CN108388180A - A kind of control system of pipe detection sweeping robot - Google Patents
A kind of control system of pipe detection sweeping robot Download PDFInfo
- Publication number
- CN108388180A CN108388180A CN201810218928.5A CN201810218928A CN108388180A CN 108388180 A CN108388180 A CN 108388180A CN 201810218928 A CN201810218928 A CN 201810218928A CN 108388180 A CN108388180 A CN 108388180A
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- module
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- motor
- sweeping robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of control systems of pipe detection sweeping robot, are related to sweeping robot technical field, include mainly induction module, information fusion decision-making module, Motor execution module, wireless relay module, remote control terminal and power module etc..Cognitive ability of the control system to global context and the recognition capability to barrier of the present invention is strong, and Data Detection is accurate, can work normally, need not be carried out data transmission using cable under dark surrounds, is suitble to complicated pipeline environment.
Description
Technical field
The present invention relates to sweeping robot technical field more particularly to a kind of control systems of pipe detection sweeping robot
System.
Background technology
Subway ventilation air-conditioning duct can accumulate many dusts, germ and radiation etc. in long-term use, these nuisances
Matter just polluted air in air supply process, be sucked for a long time by human body, will endanger public health, meeting is easy in air hose
The harmful substances such as a large amount of deleterious particle and dust, dust mite, bacterium, virus and carbon radiation are grown and gather, after air-conditioning is opened,
It will be blown to interior during air-supply with the dust and germ being attached on dirt filtrating screen in air hose, once touch human body
Skin is deposited in respiratory tract after being inhaled into vivo, it is possible to make one to generate sneezing, skin disturb itch, have a stuffy nose, asthma etc. no
It is suitable, or even respiratory disease can be caused, seriously endanger health.Based on this, pipeline cleaning robot comes into being.Control
System processed is the soul of pipe cleaning robot system, the various functions of the robot reality all under being uniformly coordinated of control system
It is existing.Existing robot control system mostly uses cable to power, and communication distance is short, and robot is poor to the sensing capability of environment,
Data transmission is slow, and robot control is difficult, it is difficult to be applied in complicated pipeline environment.How to design a kind of communication distance it is long,
The control system of the suitable conduit detection sweeping robot of stable signal transmission is the technical problems to be solved by the invention.
Invention content
Long, stable signal transmission suitable conduit inspection that in view of the deficiencies of the prior art, the present invention provides a kind of communication distances
Survey the control system of sweeping robot.
The present invention is realized by following technological means solves above-mentioned technical problem：
A kind of control system of pipe detection sweeping robot, including：
Induction module, the induction module include laser range finder, ultrasonic sensor and camera, and the laser range finder is used
With sniffing robot front obstacle, the ultrasonic sensor realizes robot to global context as environment sensing device
Cognitive ability and recognition capability to barrier, camera is as auxiliary environment perceptron, and cooperation ultrasonic sensor is to machine
People's ambient enviroment is identified；
Information merges decision-making module, is connect with the induction module, is used for after the information for receiving induction module acquisition to movement
Execution module sends instruction, controls the action of robot；
Motor execution module, the Motor execution module include mobile control card, chassis driving motor, mechanical arm control motor,
Hair brush motor and vacuum pump, mobile control card merge decision-making module connection with information, and decision-making module is merged for receiving information
Instruction, the action for then controlling chassis driving motor, mechanical arm motor, hair brush motor and vacuum pump control, the bottom
Disk-drive motor controls machine people's walking and makees, the action of mechanical arm control Motor controlling machine device people's cleaning machine arm, real
The control of position, the rotation of the hair brush motor control brush sweeper are now cleaned, the vacuum pump controls vacuum absorption device work
Make, dust is adsorbed；
Wireless relay module, is laid in pipeline, realizes the wireless telecommunications of robot and remote control terminal；
Remote control terminal is set to remote work station, and merging decision-making module by wireless relay module and information carries out wirelessly
Communication carries out transmission order to situ machine people, or receives the state packet of situ machine people；
Preferably, the control system of a kind of pipe detection sweeping robot, the information merge decision-making module and use
Microcontroller is set to as core in robot in storehouse, for controlling the various actions of robot.
Preferably, a kind of control system of pipe detection sweeping robot, the camera include infrared take the photograph
As head and RGB cameras.
Preferably, the control system of a kind of pipe detection sweeping robot, further includes power module, is set to machine
In device people in storehouse, for being powered to entire control system.
Preferably, the control system of a kind of pipe detection sweeping robot, further includes trunk module distributor, if
It is placed in robot in storehouse, the laying for controlling wireless relay module.
Preferably, a kind of control system of pipe detection sweeping robot, the Motor execution module are also wrapped
Electric pushrod and camera motor are included, the camera position for controlling to adjust camera.
Preferably, the control system of a kind of pipe detection sweeping robot further includes LED light and information fusion
Decision-making module connects, for providing illumination for system.
The advantage of the invention is that：Cognitive ability of the control system to global context of the present invention and the identification to barrier
Ability is strong, and Data Detection is accurate, can work normally, need not be carried out data transmission using cable under dark surrounds, is suitble to multiple
Miscellaneous pipeline environment.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is remote control terminal of the present invention and robot communication schematic diagram.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of control system of pipe detection sweeping robot, including：
Induction module, the induction module include laser range finder 1, ultrasonic sensor 2 and camera 3, the laser ranging
Instrument 1 is used as environment sensing device to sniffing robot front obstacle, the ultrasonic sensor 2, realizes robot to the overall situation
The cognitive ability of environment and recognition capability to barrier, camera 3 are used as auxiliary environment perceptron, coordinate ultrasonic sensor
Robot is identified；
Information merges decision-making module 4, is connect with the induction module, is used for after the information for receiving induction module acquisition to movement
Execution module sends instruction, controls the action of robot；
Motor execution module, the Motor execution module include mobile control card 5, chassis driving motor 6, mechanical arm control motor
7, hair brush motor 8 and vacuum pump 9, mobile control card 5 merge the connection of decision-making module 4 with information, and decision is merged for receiving information
Then the instruction of module 4 carries out the action of chassis driving motor 6, mechanical arm control motor 7, hair brush motor 8 and vacuum pump 9
Control, the chassis driving motor 6 control machine people's walking and make, and the mechanical arm control motor 7 controls robot scavenging machine
The action of tool arm realizes that the control for cleaning position, the hair brush motor 8 control the rotation of brush sweeper, and the vacuum pump 9 controls
Vacuum absorption device works, and is adsorbed to dust；
Wireless relay module 10, is laid in pipeline, realizes the wireless telecommunications of robot and remote control terminal；
Remote control terminal 11, is set to remote work station, and merging decision-making module 4 by wireless relay module 10 and information carries out
Wireless telecommunications carry out transmission order to situ machine people, or receive the state packet of situ machine people；
Preferably, information fusion decision-making module 4 is set to using microcontroller as core in robot in storehouse, is used
It is controlled in the various actions of robot.
Preferably, the camera 3 includes infrared camera 301 and RGB cameras 302.
Preferably, the control system of the pipe detection sweeping robot further includes power module 12, is set to robot
In interior storehouse, for being powered to entire control system.
Preferably, the control system of the pipe detection sweeping robot further includes trunk module distributor 13, is set to
In robot in storehouse, the laying for controlling wireless relay module 10.
Preferably, the Motor execution module further includes electric pushrod 14 and camera motor 15, for controlling to adjust
The camera position of camera 3.
Preferably, the control system of the pipe detection sweeping robot further includes LED light 16 and information fusion decision
Module connects, for providing illumination for system.
The data of sensor are acquired by robot in pipeline, and by data by being wirelessly transmitted to trunk module
In, it is transmitted to host computer again by transmission platform of air hose LAN, host computer obtains information of the robot in air hose, host computer
Control signal is controlled into detection and cleaning of the robot in pipeline, whole system WiFi wireless networks by WIFI network
Carry out transmission data, realizes that wireless communication of the robot in air hose is controlled with robot, the air hose prison based on the WIFI communication technologys
Examining system is to carry out wireless coverage using WiFi technology, can thus make computer and other electronic equipments in LAN
In quickly send or receive data information, can be realized without connection.
This system uses wifi ad hoc network schemes, robot to carry wireless transport module, and wherein wireless module is according to pipeline
The factors such as distance, angle robot can put down wireless relay automatically in pipeline, realize wireless network link in flue, work as cleaning
After the completion of detection operations, robot backtracking, automatic Picking wireless relay.
Pipe cleaning robot uses ultrasonic sensor as air hose environment sensing device, can be in evils such as dark, greasy dirts
It is worked normally under conditions of bad environment, data processing is simple and quick, and cooperation uses camera as auxiliary environment perceptron, both
Robot is improved to the cognitive ability of global context and to obstacle recognition ability, and mensuration distance that can be quickly is implemented quickly
Movement；Camera uses infrared camera and RGB cameras, cooperated with LED lamp that can also work in dark conditions；Laser
Rangefinder is used to measure the distance of front obstacle, so that the corresponding action that avoids or creep is made by robot.
All around moving for robot can be controlled by the control stick on control panel.Control machinery arm is adjusted simultaneously
The movement locus for saving cleaning head, realizes that the cleaning of air hose, clearing apparatus cleaning head rotating speed are adjusted automatically according to dust degree in air hose
Rate request is saved, can effectively hit air hose inner wall attachment dust down.
Lithium battery can be used in power module, and system is powered when working for system, after cleaning works, by outer
Portion's power supply charges.
Cognitive ability of the control system to global context and the recognition capability to barrier of the present invention is strong, and Data Detection is accurate
Really, it can work normally, need not be carried out data transmission using cable under dark surrounds, be suitble to complicated pipeline environment.
It should be noted that herein, if there are first and second or the like relational terms to be used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (7)
1. a kind of control system of pipe detection sweeping robot, which is characterized in that including：
Induction module, the induction module include laser range finder, ultrasonic sensor and camera, and the laser range finder is used
With sniffing robot front obstacle, the ultrasonic sensor realizes robot to global context as environment sensing device
Cognitive ability and recognition capability to barrier, camera is as auxiliary environment perceptron, and cooperation ultrasonic sensor is to machine
People's ambient enviroment is identified；
Information merges decision-making module, is connect with the induction module, is used for after the information for receiving induction module acquisition to movement
Execution module sends instruction, controls the action of robot；
Motor execution module, the Motor execution module include mobile control card, chassis driving motor, mechanical arm control motor,
Hair brush motor and vacuum pump, mobile control card merge decision-making module connection with information, and decision-making module is merged for receiving information
Instruction, the action for then controlling chassis driving motor, mechanical arm motor, hair brush motor and vacuum pump control, the bottom
Disk-drive motor controls machine people's walking and makees, the action of mechanical arm control Motor controlling machine device people's cleaning machine arm, real
The control of position, the rotation of the hair brush motor control brush sweeper are now cleaned, the vacuum pump controls vacuum absorption device work
Make, dust is adsorbed；
Wireless relay module, is laid in pipeline, realizes the wireless telecommunications of robot and remote control terminal；
Remote control terminal is set to remote work station, and merging decision-making module by wireless relay module and information carries out wirelessly
Communication carries out transmission order to situ machine people, or receives the state packet of situ machine people.
2. a kind of control system of pipe detection sweeping robot according to claim 1, it is characterised in that：The letter
Breath fusion decision-making module, as core, is set in robot in storehouse using microcontroller, for the various actions to robot
It is controlled.
3. a kind of control system of pipe detection sweeping robot according to claim 1, it is characterised in that：Described takes the photograph
As head includes infrared camera and RGB cameras.
4. a kind of control system of pipe detection sweeping robot according to claim 1, it is characterised in that：It further include electricity
Source module is set in robot in storehouse, for being powered to entire control system.
5. a kind of control system of pipe detection sweeping robot according to claim 1, it is characterised in that：In further including
It after module distributor, is set in robot in storehouse, the laying for controlling wireless relay module.
6. a kind of control system of pipe detection sweeping robot according to claim 1, it is characterised in that：The fortune
Dynamic execution module further includes electric pushrod and camera motor, the camera position for controlling to adjust camera.
7. a kind of control system of pipe detection sweeping robot according to claim 1, it is characterised in that：Further include
LED light is connected with information fusion decision-making module, for providing illumination for system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810218928.5A CN108388180B (en) | 2018-03-16 | 2018-03-16 | A kind of control system of pipe detection sweeping robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810218928.5A CN108388180B (en) | 2018-03-16 | 2018-03-16 | A kind of control system of pipe detection sweeping robot |
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| Publication Number | Publication Date |
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| CN108388180A true CN108388180A (en) | 2018-08-10 |
| CN108388180B CN108388180B (en) | 2019-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810218928.5A Active CN108388180B (en) | 2018-03-16 | 2018-03-16 | A kind of control system of pipe detection sweeping robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397306A (en) * | 2018-11-15 | 2019-03-01 | 国网浙江宁波市鄞州区供电有限公司 | A kind of robot for power pipeline inspection |
| CN110962122A (en) * | 2019-11-11 | 2020-04-07 | 中广核工程有限公司 | Pipeline cleaning robot control system and method |
| CN111895217A (en) * | 2020-06-30 | 2020-11-06 | 重庆凡聚智能科技有限公司 | Self-organized network's pipeline data acquisition robot |
| CN112556085A (en) * | 2020-12-25 | 2021-03-26 | 陕西中建建乐智能机器人股份有限公司 | Cleaning and monitoring system and method for ventilation pipeline of public building |
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| US7993469B1 (en) * | 2005-11-15 | 2011-08-09 | Redzone Robotics, Inc. | Sensor based micro-cleaning of buried infrastructure |
| CN102773235A (en) * | 2012-08-09 | 2012-11-14 | 长沙亚欣电器技术服务有限公司 | Intelligent cleaning robot for air duct |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397306A (en) * | 2018-11-15 | 2019-03-01 | 国网浙江宁波市鄞州区供电有限公司 | A kind of robot for power pipeline inspection |
| CN110962122A (en) * | 2019-11-11 | 2020-04-07 | 中广核工程有限公司 | Pipeline cleaning robot control system and method |
| CN110962122B (en) * | 2019-11-11 | 2021-06-25 | 中广核工程有限公司 | Pipeline cleaning robot control system and method |
| CN111895217A (en) * | 2020-06-30 | 2020-11-06 | 重庆凡聚智能科技有限公司 | Self-organized network's pipeline data acquisition robot |
| CN112556085A (en) * | 2020-12-25 | 2021-03-26 | 陕西中建建乐智能机器人股份有限公司 | Cleaning and monitoring system and method for ventilation pipeline of public building |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108388180B (en) | 2019-08-20 |
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