A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Control method and control device for facade cleaning vehicle and facade cleaning vehicle
The invention discloses a control method and device for a vertical face cleaning vehicle and the vertical face cleaning vehicle. The control method comprises the steps that under the condition that a brush carrier of the vertical face cleaning vehicle is attached to a to-be-cleaned wall face to conduct cleaning operation on the to-be-cleaned wall face, three-dimensional data of an obstacle on the to-be-cleaned wall face is obtained, and the three-dimensional data comprises the thickness of the obstacle away from the wall; arm frame parameters of the arm frame are obtained in real time, wherein the arm frame parameters comprise the extension length of a second arm frame; under the condition that the extension length is smaller than or equal to the wall distance thickness, the first arm section is controlled to execute rotary obstacle avoidance operation; and under the condition that the extension length is larger than the wall distance thickness, the second arm section is controlled to execute telescopic obstacle avoidance operation. And under different conditions, different obstacle avoidance modes are selected to avoid the obstacle. Accurate avoidance of the vertical face cleaning vehicle to obstacles and automatic adjustment of the arm frame are achieved, the wall face cleaning efficiency can be improved, time and labor consumed by manpower are reduced, and the operation safety of the vertical face cleaning vehicle is improved.
本申请公开了一种用于立面清洗车的控制方法、控制装置及立面清洗车。控制方法包括：在立面清洗车的刷架与待清洗墙面贴合以对待清洗墙面进行清洗操作的情况下，获取待清洗墙面上的障碍物的三维数据，三维数据包括障碍物的距墙厚度；实时获取臂架的臂架参数，臂架参数包括第二臂架的伸长长度；在伸长长度小于或等于距墙厚度的情况下，控制第一臂节执行旋转避障操作；在伸长长度大于距墙厚度的情况下，控制第二臂节执行伸缩避障操作。在不同的情况下，选择不同的避障方式对障碍物进行避让。实现立面清洗车对障碍物的准确避让，以及臂架的自动化调节，可以提高对墙面的清洗效率，减少人工的耗时耗力，提高立面清洗车的作业安全。
Control method and control device for facade cleaning vehicle and facade cleaning vehicle
The invention discloses a control method and device for a vertical face cleaning vehicle and the vertical face cleaning vehicle. The control method comprises the steps that under the condition that a brush carrier of the vertical face cleaning vehicle is attached to a to-be-cleaned wall face to conduct cleaning operation on the to-be-cleaned wall face, three-dimensional data of an obstacle on the to-be-cleaned wall face is obtained, and the three-dimensional data comprises the thickness of the obstacle away from the wall; arm frame parameters of the arm frame are obtained in real time, wherein the arm frame parameters comprise the extension length of a second arm frame; under the condition that the extension length is smaller than or equal to the wall distance thickness, the first arm section is controlled to execute rotary obstacle avoidance operation; and under the condition that the extension length is larger than the wall distance thickness, the second arm section is controlled to execute telescopic obstacle avoidance operation. And under different conditions, different obstacle avoidance modes are selected to avoid the obstacle. Accurate avoidance of the vertical face cleaning vehicle to obstacles and automatic adjustment of the arm frame are achieved, the wall face cleaning efficiency can be improved, time and labor consumed by manpower are reduced, and the operation safety of the vertical face cleaning vehicle is improved.
本申请公开了一种用于立面清洗车的控制方法、控制装置及立面清洗车。控制方法包括：在立面清洗车的刷架与待清洗墙面贴合以对待清洗墙面进行清洗操作的情况下，获取待清洗墙面上的障碍物的三维数据，三维数据包括障碍物的距墙厚度；实时获取臂架的臂架参数，臂架参数包括第二臂架的伸长长度；在伸长长度小于或等于距墙厚度的情况下，控制第一臂节执行旋转避障操作；在伸长长度大于距墙厚度的情况下，控制第二臂节执行伸缩避障操作。在不同的情况下，选择不同的避障方式对障碍物进行避让。实现立面清洗车对障碍物的准确避让，以及臂架的自动化调节，可以提高对墙面的清洗效率，减少人工的耗时耗力，提高立面清洗车的作业安全。
Control method and control device for facade cleaning vehicle and facade cleaning vehicle
用于立面清洗车的控制方法、控制装置及立面清洗车
ZHANG MINGYAO (author) / ZHANG LIANGJUN (author) / ZHOU SHIQI (author) / CHEN HUA (author) / LIU CUNLIANG (author) / WEI MINGHUI (author) / CHEN XUN (author)
2024-02-20
Patent
Electronic Resource
Chinese
Intelligent cleaning control method for facade cleaning vehicle
| European Patent Office | 2023
| British Library Conference Proceedings | 2002
Avoiding Facade Cleaning Failures
| British Library Online Contents | 1998