Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Self-adaptive obstacle avoidance system for cantilever crane of wall cleaning vehicle and control method of self-adaptive obstacle avoidance system
The invention discloses a wall surface cleaning vehicle arm support self-adaption obstacle avoidance system which comprises a cleaning vehicle and a cleaning mechanism, the cleaning mechanism comprises a driving unit, an arm support and a rolling brush, and the obstacle avoidance system further comprises a main controller; a vehicle-mounted information terminal; a console; an operating handle; a distance measuring sensor; the cleaning mechanism is provided with a rolling brush position detection part and an obstacle detection part. The rolling brush position detection part comprises a rolling brush posture sensor, a first-section arm position detection part, a second-section arm position detection part, a third-section arm position detection part, a swing arm position detection part and a sliding arm position detection part. The rolling brush attitude sensor is mounted on the rolling brush; a first-section arm position detector, a second-section arm position detector, a third-section arm position detector, a swinging arm position detector and a sliding arm position detector are mounted on a boom movement joint; the obstacle detection comprises an obstacle recognition sensor, and the control method comprises the steps of obstacle recognition and adaptive obstacle avoidance. The robot can automatically recognize obstacles, can avoid the obstacles in a self-adaptive mode, can be automatically unfolded and folded through one key, and is convenient to operate.
本发明公开了一种墙面清洗车臂架自适应避障系统，包括清洗车和清洗机构，清洗机构包括驱动单元、臂架及滚刷，避障系统还包括：主控器；车载信息终端；操控台；操作手柄；测距传感器；清洗机构上安装滚刷位置检测和障碍物检测，滚刷位置检测包括滚刷姿态传感器，一节臂位置检测、二节臂位置检测、三节臂位置检测、摆动臂位置检测及滑移臂位置检测；滚刷姿态传感器安装于滚刷上；一节臂位置检测、二节臂位置检测、三节臂位置检测、摆动臂位置检测及滑移臂位置检测安装于臂架运动关节；障碍物检测包括障碍物识别传感器，其控制方法包括：障碍物识别和自适应避障。本发明可以自动识别障碍物，自适应避障，能够一键自动展收，操作便捷。
Self-adaptive obstacle avoidance system for cantilever crane of wall cleaning vehicle and control method of self-adaptive obstacle avoidance system
The invention discloses a wall surface cleaning vehicle arm support self-adaption obstacle avoidance system which comprises a cleaning vehicle and a cleaning mechanism, the cleaning mechanism comprises a driving unit, an arm support and a rolling brush, and the obstacle avoidance system further comprises a main controller; a vehicle-mounted information terminal; a console; an operating handle; a distance measuring sensor; the cleaning mechanism is provided with a rolling brush position detection part and an obstacle detection part. The rolling brush position detection part comprises a rolling brush posture sensor, a first-section arm position detection part, a second-section arm position detection part, a third-section arm position detection part, a swing arm position detection part and a sliding arm position detection part. The rolling brush attitude sensor is mounted on the rolling brush; a first-section arm position detector, a second-section arm position detector, a third-section arm position detector, a swinging arm position detector and a sliding arm position detector are mounted on a boom movement joint; the obstacle detection comprises an obstacle recognition sensor, and the control method comprises the steps of obstacle recognition and adaptive obstacle avoidance. The robot can automatically recognize obstacles, can avoid the obstacles in a self-adaptive mode, can be automatically unfolded and folded through one key, and is convenient to operate.
本发明公开了一种墙面清洗车臂架自适应避障系统，包括清洗车和清洗机构，清洗机构包括驱动单元、臂架及滚刷，避障系统还包括：主控器；车载信息终端；操控台；操作手柄；测距传感器；清洗机构上安装滚刷位置检测和障碍物检测，滚刷位置检测包括滚刷姿态传感器，一节臂位置检测、二节臂位置检测、三节臂位置检测、摆动臂位置检测及滑移臂位置检测；滚刷姿态传感器安装于滚刷上；一节臂位置检测、二节臂位置检测、三节臂位置检测、摆动臂位置检测及滑移臂位置检测安装于臂架运动关节；障碍物检测包括障碍物识别传感器，其控制方法包括：障碍物识别和自适应避障。本发明可以自动识别障碍物，自适应避障，能够一键自动展收，操作便捷。
Self-adaptive obstacle avoidance system for cantilever crane of wall cleaning vehicle and control method of self-adaptive obstacle avoidance system
一种墙面清洗车臂架自适应避障系统及控制方法
SUN JIN (Autor:in) / XU HAICHUAN (Autor:in) / ZHANG KAI (Autor:in) / DIAO XIN (Autor:in) / ZHANG ERHUA (Autor:in)
20.02.2024
Patent
Elektronische Ressource
Chinesisch
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