CN108909972A - A kind of control system of hull bottom perphyton intelligence cleaner - Google Patents
A kind of control system of hull bottom perphyton intelligence cleaner Download PDFInfo
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- 238000004891 communication Methods 0.000 claims abstract description 31
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
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Abstract
本发明公开了一种船底固着生物智能清理装置的控制系统，包括集控车控制系统、用于控制清理器进行清洗作业的清理器控制系统、用于控制导线箱进行收放线的导线箱齿轮减速机；所述集控车控制系统包括有控制面板和集控车主板，所述集控车主板包括有集控车主板输出模块接口、集控车主板输入模块接口、集控车主板通讯模块接口和集控车主板电源模块接口；所述导线箱齿轮减速机与集控车主板连接；所述导线箱齿轮减速电机、清理器控制系统、控制面板均连接在集控车主板上；该控制系统结构简单，使用方便，通过导线箱与清洗器的联动化控制，便于智能调节更换清洗区域。
The invention discloses a control system for an intelligent cleaning device for fixed organisms at the bottom of a ship, which includes a centralized control vehicle control system, a cleaning device control system for controlling the cleaning device to perform cleaning operations, and a wire box gear for controlling the wire box to retract and release lines Reducer; the centralized control car control system includes a control panel and a centralized control car main board, and the centralized control car main board includes a centralized control car main board output module interface, a centralized control car main board input module interface, and a centralized control car main board communication module interface and the power supply module interface of the main board of the centralized control vehicle; the said wire box gear reducer is connected with the main board of the centralized control vehicle; The system is simple in structure and easy to use. Through the linkage control of the wire box and the cleaner, it is convenient to intelligently adjust and replace the cleaning area.
Description
技术领域technical field
本发明属于船舶清洗设备技术领域，特别涉及一种船底固着生物智能清理器的控制系统。The invention belongs to the technical field of ship cleaning equipment, in particular to a control system for a biological intelligent cleaner fixed to the bottom of a ship.
背景技术Background technique
船只在航行时附着生物比较少，但只要船只停靠在港口码头上不航行，船底就会开始附着生长一些海底生物；这些生长在船底的海底生物，会固着在船底表面，十分坚固，很难清洗；大量的固着生物增加了船舶自身重量，影响了船底外壳的光滑，增加了航行时的阻力；有资料说，船底赘生生物将使船舶动力损失5％-10％，严重时，这个数字可能更高；间接的，影响船舶的航行油耗，航行速度也会降低；航运公司每年都会花费大量的资金请蛙人进行船底生物清洗；There are relatively few attached organisms when the ship is sailing, but as long as the ship is docked on the port wharf and does not sail, some sea creatures will start to grow on the bottom of the ship; these sea creatures that grow on the bottom of the ship will be fixed on the surface of the bottom of the ship, which is very strong and difficult to clean ;A large number of sessile organisms increase the weight of the ship itself, affect the smoothness of the bottom shell, and increase the resistance during navigation; some data say that the vegetation on the bottom of the ship will cause a loss of 5%-10% of the ship's power. In severe cases, this figure may Higher; indirectly, it will affect the fuel consumption of the ship, and the speed of the ship will also be reduced; the shipping company spends a lot of money every year to hire frogmen to carry out biological cleaning of the bottom of the ship;
为了减少人力和成本，保证清洗的安全性和便利性，本公司需要研发出一种船底固着生物清理装置；用于对船底附着生物进行清洗；如图1所示一种船底固着生物清理装置，设有集控车1、导线箱12、清理器13、悬挂滑轮组件14；集控车1和导线箱12可放置于船甲板上、清洗器13悬挂在船体侧面，对船侧及船底进行清洗；若没有智能控制系统，清洗器13在清洗一个区域完毕时，则需要人为的收放导线箱12中的线，在清洗器转换位置清洗时，是非常不方便的；而且如果导线箱12的收放线与清理器的清理不联动的化，也无法做到自动换区域清洗或者按照预先设定的区域进行清洗。In order to reduce manpower and cost, and ensure the safety and convenience of cleaning, the company needs to develop a device for cleaning biological fixation on the bottom of the ship; it is used to clean the attached organisms on the bottom of the ship; as shown in Figure 1, a device for cleaning biological fixation on the bottom of the ship, There is a centralized control vehicle 1, a wire box 12, a cleaner 13, and a suspension pulley assembly 14; the centralized control vehicle 1 and the wire box 12 can be placed on the deck of the ship, and the cleaner 13 is hung on the side of the hull to clean the side and bottom of the ship If there is no intelligent control system, when cleaning device 13 finishes cleaning a region, it is necessary to artificially retract and release the line in the wire box 12, which is very inconvenient when the cleaning device changes position to clean; and if the wire box 12 If the take-up and take-up line is not linked with the cleaning of the cleaner, it is also impossible to automatically change the area for cleaning or clean according to the preset area.
发明内容Contents of the invention
为了克服现有技术存在的不足，本发明提供了一种船底固着生物智能清理器的控制系统，便于船底固着生物智能清洗器更换清洗区域。In order to overcome the deficiencies in the prior art, the present invention provides a control system for a biological intelligent cleaner fixed at the bottom of a ship, which is convenient for the biological intelligent cleaner fixed at the bottom of a ship to replace the cleaning area.
本发明解决其技术问题所采用的技术方案是：The technical solution adopted by the present invention to solve its technical problems is:
一种船底固着生物智能清理装置的控制系统，包括集控车控制系统、用于控制清理器进行清洗作业的清理器控制系统、用于控制导线箱进行收放线的导线箱齿轮减速机；所述集控车控制系统包括有控制面板和集控车主板，所述集控车主板包括有集控车主板输出模块接口、集控车主板输入模块接口、集控车主板通讯模块接口和集控车主板电源模块接口；所述导线箱齿轮减速机设有导线箱电机驱动模块，所述导线箱电机驱动模块与集控车主板输出模块接口连接；所述集控车主板通讯模块接口连接有通讯总线，所述导线箱齿轮减速电机、清理器控制系统、控制面板均通过通讯总线连接在集控车主板通讯模块接口上。A control system for a fixed biological intelligent cleaning device at the bottom of a ship, including a centralized control vehicle control system, a cleaner control system for controlling the cleaner to perform cleaning operations, and a wire box gear reducer for controlling the wire box to take in and out the wire; The centralized control car control system includes a control panel and a centralized control car main board, and the centralized control car main board includes an output module interface of the centralized control car main board, an input module interface of the centralized control car main board, a communication module interface of the centralized control car main board and a centralized The power supply module interface of the main board of the car; the lead box gear reducer is provided with a lead box motor drive module, and the lead box motor drive module is connected with the output module interface of the main board of the centralized control car; the communication module interface of the main board of the centralized control car is connected with a communication The bus, the wire box gear reduction motor, the cleaner control system, and the control panel are all connected to the communication module interface of the main board of the centralized control vehicle through the communication bus.
优选的，所述清理器控制系统包括清理器主板、套刷电机驱动模块、电磁吸盘驱动模块、清理器电源适配器；所述清理器主板包括有清理器主板输出模块接口、清理器主板通讯模块接口、清理器主板电源模块接口、清理器主板输入模块接口；所述套刷电机驱动模块、电磁吸盘驱动模块均与清理器主板输出模块接口连接；所述清理器电源适配器与清理器主板电源模块接口连接，所述清理器主板通讯模块接口连接有总线电缆，所述总线电缆用于连接所述通讯总线。Preferably, the cleaner control system includes a cleaner main board, a brush motor drive module, an electromagnetic chuck drive module, and a cleaner power adapter; the cleaner main board includes a cleaner main board output module interface and a cleaner main board communication module interface , cleaner mainboard power module interface, cleaner mainboard input module interface; the brush motor drive module and electromagnetic sucker drive module are all connected to the cleaner mainboard output module interface; the cleaner power adapter is connected to the cleaner mainboard power module interface connection, the communication module interface of the main board of the cleaner is connected with a bus cable, and the bus cable is used for connecting the communication bus.
优选的，所述套刷电机驱动模块包括有第一套刷电机驱动模块、第二套刷电机驱动模块、第三套刷电机驱动模块；第一套刷电机驱动模块、第二套刷电机驱动模块和第三套刷电机驱动模块用于分别控制一个清洗套刷。Preferably, the brush motor drive module includes a first brush motor drive module, a second brush motor drive module, and a third brush motor drive module; the first brush motor drive module, the second brush motor drive module The module and the third brush motor drive module are used to respectively control a cleaning brush.
优选的，所述清理器控制系统还包括有清理器倾角仪、测距轮编码器，所述清理器倾角仪和所述测距轮编码器均与清理器主板输入模块接口连接。Preferably, the cleaner control system further includes a cleaner inclinometer and a distance-measuring wheel encoder, and both the cleaner inclinometer and the distance-measuring wheel encoder are connected to the input module interface of the cleaner main board.
优选的，所述集控车主板电源模块接口连接有电源适配器和/或应急电源。Preferably, a power adapter and/or an emergency power supply are connected to the interface of the power supply module of the main board of the centralized control vehicle.
优选的，所述集控车控制系统还包括双组履带驱动模块、声光报警模块；所述双组履带驱动模块和所述声光报警模块均与集控车主板输出模块接口连接。Preferably, the centralized control vehicle control system further includes a double-set crawler drive module and an audible-light alarm module; both the double-set crawler drive module and the sound-light alarm module are connected to the output module interface of the centralized control vehicle main board.
优选的，所述集控车控制系统还包括集控车倾角仪模块、漫反射式避障探头、行程开关模块；所述集控车倾角仪模块、漫反射式避障探头和行程开关模块均与集控车主板输入模块接口连接。Preferably, the centralized control vehicle control system also includes a centralized control vehicle inclinometer module, a diffuse reflection obstacle avoidance probe, and a travel switch module; the centralized control vehicle inclinometer module, diffuse reflection obstacle avoidance probe and travel switch module Connect with the input module interface of the central control vehicle main board.
优选的，所述集控车控制系统还包括数据终端模块、2.4G接收器模块；所述数据终端模块和所述2.4G接收器模块均通过通讯总线与集控车主板通讯模块接口连接。Preferably, the control system of the centralized control vehicle further includes a data terminal module and a 2.4G receiver module; both the data terminal module and the 2.4G receiver module are connected to the communication module of the mainboard of the centralized control vehicle through a communication bus.
优选的，所述集控车控制系统还包括有上位机服务器、云台摄像头；所述云台摄像头与集控车主板连接，所述上位机服务器通过2.4G接收器模块与集控车主板远程连接。Preferably, the centralized control vehicle control system also includes an upper computer server and a cloud platform camera; the cloud platform camera is connected to the centralized control vehicle main board, and the upper computer server is remotely connected to the centralized control vehicle main board through a 2.4G receiver module connect.
优选的，集控车主板为单板工程板FX2N-32MR2048MT或者stm32单片机；所述清理器主板为单板工程板FX2N-32MR2048MT或者stm32单片机。Preferably, the main board of the centralized control vehicle is a single-board engineering board FX2N-32MR2048MT or a stm32 single-chip microcomputer; the main board of the cleaner is a single-board engineering board FX2N-32MR2048MT or a stm32 single-chip microcomputer.
本发明的有益效果是：本发明的一种船底固着生物智能清理装置的控制系统，包括集控车控制系统、清理器控制系统和导线箱齿轮减速机，集控车控制系统设有控制面板和集控车主板，通过控制面板可以将指定信息输入集控车主板，再由集控车主板输出给导线箱齿轮减速机和清洗器控制系统，控制导线箱收放线，以及将指定信息传输给清洗器控制系统进行清洗作业；该控制系统结构简单，使用方便，当清洗器在一个区域清洗完毕时，集控车主板就可以控制导线箱齿轮减速电机进行相应的收放线，以配合清洗器换位置，使导线箱的收放线与清理器智能联动，清洗更加方便。The beneficial effect of the present invention is: the control system of a kind of ship bottom fixed biological intelligent cleaning device of the present invention comprises centralized control vehicle control system, clearer control system and wire box gear reducer, and centralized control vehicle control system is provided with control panel and The main board of the centralized control vehicle can input the specified information into the main board of the centralized control vehicle through the control panel, and then the main board of the centralized control vehicle outputs to the control system of the wire box gear reducer and the washer, controls the retraction and release of the wire box, and transmits the specified information to The cleaning operation is carried out by the cleaner control system; the control system is simple in structure and easy to use. When the cleaner is cleaned in one area, the main board of the centralized control vehicle can control the wire box gear reducer motor to perform corresponding retraction and release lines to cooperate with the cleaner Change the position, so that the take-up and release line of the wire box is intelligently linked with the cleaner, and the cleaning is more convenient.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明所述的一种船底固着生物智能清理装置的结构示意图；Fig. 1 is the structural representation of a kind of fixed biological intelligent cleaning device at the bottom of the ship according to the present invention;
图2是本发明所述的清理器的外观结构示意图；Fig. 2 is the appearance structure schematic diagram of cleaner described in the present invention;
图3是本发明所述的一种船底固着生物智能清理装置的控制系统的电路原理框图；Fig. 3 is the circuit principle block diagram of the control system of a kind of ship bottom fixed biological intelligent cleaning device according to the present invention;
图4是本发明所述的清理器的电路原理框图。Fig. 4 is a schematic block diagram of the circuit of the cleaning device of the present invention.
具体实施方式Detailed ways
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
实施例1Example 1
如图1-4所示的一种船底固着生物智能清理装置的控制系统，包括集控车控制系统、用于控制清理器进行清洗作业的清理器控制系统2、用于控制导线箱进行收放线的导线箱齿轮减速机3；所述集控车控制系统包括有控制面板4和集控车主板5，所述集控车主板5包括有集控车主板输出模块接口51、集控车主板输入模块接口52、集控车主板通讯模块接口53和集控车主板电源模块接口54；所述导线箱齿轮减速机3设有导线箱电机驱动模块31，所述导线箱电机驱动模块31与集控车主板输出模块接口51连接；所述集控车主板通讯模块接口53连接有通讯总线55，所述导线箱齿轮减速电机3、清理器控制系统2、控制面板4均通过通讯总线44连接在集控车主板通讯模块接口53上。As shown in Figure 1-4, a control system for a fixed biological intelligent cleaning device at the bottom of a ship, including a centralized control vehicle control system, a cleaning device control system for controlling the cleaning device to perform cleaning operations 2, and a control system for controlling the wire box to retract The wire box gear reducer 3 of the line; the centralized control car control system includes a control panel 4 and a centralized control car main board 5, and the centralized control car main board 5 includes a centralized control car main board output module interface 51, a centralized control car main board Input module interface 52, centralized control vehicle main board communication module interface 53 and centralized control vehicle main board power supply module interface 54; Described lead box gear reducer 3 is provided with lead box motor drive module 31, and described lead box motor drive module 31 is connected with set control car main board power supply module interface 54; Control car mainboard output module interface 51 is connected; Described centralized control car mainboard communication module interface 53 is connected with communication bus 55, and described lead box gear reduction motor 3, clearer control system 2, control panel 4 are all connected in by communication bus 44 On the communication module interface 53 of the main board of the centralized control vehicle.
清洗器控制系统2、导线箱齿轮减速电机3均与集控车主板5连接通讯，集控车主板5可以对清洗器控制系统2和导线箱齿轮减速电机3进行统筹，当清洗器移动时，需要换位时，集控车主板5就可以控制导线箱齿轮减速电机3进行相应的收放线，以配合清洗器13换位置，使导线箱12的收放线与清理器13的清洗联动起来。The washer control system 2 and the wire box gear reduction motor 3 are all connected and communicated with the centralized control vehicle main board 5, and the centralized control vehicle main board 5 can coordinate the washer control system 2 and the wire box gear reduction motor 3. When transposition is required, the main board 5 of the centralized control vehicle can control the wire box gear reduction motor 3 to carry out corresponding retraction and release lines, so as to cooperate with the position change of the cleaner 13, so that the retraction and release lines of the wire box 12 and the cleaning of the cleaner 13 are linked .
本申请中，所述清理器控制系统2包括清理器主板6、套刷电机驱动模块21、电磁吸盘驱动模块22、清理器电源适配器23；所述清理器主板6包括有清理器主板输出模块接口61、清理器主板通讯模块接口62、清理器主板电源模块接口63、清理器主板输入模块接口64；所述套刷电机驱动模块21、电磁吸盘驱动模块22均与清理器主板输出模块接口61连接；所述清理器电源适配器23与清理器主板电源模块接口63连接，所述清理器主板通讯模块接口62连接有总线电缆65，所述总线电缆65连接所述通讯总线55。In the present application, the cleaner control system 2 includes a cleaner main board 6, a brush motor drive module 21, an electromagnetic chuck drive module 22, and a cleaner power adapter 23; the cleaner main board 6 includes a cleaner main board output module interface 61. Cleaner mainboard communication module interface 62, cleaner mainboard power module interface 63, cleaner mainboard input module interface 64; the brush motor drive module 21 and electromagnetic chuck drive module 22 are all connected to the cleaner mainboard output module interface 61 The cleaner power adapter 23 is connected to the cleaner motherboard power module interface 63, the cleaner motherboard communication module interface 62 is connected to a bus cable 65, and the bus cable 65 is connected to the communication bus 55.
如图2所示，本实施例的清理器，设有三个金属尼龙清洗套刷，132、133和134；还设有3个电磁吸盘装131；As shown in Figure 2, the cleaning device of the present embodiment is provided with three metal nylon cleaning brushes, 132, 133 and 134; 3 electromagnetic suckers are also provided with 131;
清洗器主板6通过总线电缆65与集控车主板5进行通信，接收集控车的指定，可控制清理器接通电源，可以控制电磁吸盘驱动模块22使三个电磁吸盘通电产生磁力吸附在船体外壁上，还可控制套刷电机驱动模块21进而驱动三个金属尼龙清洗套刷进行转动清洗；The cleaner main board 6 communicates with the centralized control vehicle main board 5 through the bus cable 65, receives the designation of the centralized control vehicle, can control the cleaning device to be powered on, and can control the electromagnetic chuck drive module 22 so that the three electromagnetic chucks are energized to generate magnetic adsorption on the hull On the outer wall, the brush motor drive module 21 can also be controlled to drive three metal nylon cleaning brushes to rotate and clean;
本实施例中，所述套刷电机驱动模块21包括有第一套刷电机驱动模块、第二套刷电机驱动模块、第三套刷电机驱动模块；第一套刷电机驱动模块、第二套刷电机驱动模块和第三套刷电机驱动模块用于分别控制一个清洗套刷。在其它实施例中，当清理器13只设置一个套刷时，就只需要设置第一套刷电机驱动模块；当清理器只设置两个套刷时就需要第一套刷电机驱动模块、第二套刷电机驱动模块；当设有多于三个套刷时，套刷电机驱动模块21就需要分别控制更多的电机；同样的，不论设置多少个电磁吸盘，都可以通过电磁吸盘驱动模块22进行控制。In this embodiment, the brush motor drive module 21 includes a first brush motor drive module, a second brush motor drive module, and a third brush motor drive module; the first brush motor drive module, the second brush motor drive module The brush motor drive module and the third set of brush motor drive modules are used to respectively control a set of cleaning brushes. In other embodiments, when the cleaner 13 is provided with only one brush, only the first brush motor drive module needs to be provided; when the cleaner only has two brushes, the first brush motor drive module, the second Two sets of brush motor drive modules; when there are more than three sets of brushes, the set brush motor drive module 21 needs to control more motors respectively; similarly, no matter how many electromagnetic chucks are set, the modules can be driven by the electromagnetic chucks 22 for control.
本实施例中，各电机的驱动模块分别驱动电机，控制电机转速，使得各套刷的转动速度不相同，就可以控制清理器的移动走向和移动距离；可调节转速一致，达到平衡，清理器13就可以在一个地方进行清洗，控制转速不一致，清理器13就可以更换清理位置；同时集控车主板5还可以联动控制导线箱齿轮减速电机3对导线箱的固定缆绳和输出电缆进行收放线；从而配合清理器13的移动。In this embodiment, the drive modules of each motor drive the motors respectively to control the speed of the motors, so that the rotation speeds of the brushes are different, so that the moving direction and moving distance of the cleaner can be controlled; 13 can be cleaned in one place, and if the control speed is inconsistent, the cleaner 13 can replace the cleaning position; at the same time, the main board 5 of the centralized control vehicle can also control the wire box gear reduction motor 3 to retract and release the fixed cable and output cable of the wire box line; thus cooperate with the movement of cleaner 13.
本实施例中，集控车主板5为单板工程板FX2N-32MR20 48MT或者stm32单片机；所述清理器主板为单板工程板FX2N-32MR20 48MT或者stm32单片机。In this embodiment, the centralized control vehicle main board 5 is a single-board engineering board FX2N-32MR20 48MT or stm32 single-chip microcomputer; the cleaner main board is a single-board engineering board FX2N-32MR20 48MT or stm32 single-chip microcomputer.
实施例2，本实施例与实施例1的不同之处在于：Embodiment 2, the difference between this embodiment and embodiment 1 is:
如图1-4所示，本实施例中，所述清理器控制系统2还包括有清理器倾角仪24、测距轮编码器25，所述清理器倾角仪24和测距轮编码器25均与清理器主板输入模块接口64连接。如图2所示，清理器的两侧均设有测距轮135，测距轮135的主轴与测距轮编码器25连接，测距轮编码器25通过测距轮135的转数，可以将距离换算为电信号，传递给清理器主板6；清理器倾角仪24和测距轮编码器25配合，可让控制系统清楚的知道移动距离和路线，如此便可以实时的精确化制导。As shown in Figures 1-4, in the present embodiment, the cleaner control system 2 also includes a cleaner inclinometer 24, a distance-measuring wheel encoder 25, and the cleaner inclinometer 24 and a distance-measuring wheel encoder 25 All are connected with the main board input module interface 64 of the cleaner. As shown in Figure 2, the both sides of clearer are all provided with distance-measuring wheel 135, and the main shaft of distance-measuring wheel 135 is connected with distance-measuring wheel encoder 25, and distance-measuring wheel encoder 25 passes through the number of revolutions of distance-measuring wheel 135, can The distance is converted into an electrical signal and transmitted to the main board 6 of the cleaner; the inclinometer 24 of the cleaner cooperates with the distance measuring wheel encoder 25 to allow the control system to clearly know the moving distance and route, so that precise guidance can be performed in real time.
本实施例中，所述集控车主板电源模块接口63连接有电源适配器和/或应急电源。In this embodiment, the power adapter and/or emergency power supply are connected to the power supply module interface 63 of the centralized control vehicle main board.
实施例3，Example 3,
进一步的，为了更好的控制集控车1，达到更加方便的控制效果；Further, in order to better control the centralized control vehicle 1, to achieve a more convenient control effect;
如图1-4所示，所述集控车控制系统还包括双组履带驱动模块71、声光报警模块72；所述双组履带驱动模块71和所述声光报警模块72均与集控车主板输出模块接口51连接。集控侧1设有履带，来使集控车达到移动的目的；双组履带驱动模块71与集控车主板5连接，使得移动智能控制化；声光报警模块72使得集控车移动时如遇障碍物即可进行报警。As shown in Figures 1-4, the centralized control vehicle control system also includes a double-set crawler drive module 71 and an acousto-optic alarm module 72; the double-set crawler drive module 71 and the sound-light alarm module 72 are all connected The main board output module interface 51 is connected. The centralized control side 1 is equipped with crawlers to enable the centralized control vehicle to move; the double set of crawler drive modules 71 are connected to the main board 5 of the centralized control vehicle to make the movement intelligently controlled; the sound and light alarm module 72 makes the centralized control vehicle move as if An alarm can be issued when an obstacle is encountered.
本实施例中，所述集控车控制系统还包括集控车倾角仪模块73、漫反射式避障探头77、行程开关模块76；所述集控车倾角仪模块73、漫反射式避障探头77和行程开关模块76均与集控车主板输入模块接口52连接。本实施例中的集控车设有6组漫反射式避障探头77，3组行程开关模块76。In this embodiment, the centralized control vehicle control system also includes a centralized control vehicle inclinometer module 73, a diffuse reflection obstacle avoidance probe 77, a travel switch module 76; the centralized control vehicle inclinometer module 73, a diffuse reflection obstacle avoidance Both the probe 77 and the travel switch module 76 are connected to the input module interface 52 of the centralized control vehicle main board. The centralized control vehicle in this embodiment is provided with 6 sets of diffuse reflection obstacle avoidance probes 77 and 3 sets of travel switch modules 76 .
本实施例中，所述集控车控制系统还包括数据终端模块78、2.4G接收器模块79；所述数据终端模块78和所述2.4G接收器模块79均通过通讯总线55与集控车主板通讯模块接口54连接。In this embodiment, the centralized control vehicle control system also includes a data terminal module 78 and a 2.4G receiver module 79; the data terminal module 78 and the 2.4G receiver module 79 communicate with the centralized control vehicle through the communication bus 55 Mainboard communication module interface 54 is connected.
本实施例中，所述集控车控制系统还包括有上位机服务器(图未示)、云台摄像头(图未示)；所述云台摄像头与集控车主板5连接，所述上位机服务器通过2.4G接收器模块79与集控车主板远程连接。In this embodiment, the centralized control vehicle control system also includes a host computer server (not shown), a pan-tilt camera (not shown); the pan-tilt camera is connected to the centralized control vehicle main board 5, and the host computer The server is remotely connected with the main board of the centralized control vehicle through the 2.4G receiver module 79.
集控车设有集控车主板5、控制面板4、云台摄像头、漫反射式避障探头77、2.4G接收器模块79、声光报警模块72、数据终端模块78、行程开关76、集控车倾角仪模块73、应急电源75、双组履带驱动模块71、电源适配器74、上位机服务器。集控车的驱动方式有现场遥控及远程遥控两种：其中集控车通过数据终端模块78得到驱动权限后，技术员可通过遥控器进行驱动任务，遥控信号由2.4G接收器传递到双组履带驱动模块71从而完成遥控作业，现场控制有效的减少了网络延迟带来的控制滞后；当集控车1周围80cm有障碍物时，集控车1会停止驱动进行声光报警并将障碍物位置及周围视频通过数据终端模块78上传。上位机服务器通过网络得到障碍位置提示及视频信息后进行实时显示，技术员通过上位机显示的位置及视频信息进行远程驱动。根据障碍物位置视频信息及集控车的角度进行避障，驱动精度高避障效果好方向感强。集控车上可设置用于收纳清理器、导线箱、等物件的收纳格，并在收纳格中设置行程开关76；当清理部分、导线箱、悬挂式导线滑轮被技术员从相应的收纳置格中取出安装好后，集控车会根据收纳置格内的行程开关76状态向集控车主板5进行反馈，集控车主板5将反馈信息根据程序设定显示在控制面板4上。当清理部分按照画定区域，完成清理任务被收回时。技术员将清理部分、导线箱、悬挂式导线滑轮拆卸后放置到相应的收纳置格中，集控车会根据收纳置格内的行程开关状态向集控车主板5进行反馈，集控车主板5将反馈信息根据程序设定显示在控制面板4上。技术员以应答的形式进行控制步骤操作，有效的降低了操作难度减少人为操作误差。当技术员在现场遇到突发状况且无有效解决方法时，可以通过控制面板4进行报警。集控车将现场视频与技术员提供的现场情况分别推送到上位机服务器与设备负责人移动电话上，设备负责人与上位机会根据预警方案第一时间将解决方案向现场技术员推送。设有预警功能，具备一定抗风险能力。The centralized control vehicle is equipped with a centralized control vehicle main board 5, a control panel 4, a pan-tilt camera, a diffuse reflection obstacle avoidance probe 77, a 2.4G receiver module 79, an audible and visual alarm module 72, a data terminal module 78, a travel switch 76, Vehicle control inclinometer module 73, emergency power supply 75, double track drive module 71, power adapter 74, host computer server. There are two ways of driving the centralized control vehicle: on-site remote control and remote remote control: after the centralized control vehicle obtains the driving authority through the data terminal module 78, the technician can perform the driving task through the remote control, and the remote control signal is transmitted to the double track by the 2.4G receiver The drive module 71 thus completes the remote control operation, and the on-site control effectively reduces the control lag caused by network delay; when there is an obstacle 80cm around the centralized control vehicle 1, the centralized control vehicle 1 will stop driving and give an audible and visual alarm and notify the location of the obstacle And surrounding video is uploaded by data terminal module 78. The host computer server obtains the obstacle position prompt and video information through the network and displays it in real time, and the technician performs remote driving through the location and video information displayed by the host computer. Obstacle avoidance is performed according to the video information of the obstacle position and the angle of the centralized control vehicle. The driving precision is high, the obstacle avoidance effect is good, and the sense of direction is strong. The centralized control car can be provided with storage compartments for storing cleaners, wire boxes, and other objects, and a travel switch 76 is set in the storage grid; After being removed and installed, the centralized control vehicle will feed back to the centralized control vehicle main board 5 according to the state of the travel switch 76 in the storage compartment, and the centralized control vehicle main board 5 will display the feedback information on the control panel 4 according to the program setting. When the cleaning part is recovered according to the designated area and the cleaning task is completed. The technician disassembles the cleaning part, the wire box, and the suspended wire pulley and places them in the corresponding storage compartment. The centralized control vehicle will give feedback to the centralized control vehicle main board 5 according to the travel switch status in the storage compartment. The centralized control vehicle main board 5 The feedback information is displayed on the control panel 4 according to the program setting. The technician performs the control step operation in the form of response, which effectively reduces the difficulty of operation and reduces human error. When the technician encounters an unexpected situation at the scene and has no effective solution, he can report to the police through the control panel 4 . The centralized control vehicle pushes the on-site video and the on-site situation provided by the technician to the host computer server and the mobile phone of the equipment manager, and the equipment manager and the host will immediately push the solution to the on-site technician according to the early warning plan. It has an early warning function and has a certain ability to resist risks.
本实施例中，清理器13设有三组金属尼龙套刷132、133和134，三组电磁吸盘131、两个测距轮135、两个固定导线走线孔位固定在防爆外壳上。清理器内部设有三组电机驱动模块、两组测距轮编码器、三组电磁吸盘，清理器倾角仪模块24。In this embodiment, the cleaner 13 is provided with three sets of metal nylon brushes 132, 133 and 134, three sets of electromagnetic chucks 131, two distance measuring wheels 135, and two fixed wire routing holes are fixed on the explosion-proof casing. The inside of the cleaner is provided with three groups of motor drive modules, two groups of distance measuring wheel encoders, three groups of electromagnetic suckers, and the cleaner inclinometer module 24.
清理器13在执行自动清理任务时，集控车主板5通过总线电缆将控制信号传递给清理器主板6。清理器主板6通过清理器倾角仪模块24来确定自身倾斜角度。通过控制三组电机驱动器21来控制三组电机转速，其中前方套刷与后方套刷通过转速差来驱动清理器13的移动方向。测距轮135将测距信息通过测距轮编码器25传递给清理器主板6，再反馈到集控车主板5，集控车主板5根据清理器反馈的三组电机转速差、三组电磁吸盘档位、倾角仪角度、双组测距轮测距来执行自动清理任务。当时间与电磁吸盘档位一定时，集控车收到的三组电机转速差、倾角仪角度、双组测距轮测距信息大于无附着设定范围。则升高电磁吸盘档位且加强三组电机输出功率，直到相应反馈信息在无附着设定范围内恢复电磁吸盘及三组电机输出状态。以三组电机转速差的形式进行方向驱动。实现清理功能的同时免去独设方向硬件，增加了倾角仪与两组测距轮，实现画区清理功能的同时提高了清理精度。When the cleaning device 13 is performing an automatic cleaning task, the centralized control vehicle main board 5 transmits the control signal to the cleaning device main board 6 through the bus cable. The cleaner main board 6 determines its own inclination angle through the cleaner inclinometer module 24 . The rotational speeds of the three sets of motors are controlled by controlling the three sets of motor drivers 21 , wherein the moving direction of the cleaner 13 is driven by the speed difference between the front set brush and the rear set brush. The ranging wheel 135 transmits the ranging information to the cleaning device main board 6 through the ranging wheel encoder 25, and then feeds back to the centralized control vehicle main board 5. The position of the suction cup, the angle of the inclinometer, and the distance measurement of the double set of measuring wheels are used to perform automatic cleaning tasks. When the time and the gear position of the electromagnetic chuck are constant, the three sets of motor speed difference, the angle of the inclinometer, and the distance measurement information of the two sets of distance measuring wheels received by the centralized control vehicle are greater than the set range of no attachment. Then increase the gear position of the electromagnetic chuck and increase the output power of the three groups of motors until the corresponding feedback information restores the output state of the electromagnetic chuck and the three groups of motors within the no-attachment setting range. The direction drive is performed in the form of the speed difference of the three sets of motors. While realizing the cleaning function, the independent direction hardware is eliminated, and an inclinometer and two sets of distance measuring wheels are added to realize the cleaning function of the painting area while improving the cleaning accuracy.
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。Inspired by the above-mentioned ideal embodiment according to the present invention, through the above-mentioned description content, relevant workers can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.
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| CN208746208U (en) * | 2018-08-01 | 2019-04-16 | 广州奕航科技有限公司 | A kind of control system of hull bottom perphyton intelligence cleaner |
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Application publication date: 20181130 |