CN112474589A - Mobile robot camera field of vision synthesizes cleaning device based on bionical transient membrane - Google Patents
Mobile robot camera field of vision synthesizes cleaning device based on bionical transient membrane Download PDFInfo
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- CN112474589A CN112474589A CN202011177189.3A CN202011177189A CN112474589A CN 112474589 A CN112474589 A CN 112474589A CN 202011177189 A CN202011177189 A CN 202011177189A CN 112474589 A CN112474589 A CN 112474589A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 87
- 239000012528 membrane Substances 0.000 title claims abstract description 67
- 230000001052 transient effect Effects 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 61
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 60
- 230000003321 amplification Effects 0.000 claims abstract description 23
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 23
- 239000003344 environmental pollutant Substances 0.000 claims abstract description 18
- 231100000719 pollutant Toxicity 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 238000005507 spraying Methods 0.000 claims abstract description 4
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000003592 biomimetic effect Effects 0.000 claims 2
- 241001465754 Metazoa Species 0.000 abstract description 2
- 210000005252 bulbus oculi Anatomy 0.000 abstract description 2
- 210000000826 nictitating membrane Anatomy 0.000 abstract 1
- 230000008859 change Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000003153 chemical reaction reagent Substances 0.000 description 2
- 239000000356 contaminant Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003020 moisturizing effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 241000254173 Coleoptera Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001508 eye Anatomy 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 239000011499 joint compound Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 229920005597 polymer membrane Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 238000004506 ultrasonic cleaning Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
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- B08B1/10—
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- B08B1/30—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Abstract
The invention provides a bionic transient membrane based comprehensive cleaning device for the visual field of a mobile robot camera, which is characterized in that a bionic transient membrane cleaning device, an air amplification device and a bionic conical and straight nozzle of the cleaning device are connected in parallel, the air amplification device is provided with an air inlet of the air amplification device and used for conveying compressed air, a coanda effect structure consisting of an air guide device is arranged in the air amplification device, directional flow of a large amount of external air is guided by airflow output from the compressed air, and therefore a cleaning effect is generated, and the bionic conical and straight nozzle is used for spraying water flow and removing pollutants on the surface of the camera. The technical problem of how to provide an effective automatic camera cleaning device is solved, the principle of the invention is novel, and the function of cleaning eyeballs by an animal nictitating membrane in the bionic field is applied to the mobile robot camera visual field cleaning device in the engineering field for the first time.
Description
Technical Field
The invention relates to a comprehensive cleaning device for the visual field of a mobile robot camera based on a bionic instant membrane, and belongs to the technical field of cleaning devices.
Background
With the rapid development of science and technology, there is an increasing demand for robots capable of replacing the robots to perform dangerous tasks, including rescue robots, anti-terrorist and explosive-removing robots, pipeline inspection robots, and other robots working in extreme or special environments. The robots are provided with a camera and a remote video feedback device, the camera is the eyes of the robots, most of the work of the robots needs to acquire target images through the camera, and the target images are important basis for analyzing and processing problems in emergency situations. Therefore, the protection of the lens of the camera is very important.
The damage of pollutants such as dust, sand and stone, mud and the like to the lens of the camera is huge, the adhesion of the mud to the lens is also huge due to the large comparative area and the large electrostatic action of the tiny dust, and moreover, the mud can become soil blocks to be fixed on the lens after being dried and staying for a period of time, and the soil blocks are difficult to automatically clear once being stained with the lens unless being manually intervened and removed. For these robots working in special environments, the working environment is harsh and dangerous, and it is not practical to artificially remove the contaminants on the camera. When the visual field of the robot working in an extreme special environment is polluted and the robot is difficult to manually remove the pollution, the difficulty of the robot in executing tasks is greatly increased, and serious consequences can be brought. Once the robot camera performing the task is shielded by contaminants, the robot cannot detect the surrounding environment and the drive fails, so an effective automatic camera cleaning device is necessary.
Disclosure of Invention
The invention aims to solve the technical problems in the background technology, and provides a mobile robot camera vision comprehensive cleaning device based on a bionic instant membrane.
The invention provides a mobile robot camera vision comprehensive cleaning device based on a bionic transient membrane, which comprises a bionic transient membrane cleaning device, an air amplification device and a bionic conical and straight nozzle, wherein the bionic transient membrane cleaning device, the air amplification device and the bionic conical and straight nozzle are connected in parallel, the air amplification device is provided with an air inlet of the air amplification device and used for conveying compressed air, a coanda effect structure composed of air guide devices is arranged in the air amplification device, the effect that airflow output from the compressed air guides directional flow of a large amount of external air is realized, and therefore a cleaning effect is generated, and the bionic conical and straight nozzle is used for spraying water flow to remove pollutants on the surface of a camera;
bionic instant membrane cleaning device includes drive arrangement, fills the flexible clean film of rigidity and a plurality of wear-resisting rigid assembly of formula of moisturizing, drive arrangement drive fills the flexible clean film up-and-down motion of formula of moisturizing change rigidity, wear-resisting rigid assembly inlays on filling the front surface of the flexible clean film of formula change rigidity, the top symmetry of filling the flexible clean film of formula change rigidity is provided with two film water inlets, it is provided with a plurality of film delivery ports on the front surface of the flexible clean film of formula change rigidity to fill water, it is provided with the cavity of filling water in the flexible clean film of formula change rigidity to fill water, the diameter of film water inlet is greater than the diameter of film delivery port.
Preferably, drive arrangement includes synchronous pulley, two hold-in ranges and step motor, and two hold-in ranges are installed in the both sides of filling the flexible clean film of formula variable rigidity, and two hold-in ranges drive clean film up-and-down motion, realize the quick cleanness of pollutant, step motor drive action wheel rotates, and then drives synchronous pulley and rotates, drives the hold-in range motion.
Preferably, the plurality of wear-resistant rigid components are distributed in a staggered mode by taking the arrangement mode of the water-filled variable-rigidity flexible cleaning film as a center.
Preferably, the membrane has a water inlet diameter greater than a water outlet diameter.
Preferably, the rear part of the nozzle of the bionic conical-straight nozzle is provided with bionic grooves distributed at equal intervals.
Preferably, the water-filled cavity is a rectangular cavity.
The comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic instant membrane has the beneficial effects that:
1. the comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic instant membrane is novel in principle, and the function of cleaning eyeballs by the animal instant membrane in the bionic field is applied to the cleaning device for the visual field of the mobile robot camera in the engineering field for the first time.
2. The comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic transient membrane is low in cost, water is used as a cleaning medium, and the device has the characteristic of low cost compared with cleaning technologies such as ultrasonic cleaning, electrostatic dust removal and self-cleaning polymer membranes.
3. The comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic transient membrane is pollution-free, compared with the cleaning device using a chemical reagent, the device using water as a cleaning medium has the characteristic of no pollution, the chemical reagent can leave residues on the surface of the lens, and the surface of the lens can be corroded.
4. The comprehensive cleaning device for the vision of the mobile robot camera based on the bionic instant membrane has a wide cleaning range, and can quickly clean pollutants such as dry dust, sand and stones or wet slurry attached to the camera.
5. The bionic transient membrane-based mobile robot camera vision comprehensive cleaning device saves energy, and the bionic conical-straight nozzle designed in the invention can generate larger hitting power, and has higher hitting power and shock wave than a common nozzle when the same water pressure is input at the inlet of the nozzle.
6. The comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic transient membrane, disclosed by the invention, has the characteristics of wide cleaning range, high efficiency and high reliability by combining the bionic transient membrane cleaning device, the bionic conical and straight nozzle and the air amplification device in parallel.
7. The comprehensive cleaning device for the vision of the mobile robot camera based on the bionic transient membrane has the advantages of novel principle, simple structure, wide cleaning range and the like, and has great significance for removing pollutants of the mobile robot camera working in an unstructured environment.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic structural diagram of a comprehensive cleaning device for the visual field of a mobile robot camera based on a bionic instant membrane, which is disclosed by the invention;
FIG. 2 is a schematic structural view of a bionic variable-stiffness rigid-flexible structure cleaning film according to the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a cross-sectional view B-B of FIG. 2;
FIG. 5 is a schematic structural view of a bionic straight-tapered nozzle according to the present invention;
FIG. 6 is a cross-sectional view A-A of FIG. 5;
wherein, 1-bionic instant membrane cleaning device; 2-an air amplification device; 3-bionic conical and straight nozzle; 4-nozzle water inlet; 5-air amplifying device air inlet; 6-synchronous pulley; 7-synchronous belt; 8-a stepper motor; 9-water-filled variable-rigidity flexible cleaning film; 10-a wear resistant rigid component; 11-membrane water inlet; 12-a film water outlet; 13-a water-filled cavity; 14-bionic grooves.
Detailed Description
The following detailed description of embodiments of the invention is provided in conjunction with the appended drawings:
the first embodiment is as follows: the present embodiment is explained with reference to fig. 1 to 6. The comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic instant membrane comprises a bionic instant membrane cleaning device 1, an air amplification device 2 and a bionic conical and straight nozzle 3, wherein the bionic instant membrane cleaning device 1, the air amplification device 2 and the bionic conical and straight nozzle 3 are connected in parallel, the air amplification device 2 is provided with an air inlet 5 of the air amplification device and used for conveying compressed air, a coanda effect structure composed of an air guide device is arranged in the air amplification device, the directional flow of a large amount of external air guided by air flow output from the compressed air is realized, and therefore a cleaning effect is generated, and the bionic conical and straight nozzle 3 is used for spraying water flow and removing pollutants on the surface of the camera;
bionic instant membrane cleaning device 1 includes drive arrangement, fills the flexible clean membrane 9 of the formula variable rigidity of water and a plurality of wear-resisting rigid assembly 10, the drive arrangement drive fills the flexible clean membrane 9 up-and-down motion of formula variable rigidity of water, wear-resisting rigid assembly inlays on filling the flexible front surface of clean membrane 9 of formula variable rigidity of water, it is provided with two film water inlets 11 to fill the top symmetry of the flexible clean membrane 9 of formula variable rigidity of water, it is provided with a plurality of film delivery ports 12 on the flexible clean membrane 9's of formula variable rigidity of water front surface, it is provided with water filling cavity 13 in the flexible clean membrane 9 of formula variable rigidity of water filling, the diameter of film water inlet 11 is greater than the diameter of film delivery port 12. The film is provided with two large-diameter water inlets and a plurality of small-diameter water outlets which are bilaterally symmetrical so as to ensure that the film is inflated with water and has certain surface tension.
Drive arrangement includes synchronous pulley 6, two hold-in ranges 7 and step motor 8, and two hold-in ranges 7 are installed in the both sides of filling the flexible clean film 9 of formula variable rigidity, and two hold-in ranges 7 drive clean film up-and-down motion, realize the quick cleanness of pollutant, step motor 8 drive action wheel rotates, and then drives synchronous pulley 6 and rotates, drives the motion of hold-in range 7.
The plurality of wear-resistant rigid components 10 are distributed in a staggered mode by taking the arrangement mode of the water-filled variable-rigidity flexible cleaning film 9 as the center.
The invention combines the bionic instant membrane cleaning device, the bionic conical-straight nozzle and the air amplifying device in parallel, the cleaning processes are not influenced mutually, different cleaning modes can be selected for different pollutants, and the pollutants can be cleaned accurately and efficiently. The bionic transient membrane cleaning device consists of a water-filled variable-rigidity flexible cleaning film 9, a wear-resistant rigid assembly 10, a synchronous belt wheel 6, a synchronous belt 7 and a stepping motor 8. A multi-biological coupling bionic principle is introduced to couple a spear instant membrane cleaning function and a stinky dung beetle body surface resistance-reducing wear-resisting special structure, and the design of the bionic variable-rigidity rigid-flexible structure cleaning film is achieved. The water-filled variable-rigidity flexible cleaning film 9 and the wear-resistant rigid component 10 are combined through an embedded structure, and the synchronous belt 7 drives the cleaning film 9 to move up and down, so that rapid cleaning of pollutants is realized.
The membrane water inlet 11 is arranged above the bionic instantaneous membrane cleaning device 1, and the rigidity of the cleaning membrane is changed by filling water into the cleaning membrane 9, so that the contact area of the cleaning membrane and pollutants is increased, and the capacity of resisting external load is improved. In order to make the volume of the water filling cavity 13 in the film larger, the rectangular cavity is adopted to increase the water capacity of the cavity, so that the deformation of the film is larger, and the surface rigidity of the film is increased. In the clean film cleaning process, only the film close to one side of the camera has a cleaning effect, the water filling deformation of the film acts on the two sides of the film to deform the two sides, and the deformation direction of the film deforms towards one side of the cleaning pollutant, so that a hard thin plate is designed and the film far away from one side of the camera is inlaid, and the film is resisted to deform towards the direction far away from the camera. The diameter of the water inlet 11 of the film is larger than that of the water outlet 12, so that the film can be inflated with water to achieve a better cleaning effect. The film both ends are the junction of hold-in range device 7, and hold-in range 7 drives clean film up-and-down motion, realizes the quick cleanness of pollutant.
The air amplification device 2 is provided with an air inlet 5 for delivering compressed air. The structure of the coanda effect formed by the air guide device can realize the directional flow of a large amount of outside air guided by the airflow output from the compressed air, thereby generating the cleaning effect. A narrow gap between the upper surface and the lower surface of an air guide device in the air amplification device based on the coanda effect forms a coanda effect structure. The air amplification device 2 utilizes the coanda effect, so that the air flow is stable, no vibration is generated, and the compressed air is saved.
Inside non-smooth bionical recess 14 of bionical straight type nozzle 3 is inserting section evenly distributed, and the inside efflux of nozzle has generated little secondary vortex owing to reverse rotation's flow direction whirlpool and the mutual action between bionical slot top, just because the existence of bionical slot has restricted the motion that flow direction whirlpool exhibition was to, and then makes the wall burst weak, finally causes the frictional resistance of wall to reduce to improve the hitting power of nozzle export, make the pollutant obtain effectual cleanness.
The bionic conical-straight nozzle 3 applies the surface non-smooth resistance reduction technology in bionics to the inside of the nozzle, improves the hitting power of the water jet of the bionic conical-straight nozzle, and can efficiently remove surface pollutants. The arrangement mode of the bionic grooves 14 in the bionic conical-straight nozzle influences the impact force of the water jet at the nozzle outlet. The bionic grooves in the simulated conical-straight nozzle are uniformly distributed.
The above-mentioned embodiments further explain the objects, technical solutions and advantages of the present invention in detail. It should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and that the reasonable combination of the features described in the above-mentioned embodiments can be made, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a cleaning device is synthesized to mobile robot camera field of vision based on bionical instantaneously membrane, its characterized in that, including bionical instantaneous membrane cleaning device (1), air amplification device (2) and bionical awl straight type nozzle (3), bionical instantaneous membrane cleaning device (1), air amplification device (2) and bionical awl straight type nozzle (3) parallel connection, air amplification device (2) are equipped with air amplification device air inlet (5) for carry compressed air, are provided with the coanda effect structure of constituteing by air ducting in it, realize by the directional flow of the air current guide a large amount of outside air of output in the compressed air, thereby produce clean effect, bionical awl straight type nozzle (3) are used for spraying rivers, get rid of camera surface pollutant;
bionic instant membrane cleaning device (1) comprises a driving device, a water-filled flexible cleaning membrane (9) with variable rigidity and a plurality of wear-resistant rigid components (10), the driving device drives the water-filled flexible cleaning membrane (9) with variable rigidity to move up and down, the wear-resistant rigid components are embedded on the front surface of the water-filled flexible cleaning membrane (9) with variable rigidity, two membrane water inlets (11) are symmetrically arranged above the water-filled flexible cleaning membrane (9) with variable rigidity, a plurality of membrane water outlets (12) are arranged on the front surface of the water-filled flexible cleaning membrane (9) with variable rigidity, a water-filled cavity (13) is arranged in the water-filled flexible cleaning membrane (9) with variable rigidity, and the diameter of the membrane water inlets (11) is larger than that of the membrane water outlets (12).
2. The comprehensive cleaning device for the visual field of the camera of the mobile robot based on the bionic instant membrane as claimed in claim 1, wherein the driving device comprises a synchronous pulley (6), two synchronous belts (7) and a stepping motor (8), the two synchronous belts (7) are installed on two sides of the water-filled variable-rigidity flexible cleaning membrane (9), the two synchronous belts (7) drive the cleaning membrane to move up and down to realize the rapid cleaning of pollutants, and the stepping motor (8) drives the driving wheel to rotate so as to drive the synchronous pulley (6) to rotate and drive the synchronous belts (7) to move.
3. The comprehensive cleaning device for the vision of the mobile robot camera based on the bionic instant membrane as claimed in claim 1, wherein a plurality of wear-resistant rigid components (10) are distributed in a staggered manner by taking the arrangement mode of the water-filled variable-rigidity flexible cleaning membrane (9) as a center.
4. The device for integrated cleaning of field of view of mobile robot camera based on bionic instant membrane of claim 1, characterized in that the diameter of the membrane water inlet (11) is larger than the diameter of the membrane water outlet (12).
5. The comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic instant membrane as claimed in claim 1, wherein the bionic grooves (14) are equidistantly distributed behind the nozzle of the bionic conical-straight nozzle (3).
6. The comprehensive cleaning device for a mobile robot camera field of view based on a biomimetic transient membrane in accordance with claim 1, wherein the biomimetic groove (14) is a non-smooth surface.
7. The comprehensive cleaning device for the visual field of the mobile robot camera based on the bionic instant membrane as claimed in claim 1, wherein the water-filled cavity (13) is a rectangular cavity.
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| CN113236632A (en) * | 2021-03-31 | 2021-08-10 | 温州大学 | Active and passive integrated system of pulsation attenuator and multi-frequency vibration suppression method |
| CN113670857A (en) * | 2021-08-16 | 2021-11-19 | 南京信息工程大学 | Scattering type measurement method for visibility in haze weather |
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| CN112474589B (en) | 2022-01-11 |
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