CN216595945U - Rotary cleaning machine control system - Google Patents
Rotary cleaning machine control system Download PDFInfo
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- CN216595945U CN216595945U CN202122053001.0U CN202122053001U CN216595945U CN 216595945 U CN216595945 U CN 216595945U CN 202122053001 U CN202122053001 U CN 202122053001U CN 216595945 U CN216595945 U CN 216595945U
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Abstract
The utility model discloses a control system of a rotary cleaning machine, which comprises: the main controller is used for storing a map and local user data, acquiring and detecting all sensor outputs of the cleaning machine, determining a walking route and a current position of the trolley and issuing an operation instruction to the trolley; the positioning device is arranged on the trolley, positions the trolley and sends positioning information to the main controller; the wireless communication module is connected with the main controller and used for connecting the internet, forming a local area network in the trolley and providing data interaction for the trolley; and the spray head rotating motor is arranged on the trolley and controls the high-pressure water gun spray head arranged on the trolley to spray in a specified direction after rotating by receiving an instruction from the main controller. Through setting up positioner, wireless communication module, adopt main control unit to realize automatic navigation and control shower nozzle rotating electrical machines clean the appointed direction, improved clean efficiency, reduced the cost of labor.
Description
Technical Field
The utility model relates to the technical field of cultivation equipment, in particular to a control system of a rotary cleaning machine.
Background
With the development of modern equipment in the breeding industry, higher requirements are gradually put forward on the breeding environment. Due to the increasing of the breeding scale, if virus infection occurs, animals in the whole breeding area can be endangered, the possibility that harmless treatment is needed for the whole breeding animals can occur, great economic loss can be caused, the society can be harmed, and the poor breeding environment can directly pollute the surrounding air and water.
Therefore, it is necessary to ensure environmental quality. Use raising pigs as an example, for excrement and urine in the better collection pigsty, design into two-layer with the bottom surface of pigsty, the upper strata is for leaking the dropping board, is covered with rectangular hole on the board, and the pig manure passes through the rectangular hole and drops to the excrement and urine collection room of lower floor. At present wash the pig house and adopt artifical manual spray gun of holding to wash, especially when carrying out the dead angle and wash, operating personnel intensity of labour is big, work efficiency is low, and the water waste is serious, and this cleaning method has not been suitable for the washing of this kind of structure pigsty, and not only the cleaning performance is poor, and work efficiency is low moreover, has still wasted a large amount of manpowers.
Therefore, how to provide an automatic cleaning device, which is suitable for a cleaning machine for cleaning a colony house with a two-layer structure and has both cleaning effect and cleaning efficiency, is a technical problem that needs to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a control system of a rotary cleaning machine, which realizes automatic cleaning and automatic positioning, improves the cleaning efficiency and reduces the labor cost.
In order to solve the above technical problem, the present invention provides a control system for a rotary washing machine, comprising:
the main controller is used for storing a map and local user data, acquiring and detecting the output of all sensors of the cleaning machine, determining the walking route and the current position of the trolley and issuing a running instruction to the trolley;
the positioning device is arranged on the trolley, positions the trolley and sends positioning information to the main controller;
the wireless communication module is connected with the main controller and used for connecting the internet, forming a local area network in the trolley and providing data interaction for the trolley;
and the spray head rotating motor is arranged on the trolley and controls the high-pressure water gun spray head arranged on the trolley to spray in a specified direction after rotating by receiving an instruction from the main controller.
Wherein, the wireless communication module comprises at least one of a WIFI module and a CPE module.
The main controller is a main controller with a quad-core ARM processor as a CPU or a main controller with an Intel processor as the CPU.
The positioning device comprises an anti-collision detection module, a laser radar and an ultrasonic detector, wherein the anti-collision detection module is arranged on the trolley and is used for feeding back collision signals to the main controller after the trolley is detected to be in contact with obstacles, the laser radar is used for detecting environmental information around the trolley and uploading the environmental information to the main controller, positioning of the trolley and control of the motion state of the trolley are achieved, and the ultrasonic detector is used for detecting distance information between the trolley and surrounding obstacles and sending the distance information to the main controller.
The device also comprises a position detection sensor which is arranged on the trolley and used for detecting the angle of the spray head, and the detected rotating angle of the spray head is fed back to the main controller.
The trolley charging device comprises a trolley, and is characterized by further comprising an electric quantity detection device arranged on the trolley, and after the electric quantity of the trolley is judged to be lower than a threshold electric quantity, the trolley is controlled to be charged to a charging bin through a charging contact end.
The trolley also comprises a camera module arranged on the trolley.
The high-pressure water gun control system further comprises an electromagnetic valve which is arranged on the trolley and used for controlling the high-pressure water gun to be switched on and off.
The trolley is characterized by further comprising a parameter setting module which is arranged on the trolley and used for setting parameters.
Compared with the prior art, the control system of the rotary cleaning machine provided by the embodiment of the utility model has the following advantages:
the rotary cleaning machine control system adopts the main controller to realize automatic navigation and control the spray head rotating motor to clean the specified direction by setting the positioning device and the wireless communication module, improves the cleaning efficiency and reduces the labor cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a rotary washing machine control system according to one embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a control system of a rotary washing machine provided in the present application.
In one embodiment, the present invention provides a rotary washing machine control system comprising:
the main controller 10 is used for storing a map and local user data, acquiring and detecting the output of all sensors of the cleaning machine, determining the walking route and the current position of the trolley and issuing a running instruction to the trolley;
a positioning device 30, which is arranged on the trolley, positions the trolley and sends positioning information to the main controller 10;
the wireless communication module 20 is connected with the main controller 10 and used for connecting the internet, forming a local area network in the trolley and providing data interaction for the trolley;
and a nozzle rotating motor 40 which is provided in the carriage and controls a high pressure water gun nozzle provided in the carriage to spray in a designated direction after rotating by receiving an instruction from the main controller 10.
By arranging the positioning device 30 and the wireless communication module 20, the main controller 10 is adopted to realize automatic navigation and control the spray head rotating motor 40 to clean in the specified direction, so that the cleaning efficiency is improved, and the labor cost is reduced.
Adopt positioner 30 to realize the location in this application, realize data transmission and instruction transmission through wireless communication module 20, this application does not do the restriction to wireless communication module 20's quantity, type and set position, generally wireless communication module 20 includes at least one in WIFI module, the CPE module.
The main controller is a whole vehicle core control unit, a storage map, local household data, all sensors for detecting a cleaning machine, a driving trolley for walking, positioning the position of the trolley, issuing running instructions of the trolley and the like, and does not limit the use of the processor and the data processing mode of the main controller, generally the main controller 10 is a main controller taking a quad-core ARM processor as a CPU or a main controller taking an Intel processor as the CPU.
Because generally adopt wireless mode to carry out self-cleaning, consequently need consume the electric energy and drive, and the ARM treater generally is low-power consumption treater, can make the dolly have longer duration, and adopt Intel treater to have higher energy consumption, duration may be reduced under the same condition, but generally can be based on use cost, duration etc. factor comprehensive consideration. For example, according to the use cost, the operation amount, the endurance time and the like, one of the processors is used as the CPU, or the two processors are used in cooperation, the ARM processor is used when the operation amount is low, the Intel processor is used when the operation amount is high, or the ARM processor is selected when the cleaning of the period is completed and charging is needed, such as the electric quantity is low and the endurance time needs to be kept, whereas the electric quantity is high at present, and when the cleaning period is to be completed immediately, the Intel processor can be selected as the CPU, or other selections are made according to the use cost, the storage battery capacity and the like, which is not limited in the application.
The processors of the present application may alternatively include, but are not limited to, ARM processors, Intel processors, and may alternatively be other types of processors, as long as the desired computational control needs are met.
Do not do the restriction to positioner 30 in this application, its main objective is to fix a position and route planning to the dolly, but in the in-service use, the dolly is not can freely take off, if in somewhere, can have the heel post to bulge the wall, just so need turn to in this position, or set up other sensors and need turn to, perhaps meet other barriers and need turn to etc. moreover because the dolly can set up the high-pressure squirt, should keep certain interval with the barrier, guarantee that dolly and erection equipment can not be damaged by the collision.
In order to solve the above technical problem, in an embodiment, the positioning device 30 includes an anti-collision detection module, a laser radar and an ultrasonic detector, which are disposed on the trolley, wherein the anti-collision detection module is configured to detect that the trolley collides with an obstacle, and then feed a collision signal back to the main controller 10, the laser radar is configured to detect environmental information around the trolley and upload the environmental information to the main controller 10, so as to realize positioning of the trolley and control a movement state of the trolley, and the ultrasonic detector is configured to detect information about a distance between the trolley and the obstacle around the trolley and send the information to the main controller 10.
Through laser thunder, ultrasonic detector, can realize the detection to barrier around, the two can realize complementing and mutual backup moreover, uses simultaneously and can improve its reliability of use greatly, and adopts the anticollision detection module, can protect the important position of dolly, avoids leading to the collision damage of equipment because other equipment trouble.
This application is right the position and the structural type of setting up, quantity of anticollision detection module, laser radar and ultrasonic detector do not do the restriction, in addition, can also set up the positioner 30 of other types to guarantee the walking safety of dolly.
Because need adopt the high-pressure squirt to clean in this application, but it need rotate at clean in-process to guarantee that the scope in appointed region can both be in clean within range, therefore also need the position of real-time supervision ware injection angle and relative dolly, thereby improve control accuracy.
To achieve this technical effect, in one embodiment, the control system of the rotary washing machine further includes a position detection sensor provided at a dolly for detecting an angle of the spray head, and feeds back the detected angle of rotation of the spray head to the main controller 10.
It should be pointed out that, do not do the restriction to position detection sensor's detection mode, quantity in this application, the quantity of high-pressure squirt also can set for as required in addition, like double-unit dress, triple-unit dress etc. even two high-pressure squirts spray simultaneously, but its injection angle is opposite, can guarantee like this that the dolly is in steady state and need not to set up damping device specially when improving clean efficiency, simplifies whole device, improve equipment's availability factor.
In order to ensure the operation reliability and avoid stopping working in one period of use due to no electricity, in one embodiment, the control system of the rotary cleaning machine further comprises an electric quantity detection device arranged on the trolley, and after the electric quantity of the trolley is judged to be lower than the threshold electric quantity contact end, the trolley is controlled to charge the charging bin through charging.
In order to facilitate real-time monitoring and ensure that the actual cleaning range and the traveling path are in accordance with the settings, in one embodiment, the control system of the rotary washing machine further comprises a camera module disposed on the cart.
This application does not do the injecing to the quantity and the mounted position of module of making a video recording, and the module of making a video recording can follow the high-pressure squirt and rotate moreover, realizes seeing where and where clean promptly, has improved clean efficiency.
Through the vertical angle and the horizontal rotation angle of control high-pressure squirt in this application, realize the cleanness to different positions, do not injecing to its break-make, in an embodiment, in order to guarantee its use reliability and structure simplicity, rotation type cleaning machine control system is still including setting up the dolly is used for controlling the solenoid valve of high-pressure squirt break-make.
The electromagnetic valve is adopted to control the on-off of the high-pressure water gun, so that the control mode is simple.
Except the sensor modules such as the positioning module, the liquid level monitoring module for liquid level monitoring, the camera module for photographing and the like can be arranged in the application.
In order to solve the technical problem that the path planning needs to be changed due to different structures and sizes of different culture areas, corresponding working parameters need to be set, and in addition, due to different maps, in one embodiment, the rotary washing machine control system further comprises a parameter setting module which is arranged on the trolley and used for setting the parameters.
The parameter setting module can be set in an external mode, if the parameter setting is needed, the parameter setting module is connected with the trolley to carry out parameter setting, after the setting is finished, the parameter setting module is separated from the trolley, or the parameter setting module is directly set and fixed on the trolley, and the parameter setting module can also be in various modes, such as key input, touch in and out, remote input and the like.
Besides, the trolley is not limited under the power, and can be driven by a single motor or multiple motors.
In one embodiment, the rotary washing machine control system comprises a main controller CPU which is a core controller, other peripheral auxiliary processing, data acquisition, signal detection and execution mechanism; the main controller CPU adopts a quad-core ARM processor as a core control unit of the whole vehicle, stores maps, local household data, detects all sensors of the cleaning machine, drives the trolley to travel, positions the trolley, issues running instructions of the trolley and the like. The network CPE is used for connecting the Internet, forming a local area network for the interior of the trolley and providing a data interaction platform for the interior of the trolley. The laser radar scans the surrounding environment, so that the surrounding environment state is uploaded to a main controller CPU, and the positioning and environment state of the trolley are provided. The video stream of the camera meets the requirement of observing the state and the position of the vehicle through the video.
The one-driving-two driver is used for controlling the first motor and the second motor to operate, and the first motor and the second motor are power sources for the trolley to walk. The sprayer rotating motor driver is used for controlling the rotation of the sprayer rotating motor, and the sprayer rotating motor drives the high-pressure water gun sprayer to rotate through the transmission structure after rotating. The position detection sensor: the device is used for detecting the rotating angle of the spray head and feeding back to a main controller CPU. The electromagnetic valve controls the water flow on-off device of the high-pressure water pipe of the cleaning machine. And the anti-collision detection is a sensor for detecting whether the trolley touches an obstacle, and when the trolley touches the obstacle, a signal is fed back to the main controller CPU. An ultrasonic detection device is added to assist the laser radar in detecting the surrounding environment; and detecting the distance between the trolley and the wall in real time.
When in specific operation, the method comprises the following steps:
step one, starting running of a trolley; a main switch of the trolley is turned on, and all parts of the trolley are electrified to start running; after the network CPE is connected to the Internet, the main controller CPU is connected with the network through the network CPE, the trolley can be displayed on the networking platform at the moment, and an instruction can be issued to the trolley through the Internet platform or the mobile phone APP at the moment;
secondly, after the trolley is started up again in the pigsty, a worker connects a water pipe of the trolley to a high-pressure water pipe connector in the pigsty; then, the trolley is instructed to start to execute a cleaning task through the mobile phone APP;
step three, after the trolley receives a cleaning instruction, loading a map stored in a main controller CPU (Central processing Unit), positioning the position of the trolley by using a laser radar and an auxiliary positioning sensor through ultrasonic waves, and then cleaning according to a preset route, wherein in the running process of the trolley, the main controller CPU sends an instruction to a one-to-two driver through a CAN (controller area network) bus to control two motors to rotate to drive the trolley to run, and the main controller CPU monitors the distance between the trolley and an obstacle and a wall by reading the laser radar and the ultrasonic data in real time and corrects the running route of the trolley in real time; when the trolley enters a cleaning process, firstly, the electromagnetic valve is opened, the spray nozzle sprays high-pressure water flow to clean the pigsty, after the spray nozzle is opened, the main controller sends an instruction to drive the spray nozzle rotating motor to rotate, and after the motor rotates, the spray nozzle is driven to rotate through the transmission device, so that the position of the high-pressure water flow is changed to achieve a cleaning effect; in the process of rotating the spray head, because the spray head does not need to rotate by 360 degrees, the position monitoring sensor feeds back a detection signal to the main controller CPU after detecting that the spray head rotates to a certain angle, and the main controller CPU drives the motor to rotate in the opposite direction; after the spray head rotates, the trolley simultaneously starts to walk and advance for cleaning; knowing that the formulated route is cleaned, the trolley returns to the starting point to stop, and reports a cleaning completion instruction through the network CPE to call a worker.
Step four, in the process of cleaning the trolley, if workers need to check the cleaning state of the trolley, the position and the track of the trolley can be checked in real time through the mobile phone APP; the camera information of the trolley can be checked through the APP, and the environment around the trolley is observed.
In the structure of the application, a main controller CPU and external equipment are adopted to realize the control system of the cleaning machine, the whole system is simple in structure, and the cleaning process is unmanned. The rotary cleaning machine can wash pigs in a colony house at any angle, so that the problem that dead corners are not cleaned in place is effectively solved while manpower is saved.
In summary, the control system of the rotary washing machine provided in the embodiment of the present invention, by setting the positioning device and the wireless communication module, adopts the main controller to realize automatic navigation and control the nozzle rotating motor to clean in the designated direction, improves the cleaning efficiency, and reduces the labor cost.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A rotary cleaning machine control system, comprising:
the main controller is used for storing a map and local user data, acquiring and detecting the output of all sensors of the cleaning machine, determining the walking route and the current position of the trolley and issuing a running instruction to the trolley;
the positioning device is arranged on the trolley, positions the trolley and sends positioning information to the main controller;
the wireless communication module is connected with the main controller and used for connecting the internet, forming a local area network in the trolley and providing data interaction for the trolley;
and the spray head rotating motor is arranged on the trolley and controls the high-pressure water gun spray head arranged on the trolley to spray in a specified direction after rotating by receiving an instruction from the main controller.
2. The rotary washing machine control system as recited in claim 1 wherein the wireless communication module comprises at least one of a WIFI module and a CPE module.
3. The rotary cleaning machine control system according to claim 2, wherein the main controller is a quad-core ARM processor CPU or an Intel processor CPU.
4. The rotary washing machine control system as claimed in claim 3, wherein said positioning device comprises an anti-collision detection module, a laser radar and an ultrasonic detector, said anti-collision detection module is arranged on said trolley and is used for detecting that said trolley hits the obstacle and feeding back the collision signal to said main controller, said laser radar is used for detecting the environmental information around said trolley and uploading the information to said main controller, thereby realizing the positioning of said trolley and controlling the movement state of said trolley, said ultrasonic detector is used for detecting the distance information between said trolley and the surrounding obstacle and sending the information to said main controller.
5. The rotary cleaning machine control system according to claim 4, further comprising a position detection sensor provided in the carriage for detecting an angle of the spray head, and feeding back the detected angle of rotation of the spray head to the main controller.
6. The rotary cleaning machine control system according to any one of claims 1-5, further comprising a power detection device disposed on the cart for controlling the cart to be charged to the charging chamber through the charging contact after determining that the power of the cart is lower than a threshold power.
7. The rotary cleaning machine control system of claim 6, further comprising a camera module disposed on the cart.
8. The rotary cleaning machine control system according to claim 7, further comprising a solenoid valve disposed on said carriage for controlling the on/off of said high pressure water gun.
9. The rotary cleaning machine control system of claim 8, further comprising a parameter setting module disposed on the cart for setting parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122053001.0U CN216595945U (en) | 2021-08-27 | 2021-08-27 | Rotary cleaning machine control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122053001.0U CN216595945U (en) | 2021-08-27 | 2021-08-27 | Rotary cleaning machine control system |
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| Publication Number | Publication Date |
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| CN216595945U true CN216595945U (en) | 2022-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202122053001.0U Active CN216595945U (en) | 2021-08-27 | 2021-08-27 | Rotary cleaning machine control system |
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| CN (1) | CN216595945U (en) |
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2021
- 2021-08-27 CN CN202122053001.0U patent/CN216595945U/en active Active
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