Design and Realization of a Flat Surface Cleaning Robot

2012 ◽  
Vol 505 ◽  
pp. 477-483 ◽  
Author(s):  
Jiu Jun Zhen ◽  
Zhan Min Yang

Through the analysis of the glass wall and solar panel cleaning robot research status at home and abroad, based on cleaning characteristics and requirements of such kind of smooth surface, a full pneumatic-driven flat surface cleaning robot system is presented. The robot adopts unique three-position cylinder driving technique, SCM and PC two-level control, can crawl along the smooth surface and clean, and can overcome obstacles in a certain height. Running results show that the robot system has simple structure, low cost, the functions of on-line fault diagnosis, and can provide a new efficient, simple and safe way for the glass wall and solar panel cleaning.

2013 ◽  
Vol 401-403 ◽  
pp. 1720-1723
Author(s):  
Yun Tao Gou ◽  
Ming Yi Zhang ◽  
Dong Xia Zhang

We use ATmegal128 single-chip microcomputer as control processor to realize climbing wall-cleaning robot, by using four wheel drive structure and the principle of negative pressure adsorbing. This paper introduces the composition structure, function index of the robot, hardware and software design.The robot experiments show that the robot has a certain ability to adapt to the wall, which can remain stable posture during the cleaning process .Also it can finish surface cleaning work very good w ith characteristics of small volume, easy operation and low cost.


2015 ◽  
Vol 7 (1) ◽  
pp. 1971-1978 ◽  
Author(s):  
Zhen Jiujun ◽  
Gao Xin ◽  
Yang Zhanmin ◽  
Wang Xiaoyong ◽  
Song Haichao

Author(s):  
Qingzeng Ma ◽  
Dongbin Zhang ◽  
Shuo Jin ◽  
Yuan Ren ◽  
Wei Cheng ◽  
...  

1993 ◽  
Vol 28 (11-12) ◽  
pp. 531-538 ◽  
Author(s):  
B. Teichgräber

A nitrification/denitrification process was applied to reject water treatment from sludge dewatering at Bottrop central sludge treatment facilities of the Emschergenossenschaft. On-line monitoring of influent and effluent turbidity, closed loop control of DO and pH, and on-line monitoring of nitrogen compounds were combined to a three level control pattern. Though on-line measurement of substrate and product showed substantial response time it could be used to operate nitrification/denitrification within process boundaries.


Author(s):  
Zhengwang Xu ◽  
Wei Mei ◽  
Jiaqi Yu ◽  
Jiarui Zhang ◽  
Yuchun Yi ◽  
...  

As being restricted by factors such as cost, efficiency and size, the development of high-power solar LED street light controller is faced with plenty of difficulties. In case that a structure of two independent DC/DC is applied as the main circuit, it has to face problems such as large size and high cost; in case of applying the bidirectional BUCK/BOOST circuit, it requires change-over switches to control the solar panel and LED light. As being restricted by withstanding voltage, on-resistance and cost, a PMOS device cannot be used as the change-over switch of solar panel and LED light. However, when being used as a change-over switch, an NMOS device must apply the low-side mode under which the negative ends of the mentioned three parts are cut off. In the condition of applying the low-side mode, a differential circuit must be used to detect the voltage of the solar panel. Furthermore, in order to make sure batteries can still be regularly charged after wearing out in daylight, the controller must be supplied with power through a dual power supply circuit that can obtain power from both the solar panel and the battery. The demander has a requirement on extremely low standby power consumption of the product, and thus it is necessary to minimize the circuit that is live while working in standby mode. Methods: The bidirectional BUCK/BOOST circuit structure is applied to the main circuit to realize a higher change-over efficiency while giving considerations to both cost and size. The NMOS device, model IRFB4410ZPBF, with a price of about three yuan, is used as the switching device, and the low-side mode is applied, that is the switches inserted in between negative end of the solar panel or LED light and that of the DC/DC circuit. The low-cost rail-to-rail operational amplifier LM358 is used to form a differential amplification circuit for detecting the voltage of the solar panel. A XL1509-12E1 chip that only costs 0.88 yuan/pc is selected as the main change-over chip for the power supply, which has realized the highly-efficient and low-cost change-over of the power supply. A dual power supply circuit and a step-down protective circuit are designed for the XL1509-12E1 change-over chip. By comparing solar panel voltage with battery voltage, the solar panel booting circuit is realized. Only when solar panel voltage is higher than battery voltage, does the system program start to power it up for running, so that the outage of most of the circuits of the system under standby mode does not consume energy. Furthermore, the solar panel voltage detecting circuit, the solar panel booting circuit and several return difference functions are corrected during system debugging. Results: The circuit board of the entire controller features small size, low cost and high efficiency. It measures about 100*62*18mm in size, costs about 60 yuan, and the charge/discharge change-over efficiency reaches up to over 95%. The controller has many functions: it is capable of operating within a large scope, in which, solar panel voltage is subject to 15~50V, LED light voltage is subject to 15~60V, battery voltage is subject to 10~35V and battery-end charge/discharge current is 10A; it is capable of adapting to monocrystalline silicon/multicrystalline silicon/thin-film and many other kinds of solar panels, as well as lithium/lead-acid and many other kinds of batteries; it is capable of detecting the conversion of day and night, automatically controlling charging and discharging and automatically making adaptive adjustment according to seasonal variations; the current to be consumed during standby will be maintained below 3mA, and thus the power consumption is extremely low. Conclusion: By selecting the bidirectional BUCK/BOOST circuit structure, applying low-side mode for switching of solar panel and LED light, using a differential circuit to detect solar panel voltage, using a low-cost DC/DC chip to realize power supply change-over, designing a dual power supply circuit, introducing solar panel booting circuit and other hardware design, as well as MPPT algorithm, state recognition and control, return difference control and other software design, a solar LED street light control product featuring small size, low cost, high efficiency and multiple functions is successfully developed.


2020 ◽  
Vol 18 (1) ◽  
pp. 303-313 ◽  
Author(s):  
Aamir Rasheed ◽  
Tahseen Ghous ◽  
Sumaira Mumtaz ◽  
Muhammad Nadeem Zafar ◽  
Kalsoom Akhter ◽  
...  

AbstractIn the present work, a novel continuous flow system (CFS) is developed for the preconcentration and determination of Cr (VI) using Pseudomonas aeruginosa static biomass immobilized onto an effective and low-cost solid support of powdered eggshells. A mini glass column packed with the immobilized biosorbent is incorporated in a CFS for the preconcentration and determination of Cr (VI) from aqueous solutions. The method is based on preconcentration, washing and elution steps followed by colorimetric detection with 1,5-diphenyl carbazide in sulphuric acid. The effects of several variables such as pH, retention time, flow rate, eluent concentration and loaded volume are studied. Under optimal conditions, the CFS method has a linear range between 10 and 100 μg L-1 and a detection limit of 6.25 μg L-1 for the determination of Cr (VI). The sampling frequency is 10 samples per hour with a preconcentration time of 5 mins. Furthermore, after washing with a 0.1 M buffer (pH 3.0), the activity of the biosorbent is regenerated and remained comparable for more than 200 cycles. Scanning electron microscopy reveals a successful immobilization of biomass on eggshells powder and precipitation of Cr (VI) on the bacterial cell surface. The proposed method proves highly sensitive and could be suitable for the determination of Cr (VI) at an ultra-trace level.


2013 ◽  
Vol 834-836 ◽  
pp. 930-934
Author(s):  
Shou Liang Yang ◽  
Bao Liang Yang

The paper proposes a new design of high-accuracy On-line Metal Thickness Measuring Instrument, which was based on EP2C20 series FPGA chip, through adding NiosII soft processor and other interfaces to FPGA, equipped with high precision data collection system and TFT LCD module and so on. The key hardware blocks schematics and components of the RC Oscillation Circuit,eddy current sensor Circuit,rectifier and filter Circuit,A/D converting circuit,FPGA Circuit are described,software flow charts and sample codes are given. According to practice, The measurement range of this system is 1~100 mm and the resolving power is 0.1 μm. degree of linearity is 1%, The system has many features including small volume of hardware, low cost, high detecting precision, convenient operating, high intelligent and so on, leading to broad and bright future. Key words: NiosII processor; eddy current sensor; metal thickness


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