Window cleaning robot cleaning solution supply and recovery control system and method based on intelligent perception

Abstract

The invention discloses a window cleaning robot cleaning liquid supply and recovery control system and method based on intelligent perception, and belongs to the technical field of intelligent cleaning equipment. The problems that in the prior art, the supply and recovery process of cleaning liquid is extensive, self-adaption to the stain degree cannot be achieved, energy consumption is high, and potential safety hazards exist are solved. According to the technical principle, the visual detection module recognizes the grade of stains on the surface of glass, the recovery sensing module monitors the state of waste liquid and feeds back mop state signals through the negative pressure adjusting module, and the central controller adjusts the spraying amount of cleaning liquid according to the grade of the stains, judges the sewage load according to the state of the waste liquid and controls the recovery pump to operate in a continuous, intermittent or closed mode. And adjusting the rotating speed of the fan according to the mop state signal to maintain the optimal adsorption force. Intelligent cooperation of cleaning liquid supply and recovery and negative pressure adjustment is achieved, precise cleaning, energy conservation and consumption reduction are achieved, safety and reliability are improved, and control parameters are continuously optimized through the self-learning function.

Description

Technical Field

[0001] This invention belongs to the field of intelligent cleaning equipment technology, specifically a window cleaning robot cleaning liquid supply and recycling control system and method based on intelligent sensing. Background Technology

[0002] Window cleaning robots, as automated high-rise glass cleaning equipment, are widely used in modern construction. Their basic working principle typically involves using a fan to generate negative pressure to adhere to the glass surface, and then using a drive mechanism to move a cleaning mop for wiping. To improve cleaning efficiency, most window cleaning robots are equipped with a cleaning solution supply system and a wastewater recycling system.

[0003] Existing window cleaning robot cleaning fluid management methods are generally simple and inefficient. On the supply side, most products use timed or metered spraying of cleaning fluid, failing to precisely adjust the amount based on the actual degree and type of dirt on the glass surface. This results in insufficient cleaning fluid when encountering stubborn stains, leading to poor cleaning effects; while overspraying occurs when the glass surface is relatively clean, causing waste of cleaning fluid and potentially causing secondary contamination or machine slippage due to excessive fluid flow.

[0004] In terms of recycling, existing wastewater recycling pumps mostly employ simple start-stop control or constant power operation modes. For example, the recycling pump is only activated when the liquid level reaches a certain height. This method cannot detect the pollution load (turbidity) of the recycled wastewater, which may result in insufficient recycling capacity of the recycling system when dealing with high-turbidity, high-viscosity wastewater, and is prone to pipeline blockage. When recycling clean water or low-pollution liquids, the recycling pump continues to run, resulting in inefficient energy consumption and accelerated pump wear.

[0005] Furthermore, the negative pressure adsorption force of the machine is closely related to cleaning effectiveness and safety. Current window cleaning robots mostly rely on preset fixed values ​​for negative pressure control, or simply switch based on glass material, failing to consider the dynamic impact of changes in mop moisture content after cleaning solution spraying on sealing and adsorption force. An overly wet mop may lead to decreased adsorption force, posing a safety risk; while consistently high adsorption force may increase power consumption and hinder movement.

[0006] Therefore, there is an urgent need in this field for a window cleaning robot management method that can achieve integrated intelligent and collaborative control of cleaning fluid supply, recycling and negative pressure adsorption, in order to solve the problems of low cleaning efficiency, resource waste, low system reliability and poor adaptability in the existing technology. Summary of the Invention

[0007] To address the above problems, this invention provides a window cleaning robot cleaning fluid supply and recycling control system and method based on intelligent sensing, which solves the problems of low cleaning efficiency, resource waste, and low system reliability.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing, comprising:

[0010] S1: The system starts up. The vision inspection module begins acquiring images of the glass surface, identifying the level of dirt, and transmitting the dirt level signal to the central controller. The humidity sensor collects data on the moisture content of the mop, while the level sensor and turbidity sensor collect the liquid level (L) and turbidity value (T) in the waste liquid collection tank, respectively. The pressure sensor collects the negative pressure value. All sensor data is transmitted to the central controller. The central controller reads the liquid level (L) output by the level sensor and the turbidity value (T) output by the turbidity sensor at a fixed sampling period and calculates the rate of change of turbidity value per unit time. ;

[0011] S2: After receiving data from the humidity sensor, liquid level sensor, and turbidity sensor, the central controller first determines whether the liquid level height L is within the preset safety threshold. Within the range; if The control pump shuts down and triggers a waste tank full alarm; if Control the recovery pump to shut down; if Proceed to the next step;

[0012] S3: The central controller sends a flow adjustment command to the flow control module according to the level of stains. The flow control module controls the micro supply pump to output the corresponding flow of cleaning liquid. The micro supply pump sprays the cleaning liquid onto the glass surface through the atomizing nozzle.

[0013] S4: The central controller uses the turbidity value T and the rate of change of turbidity value as the basis for its operation. Determine the wastewater load level and control the operating status of the recovery pump according to the wastewater load level, including the operating status of strong recovery, intermittent recovery mode and dormant state;

[0014] S5: The central controller sends a negative pressure adjustment command to the negative pressure adjustment module based on the mop moisture content data and the negative pressure value fed back by the pressure sensor. The negative pressure adjustment module controls the centrifugal fan to adjust the speed so that the negative pressure value is maintained within the corresponding range.

[0015] S6: The anomaly diagnosis module monitors the system status in real time. If an anomaly is detected, it immediately triggers the corresponding alarm and sends it back to the central controller. The central controller then performs the corresponding emergency operation based on the alarm type.

[0016] S7: Return to step S1 and continue the loop.

[0017] Furthermore, in step S3, the central controller controls the speed of the micro supply pump by outputting a PWM signal, thereby adjusting the spray flow rate. When the stain level is low, the PWM output duty cycle is 20% and the spray flow rate is 2.2 mL / min. When the stain level is medium, the PWM output duty cycle is 50% and the spray flow rate is 2.9 mL / min. When the stain level is high, the PWM output duty cycle is 100% and the spray flow rate is 4.4 mL / min, activating the targeted enhanced cleaning mode.

[0018] Furthermore, step S4 includes: if or Determined to be under high load, control the recovery pump to operate continuously at 100% rated power; if and Determined to be under medium load, the recovery pump is controlled to operate intermittently at a 50% duty cycle; if and The system is judged to be under low load, so the recovery pump is kept off.

[0019] Furthermore, step S5 includes the following steps:

[0020] S51: The central controller calculates the sealing coefficient based on the mop moisture content data;

[0021] S52: The central controller performs a sealing test, calculates the required PWM value for the centrifugal fan, and adjusts the centrifugal fan speed.

[0022] S53: The pressure sensor reads the current actual negative pressure value and transmits it to the central controller;

[0023] S54: The central controller determines whether the actual negative pressure value has reached the target negative pressure value. If the actual negative pressure value is equal to the target negative pressure value, it maintains the current state and waits for the next detection. If the actual negative pressure value is not equal to the target negative pressure value, it returns to the S52 loop operation.

[0024] Furthermore, in step S6, when the liquid level height... The abnormal diagnosis module triggers a waste liquid tank full alarm; when the liquid level L continues to rise and the turbidity value T=0 or is lower than the preset value, the abnormal diagnosis module triggers a pipeline blockage alarm; when the sensor signal remains unchanged or exceeds the preset range, the abnormal diagnosis module triggers a sensor fault alarm.

[0025] Furthermore, it also includes a self-learning optimization step: the central controller records the stain level, spray flow rate, recovery pump working mode, negative pressure value and cleaning effect data for each cleaning process, and optimizes the spray strategy and negative pressure adjustment parameters through machine learning algorithms; when the same type of stain reappears, the optimized parameters are directly called.

[0026] This invention also provides a window cleaning robot cleaning fluid supply and recycling control system based on intelligent sensing, comprising:

[0027] The visual inspection module collects information on stains on the glass surface and transmits it to the central controller.

[0028] The central controller sends flow adjustment commands to the flow control module based on the stain level signal.

[0029] The recycling sensor module monitors the status of the waste liquid and transmits the monitored waste liquid status signal to the central controller.

[0030] The negative pressure adjustment module sends a negative pressure adjustment command to the central controller based on the mop status signal fed back by the negative pressure adjustment module.

[0031] The central controller sends flow control signals to the flow control module based on stain information; sends control signals to the negative pressure adjustment module based on the mop moisture content information; and adjusts the power and start / stop frequency of the suction pump based on the turbidity and liquid level of the recovered liquid.

[0032] Furthermore, the flow control module includes a micro supply pump, an atomizing nozzle, and a cleaning fluid storage tank. The input end of the micro supply pump is connected to the cleaning fluid storage tank, and the output end is connected to the atomizing nozzle through a water spray pipe.

[0033] Furthermore, the recycling sensing module includes a turbidity sensor, a liquid level sensor, and a miniature recycling pump; the turbidity sensor and the liquid level sensor are installed inside the waste liquid tank, and the miniature recycling pump is connected to the waste liquid tank.

[0034] Furthermore, the negative pressure adjustment module includes a pressure sensor, a humidity sensor, and a centrifugal fan. The pressure sensor detects the actual negative pressure value, the humidity sensor detects the moisture content of the mop, and the centrifugal fan is installed at the bottom of the window cleaning robot.

[0035] The beneficial effects of this invention are as follows: A visual detection module identifies the level of dirt on the glass surface in real time and dynamically adjusts the cleaning fluid spray volume accordingly, achieving precise response to different levels of dirt. High, medium, and low dirt levels correspond to different PWM duty cycles and spray flow rates, avoiding waste of cleaning fluid and improving cleaning efficiency and effectiveness. Controlling the recovery pump to operate in different modes such as full power, intermittent, or off not only improves the targeting of wastewater recovery but also significantly reduces energy consumption and extends equipment lifespan. Dynamically adjusting the negative pressure adsorption force enhances the robot's adaptability and safety under different working conditions. By recording multiple parameters and cleaning effects during each cleaning process, machine learning algorithms continuously optimize the spray strategy and negative pressure control parameters. With increased usage, the system can increasingly accurately handle various types of dirt, achieving increasingly intelligent and personalized cleaning. Attached Figure Description

[0036] Figure 1 A flowchart illustrating the control method for the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing.

[0037] Figure 2 Here is a flowchart of the liquid spraying control algorithm;

[0038] Figure 3 This is a flowchart of negative pressure regulation.

[0039] Figure 4 This is a block diagram of a window cleaning robot's cleaning fluid supply and recycling control system based on intelligent sensing. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solution, the present invention will be described in detail below with reference to embodiments. The description in this part is only exemplary and explanatory, and should not be used to limit the scope of protection of the present invention in any way.

[0041] Example 1

[0042] See attached document Figure 1 Appendix Figure 2 and attached Figure 3 A method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing, comprising:

[0043] S1: The system starts up. The visual inspection module begins to acquire images of the glass surface, identifies the level of dirt, and transmits the dirt level signal to the central controller. The humidity sensor acquires the water content data of the mop, the liquid level sensor and the turbidity sensor acquire the liquid level height L and turbidity value T in the waste liquid collection tank, respectively, and the pressure sensor acquires the negative pressure value. All sensor data are transmitted to the central controller. The central controller reads the liquid level height signal L (unit: %) output by the liquid level sensor and the turbidity value signal T (unit: NTU) output by the turbidity sensor at a fixed sampling period (once per second in this embodiment). It calculates the difference between the current turbidity value and the turbidity value of the previous period, divides it by the sampling time, and obtains the turbidity change rate per unit time. ,

[0044] S2: After receiving data from the humidity sensor, liquid level sensor, and turbidity sensor, the central controller first determines whether the liquid level height L is within the preset safety threshold. Within the range; if If the waste liquid collection tank is about to be full, regardless of the current turbidity, the recovery pump will be immediately shut down and a "waste liquid tank full" alarm will be triggered to notify the user to empty the tank. This is the primary safety strategy. In this embodiment, controlling the recovery pump to shut down and triggering the waste liquid tank full alarm is implemented. =90%. If If the system controls the recovery pump to shut down, or if the waste liquid level in the tank is too low, it is determined that the recovery pump does not need to be started and will remain off to save energy and reduce consumption. In this embodiment, =10%. If The system has entered the normal operating range and will proceed to the next step.

[0045] S3: The central controller sends a flow adjustment command to the flow control module according to the stain level, controlling the micro supply pump to output the corresponding flow rate of cleaning fluid, which is then sprayed onto the glass surface through the atomizing nozzle. The central controller controls the speed of the micro supply pump by outputting a PWM signal, thereby adjusting the spray flow rate. When the stain level is low, the PWM output duty cycle is 20% and the spray flow rate is 2.2 mL / min. When the stain level is medium, the PWM output duty cycle is 50% and the spray flow rate is 2.9 mL / min. When the stain level is high, the PWM output duty cycle is 100% and the spray flow rate is 4.4 mL / min, activating the targeted intensive cleaning mode.

[0046] S4: The central controller calculates the turbidity value T and the rate of change. Determine the wastewater load level and control the operation of the recovery pump accordingly; if or This indicates high turbidity of the cleaning fluid or a large amount of wastewater rapidly flowing in, indicating a high load. Immediately start the recovery pump and control it to run continuously at 100% rated power (PWM duty cycle 100%). and This indicates a continuous and stable inflow of wastewater, classifying it as a medium load. Intermittent recovery mode is activated to balance efficiency and energy consumption, controlling the recovery pump to operate intermittently at 50% duty cycle (running for 10 seconds, stopping for 10 seconds) until the liquid level or turbidity changes; if and This indicates that the inflowing liquid is relatively clean or that almost no new wastewater is being generated, indicating a low load, and the recovery pump should remain off. Even if the liquid level is in the low to medium range, there is no need to start it, which greatly saves energy and extends the pump's lifespan.

[0047] S5: Based on the mop moisture content data and the negative pressure value fed back by the pressure sensor, the central controller sends a negative pressure adjustment command to the negative pressure adjustment module, controlling the centrifugal fan to adjust its speed to maintain the negative pressure value within the corresponding range; the specific steps are as follows:

[0048] S51: The central controller calculates the sealing coefficient based on the mop moisture content data;

[0049] S52: The central controller performs a sealing test, calculates the required PWM value for the centrifugal fan, and adjusts the centrifugal fan speed.

[0050] S53: The pressure sensor reads the current actual negative pressure value and transmits it to the central controller;

[0051] S54: The central controller determines whether the actual negative pressure value has reached the target negative pressure value. If the actual negative pressure value is equal to the target negative pressure value, it maintains the current state and waits for the next detection. If the actual negative pressure value is not equal to the target negative pressure value, it returns to the S52 loop operation.

[0052] S6: The anomaly diagnosis module monitors the system status in real time. Upon detecting an anomaly, it immediately triggers the corresponding alarm and sends feedback to the central controller. The central controller then executes appropriate emergency operations based on the alarm type. When the liquid level reaches a certain height... The abnormal diagnosis module triggers a full waste tank alarm; when the liquid level L continues to rise and the turbidity value T=0 or is lower than the preset value, the abnormal diagnosis module triggers a pipeline blockage alarm; when the sensor signal remains unchanged or exceeds the preset range, the abnormal diagnosis module triggers a sensor fault alarm and switches to a conservative timed recycling mode.

[0053] S7: Return to step S1 and continue the loop.

[0054] Example 2

[0055] See attached document Figure 4 A window cleaning robot cleaning fluid supply and recycling control system based on intelligent sensing includes:

[0056] The visual inspection module collects information on stains on the glass surface and transmits it to the central controller.

[0057] The flow control module is a central controller that sends flow adjustment commands to the flow control module based on the stain level signal. The flow control module includes a micro supply pump, an atomizing nozzle, and a cleaning fluid storage tank. The input end of the micro supply pump is connected to the cleaning fluid storage tank, and the output end is connected to the atomizing nozzle through a water spray pipe.

[0058] The recycling sensing module monitors the state of the waste liquid and transmits the monitored waste liquid state signal to the central controller. The recycling sensing module includes a turbidity sensor, a liquid level sensor, and a miniature recycling pump. The turbidity sensor and the liquid level sensor are installed inside the waste liquid tank, and the miniature recycling pump is connected to the waste liquid tank.

[0059] The negative pressure adjustment module is used by the central controller to send a negative pressure adjustment command based on the mop status signal fed back by the negative pressure adjustment module. The negative pressure adjustment module includes a pressure sensor, a humidity sensor, and a centrifugal fan. The central controller controls the speed of the centrifugal fan by outputting a PWM signal.

[0060] The central controller sends a flow control signal to the flow control module based on stain information; it sends a pressure control signal to the negative pressure adjustment module based on the mop moisture content information to adjust the negative pressure adsorption force; and it adjusts the power and start / stop frequency of the water suction pump based on the turbidity and liquid level of the recovered liquid.

[0061] It should be noted that, in this document, the terms "comprising," "including," and any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Specific examples have been used in this document to illustrate the principles and implementation methods of the present invention. These examples are merely for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be pointed out that, due to the limitations of written expression and the objective existence of infinite specific structures, those skilled in the art can make several improvements, modifications, or variations without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, variations, or combinations, or the direct application of the concept and technical solution of the present invention to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing, characterized in that, S1: The system starts up. The vision inspection module begins acquiring images of the glass surface, identifying the level of dirt, and transmitting the dirt level signal to the central controller. The humidity sensor collects data on the moisture content of the mop, while the level sensor and turbidity sensor collect the liquid level (L) and turbidity value (T) in the waste liquid collection tank, respectively. The pressure sensor collects the negative pressure value. All sensor data is transmitted to the central controller. The central controller reads the liquid level (L) output by the level sensor and the turbidity value (T) output by the turbidity sensor at a fixed sampling period and calculates the rate of change of turbidity value per unit time. ; S2: After receiving data from the humidity sensor, liquid level sensor, and turbidity sensor, the central controller first determines whether the liquid level height L is within the preset safety threshold. Within the range; if The control pump shuts down and triggers a waste tank full alarm; if Control the recovery pump to shut down; if Proceed to the next step; S3: The central controller sends a flow adjustment command to the flow control module according to the level of stains. The flow control module controls the micro supply pump to output the corresponding flow of cleaning liquid. The micro supply pump sprays the cleaning liquid onto the glass surface through the atomizing nozzle. S4: The central controller uses the turbidity value T and the rate of change of turbidity value as the basis for its operation. Determine the wastewater load level and control the operating status of the recovery pump according to the wastewater load level. The operating status includes strong recovery, intermittent recovery mode and dormant state. S5: The central controller sends a negative pressure adjustment command to the negative pressure adjustment module based on the mop moisture content data and the negative pressure value fed back by the pressure sensor. The negative pressure adjustment module controls the centrifugal fan to adjust the speed so that the negative pressure value is maintained within the corresponding range. S6: The anomaly diagnosis module monitors the system status in real time. If an anomaly is detected, it immediately triggers the corresponding alarm and sends it back to the central controller. The central controller then performs the corresponding emergency operation based on the alarm type. S7: Return to step S1 and continue the loop.

2. The method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing, as described in claim 1, is characterized in that... In step S3, the central controller controls the speed of the micro supply pump by outputting a PWM signal, thereby adjusting the spray flow rate. When the stain level is low, the PWM output duty cycle is 20% and the spray flow rate is 2.2 mL / min. When the stain level is medium, the PWM output duty cycle is 50% and the spray flow rate is 2.9 mL / min. When the stain level is high, the PWM output duty cycle is 100% and the spray flow rate is 4.4 mL / min, activating the targeted enhanced cleaning mode.

3. The method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing according to claim 1, characterized in that, The S4 step includes: if or Determined to be under high load, control the recovery pump to operate continuously at 100% rated power; if and Determined to be under medium load, the recovery pump is controlled to operate intermittently at a 50% duty cycle; if and The system is judged to be under low load, so the recovery pump is kept off.

4. The method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing according to claim 1, characterized in that, Step S5 includes the following steps: S51: The central controller calculates the sealing coefficient based on the mop moisture content data; S52: The central controller performs a sealing test, calculates the required PWM value for the centrifugal fan, and adjusts the centrifugal fan speed. S53: The pressure sensor reads the current actual negative pressure value and transmits it to the central controller; S54: The central controller determines whether the actual negative pressure value has reached the target negative pressure value. If the actual negative pressure value is equal to the target negative pressure value, it maintains the current state and waits for the next detection. If the actual negative pressure value is not equal to the target negative pressure value, it returns to the S52 loop operation.

5. The method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing according to claim 1, characterized in that, In step S6, when the liquid level height The abnormal diagnosis module triggers a waste liquid tank full alarm; when the liquid level L continues to rise and the turbidity value T=0 or is lower than the preset value, the abnormal diagnosis module triggers a pipeline blockage alarm; when the sensor signal remains unchanged or exceeds the preset range, the abnormal diagnosis module triggers a sensor fault alarm.

6. The method for controlling the supply and recycling of cleaning fluid in a window cleaning robot based on intelligent sensing according to claim 1, characterized in that, It also includes a self-learning optimization step: the central controller records the stain level, spray flow rate, recovery pump working mode, negative pressure value and cleaning effect data for each cleaning process, and optimizes the spray strategy and negative pressure adjustment parameters through machine learning algorithms; when the same type of stain reappears, the optimized parameters are directly called.

7. A window cleaning robot cleaning fluid supply and recycling control system based on intelligent sensing, characterized in that, include: The visual inspection module collects information on stains on the glass surface and transmits it to the central controller. The central controller sends flow adjustment commands to the flow control module based on the stain level signal. The recycling sensor module monitors the status of the waste liquid and transmits the monitored waste liquid status signal to the central controller. The negative pressure adjustment module sends a negative pressure adjustment command to the central controller based on the mop status signal fed back by the negative pressure adjustment module. The central controller sends flow control signals to the flow control module based on stain information; sends pressure control signals to the negative pressure regulation module based on the mop moisture content information; and adjusts the power and start / stop frequency of the suction pump based on the turbidity and liquid level of the recovered liquid.

8. The window cleaning robot cleaning fluid supply and recycling control system based on intelligent sensing according to claim 7, characterized in that, The flow control module includes a micro supply pump, an atomizing nozzle, and a cleaning fluid storage tank. The input end of the micro supply pump is connected to the cleaning fluid storage tank, and the output end is connected to the atomizing nozzle through a water spray pipe.

9. A window cleaning robot cleaning fluid supply and recycling control system based on intelligent sensing according to claim 7, characterized in that, The recycling sensing module includes a turbidity sensor, a liquid level sensor, and a miniature recycling pump; the turbidity sensor and the liquid level sensor are installed inside the waste liquid tank, and the miniature recycling pump is connected to the waste liquid tank.

10. A window cleaning robot cleaning fluid supply and recycling control system based on intelligent sensing according to claim 7, characterized in that, The negative pressure regulation module includes a pressure sensor, a humidity sensor, and a centrifugal fan. The pressure sensor detects the actual negative pressure value, the humidity sensor detects the moisture content of the mop, and the centrifugal fan is located at the bottom of the window cleaning robot.

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