CN202527426U - Autonomous navigation system for pipeline cleaning robot - Google Patents
Autonomous navigation system for pipeline cleaning robot Download PDFInfo
- Publication number
- CN202527426U CN202527426U CN201220029443XU CN201220029443U CN202527426U CN 202527426 U CN202527426 U CN 202527426U CN 201220029443X U CN201220029443X U CN 201220029443XU CN 201220029443 U CN201220029443 U CN 201220029443U CN 202527426 U CN202527426 U CN 202527426U
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- controller
- navigation system
- cleaning robot
- pipeline cleaning
- starting point
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Abstract
The utility model discloses an autonomous navigation system for a pipeline cleaning robot, which comprises a power management module, a controller, a human-computer interface module, a walking driving system, a dust absorbing system, a barrier detecting system, a double-encoder positioning system, an electronic gyroscope and a start point identifying device, wherein the power management module is used for supplying stable power; the controller is used for performing centralized processing; the human-computer interface module is used for displaying state and performing interface operation; the walking driving system is used for freely moving the robot; the dust absorbing system is related to a specific task; the human-computer interface module, the walking driving system and the dust absorbing system are connected with the controller; the barrier detecting system is used for detecting an environmental barrier; the barrier detecting system is connected with the controller; the double-encoder positioning system is used for self-positioning in a small scope; the double-encoder positioning system is connected with the controller; the electronic gyroscope is used for calculating a rotating angle; the electronic gyroscope is connected with the controller; the start point identifying device is used for judging a position of a pipeline inlet; and the start point identifying device is connected with the controller.
Description
Technical field
The utility model relates to a kind of autonomous navigation system of pipeline cleaning robot, belongs to the mobile robot technology field.
Background technology
To the cleaning of central air-conditioning, great majority adopt the cleaning equipment of artificial control to carry out operation now.Its shortcoming is: automaticity is very low, is semi-automatic work or intimate manual operations.By the cleaning machine of operating personnel's remote control on the one hand since cleaning machine link to each other by the control cable with control terminal; Cleaning machine in pipeline, walk flexibility and mobility have been reduced; Disposable entering pipeline clean range is limited, must carry out same pipeline a plurality of inlets are set.By complicated situation in the pipeline, only can't grasp the working condition of cleaning machine in pipe sometimes on the other hand, operating personnel brought great inconvenience, thereby reduced cleaning efficiency, improve the cleaning cost through camera.
Summary of the invention
In order to overcome the deficiency of prior art; The utility model provides a kind of autonomous navigation system of pipeline cleaning robot; Comprise obstacle detection system, dual coding device navigation system, electronic gyroscope and starting point recognition device, but the conducting tubes clean robot is independently accomplished the cleaning task.
The utility model solves the technical scheme that its technical problem adopted:
The autonomous navigation system of pipeline cleaning robot comprises the power management module that stabilized power source is provided, the controller that focuses on; Carry out the human-computer interface module of state demonstration and interface operation; The travel driving system that moves freely, the dust collecting system relevant with specific tasks, described travel driving system are controlled the direction of rotation and the rotary speed of left drive motors and right drive motors; Left encoder is installed on the described left drive motors; Right encoder is installed on the described right drive motors, described human-computer interface module, travel driving system is connected with described controller with dust collecting system; Also comprise the obstacle detection system that carries out the environment detection of obstacles, described obstacle detection system is connected with described controller; Carry out self-align among a small circle dual coding device navigation system, described dual coding device navigation system is connected with described controller; Also comprise the electronic gyroscope that is rotated angle calculation, described electronic gyroscope is connected with described controller; Also comprise the starting point recognition device that is used to judge the entrance position, described starting point recognition device is connected with described controller.
Described obstacle detection system is provided with the ultrasonic obstacle quality testing and surveys device.
Described obstacle detection system is provided with infrared obstacle detector.
Described dual coding device navigation system connects described left encoder and right encoder.
Described starting point recognition device is provided with the magnetic induction recognition device, and magnet is adopted in identification, the starting point characteristic that magnet steel and magnetic stripe are provided with.
Described starting point recognition device is provided with infrared recognition device, the starting point characteristic that identification adopts infrared ray to be provided with.
The beneficial effect of the utility model mainly shows: 1, can detect barrier, avoid collision; 2, integrated positioning mode, location self-position that can be more stable; 3, can discern initial point position, the autonomous end cleaned.
Description of drawings
Fig. 1 is the system block diagram of the autonomous navigation system of pipeline cleaning robot.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.
With reference to Fig. 1, the autonomous navigation system of pipeline cleaning robot comprises the power management module 2 that stabilized power source is provided; The controller 1 that focuses on; Carry out the human-computer interface module 3 of state demonstration and interface operation, the travel driving system 4 that moves freely, the dust collecting system 5 relevant with specific tasks; Described human-computer interface module 3, travel driving system 4 is connected with described controller 1 with dust collecting system 5.
Described power management module 2 also is responsible for carrying out Charge Management for system provides voltage-stabilized source, promptly detects cell voltage in real time, if undertension charges immediately; In the charging process, the control of charging of described power management module 2 is responsible for the control charging current and is finished to judge with charging.
Described human-computer interface module 3 is responsible for carrying out the input of state demonstration and user instruction.
Described travel driving system 4 is used to control the direction of rotation and the rotary speed of left drive motors and right drive motors.Described left drive motors and right drive motors drive two driving wheel rotations, thereby the drive machines people moves with any track.Left encoder is installed on the described left drive motors, right encoder is installed on the described right drive motors.
Described dust collecting system 5 is important device that pipeline cleaning robot is executed the task.Comprise vacuum cleaning chamber and dust sucting motor, round brush and round brush motor.Round brush and round brush motor are for the dust of ground and duct wall and rubbish are kicked up, and vacuum cleaning chamber and dust sucting motor are to form certain vacuum, and dust of kicking up and rubbish are drawn onto in the dust bag.
Described obstacle detection system 6 is responsible for the barrier situation of testing environment, is used for the path planning of pipeline cleaning robot and keeps away barrier.Described obstacle detection system 6 is connected with described controller 1, is controlled by described controller 1.Can adopt group of ultrasonic sensors to become the ultrasonic obstacle quality testing to survey device, also can adopt infrared distance sensor to form infrared obstacle detector, perhaps adopt two kinds of sensors to make up.
Also comprise and carry out self-align among a small circle dual coding device navigation system 7, described dual coding device navigation system 7 is connected with described controller 1.Described dual coding device navigation system 7 connects described left encoder and right encoder, and signal input constantly adds up the rotating cycle of left drive motors and right drive motors, thereby calculates the travel distance and the anglec of rotation of pipeline cleaning robot.But the continuous accumulated roundoff error of this mode meeting, and position error can worsen rapidly when the driving wheel of pipeline cleaning robot skids, causes serious location mistake.In order to remedy the cumulative errors and the error of skidding and causing of described dual coding device navigation system 7 self, also comprise the electronic gyroscope 8 that is rotated angle calculation, described electronic gyroscope 8 is connected with described controller 1.Described electronic gyroscope 8 cumulative calculation machine people's the anglec of rotation, the error of the described dual coding device of recoverable navigation system 7.
Also comprise the starting point recognition device 9 that is used to judge the entrance position, described starting point recognition device 9 is connected with described controller 1.Entrance is the job initiation position of pipeline cleaning robot, and when pipeline cleaning robot found that battery electric quantity will exhaust, it was to be charged to get back to entrance etc. as early as possible; When pipeline cleaning robot detects the starting point characteristic signal in cleaning process, should finish cleaning works immediately, wait in the original place.Described starting point recognition device 9 is provided with the magnetic induction recognition device, and magnet is adopted in identification, and the starting point characteristic that magnet steel and magnetic stripe are provided with after described starting point recognition device 9 detects magnetic signal, has just been confirmed initial point position.Infrared recognition device also is set, the starting point characteristic that identification adopts infrared ray to be provided with.The perhaps combination of two kinds of signals.
Claims (6)
1. the autonomous navigation system of pipeline cleaning robot comprises the power management module that stabilized power source is provided, the controller that focuses on; Carry out the human-computer interface module of state demonstration and interface operation; The travel driving system that moves freely, the dust collecting system relevant with specific tasks, described travel driving system are controlled the direction of rotation and the rotary speed of left drive motors and right drive motors; Left encoder is installed on the described left drive motors; Right encoder is installed on the described right drive motors, described human-computer interface module, travel driving system is connected with described controller with dust collecting system; It is characterized in that: also comprise the obstacle detection system that carries out the environment detection of obstacles, described obstacle detection system is connected with described controller; Carry out self-align among a small circle dual coding device navigation system, described dual coding device navigation system is connected with described controller; Also comprise the electronic gyroscope that is rotated angle calculation, described electronic gyroscope is connected with described controller; Also comprise the starting point recognition device that is used to judge the entrance position, described starting point recognition device is connected with described controller.
2. the autonomous navigation system of pipeline cleaning robot as claimed in claim 1 is characterized in that: described obstacle detection system is provided with the ultrasonic obstacle quality testing and surveys device.
3. the autonomous navigation system of pipeline cleaning robot as claimed in claim 1, it is characterized in that: described obstacle detection system is provided with infrared obstacle detector.
4. the autonomous navigation system of pipeline cleaning robot as claimed in claim 1, it is characterized in that: described dual coding device navigation system connects described left encoder and right encoder.
5. the autonomous navigation system of pipeline cleaning robot as claimed in claim 1 is characterized in that: described starting point recognition device, the magnetic induction recognition device is set, and magnet is adopted in identification, the starting point characteristic of magnet steel and magnetic stripe setting.
6. the autonomous navigation system of pipeline cleaning robot as claimed in claim 1 is characterized in that: described starting point recognition device is provided with infrared recognition device, the starting point characteristic that identification adopts infrared ray to be provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220029443XU CN202527426U (en) | 2012-01-12 | 2012-01-12 | Autonomous navigation system for pipeline cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220029443XU CN202527426U (en) | 2012-01-12 | 2012-01-12 | Autonomous navigation system for pipeline cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202527426U true CN202527426U (en) | 2012-11-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220029443XU Expired - Fee Related CN202527426U (en) | 2012-01-12 | 2012-01-12 | Autonomous navigation system for pipeline cleaning robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103592944A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Supermarket shopping robot and advancing path planning method thereof |
| CN106441272A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | Automatic fast positioning system and method of pipeline block clearing robot |
| CN107102064A (en) * | 2017-06-24 | 2017-08-29 | 东北石油大学 | A kind of automatic outer detection means of pipe ultrasonic |
| CN108160633A (en) * | 2018-01-08 | 2018-06-15 | 河北工业大学 | Based on monolithic processor controlled soot pipeline automatic ash removing device |
| CN109174845A (en) * | 2018-09-10 | 2019-01-11 | 佛山市金净创环保技术有限公司 | A kind of inner wall of the pipe cleaning plant based on phototaxis |
| CN111093907A (en) * | 2017-08-30 | 2020-05-01 | 高通股份有限公司 | Robust navigation of a robotic vehicle |
| CN113341993A (en) * | 2021-06-21 | 2021-09-03 | 杭州越歌科技有限公司 | Automatic navigation method and system of pipeline detection robot, storage medium and robot |
-
2012
- 2012-01-12 CN CN201220029443XU patent/CN202527426U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103592944A (en) * | 2013-10-24 | 2014-02-19 | 燕山大学 | Supermarket shopping robot and advancing path planning method thereof |
| CN103592944B (en) * | 2013-10-24 | 2016-05-04 | 燕山大学 | A kind of supermarket shopping robot and travel path planing method thereof |
| CN106441272A (en) * | 2016-09-14 | 2017-02-22 | 江苏师范大学 | Automatic fast positioning system and method of pipeline block clearing robot |
| CN106441272B (en) * | 2016-09-14 | 2019-02-12 | 江苏师范大学 | A kind of automatic quick positioning system of pipeline block clearing robot and method |
| CN107102064A (en) * | 2017-06-24 | 2017-08-29 | 东北石油大学 | A kind of automatic outer detection means of pipe ultrasonic |
| CN111093907A (en) * | 2017-08-30 | 2020-05-01 | 高通股份有限公司 | Robust navigation of a robotic vehicle |
| CN111093907B (en) * | 2017-08-30 | 2023-07-04 | 高通股份有限公司 | Robust navigation of robotic vehicles |
| CN108160633A (en) * | 2018-01-08 | 2018-06-15 | 河北工业大学 | Based on monolithic processor controlled soot pipeline automatic ash removing device |
| CN109174845A (en) * | 2018-09-10 | 2019-01-11 | 佛山市金净创环保技术有限公司 | A kind of inner wall of the pipe cleaning plant based on phototaxis |
| CN113341993A (en) * | 2021-06-21 | 2021-09-03 | 杭州越歌科技有限公司 | Automatic navigation method and system of pipeline detection robot, storage medium and robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121114 Termination date: 20140112 |