap sweeper |
| CN106886221A (en) * | 2017-03-28 | 2017-06-23 | 武汉理工大学 | A kind of trace follow control device for being applied to photovoltaic module cleaning apparatus for self |
| CN106930515A (en) * | 2017-03-29 | 2017-07-07 | 哈尔滨理工大学 | Automatic tracking Mei Feng joint fillings robot |
| CN106988513A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | The robot of ceramic tile U.S. seam |
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| Publication number | Publication date |
|---|---|
| CN108107896B (en) | 2023-05-12 |
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