CN206623100U - A kind of minute surface sweeping robot control structure - Google Patents

A kind of minute surface sweeping robot control structure Download PDF

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Publication number
CN206623100U
CN206623100U CN201720334424.0U CN201720334424U CN206623100U CN 206623100 U CN206623100 U CN 206623100U CN 201720334424 U CN201720334424 U CN 201720334424U CN 206623100 U CN206623100 U CN 206623100U
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CN
China
Prior art keywords
control module
acquisition circuit
minute surface
connects
sweeping robot
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Active
Application number
CN201720334424.0U
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Chinese (zh)
Inventor
蔡晓强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guizhou Dadao New Energy Equipment Technology Co ltd
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Wigp (guizhou) Intelligent Equipment Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to CN201720334424.0U priority Critical patent/CN206623100U/en
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Publication of CN206623100U publication Critical patent/CN206623100U/en
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The utility model discloses a kind of minute surface sweeping robot control structure, including control module, control module connects encoder and connects direct-drive motor by motor drive module, and control module connects pressure sensor by pressure acquisition circuit, limit sensors are connected by spacing Acquisition Circuit, connects solenoid valve for water by obstacle Acquisition Circuit asynthesis identification sensor, by driving circuit for electromagnetic valve and connect level sensor by water level acquisition circuit;Control module connects electric expansion rod controller, electric expansion rod controller connection expansion link motor.By the utility model, minute surface automatic cleaning machine people can be used to substitute artificial cleaning, can realize that two pieces of not parallel minute surfaces are crossed over by robot, improve sweeping efficiency, and effectively evaded the danger of work high above the ground.

Description

A kind of minute surface sweeping robot control structure
Technical field
It the utility model is related to a kind of control structure of sweeping robot.
Background technology
The dish face clean level of dish-style Stirling solar-thermal generating system directly affects the conversion efficiency of whole system, its by The special minute surface composition of polylith, minute surface is in certain amplitude, and not parallel between adjacent two pieces of minute surfaces, causes the cleaning of dish face difficult Degree is big, currently without the cleaning equipment specifically for the dish face.Automatic glass cleaner on the market can not be adsorbed such On minute surface, secondly two pieces of not parallel minute surfaces can not be crossed over.Can only be by manually going to clean, so cost of labor increase, And work high above the ground has danger.
The content of the invention
The technical problems to be solved in the utility model is:Minute surface can be driven to clean in view of the above-mentioned problems, providing one kind The control structure that robot is cleaned automatically on solar concentrator dish face.
The technical solution of the utility model is:
A kind of minute surface sweeping robot control structure, including control module, control module connection encoder simultaneously pass through motor Drive module connects direct-drive motor, and control module connects pressure sensor by pressure acquisition circuit, passes through spacing collection Circuit connects limit sensors, connected by obstacle Acquisition Circuit asynthesis identification sensor, by driving circuit for electromagnetic valve Solenoid valve for water and pass through water level acquisition circuit connect level sensor;Control module connects electric expansion rod controller, electricity Dynamic flexible rod controller connection expansion link motor.
Power Monitoring Unit and power supply are installed in control module.
Radio receiving transmitting module, alarm lamp, buzzer and LCD touch screen are installed in control module.
There are download program and debugging interface in control module.
The beneficial effects of the utility model:
By the utility model, minute surface automatic cleaning machine people can be used to substitute artificial cleaning, robot can be realized The minute surface not parallel across two pieces, improves sweeping efficiency, and has effectively evaded the danger of work high above the ground.
Brief description of the drawings:
Fig. 1 is the utility model structure diagram.
Embodiment
Control structure in the present embodiment includes control unit, signal gathering unit, driver element execution unit, communication unit Member, display unit, prewarning unit and power supply unit.
(1)Control unit is made up of control module, and the control module uses 32 single-chip microcomputers(MCU), its function is main It is communication protocol data transmitting-receiving;Sensor signal is gathered, is handled by control algolithm, control signal is produced and is performed to drive Unit is operated, so as to reach the purpose of system control.
(2)Signal gathering unit
Signal gathering unit includes pressure acquisition circuit, spacing Acquisition Circuit, obstacle Acquisition Circuit, encoder, water level and adopted Collector and Power Monitoring Unit composition.
1)Pressure acquisition circuit:2 pressure sensor signals of robot bottom distribution are mainly gathered, by filtering, Amplifying circuit is handled, and reliable control signal is provided for MCU.
2)Spacing Acquisition Circuit:One limit sensors is respectively installed, spacing biography before and after mainly gathering before and after robot Sensor signal, handled by filtering, amplifying circuit, reliable control signal is provided for MCU.
3)Obstacle Acquisition Circuit:Robot both ends are provided with obstacle identification sensor, and the obstacle for mainly gathering both ends is known Individual sensor signal, handled by filtering, amplifying circuit, reliable control signal is provided for MCU.
4)Encoder:Encoder is used for detecting the rotating speed of robot both ends driving motors, there is provided gives MCU processing.
5)Water level acquisition circuit:Robot when wiping minute surface, it is necessary to towards traffic direction sprinkle water, therefore water tank bottom install Level sensor, water level acquisition circuit mainly gather level sensor signal, are handled by filtering, amplifying circuit, Reliable control signal is provided for MCU.
6)Power Monitoring Unit:The module provides monitoring signal by being monitored to supply voltage, for MCU, by right The data analysis, power supply current electric quantity surplus value can be gone out with approximate estimation.
(3)Driver element
Driver element includes 2 H bridges motor drive modules, 2 electric expansion rod controllers and driving circuit for electromagnetic valve.
1)2 H bridge motor drive modules:The module is used for driving the drive motor at robot both ends, control machine people's row Sail.
2)2 electric expansion rod controllers:Electric expansion bar is arranged on the robot both ends, by controlling expansion link to drive Motor, which rotates, makes expansion link be stretched, and reaches the purpose of robot leaping over obstacles.
3)Driving circuit for electromagnetic valve:Driving circuit for electromagnetic valve is used for adjusting the size of solenoid valve for water switch, so as to adjust Water during sprinkling.
(4)Execution unit
Execution unit is by 2 direct-drive motors, 2 expansion link motors and 1 solenoid valve for water.
1)2 direct-drive motors:Control machine people's travel direction.
2)2 expansion link motors:Control machine people lifts.
3)1 solenoid valve for water:The flow of spray water when control machine people moves forward.
(5)Communication unit
Communication unit includes 1 radio receiving transmitting module and download program and debugging interface.
1)1 radio receiving transmitting module:By radio receiving transmitting module, Remote can be carried out to robot, to machine When emergency case occurs in people, it can improve and more easily take measures.
2)Download program and debugging interface:For being downloaded for robot and debugging routine code.
(6)Display unit
Display unit is made up of 1 LCD touch screen.The LCD touch screen can show each item data of robot, moreover it is possible to logical Cross the running for the upper computer software control machine people that touch-screen is shown.
(7)Prewarning unit
Prewarning unit includes warning indicator light and buzzer forms.
1)Warning indicator light:Flashed by warning indicator light, prompt early warning.
2)Buzzer:By with warning indicator light combination early warning, the different audios that buzzer is sent prompt error source.
(8)Power supply unit
Power supply unit includes 12V power supplys, 12V Voltage stabilizing modules, 5V voltage reduction modules and 3.3V voltage reduction modules.Turned by power supply Change, reliable and stable voltage is provided for different voltage requirements modules.
Operation principle is as follows:Control module carries out comprehensive analysis processing, passes through program by gathering the signal of each sensor The control algolithm write carries out computing, realizes the purpose of each module normal work.After robot is arranged on the track of dish face, open Dynamic power supply, after system starts, the start button in lcd screen is touched, robot starts working.Now control module passes through collection Limit sensors signal, to judge to travel the rotation direction of drive motor;Simultaneously by detecting the pressure value of pressure sensor, come The flexible of electric expansion bar is controlled, pressure value set on minute surface is acted on so as to adjust robot;When direction and pressure are true After fixed, after controlling solenoid valve for water, regulation to arrive preferable water by driving circuit for electromagnetic valve, robot along track forward Automatic cleaning minute surface.
After control module detects obstacle identification sensor signal, control module is transmitted to electric expansion rod controller to be controlled Signal processed, electric expansion controller driving electric expansion bar, realizes first robot function of auto-lift, carries out leaping over obstacles.
In minute surface is cleaned, Power Monitoring Unit and level sensor Acquisition Circuit transmit feedback letter to control module in real time Number.
If when supply voltage is too low or water is too low, buzzer and warning indicator light carry out early warning, now robot Automatically return to home.

Claims (4)

1. a kind of minute surface sweeping robot control structure, including control module, control module connection encoder is simultaneously driven by motor Dynamic model block connects direct-drive motor, it is characterised in that:Control module connects pressure sensor by pressure acquisition circuit, passed through Spacing Acquisition Circuit connection limit sensors, by obstacle Acquisition Circuit asynthesis identification sensor, pass through solenoid-driven Circuit connects solenoid valve for water and connects level sensor by water level acquisition circuit;Control module connects electric expansion bar control Device processed, electric expansion rod controller connection expansion link motor.
2. minute surface sweeping robot control structure according to claim 1, it is characterised in that:Electricity is installed in control module Source monitoring module and power supply.
3. minute surface sweeping robot control structure according to claim 1, it is characterised in that:Installed in control module wireless Transceiver module, alarm lamp, buzzer and LCD touch screen.
4. minute surface sweeping robot control structure according to claim 1, it is characterised in that:There is program in control module Download and debugging interface.
CN201720334424.0U 2017-03-31 2017-03-31 A kind of minute surface sweeping robot control structure Active CN206623100U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720334424.0U CN206623100U (en) 2017-03-31 2017-03-31 A kind of minute surface sweeping robot control structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720334424.0U CN206623100U (en) 2017-03-31 2017-03-31 A kind of minute surface sweeping robot control structure

Publications (1)

Publication Number Publication Date
CN206623100U true CN206623100U (en) 2017-11-10

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Application Number Title Priority Date Filing Date
CN201720334424.0U Active CN206623100U (en) 2017-03-31 2017-03-31 A kind of minute surface sweeping robot control structure

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109865242A (en) * 2019-02-18 2019-06-11 重庆消防安全技术研究服务有限责任公司 A kind of Fire Escape system for cleaning automatically

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109865242A (en) * 2019-02-18 2019-06-11 重庆消防安全技术研究服务有限责任公司 A kind of Fire Escape system for cleaning automatically
CN109865242B (en) * 2019-02-18 2020-08-07 重庆消防安全技术研究服务有限责任公司 Fire safety working system for automatic cleaning

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Address after: 550000 Wangda Standard Factory Building (Phase I), Building B4, 1st Floor, Shawen Ecological Technology Industrial Park, Shawen Town, Guiyang High tech Zone, Guiyang City, Guizhou Province

Patentee after: Guizhou Dadao New Energy Equipment Technology Co.,Ltd.

Country or region after: China

Address before: 550025 Electronic Information Industrial Park, Gui'an New District, Guiyang City, Guizhou Province

Patentee before: WESTERN INTERNATIONAL GREEN ENERGY STIRLING (GUIZHOU) INTELLIGENT EQUIPMENT MANUFACTURING Co.,Ltd.

Country or region before: China