CN108894525A - A kind of control system of Intelligent outer wall cleaner - Google Patents
A kind of control system of Intelligent outer wall cleaner Download PDFInfo
- Publication number
- CN108894525A CN108894525A CN201810793651.9A CN201810793651A CN108894525A CN 108894525 A CN108894525 A CN 108894525A CN 201810793651 A CN201810793651 A CN 201810793651A CN 108894525 A CN108894525 A CN 108894525A
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- China
- Prior art keywords
- submaster controller
- controller
- module
- submaster
- controlling
- 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 claims abstract description 19
- 230000006698 induction Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000003321 amplification Effects 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract 1
- 210000002268 wool Anatomy 0.000 description 10
- 239000002131 composite material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000011521 glass Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009954 braiding Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000002463 transducing effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of control systems of Intelligent outer wall cleaner, including master controller, for controlling induction module and forming the submaster controller A of switch, for controlling the submaster controller B of main air blower and secondary blower, for controlling the submaster controller C of capstan winch motor and water pump, for controlling crawler belt motor, clean the submaster controller D of motor and laser Shi Kuo mechanism and the submaster controller E for controlling emergency braking module, master controller with submaster controller A, submaster controller B, submaster controller C, submaster controller D and submaster controller E is electrically connected, the induction module includes ultrasonic wave sensing module and infrared sensor module.It is of the invention novel in design, it can effectively distinguish the environment of surrounding come the start and stop of intelligent control cleaning machine by the ultrasonic wave sensing module of setting, the infrared module of setting is to overcome " blind area " when the detection of ultrasonic wave sensing module and deal with the object of burst, it is highly-safe, improve the service life of cleaning machine, and high degree of automation.
Description
Technical field
The present invention relates to Intelligent outer wall cleaner automation field, the control system of specifically a kind of Intelligent outer wall cleaner
System.
Background technique
Outside Wall Cleaning is divided into platform sling mode and wipes window mode.Platform sling mode is to be hung people to operating position with lifting rope, platform sling
It is cleaned.This pattern is fairly simple, and cost is also low, can be carried out as long as worker has a strong constitution, rope is connected firmly.
General building can be cleaned in this way, but the operation of this mode must make safety measure in place, otherwise
Risk is very big, cause casualty accident be all because safety measure it is not in place caused by, therefore a variety of facade washing machines are designed
Out two.
It generally is semi-automatic controller for the clean machine of exterior wall surface currently on the market, needs artificial discontinuity
Instruction is issued to cleaner and carries out next step operation, and artificial control in the assurance of time and distance there are certain deviation,
It is easy to damage cleaning machine.
Summary of the invention
The purpose of the present invention is to provide a kind of control systems of Intelligent outer wall cleaner, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the present invention provides the following technical solutions：
A kind of control system of Intelligent outer wall cleaner, including master controller, for control induction module and formed switch
Submaster controller A, the submaster controller B for controlling main air blower and secondary blower, the sub-control for controlling capstan winch motor and water pump
Device C, for control crawler belt motor, cleaning motor and laser Shi Kuo mechanism submaster controller D and for controlling emergency braking module
Submaster controller E, master controller with submaster controller A, submaster controller B, submaster controller C, submaster controller D and submaster controller E electricity
Property connection, the induction module includes ultrasonic wave sensing module and infrared sensor module.
As a further solution of the present invention：The ultrasonic wave sensing module includes that submodule and ultrasonic wave occur for ultrasonic wave
Circuit submodule.
As a further solution of the present invention：It includes that circuit, occurs more for ultrasonic signal that submodule, which occurs, for the ultrasonic wave
Road selection switch, buffering boosting amplification and ultrasonic transducer.
As further scheme of the invention：The infrared sensor module is noncontacting proximity sensor.
As further scheme of the invention：The noncontacting proximity sensor is reflective infrared photoelectric sensor
ST198。
As further scheme of the invention：Further include bluetooth module, master controller, submaster controller A, submaster controller B,
Submaster controller C, submaster controller D and submaster controller E, which pass through bluetooth module and establish network communication with mobile client, to be connect.
As further scheme of the invention：The master controller and external power supply are electrically connected, and submaster controller E is electrical
It is connected to interior Emergency Power.
Compared with prior art, the beneficial effects of the invention are as follows：It is of the invention novel in design, it is perceived by the ultrasonic wave of setting
Module can effectively distinguish that the environment of surrounding carrys out the start and stop of intelligent control cleaning machine, and the infrared module of setting is to overcome ultrasonic wave to perceive
" blind area " when module detects and the object of burst is dealt with, it is nearest when there is unknown object to collide mobile robot
Infrared module movement, triggers the interruption of single-chip microcontroller, and mobile robot is with regard to out of service, which infrared module, calls interrupt routine
Corresponding processing is made, it is highly-safe, improve the service life of cleaning machine, and high degree of automation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot body in Intelligent outer wall cleaner.
Fig. 2 is the front view of robot body in Intelligent outer wall cleaner.
Fig. 3 is the bottom view of robot body in Intelligent outer wall cleaner.
Fig. 4 is the top view of capstan winch in Intelligent outer wall cleaner.
Fig. 5 is the front view of capstan winch in Intelligent outer wall cleaner.
Fig. 6 is the structural schematic diagram of position adjusting mechanism in Intelligent outer wall cleaner.
Fig. 7 is the work flow diagram of Intelligent outer wall cleaner.
Fig. 8 is the control system figure of Intelligent outer wall cleaner.
Fig. 9 is ultrasonic signal transmission circuit figure in Intelligent outer wall cleaner.
Figure 10 is the circuit diagram of infrared module in Intelligent outer wall cleaner.
In figure：The first mounting plate of 1-, 2- pair blower, 3- main air blower, the second mounting plate of 4-, 5- sucker, the soft brush of 6- wool, 7-
Scrub-brush, 8- crawler belt, 9- fixed block, 10- assist banister brush, 11- crawler belt motor, 13- capstan winch motor, 14- fixed plate, 15- master
Moving gear, 16- drum, 17- driven gear, 18- idler wheel, 19- shaft, 20- through-hole, 21- movable plate, 22- support plate, 23- are led
Rail, 24- sliding sleeve, 25- threaded rod, 26- placing groove, 27- adjust motor, 28- fixed ring, 29- screw shell, 30- transmission belt.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one
In order to preferably be described to technical solution, the present embodiment be come in conjunction with entire cleaning machine to device control system carry out it is whole
What body illustrated, the structure of cleaning machine is as follows：
Fig. 1~10 are please referred to, cleaner includes robot body, control system and capstan winch；The robot body passes through
Connecting line is connect with capstan winch, drives when winching operations robot body mobile, the electrical original part in robot body passes through conducting wire
It is electrically connected with control system, conducting wire and connecting line braiding are formed together composite cable, and the robot body includes the first peace
Loading board 1, the second mounting plate 4, secondary blower 2, main air blower 3, driving mechanism and cleaning mechanism, the first mounting plate 1 and the second mounting plate 4
Between it is fixed by fixed block 9, driving mechanism and cleaning mechanism are installed in the lower end of the second mounting plate 4, first mounting plate 1
Pass through motor cabinet at four angles of upper end and be fixedly installed with secondary blower 2, the middle position of the first mounting plate 1 passes through motor cabinet
It is fixedly installed with main air blower 3, discharge gas has a reaction force to robot body when main air blower 3 and secondary blower 2 work, from
And making robot body on fitting in exterior wall glass, four secondary blowers 2 are responsible for preventing robot body from existing when starting
It is rotated when operation around composite cable, the starting of main air blower 3 provides more stable pressure, also sets on first mounting plate 1
It is equipped with multiple through-holes 20, the effect of through-hole 20 is to realize below main air blower 3 and secondary blower 2 there are enough air, while to machine
The fan circuit of ontology is radiated faster.
There are four the settings of fixed block 9 and is separately mounted at four angles of the first mounting plate 1 and the second mounting plate 4.
The driving mechanism includes crawler belt motor 11, Athey wheel and crawler belt 8, and there are two the settings of crawler belt motor 11 and is fixed on
On second mounting plate 4, it is fixedly installed with Athey wheel on the output shaft of crawler belt motor 11, is connected with crawler belt 8, crawler belt on the outside of Athey wheel
The rotation of crawler belt 8 is driven by Athey wheel when motor 11 rotates, crawler belt 8 and exterior wall glass contact area are big, can dispersion pressure well
Power, while crawler belt 8 has certain curved space when moving, the common cleaning robot of effective solution can not be across floor
Drawback.
The cleaning mechanism includes the soft brush 6 of wool and scrub-brush 7, and the rear end of scrub-brush 7 is arranged in the soft brush 6 of wool, bristle
The rear ends that brush 7 is arranged in driving mechanism, the soft brush 6 of the wool and scrub-brush 7 are fixedly connected with the output shaft of cleaning motor, clearly
Scrub-brush 7 and the soft 6 rotation External Wall glass of brush of wool is driven to be scrubbed when clean motor rotates, the soft 6 pairs of scrub-brushes 7 of brush of wool are brushed
Position after washing is scrubbed again, and cleaning effect is good.
There are four the settings of scrub-brush 7, and there are three soft 6 settings of brush of wool, and each scrub-brush 7 and the soft brush 6 of wool are right
Answer a cleaning motor.
The lower end of second mounting plate 4 is also fixedly installed with multiple suckers 5.
Laser is installed between first mounting plate 1 and the second mounting plate 4 and shows wide device, machine can be reminded at work
There is machine working above pedestrian below human body, there is certain warning function to lower section pedestrian.
The capstan winch is mounted on movable plate 21, and capstan winch includes capstan winch motor 13, symmetrically arranged fixed plate 14 and drum
16, capstan winch motor 13 is mounted on the left end of left side fixed plate 14, the output shaft of capstan winch motor 13 through left side fixed plate 14 and
It is rotatablely connected with the fixed plate 14 on right side, the drum 16 is fixed on the output shaft of capstan winch motor 13, and capstan winch motor 13 rotates
When by output shaft drive drum 16 rotate, to realize the folding and unfolding of composite cable.
It is rotatably equipped with shaft 19 between two fixed plates 14, driven gear 17 is fixedly installed in shaft 19, from
Moving gear 17 is engaged with the driving gear 17 being fixedly mounted on 13 output shaft of capstan winch motor, is also equipped with rolling in the shaft 19
Wheel 18, the setting of idler wheel 18 can effectively reduce the frictional force that composite cable generates in wrapup procedure with other component.
Certainly, control system includes master controller, for controlling induction module and forming the submaster controller A of switch, use
In the submaster controller B of control main air blower 3 and secondary blower 2, the submaster controller C for controlling capstan winch motor 13 and water pump, for controlling
Crawler belt motor processed, the submaster controller D of cleaning motor and laser Shi Kuo mechanism and the submaster controller for controlling emergency braking module
E, master controller is electrically connected with submaster controller A, submaster controller B, submaster controller C, submaster controller D and submaster controller E, described
Induction module includes ultrasonic wave sensing module and infrared sensor module, ultrasonic wave sensing module include ultrasonic wave occur submodule and
Ultrasonic circuit submodule, ultrasonic wave sensing module is controlled the transmitting and reception for realizing ultrasonic signal by host scm, described
Infrared sensor module is noncontacting proximity sensor.
It includes that circuit, multidiameter option switch, buffering boosting amplification occur for ultrasonic signal that submodule, which occurs, for the ultrasonic wave
And ultrasonic transducer, host scm control multidiameter option switch, loop start No. 10 transmit circuit, through IOB9 mouthfuls of generation pulsewidths
For the modulated square wave of 25 40kHz, then through square-wave transformer the moment high-energy incentive signal that amplitude reaches 60V is generated, excites transducing
Device generates ultrasonic signal, ultrasonic signal transmission circuit figure such as Fig. 9.
The noncontacting proximity sensor is reflective infrared photoelectric sensor ST198, it is by high transmitting power infrared electro
Diode and highly sensitive phototransistor composition, detecting distance range are 50~200mm, the circuit of infrared module 1 such as Figure 10
Shown, infrared photodiode issues infrared ray, and infrared ray is reflected back if there is barrier in front, is irradiated to photoelectric crystal
The base stage of pipe makes triode ON, and C point voltage is " L "；Conversely, then returning without infrared reflection, phototriode is in cut-off
State, C point voltage is " H ", therefore the variation that can use C point current potential can determine whether the presence or absence of front obstacle and machine is
The no edge for reaching clean surface.
The control system further includes bluetooth module, master controller, submaster controller A, submaster controller B, submaster controller C, pair
Controller D and submaster controller E, which passes through bluetooth module and establishes network communication with mobile client, to be connect.
The master controller and external power supply are electrically connected, and submaster controller E is electrically connected at interior Emergency Power, so that it is guaranteed that
In the case where external power cut-off, emergency braking module is still in energized state, highly-safe.
Embodiment two
Embodiment two and the difference of embodiment one are that the side of position is provided between the soft brush 6 of the adjacent wool
Banister brush 10 is assisted, auxiliary banister brush 10 can scrub adjacent soft 6 middle position of two wool brushs, further improve
The cleaning effect of glass.
Embodiment three
Embodiment three and the difference of embodiment one are, position adjusting mechanism is provided with below the capstan winch, and position is adjusted
Mechanism includes movable plate 21, support plate 22, symmetrically arranged guide rail 23 and adjusts motor 27, the fixed peace of symmetrically arranged guide rail 23
Between two support plates 22, movable plate 21 is slidably connected by being fixed on the sliding sleeve 24 of its lower end with guide rail 23, and two are led
Threaded rod 25 is provided among rail 23, the both ends of threaded rod 25 are fixed with two support plates 22 respectively.
The inside of the movable plate 21 is provided with placing groove 26, adjusts motor 27 and is fixed on placing groove by motor mount
In 26, the output shaft for adjusting motor 27 is rotatablely connected by transmission belt 30 with the screw shell 29 being set on threaded rod 25, institute
It states and is rotatably connected to fixed ring 28 on the outside of the both ends of screw shell 29, fixed ring 28 and movable plate 21 are fixed, adjust 27 turns of motor
Screw shell 29 is driven to rotate by transmission belt when dynamic, screw shell 29 moves under the action of threaded rod 25 when rotating, screw thread
Sleeve 29 drives the overall movement on movable plate 21 and movable plate 21 by fixed ring 28, and then realizes robot body level side
To evolution.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of control system of Intelligent outer wall cleaner, including master controller, for controlling induction module and forming switch
Submaster controller A, the submaster controller B for controlling main air blower (3) and secondary blower (2), for controlling capstan winch motor (13) and water pump
Submaster controller C, the submaster controller D for controlling crawler belt motor, cleaning motor and laser Shi Kuo mechanism and urgent for controlling
The submaster controller E of brake module, master controller are controlled with submaster controller A, submaster controller B, submaster controller C, submaster controller D and pair
Device E processed is electrically connected, which is characterized in that the induction module includes ultrasonic wave sensing module and infrared sensor module.
2. a kind of control system of Intelligent outer wall cleaner according to claim 1, which is characterized in that the ultrasonic wave sense
Know that module includes that submodule and ultrasonic circuit submodule occur for ultrasonic wave.
3. a kind of control system of Intelligent outer wall cleaner according to claim 2, which is characterized in that the ultrasonic wave hair
Raw submodule includes that circuit, multidiameter option switch, buffering boosting amplification and ultrasonic transducer occur for ultrasonic signal.
4. a kind of control system of Intelligent outer wall cleaner according to claim 1, which is characterized in that the infrared sensing
Module is noncontacting proximity sensor.
5. a kind of control system of Intelligent outer wall cleaner according to claim 4, which is characterized in that described contactless
Sensor is reflective infrared photoelectric sensor ST198.
6. a kind of control system of Intelligent outer wall cleaner according to claim 1, which is characterized in that further include bluetooth mould
Block, master controller, submaster controller A, submaster controller B, submaster controller C, submaster controller D and submaster controller E pass through bluetooth module
Network communication is established with mobile client to connect.
7. a kind of control system of Intelligent outer wall cleaner according to claim 1, which is characterized in that the master controller
It is electrically connected with external power supply, submaster controller E is electrically connected at interior Emergency Power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810793651.9A CN108894525B (en) | 2018-07-16 | 2018-07-16 | Control system of intelligent outer wall cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810793651.9A CN108894525B (en) | 2018-07-16 | 2018-07-16 | Control system of intelligent outer wall cleaning machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108894525A true CN108894525A (en) | 2018-11-27 |
| CN108894525B CN108894525B (en) | 2020-12-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810793651.9A Active CN108894525B (en) | 2018-07-16 | 2018-07-16 | Control system of intelligent outer wall cleaning machine |
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| Country | Link |
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| CN (1) | CN108894525B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270534A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of scavenging machine for photovoltaic roof |
| CN110270535A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of anti-skidding cleaning machine for photovoltaic roof |
| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105935276A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Curtain wall cleaning system capable of crossing obstacles |
| CN106108800A (en) * | 2016-08-12 | 2016-11-16 | 付江 | A kind of external wall cleaning equipment |
| CN106667361A (en) * | 2016-11-20 | 2017-05-17 | 罗文龙 | High-altitude glass cleaning device |
-
2018
- 2018-07-16 CN CN201810793651.9A patent/CN108894525B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105935276A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Curtain wall cleaning system capable of crossing obstacles |
| CN106108800A (en) * | 2016-08-12 | 2016-11-16 | 付江 | A kind of external wall cleaning equipment |
| CN106667361A (en) * | 2016-11-20 | 2017-05-17 | 罗文龙 | High-altitude glass cleaning device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270534A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of scavenging machine for photovoltaic roof |
| CN110270535A (en) * | 2019-06-17 | 2019-09-24 | 佛山职业技术学院 | A kind of anti-skidding cleaning machine for photovoltaic roof |
| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108894525B (en) | 2020-12-08 |
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Effective date of registration: 20201112 Address after: 237100 12401 Pihe Road, Jin'an District, Lu'an City, Anhui Province Applicant after: ANHUI LUTAI ELECTRIC TECHNOLOGY Co.,Ltd. Address before: 237012 Jinan District, Lu'an, Anhui, central demonstration park, room 905, block A, Lu'an science and technology park. Applicant before: ANHUI TEXIN ELECTRONIC TECHNOLOGY Co.,Ltd. |
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