CN202920087U - Control system of wireless wall surface cleaning robot with multiple suckers - Google Patents
Control system of wireless wall surface cleaning robot with multiple suckers Download PDFInfo
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- CN202920087U CN202920087U CN 201220485180 CN201220485180U CN202920087U CN 202920087 U CN202920087 U CN 202920087U CN 201220485180 CN201220485180 CN 201220485180 CN 201220485180 U CN201220485180 U CN 201220485180U CN 202920087 U CN202920087 U CN 202920087U
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Abstract
The utility model provides a control system of a wireless wall surface cleaning robot with multiple suckers. A field programmable gate array (PFAG) processor is introduced in a monolithic digital signal processor (DSP) to form a double-core processor based on DSP+PFGA. The control system of the wireless wall surface cleaning robot with the multiple suckers gives sufficient consideration to the function of a battery. A single controller can achieve of synchronous control function of seven shafts. A servosystem of the seven shafts can be delivered to the PFAG processor to control, wherein the servosystem of the seven shafts has the greatest workload in the control system of the wireless wall surface cleaning robot. The characteristic of the fast data processing speed of the FPGA can be exerted completely. Functions of a human-computer interface module, an obstacle detection module, a water level detection module, a negative pressure module, a position setting module, on line output module, data acquisition memory module and an input and output (I/O) control module can be delivered to the DSP processor to control. The work division of the DSP processor and the FPAG processor can be achieved. The DSCP processor can be liberated from heavy workload. The antijamming capability can be 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 multi-sucker 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 multi-sucker 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 multi-sucker robot for cleaning wall surface control system is provided, comprises processor unit, controller, the first sucker motor, the second sucker motor, the 3rd sucker motor, the 4th 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, 4 wheel driven moves signal, the 5th drives signal the 6th drives signal and the 7th driving signal, and described first drives signal, second drives signal, the 3rd drives signal, 4 wheel driven moves signal, the 5th drives signal, the 6th driving signal and the 7th drives signal and controls respectively described the first sucker motor, the second sucker motor, the 3rd sucker motor, the 4th 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 the 3rd sucker motor, by the moving signal of the 4 wheel driven of described the 4th sucker motor, drive signal by the 5th of described cleaning motor, by the 6th of described recovery motor drive signal and by the 7th 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 multi-sucker 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 is connected motor with the 3rd sucker motor, and processor unit further be connected to respectively the tie point between the 3rd sucker motor output end and battery and clean motor output end and battery between tie point.
In preferred embodiment of the utility model, described battery further is connected with the output of the 4th sucker motor, and processor unit further is connected to the tie point between the 4th sucker 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 is used for data signal is converted to analog signal.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises coder module and speed 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; Described speed module is connected with the coder module communication, and 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 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 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 multi-sucker robot for cleaning wall surface control system of the present utility model, in order to improve arithmetic speed, guarantee wireless multi-sucker 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, and take into full account battery in the effect of this system, realize the function of Single Controller Synchronization Control seven axles, giving the FPGA processor seven axle servo-drive systems of workload maximum in wireless multi-sucker 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 multi-sucker 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 multi-sucker robot for cleaning wall surface control system of the utility model preferred embodiment.In the present embodiment, wireless multi-sucker robot for cleaning wall surface control system comprises battery, processor unit, controller, the first sucker motor, the second sucker motor, the 3rd sucker motor, the 4th 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, a kind of electric supply installation, for the work of whole system provides operating voltage.Described wireless multi-sucker 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; 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 is connected motor with the 3rd sucker motor, and processor unit further be connected to respectively the tie point between the 3rd sucker motor output end and battery and clean motor output end and battery between tie point; Described battery further is connected with the output of the 4th sucker motor, and processor unit further is connected to the tie point between the 4th sucker motor output end and battery.
the built-in control system of processor unit described in the utility model and control circuit, described processor unit send and control signal to described controller, by described controller, control signal are divided into first and drive signal, second drives signal, the 3rd drives signal, 4 wheel driven moves signal, the 5th drives signal the 6th drives signal and the 7th driving signal, and described first drives signal, second drives signal, the 3rd drives signal, 4 wheel driven moves signal, the 5th drives signal, the 6th driving signal and the 7th drives signal and controls respectively described the first sucker motor, the second sucker motor, the 3rd sucker motor, the 4th 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 the 3rd sucker motor, by the moving signal of the 4 wheel driven of described the 4th sucker motor, drive signal by the 5th of described cleaning motor, by the 6th of described recovery motor drive signal and by the 7th 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 multi-sucker 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 master controller or terrestrial wireless console send in waiting area, in case after receiving task, can enter normal cleaning area along waiting area;
2) robot for cleaning wall surface enters the normal wash zone, its first sucker, the second sucker, the pressure sensor of the 3rd sucker and the 4th sucker will be worked, judge whether its inner pressure sets value, if pressure is inadequate, the first sucker motor, the second sucker motor, the 3rd sucker motor and the 4th sucker motor will be worked simultaneously, find time air in each sucker chamber, thereby make and occur larger negative pressure in sucker, the driving signal PWM waveform that controller is supplied with each sucker motor by adjusting is regulated the service voltage of sucker motor, thereby the first sucker motor, the second sucker motor, the rotating speed of the 3rd sucker motor and the 4th sucker motor, thereby the value of negative pressure in decision sucker chamber, in order to make system's stress balance, guarantee that the vacuum magnitude in each sucker is consistent, if the first sucker, the second sucker, the pressure sensor of the 3rd sucker and the 4th 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 each sucker can 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 be controlled the voltage that cleans motor by adjusting and reach the purpose of regulating electric machine rotating speed speed, thereby makes cleaning metope speed adjustable;
4) bear in robot the moment that Cistern valve is opened, controlling the motor of sewage recovery will open, to contract hydraulic pressure to robot absorption plant with it by receiving system, and then enter automatic circulating system and then purify water, and can save so the next cycle of water source supply and use;
5) after robot completes the cleaning in a zone, its the 3rd sucker motor and the 4th sucker motor will be filled with air to the 3rd sucker and the 4th sucker, make the 3rd sucker and the 4th 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 3rd sucker and the 4th sucker place this moment, the 3rd sucker motor and the 4th sucker motor will be taken the air of the 3rd sucker and the 4th sucker again away this moment, make the 3rd sucker and the 4th sucker have enough absorption affinities can guarantee that robot does not glide, then the first sucker motor and the second sucker motor will be filled with air to the first sucker and the second sucker, the first sucker and the second sucker are broken away 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 and the second sucker place this moment, the first sucker motor and the second sucker motor will be taken the air of the first sucker and the second sucker again away this moment, make the first sucker, the second sucker, the 3rd sucker and the 4th sucker provide absorption affinity to overcome the gravity of robot jointly, then enter the cleaning of a new round,
6) if having detected barrier, the sensor of robot bottom enters range of operation, its the 3rd sucker motor and the 4th sucker motor will be filled with air to the 3rd sucker and the 4th sucker, make the 3rd sucker and the 4th 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 second mechanism, then next distance is put in the latter half mechanism at the 3rd sucker and the 4th sucker place and escape barrier, then the latter half mechanism is being put back to plumbness, make the 3rd sucker and the 4th sucker be close to metope, the 3rd sucker motor and the 4th sucker motor will be taken the air of the 3rd sucker and the 4th sucker again away this moment, make the 3rd sucker and the 4th sucker have enough absorption affinities can guarantee that robot does not glide, then the first sucker motor and the second sucker motor will be filled with air to the first sucker and the second sucker, make the first sucker and the second 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 upper second part body at the first sucker and the second sucker place is put next distance and escape barrier, then the first half mechanism is being put back to plumbness, make the first sucker and the second sucker be close to metope, the first sucker motor and the second sucker motor will be taken the air of the first sucker and the second sucker again away this moment, make the first sucker, the second sucker, the 3rd sucker and the 4th sucker provide absorption affinity to overcome the gravity of robot jointly, 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 wireless console will send the water-filling request, the terrestrial wireless console will send the water-filling order to the recovery motor that reclaims sewage, will be pressed in water tank and go by reclaiming motor through the water of circularly purifying, 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 device, 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 device to make a request for help, be conducive to like this protect robot body.
The beneficial effect that multi-sucker 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, the voltage sensor of robot can be opened automatically, when reading the low pressure feedback, robot 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: process the multiple-axis servo control module 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 saved control panel and taken up room, 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: owing to having added a plurality of suckers, make the adsorption capacity of system greatly improve, avoided the robot possibility of landing during operation;
8: 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;
9: when cleaning robot ran into one of them sucker and pressure release or fault occur, remaining a plurality of sucker motors can be worked himself pressure is increased, and prevent from occuring because pressure causes the not enough phenomenon of robot landing that causes of robot absorption affinity not;
10: robot has added the water level detecting module, has avoided the possibility of dry-cleaning;
11: this robot reclaims the water that cleans, and changes the request of water when having avoided aloft work;
12: robot can be according to the cleaning situation of in good time situation human intervention metope with wireless remote controller;
13: after adopting robot to carry out the metope cleaning, make the situation that hand labor power is participated in reduce, operating personnel are according to the work on the spot of field condition by terrestrial wireless console control.
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 multi-sucker robot for cleaning wall surface control system, is characterized in that, comprises processor unit, controller, the first sucker motor, the second sucker motor, the 3rd sucker motor, the 4th 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, 4 wheel driven moves signal, the 5th drives signal the 6th drives signal and the 7th driving signal, and described first drives signal, second drives signal, the 3rd drives signal, 4 wheel driven moves signal, the 5th drives signal, the 6th driving signal and the 7th drives signal and controls respectively described the first sucker motor, the second sucker motor, the 3rd sucker motor, the 4th 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 the 3rd sucker motor, by the moving signal of the 4 wheel driven of described the 4th sucker motor, drive signal by the 5th of described cleaning motor, by the 6th of described recovery motor drive signal and by the 7th of described elevator motor drive signal synthetic through signal processor after, the motion of control.
2. wireless multi-sucker 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 multi-sucker robot for cleaning wall surface control system according to claim 1, it is characterized in that, described wireless multi-sucker 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 multi-sucker 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 multi-sucker 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 3rd sucker motor, and processor unit further be connected to respectively the tie point between the 3rd sucker motor output end and battery and clean motor output end and battery between tie point.
6. wireless multi-sucker robot for cleaning wall surface control system according to claim 3, it is characterized in that, described battery further is connected with the output of the 4th sucker motor, and processor unit further is connected to the tie point between the 4th sucker motor output end and battery.
7. wireless multi-sucker 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.
8. wireless multi-sucker 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 and speed 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; Described speed module is connected with the coder module communication, and 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. wireless multi-sucker robot for cleaning wall surface control system according to claim 2, it 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.
10. wireless multi-sucker 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, send deceleration instruction to controller.
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| CN 201220485180 CN202920087U (en) | 2012-09-21 | 2012-09-21 | Control system of wireless wall surface cleaning robot with multiple suckers |
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| CN 201220485180 Expired - Fee Related CN202920087U (en) | 2012-09-21 | 2012-09-21 | Control system of wireless wall surface cleaning robot with multiple suckers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202920087U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102835935A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Wireless wall surface cleaning robot control system |
| CN102835937A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Wireless multi-suction-disc wall surface cleaning robot control system |
| CN106923733A (en) * | 2015-12-29 | 2017-07-07 | 科沃斯机器人股份有限公司 | From mobile absorption robot |
-
2012
- 2012-09-21 CN CN 201220485180 patent/CN202920087U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102835935A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Wireless wall surface cleaning robot control system |
| CN102835937A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Wireless multi-suction-disc wall surface cleaning robot control system |
| CN102835935B (en) * | 2012-09-21 | 2016-01-20 | 苏州工业园区职业技术学院 | Wireless robot for cleaning wall surface control system |
| CN106923733A (en) * | 2015-12-29 | 2017-07-07 | 科沃斯机器人股份有限公司 | From mobile absorption robot |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130508 Termination date: 20130921 |