CN112192583A - Control method of automatic hazardous chemical cleaning robot of vacuum cleaning system - Google Patents
Control method of automatic hazardous chemical cleaning robot of vacuum cleaning system Download PDFInfo
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- CN112192583A CN112192583A CN202011071576.9A CN202011071576A CN112192583A CN 112192583 A CN112192583 A CN 112192583A CN 202011071576 A CN202011071576 A CN 202011071576A CN 112192583 A CN112192583 A CN 112192583A
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- robot
- unit
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- vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- 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
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- 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
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- 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
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method of an automatic cleaning robot for dangerous chemicals in a vacuum cleaning system, which relates to the technical field of automatic cleaning devices and aims at solving the problem of incomplete cleaning in the prior art.
Description
Technical Field
The invention relates to the technical field of automatic cleaning devices, in particular to a control method of an automatic cleaning robot for dangerous chemicals in a vacuum cleaning system.
Background
Hazardous chemicals refer to highly toxic chemicals and other chemicals which have the properties of toxicity, corrosion, explosion, combustion-supporting and the like and are harmful to human bodies, facilities and the environment, and generally need to be cleaned in the production process or when the hazardous chemicals are leaked and spilled out due to some reasons, so that the manual cleaning has high risk due to the danger.
Along with the development of science and technology, the robot washs and breeds, has reduced the danger of manual operation, but in the clearance process, often has certain scale deposit or other reasons and the dangerization article that the solid object combines can not timely effectual clearance for this clearance process is incomplete, still has certain risk.
Disclosure of Invention
The control method of the automatic cleaning robot for hazardous chemical substances in the vacuum cleaning system solves the problem of incomplete cleaning.
In order to achieve the purpose, the invention adopts the following technical scheme:
the automatic hazardous chemical substance cleaning robot system of the vacuum cleaning system comprises a processor, wherein the processor is connected with a data transmission module, an avoiding module, a moving module and an executing module.
Preferably, the avoiding module comprises a signal conversion unit connected with the processor, and the signal conversion unit is connected with a three-dimensional recognition unit and a distance sensor.
Preferably, the moving module includes a dispatching unit connected to the processor, the dispatching unit being connected to the steering unit, the robot, the motorized wheels, and the lifting unit.
Preferably, the execution module comprises a conversion unit connected with the processor, the conversion unit is connected with a cleaning unit and a spraying unit, the cleaning unit and the spraying unit are both connected with a vacuum adsorption unit, and the vacuum adsorption unit is connected with a storage unit.
The control method of the robot for automatically cleaning the dangerous chemicals in the vacuum cleaning system comprises the following steps:
s1: switching on a power supply, and automatically initializing:
if the fault occurs, a signal is sent out for maintenance,
if the starting is normal, waiting for receiving an instruction;
s2: program input and data acquisition of peripheral images and positions, data processing, determining execution parameters, and issuing instructions to an execution piece:
if no foreign object exists in the space, sending an instruction, and moving the robot;
foreign matters exist in the space, parameters are sent out along with the instructions, the execution piece executes the instructions, and meanwhile data are collected.
S3: in step S2, after the data recognized by the data acquisition is cleaned for execution, the robot position is moved, and when the data recognized by the data acquisition is not cleaned for execution, the execution command for executing the original parameters is continuously returned for re-execution.
Preferably, the process in step S2 is an initial predetermined process or is issued in real time from a terminal wirelessly connected to the robot.
Preferably, the data acquisition comprises image acquisition, three-dimensional shape acquisition, distance acquisition and temperature and humidity acquisition.
Preferably, the executing part comprises a mechanical arm, a cleaning device, a vacuum adsorption device, a spraying device and a moving device.
The invention has the beneficial effects that:
1: through mutually supporting of a plurality of devices, the realization robot that can be fine independently cleans to reduce artificial danger, through data acquisition to the affirmation of all ring edge borders simultaneously, and the secondary is confirmed to lack, can guarantee whole cleaning process high efficiency simultaneously, guarantee the effect of clearance, reduce artifical clearance once more, further assurance personnel's safety.
Drawings
FIG. 1 is a system diagram of a control method of an automatic hazardous chemical cleaning robot for a vacuum cleaning system according to the present invention;
fig. 2 is a schematic flow chart of a control method of the automatic hazardous chemical cleaning robot of the vacuum cleaning system provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-2, the automatic cleaning robot system for hazardous chemical substances in the vacuum cleaning system comprises a processor, wherein the processor is connected with a data transmission module, an avoiding module, a moving module and an executing module, the processor processes and distributes data, the avoiding module collects peripheral data information of the robot, the moving module moves the robot and realizes multiple operations, and the executing module cleans the robot and cooperates with the moving module and the avoiding module to realize the combination of integral cleaning and local cleaning.
The avoidance module comprises a signal conversion unit connected with the processor, the signal conversion unit is connected with a three-dimensional recognition unit and a distance sensor, the three-dimensional recognition module recognizes the shape and size of the object in front or around, the three-dimensional recognition module is matched with the distance sensor to recognize the position and distance, and then the object is processed and recognized by the processor to judge whether the object needs to be avoided or needs to be cleaned.
The mobile module comprises an allocation unit connected with the processor, the allocation unit is connected with a steering unit, a mechanical arm, an electric wheel and a lifting unit, when the mobile module normally moves, the electric wheel and the rotating unit move and steer, the whole device is moved and avoided, the steering unit is matched with the mechanical arm and the lifting unit, the execution module is moved, the execution module is accurate and stable in execution work, and the cleaning effect is guaranteed.
The execution module includes the conversion unit of being connected with the treater, some cleaning units and the unit of spraying that the conversion unit is connected, clean the unit and spray the unit and all be connected with the vacuum adsorption unit, the vacuum adsorption unit is connected with the memory cell, when clearing up, clean the unit and clear up stubborn impurity, spray the unit at the clearance in-process, carry out the humidification or spray chemical, guarantee the process of clearance, when the clearance perhaps sprays, the vacuum adsorption unit carries out vacuum adsorption for the article that the clearance was come out can enter into storage system and save, avoid the secondary leakage, guarantee going on of clearance.
The control method of the robot for automatically cleaning the dangerous chemicals in the vacuum cleaning system comprises the following steps:
s1: switching on a power supply, and automatically initializing:
if the fault occurs, a signal is sent out for maintenance,
if the starting is normal, waiting for receiving an instruction; when the automatic detection device is started at every time during working, the automatic detection device can be used for ensuring the stability of the machine during working, reducing possible faults of machinery, further generating unnecessary personnel intervention, improving the working risk of personnel, and initializing whether the work of each program statement, sensor, execution element and the like in the main detection device can be carried out.
S2: program input and data acquisition of peripheral images and positions, data processing, determining execution parameters, and issuing instructions to an execution piece:
if no foreign object exists in the space, sending an instruction, and moving the robot;
the foreign matter is in the space, the parameters are sent along with the instructions, the execution part executes the instructions, meanwhile, data are collected, the data are collected in real time in the operation process, the data are collected and recognized, then the data are transmitted to the processor to be processed and issued, the parameters are determined, then the instructions are issued to be executed and moved, and the cleaning process is achieved.
S3: in step S2, the robot position is moved after the data identified by the data acquisition is cleaned up for execution, and when the data identified by the data acquisition is not cleaned up for execution, the execution command for executing the original parameters is continuously returned for executing again, and after the cleaning is completed, the data acquisition is performed again to acquire each item of data at the cleaning position to ensure the cleaning effect, and if the data is not cleaned up, the cleaning is performed again until the cleaning is complete.
The program in step S2 is an initial predetermined program or is transmitted in real time from a terminal wirelessly connected to the robot, and the effect of cleaning is ensured by the combination of autonomous control and artificial control.
Data acquisition includes image acquisition, three-dimensional shape collection, distance collection, humiture collection, and the executive component includes manipulator, cleaning device, vacuum adsorption device, spray set, and mobile device guarantees going on of clearance process through the collection of each item data to guarantee the effect of clearance.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The automatic dangerous chemical cleaning robot system for the vacuum cleaning system comprises a processor and is characterized in that the processor is connected with a data transmission module, an avoiding module, a moving module and an executing module.
2. The method for controlling the robot for automatically cleaning the hazardous chemical substances in the vacuum cleaning system according to claim 1, wherein the avoiding module comprises a signal conversion unit connected with the processor, and the signal conversion unit is connected with a three-dimensional recognition unit and a distance sensor.
3. The method for controlling the robot for automatically cleaning the hazardous chemical substances in the vacuum cleaning system according to claim 1, wherein the moving module comprises a dispatching unit connected with the processor, and the dispatching unit is connected with a steering unit, a manipulator, an electric wheel and a lifting unit.
4. The control method of the robot for automatically cleaning the hazardous chemical substances in the vacuum cleaning system according to claim 1, wherein the execution module comprises a conversion unit connected with the processor, the cleaning unit and the spraying unit are connected with the conversion unit, the cleaning unit and the spraying unit are both connected with a vacuum adsorption unit, and the vacuum adsorption unit is connected with a storage unit.
5. The control method of the robot for automatically cleaning the dangerous chemicals in the vacuum cleaning system is characterized by comprising the following steps of:
s1: switching on a power supply, and automatically initializing:
if the fault occurs, a signal is sent out for maintenance,
if the starting is normal, waiting for receiving an instruction;
s2: program input and data acquisition of peripheral images and positions, data processing, determining execution parameters, and issuing instructions to an execution piece:
if no foreign object exists in the space, sending an instruction, and moving the robot;
foreign matters exist in the space, parameters are sent out along with the instructions, the execution piece executes the instructions, and meanwhile data are collected.
6, S3: in step S2, after the data recognized by the data acquisition is cleaned for execution, the robot position is moved, and when the data recognized by the data acquisition is not cleaned for execution, the execution command for executing the original parameters is continuously returned for re-execution.
7. The method for controlling the robot for automatically cleaning the hazardous chemical in the vacuum cleaning system according to claim 5, wherein the program in the step S2 is an initial predetermined program or a real-time transmission from a terminal wirelessly connected to the robot.
8. The control method of the automatic cleaning robot for the dangerous chemicals in the vacuum cleaning system according to claim 5, wherein data acquisition comprises image acquisition, three-dimensional shape acquisition, distance acquisition and temperature and humidity acquisition.
9. The control method of the robot for automatically cleaning the hazardous chemical substances in the vacuum cleaning system according to claim 5, wherein the executing part comprises a mechanical arm, a cleaning device, a vacuum adsorption device, a spraying device and a moving device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011071576.9A CN112192583A (en) | 2020-10-09 | 2020-10-09 | Control method of automatic hazardous chemical cleaning robot of vacuum cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011071576.9A CN112192583A (en) | 2020-10-09 | 2020-10-09 | Control method of automatic hazardous chemical cleaning robot of vacuum cleaning system |
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| CN112192583A true CN112192583A (en) | 2021-01-08 |
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| CN202011071576.9A Pending CN112192583A (en) | 2020-10-09 | 2020-10-09 | Control method of automatic hazardous chemical cleaning robot of vacuum cleaning system |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1391559A1 (en) * | 2002-08-09 | 2004-02-25 | R.C.M. S.p.A. | Sweeping machine for cleaning surfaces |
| CN109171571A (en) * | 2018-09-18 | 2019-01-11 | 格力电器（武汉）有限公司 | Garbage cleaning method and device and cleaning robot |
| CN110025268A (en) * | 2019-05-05 | 2019-07-19 | 深圳信息职业技术学院 | A kind of cleaning method of stain |
| CN110703769A (en) * | 2019-11-12 | 2020-01-17 | 山东交通学院 | Automatic driving sweeper system based on cloud platform and control method |
| CN111067440A (en) * | 2019-12-31 | 2020-04-28 | 深圳飞科机器人有限公司 | Cleaning robot control method and cleaning robot |
| CN111358362A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Cleaning control method and device of visual robot, chip and sweeping robot |
-
2020
- 2020-10-09 CN CN202011071576.9A patent/CN112192583A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1391559A1 (en) * | 2002-08-09 | 2004-02-25 | R.C.M. S.p.A. | Sweeping machine for cleaning surfaces |
| CN109171571A (en) * | 2018-09-18 | 2019-01-11 | 格力电器（武汉）有限公司 | Garbage cleaning method and device and cleaning robot |
| CN111358362A (en) * | 2018-12-26 | 2020-07-03 | 珠海市一微半导体有限公司 | Cleaning control method and device of visual robot, chip and sweeping robot |
| CN110025268A (en) * | 2019-05-05 | 2019-07-19 | 深圳信息职业技术学院 | A kind of cleaning method of stain |
| CN110703769A (en) * | 2019-11-12 | 2020-01-17 | 山东交通学院 | Automatic driving sweeper system based on cloud platform and control method |
| CN111067440A (en) * | 2019-12-31 | 2020-04-28 | 深圳飞科机器人有限公司 | Cleaning robot control method and cleaning robot |
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Application publication date: 20210108 |
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