Electric control architecture of unmanned scrubber chassis

Abstract

The application relates to the technical field of automatic control of scrubbers, and particularly relates to an electric control architecture of an unmanned scrubber chassis, which comprises a battery, a vehicle controller, the vehicle controller being electrically connected with the battery; a sensor module, the sensor module being electrically connected with the battery through a voltage converter, the sensor module being in communication connection with the vehicle controller; a steering controller, the steering controller being in communication connection with the vehicle controller and being electrically connected with the battery; and a working module, the working module being electrically connected with the battery and being in communication connection with the vehicle controller. The application improves the electric control architecture on the basis of the existing scrubber, adds the voltage converter to directly utilize the original 24V direct-current power supply of the scrubber to stably supply power for the drive-by-wire equipment, the vehicle controller sends the corner signal to the steering controller in the form of CAN messages, and after PID control, corresponding torque is output to drive the steering wheel to rotate to control the steering of the scrubber, so that the unmanned driving of the scrubber is realized, and the working efficiency of the scrubber is improved.

Description

Technical Field

[0001] This application relates to the field of automated control technology for floor scrubbers, and more particularly to an electronic control architecture for an unmanned floor scrubber chassis. Background Technology

[0002] Existing ride-on floor scrubbers meet the needs of increasing cleaning area and efficiency, improving work efficiency through machine operation. They have basic driving functions, including steering and throttle, as well as basic operational functions such as floor scrubbing and wastewater collection. They can basically meet the needs of cleaning indoor floors.

[0003] However, this human-machine binding mode limits the effective daily working time of the equipment to 8-10 hours, which cannot meet the needs of shopping malls, airports and other places that require deep cleaning at night or in the early morning, resulting in low operating efficiency. Utility Model Content

[0004] The technical problem this invention aims to solve is that existing floor scrubbers rely on manual operation, resulting in low work efficiency.

[0005] Therefore, this utility model provides an electronic control architecture for an unmanned floor scrubber chassis.

[0006] The technical solution adopted by this utility model to solve its technical problem is: An electronic control architecture for an unmanned floor scrubber chassis, including Batteries, and A vehicle controller, which is electrically connected to the battery; The sensor module is electrically connected to the battery via a voltage converter and is communicatively connected to the vehicle controller. A steering controller, which is communicatively connected to the vehicle controller and electrically connected to the battery; The operation module is electrically connected to the battery and communicatively connected to the vehicle controller.

[0007] Furthermore, the vehicle controller is equipped with a processor that can convert steering command messages into CAN signals, and the processor is connected to the steering controller via CAN communication.

[0008] Furthermore, the vehicle controller is equipped with a communication module, which is capable of receiving remote control signals.

[0009] Furthermore, it also includes a drive motor and a drive motor controller, wherein the drive motor is electrically connected to the battery through the drive motor controller, and the drive motor controller is communicatively connected to the vehicle controller.

[0010] Furthermore, the sensor module includes radar, ultrasonic sensors, cameras, and other sensors for autonomous driving, which are connected to the battery via voltage converters.

[0011] Furthermore, the sensor module also includes an industrial control computer, which is connected to the battery via a voltage converter. The radar, camera, and other sensors used for autonomous driving are communicatively connected to the industrial control computer, which is also communicatively connected to the vehicle controller.

[0012] Furthermore, the sensor module also includes a collision avoidance sensor and a wheel speed sensor, both of which are electrically connected to the battery.

[0013] Furthermore, the operating module is electrically connected to the battery via a relay, and also communicates with the vehicle controller via a relay.

[0014] Furthermore, the operating module includes a water suction motor, a sweeping head motor, and a water spraying valve. The water suction motor is connected to the battery and the vehicle controller via relay A, and the sweeping head motor and the water spraying valve are both connected to the battery and the vehicle controller via relay B.

[0015] Furthermore, the battery is connected to a main switch and an emergency stop switch. The end of the main switch away from the battery is connected to the emergency stop switch, and the end of the emergency stop switch away from the main switch is connected to the vehicle controller, voltage converter, drive motor controller, relay A, relay B, steering controller, and wheel speed sensor, respectively.

[0016] The beneficial effects of this utility model are that this application modifies the electrical control architecture system based on the existing floor scrubber. On the original basis, a voltage converter is set to directly utilize the original 24V DC power supply of the floor scrubber to ensure stable power supply for the wired control equipment. The vehicle controller sends the turning angle signal to the steering controller (integrated in the steering motor) in the form of CAN message. After PID control, the corresponding torque is output to drive the steering wheel to rotate, thereby realizing the steering of the floor scrubber and replacing manual driving. This achieves unmanned driving of the floor scrubber and improves the operating efficiency of the floor scrubber. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 This is a schematic diagram of the electronic control architecture of the chassis of the unmanned floor scrubber in this utility model.

[0019] In the diagram: 1. Vehicle controller; 2. Battery; 3. Main switch; 4. Emergency stop switch; 5. Voltage converter; 6. Radar; 7. Camera; 8. Industrial computer; 9. Relay A; 10. Relay B; 11. Water suction motor; 12. Sweeping head motor; 13. Sprinkler valve; 14. Steering controller; 15. Ultrasonic sensor; 16. Collision avoidance sensor; 17. Wheel speed sensor; 18. Drive motor controller; 19. Drive motor. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0021] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] An electronic control architecture for an unmanned floor scrubber chassis includes a battery 2, a vehicle controller 1, a drive motor controller 18, a drive motor 19, a sensor module, an operation module, and a steering controller 14. The operation module includes a water suction motor 11, a sweeping head motor 12, and a water spray valve 13.

[0024] Specifically, battery 2 is connected to drive motor 19 via drive motor controller 18; a main switch 3 and an emergency stop switch 4 are connected in series between vehicle controller 1 and battery 2. Specifically, one end of the main switch 3 is connected to battery 2, and the other end is connected to emergency stop switch 4. The end of emergency stop switch 4 away from main switch 3 is divided into six paths: one path is connected to vehicle controller 1; one path is connected to sensor module via voltage converter 5, which includes radar 6, camera 7, ultrasonic sensor 15, collision avoidance sensor 16, wheel speed sensor 17, industrial control computer 8, and other sensors used for autonomous driving. Voltage converter 5 converts 24V voltage to 12V voltage and outputs it to other sensors used for autonomous driving, radar 6, camera 7, ultrasonic sensor 15, and industrial control computer 8. In this embodiment, voltage converter 5 is a DC-DC converter; one path is connected to water suction motor 11 via relay A9; one path is connected via relay B10, with the end of relay B10 away from emergency stop switch 4 connected in parallel to sweeper head motor 12 and water spray valve 13; one path is connected to steering controller 14; and the last path is connected to wheel speed sensor 17.

[0025] The vehicle controller 1 includes a communication module and a processor. The communication module can receive remote control signals to control the operation module and the steering controller 14. The processor is connected to the industrial computer 8, the motor driver, the relay A9, the relay B10, the steering controller 14, the ultrasonic sensor 15, the anti-collision sensor 16, and the wheel speed sensor 17 through the communication module.

[0026] It should be noted that in the sensor module, radar 6, camera 7, and other sensors used for autonomous driving are all connected to the industrial control computer 8. The other sensors used for autonomous driving, radar 6, and camera 7 send the collected data to the industrial control computer 8, which then forwards the data to the vehicle controller 1. The ultrasonic sensor 15, collision avoidance sensor 16, and wheel speed sensor 17 send signals to the vehicle controller 1 before establishing communication with the industrial control computer 8. The vehicle controller 1 uses an Arm® Cortex®-M3 processor architecture and is connected to a CAN bus transceiver (communication module) via an optocoupler isolation circuit. The bus signals are directly connected to the communication interface of the original floor scrubber's motor driver to control the floor scrubber's forward and reverse drive. The processor converts the steering command message into a CAN signal and sends it to the steering controller 14, controlling the servo motor to rotate the corresponding angle to achieve precise automatic steering of the floor scrubber.

[0027] The implementation principle of this application is as follows: When the unmanned floor scrubber is in operation, the main switch 3 is turned on, and signals (including operation instructions, steering angle instructions, and vehicle driving control instructions) are sent to the vehicle controller 1 remotely. According to the vehicle driving control instructions, the vehicle controller 1 controls the drive motor 19 to start through the drive motor controller 18, driving the unmanned floor scrubber to move forward or backward. The vehicle controller 1 sends the turning angle signal to the steering controller 14 in the form of a CAN message. After PID control, the corresponding torque is output to drive the steering wheel to rotate, realizing the steering of the floor scrubber. The servo motor is controlled to rotate the corresponding angle to realize the precise automatic steering of the floor scrubber. According to the operation instructions, the vehicle controller 1 controls the water suction motor 11, the sweeping head motor 12, and the water spray valve 13 to start or stop through relays A9 and B10, respectively, to perform sweeping, water spraying, or water suction. The vehicle controller 1, radar 6, camera 7, ultrasonic sensor 15, anti-collision sensor 16, wheel speed sensor 17, and other sensors used for autonomous driving transmit information about the surrounding environment and the driving status of the unmanned floor scrubber to the vehicle controller 1 through the industrial control computer 8.

[0028] Based on the existing manually controlled floor scrubber's drive motor controller 18, relays, and other electrical equipment, a voltage converter 5 is added. This converter directly utilizes the scrubber's existing 24V DC power supply to stably power the sensor module. Furthermore, through the vehicle controller 1, control signals are sent via electrical connection to control the steering wheels, and analog signals identical to those from the original pedals are output to the drive motor controller 18, thereby driving the motor 19 to achieve high-precision operation. Overall, through a systematic transformation of the mechanical structure and electrical system of the traditional ride-on floor scrubber, this application achieves a fully automated transformation from mechanical operation to electrical control, endowing the floor scrubber with unmanned operation or remote control capabilities. Simultaneously, it significantly improves the equipment's stability, accuracy, and safety, meeting the requirements of industrial automation applications.

[0029] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. An electronic control architecture for an unmanned floor scrubber chassis, characterized in that, include Battery (2), and Vehicle controller (1), which is electrically connected to battery (2); The sensor module is electrically connected to the battery (2) via a voltage converter (5) and is communicatively connected to the vehicle controller (1). Steering controller (14), which is communicatively connected to vehicle controller (1) and electrically connected to battery (2); The operation module is electrically connected to the battery (2) and communicatively connected to the vehicle controller (1).

2. The electronic control architecture of the unmanned floor scrubber chassis according to claim 1, characterized in that, The vehicle controller (1) is equipped with a processor that can convert steering command messages into CAN signals. The processor and the steering controller (14) are connected via CAN communication.

3. The electronic control architecture of the unmanned floor scrubber chassis according to claim 1, characterized in that, The vehicle controller (1) is equipped with a communication module, which is capable of receiving remote control signals.

4. The electronic control architecture of the unmanned floor scrubber chassis according to claim 1, characterized in that, It also includes a drive motor (19) and a drive motor controller (18), wherein the drive motor (19) is electrically connected to the battery (2) through the drive motor controller (18), and the drive motor controller (18) is communicatively connected to the vehicle controller (1).

5. The electronic control architecture of the unmanned floor scrubber chassis according to claim 1, characterized in that, The sensor module also includes an industrial computer (8), which is connected to the battery (2) via a voltage converter (5) and is communicatively connected to the vehicle controller (1).

6. The electronic control architecture of the unmanned floor scrubber chassis according to claim 4, characterized in that, The sensor module also includes a collision avoidance sensor (16) and a wheel speed sensor (17), the wheel speed sensor (17) being electrically connected to the battery (2).

7. The electronic control architecture of the unmanned floor scrubber chassis according to claim 4, characterized in that, The operating module is electrically connected to the battery (2) via a relay and is also communicatively connected to the vehicle controller (1) via a relay.

8. The electronic control architecture of the unmanned floor scrubber chassis according to claim 7, characterized in that, The operating module includes a water suction motor (11), a sweeping head motor (12), and a water spraying valve (13). The water suction motor (11) is connected to the battery (2) and the vehicle controller (1) via a relay A (9). The sweeping head motor (12) and the water spraying valve (13) are both connected to the battery (2) and the vehicle controller (1) via a relay B (10).

9. The electronic control architecture of the unmanned floor scrubber chassis according to claim 8, characterized in that, The battery (2) is connected to a main switch (3) and an emergency stop switch (4). The end of the main switch (3) away from the battery (2) is connected to the emergency stop switch (4). The end of the emergency stop switch (4) away from the main switch (3) is connected to the vehicle controller (1), voltage converter (5), drive motor controller (18), relay A (9), relay B (10), steering controller (14), and wheel speed sensor (17).

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