CN210304955U - Control system of cleaning device - Google Patents

Abstract

The utility model provides a control system of a cleaning device, which comprises a power module, a wireless communication device, a controller, an input end submodule, an output end submodule, a laser ranging sensor, a laser radar and a plurality of servo drivers; the power module, the wireless communication device, the input end submodule, the output end submodule, the laser ranging sensor, the laser radar and the servo drivers are in communication connection with the controller. The utility model has the advantages of degree of automation is high to can realize the multi-terminal remote control function.

Description

Control system of cleaning device

Technical Field

The present invention relates to a cleaning apparatus, and more particularly, to a control system for a cleaning apparatus.

Background

The high-pressure cleaning machine is cleaning equipment applied to the fields of industry, agriculture and the like, and can perform better cleaning treatment on places such as mechanical equipment, production places, breeding places and the like. At present, the high-pressure cleaning machine on the market has low overall automation degree and is still in the semi-automatic technical level, namely, the high-pressure cleaning machine needs manual operation in the cleaning process, and wastes time and labor.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a control system for a cleaning device, which has the advantage of high automation.

In order to solve the technical problem, the technical scheme of the utility model is that:

a control system of a cleaning device comprises a power supply module, a wireless communication device, a controller, an input end submodule, an output end submodule, a laser ranging sensor, a laser radar and a plurality of servo drivers; the power module, the wireless communication device, the input end submodule, the output end submodule, the laser ranging sensor, the laser radar and the servo drivers are in communication connection with the controller.

Through the technical scheme: the controller can automatically control the cleaning device to work according to a preset control program, manual intervention is not needed in the process, and in addition, a user can communicate some operation terminals, such as a mobile phone, a tablet, a manual operator and other equipment with the controller through WiFi to realize off-site operation; through two sensors, can realize the detection feedback to belt cleaning device's real-time position, and then carry out accurate control to belt cleaning device's removal according to feedback data.

Preferably, the intelligent control system further comprises a touch screen, and the touch screen is in communication connection with the controller.

Through the technical scheme: the user can carry out various settings and start-stop operations on the cleaning device through the touch screen.

Preferably, the system further comprises a cloud man-machine server, and the cloud man-machine server is in communication connection with the controller.

Through the technical scheme: technical personnel can import the program that the development was accomplished to equipment such as cell-phone, flat board for realize the online control of many equipment, for example when one of them flat board goes wrong, then the staff can take over work through another online flat board at once, realize linking up fast.

Preferably, the input end of the servo driver is connected with an air switch in series.

Through the technical scheme: when the servo driver has an input overcurrent condition, the air switch can be automatically switched off, so that the servo driver is protected.

Preferably, the power module comprises a first voltage conversion module, a lithium battery module, a second voltage conversion module and a third voltage conversion module; the first voltage conversion module, the rechargeable power supply module, the second voltage conversion module and the third voltage conversion module are sequentially connected, and the output voltages of the first voltage conversion module, the second voltage conversion module and the third voltage conversion module are respectively DC48V, DC24V and DC 9V.

Through the technical scheme: the power module adopts a rechargeable lithium battery module, so that the cleaning device can be prevented from still depending on an external power supply during operation, and the cleaning device is more flexible in space arrangement; meanwhile, the power supply module adopts a multi-stage voltage transformation structure, can provide different types of direct current working voltages respectively, and is good in stability.

Preferably, an air switch and a fuse are connected in series between the lithium battery module and the second voltage module; an air switch is connected in series between the second voltage conversion module and the third voltage conversion module.

Through the technical scheme: when the circuit system has overvoltage or short circuit fault, the air switch and the fuse can immediately act and react to cut off the power supply, thereby achieving the purpose of protecting the circuit system.

The utility model discloses technical effect mainly embodies in following aspect:

1. the automation degree of the cleaning device is improved, the manual intervention degree is reduced, the operation difficulty of workers is reduced, and the cleaning efficiency is improved;

2. the servo driving mode is adopted, so that each action of the cleaning device can automatically change the speed according to the cleaning requirement;

3. through wireless network, can realize the remote operation to belt cleaning device, and then need not at field control.

Drawings

FIG. 1 is a schematic view of a cleaning apparatus in an embodiment;

FIG. 2 is a schematic diagram of a control system in an embodiment;

fig. 3 is a schematic diagram of a power module in an embodiment.

Reference numerals: 11. a crawler wheel; 12. a bracket; 13. a chassis; 2. a horizontal rotation seat; 3. cleaning the arm; 31-33, a servo motor; 34. an electric push rod; 4. an electric pipe coiling device; 5. a spray rod; 6. a controller; 61. an output terminal module; 62. an input terminal module; 71. a touch screen; 72. a cloud man-machine server; 73. a wireless communication device; 81. a laser ranging sensor; 82. a laser radar; 9. a servo driver; 10. a power supply module; 101. a first voltage conversion module; 102. a lithium battery module; 103. a second voltage conversion module; 104. and a third voltage conversion module.

Detailed Description

The following detailed description of the embodiments of the present invention is made with reference to the accompanying drawings, so that the technical solution of the present invention can be more easily understood and grasped.

The embodiment provides a control system of a cleaning device, which is mainly applied to the cleaning device shown in fig. 1, wherein the bottom of the cleaning device is provided with a crawler wheel 11, the rear side of the cleaning device is provided with an electric pipe rolling device 4, the top of the cleaning device is provided with a horizontal rotating seat 2, and the top of the horizontal rotating seat 2 is provided with a cleaning arm 3. The crawler wheel 11 has four wheels, the wheels on the same side are in one group, and each group is driven by one servo motor, namely, comprises 2 servo motors; the electric pipe coiling device 4 is driven by a servo motor; the horizontal rotating seat 2 is driven by a servo motor; 3 servo motors (31-33) are arranged on the cleaning arm 3, wherein one servo motor is used for driving the cleaning arm 3 to stretch (marked with 31), and the other servo motor is used for driving the spray rod 5 to rotate (marked with 32 and 33); the lifting and lowering of the cleaning arm 3 is driven by an electric push rod 34, the electric push rod 34 also comprises a servo motor, and the cleaning device further comprises 8 servo motors in total, which are controlled by the control system.

Referring to fig. 2, the control system includes a power module 10, a controller 6, a touch screen 71, an input terminal module 62, an output terminal module 61, a wireless communication device 73, a cloud man-machine server 72, a laser ranging sensor 81, a laser radar 82, an Ethercat expansion module, and a plurality of servo drivers 9.

In the present embodiment, as an example, the models of the controller 6, the touch screen 71, the input terminal module 62, the output terminal module 61, the Ethercat expansion module, and the plurality of servo drivers 9 are respectively C9900-K624, CP2907, EL1008, EL2008, and EK 1110. The cloud man-machine server 72 is a cloud man-machine server of the type CMT-SVR-100. Laser ranging sensor 81 and laser radar 82 are model numbers DL100-21AA2110, TIM561-2050101, respectively.

With reference to fig. 1 and 2, the touch screen 71 is mounted on the bracket 12, and the power module 10, the controller 6, the input terminal module 62, the output terminal module 61, the wireless communication device 73, the cloud man-machine server 72, the Ethercat expansion module, and the plurality of servo drivers 9 are all mounted in the chassis 13.

Specifically, the DVI interface and the USB interface of the touch screen 71 are connected to the controller 6, and the operator can set parameters and perform other related operations on site through the touch screen 71.

The input terminal module 62, the output terminal module 61, and the ethernet expansion module are all plugged into corresponding sockets on the controller 6 (the specific manner can refer to the instruction manual of the module of the above type). The input terminal module 62 can be used to access some operation devices, such as emergency stop switches, etc., which is convenient for field personnel to operate; the output submodule 61 is used to control the water circuit of the washing apparatus, for example, on/off control of an electrically controlled valve.

The servo drivers 9 are cascaded through an Ethercat interface, the servo driver 9 of the first stage is connected with the Ethercat expansion module through the Ethercat interface, and then the output end of each servo driver 9 is connected with one servo motor.

The wireless communication device 73 may be a wireless router, and the wireless communication device 73 and the cloud man-machine server 72 are connected to the controller 6 through an RJ45 interface. The wireless communication device 73 can be configured with 4G/5G function, and can access the internet through a telephone card without connecting a broadband.

The laser ranging sensor 81 is connected with the cloud man-machine server 72 through an RJ45 interface, and the laser radar 82 is connected with the wireless communication device 73 through an RJ45 interface. If other types of sensors are used, they can communicate directly with the controller 6 via the expansion module. In addition, the laser ranging sensor 81 and the laser radar 82 are both arranged on the front side of the cleaning device, and the laser ranging sensor 81 is mainly used for measuring the forward moving distance of the cleaning device and realizing accurate positioning of each cleaning position; laser radar 82 is used for measuring the distance of belt cleaning device and both sides barrier, and then avoids belt cleaning device to touch the barrier, leads to the cleaning process to receive the influence.

Referring to fig. 3, the power module 10 includes a first voltage conversion module 101, a lithium battery module 102, a second voltage conversion module 103, and a third voltage conversion module 104; the first voltage conversion module 101, the rechargeable power supply module 10, the second voltage conversion module 103, and the third voltage conversion module 104 are connected in sequence, and output voltages of the first voltage conversion module 101, the second voltage conversion module 103, and the third voltage conversion module 104 are DC48V, DC24V, and DC9V, respectively.

In addition, as a preferable connection mode, the cloud man-machine server 72 is connected with the lithium battery module 102 through a 485 interface, and then the cloud man-machine server 72 can acquire the electric quantity data of the lithium battery module 102 and transmit the electric quantity data to the controller 6.

Further, in order to achieve better electrical protection, in this embodiment, an air switch is connected in series to the input end of the servo driver 9, and an air switch and a fuse are connected in series between the lithium battery module 102 and the second voltage module; an air switch is connected in series between the second voltage conversion module 103 and the third voltage conversion module 104.

The working principle is as follows:

a programmer sets a moving path and a cleaning path of the cleaning device in advance according to parameters of a cleaning object, namely control over each servo motor and control over an electric control valve; after the cleaning device is placed on site, the cleaning device is started through a touch screen 71 on site or remotely through PAD and other equipment, and after the cleaning device is started, the cleaning device executes corresponding cleaning actions according to a set program, such as left-right rotation of the horizontal rotating seat 2, stretching and retracting of the cleaning arm 3, lifting and descending and rotation of the spray rod 5, and controls the cleaning device to move back and forth according to feedback data of the laser ranging sensor 81 and the laser radar 82 until a complete cleaning program is executed.

Of course, the above is only a typical example of the present invention, and besides, the present invention can also have other various specific embodiments, and all technical solutions adopting equivalent replacement or equivalent transformation are all within the scope of the present invention as claimed.

Claims (6)

1. A control system of a cleaning device is characterized by comprising a power supply module (10), a wireless communication device (73), a controller (6), an input end sub-module (62), an output end sub-module (61), a laser ranging sensor (81), a laser radar (82) and a plurality of servo drivers (9); the power supply module (10), the wireless communication device (73), the input end sub-module (62), the output end sub-module (61), the laser ranging sensor (81), the laser radar (82) and the servo drivers (9) are in communication connection with the controller (6).

2. The control system of claim 1, further comprising a touch screen (71), said touch screen being communicatively connected to said controller (6).

3. The control system of claim 1, further comprising a cloud man-machine server (72), wherein the cloud man-machine server (72) is in communication with the controller (6).

4. A control system for a washing apparatus as claimed in claim 1, characterized in that the input of the servo drive (9) is connected in series with an air switch.

5. The control system of a washing device according to claim 1, characterized in that the power supply module (10) comprises a first voltage conversion module (101), a lithium battery module (102), a second voltage conversion module (103), a third voltage conversion module (104); the first voltage conversion module (101), the rechargeable power supply module (10), the second voltage conversion module (103) and the third voltage conversion module (104) are sequentially connected, and the output voltages of the first voltage conversion module (101), the second voltage conversion module (103) and the third voltage conversion module (104) are respectively DC48V, DC24V and DC 9V.

6. The control system of claim 4, wherein an air switch and a fuse are connected in series between the lithium battery module (102) and the second voltage module; an air switch is connected in series between the second voltage conversion module (103) and the third voltage conversion module (104).

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