CN220290059U - Embedded control system of cleaning robot - Google Patents
Embedded control system of cleaning robot Download PDFInfo
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- CN220290059U CN220290059U CN202320530409.9U CN202320530409U CN220290059U CN 220290059 U CN220290059 U CN 220290059U CN 202320530409 U CN202320530409 U CN 202320530409U CN 220290059 U CN220290059 U CN 220290059U
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- domain controller
- cleaning robot
- control system
- functional module
- embedded control
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- 238000004140 cleaning Methods 0.000 title claims abstract description 57
- 238000001514 detection method Methods 0.000 claims description 10
- 239000000428 dust Substances 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides an embedded control system of a cleaning robot, which comprises an embedded central processing unit, a position domain controller and functional modules corresponding to the position domain controller, wherein the functional modules are electrically connected to signal output ends of the corresponding position domain controllers, the position domain controller is electrically connected to the signal output ends of the central processing unit, the position domain controller controls the corresponding functional modules to work according to control instructions transmitted by the central processing unit, and meanwhile, the position domain controller consists of a front vehicle body domain controller distributed on the front side of the cleaning robot, a rear vehicle body domain controller distributed on the rear side of the cleaning robot, a bottom chassis domain controller, a top domain controller on the top of the cleaning robot and a central domain controller in the middle.
Description
Technical Field
The utility model relates to the technical field of intelligent cleaning equipment, in particular to an embedded control system of a cleaning robot.
Background
The cleaning robot is a novel technology for organically combining the mobile robot with the washing and dragging integrated machine, liberates both hands, saves labor force, realizes autonomous cleaning of the ground, is an environment-friendly, healthy and intelligent service robot, and has wide application prospect and market demand. Although some products are put into practical use in the market at present, there are still many problems to be solved in the cleaning robot, and improvement in work efficiency and autonomous ability is still required.
The existing embedded control system of the cleaning robot is mostly a control framework of an algorithm platform and a control platform, and cannot be applied to intelligent application scenes of multi-sensor fusion, multi-cleaning system combination and man-machine cooperation, which are proposed by the cleaning robot.
Accordingly, it is necessary to provide an embedded control system of a cleaning robot to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problems, the utility model provides an embedded control system of a cleaning robot.
The utility model provides an embedded control system of a cleaning robot, which comprises an embedded central processing unit, a position domain controller and functional modules corresponding to the position domain controller, wherein the functional modules are electrically connected to signal output ends of the corresponding position domain controllers, the position domain controller is electrically connected to the signal output ends of the central processing unit, and the position domain controller controls the corresponding functional modules to work according to control instructions transmitted by the central processing unit;
the position domain controller comprises a front vehicle body domain controller distributed on the front side of the cleaning robot, a rear vehicle body domain controller distributed on the rear side of the cleaning robot, a chassis domain controller distributed on the bottom of the cleaning robot, a top domain controller distributed on the top of the cleaning robot and a central domain controller distributed in the middle of the cleaning robot.
Preferably, the functional module includes a carpet detection sensor, a front side distance sensor, a right front side distance sensor, a front side collision detection sensor, and a projection lamp controlled by the front body domain controller.
Preferably, the function module further includes a right rear side distance sensor, a rear side distance sensor, and a rear side collision detection sensor controlled by the rear body domain controller.
Preferably, the functional module further comprises a rolling brush and a drain ball valve controlled by the chassis domain controller.
Preferably, the functional module further comprises an LED interactive screen controlled by the top field controller.
Preferably, the functional module further comprises a wet drag fan, a dust collection fan and a wet drag water level sensor controlled by the central domain controller.
Preferably, the embedded control system further comprises a navigation module;
the navigation module is electrically connected with the central processing unit and is used for assisting the cleaning robot to avoid obstacles.
Preferably, the embedded control system further comprises a power supply controller;
the power supply controller is electrically connected with the central processing unit, the position domain controller and the functional module; the power supply controller is used for power supply conversion of the whole machine.
Compared with the related art, the embedded control system of the cleaning robot has the following beneficial effects:
the control system is provided with an embedded central processor, a position domain controller and functional modules corresponding to the position domain controller, and meanwhile, the position domain controller consists of a front vehicle body domain controller distributed on the front side of the cleaning robot, a rear vehicle body domain controller distributed on the rear side of the cleaning robot, a bottom chassis domain controller, a top domain controller on the top and a central domain controller in the middle.
Drawings
Fig. 1 is a schematic structural view of an embedded control system of a cleaning robot according to the present disclosure;
fig. 2 is a schematic distribution diagram of an embedded control system of a cleaning robot according to the present disclosure.
Detailed Description
The utility model will be further described with reference to the drawings and embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embedded control system of a cleaning robot according to the present disclosure.
The embedded control system comprises an embedded central processing unit, a position domain controller and a functional module corresponding to the position domain controller;
specifically, the functional module is electrically connected to the signal output end of the corresponding position domain controller, and the position domain controller is electrically connected to the signal output end of the central processing unit;
the position domain controller controls the corresponding functional module to work according to the control instruction transmitted by the central processing unit, namely, when the central processing unit receives the control instruction, a corresponding control signal is generated and transmitted to the position domain controller, so that the position domain controller controls the functional module corresponding to the control signal to work;
referring to fig. 2, the position domain controller includes a front vehicle body domain controller distributed on the front side of the cleaning robot, and functional modules corresponding to the front vehicle body domain controller include a carpet detection sensor, a front side distance sensor, a right front side distance sensor, a front side collision detection sensor and a projection lamp, which are all of the prior art and are not described herein.
Specifically, the carpet detecting sensor is used for detecting whether a carpet is placed on the ground to be cleaned, the front side distance sensor and the right front side distance sensor are used for detecting whether barriers exist on the front side and the right front side of the automobile body, the front side collision detecting sensor is used for receiving collision signals after collision, the projection lamp can increase the environment brightness, and accurate recognition of the sensor is facilitated.
Referring to fig. 2, the position domain controller further includes a rear vehicle body domain controller distributed at a rear side of the cleaning robot, and the functional module corresponding to the rear vehicle body domain controller includes a right rear side distance sensor, a rear side distance sensor, and a rear side collision detection sensor;
specifically, the rear side distance sensor and the right rear side distance sensor are used for detecting whether an obstacle exists on the rear side and the right rear side of the vehicle body, and the rear side collision detection sensor is used for receiving a collision signal after collision occurs.
Referring to fig. 2, the position domain controller further includes a chassis domain controller distributed at the bottom of the cleaning robot, and the functional module corresponding to the chassis domain controller includes a rolling brush and a drain ball valve.
Specifically, the chassis domain controller controls the rolling brush control in the wet drag cleaning mode, the edge cleaning mode and the dust push cleaning mode, and the switching of the drain ball valve.
Referring to fig. 2, the position field controller further includes a top field controller distributed on the top of the cleaning robot, the top field controller including an LED interactive screen.
Specifically, the top domain controller controls the LED interaction screen, and a man-machine cooperation mode is realized through the LED interaction screen.
Referring to fig. 2, the position domain controller further includes a central domain controller distributed in the middle of the cleaning robot, and the central domain controller includes a wet-drawing fan, a dust collecting fan, and a wet-drawing water level sensor.
Specifically, the wet mopping fan is used for drying the ground in the wet mopping cleaning mode, the dust collecting fan is used for sucking dust on the ground in the dust pushing cleaning mode, and the wet mopping water level sensor is used for detecting the water level of the cleaning robot in wet mopping so that the cleaning robot responds in water shortage.
Referring to fig. 2, the embedded control system further includes a navigation module electrically connected to the central processing unit for assisting the cleaning robot to avoid the obstacle.
Specifically, the navigation module includes an environment-aware sub-module that captures images through a depth camera and an RGB camera and detects whether an obstacle is present.
The embedded control system also comprises a power supply controller, wherein the power supply controller is electrically connected with the central processing unit, the position domain controller and the functional module, and the power supply controller is used for power supply conversion of the whole machine.
The working principle of the embedded control system of the cleaning robot provided by the utility model is as follows: the utility model adopts the embedded processor with abundant functions and low energy consumption as the core control device, and has reasonable and compact system structure, strong functions and strong expandability; decoupling between the functional modules and the functional modules in the functional modules is realized through the position domain controller; the comprehensive decoupling of the bottom module hardware and hardware, software and hardware and software is realized through the non-inductive OTA; and the wiring harness layout is optimized, and the response speed of each area is improved.
In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the azimuth or positional relationship shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.
The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.
Claims (8)
1. The embedded control system of the cleaning robot is characterized by comprising an embedded central processing unit, a position domain controller and a functional module corresponding to the position domain controller, wherein the functional module is electrically connected to a signal output end of the corresponding position domain controller, the position domain controller is electrically connected to the signal output end of the central processing unit, and the position domain controller controls the corresponding functional module to work according to a control instruction transmitted by the central processing unit;
the position domain controller comprises a front vehicle body domain controller distributed on the front side of the cleaning robot, a rear vehicle body domain controller distributed on the rear side of the cleaning robot, a chassis domain controller distributed on the bottom of the cleaning robot, a top domain controller distributed on the top of the cleaning robot and a central domain controller distributed in the middle of the cleaning robot.
2. The embedded control system of a cleaning robot of claim 1, wherein the functional module includes a carpet detection sensor, a front side distance sensor, a right front side distance sensor, a front side collision detection sensor, and a projection lamp controlled by a front body domain controller.
3. The embedded control system of a cleaning robot of claim 1, wherein the functional module further comprises a right rear side distance sensor, a rear side distance sensor, and a rear side collision detection sensor controlled by a rear body domain controller.
4. The embedded control system of a cleaning robot of claim 1, wherein the functional module further comprises a roller brush and a drain ball valve controlled by a chassis domain controller.
5. The embedded control system of a cleaning robot of claim 1, wherein the functional module further comprises an LED interactive screen controlled by a top-field controller.
6. The embedded control system of a cleaning robot of claim 1, wherein the functional module further comprises a wet drag fan, a dust collection fan, and a wet drag water level sensor controlled by a central domain controller.
7. The embedded control system of a cleaning robot of claim 1, further comprising a navigation module;
the navigation module is electrically connected with the central processing unit and is used for assisting the cleaning robot to avoid obstacles.
8. An embedded control system of a cleaning robot according to any one of claims 1 to 7, further comprising a power supply controller;
the power supply controller is electrically connected with the central processing unit, the position domain controller and the functional module; the power supply controller is used for power supply conversion of the whole machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320530409.9U CN220290059U (en) | 2023-03-17 | 2023-03-17 | Embedded control system of cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320530409.9U CN220290059U (en) | 2023-03-17 | 2023-03-17 | Embedded control system of cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220290059U true CN220290059U (en) | 2024-01-02 |
Family
ID=89327017
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320530409.9U Active CN220290059U (en) | 2023-03-17 | 2023-03-17 | Embedded control system of cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220290059U (en) |
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2023
- 2023-03-17 CN CN202320530409.9U patent/CN220290059U/en active Active
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