CN202837905U - Control system of a wall cleaning robot - Google Patents
Control system of a wall cleaning robot Download PDFInfo
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- CN202837905U CN202837905U CN 201220485226 CN201220485226U CN202837905U CN 202837905 U CN202837905 U CN 202837905U CN 201220485226 CN201220485226 CN 201220485226 CN 201220485226 U CN201220485226 U CN 201220485226U CN 202837905 U CN202837905 U CN 202837905U
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Abstract
The utility model discloses a control system of a wall cleaning robot. The control system comprises a processor unit, a controller, a first suction cup motor, a second suction cup motor, a cleaning motor, a hoisting motor, a signal processor and a robot, wherein the processor unit sends out a control signal to the controller, the control signal is divided into a first driving signal, a second driving signal, a third driving signal and a fourth driving signal by the controller, the first driving signal, the second driving signal, the third driving signal and the fourth driving signal respectively control the first suction cup motor, the second suction cup motor, the cleaning motor and the hoisting motor; the first driving signal of the first suction cup motor, the second driving signal of the second suction cup motor, the third driving signal of the cleaning motor, and the fourth driving signal of the hoisting motor are synthesized by the signal processor and then the motion of the robot is controlled.
Description
Technical field
The utility model relates to the UAV(Unmanned Aerial Vehicle of robot) technical field, and particularly relevant for the robot for cleaning wall surface control system.
Background technology
Because the requirement of urban look and the art of architecture, the flat shape of building and vertical build are increasingly sophisticated, the metope lines, concavo-convex, punch that it is more also to adopt.The curtain wall geometric modeling is rich and varied, has vertically, inclined-plane, the face of cylinder, terrace with edge face and sphere etc., and curtain wall has the versions such as bright frame, hidden frame, half hidden frame and full glass curtain wall.Flexibly connect between curtain wall and the main house body structure, in level, vertical, inward-outward direction reservation micro-deformation leeway, and reserve " expansion joint " between adjacent glass, the bottom, slit separates with compensate for temperature effects with rubber strip.But after using a period of time, can find:
(1) have the pollutants such as a large amount of clods, dust, dust stratification and grease at its wall, and these things can't clean and cause staying for a long time on the peripheral wall wall, obviously affect the unique sight;
(2) as building, need to check for a long time, and the detection of the metope of high building belongs to work high above the ground, belongs to dangerous industry;
(3) the each expense of cleaning of metope is too high.
Climbing robot is the robot that can carry out at steep slope operation, and it more and more is subject to people's attention as a kind of robot apparatus of high-altitude limit operation.Wall surface cleaning robot belongs to a kind of of portable service robot, and it can move the clean-out operation that carries out body surface in vertical walls and roof.The use of robot for cleaning wall surface will reduce the cleaning cost of skyscraper greatly, improve workman's work situation, raise labour productivity, and have suitable society, economic implications and wide application prospect.And at present for the research of this type of robot ripe, reliable scheme without comparison also.
The utility model content
For the problems referred to above, the purpose of this utility model provides a kind of robot for cleaning wall surface control system, has solved the limitation that existing metope cleans.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of robot for cleaning wall surface control system is provided, comprise processor unit, controller, the first sucker motor, the second sucker motor, clean motor, the elevator motor, signal processor and robot, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled respectively described the first sucker motor, the second sucker motor, clean motor and elevator motor, wherein, drive signal by first of described the first sucker motor, drive signal by second of described the second sucker motor, by the 3rd of described cleaning motor drive signal and synthetic through signal processor by the moving signal of the 4 wheel driven of described elevator motor after, the motion of control.
In preferred embodiment of the utility model, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described master system comprises human-computer interface module, the detection of obstacles module, the water level detecting module, the negative pressure module, set positions module and online output module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, wherein, dsp processor is used for the control human-computer interface module, the detection of obstacles module, the water level detecting module, the negative pressure module, the set positions module, online output module, data acquisition memory module and I/O control module, the FPGA processor is used for control multiple-axis servo control module, and carries out in real time exchanges data between dsp processor and the FPGA processor and call.
In preferred embodiment of the utility model, described robot for cleaning wall surface control system also comprises battery, described battery further is connected output terminal with the first sucker motor and is connected with the elevator motor, and processor unit further is connected to respectively tie point between the first sucker motor output end and the battery and the tie point between elevator motor output end and the battery.
In preferred embodiment of the utility model, described battery further is connected with the output terminal that is connected motor with the second sucker motor, and processor unit further be connected to respectively the tie point between the second sucker motor output end and the battery and clean motor output end and battery between tie point.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises coder module, and described coder module judges whether to meet rate request for detection of the actual speed of robot, whether too fast or excessively slow, and send control signal.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that robot needs.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection machine people actual speed, the speed module is regulated the robot actual speed according to the result that coder module detects.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises displacement module, and whether described displacement module arrives set displacement for detection of robot, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Robot for cleaning wall surface control system of the present utility model, in order to improve arithmetic speed, guarantee robot for cleaning wall surface control system and reliability, the utility model is introduced the FPGA processor in the dsp processor of monolithic, formation is based on the dual core processor of DSP+FPGA, the multi controller systems that this processor is realized the dsp processor of original monolithic is concentrated design, and take into full account battery in the effect of this system, realize the function of Single Controller synchro control four axles, give the control of FPGA processor four axle servo-drive systems of workload maximum in the robot for cleaning wall surface control system, give full play to faster characteristics of FPGA processor data processing speed, and human-computer interface module, the detection of obstacles module, the water level detecting module, the negative pressure module, the set positions module, online output module, the functions such as data acquisition memory module and I/O control module are given dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, antijamming capability strengthens greatly, has solved the limitation that existing metope cleans.
Description of drawings
Fig. 1 is the block scheme of the robot for cleaning wall surface control system of the utility model preferred embodiment;
Fig. 2 is the block scheme of processor unit among Fig. 1;
Fig. 3 is the operation synoptic diagram of robot among Fig. 1.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that protection domain of the present utility model is made more explicit defining.
Development and maturation along with microelectric technique and computing machine integrated chip manufacturing technology, digital signal processing chip (DSP) is because its computing power fast, not only be widely used in communication and process with vision signal, also be applied in gradually in the various senior control system.TMS320F2812 is the fixed point 32 bit DSP processors on the C2000 platform released of American TI company, is suitable for Industry Control, and Electric Machine Control etc. are of many uses.The operation clock also can reach 150MHz soon, and handling property can reach 150MIPS, every instruction cycle 6.67ns, and the IO mouth is abundant, and is enough concerning the general application of user, two serial ports.AD conversion etc. with 0 ~ 3.3v of 12.In-chip FLASH with 128k in the sheet * 16, the SRAM of 18K * 16, general application system can not wanted outer extension memory.Add independently ALU, have powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, and greatly peripheral circuits design reduces system cost and system complexity, has also greatly improved the data storage processing power.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design robotization (EDA) technology is recent years to have occurred a kind of brand-new design philosophy.Although FPGA itself is the cell array of standard just, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument its inside is reconfigured connection, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just so that have good reusable and the property revised based on FPGA processor designed system, this brand-new design philosophy has been applied in gradually high performance interchange and has driven in the control, and fast-developing.
As shown in Figure 2, be the block scheme of the robot for cleaning wall surface control system of the utility model preferred embodiment.In the present embodiment, the robot for cleaning wall surface control system comprises battery, processing unit, controller, the first sucker motor, the second sucker motor, cleans motor, elevator motor, signal processor and robot.Wherein, described battery is lead-acid battery, is a kind of electric supply installation, for the work of whole system provides operating voltage.Described battery further is connected output terminal with the first sucker motor and is connected with the elevator motor, and processor unit further is connected to respectively tie point between the first sucker motor output end and the battery and the tie point between elevator motor output end and the battery; Described battery further is connected with the output terminal that is connected motor with the second sucker motor, and processor unit further be connected to respectively the tie point between the second sucker motor output end and the battery and clean motor output end and battery between tie point.
The built-in control system of processor unit described in the utility model and control circuit, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled respectively described the first sucker motor, the second sucker motor, clean motor and elevator motor, wherein, drive signal by first of described the first sucker motor, drive signal by second of described the second sucker motor, by the 3rd of described cleaning motor drive signal and synthetic through signal processor by the moving signal of the 4 wheel driven of described elevator motor after, the motion of control.
The utility model is the stability of assurance robot for cleaning wall surface and the specific (special) requirements of rapidity, has given up the mode of operation of the dsp processor of monolithic, and the brand-new control model of DSP+FPGA processor is provided.Control panel is take the FPGA processor as processing core, realize the real-time processing of digital signal, dsp processor is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of FPGA processor, and realization data communication and storage live signal are interrupted in response.
See also Fig. 2, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two mutually communication is carried out in real time exchanges data and called.Described processor unit also comprises master system and the kinetic control system of being located at dsp processor and FPGA processor, described master system comprises human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, set positions module and online output module, and described kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module.Wherein, dsp processor is used for control human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, set positions module, online output module, data acquisition memory module and I/O control module, and the FPGA processor is used for control multiple-axis servo control module.
Master system comprises human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, set positions module and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; Detection of obstacles module, water level detecting module and negative pressure module are mainly for detection of whether barrier being arranged, detecting the height of water level in the water tank and the absorption affinity that detects sucker; The set positions module is used for position and the parameter setting that the location metope need to clean; Online output module module is used for the duty of prompting robot, such as being in the robot course of work or the condition prompting that arrives at a station.
Kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module.Wherein, data acquisition memory module module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.The multiple-axis servo control module further comprises modular converter, coder module, current module, speed module, displacement module and altitude module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module judges whether to meet rate request for detection of the actual speed of robot, too fast or excessively slow, and sends control signal.
Described current module and battery are connected modular converter and are connected with controller.Modular converter is judged operating power according to the electric current of battery and controller, and power condition is fed back to battery, and the output power that current module is used for the adjustment battery reaches the scope that robot needs.
Described speed module is connected with the coder module communication, when coder module detection machine people actual speed too fast or excessively slow, the actual speed that the result that the speed module detects according to coder module regulates robot.
Whether described displacement module detection machine people arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Be a dual core processor for processor unit, under the power supply opening state, first by human-computer interface module work, again according to the real work needs, select the path planning of robot in human-computer interface module, robot according to real sensor ruuning situation the environment transformation parameter to the dsp processor in the processor unit, dsp processor is processed rear and the communication of FPGA processor, then processed the servocontrol of four motors by the FPGA processor, and the deal with data communication to dsp processor, continue to process follow-up running status by dsp processor.
In conjunction with above description, master system comprises the functions such as human-computer interface module, detection of obstacles module, water level detecting module, negative pressure module, set positions module, online output module; Kinetic control system comprises the functions such as multiple-axis servo control module, data acquisition memory module, I/O control module.Wherein the multiple-axis servo control module of workload maximum is given the control of FPGA processor, remaining comprises that master system gives dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, also can carry out communication between the two simultaneously, carry out in real time exchanges data and call.
See also Fig. 3, the function that the robot for cleaning wall surface control system is concrete in the utility model is achieved as follows:
1) before robot does not receive order, it generally can wait for the order that controller sends in waiting area, in case after receiving task, can enter normal cleaning area along waiting area;
2) robot enters the normal wash zone, the pressure transducer of its first sucker and the second sucker will be worked, judge that its inner pressure is setting value, if pressure is inadequate, the first sucker motor and the second sucker motor will be worked, find time air in the sucker chamber, thereby make and occur negative pressure in the sucker, controller is regulated the service voltage of the first sucker motor and the second sucker motor by regulating the driving signal PWM ripple of supplying with the first sucker motor and the second sucker motor, thereby change the rotating speed of the first sucker motor and the second sucker motor, thereby determine the value of negative pressure in the sucker chamber, if the pressure transducer of the first sucker and the second sucker is thought when system does not possess enough pressure and adsorbs robot all the time, to send interrupt request to dsp processor, dsp processor can be done very first time response to interrupting, if the interrupt response of dsp processor does not have enough time to process, the self-locking device in the robot will be triggered, make robot be locked in current state, and then reach the function of protection;
3) if the first sucker and the second sucker provide enough absorption affinities, cleaning motor in the robot will be worked, the water tank that this moment, robot was born will be opened valve automatically, this Time Controller can clean by the PWM ripple adjustment of its output the speed of motor speed, regulates the speed that cleaning brush cleans metope thereby reach;
4) after robot finishes the cleaning in a zone, its the second sucker motor will be filled with air to the second sucker, make the second sucker automatic trip from, this moment, the latter half mechanism of robot was in movable state, the elevator motor will vertically be put next distance to the latter half mechanism at the second sucker place this moment, the second sucker motor will be taken the air of the second sucker again away this moment, make the second sucker have enough absorption affinities can guarantee that robot is fixed on original position and does not glide, then, the first sucker motor will be filled with air to the first sucker, make the first sucker automatic trip from, this moment, the first half mechanism of robot was in movable state, the elevator motor will be put next distance to the first half mechanism at the first sucker place this moment, the first sucker motor will be taken the air of the first sucker again away this moment, so that the gravity that the first sucker and the second sucker provide absorption affinity to overcome robot jointly, then enter the cleaning of a new round;
5) detected barrier and entered range of operation if be positioned at the sensor of robot bottom, its the second sucker motor will be filled with air to the second sucker, make the second sucker automatic trip from, this moment, the latter half mechanism of robot was in movable state, this moment, the elevator motor was rolled an angle to the latter half mechanism, then next distance is put in the latter half mechanism at the second sucker place and escape barrier, then the latter half mechanism is being put back to plumbness, make the second sucker be close to metope, the second sucker motor will be taken the air of the second sucker again away this moment, make the second sucker have enough absorption affinities can guarantee that robot does not glide.Then the first sucker motor will be filled with air to the first sucker, make the first sucker automatic trip from, this moment, the first half mechanism of robot was in movable state, this moment, the elevator motor was rolled an angle to the first half mechanism, then next distance is put in the first half mechanism at the first sucker place and escape barrier, then the first half mechanism is being put back to plumbness, make the first sucker be close to metope, the first sucker motor will be taken the air of the first sucker again away this moment, so that the gravity that the first sucker and the second sucker provide absorption affinity to overcome robot jointly, then enter the cleaning of a new round;
6) in whole cleaning process, liquid level sensor will detect water level in the case, when cistern water level is lower than the setting threshold, to send to dsp processor and stop the request of cleaning, then controller can be got back to water-filling zone, ground by control, then artificial the robot water tank is carried out water-filling, carry out the motion of next cycle;
7) in order better to protect battery; when system enters the area of low pressure; voltage sensor in the robot can be opened automatically; when reading the low pressure feedback; the robot for cleaning wall surface controller can stop the robot cleaning; then get back to charging zone, ground along the perform region, then finish its charging or change battery by the surface work personnel.
When 8) robot for cleaning wall surface travels away by fixed route; multiple acoustooptic alarm system in the system will be worked; detect very easily the existence of various barriers on every side; when dangerous the existence; controller can send and stop purge signal; then avoid the cleaning in this zone, be conducive to like this protect robot body.
The beneficial effect that the utility model robot for cleaning wall surface control system has is:
1: clean owing to adopted robot to carry out metope, so that the easy degree of the cleaning of metope increases greatly, and simple robot motion just, so expense reduces greatly;
2: in motion process, taken into full account the effect of battery in this system, based on the DSP+FPGA processor constantly all to the running status of robot with discharge current is monitored and computing, occur so fundamentally solved the phenomenon of battery over-discharge can, avoided the generation of lead-acid battery overaging phenomenon;
3: in order better to protect battery, when system runs into low pressure, voltage sensor in the robot can be opened automatically, when reading the low pressure feedback, robot controller can send remote alarm to the surface work personnel, then get back to ground along the perform region and set the place, then have the staff to change battery or to its charging;
4: the full Digitized Servo Control by FPGA processor processing motion control motor, greatly improved arithmetic speed, solved the slower bottleneck of dsp processor operation of monolithic, it is short to have shortened the construction cycle, and system's portable ability is strong;
5: realized veneer control fully, not only having saved control panel takes up room, reduce the volume that control panel takies in the robot finite space, but also realized the synchronous of multi-motor control signal fully, be conducive to improve stability and the dynamic property of robot;
6: owing to adopt the FPGA processor to process a large amount of data and algorithm, and taken into full account interference source on every side, and dsp processor is freed from the hard work amount, antijamming capability strengthens greatly;
7: robot has added automatic decline function, and when running into barrier, controller can send automatic decline function command, and adsorbent equipment escaped barrier about the elevator motor in the robot helped it at this moment;
8: when robot ran into one of them sucker and pressure release occurs, a remaining sucker motor can work and make himself sucker internal pressure to increase, and prevents because pressure causes the not enough phenomenon generation that causes the robot landing of robot absorption affinity not;
9: wash robot and added the water level detecting module, avoided robot not have water and the possibility of working;
10: after adopting machine to carry out metope cleaning people, so that the situation that hand labor power is participated in reduces.
The above only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model instructions and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (9)
1. robot for cleaning wall surface control system, it is characterized in that, comprise processor unit, controller, the first sucker motor, the second sucker motor, clean motor, the elevator motor, signal processor and robot, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled respectively described the first sucker motor, the second sucker motor, clean motor and elevator motor, wherein, drive signal by first of described the first sucker motor, drive signal by second of described the second sucker motor, by the 3rd of described cleaning motor drive signal and synthetic through signal processor by the moving signal of the 4 wheel driven of described elevator motor after, the motion of control.
2. robot for cleaning wall surface control system according to claim 1, it is characterized in that, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor and kinetic control system, described master system comprises human-computer interface module, the detection of obstacles module, the water level detecting module, the negative pressure module, set positions module and online output module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, wherein, dsp processor is used for the control human-computer interface module, the detection of obstacles module, the water level detecting module, the negative pressure module, the set positions module, online output module, data acquisition memory module and I/O control module, the FPGA processor is used for control multiple-axis servo control module, and carries out in real time exchanges data between dsp processor and the FPGA processor and call.
3. robot for cleaning wall surface control system according to claim 1, it is characterized in that, described robot for cleaning wall surface control system also comprises battery, described battery further is connected output terminal with the first sucker motor and is connected with the elevator motor, and processor unit further is connected to respectively tie point between the first sucker motor output end and the battery and the tie point between elevator motor output end and the battery.
4. robot for cleaning wall surface control system according to claim 3, it is characterized in that, described battery further is connected with the output terminal that is connected motor with the second sucker motor, and processor unit further be connected to respectively the tie point between the second sucker motor output end and the battery and clean motor output end and battery between tie point.
5. robot for cleaning wall surface control system according to claim 2 is characterized in that, described multiple-axis servo control module also comprises modular converter, and described modular converter is used for digital signal is converted to simulating signal.
6. robot for cleaning wall surface control system according to claim 2, it is characterized in that, described multiple-axis servo control module also comprises coder module, described coder module is for detection of the actual speed of robot, judge whether to meet rate request, whether too fast or excessively slow, and send control signal.
7. robot for cleaning wall surface control system according to claim 3 is characterized in that, described multiple-axis servo control module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that robot needs.
8. robot for cleaning wall surface control system according to claim 6, it is characterized in that, described multiple-axis servo control module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection machine people actual speed, the speed module is regulated the robot actual speed according to the result that coder module detects.
9. robot for cleaning wall surface control system according to claim 2, it is characterized in that described multiple-axis servo control module also comprises displacement module, whether described displacement module arrives set displacement for detection of robot, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
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| CN 201220485226 CN202837905U (en) | 2012-09-21 | 2012-09-21 | Control system of a wall cleaning robot |
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| CN 201220485226 CN202837905U (en) | 2012-09-21 | 2012-09-21 | Control system of a wall cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102835936A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Wall surface cleaning robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102835936A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Wall surface cleaning robot control system |
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Granted publication date: 20130327 Termination date: 20130921 |