CN215433657U - Robot cleaning control system - Google Patents
Robot cleaning control system Download PDFInfo
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- CN215433657U CN215433657U CN202120670491.6U CN202120670491U CN215433657U CN 215433657 U CN215433657 U CN 215433657U CN 202120670491 U CN202120670491 U CN 202120670491U CN 215433657 U CN215433657 U CN 215433657U
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Abstract
The utility model relates to a robot cleaning control system, which comprises a robot body, a car controller, a mechanical arm controller, a sensor assembly and a mechanical arm assembly, wherein the robot body comprises a main body, a car controller, a mechanical arm controller, a sensor assembly and a mechanical arm assembly: the car controller and the mechanical arm controller are arranged in the robot body; the mechanical arm assembly is arranged at the upper part of the robot body; the car controller is connected with the mechanical arm controller and the sensor assembly, and the mechanical arm controller is connected with the mechanical arm assembly; the car controller determines a moving route and a working site through the sensor assembly, and controls the robot body to move to the working site according to the moving route; the robot controller performs a cleaning operation at the work site. This application realizes the mobility control to the robot body through the car control ware, washs through mechanical arm controller control mechanical arm subassembly after arriving the work site, can replace the manual work to carry out corresponding washing task in extensive plant, has realized abluent automation in the plant, has greatly improved abluent efficiency in the place.
Description
Technical Field
The utility model relates to a robot technology, in particular to a robot cleaning control system.
Background
The livestock husbandry is increasingly industrialized and scaled in China, so that the scale and the area of a farm are continuously enlarged, the environment in the farm is severe, the cleaning work needs to be frequently carried out, the manual work cannot be carried out for 24 hours without interruption, and the cleaning efficiency in the farm is lower.
Therefore, a robot cleaning control system capable of replacing manual work and enabling a robot to continuously complete corresponding cleaning actions is needed, so that automation and continuity of cleaning in a farm are achieved, and cleaning efficiency in the farm is improved.
SUMMERY OF THE UTILITY MODEL
In view of this, it is necessary to provide a robot cleaning control system for solving the problem that the cleaning efficiency in the farm is still low.
The utility model provides a robot washs control system, includes robot body, car controller, arm controller, sensor assembly and arm assembly: the trolley controller and the mechanical arm controller are arranged in the robot body; the mechanical arm assembly is arranged at the upper part of the robot body; the car controller is connected with the mechanical arm controller and the sensor assembly, and the mechanical arm controller is connected with the mechanical arm assembly;
the trolley controller is used for determining a moving route and a working site through the sensor assembly and controlling the robot body to move to the working site according to the moving route;
the mechanical arm controller is used for executing cleaning operation at the working site.
Above-mentioned robot washs control system, including robot body, car controller, arm controller, sensor module and arm subassembly: the trolley controller and the mechanical arm controller are arranged in the robot body; the mechanical arm assembly is arranged at the upper part of the robot body; the car controller is connected with the mechanical arm controller and the sensor assembly, and the mechanical arm controller is connected with the mechanical arm assembly; the trolley controller is used for determining a moving route and a working site through the sensor assembly and controlling the robot body to move to the working site according to the moving route; the mechanical arm controller is used for executing cleaning operation at the working site. This application realizes the mobility control to the robot body through the car control ware, washs through mechanical arm controller control mechanical arm subassembly after arriving the work site, can replace the manual work to carry out corresponding washing task in extensive plant, has realized abluent automation in the plant, has greatly improved abluent efficiency in the place.
In one embodiment, the sensor assembly includes a magnetic navigation sensor and a radio frequency identification sensor; the magnetic navigation sensor and the radio frequency identification sensor are arranged at the bottom of the robot body;
the magnetic navigation sensor is used for detecting magnetic signals of magnetic strips laid on the ground in advance; the magnetic strip corresponds to the moving route;
the radio frequency identification sensor is used for identifying a radio frequency tag which is preset on the moving route; the radio frequency tag is used for marking the working site.
In one embodiment, the robot assembly includes a robot driver, a robot, and a cleaning component; the cleaning component is arranged at the tail end of the mechanical arm; the mechanical arm driver is electrically connected with the mechanical arm controller and the mechanical arm respectively.
In one embodiment, the mechanical arm comprises a rotating arm, a big arm, a telescopic arm and a small arm; the cleaning component comprises a high-pressure nozzle connected with a high-pressure water pipe; the high-pressure nozzle is arranged at the tail end of the small arm.
In one embodiment, the robotic cleaning control system further comprises a high pressure solenoid valve; the high-pressure electromagnetic valve is in communication connection with the mechanical arm controller; the high-pressure electromagnetic valve is used for controlling the on-off of a water path of the high-pressure water pipe.
In one embodiment, the robotic washing control system further comprises a reel; the winder is in communication connection with the trolley controller; the winder is used for controlling the retraction speed of the high-pressure water pipe.
In one embodiment, the sensor assembly further comprises a lidar; the laser radar is arranged on the front side of the bottom of the robot body; and the laser radar is in communication connection with the car controller.
In one embodiment, the robotic cleaning control system further comprises a switch assembly; the switch assembly comprises a start switch, a stop switch and an emergency stop switch.
In one embodiment, the robot washing control system further comprises a display screen; the display screen is arranged on the rear side of the upper part of the robot body; the display screen is in communication connection with the car controller.
In one embodiment, the car controller and the robotic arm controller communicate via an RS485 bus.
Drawings
FIG. 1 is a schematic block diagram of a robot cleaning control system in one embodiment;
FIG. 2 is a schematic bottom view of a robot body according to an embodiment;
FIG. 3 is a schematic diagram of a robot arm assembly according to one embodiment;
FIG. 4 is a schematic diagram of a robot arm assembly in yet another embodiment;
FIG. 5 is a schematic diagram of a high pressure solenoid valve in the robotic cleaning control system in one embodiment;
FIG. 6 is a schematic diagram of a winder in a robotic cleaning control system in one embodiment;
FIG. 7 is a schematic illustration of a lidar in a sensor assembly in one embodiment;
FIG. 8 is a schematic diagram of an alternative embodiment of a robotic cleaning control system;
fig. 9 is a schematic structural diagram of a cleaning robot to which the robot cleaning control system is applied in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model.
As shown in fig. 1, an embodiment of the present invention provides a robot washing control system, including: robot body 10, car controller 11, arm controller 12, sensor assembly 110 and arm assembly 120: the car controller 11 and the arm controller 12 are arranged inside the robot body 10; the robot arm assembly 120 is disposed at an upper portion of the robot body 10; the car controller 11 is connected with the mechanical arm controller 12 and the sensor assembly 110, and the mechanical arm controller 12 is connected with the mechanical arm assembly 120; the car controller 11 is used for determining a moving route and a working site through the sensor assembly 110 and controlling the robot body 10 to move to the working site according to the moving route; a robot controller 12 for performing a cleaning operation at the work site.
The car controller 11 and the mechanical arm controller 12 CAN be connected through an RS485 bus, the car controller 11 CAN be connected with the sensor assembly 110 through a CAN bus, and the mechanical arm controller 12 CAN be connected with the mechanical arm assembly 120 through the CAN bus; the car Controller 11 and the robot arm Controller 12 may adopt a preset PLC unit (Programmable Logic Controller); the robot body can be moved by mounting a hub at the bottom.
In order to make the technical scheme of the utility model clearer, the working principle of the utility model is explained as follows: the car controller 11 obtains the function of sensing the surrounding environment through the sensor assembly, so that the car controller 11 can determine the moving route required by the cleaning work through the sensor assembly 110 and determine the work site required to perform the cleaning work; the car controller 11 controls the robot body 10 to move along the movement path, and controls the arm controller 12 to perform a cleaning operation corresponding to a working point when the robot reaches the working point.
In one embodiment, as shown in fig. 2, the bottom structure of the robot body is schematically illustrated. The sensor assembly 110 includes a magnetic navigation sensor 111 and a radio frequency identification sensor 112; the magnetic navigation sensor 111 and the radio frequency identification sensor 112 are arranged at the bottom of the robot body 10; a magnetic navigation sensor 111 for detecting a magnetic signal of a magnetic strip laid on the ground in advance; the magnetic strips correspond to the moving route; a radio frequency identification sensor 112 for identifying a radio frequency tag previously set on the moving route; the radio frequency tag is used to mark the work site.
In order to enable the robot body 10 to accurately move along the magnetic stripe, the magnetic navigation sensors 111 can be respectively arranged at the front end and the rear end of the bottom of the robot body 10 to detect the magnetic stripe together, so that the robot body 10 is ensured to move straightly. The rfid sensor 112 may be disposed at the center of the bottom of the robot body 10, and when the rfid sensor 112 identifies the rfid tag, the robot body 10 is aligned with the work site. In addition, wheel hubs are further mounted at four corners of the bottom of the robot body 10 respectively and are fixed to the bottom of the robot body 10 through wheel mounting modules, so that the robot body 10 can move in any direction.
The magnetic stripe (strip) navigation technology can be realized through the magnetic navigation sensor 111 and the magnetic stripe which is laid on the ground in advance, namely, the magnetic induction intensity information is obtained through obtaining the magnetic induction signal to realize guidance; the magnetic stripe guiding technology has the advantages of high flexibility, easy change or expansion of paths, simple and easy tape laying, accurate positioning and low cost. The Radio Frequency tag is an electronic tag using RFID (Radio Frequency Identification), and can perform non-contact bidirectional data communication with the Radio Frequency Identification sensor 112 in a Radio Frequency manner; the electronic tag may store identification information corresponding to the work site, so that the car controller 11 determines the position of the car controller.
In the embodiment, the robot body is controlled to move through the car controller, the mechanical arm assembly is controlled through the mechanical arm controller to clean after the robot body reaches the working site, corresponding cleaning tasks can be performed in a large-scale farm instead of manpower, the automation of cleaning in the farm is realized, and the cleaning efficiency in the farm is greatly improved.
In one embodiment, as shown in FIG. 3, a schematic diagram of the robotic arm assembly 120 is shown. The robot arm assembly 120 includes a robot arm driver 121, a robot arm 122, and a cleaning part 123; the cleaning member 123 is provided at the end of the robot arm 122; the robot driver 121 is electrically connected to the robot controller 12 and the robot 122, respectively.
The arm driver 121 is controlled by the arm controller 12 to drive the arm 122; so that the mechanical arm 122 drives the cleaning component 123 mounted at the tail end to move in the space, and any target, object or area in the space is cleaned.
In the embodiment, the swing control of the mechanical arm assembly is realized through the mechanical arm controller, so that the cleaning part carried by the mechanical arm can be aligned to an area to be cleaned or a target object, corresponding cleaning tasks are performed in a large-scale farm instead of manpower, the automation of cleaning in the farm is realized, and the cleaning efficiency in the farm is greatly improved.
In one embodiment, as shown in fig. 4, robotic arm 122 includes a rotating arm 1221, a large arm 1222, a telescoping arm 1223, and a small arm 1224; the cleaning part 123 includes a high pressure nozzle 1231 to which a high pressure water pipe 1232 is connected; a high pressure nozzle 1231 is disposed at the end of the small arm 1224.
The rotating arm 1221 is connected with the big arm 1222, so that the big arm 1222 can rotate at a certain angle; the big arm 1222 is also connected with an electric cylinder 1225, and the electric cylinder 1225 can control the big arm 1222 to lift or fall; a telescopic arm 1223 is provided inside one end of the upper arm 1222, and the other end of the telescopic arm 1223 is connected to the lower arm 1224; the tip of the arm 1224 is connected to a high pressure nozzle 1231, and the high pressure nozzle 1231 is connected to a high pressure water pipe 1232 for supplying water to the high pressure nozzle 1231.
In this embodiment, the mechanical arm 122 is composed of a rotating arm 1221, a large arm 1222, a telescopic arm 1223 and a small arm 1224, and the electric cylinder 1225 can lift or fall the large arm, so that the mechanical arm can carry a high-pressure nozzle to obtain high degree of freedom, can be moved freely in space for cleaning, and improves cleaning efficiency.
In one embodiment, as shown in fig. 5, the robot washing control system further includes a high pressure solenoid valve 21; the high-pressure electromagnetic valve 21 is in communication connection with the mechanical arm controller 12; the high-pressure solenoid valve 21 is used for controlling the on-off of the water path of the high-pressure water pipe 1232.
The mechanical arm controller 12 is in communication connection with the high-pressure electromagnetic valve 21; after the robot arm 122 is controlled by the robot arm controller 21 to form the cleaning posture, the high-pressure solenoid valve 21 is opened to spray the water from the high-pressure nozzle 1231 through the high-pressure water pipe, thereby cleaning the region to be cleaned. In the cleaning process, the robot controller 12 may continuously adjust the posture of the robot 122 to achieve continuous cleaning.
In this embodiment, the high-pressure solenoid valve is controlled by the manipulator controller, and water flow can be controlled by the high-pressure solenoid valve after the manipulator forms a cleaning posture, so that cleaning is realized.
In one embodiment, as shown in fig. 6, the robot wash control system further includes a winder 22; the winder 22 is in communication connection with the trolley controller 11; the reel 22 is used to control the retraction speed of the high-pressure water pipe 1232.
The car controller 11 can adjust the moving speed of the reel 22 according to the moving speed of the robot body 10, so that the storing and releasing speed of the high-pressure water pipe 1231 is relatively consistent with the moving speed of the robot body 10, and the situation that the high-pressure water pipe 1231 pulls the robot body 10 or the high-pressure water pipe 1231 extends to the ground and is wound into a hub and the like is avoided.
In this embodiment, car controller direct control winder can make high pressure water pipe carry out the synchronous adjustment of receiving and releasing speed according to the moving speed of robot, avoids high pressure water pipe overlength to take over personnel, animal or robot self that the ground stumbled the way, has also avoided high pressure water pipe too short to the robot so that the arm drags and brings the possibility of damage, has improved the long and life of operation of cleaning machines people.
In one embodiment, as shown in FIG. 7, sensor assembly 110 further includes a lidar 113; the laser radar 113 is arranged at the front side of the bottom of the robot body 10; laser radar 113 is in communication with car controller 11.
The car controller 11 may scan the surrounding environment of the robot body 10 through the laser radar 113 to form point cloud image information; identifying an obstacle object from the point cloud image information, and judging the distance between the robot body and the obstacle object; when the distance between the robot trolley and the obstacle object is continuously reduced, the trolley controller 11 can control the robot body 10 to move in a deceleration mode, and when the distance is smaller than a preset distance threshold value, the robot body 10 can be controlled to completely stop to avoid contact with the obstacle object.
In the embodiment, the laser radar can perform imaging processing on the environment around the robot body at high precision, and further recognize the obstacle, so that the cleaning robot obtains the obstacle avoidance function through the robot cleaning control system; meanwhile, the point cloud image based on the laser radar can be further expanded, for example, more specific early warning information is generated, and an obstacle object is added in the early warning information.
In one embodiment, as shown in FIG. 8, a schematic of an architecture of yet another robotic cleaning control system is provided;
in the framework of the robot cleaning control system, a main controller is a trolley controller, an auxiliary controller is a mechanical arm controller, and the trolley controller is connected with the mechanical arm controller and a battery through RS 485;
the car controller is respectively connected with a magnetic navigation sensor, a hub motor starter, a winder motor driver and a radio frequency identification sensor which are arranged at the bottom of the robot body through a CAN bus; the car controller is also connected with a display screen through an RS232 bus; the car controller receives feedback of the laser radar arranged in the anti-collision strip in the control process, and collision is avoided.
The mechanical arm controller is communicated with the car controller through RS485, is respectively connected with at least one mechanical arm driver and a stepping driver through a CAN bus, is connected with the demonstrator through Ethemet, and receives point position parameters of the mechanical arm during cleaning; the mechanical arm controller outputs a signal to the high-voltage electromagnetic valve to control the on-off of the cleaning water channel.
According to the robot, the robot body is controlled to move through the small vehicle controller, the mechanical arm assembly is controlled through the mechanical arm controller to clean after the robot reaches the working site, corresponding cleaning tasks can be performed in a large-scale farm instead of manpower, the automation of cleaning in the farm is realized, and the efficiency of cleaning in the farm is greatly improved.
In one embodiment, there is provided a washing robot applying the above-mentioned robot washing control system, whose general structure is as shown in fig. 9: in the schematic structural diagram 9, 1 is a reel, 2 is a bumper strip, 3 is a laser radar, 4 is a high-pressure solenoid valve, 5 is a battery, 6 is a control panel, 7 is a rotating arm, 8 is an electric cylinder, 9 is a large arm, 10 is a telescopic arm, 11 is a small arm, and 12 is a high-pressure nozzle. Wherein, anticollision strip 2 can protect robot body and inside subassembly, and the battery can make cleaning robot have better flexibility, can break away from the electric wire in the place and wash work.
In one embodiment, the robotic cleaning control system further comprises a switch assembly; the switch assembly comprises a start switch, a stop switch and an emergency stop switch.
The switch assembly can realize the integral control of the robot cleaning control system; the starting switch and the stopping switch can respectively control the robot cleaning control system to be turned on and off; the emergency stop switch has higher priority than the stop switch, and can close the whole robot cleaning control system in case of emergency, for example, when the distance between the robot body and the obstacle object is less than the preset threshold, the emergency stop of the robot body can be realized by the emergency stop switch.
In one embodiment, the robotic cleaning control system further comprises a display screen; the display screen is arranged on the rear side of the upper part of the robot body; the display screen is in communication connection with the car controller.
The display screen has the functions of touch control, input, display and the like, and after the display screen is in communication connection with the car controller, a person can interact with the robot cleaning control system through the display screen; for example, the control state of the car controller and the overall operation state of the cleaning robot can be checked through a display article manually; and the car controller is connected with the mechanical arm controller, so that teaching can be carried out manually through the display screen, the mechanical arm controller obtains teaching parameters corresponding to the working site, a track is generated according to the teaching parameters when cleaning operation is carried out, and posture change of the mechanical arm is adjusted.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The robot cleaning control system is characterized by comprising a robot body, a car controller, a mechanical arm controller, a sensor assembly and a mechanical arm assembly: the trolley controller and the mechanical arm controller are arranged in the robot body; the mechanical arm assembly is arranged at the upper part of the robot body; the car controller is connected with the mechanical arm controller and the sensor assembly, and the mechanical arm controller is connected with the mechanical arm assembly;
the trolley controller is used for determining a moving route and a working site through the sensor assembly and controlling the robot body to move to the working site according to the moving route;
the mechanical arm controller is used for executing cleaning operation at the working site.
2. The robotic cleaning control system according to claim 1, wherein the sensor assembly includes a magnetic navigation sensor and a radio frequency identification sensor; the magnetic navigation sensor and the radio frequency identification sensor are arranged at the bottom of the robot body;
the magnetic navigation sensor is used for detecting magnetic signals of magnetic strips laid on the ground in advance; the magnetic strip corresponds to the moving route;
the radio frequency identification sensor is used for identifying a radio frequency tag which is preset on the moving route; the radio frequency tag is used for marking the working site.
3. The robotic cleaning control system according to claim 1, wherein the robot arm assembly includes a robot arm drive, a robot arm, and a cleaning component; the cleaning component is arranged at the tail end of the mechanical arm; the mechanical arm driver is electrically connected with the mechanical arm controller and the mechanical arm respectively.
4. The robotic washing control system according to claim 3, wherein the robotic arm includes a rotating arm, a large arm, a telescoping arm, and a small arm; the cleaning component comprises a high-pressure nozzle connected with a high-pressure water pipe; the high-pressure nozzle is arranged at the tail end of the small arm.
5. The robotic cleaning control system according to claim 4, further comprising a high pressure solenoid valve; the high-pressure electromagnetic valve is in communication connection with the mechanical arm controller; the high-pressure electromagnetic valve is used for controlling the on-off of a water path of the high-pressure water pipe.
6. The robotic washing control system according to claim 5, further comprising a reel; the winder is in communication connection with the trolley controller; the winder is used for controlling the retraction speed of the high-pressure water pipe.
7. The robotic cleaning control system according to claim 2, wherein the sensor assembly further includes a lidar; the laser radar is arranged on the front side of the bottom of the robot body; and the laser radar is in communication connection with the car controller.
8. The robotic cleaning control system according to claim 7, further comprising a switch assembly; the switch assembly comprises a start switch, a stop switch and an emergency stop switch.
9. The robotic cleaning control system according to claim 1, further comprising a display screen; the display screen is arranged on the rear side of the upper part of the robot body; the display screen is in communication connection with the car controller.
10. The robotic cleaning control system according to claim 1, wherein the trolley controller communicates with the robot arm controller via an RS485 bus.
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| CN202120670491.6U CN215433657U (en) | 2021-04-01 | 2021-04-01 | Robot cleaning control system |
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| CN202120670491.6U CN215433657U (en) | 2021-04-01 | 2021-04-01 | Robot cleaning control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894758A (en) * | 2021-04-01 | 2021-06-04 | 广东南牧机械设备有限公司 | Robot cleaning control system, method and device and computer equipment |
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2021
- 2021-04-01 CN CN202120670491.6U patent/CN215433657U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894758A (en) * | 2021-04-01 | 2021-06-04 | 广东南牧机械设备有限公司 | Robot cleaning control system, method and device and computer equipment |
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