CN204893965U - Outer wall cleaning robot control system - Google Patents
Outer wall cleaning robot control system Download PDFInfo
- Publication number
- CN204893965U CN204893965U CN201520621730.3U CN201520621730U CN204893965U CN 204893965 U CN204893965 U CN 204893965U CN 201520621730 U CN201520621730 U CN 201520621730U CN 204893965 U CN204893965 U CN 204893965U
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- China
- Prior art keywords
- pedestal
- mechanical arm
- radio frequency
- receiving node
- wireless transmission
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Abstract
The utility model discloses an outer wall cleaning robot control system, including base control section and arm control section, base wireless transmission and receiving node, sensor all are connected with base radio frequency control node, and base radio frequency control node passes through base drive module and is connected with motor, relay and base display device, arm wireless transmission and receiving node, liquid atomization ware and limit switch and arm radio frequency control node are connected, and arm radio frequency control node and arm display device are connected to be connected with the arm motor through arm drive module, base wireless transmission and receiving node and arm wireless transmission and receiving node looks adaptation. Adopt this system can intelligence, automatically carry out multinomial cleaning, both can the cleaning part region also can the large tracts of land, incessant washing, great improvement cleaning efficiency and reduced the risk.
Description
Technical field
The utility model relates to mechanical & electrical technology, automatic control technology, wireless communication technology, Based Intelligent Control.Specifically a kind of outside Wall Cleaning machine people control system.
Background technology
Quantity along with the mankind becomes more and more, and operable land area becomes fewer and feweri, so the development trend of building will be to aerial development, so office block becomes more and more higher, the thing followed is exactly the outside Wall Cleaning of office block, main or manpower cleans the glass curtain wall of full wafer in the world at present, and the other materials such as ceramic tile are substantially unintelligible, large but also the staff of not only consumed expense goes cleaning curtain wall also to bring certain danger, and the impossible continuous print work of this work people, so cleaning glass skin of a building not only consuming time but also effort, and have certain potential safety hazard.
Summary of the invention
For above-mentioned deficiency of the prior art, the purpose of this utility model is to provide a kind of outside Wall Cleaning machine people control system, adopt this system energy intelligence, automatically carry out multinomial cleaning, both can cleaning part region also can large area, uninterruptedly clean, improve cleaning efficiency greatly and reduce risk.
The purpose of this utility model is achieved through the following technical solutions:
A kind of outside Wall Cleaning machine people control system, it is characterized in that: this control system comprises pedestal control section and mechanical arm control section, described pedestal control section comprises pedestal radio frequency Controlling vertex, pedestal driver module, pedestal wireless transmission and receiving node, sensor, pedestal motor, relay and pedestal display unit, pedestal wireless transmission is all connected with pedestal radio frequency Controlling vertex with receiving node, sensor, and pedestal radio frequency Controlling vertex is connected with motor, relay and pedestal display unit by pedestal driver module; Described mechanical arm control section comprises mechanical arm radio frequency Controlling vertex, mechanical arm driver module, mechanical arm wireless transmission and receiving node, liquid atomiser, limit switch, mechanical arm display unit and mechanical arm motor, described mechanical arm wireless transmission is connected with mechanical arm radio frequency Controlling vertex with receiving node, liquid atomiser and limit switch, mechanical arm radio frequency Controlling vertex is connected with mechanical arm display unit, and is connected with mechanical arm motor by mechanical arm driver module; Pedestal wireless transmission and receiving node and mechanical arm transmits wirelessly and receiving node is suitable.
In the utility model, described rf frequency meets the free communication node of 2.4G.Pedestal radio frequency Controlling vertex and button connect.
Described outside Wall Cleaning machine is chivalrous can be manipulated with Wireless Data Transmission, and can be implemented in the non-stop run in lower 24 hours of non-severe weather conditions.
Described outside Wall Cleaning machine is chivalrous runs into strong wind and heavy rain when quitting work suddenly, and mechanical arm automatic drawing back, can record present level simultaneously automatically, when waiting for that strong wind and heavy rain stops, highly working on before can automatically recovering.
The globule to be changed into water smoke through atomizer and can save cleaning agent and large-arealy to spray by the cleaning agent that control section provides by described liquid atomiser.
The utility model not only can accomplish the curtain wall as people, non-stop run in 24 hours can be accomplished under the condition that environment allows, by use stepper motor make device scrubbing part can level with vertical direction movement, thus achieve the motion in a plane.Described display unit is connected with described coordinator node, data and control instruction is transmitted by wireless communication technology between each radio frequency Controlling vertex and wireless transmission receiving node, each wireless transmission receiving node transmits data and control instruction by single task program technology for radio frequency, accelerates transmission speed, it also avoid the distorted signals caused because of long distance transmit simultaneously.
In further scheme, the wireless communication technology following the free wireless communication frequency band of 2.4G between above-mentioned each wireless transmission and receiving node transmits data and control instruction, this communication modes is the radio network technique of a kind of emerging short distance, low rate, adapts to the low cost of wireless senser, capabilities, height
fault-tolerancedeng requirement, be mainly used near radio connect.
In further scheme, described sensor comprises photogate, and coordinate optocoupler to realize the measurement of height by code-disc, simultaneous processor image data judges thus carrys out control terminal relay; Optocoupler is coordinated to realize the measurement of air quantity, by judging air force comes whether control machine is chivalrous normally works by flabellum.
In further scheme, described sensor comprises Raindrop sensor, and image data judges thus whether control machine is chivalrous normally work.
In further scheme, described relay is SPDT solid-state relay, and Chang Kaiwei selects " electromagnetic valve for water pump is powered ", realizes exterior wall and provides cleaning agent.
In further scheme, described radio frequency Controlling vertex, wireless transmission and receiving node are the radio frequency chip that TI company produces, such as CC2530.
In further scheme, described each wireless transmission and receiving node adopt and run single task program, do not run system program, and the event handling speed that causes due to task polling mechanism in system can be avoided slow, can freely define communication handshake signal, speeding up data transmission speed.
In further scheme, water column to be changed into water smoke through atomizer and can save cleaning agent and large-arealy to spray by the cleaning agent that control section provides by described liquid atomiser.
In further scheme, described limit switch whether pastes wall for detection brush and whether slide unit two ends slide into end end.The chivalrous brush motion of outside Wall Cleaning machine is equipped with limit switch at the two ends of slide unit, and when slide unit slides to end end, the brush motion of another bout negate can be carried out in the direction of screw mandrel slide unit.
The CC2530 chip that radio frequency Controlling vertex and wireless transmission and the acp chip of receiving node have selected TI company to produce, relay is that SPDT solid-state relay realizes the switching of electromagnetic valve for water pump power on/off thus the supply of direct control outside Wall Cleaning agent.
Occupation mode is:
The upper base portion of cleaning device is positioned over top, mansion, cleaning machine rope is hung in top base cleaning part, then operator is to the instruction of Radio Frequency Monolithic machine, Radio Frequency Monolithic machine carry out upon receipt of the instructions corresponding process subsequently by the signal that processed to the device such as motor and water pump.The content of long-range changing machine mechanical arm part display unit can be realized simultaneously.
The utility model has following outstanding beneficial effect:
The utility model support networking technology completes the work such as remote transmission and Long-distance Control of data automatically to realize automatic, intelligent function, some FAQs during effective solution daily life uses, operator just can carry out operation cleaning to a whole set of cleaning device in indoor, package unit both can also can large area can clean in cleaning part region in the capable multinomial cleaning of mansion top horizontal shift-in, and continual cleaning in 24 hours can be carried out under certain condition license, improve cleaning efficiency greatly and reduce the risk of people.Communicate without the need to aiming at, with the carrier wave frequency range of free common signal 2.4G; There is certain realistic meaning and practical value.
Accompanying drawing explanation
Fig. 1 is system architecture diagram of the present utility model.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail:
See Fig. 1, a kind of outside Wall Cleaning machine people control system, this control system comprises pedestal control section and mechanical arm control section, pedestal control section comprises pedestal radio frequency Controlling vertex 4, pedestal driver module 7, pedestal wireless transmission and receiving node 5, sensor 1, pedestal motor 6, relay 8 and pedestal display unit 9, pedestal wireless transmission is all connected with pedestal radio frequency Controlling vertex with receiving node, sensor, and pedestal radio frequency Controlling vertex is connected with motor, relay and pedestal display unit by pedestal driver module.Mechanical arm control section comprises mechanical arm radio frequency Controlling vertex 12, mechanical arm driver module 14, mechanical arm wireless transmission and receiving node 13, liquid atomiser 17, limit switch 16, mechanical arm display unit 11 and mechanical arm motor 15, mechanical arm wireless transmission is connected with mechanical arm radio frequency Controlling vertex with receiving node, liquid atomiser and limit switch, mechanical arm radio frequency Controlling vertex is connected with mechanical arm display unit, and is connected with mechanical arm motor by mechanical arm driver module; Pedestal wireless transmission and receiving node and mechanical arm transmits wirelessly and receiving node is suitable.Pedestal radio frequency Controlling vertex is connected with button 2.
In mechanical arm decline process, the data of collection are delivered to the process of pedestal radio frequency Controlling vertex 4 and are counted by sensor 1, when demanded, related data to be sent to mechanical arm to transmit wirelessly receiving node 13 by being sent to pedestal wireless transmission and receiving node 5 by pedestal radio frequency Controlling vertex 4, mechanical arm wireless transmission receiving node 13 transfers data to mechanical arm radio frequency Controlling vertex 12, the motor drive plate sent a command in mechanical arm driver module 14 stretches out to control expansion link, according to aerodynamics, after brush pastes wall, limit switch 16 feeds back to mechanical arm radio frequency Controlling vertex 12 signal, related command to be sent to pedestal to transmit wirelessly receiving node 5 by being sent to mechanical arm wireless transmission and recipient node 13 by mechanical arm radio frequency Controlling vertex 12, pedestal wireless transmission receiving node 5 transfers data to pedestal radio frequency Controlling vertex 4, the transistor drive circuit controlled in pedestal driver module 7 carrys out control relay simultaneously, for exterior wall provides cleaning agent, rear pedestal radio frequency Controlling vertex 4 is provided to send to pedestal to transmit wirelessly receiving node 5.Mechanical arm is transmitted wirelessly receiving node 13 and receive dependency number command routing to mechanical arm radio frequency Controlling vertex 12, the motor drive plate of controller mechanical arm driver module 14 controls brush motion simultaneously, limit switch 16 is equipped with at slide unit two ends, when slide unit slides to end end, the brush motion of another bout is carried out in the direction meeting negate of screw mandrel slide unit, and other end limit switch 16 feeds back to mechanical arm radio frequency Controlling vertex 12 after triggering.Related command to be sent to pedestal to transmit wirelessly receiving node 5 by being sent to mechanical arm wireless transmission and recipient node 13 by mechanical arm radio frequency Controlling vertex 12, pedestal wireless transmission receiving node 5 transfers data to pedestal radio frequency Controlling vertex 4, carries out periodic duty.Screw mandrel slide unit is used as the motion carrying of brush.Relay normally open state machine mechanical arm cleaning agent supplies.
Sensor 1 has Raindrop sensor and photogate in the present embodiment, and photogate uses tachogenerator.Height measuring device and wind measuring device are all that photogate realizes.When detect rain or blow hard time, the chivalrous meeting of outside Wall Cleaning machine is automatically remembered height and is regained mechanical arm, Deng rain, becalm can automatic or manual be adjusted to rainy, blow time to regain moment of mechanical arm by force, prevent outside Wall Cleaning machine chivalrous in the rain, work in strong wind, and cause personal property etc. to incur loss.
Claims (4)
1. an outside Wall Cleaning machine people control system, it is characterized in that: this control system comprises pedestal control section and mechanical arm control section, described pedestal control section comprises pedestal radio frequency Controlling vertex, pedestal driver module, pedestal wireless transmission and receiving node, sensor, pedestal motor, relay and pedestal display unit, pedestal wireless transmission is all connected with pedestal radio frequency Controlling vertex with receiving node, sensor, and pedestal radio frequency Controlling vertex is connected with pedestal motor, relay and pedestal display unit by pedestal driver module; Described mechanical arm control section comprises mechanical arm radio frequency Controlling vertex, mechanical arm driver module, mechanical arm wireless transmission and receiving node, liquid atomiser, limit switch, mechanical arm display unit and mechanical arm motor, described mechanical arm wireless transmission is connected with mechanical arm radio frequency Controlling vertex with receiving node, liquid atomiser and limit switch, mechanical arm radio frequency Controlling vertex is connected with mechanical arm display unit, and is connected with mechanical arm motor by mechanical arm driver module; Pedestal wireless transmission and receiving node and mechanical arm transmits wirelessly and receiving node is suitable.
2. outside Wall Cleaning machine people control system according to claim 1, is characterized in that: described rf frequency meets the free communication node of 2.4G.
3. outside Wall Cleaning machine people control system according to claim 1, is characterized in that: pedestal radio frequency Controlling vertex is connected with button.
4. outside Wall Cleaning machine people control system according to claim 1, it is characterized in that: described sensor comprises photogate, optocoupler is coordinated to realize the measurement of height by code-disc, coordinating optocoupler to realize the measurement of air quantity by flabellum, whether normally working by judging air force to control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520621730.3U CN204893965U (en) | 2015-08-18 | 2015-08-18 | Outer wall cleaning robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520621730.3U CN204893965U (en) | 2015-08-18 | 2015-08-18 | Outer wall cleaning robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204893965U true CN204893965U (en) | 2015-12-23 |
Family
ID=54916176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520621730.3U Expired - Fee Related CN204893965U (en) | 2015-08-18 | 2015-08-18 | Outer wall cleaning robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204893965U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276194A (en) * | 2018-11-28 | 2019-01-29 | 贵州工程应用技术学院 | A kind of intelligent industrial clean robot |
| CN109782765A (en) * | 2019-01-22 | 2019-05-21 | 南京晓庄学院 | A kind of trolley driving path correcting system and its correcting method |
-
2015
- 2015-08-18 CN CN201520621730.3U patent/CN204893965U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276194A (en) * | 2018-11-28 | 2019-01-29 | 贵州工程应用技术学院 | A kind of intelligent industrial clean robot |
| CN109782765A (en) * | 2019-01-22 | 2019-05-21 | 南京晓庄学院 | A kind of trolley driving path correcting system and its correcting method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20180818 |