Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Wall washing vehicle and obstacle avoidance method thereof
The invention provides a wall washing vehicle and an obstacle avoidance method thereof. The wall washing vehicle comprises a chassis, an arm support system, a detection assembly and a control unit. The arm frame system is installed on the chassis and comprises an arm frame and a rolling brush assembly arranged at the tail end of the arm frame. The detection assembly is installed on the rolling brush assembly and used for recognizing a wall surface obstacle in front of the rolling brush assembly and obtaining the length and height of the obstacle. The control unit is electrically connected with the detection assembly and is configured to obtain a preset rotation angular velocity of the boom system; according to the preset rotation angular velocity of the boom system and the height of the obstacle, the obstacle avoidance initial distance between the rolling brush assembly and the obstacle in the obstacle avoidance process and the obstacle avoidance duration needed in the obstacle avoidance process of the rolling brush assembly are calculated; and controlling the arm support system to act according to the obstacle avoidance initial distance and the obstacle avoidance duration. The automatic obstacle avoidance function of the boom system is realized through the cooperation of the control unit and the detection assembly, so that the boom system does not need to be operated by human intervention to perform the obstacle avoidance action, and the obstacle avoidance efficiency is improved.
本发明提供一种洗墙车及其避障方法，该洗墙车包括底盘、臂架系统、检测组件和控制单元；臂架系统安装于底盘上并包括臂架和设于臂架末端的滚刷总成；检测组件安装于滚刷总成上并用于识别滚刷总成的前方的墙面障碍物和获取障碍物的长度、高度；控制单元与检测组件电连接并被配置为：获取臂架系统的预设回转角速度；根据臂架系统的预设回转角速度和障碍物的高度来计算滚刷总成避障时与障碍物之间的避障初始距离以及滚刷总成避障过程所需的避障时长；根据避障初始距离和避障时长来控制臂架系统动作。本发明通过控制单元和检测组件的配合来实现臂架系统自动避障的功能，从而不需要人为干预操作臂架系统进行避障动作，提高避障效率。
Wall washing vehicle and obstacle avoidance method thereof
The invention provides a wall washing vehicle and an obstacle avoidance method thereof. The wall washing vehicle comprises a chassis, an arm support system, a detection assembly and a control unit. The arm frame system is installed on the chassis and comprises an arm frame and a rolling brush assembly arranged at the tail end of the arm frame. The detection assembly is installed on the rolling brush assembly and used for recognizing a wall surface obstacle in front of the rolling brush assembly and obtaining the length and height of the obstacle. The control unit is electrically connected with the detection assembly and is configured to obtain a preset rotation angular velocity of the boom system; according to the preset rotation angular velocity of the boom system and the height of the obstacle, the obstacle avoidance initial distance between the rolling brush assembly and the obstacle in the obstacle avoidance process and the obstacle avoidance duration needed in the obstacle avoidance process of the rolling brush assembly are calculated; and controlling the arm support system to act according to the obstacle avoidance initial distance and the obstacle avoidance duration. The automatic obstacle avoidance function of the boom system is realized through the cooperation of the control unit and the detection assembly, so that the boom system does not need to be operated by human intervention to perform the obstacle avoidance action, and the obstacle avoidance efficiency is improved.
本发明提供一种洗墙车及其避障方法，该洗墙车包括底盘、臂架系统、检测组件和控制单元；臂架系统安装于底盘上并包括臂架和设于臂架末端的滚刷总成；检测组件安装于滚刷总成上并用于识别滚刷总成的前方的墙面障碍物和获取障碍物的长度、高度；控制单元与检测组件电连接并被配置为：获取臂架系统的预设回转角速度；根据臂架系统的预设回转角速度和障碍物的高度来计算滚刷总成避障时与障碍物之间的避障初始距离以及滚刷总成避障过程所需的避障时长；根据避障初始距离和避障时长来控制臂架系统动作。本发明通过控制单元和检测组件的配合来实现臂架系统自动避障的功能，从而不需要人为干预操作臂架系统进行避障动作，提高避障效率。
Wall washing vehicle and obstacle avoidance method thereof
洗墙车及其避障方法
LIU CUNLIANG (Autor:in) / JIANG FANGNING (Autor:in) / FU QU (Autor:in) / ZHAO QIULE (Autor:in) / ZHANG MINGYAO (Autor:in)
03.02.2023
Patent
Elektronische Ressource
Chinesisch
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