CN202920086U - Control system of wireless wall surface cleaning robot - Google Patents
Control system of wireless wall surface cleaning robot Download PDFInfo
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- CN202920086U CN202920086U CN 201220485179 CN201220485179U CN202920086U CN 202920086 U CN202920086 U CN 202920086U CN 201220485179 CN201220485179 CN 201220485179 CN 201220485179 U CN201220485179 U CN 201220485179U CN 202920086 U CN202920086 U CN 202920086U
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Abstract
The utility model provides a control system of a wireless wall surface cleaning robot. The control system of the wireless wall surface cleaning robot can divide a control signal into a first driving signal, a second driving signal, a third driving signal, a fourth driving signal and a fifth driving signal through a controller. The first driving signal, the second driving signal, the third driving signal, the fourth driving signal and the fifth driving signal can respectively control a first sucker motor, a second sucker motor, a cleaning motor, a recycling motor and a winding motor. The first driving signal which passes through the first sucker motor, the second driving signal which passes through the second sucker motor, the third signal which passes through the cleaning motor, the fourth signal which passes through the recycling motor and the fifth signal which passes through the winding motor combined by a signal processor to control the movement of the robot. The antijamming capability of the control system of the wireless wall surface cleaning robot can be greatly enhanced. The boundedness of cleaning the wall surface can be overcome.
Description
Technical field
The utility model relates to the UAV(Unmanned Aerial Vehicle of robot) technical field, and particularly relevant for wireless robot for cleaning wall surface control system.
Background technology
Due to 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 main house body structure, reserve micro-deformation leeway on level, vertical, inward-outward direction, and reserve " expansion joint " between adjacent glass, the bottom, gap separates with compensate for temperature effects with rubber strip.But can find after using a period of time:
(1) have the pollutants such as a large amount of clods, dust, dust stratification and grease on its wall, and these things can't clean and cause staying for a long time on 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 to carry out the robot of operation on steep slope, 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 washing and cleaning 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, scheme reliably without comparison also.
The utility model content
For the problems referred to above, the purpose of this utility model is to provide a kind of wireless 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 wireless robot for cleaning wall surface control system is provided, comprises processor unit, controller, the first sucker motor, the second sucker motor, clean motor, reclaim motor, the elevator motor, signal processor, robot and terrestrial wireless console, described processor unit and terrestrial wireless console communication, 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, the moving signal of 4 wheel driven and the 5th drives signal, and described first drives signal, second drives signal, the 3rd drives signal, the moving signal of 4 wheel driven and the 5th drives signal and controls respectively described the first sucker motor, the second sucker motor, clean motor, reclaim 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, drive signal by the 3rd of described cleaning motor, the moving signal of 4 wheel driven by described recovery motor and by the 5th of described elevator motor drive signal synthetic through signal processor 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 controlling 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 controlling the multiple-axis servo control module, and carry out in real time exchanges data between dsp processor and FPGA processor and call.
In preferred embodiment of the utility model, described wireless robot for cleaning wall surface control system also comprises battery, described battery further is connected output and is connected with the elevator motor with the first sucker motor, and processor unit further is connected to respectively tie point between the first sucker motor output end and battery and the tie point between elevator motor output end and battery.
In preferred embodiment of the utility model, described battery further is connected with the output 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 battery and reclaim motor output end and battery between tie point.
In preferred embodiment of the utility model, described battery further is connected with the output that cleans motor, and processor unit further is connected to the tie point that cleans between motor output end and battery.
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, send deceleration instruction to controller.
wireless robot for cleaning wall surface control system of the present utility model, in order to improve arithmetic speed, guarantee wireless 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, this processor takes into full account battery in the effect of this system, realize the function of Single Controller Synchronization Control five axles, giving the FPGA processor five axle servo-drive systems of workload maximum in wireless robot for cleaning wall surface control system controls, give full play to FPGA processor data processing speed characteristics faster, 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 and are controlled, 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, solved the limitation that existing metope cleans.
Description of drawings
Fig. 1 is the block diagram of the wireless robot for cleaning wall surface control system of the utility model preferred embodiment;
Fig. 2 is the block diagram of processor unit in Fig. 1;
Fig. 3 is the operation schematic diagram of robot in Fig. 1.
The specific 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 computer integrated chip manufacturing technology, digital signal processing chip (DSP) is due to its computing capability fast, not only be widely used in communication and process with vision signal, also be applied in gradually in various senior control systems.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 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 stores processor ability of data.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design automation (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, design the special IC of oneself within the shortest time, so just reduce cost, shorten the construction cycle.Realize the design of hardware circuit due to the design philosophy of FPGA processor adopting software implementation, so just make based on FPGA processor designed system and have good reusable and the property revised, this brand-new design philosophy has been applied in gradually high performance interchange and has driven in control, and fast-developing.
As shown in Figure 2, be the block diagram of the wireless robot for cleaning wall surface control system of the utility model preferred embodiment.In the present embodiment, wireless robot for cleaning wall surface control system comprises battery, processor unit, controller, the first sucker motor, the second sucker motor, cleans motor, reclaims motor, elevator motor, signal processor, robot and terrestrial wireless console, described processor unit and terrestrial wireless console communication.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 and is connected with the elevator motor with the first sucker motor, and processor unit further is connected to respectively tie point between the first sucker motor output end and battery and the tie point between elevator motor output end and battery; Described battery further is connected with the output 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 battery and reclaim motor output end and battery between tie point; Described battery further is connected with the output that cleans motor, and processor unit further is connected to the tie point that cleans between motor output end and battery.
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, the moving signal of 4 wheel driven and the 5th drives signal, described first drives signal, second drives signal, the 3rd drives signal, the moving signal of 4 wheel driven and the 5th drives signal and controls respectively described the first sucker motor, the second sucker motor, clean motor, reclaim 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, drive signal by the 3rd of described cleaning motor, the moving signal of 4 wheel driven by described recovery motor and by the 5th of described elevator motor drive signal synthetic through signal processor 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 data signal, dsp processor is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the control logic of FPGA processor, and the response interruption, realize data communication and storage live signal.
See also Fig. 2, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and both communications are mutually carried out in real time exchanges data and call.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 controlling 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 controlling the 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 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 memory; 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 is connected modular converter and is connected with controller with battery.Modular converter is according to the electric current of battery and controller, and the output power that judgement operating power, and power condition is fed back to battery, current module are used for adjusting 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 is regulated 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, 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 on human-computer interface module, robot according to real sensor ruuning situation the environment transformation parameter to the dsp processor in processor unit, dsp processor is processed rear and the communication of FPGA processor, then processed the SERVO CONTROL 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 and control, so just realized the division of labor of dsp processor and FPGA processor, simultaneously also can carry out communication between both, carry out in real time exchanges data and call.
See also Fig. 3, in the utility model, the concrete function of wireless robot for cleaning wall surface control system is achieved as follows:
1) before robot does not receive order, it generally can wait for the order that controller or terrestrial wireless console send 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 sensor of its first sucker and the second sucker will be worked, judge whether its inner pressure sets 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 sucker, the driving signal PWM ripple that controller is supplied with sucker the first sucker motor and the second sucker motor by adjusting is regulated the service voltage of 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 the value of negative pressure in decision sucker chamber, if the pressure sensor 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 requests to dsp processor, dsp processor can be to interrupting doing very first time response, if the interrupt response of dsp processor does not have enough time to process, self-locking device in 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 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 adjustment of PWM ripple the speed of motor speed, regulates thereby reach the speed that cleaning brush cleans metope;
4) bear in robot the moment that Cistern valve is opened, control the recovery motor of sewage recovery and will open, will contract hydraulic pressure to robot sewage absorption plant with it by receiving system, can save the water source like this;
5) after robot completes 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 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 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, make the first sucker and the second sucker jointly provide absorption affinity to overcome the gravity of robot, then enter the cleaning of a new round,
6) if having detected barrier, the sensor of robot bottom enters range of operation, 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, make the first sucker and the second sucker jointly provide absorption affinity to overcome the gravity of robot, then enter the cleaning of a new round,
7) in whole cleaning process, liquid level sensor will detect water level in case, when cistern water level when setting threshold, to send to dsp processor and stop the request of cleaning, then controller earthward the terrestrial wireless console will send the water-filling request, the terrestrial wireless console will send the water-filling order to reclaiming motor, and the sewage of absorption will be pressed in water tank by the recovery motor after circularly purifying and go, and play the purpose that the water automatic cycle utilizes;
8) in order better to protect battery, when system enters the area of low pressure, voltage sensor in robot can be opened automatically, when reading the low pressure feedback, robot controller can send the charging request to the terrestrial wireless console, then get back to ground automatic charging station, then automatic charging along the working region;
9) at the robot duration of work, the ground staff can optimize the zone that robot cleans metope by controlled in wireless according to the work on the spot situation, can arbitrarily change its cleaning area;
When 10) robot travels away by fixed route; multiple acoustooptic alarm system in 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 notify the terrestrial wireless console to make a request for help, be conducive to like this protect robot body.
The beneficial effect that robot for cleaning wall surface control system that the utility model is wireless has is:
1: owing to having adopted robot, make the easy degree of cleaning of metope greatly increase, and be a simple robot motion, 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, avoided the generation of lead-acid battery overaging phenomenon;
3: in order better to protect battery, when system enters the area of low pressure, voltage sensor in robot can be opened automatically, when reading the low pressure feedback, controller can be notified the terrestrial wireless console, then automatically get back to the charging zone territory and charge, fundamentally stopped the danger that battery low pressure is brought;
4: processed the full Digitized Servo Control of each motor by the FPGA processor, greatly improved arithmetic speed, solved the slower bottleneck of dsp processor operation of monolithic, shortened the construction cycle short, 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 confined space, but also realized the synchronous of multi-motor control signal fully, be conducive to improve stability and the dynamic property of robot;
6: because adopting the FPGA processor, this controller processes a large amount of data and algorithm, and the interference source around having taken into full account, 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, and the elevator motor in robot helps its up and down adsorbent equipment to escape barrier at this moment;
8: when robot ran into one of them sucker and pressure release occurs, a remaining sucker motor can be worked himself pressure is increased, and prevents from occuring because pressure causes the not enough phenomenon of robot landing that causes of robot absorption affinity not;
9: added the water level detecting module, avoided the possibility of dry-cleaning;
10: this robot reclaims the water that cleans, and has avoided the waste of resource;
11: robot can be according to the cleaning situation of in good time situation human intervention metope with wireless remote controller;
12: after adopting robot to carry out wireless metope cleaning, make the situation that hand labor power is participated in reduce, operating personnel can be by the on-the-spot emergency case of wireless device control according to field condition.
The above is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model specification and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present utility model.
Claims (10)
1. a wireless robot for cleaning wall surface control system, is characterized in that, comprises processor unit, controller, the first sucker motor, the second sucker motor, clean motor, reclaim motor, the elevator motor, signal processor, robot and terrestrial wireless console, described processor unit and terrestrial wireless console communication, 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, the moving signal of 4 wheel driven and the 5th drives signal, and described first drives signal, second drives signal, the 3rd drives signal, the moving signal of 4 wheel driven and the 5th drives signal and controls respectively described the first sucker motor, the second sucker motor, clean motor, reclaim 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, drive signal by the 3rd of described cleaning motor, the moving signal of 4 wheel driven by described recovery motor and by the 5th of described elevator motor drive signal synthetic through signal processor after, the motion of control.
2. wireless 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 controlling 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 controlling the multiple-axis servo control module, and carry out in real time exchanges data between dsp processor and FPGA processor and call.
3. wireless robot for cleaning wall surface control system according to claim 1, it is characterized in that, described wireless robot for cleaning wall surface control system also comprises battery, described battery further is connected output and is connected with the elevator motor with the first sucker motor, and processor unit further is connected to respectively tie point between the first sucker motor output end and battery and the tie point between elevator motor output end and battery.
4. wireless robot for cleaning wall surface control system according to claim 3, it is characterized in that, described battery further is connected with the output 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 battery and reclaim motor output end and battery between tie point.
5. wireless robot for cleaning wall surface control system according to claim 3, is characterized in that, described battery further is connected with the output that cleans motor, and processor unit further is connected to the tie point that cleans between motor output end and battery.
6. wireless 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 data signal is converted to analog signal.
7. wireless 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.
8. wireless robot for cleaning wall surface control system according to claim 2, 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.
9. wireless robot for cleaning wall surface control system according to claim 7, 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.
10. wireless 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, 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, send deceleration instruction to controller.
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| CN 201220485179 CN202920086U (en) | 2012-09-21 | 2012-09-21 | Control system of wireless wall surface cleaning robot |
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| CN 201220485179 CN202920086U (en) | 2012-09-21 | 2012-09-21 | Control system of wireless wall surface cleaning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058017A (en) * | 2014-05-28 | 2014-09-24 | 苏州工业园区职业技术学院 | Three crawler wheel parallel crawler for wall climbing robot |
| CN108056711A (en) * | 2017-12-04 | 2018-05-22 | 广州大学 | A kind of wall clean robot control method and control system |
| CN111543905A (en) * | 2020-05-08 | 2020-08-18 | 四川先成科技有限责任公司 | Human body climbing device and control method thereof |
-
2012
- 2012-09-21 CN CN 201220485179 patent/CN202920086U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058017A (en) * | 2014-05-28 | 2014-09-24 | 苏州工业园区职业技术学院 | Three crawler wheel parallel crawler for wall climbing robot |
| CN108056711A (en) * | 2017-12-04 | 2018-05-22 | 广州大学 | A kind of wall clean robot control method and control system |
| CN111543905A (en) * | 2020-05-08 | 2020-08-18 | 四川先成科技有限责任公司 | Human body climbing device and control method thereof |
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