CN114645527A - Intelligent industrial robot based on millimeter wave radar and method thereof - Google Patents
Intelligent industrial robot based on millimeter wave radar and method thereof Download PDFInfo
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- 238000012545 processing Methods 0.000 claims description 72
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- 238000004140 cleaning Methods 0.000 claims description 33
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 21
- 238000005406 washing Methods 0.000 claims description 21
- 238000005192 partition Methods 0.000 claims description 20
- 238000005507 spraying Methods 0.000 claims description 11
- 238000007790 scraping Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
- E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
- E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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Abstract
The invention relates to the technical field of radio orientation, in particular to an intelligent industrial robot based on a millimeter wave radar and a method thereof. The problem of in current industrial production, easily cause the production passageway to block up to the debris that industrial area produced, clean the work and mostly artificially clear up, work efficiency is low, safe risk height is solved.
Description
Technical Field
The invention relates to the technical field of radio orientation, in particular to an intelligent industrial robot based on a millimeter wave radar and a method thereof.
Background
The millimeter wave radar is a radar which works in a millimeter wave band for detection. Generally, the millimeter wave refers to electromagnetic waves in the frequency domain of 30-300 GHz. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; the imaging device has the advantages of imaging capability, small volume, good maneuverability and good concealment. The light wave is seriously transmitted and attenuated in the atmosphere, and the requirement on the processing precision of the device is high. Compared with light waves, millimeter waves have small attenuation when being transmitted by utilizing an atmospheric window (certain frequencies with extremely small attenuation values caused by resonance absorption of gas molecules when millimeter waves and submillimeter waves are transmitted in the atmosphere), and are less influenced by natural light and a thermal radiation source. For this reason, they are of great significance in communication, radar, guidance, remote sensing technology, radio astronomy and spectroscopy. The millimeter wave frequency of the atmospheric window can realize large-capacity satellite-ground communication or ground relay communication. The low elevation angle precision tracking radar and the imaging radar can be realized by utilizing the narrow wave beam and low sidelobe performance of the millimeter wave antenna. The millimeter wave radiometer with high resolution is suitable for remote sensing of meteorological parameters. The components of the interplanetary substances can be deduced by detecting the radiation spectrum of the cosmonautic space with the radio astronomical telescopes of millimeter wave and submillimeter wave.
The chinese patent publication No. CN110596648A discloses a vehicle-mounted millimeter wave radar, which at least includes a cavity structure composed of an antenna cover and a housing; the inner wall of the shell is provided with a tubular mounting boss which is used for being communicated with the outside of the cavity structure, the end part of the mounting boss is provided with an upper counter bore, and the upper counter bore is provided with a breathable film. Through the structural design of the lower shielding cover, the breathable film and the shell in the radar device, the problem of poor plastic heat dissipation of the traditional radar device is solved, and the performance of the radar antenna is improved.
Chinese patent publication No. CN109305097A discloses a warning device for preventing rear-end collision of a sweeper at night. The inner surface of a case of the device is provided with a fixed connector which is used for connecting with a rear vehicle body of the sweeper; an LED indicator board, a directional loudspeaker and a millimeter wave radar are fixed on the outer surface opposite to the LED indicator board, the directional loudspeaker and the millimeter wave radar are respectively vertical to the outer surface, and the millimeter wave radar obtains motion information of a rear target vehicle; a photosensitive sensor is fixed on the upper surface of the case; the photosensitive sensor acquires external illumination intensity information; the Hall sensor and the angular velocity sensor are fixed on the side surface of the machine box, the angular velocity sensor is used for measuring the angle when acting on a curve, and the Hall sensor is used for measuring the driving speed of the automobile; the single chip microcomputer central processing unit and the power supply are fixed in the case. The invention can effectively monitor the distance information between the rear vehicle and the self vehicle at night, judge the rear-end collision probability of the rear vehicle and actively remind.
However, the above patent still has the following problems:
in current industrial production, easily cause the production passageway to block up to the debris that industrial area produced, clean the work and mostly artificially clear up, work efficiency is low, and the safety risk is high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent industrial robot based on a millimeter wave radar.
The basic scheme of the invention is as follows: intelligent industrial robot based on millimeter wave radar, including the infrared portion, clearly drag for portion, shipment portion, spray rinsing portion and radar portion, clear portion of dragging for puts in the front end of shipment portion, spray rinsing portion puts in the bottom of shipment portion, the radar portion arranges the front end of dragging for the portion in clearly, clear portion of dragging for including leaking the frame, drag for the runner clearly, drag for the support clearly, drag for the drive clearly, drag for the pivot clearly, drag for branch and cleaning plate clearly, the top of dragging for the runner is arranged in the one end of leaking the frame, clear drag for the top of dragging for the support and arrange the top of dragging for the runner clearly, drag for the drive clearly and arrange the one end of dragging for the support in, drag for the pivot clearly and drag for the drive rotation to be connected, clear drag for branch and arrange the clear both sides of dragging for the pivot in, cleaning plate arranges the one end of dragging for branch in.
Preferably, the millimeter wave radar block comprises a power amplifier, a frequency amplifier, a central processing unit, a noise amplifier and a mixer, wherein the central processing unit transmits signals with the frequency amplifier, the frequency amplifier transmits signals to the power amplifier, and the noise amplifier transmits signals to the central processing unit through the mixer.
Preferably, the inside signal control piece that is equipped with of radar portion, the signal control piece includes millimeter wave radar piece, data processing piece, speed of a motor vehicle control piece, drags for control piece, spray rinsing control piece and infrared detection piece, infrared detection piece and millimeter wave radar piece are to data processing piece transmission signal, data processing piece is respectively to speed of a motor vehicle control piece, drags for control piece and spray rinsing control piece transmission signal, infrared detection piece control infrared portion, the portion of draging for control piece control is draged for, spray rinsing control piece control spray rinsing portion.
Preferably, the spraying part comprises a plurality of disc brush frames, a disc brush supporting rod, a spraying frame, a water conveying pipe, a plurality of disc brushes and scraping plates, the disc brush frames and the spraying frame are hinged to two ends of the disc brush supporting rod respectively, the disc brushes are rotatably connected with the disc brush frames, the water conveying pipe is communicated with the middles of the disc brushes respectively, and the scraping plates are hinged to the spraying frame.
Preferably, the shipping part comprises a shipping partition plate, a water bin, partition plate slide rods and a shipping contact block, the shipping partition plate is arranged at the top of the water bin, the partition plate slide rods are arranged on one side of the inner wall of the water bin, the shipping contact block is arranged at the bottom of the water bin, and the shipping partition plate is connected with the partition plate slide rods in a sliding mode.
Preferably, the steering gear is arranged at one end of the steering shaft, the top of the steering frame is meshed with the steering gear, the two front wheel shafts are symmetrically arranged on two sides of the steering frame, and the running wheels are respectively in rotating connection with the two front wheel shafts.
Preferably, the vehicle body part further comprises a rear axle, a driving gear and a driven gear, the driving gear is arranged at the rear end of the vehicle body part, the driven gear is arranged in the middle of the rear axle, the driving gear is meshed with the driven gear, and the plurality of running wheels are symmetrically arranged on two sides of the rear axle.
Preferably, the infrared part is arranged at the rear end of the frame.
Preferably, still include solar energy portion, solar energy portion includes solar rack and solar panel, solar rack is articulated with the frame, solar panel arranges in on the solar rack.
The invention also discloses a use method of the intelligent industrial robot based on the millimeter wave radar, which comprises the following steps:
s1, in the operation process of the industrial robot, a central processing unit of a millimeter wave radar sends out signals, the radar signals are amplified through a frequency amplifier and a power amplifier and then sent out through a radar transceiver, the radar wave signals bounce back to the radar transceiver after encountering obstacles or sundries and are sent to the central processing unit for processing after being processed through a noise amplifier and a frequency mixer, and an operation instruction is made;
s2, after the position signal of the sundries is detected by the millimeter wave radar block, the signal is transmitted to the data processing block, the data processing block sends an instruction to the vehicle speed control block to control the rotating speed of the driving gear, slow down the industrial robot and control the steering shaft to rotate, the steering gear drives the bogie to steer, and the industrial robot is moved to the sundries;
s3, the data processing block sends an instruction to the bailing control block, the bailing drive is controlled to drive the bailing rotating shaft to rotate, and the bailing support rod drives the cleaning plate to bail out the sundries and send the same into the leakage frame through the bailing flow channel;
s4, the data processing block sends an instruction to the spray control block, a disc brush and a scraping plate below the disc brush supporting rod are controlled, and the ground is washed with water;
and S5, the industrial robot passes through the punched area and is detected by the infrared part, and the infrared detection block transmits a signal to the data processing block to distinguish the cleaning effect.
The working principle and the advantages of the invention are as follows:
the millimeter wave radar device comprises an infrared part, a cleaning and fishing part, a shipping part, a spray washing part and a radar part, wherein the radar part distinguishes obstacles or sundries, controls the cleaning and fishing part to clean the sundries, and drags the sundries into the shipping part for collection, then controls the spray washing part to spray and wash a sundries prevention area, and checks and feeds back through the infrared part after the spraying and washing is finished, so that the work coordination and the impurity cleaning effectiveness of the industrial robot are improved, and the utilization sufficiency of the millimeter wave radar is improved. The data processing block sends an instruction to the dredging control block, the dredging drive is controlled to drive the dredging rotating shaft to rotate, the dredging support rod drives the sweeping plate to dredge sundries, and the sundries are sent into the leaking frame through the dredging flow channel.
After the position signal of the sundries is detected by the millimeter wave radar block, the signal is transmitted to the data processing block, the data processing block sends an instruction to the vehicle speed control block to control the rotation speed of the driving gear, slow down the industrial robot and control the steering shaft to rotate, the steering gear drives the bogie to steer, and the industrial robot is moved to the sundries;
the infrared part is arranged at the rear end of the frame. The industrial robot detects the area after the cleaning through the infrared part, and the infrared detection block transmits signals to the data processing block to distinguish the cleaning effect. In the operation process of the industrial robot, a central processing unit of the millimeter wave radar sends out signals, the radar signals are amplified by a frequency amplifier and a power amplifier and then sent out by a radar transceiver, the radar wave signals bounce back to the radar transceiver after encountering obstacles or sundries, are processed by a noise amplifier and a frequency mixer and then are sent to the central processing unit for processing, and operation instructions are made. The data processing block sends an instruction to the spray control block, controls the disc brush and the scraper below the disc brush support rod, and washes the ground with water. After the loading and transporting partition plate is pressed down by the gravity of sundries, the loading and transporting partition plate slides down along the partition plate slide rod along with the use of water in the water sump until the loading and transporting partition plate is pressed down to the loading and transporting contact block, the cleaning and fishing part stops working, and the industrial robot goes to a designated area to unload.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent industrial robot based on a millimeter wave radar;
FIG. 2 is a schematic structural diagram of a body part of the intelligent industrial robot based on millimeter wave radar according to the present invention;
fig. 3 is a cross-sectional view of an intelligent industrial robot based on millimeter wave radar according to the present invention;
FIG. 4 is a partial enlarged view of portion A of FIG. 3;
FIG. 5 is a schematic structural diagram of a dredging part in the intelligent industrial robot based on the millimeter wave radar;
FIG. 6 is a flow chart of a signal control block in the millimeter-wave radar-based intelligent industrial robot according to the present invention;
fig. 7 is a flow chart of a millimeter wave radar block in the intelligent industrial robot based on the millimeter wave radar of the present invention.
Detailed Description
The following is further detailed by the specific embodiments:
the first embodiment is as follows:
the millimeter wave radar is a radar which works in a millimeter wave band for detection. Generally, the millimeter wave refers to electromagnetic waves in the frequency domain of 30-300 GHz. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; the imaging device has the advantages of imaging capability, small volume, good maneuverability and good concealment. The light wave is seriously propagated and attenuated in the atmosphere, and the requirement on the processing precision of the device is high. Compared with light waves, millimeter waves have small attenuation when being transmitted by utilizing an atmospheric window (certain frequencies with extremely small attenuation values caused by resonance absorption of gas molecules when millimeter waves and submillimeter waves are transmitted in the atmosphere), and are less influenced by natural light and a thermal radiation source. For this reason, they are of great significance in communication, radar, guidance, remote sensing technology, radio astronomy and spectroscopy.
The millimeter wave frequency of the atmospheric window can realize large-capacity satellite-ground communication or ground relay communication. The low elevation angle precision tracking radar and the imaging radar can be realized by utilizing the narrow wave beam and low sidelobe performance of the millimeter wave antenna. The millimeter wave radiometer with high resolution is suitable for remote sensing of meteorological parameters. The components of the interplanetary substances can be deduced by detecting the radiation spectrum of the cosmonautic space with the radio astronomical telescopes of millimeter wave and submillimeter wave. As shown in fig. 1-7, the invention provides an intelligent industrial robot based on millimeter wave radar, which comprises an infrared part 3, a dredging part 4, a shipping part 5, a spray washing part 6 and a radar part 7, wherein the dredging part 4 is arranged at the front end of the shipping part 5, the spray washing part 6 is arranged at the bottom of the shipping part 5, the radar part 7 is arranged at the front end of the dredging part 4, the dredging part 4 comprises a leaking frame 401, a dredging runner 402, a dredging bracket 403, a dredging driver 404, a dredging rotating shaft 405, a dredging support rod 406 and a cleaning plate 407, the top of the dredging runner 402 is arranged at one end of the leaking frame 401, the dredging bracket 403 is arranged at the top of the dredging runner 402, the dredging driver 404 is arranged at one end of the dredging bracket 403, the dredging rotating shaft 405 is rotatably connected with the dredging driver 404, the dredging support rods 406 are arranged at two sides of the dredging rotating shaft 405, and the cleaning plate 407 is arranged at one end of the cleaning support rod 406.
The vehicle body 1 further includes a rear wheel shaft 107, a driving gear 108 and a driven gear 109, the driving gear 108 is disposed at the rear end of the vehicle body 1, the driven gear 109 is disposed at the middle portion of the rear wheel shaft 107, the driving gear 108 is engaged with the driven gear 109, and the plurality of road wheels 102 are symmetrically disposed at both sides of the rear wheel shaft 107.
The inside signal control piece that is equipped with of radar portion 7, the signal control piece includes millimeter wave radar piece, data processing piece, speed of a motor vehicle control piece, the clearance control piece, spray rinsing control piece and infrared detection piece, infrared detection piece and millimeter wave radar piece are to data processing piece transmission signal, data processing piece is respectively to speed of a motor vehicle control piece, clearance control piece and spray rinsing control piece transmission signal, infrared detection piece control infrared portion 3, clearance control piece control clearance portion 4, spray rinsing control piece control spray rinsing portion 6.
The millimeter wave radar block comprises a power amplifier, a frequency amplifier, a central processing unit, a noise amplifier and a mixer, wherein the central processing unit and the frequency amplifier transmit signals, the frequency amplifier transmits signals to the power amplifier, and the noise amplifier transmits signals to the central processing unit through the mixer.
The invention comprises an infrared part 3, a cleaning and fishing part 4, a shipping part 5, a spray washing part 6 and a radar part 7, wherein the radar part 7 distinguishes obstacles or sundries, controls the cleaning and fishing part 4 to clean the sundries, and fishes up the sundries to the shipping part 5 for collection, then controls the spray washing part 6 to spray and wash sundries prevention areas, and after the spraying and washing is finished, the infrared part 3 is used for checking and feeding back, so that the working coordination and the impurity cleaning effectiveness of the industrial robot are improved, and the utilization sufficiency of the millimeter wave radar is improved. The data processing block sends an instruction to the dredging control block, the dredging drive 404 is controlled to drive the dredging rotating shaft 405 to rotate, the dredging support rod 406 drives the cleaning plate 407 to dredge the sundries, the sundries are sent into the drain frame 401 through the dredging flow channel 402, part of the sundries have accumulated water, and the water can be drained into the sump through the drain frame 401 for recycling.
The invention also comprises a vehicle body part 1, wherein the vehicle body part 1 comprises a vehicle frame 101, a plurality of running wheels 102, a steering shaft 103, a steering gear 104, a bogie 105 and two front wheel shafts 106, the steering shaft 103 is arranged at the front end of the vehicle frame 101, the steering gear 104 is arranged at one end of the steering shaft 103, the top of the bogie 105 is meshed with the steering gear 104, the two front wheel shafts 106 are symmetrically arranged at two sides of the bogie 105, and the plurality of running wheels 102 are respectively connected with the two front wheel shafts 106 in a rotating way.
After the position signal of the sundries is detected by the millimeter wave radar block, the signal is transmitted to the data processing block, the data processing block sends an instruction to the vehicle speed control block to control the rotating speed of the driving gear 108, slow down the industrial robot and control the steering shaft 103 to rotate, the steering gear 104 drives the bogie 105 to steer, and the industrial robot is moved to the sundries;
the red outer portion 3 is disposed at the rear end of the vehicle frame 101. The industrial robot passes through the area after the cleaning and is detected by the infrared part 3, and the infrared detection block transmits signals to the data processing block to distinguish the cleaning effect.
Example two:
the millimeter wave radar is a radar which works in a millimeter wave band for detection. Generally, the millimeter wave refers to electromagnetic waves in the frequency domain of 30-300 GHz. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. The millimeter wave radar can distinguish and identify very small targets and can identify a plurality of targets simultaneously; the imaging device has the advantages of imaging capability, small volume, and good mobility and concealment. The light wave is seriously transmitted and attenuated in the atmosphere, and the requirement on the processing precision of the device is high. Compared with light waves, millimeter waves have small attenuation when being transmitted by utilizing an atmospheric window (certain frequencies with extremely small attenuation values caused by resonance absorption of gas molecules when millimeter waves and submillimeter waves are transmitted in the atmosphere), and are less influenced by natural light and a thermal radiation source. For this reason, they are of great significance in communication, radar, guidance, remote sensing technology, radio astronomy and spectroscopy.
The millimeter wave frequency of the atmospheric window can realize large-capacity satellite-ground communication or ground relay communication. The low elevation angle precision tracking radar and the imaging radar can be realized by utilizing the narrow wave beam and low sidelobe performance of the millimeter wave antenna. The millimeter wave radiometer with high resolution is suitable for remote sensing of meteorological parameters. The components of the interplanetary substance can be deduced by detecting the radiation spectrum of the cosmos with millimeter wave and submillimeter wave radio astronomical telescopes. As shown in fig. 1-7, the invention provides an intelligent industrial robot based on millimeter wave radar, which comprises an infrared part 3, a dredging part 4, a shipping part 5, a spray washing part 6 and a radar part 7, wherein the dredging part 4 is arranged at the front end of the shipping part 5, the spray washing part 6 is arranged at the bottom of the shipping part 5, the radar part 7 is arranged at the front end of the dredging part 4, the dredging part 4 comprises a leaking frame 401, a dredging runner 402, a dredging bracket 403, a dredging driver 404, a dredging rotating shaft 405, a dredging support rod 406 and a cleaning plate 407, the top of the dredging runner 402 is arranged at one end of the leaking frame 401, the dredging bracket 403 is arranged at the top of the dredging runner 402, the dredging driver 404 is arranged at one end of the dredging bracket 403, the dredging rotating shaft 405 is rotatably connected with the dredging driver 404, the dredging support rods 406 are arranged at two sides of the dredging rotating shaft 405, and the cleaning plate 407 is arranged at one end of the cleaning support rod 406.
The vehicle body 1 further includes a rear wheel shaft 107, a driving gear 108 and a driven gear 109, the driving gear 108 is disposed at the rear end of the vehicle body 1, the driven gear 109 is disposed at the middle portion of the rear wheel shaft 107, the driving gear 108 is engaged with the driven gear 109, and the plurality of road wheels 102 are symmetrically disposed at both sides of the rear wheel shaft 107.
The inside signal control piece that is equipped with of radar portion 7, the signal control piece includes millimeter wave radar piece, data processing piece, speed of a motor vehicle control piece, the clearance control piece, spray rinsing control piece and infrared detection piece, infrared detection piece and millimeter wave radar piece are to data processing piece transmission signal, data processing piece is respectively to speed of a motor vehicle control piece, clearance control piece and spray rinsing control piece transmission signal, infrared detection piece control infrared portion 3, clearance control piece control clearance portion 4, spray rinsing control piece control spray rinsing portion 6.
The millimeter wave radar block comprises a power amplifier, a frequency amplifier, a central processing unit, a noise amplifier and a mixer, wherein the central processing unit and the frequency amplifier transmit signals, the frequency amplifier transmits signals to the power amplifier, and the noise amplifier transmits signals to the central processing unit through the mixer.
The invention comprises an infrared part 3, a cleaning and fishing part 4, a shipping part 5, a spray washing part 6 and a radar part 7, wherein the radar part 7 distinguishes obstacles or sundries, controls the cleaning and fishing part 4 to clean the sundries, and fishes up the sundries to the shipping part 5 for collection, then controls the spray washing part 6 to spray and wash sundries prevention areas, and after the spraying and washing is finished, the infrared part 3 is used for checking and feeding back, so that the working coordination and the impurity cleaning effectiveness of the industrial robot are improved, and the utilization sufficiency of the millimeter wave radar is improved. The data processing block sends an instruction to the dredging control block, the dredging drive 404 is controlled to drive the dredging rotating shaft 405 to rotate, the dredging support rod 406 drives the sweeping plate 407 to dredge sundries, and the sundries are sent into the leaking frame 401 through the dredging flow channel 402. Part of the sundries with accumulated water can be leaked into the water sump for recycling through the leakage frame 401.
The invention also comprises a vehicle body part 1, wherein the vehicle body part 1 comprises a vehicle frame 101, a plurality of running wheels 102, a steering shaft 103, a steering gear 104, a bogie 105 and two front wheel shafts 106, the steering shaft 103 is arranged at the front end of the vehicle frame 101, the steering gear 104 is arranged at one end of the steering shaft 103, the top of the bogie 105 is meshed with the steering gear 104, the two front wheel shafts 106 are symmetrically arranged at two sides of the bogie 105, and the plurality of running wheels 102 are respectively connected with the two front wheel shafts 106 in a rotating way.
After the position signal of the sundries is detected by the millimeter wave radar block, the signal is transmitted to the data processing block, the data processing block sends an instruction to the vehicle speed control block to control the rotating speed of the driving gear 108, slow down the industrial robot and control the steering shaft 103 to rotate, the steering gear 104 drives the bogie 105 to steer, and the industrial robot is moved to the sundries;
the red outer portion 3 is disposed at the rear end of the vehicle frame 101. The industrial robot passes through the area after the cleaning and is detected by the infrared part 3, and the infrared detection block transmits signals to the data processing block to distinguish the cleaning effect.
In the operation process of the industrial robot, a central processing unit of the millimeter wave radar sends out signals, the radar signals are amplified by a frequency amplifier and a power amplifier and then sent out by a radar transceiver, the radar wave signals bounce back to the radar transceiver after encountering obstacles or sundries, are processed by a noise amplifier and a frequency mixer and then are sent to the central processing unit for processing, and an operation instruction is made;
the solar energy collecting device further comprises a solar energy part 2, wherein the solar energy part 2 comprises a solar energy frame 201 and a solar panel 202, the solar energy frame 201 is hinged with the frame 101, and the solar panel 202 is arranged on the solar energy frame 201. The solar rack 201 can adjust the inclination angle according to the angle of the sun, and the solar panel 202 provides electric power for the industrial robot.
After the loading partition plate 501 is pressed down by the gravity of sundries, the loading partition plate 501 slides down along the partition plate sliding rod 503 along with the use of water in the water bin 502 until the loading partition plate 501 is pressed down to the loading contact block 504, the cleaning and fishing part 4 stops working, and the industrial robot goes to a designated area for unloading.
The shipping part 5 comprises a shipping clapboard 501, a water bin 502, a clapboard sliding rod 503 and a shipping contact block 504, wherein the shipping clapboard 501 is arranged at the top of the water bin 502, the clapboard sliding rod 503 is arranged at one side of the inner wall of the water bin 502, the shipping contact block 504 is arranged at the bottom of the water bin 502, and the shipping clapboard 501 is connected with the clapboard sliding rod 503 in a sliding way.
The spray washing part 6 comprises a plurality of disc brush frames 601, disc brush supporting rods 602, spray washing frames 603, a water conveying pipe 604, a plurality of disc brushes 605 and scraping plates 606, the disc brush frames 601 and the spray washing frames 603 are respectively hinged with two ends of the disc brush supporting rods 602, the disc brushes 605 are rotatably connected with the disc brush frames 601, the water conveying pipe 604 is respectively communicated with the middles of the disc brushes, and the scraping plates 606 are hinged with the spray washing frames 603. The data processing block sends an instruction to the spray control block to control the disc brush 605 and the scraper 606 under the disc brush support 602 to wash the ground with water.
The invention also discloses a use method of the intelligent industrial robot based on the millimeter wave radar, which comprises the following steps:
s1, in the operation process of the industrial robot, a central processing unit of a millimeter wave radar sends out signals, the radar signals are amplified through a frequency amplifier and a power amplifier and then sent out through a radar transceiver, the radar wave signals bounce back to the radar transceiver after encountering obstacles or sundries and are sent to the central processing unit for processing after being processed through a noise amplifier and a frequency mixer, and an operation instruction is made;
s2, after the position signal of the sundries is detected by the millimeter wave radar block, the signal is transmitted to the data processing block, the data processing block sends an instruction to the vehicle speed control block to control the rotating speed of the driving gear 108, the industrial robot is decelerated, the steering shaft 103 is controlled to rotate, the steering gear 104 drives the bogie 105 to steer, and the industrial robot is moved to the sundries.
And S3, the data processing block sends an instruction to the dredging control block, the dredging drive 404 is controlled to drive the dredging rotating shaft 405 to rotate, the dredging support rod 406 drives the sweeping plate 407 to dredge sundries, and the sundries are sent into the drain frame 401 through the dredging flow channel 402.
S4, the data processing block sends an instruction to the spray control block, a disc brush 605 and a scraping plate 606 below the disc brush support rod 602 are controlled, and the ground is washed with water;
and S5, the industrial robot passes through the punched area and is detected by the infrared part 3, and the infrared detection block transmits a signal to the data processing block to distinguish the cleaning effect.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.
Claims (10)
1. Intelligent industrial robot based on millimeter wave radar, its characterized in that: including the infrared portion, clear portion of salvaging, shipment portion, spray rinsing portion and radar portion, clear portion of salvaging is put in the front end of shipment portion, spray rinsing portion is put in the bottom of shipment portion, the front end of the portion of salvaging is arranged in to radar portion, clear portion of salvaging includes the hourglass frame, clearly drags for the runner, clearly drags for the support, clearly drags for the drive, clearly drags for the pivot, clearly drags for branch and cleaning plate, the one end of hourglass frame is arranged in at the top of clearly dragging for the runner, clearly drag for the support and arrange in the top of clearly dragging for the runner, clearly drag for the drive and arrange in the one end of clearly dragging for the support, clearly drag for the pivot and clearly drag for the drive rotation and be connected, clearly drag for branch and arrange in the both sides of clearly dragging for the pivot, cleaning plate arranges in the one end of clearly dragging for branch.
2. An intelligent industrial robot based on millimeter wave radar according to claim 1, characterized in that: the millimeter wave radar block comprises a power amplifier, a frequency amplifier, a central processing unit, a noise amplifier and a mixer, wherein the central processing unit and the frequency amplifier transmit signals, the frequency amplifier transmits signals to the power amplifier, and the noise amplifier transmits signals to the central processing unit through the mixer.
3. An intelligent industrial robot based on millimeter wave radar according to claim 2, characterized in that: the inside signal control block that is equipped with of radar portion, the signal control block includes millimeter wave radar piece, data processing piece, speed of a motor vehicle control piece, clears away control block, spray rinsing control block and infrared detection piece, infrared detection piece and millimeter wave radar piece are to data processing piece transmission signal, data processing piece is respectively to speed of a motor vehicle control piece, clear away control block and spray rinsing control block transmission signal, infrared detection piece control infrared portion, clear away control block control clear away portion, spray rinsing control block control spray rinsing portion.
4. An intelligent industrial robot based on millimeter wave radar as claimed in claim 3, characterized in that: the spraying and washing part comprises a plurality of disc brush frames, a disc brush supporting rod, a spraying and washing frame, a water conveying pipe, a plurality of disc brushes and scraping plates, the disc brush frames and the spraying and washing frame are hinged to two ends of the disc brush supporting rod respectively, the disc brushes are rotatably connected with the disc brush frames, the water conveying pipe is communicated with the middle of the disc brushes respectively, and the scraping plates are hinged to the spraying and washing frame.
5. An intelligent industrial robot based on millimeter wave radar according to claim 4, characterized in that: the shipping part comprises a shipping partition plate, a water bin, partition plate slide bars and a shipping contact block, the shipping partition plate is arranged at the top of the water bin, the partition plate slide bars are arranged on one side of the inner wall of the water bin, the shipping contact block is arranged at the bottom of the water bin, and the shipping partition plate is in sliding connection with the partition plate slide bars.
6. An intelligent industrial robot based on millimeter wave radar according to claim 5, characterized in that: the front-end steering gear is arranged at one end of the steering shaft, the top of the steering frame is meshed with the steering gear, the two front wheel shafts are symmetrically arranged on two sides of the steering frame, and the running wheels are respectively in rotating connection with the two front wheel shafts.
7. An intelligent industrial robot based on millimeter wave radar according to claim 6, characterized in that: the body part further comprises a rear axle, a driving gear and driven gears, the driving gear is arranged at the rear end of the body part, the driven gears are arranged in the middle of the rear axle, the driving gear is meshed with the driven gears, and the plurality of running wheels are symmetrically arranged on two sides of the rear axle.
8. An intelligent industrial robot based on millimeter wave radar as claimed in claim 7, characterized in that: the infrared part is arranged at the rear end of the frame.
9. An intelligent industrial robot based on millimeter wave radar as claimed in claim 8, characterized in that: still include solar energy portion, solar energy portion includes solar rack and solar panel, solar rack is articulated with the frame, solar panel arranges solar rack in.
10. Use of a millimeter wave radar based intelligent industrial robot according to claim 9, characterized in that:
s1, in the operation process of the industrial robot, a central processing unit of a millimeter wave radar sends out signals, the radar signals are amplified through a frequency amplifier and a power amplifier and then sent out through a radar transceiver, the radar wave signals bounce back to the radar transceiver after encountering obstacles or sundries and are sent to the central processing unit for processing after being processed through a noise amplifier and a frequency mixer, and an operation instruction is made;
s2, after the position signal of the sundries is detected by the millimeter wave radar block, the signal is transmitted to the data processing block, the data processing block sends an instruction to the vehicle speed control block to control the rotating speed of the driving gear, slow down the industrial robot and control the steering shaft to rotate, the steering gear drives the bogie to steer, and the industrial robot is moved to the sundries;
s3, the data processing block sends an instruction to the bailing control block, the bailing drive is controlled to drive the bailing rotating shaft to rotate, and the bailing support rod drives the cleaning plate to bail out the sundries and send the same into the leakage frame through the bailing flow channel;
s4, the data processing block sends an instruction to the spray control block, a disc brush and a scraping plate below the disc brush supporting rod are controlled, and the ground is washed with water;
and S5, the industrial robot passes through the punched area and is detected by the infrared part, and the infrared detection block transmits a signal to the data processing block to distinguish the cleaning effect.
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| CN202210559470.6A CN114645527A (en) | 2022-05-23 | 2022-05-23 | Intelligent industrial robot based on millimeter wave radar and method thereof |
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