CN114378069A - Cleaning device - Google Patents
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- CN114378069A CN114378069A CN202111458979.3A CN202111458979A CN114378069A CN 114378069 A CN114378069 A CN 114378069A CN 202111458979 A CN202111458979 A CN 202111458979A CN 114378069 A CN114378069 A CN 114378069A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 238000012545 processing Methods 0.000 claims abstract description 32
- 238000001179 sorption measurement Methods 0.000 claims abstract description 22
- 230000007613 environmental effect Effects 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims description 33
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 238000010408 sweeping Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000239290 Araneae Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
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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
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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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
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a cleaning device which comprises a trunk mechanism, and at least two walking mechanisms and a cleaning mechanism which are arranged outside the trunk mechanism. The walking mechanism comprises a first steering engine, a second steering engine, a third steering engine and an adsorption assembly; the trunk mechanism comprises a trunk shell, a control assembly arranged in the trunk shell and a camera assembly arranged on the trunk shell; the control assembly comprises an image processing circuit and a main control circuit. The control assembly controls the traveling mechanism and the cleaning mechanism according to the environmental information, and then cleaning work is completed, maintenance personnel can be replaced in the inner cavity of the pipeline with severe environment to complete the cleaning work, and the problem that the pipeline cannot be manually maintained due to too large height difference of the pipeline is solved.
Description
Technical Field
The invention relates to the technical field of high-voltage power transmission equipment maintenance, in particular to a cleaning device.
Background
At present, the maintenance method of the enclosed bus of the high-voltage transmission equipment adopts manual regular maintenance. The maintainer gets into to the inside maintenance work that carries out of closed bus duct, generally needs 8 ~ 9 days to accomplish the maintenance work, and the maintenance content includes the clean inspection of the inside components and parts of generating line, the clean inspection of bus conductor, the clean inspection of pipeline body etc. and closed bus duct is inside to be dull and dark environment, and the pipeline layout is complicated, still has perpendicular hole with other equipment junction, leads to the maintainer difficulty from top to bottom. Due to the layout factor of a factory building, the arrangement fall of partial pipelines exceeds 3 meters, and personnel cannot overhaul the section of equipment. The entry of service personnel into the interior of the enclosed busbar risks the introduction of foreign matter, which, if left behind, could easily cause a metallic short-circuit fault to earth.
Disclosure of Invention
The present invention is directed to a cleaning device, which overcomes at least one of the disadvantages of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: constructing a cleaning device which comprises a trunk mechanism, at least two walking mechanisms arranged outside the trunk mechanism and a cleaning mechanism used for cleaning the inner cavity of the high-voltage power transmission pipeline;
the walking mechanism comprises a first steering engine for realizing front and back swinging action, a second steering engine for realizing up and down swinging action, a third steering engine for realizing left and right swinging action and an adsorption assembly for adsorbing the wall surface of the inner cavity of the pipeline;
the trunk mechanism comprises a trunk shell, a control assembly arranged in the trunk shell and a camera assembly which is arranged on the trunk shell and used for acquiring environmental video information;
the control assembly comprises an image processing circuit for processing the environment video information and a main control circuit for controlling the travelling mechanism and the cleaning mechanism according to the image feedback information of the image processing circuit.
Preferably, in the cleaning device of the present invention, the traveling mechanism further includes a holding arm, a first movable arm, and a second movable arm;
the one end that the pivot was kept away from to first steering wheel is installed on the truck shell, the pivot of first steering wheel is installed the first end of centre gripping arm, the pivot of second steering wheel is installed in the second end of centre gripping arm, the second steering wheel with the third steering wheel warp form overall structure after first digging arm is fixed, the pivot of third steering wheel is installed the first end of second digging arm, it installs to adsorb the subassembly the second end of second digging arm.
Preferably, in the cleaning device of the present invention, six traveling mechanisms are provided outside the trunk mechanism.
Preferably, in the cleaning device of the present invention, the trunk mechanism further includes a vacuum suction master pump for providing a suction force to the suction assembly, the suction assembly includes a vacuum chuck, a switching element for controlling a magnitude of the suction force of the vacuum chuck, and a negative pressure sensor for measuring a pressure of the air;
the air duct in the vacuum adsorption master pump is installed at the air suction port of the vacuum chuck through the switching element, and the negative pressure sensor is installed on the vacuum chuck.
Preferably, in the cleaning device of the present invention, the trunk mechanism further includes a communication component for communicating with an upper computer, which includes a net port circuit and a wireless communication circuit;
the master control circuit and the image processing circuit are respectively and electrically connected with the network port circuit and the wireless communication circuit, and the master control circuit and the image processing circuit transmit video information to the upper computer through the network port circuit or the wireless communication circuit and receive a control instruction of the upper computer.
Preferably, in the cleaning device of the present invention, the cleaning mechanism includes a foreign material holding member, a foreign material obstacle removing member, and a cleaning member;
the cleaning mechanism can be formed by any one or combination of a foreign matter clamping assembly, a foreign matter obstacle removing assembly and a cleaning assembly;
the foreign matter clamping assembly, the foreign matter obstacle clearing assembly and the cleaning assembly are respectively and electrically connected with the main control circuit.
Preferably, in the cleaning device of the present invention, the traveling mechanism is provided with an inertial measurement sensor for feeding back an angle, a speed, and an acceleration of the traveling mechanism;
the inertial measurement sensor is electrically connected with the image processing circuit.
Preferably, in the cleaning device according to the present invention, the image pickup unit includes a first camera for observing foreign substances, a second camera for measuring a distance, a third camera for observing spatial information, and a light emitting member;
the first camera, the second camera and the third camera are respectively and electrically connected with the image processing circuit, and the light emitting component is electrically connected with the main control circuit.
Preferably, in the cleaning device of the present invention, the trunk mechanism further includes a fall prevention sensor and/or an obstacle avoidance sensor disposed on the trunk housing;
the anti-falling sensor and the obstacle avoidance sensor are respectively and electrically connected with the main control circuit.
Preferably, in the cleaning device of the present invention, the trunk mechanism further includes a power supply circuit disposed in the trunk housing, and the power supply circuit includes a power supply element, a charging circuit, a power detection circuit for monitoring input power, an emergency stop circuit for rapidly cutting off a power supply, a voltage conversion circuit for multi-channel voltage output, and a driving power management circuit for supplying power to the steering engine;
the power supply part is electrically connected with the charging circuit, and the power detection circuit is respectively electrically connected with the charging circuit, the emergency stop circuit, the voltage conversion circuit and the driving power management circuit;
the voltage conversion circuit is respectively and electrically connected with the main control circuit, the image processing circuit, the communication assembly, the camera assembly and the adsorption assembly (104) in the travelling mechanism (100), and the driving power supply management circuit is respectively and electrically connected with the sweeping mechanism and the steering engine in the travelling mechanism (100).
The cleaning device of the invention has the following beneficial effects: the camera shooting assembly in the device acquires environmental information, the control assembly controls the traveling mechanism and the cleaning mechanism according to the environmental information, cleaning work is completed, maintenance personnel can be replaced in an inner cavity of the pipeline with severe environment to complete the cleaning work, the cleaning efficiency is high, the problem that the pipeline cannot be manually maintained due to too large height difference of the pipeline is solved, and the risk of manually introducing foreign matters is eliminated.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a logical schematic of an embodiment of the present invention;
FIG. 2 is a schematic structural view of a traveling mechanism according to the present invention;
FIG. 3 is a logic diagram of the traveling mechanism of the present invention;
FIG. 4 is a circuit diagram of a communication assembly in the present invention;
FIG. 5 is a circuit diagram of the cleaning mechanism in the present invention;
FIG. 6 is a circuit diagram of a camera assembly in the present invention;
fig. 7 is a circuit diagram of a power supply circuit in the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the invention constructs a cleaning device, which comprises a trunk mechanism, at least two walking mechanisms 100 arranged outside the trunk mechanism and a cleaning mechanism for cleaning the inner cavity of the high-voltage power transmission pipeline; the walking mechanism 100 comprises a first steering engine 101 for realizing front and back swinging motion, a second steering engine 102 for realizing up and down swinging motion, a third steering engine 103 for realizing left and right swinging motion, and an adsorption component 104 for adsorbing the wall surface of the inner cavity of the pipeline; the trunk mechanism comprises a trunk shell, a control assembly arranged in the trunk shell and a camera assembly which is arranged on the trunk shell and used for acquiring environmental video information; the control component comprises an image processing circuit for processing environment video information and a main control circuit for controlling the walking mechanism 100 and the cleaning mechanism according to image feedback information of the image processing circuit.
The cleaning device utilizes the camera shooting assembly to identify road conditions, dust, foreign matters and abnormal points in the pipeline, the first steering engine 101, the second steering engine 102 and the third steering engine 103 simulate the walking posture of the spider legs under the control of the main control circuit, and the cleaning device can walk and stop at any position in the pipeline without obstacles by matching with the fixing action of the adsorption assembly 104. Furthermore, the camera shooting assembly is used for identifying dust, foreign matters, obstacles and abnormal points in the pipeline, and then a cleaning mechanism is arranged for carrying out maintenance tasks.
In some embodiments, the master control circuit comprises a CAN transceiver, an RS232 transceiver, a 485 transceiver, a TYPE-C interface for communicating with the sweeping mechanism, and a master control chip model STM32F 767; the master control chip is provided with a plurality of IO ports and a plurality of groups of communication interfaces, and the communication interfaces comprise a CAN interface for outputting steering engine control signals, a serial port, an I2C interface, an RS232 communication interface, a 485 communication interface, an SPI communication interface and the like. The communication protocol between the main control circuit and the cleaning mechanism is determined according to the communication type of the cleaning mechanism and CAN be a USB protocol, a serial port protocol, a CAN protocol and the like. In the process of moving, the cleaning device generates static electricity due to friction, and in order to prevent the static electricity from damaging electronic elements, the IO port in the main control chip and the transmission path of the communication interface of each transceiver are provided with static protection circuits. The image processing circuit comprises a calculation module with a Jetson NX model and is used for processing environment visual image information. The computing module is provided with a plurality of IO ports, a PCIE interface, a USB interface, a CSI interface used for connecting the camera shooting assembly, an SPI interface and the like. IO ports between the computing module and the main control chip can be connected through a flat cable. The steering engine can adopt a metal tooth steering engine with the model number of DYNAMIXEL MX-64R.
As shown in fig. 2, the traveling mechanism 100 further includes a gripping arm 105, a first movable arm 106, and a second movable arm 107; one end of the first steering engine 101, which is far away from the rotating shaft, is installed on the trunk shell, the rotating shaft of the first steering engine 101 is installed at the first end of the clamping arm 105, the rotating shaft of the second steering engine 102 is installed at the second end of the clamping arm 105, the second steering engine 102 and the third steering engine 103 form an integral structure after being fixed by the first movable arm 106, the rotating shaft of the third steering engine 103 is installed at the first end of the second movable arm 107, and the adsorption component 104 is installed at the second end of the second movable arm 107.
In some examples, in order to further improve the flexibility and stability of the cleaning device, six walking mechanisms are arranged outside the trunk mechanism.
In the process of advancing, a rotating shaft of the first steering engine 101 is perpendicular to the advancing plane and is connected to the first end of the clamping arm 105, and the rotating power of the rotating shaft drives the first movable arm 106 to swing forwards or backwards through the clamping arm 105; a rotating shaft of the second steering engine 102 is parallel to the traveling plane, and the rotating power of the rotating shaft drives the first movable arm 106 to swing upwards or downwards; the rotating shaft of the third steering engine 103 is parallel to the traveling plane, and the second movable arm 107 is driven to swing up or down by the rotating power of the rotating shaft, so that the kicking action is simulated, the angle-adjustable precision of the adsorption component is further increased, and the walking mechanism can be flexibly adsorbed on the cambered surface of 360 degrees.
As shown in fig. 3, a vacuum suction master pump for providing suction force to the suction assembly 104 is further disposed in the trunk housing, and the suction assembly 104 includes a vacuum chuck, a switch element for controlling the suction force of the vacuum chuck, and a negative pressure sensor for measuring air pressure; wherein, the air suction port in the vacuum suction cup is also provided with a filter screen for preventing foreign matters from being sucked.
The air duct in the vacuum adsorption master pump is arranged at the air suction port of the vacuum sucker through a switching element, and the negative pressure sensor is arranged on the vacuum sucker; the main control circuit is respectively and electrically connected with the switch element, the vacuum chuck and the negative pressure sensor.
In order to ensure the air tightness and the strength of the air guide tube, the air guide tube can be manufactured in a 3D printing mode so as to be tightly connected with the vacuum chuck.
In some embodiments, the vacuum sorption master cylinder is a micro vacuum pump capable of producing a gas flow rate greater than 1.1L/min, a barometric pressure up to 90Kpa, and a vacuum as low as minus 40 Kpa; the switch element is a miniature electromagnetic valve. The main control circuit controls the air suction flow of the vacuum chuck by controlling the valve position of the miniature electromagnetic valve, and further controls the adsorption force of each travelling mechanism. The vacuum chucks of the travelling mechanisms are respectively provided with a negative pressure sensor for measuring the vacuum degree of the vacuum chucks and feeding back the vacuum degree to the main control circuit, so that the main control circuit calculates the adsorption force of the vacuum chucks in real time to ensure that the adsorption force reaches a preset value; if the adsorption force of a certain vacuum chuck is insufficient, a valve of the miniature electromagnetic valve can be further opened to increase the air suction flow so as to increase the adsorption force; if the adsorption force is not increased as expected, the adsorption position of the vacuum chuck is adjusted to avoid the phenomenon of air leakage caused by the uneven adsorption surface, so that the insufficient adsorption force is avoided.
As shown in fig. 3, the traveling mechanism 100 is provided with an inertial measurement sensor for feeding back the angle, speed and acceleration of the traveling mechanism; the inertial measurement sensor is electrically connected with the image processing circuit.
The inertia measurement sensor acquires motion signals of the respective walking mechanisms and compiles the motion signals into digital signals, the digital signals are sent to the image processing circuit through the SPI, and the digital signals are sent to the main control circuit after being processed by the image processing circuit, so that the main control circuit acquires the motion states of the respective walking mechanisms to monitor the running states of the respective walking mechanisms in real time and optimize the motion instructions and time sequences of the respective walking mechanisms, thereby ensuring that the respective walking mechanisms are mutually coordinated and stable in the process of running.
As shown in fig. 4, the torso mechanism further comprises a communication component for communicating with the upper computer, which comprises a net-mouth circuit and a wireless communication circuit; the main control circuit and the image processing circuit are respectively and electrically connected with the network port circuit and the wireless communication circuit, and the main control circuit and the image processing circuit transmit video information to the upper computer through the network port circuit or the wireless communication circuit and receive a control instruction of the upper computer.
The wireless communication circuit can transmit the environmental video information acquired by the cleaning device to monitoring personnel in real time and can also acquire the control instruction of the monitoring personnel in real time; in some application scenarios, wireless signal transmission is blocked, and in order to enhance the reliability of the communication path, a network interface circuit is further provided for wired communication. Optionally, the wireless communication circuitry comprises an X1278 wireless communication module for communicating with the master control circuitry and an 8265AC wireless communication module for communicating with the image processing circuitry; the net mouth circuit comprises a QCA9531 net mouth communication module, and the QCA9531 net mouth communication module is respectively connected with the main control circuit and the image processing circuit.
As shown in fig. 5, the cleaning mechanism includes a foreign matter clamping assembly, a foreign matter obstacle removing assembly and a cleaning assembly; the cleaning mechanism can be formed by combining any one or more of a foreign matter clamping component, a foreign matter obstacle clearing component and a cleaning component; the foreign body clamping assembly, the foreign body obstacle clearing assembly and the cleaning assembly are respectively and electrically connected with the main control circuit.
The cleaning assembly is internally provided with a cleaning roller which can clean dust on the surface of a three-dimensional element in the pipeline; the foreign matter barrier removing component is used for adsorbing light foreign matters with small volume; foreign matter centre gripping subassembly is equipped with the arm for carry out the centre gripping and take away to bulky and heavier foreign matter, like sheetmetal etc..
As shown in fig. 6, the image pickup assembly includes a first camera for observing foreign substances, a second camera for measuring a distance, a third camera for observing spatial information, and a light emitting part; the first camera, the second camera and the third camera are respectively and electrically connected with the image processing circuit, and the light emitting component is electrically connected with the main control circuit.
The first camera is a high-definition camera, can clearly identify the type and the volume of foreign matters in the pipeline, so that the cleaning mechanism can perform cleaning tasks in a targeted manner, and can clearly acquire road condition information in front; the second camera is an RGB-D camera, and can accurately measure the distance from the cleaning device to the pipeline wall so as to accurately control the steering of the cleaning device; the third camera comprises a left camera and a right camera and is used for acquiring the space information of the left side and the right side of the cleaning device.
Optionally, the trunk mechanism further comprises a fall prevention sensor and/or an obstacle avoidance sensor arranged on the trunk shell; the anti-falling sensor and the obstacle avoidance sensor are respectively and electrically connected with the main control circuit.
The actual environment of pipeline is complicated, has the pot hole that the size is unequal, in order to avoid cleaning device to fall the pot hole and damage at the in-process of marcing, sets up the dropproof sensor in the bottom of trunk shell front end, measures the change of ground distance, if discover the pot hole, then stop immediately and detour. Because there are a large number of supporting insulators and other obstacles in the pipeline, there is a risk of blocking, even damaging the cleaning device, so that obstacle avoidance sensors are arranged in the front, back, left and right directions of the trunk shell to effectively avoid the obstacles. In some embodiments, the fall protection sensor and the obstacle avoidance sensor are distance measurement sensors.
As shown in fig. 7, a power supply circuit is further arranged in the trunk shell, and comprises a power supply part, a charging circuit, a power detection circuit for monitoring input power, an emergency stop circuit for quickly cutting off a power supply, a voltage conversion circuit for multi-channel voltage output, a driving power supply management circuit for supplying power to the steering engine, and an external power supply interface;
the power supply part is electrically connected with the charging circuit, and the power detection circuit is respectively electrically connected with the charging circuit, the emergency stop circuit, the voltage conversion circuit and the driving power management circuit; the voltage conversion circuit is respectively and electrically connected with the main control circuit, the image processing circuit, the communication assembly and the camera assembly, the driving power supply management circuit is respectively and electrically connected with the cleaning mechanism and the travelling mechanism, and the external power supply interface is electrically connected with the charging circuit.
In order to ensure that the power supplies among the image processing circuit, the main control circuit, the camera assembly and the communication assembly do not interfere with each other, an isolated power supply scheme is adopted, and the power supplies of all the circuits are provided by the voltage conversion circuit. The driving power management circuit supplies power to the action mechanism and the cleaning mechanism with relatively high working voltage and power. The external power supply interface is provided with a TYPE-C interface which can supply power to the whole circuit system in a wired working mode besides charging and supplying power to the power supply part. The power detection circuit is arranged to monitor the output power of the driving power management circuit and the voltage conversion circuit in real time, and when an abnormality occurs, the emergency stop circuit can immediately cut off the rear-stage circuit, so that the circuit damage is avoided.
The cleaning device of the invention has the following beneficial effects: the camera shooting assembly in the device acquires environmental information, the control assembly controls the traveling mechanism and the cleaning mechanism according to the environmental information, cleaning work is completed, maintenance personnel can be replaced in an inner cavity of the pipeline with severe environment to complete the cleaning work, the cleaning efficiency is high, the problem that the pipeline cannot be manually maintained due to too large height difference of the pipeline is solved, and the risk of manually introducing foreign matters is eliminated.
It is to be understood that the foregoing examples, while indicating the preferred embodiments of the invention, are given by way of illustration and description, and are not to be construed as limiting the scope of the invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (10)
1. The cleaning device is characterized by comprising a trunk mechanism, at least two walking mechanisms (100) arranged outside the trunk mechanism and a cleaning mechanism for cleaning an inner cavity of a high-voltage power transmission pipeline;
the walking mechanism (100) comprises a first steering engine (101) for realizing front and back swinging action, a second steering engine (102) for realizing up and down swinging action, a third steering engine (103) for realizing left and right swinging action, and an adsorption component (104) for adsorbing the wall surface of the inner cavity of the pipeline;
the trunk mechanism comprises a trunk shell, a control assembly arranged in the trunk shell and a camera assembly which is arranged on the trunk shell and used for acquiring environmental video information;
the control assembly comprises an image processing circuit used for processing the environment video information and a main control circuit used for controlling the walking mechanism (100) and the cleaning mechanism according to the image feedback information of the image processing circuit.
2. The sweeping device according to claim 1, wherein said travelling mechanism (100) further comprises a gripping arm (105), a first movable arm (106) and a second movable arm (107);
one end, far away from the rotating shaft, of the first steering engine (101) is installed on the trunk shell, the rotating shaft of the first steering engine (101) is installed at the first end of the clamping arm (105), the rotating shaft of the second steering engine (102) is installed at the second end of the clamping arm (105), the second steering engine (102) and the third steering engine (103) form an integral structure after the first movable arm (106) is fixed, the rotating shaft of the third steering engine (103) is installed at the first end of the second movable arm (107), and the adsorption assembly (104) is installed at the second end of the second movable arm (107).
3. The sweeping device as claimed in claim 1, characterized in that six said walking mechanisms (100) are provided outside said trunk mechanism.
4. The sweeping apparatus as claimed in claim 1, wherein a vacuum suction master pump for providing suction force to the suction assembly (104) is further provided in the trunk housing, the suction assembly (104) includes a vacuum chuck, a switch element for controlling the suction force of the vacuum chuck, and a negative pressure sensor for measuring air pressure;
the air duct in the vacuum adsorption master pump is arranged at the air suction port of the vacuum sucker through the switch element, and the negative pressure sensor is arranged on the vacuum sucker;
the main control circuit is respectively and electrically connected with the switch element, the vacuum chuck and the negative pressure sensor.
5. The sweeping device according to claim 1, characterized in that an inertial measurement sensor for feeding back the angle, speed and acceleration of the traveling mechanism is arranged on the traveling mechanism (100);
the inertial measurement sensor is electrically connected with the image processing circuit.
6. The cleaning device as defined in claim 1, wherein the torso mechanism further comprises a communication assembly for communicating with an upper computer, which includes a net-port circuit and a wireless communication circuit;
the main control circuit and the image processing circuit are respectively and electrically connected with the network port circuit and the wireless communication circuit, and the main control circuit and the image processing circuit transmit video information to the upper computer through the network port circuit or the wireless communication circuit and receive a control instruction of the upper computer.
7. The cleaning device as claimed in claim 1, wherein the cleaning mechanism includes a foreign material holding assembly, a foreign material removing assembly, and a cleaning assembly;
the cleaning mechanism can be formed by combining any one or more of the foreign matter clamping assembly, the foreign matter obstacle removing assembly and the cleaning assembly;
the foreign matter clamping assembly, the foreign matter obstacle clearing assembly and the cleaning assembly are respectively and electrically connected with the main control circuit.
8. The cleaning apparatus according to claim 1, wherein the image pickup unit includes a first camera for observing foreign matters, a second camera for measuring a distance, a third camera for observing spatial information, and a light emitting member;
the first camera, the second camera and the third camera are respectively and electrically connected with the image processing circuit, and the light emitting component is electrically connected with the main control circuit.
9. The sweeping device of claim 1, wherein the torso mechanism further includes a fall protection sensor and/or an obstacle avoidance sensor disposed on the torso housing;
the anti-falling sensor and the obstacle avoidance sensor are respectively and electrically connected with the main control circuit.
10. The cleaning device as claimed in claim 1, wherein a power supply circuit is further arranged in the trunk housing, and comprises a power supply part, a charging circuit, a power detection circuit for monitoring input power, an emergency stop circuit for rapidly cutting off a power supply, a voltage conversion circuit for multi-channel voltage output, and a driving power supply management circuit for supplying power to the steering engine;
the power supply part is electrically connected with the charging circuit, and the power detection circuit is respectively electrically connected with the charging circuit, the emergency stop circuit, the voltage conversion circuit and the driving power supply management circuit;
the voltage conversion circuit is respectively and electrically connected with the main control circuit, the image processing circuit, the communication assembly and the camera assembly, and the driving power supply management circuit is respectively and electrically connected with the cleaning mechanism and the travelling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458979.3A CN114378069A (en) | 2021-12-01 | 2021-12-01 | Cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458979.3A CN114378069A (en) | 2021-12-01 | 2021-12-01 | Cleaning device |
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| Publication Number | Publication Date |
|---|---|
| CN114378069A true CN114378069A (en) | 2022-04-22 |
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| CN202111458979.3A Pending CN114378069A (en) | 2021-12-01 | 2021-12-01 | Cleaning device |
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| CN110496836A (en) * | 2019-09-29 | 2019-11-26 | 常州大学 | Imitative gecko ventilation pipeline sweeping |
| CN111421549A (en) * | 2020-04-24 | 2020-07-17 | 深圳国信泰富科技有限公司 | Obstacle clearing robot and control method |
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