Robot cleaning control system, method, device and computer equipment

Abstract

The present application relates to a robot cleaning control system, method, device, computer device and storage medium, including: a robot body, a trolley controller, a robotic arm controller, a sensor component and a robotic arm component; the trolley controller is used to control the robot body to move along a preset route; during the movement of the robot body, the ground markings set on the preset route are collected through the sensor component; a cleaning operation instruction corresponding to the ground marking is obtained, and the cleaning operation instruction is sent to the robotic arm controller; the robotic arm controller is used to control the robotic arm component to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to the trajectory corresponding to the cleaning operation instruction; through the robot cleaning control system of the present application, it is possible to replace manual labor to move and complete corresponding cleaning tasks in large-scale farms, realizing the automation of cleaning in the farms and greatly improving the cleaning efficiency in the site.

Description

Technical Field

[0001] The present application relates to the technical field of robot control, and particularly to a robot cleaning control system, method, device, computer device, and storage medium. Background Art

[0002] The development of animal husbandry in China is becoming increasingly industrialized and large-scale. As a result, the scale and area of farms are constantly expanding, which also brings many inconveniences to the cleaning and disinfection of farms, requires a large amount of labor costs, and has a harsh working environment.

[0003] Therefore, there is an urgent need for a robot cleaning control system that can replace manual labor and complete corresponding cleaning tasks in large-scale farms to achieve automation of cleaning in farms and improve the cleaning efficiency on the site. Summary of the Invention

[0004] Based on this, it is necessary to provide a robot cleaning control system, method, device, computer device, and storage medium for the above technical problems.

[0005] A robot cleaning control system, the system includes: a robot body, a trolley controller, a robotic arm controller, a sensor component, and a robotic arm component; the trolley controller is respectively communicatively connected to the robotic arm controller and the sensor component; the robotic arm controller is communicatively connected to the robotic arm component;

[0006] The trolley controller is configured to control the robot body to move along a preset route; during the movement of the robot body, collect ground marks set on the preset route through the sensor component; obtain a cleaning operation instruction corresponding to the ground mark, and send the cleaning operation instruction to the robotic arm controller;

[0007] The robotic arm controller is configured to control the robotic arm component to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to a trajectory corresponding to the cleaning operation instruction.

[0008] In one embodiment, the sensor component includes a magnetic navigation sensor and a radio frequency identification sensor; the trolley controller is further configured to:

[0009] Obtain the magnetic induction intensity information of a magnetic strip pre-laid on the ground through the magnetic navigation sensor; determine the preset route according to the magnetic induction intensity information;

[0010] Identify a radio frequency tag pre-set on the preset route as the ground mark through the radio frequency identification sensor.

[0011] In one embodiment, the robotic arm controller is further configured to:

[0012] Obtain the point position parameters corresponding to the cleaning operation instruction;

[0013] Generate cleaning trajectory information corresponding to the cleaning operation instruction according to the point position parameters; the cleaning trajectory information is used to determine the action posture of the robotic arm component during the cleaning process.

[0014] In one embodiment, the robotic arm controller is further configured to:

[0015] Perform interpolation processing on the point position parameters to obtain interpolation point parameters corresponding to the point position parameters;

[0016] Perform iterative calculation on the interpolation point parameters to obtain target interpolation point parameters with feasible solutions;

[0017] Generate the cleaning trajectory information according to the target interpolation point parameters.

[0018] In one embodiment, the robotic arm controller is further configured to:

[0019] Generate continuous joint adjustment parameter information according to the cleaning trajectory information;

[0020] Control the robotic arm component to adjust to the action posture corresponding to the joint adjustment parameter information according to the joint adjustment parameter information.

[0021] In one embodiment, the sensor component further includes: a lidar; the trolley controller is further configured to:

[0022] Obtain point cloud image information of the environment where the robot body is located through the lidar;

[0023] If an obstacle object is detected in the point cloud image information, determine the moving speed of the robot body according to the distance between the robot body and the obstacle object.

[0024] A robot cleaning control method, the method includes:

[0025] Collect the ground markings set on the preset route through the sensor component;

[0026] Obtain the cleaning operation instruction corresponding to the ground marking;

[0027] Control the robotic arm component to perform posture transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to the trajectory corresponding to the cleaning operation instruction.

[0028] A robot cleaning control device, the device includes:

[0029] An identification acquisition module, configured to acquire ground identifications set on a preset route through a sensor component;

[0030] An instruction acquisition module, configured to acquire a cleaning operation instruction corresponding to the ground identification;

[0031] An instruction execution module, configured to control a robotic arm component to perform an attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to a trajectory corresponding to the cleaning operation instruction.

[0032] A computer device, comprising a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0033] Acquire ground identifications set on a preset route through a sensor component;

[0034] Acquire a cleaning operation instruction corresponding to the ground identification;

[0035] Control a robotic arm component to perform an attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to a trajectory corresponding to the cleaning operation instruction.

[0036] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0037] Acquire ground identifications set on a preset route through a sensor component;

[0038] Acquire a cleaning operation instruction corresponding to the ground identification;

[0039] Control a robotic arm component to perform an attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to a trajectory corresponding to the cleaning operation instruction.

[0040] The above-mentioned robot cleaning control system, method, device, computer equipment and storage medium include: a robot body, a trolley controller, a robotic arm controller, a sensor component and a robotic arm component; the trolley controller is communicatively connected to the robotic arm controller and the sensor component respectively; the robotic arm controller is communicatively connected to the robotic arm component; the trolley controller is used to control the robot body to move along a preset route; during the movement of the robot body, the ground markings set on the preset route are collected through the sensor component; the cleaning operation instruction corresponding to the ground marking is obtained and sent to the robotic arm controller; the robotic arm controller is used to control the robotic arm component to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to the trajectory corresponding to the cleaning operation instruction; in this application, the movement control of the robot body is realized through the trolley controller, and the attitude transformation of the robotic arm component is controlled through the robotic arm controller to realize the cleaning according to the preset trajectory; it can replace manual labor to move in a large-scale breeding farm and complete the corresponding cleaning tasks, realizing the automation of cleaning in the breeding farm and greatly improving the cleaning efficiency of the site. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic structural diagram of a robot cleaning control system in an embodiment;

[0042] Figure 2 It is a schematic flowchart of a robot cleaning control method in an embodiment;

[0043] Figure 3 It is a schematic flowchart of a robot cleaning control method in another embodiment;

[0044] Figure 4 It is a schematic flowchart of alarm when encountering an obstacle in an embodiment;

[0045] Figure 5 It is a schematic flowchart of alarm for the hub assembly in an embodiment;

[0046] Figure 6 It is a structural block diagram of a robot cleaning control device in an embodiment;

[0047] Figure 7 It is an internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] An embodiment of the present application provides a traveling control system for a tire crane. The following will separately describe each component of the system in detail.

[0050] The robot cleaning control system provided by the present application has a structure as Figure 1 shown in the structural schematic diagram of the robot cleaning control system. The robot cleaning control system includes: a robot body 10, a trolley controller 11, a robotic arm controller 12, a sensor component 110, and a robotic arm component 120; the trolley controller 11 is respectively communicatively connected to the robotic arm controller 12 and the sensor component 110; the robotic arm controller 12 is communicatively connected to the robotic arm component 120; the trolley controller 11 controls the robot body 10 to move along a preset route; during the movement of the robot body 10, ground markings set on the preset route are collected through the sensor component 110; a cleaning operation instruction corresponding to the ground marking is obtained and sent to the robotic arm controller 12; the robotic arm controller 12 controls the robotic arm component 120 to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component 120 performs cleaning according to the trajectory corresponding to the cleaning operation instruction.

[0051] Among them, the robot body is the support basis of the robot, and various functions can be realized by installing various controllers and corresponding components. For example, the movement of the robot body can be realized through the trolley controller and the wheel hub component. On this basis, the function of moving the robot body to a target point to clean a target area can be realized through the robotic arm controller and the robotic arm component.

[0052] Among them, the trolley controller refers to a control device that can drive the robot trolley, so that the robot body can move according to the control of the trolley controller; the trolley controller can be a pre-set PLC unit (Programmable Logic Controller); the robot trolley can be realized through the wheel hub component.

[0053] Among them, the robotic arm controller refers to a control device that can drive the robotic arm component, so that the robotic arm can perform corresponding cleaning actions to complete the cleaning operation; the robotic arm controller can be communicatively connected to the trolley controller, and the trolley controller can be set as the main controller and the robotic arm controller as the auxiliary controller. The robotic arm controller can be realized by using a pre-set PLC unit (Programmable Logic Controller).

[0054] Among them, the sensor component refers to a device that can collect and send various environmental factors; the sensor component enables the robot to have the ability to sense the surrounding environment.

[0055] Among them, the ground identifier refers to an electronic tag capable of storing information; in the present disclosure, the ground identifier can store an identifier code to achieve correspondence with the cleaning operation instruction, or can directly store the corresponding cleaning operation instruction information, such as the positions for stopping and starting, and the information of the specific cleaning trajectory; for example, an RFID (Radio Frequency Identification) electronic tag can be used as the ground identifier. The electronic tag can perform non-contact two-way data communication through radio frequency, so it can store data; in the present disclosure, the ground identifier is an electronic tag storing identifiers corresponding to the work position information and the cleaning work content; for example, an electronic tag A is set at point a on the preset route, and the stored identifier information is "A0101".

[0056] Among them, the cleaning operation instruction corresponds to the ground identifier, and the corresponding cleaning operation instruction can be determined through the ground identifier; the cleaning operation instruction can be parsed by the trolley controller, and records the node information, the specific cleaning trajectory, the object, etc. that the robot body needs to perform the cleaning work; the cleaning trajectory is composed of multiple consecutive postures of the robotic arm components. For example, the corresponding cleaning operation instruction obtained through the ground identifier "A0101" is "stop moving at position 01 and perform cleaning along the cleaning trajectory 01"; it should be noted that the cleaning trajectory can be set according to the cleaning object, that is, the robot can clean the cleaning object along this trajectory.

[0057] Specifically, during the process of the robot moving along the preset route, the trolley controller continuously identifies the ground identifier through the sensor components installed on the robot body; after identifying the ground identifier, it collects the identifier information stored in the ground identifier; obtains the corresponding cleaning operation instruction from the database according to the identifier information; parses the cleaning operation instruction to obtain the instruction for the trolley controller and the instruction for the robotic arm controller; the trolley controller executes the instruction for the trolley controller and sends the instruction for the robotic arm controller to the robotic arm controller; the robotic arm controller controls the robotic arm components to start cleaning and perform continuous posture transformation according to the instruction to form a trajectory to complete the cleaning work.

[0058] In this embodiment, the trolley controller controls the movement of the robot, obtains the corresponding cleaning operation instruction through the ground identifier during the movement, and controls the robotic arm to perform cleaning according to the trajectory through the robotic arm controller; the robot applying this robot cleaning control system can replace manual labor, move in a large-scale farm and complete the corresponding cleaning tasks, realizing the automation of cleaning in the farm and greatly improving the cleaning efficiency in the site.

[0059] In one embodiment, the sensor component includes a magnetic navigation sensor and a radio frequency identification sensor; the trolley controller is further configured to: obtain the magnetic induction intensity information of a magnetic strip pre-laid on the ground through the magnetic navigation sensor; determine a preset route according to the magnetic induction intensity information; and identify a radio frequency tag pre-set on the preset route as a ground identifier through the radio frequency identification sensor.

[0060] Among them, the magnetic strip (tape) navigation technology can be realized through the magnetic navigation sensor and the magnetic strip pre-laid on the ground, that is, the guidance is realized by obtaining the magnetic induction signal to obtain the magnetic induction intensity information; the magnetic strip guidance technology has high flexibility, is easier to change or expand the path, the tape laying is simple and easy, the positioning is accurate and the cost is low.

[0061] Specifically, the magnetic strip can be first laid in the site manually according to the cleaning route, and then corresponding radio frequency tags can be arranged on or near the route as ground identifiers according to the positions of the areas or objects to be cleaned along the cleaning route; subsequently, the robot is guided to run along the magnetic strip, and the trolley controller in the robot controls the trolley to move along the preset route corresponding to the magnetic strip through the magnetic navigation sensor. At the same time, the trolley controller continuously senses the radio frequency tags through the radio frequency identification sensor and uses the sensed and identified radio frequency tags as ground identifiers.

[0062] In this embodiment, the preset route is identified through the magnetic navigation sensor, and the ground identifier is collected through the radio frequency identification sensor, so that the robot can move along the preset route and execute corresponding cleaning operation instructions at the points where cleaning is required, which can replace manual labor, move in a large-scale breeding farm and complete corresponding cleaning tasks, realizing the automation of cleaning in the breeding farm and greatly improving the cleaning efficiency in the site.

[0063] In one embodiment, the robotic arm controller is further configured to: obtain point position parameters corresponding to the cleaning operation instruction; generate cleaning trajectory information corresponding to the cleaning operation instruction according to the point position parameters; and the cleaning trajectory information is used to determine the action posture of the robotic arm component during the cleaning process.

[0064] Among them, the point position parameters can be the pose parameters of relevant teaching points input through a teaching pendant when the robot is placed at a predetermined working station during the debugging of the robot; for example, the linear distances x, y, z of the end high-pressure nozzle relative to the world coordinate system, and the rotation angles a, b, c of the end coordinate system relative to the world coordinate system, etc.

[0065] Among them, interpolation processing refers to the process of determining the cleaning trajectory of the cleaning nozzle at the end of the robotic arm according to a certain method; that is, given some point position parameters on a curve, the method of calculating the intermediate points between each point position parameter according to a certain algorithm, and continuously densifying the points to form the cleaning trajectory required by the cleaning operation instruction.

[0066] Specifically, the robotic arm controller receives the cleaning operation instruction sent by the trolley controller and obtains the point position parameters included in the cleaning operation instruction; the robotic arm controller calls its own interpolation program to perform interpolation calculation between two adjacent point position parameters to obtain the cleaning trajectory information.

[0067] In this embodiment, the robotic arm controller performs interpolation processing on the point position parameters corresponding to the cleaning operation instruction, and controls the transformation of the action posture of the robotic arm component by using the cleaning trajectory information according to the result of the interpolation processing, so as to realize the cleaning of the target object or area.

[0068] In one embodiment, the point position parameters corresponding to the cleaning operation instruction can be determined by the teaching module; the teaching module is communicatively connected to the robotic arm controller; the operator can interact with the teaching module through the touchable display screen set on the robot body, and simulate the posture transformation trajectory of the robotic arm component by setting the point position parameters to obtain the corresponding cleaning operation instruction.

[0069] Specifically, the teaching module is equipped with a visual cleaning robot teaching system developed based on the application scenario for convenient operation by the operator, and a matching file management system. The teaching system includes a user login interface for the initial login of the user and the setting of relevant operation habits; a status page for displaying the current real-time status of the system; a teaching interface where the pose of the end effector (the end robotic arm component) can be input as the point position parameter. For example, corresponding point position parameters (such as the Cartesian coordinate system coordinates x, y, z and Euler angles a, b, c) are input into the working space of the robotic arm component and written into the robotic arm controller, so that the end effector reaches a certain specified position to complete the teaching; a file viewing interface for displaying relevant teaching command files; a file editing page for modifying the content of relevant teaching files; an alarm interface for displaying the current alarm information; when the cleaning robot is running, the cleaning operation instruction can be further generated through the teaching file, so that the cleaning operation instruction carries specific point position parameters.

[0070] In one embodiment, the robotic arm controller is further configured to: perform interpolation processing on the point position parameters to obtain interpolation point parameters corresponding to the point position parameters; perform iterative calculation on the interpolation point parameters to obtain target interpolation point parameters with feasible solutions; generate cleaning trajectory information according to the target interpolation point parameters.

[0071] Specifically, after the interpolation processing is performed on the point position parameters, interpolation point parameters corresponding to the point position parameters will be obtained; however, not all the interpolation points obtained by the interpolation processing according to the interpolation algorithm have feasible solutions (there are no corresponding robotic arm joint values to satisfy the conditions when inverse solutions are sought for some interpolation points). Therefore, the Newton iteration method is used to solve all the interpolation point parameters to ensure that all the interpolation point parameters exist and converge to feasible solutions.

[0072] The Newton iteration formula for a multivariate function is as follows:

[0073]

[0074] where x k is the input interpolation point parameter, x k+1 is the interpolation point parameter after one iteration, J is the Jacobian matrix, and T is the transpose; is the partial derivative of the function f(x k ) with respect to each independent variable (i.e., the gradient value of the multivariate function f(x k ), that is

[0075] In this embodiment, the interpolation point parameters are obtained through interpolation processing, and then iterative calculations are performed to obtain the target interpolation point parameters with feasible solutions, so as to ensure that all interpolation point parameters exist and converge to feasible solutions.

[0076] In one embodiment, the robotic arm controller is further configured to: generate continuous joint adjustment parameter information according to the cleaning trajectory information; and control the robotic arm components to adjust to the action postures corresponding to the joint adjustment parameter information according to the joint adjustment parameter information.

[0077] Specifically, when the robotic arm controller controls the robotic arm components to change postures, it will generate cleaning trajectory information based on the target interpolation point parameters with feasible solutions, call the forward and inverse kinematics library to calculate the joint adjustment parameter information of each robotic arm joint, and determine the action postures of the robotic arm joints according to the joint adjustment parameter information. The robotic arm controller sends the joint adjustment parameter information to the corresponding robotic arm component drivers according to the communication cycle, and the robotic arm component drivers can also perform more detailed interpolation processing to control each joint to move continuously and smoothly along the cleaning trajectory.

[0078] In this embodiment, the robotic arm controller obtains the joint adjustment parameter information through the cleaning trajectory information, and uses the joint adjustment parameter information to control the adjustment of the robotic arm components, realizing smooth control of the robotic arm components, and the robotic arm components can also move smoothly to complete cleaning.

[0079] In one embodiment, the sensor component further includes: a lidar; a trolley controller, which is further configured to: obtain the point cloud image information of the environment where the robot body is located through the lidar; and if an obstacle object is detected in the point cloud image information, determine the moving speed of the robot body according to the distance between the robot body and the obstacle object.

[0080] Among them, lidar is a measurement device that combines laser scanning and a positioning and orientation system. The lidar system includes a laser and a receiving system. The laser generates and emits a light pulse, which hits an object and reflects back, and is finally received by the receiver. The speed of light is known, and the propagation time can be converted into a measurement of distance. Therefore, through lidar, point cloud imaging of the surrounding environment can be carried out, and obstacles can be identified by analyzing the point cloud data, and the real-time distance from the obstacles can be calculated.

[0081] Specifically, the trolley controller scans the surrounding environment of the robot body through lidar to form point cloud image information. The ground and obstacles can be analyzed through the point cloud segmentation algorithm, and then the discrete points of the obstacles can be combined into corresponding entities through the point cloud clustering algorithm. According to the distance information from the obstacle entity, the distance between the robot body and the obstacle can be judged. When the distance between the robot trolley and the obstacle is continuously decreasing, the trolley controller can control the robot body to move at a reduced speed. When the distance is less than the preset distance threshold, the robot body can be controlled to stop completely to avoid contact with the obstacle.

[0082] Furthermore, the trolley controller can also generate an alarm message according to the distance from the obstacle, for example, generating a warning to the outside world through a sound and light device, or sending the alarm message to the mobile device held by the corresponding person to remind the person to handle it.

[0083] In this embodiment, the trolley controller can control the moving speed of the robot body according to the distance from the obstacle until it stops, ensuring the smooth operation of the robot itself and the safety of people and objects around it.

[0084] In one embodiment, as Figure 2 shown, a robot cleaning control method is provided, including the following steps:

[0085] Step 21, collecting the ground markings set on the preset route through the sensor component.

[0086] Step 22, obtaining the cleaning operation instruction corresponding to the ground marking;

[0087] Step 23, controlling the robotic arm component to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to the trajectory corresponding to the cleaning operation instruction.

[0088] In the above robot cleaning control method, ground markings set on a preset route are collected by a sensor component; a cleaning operation instruction corresponding to the ground marking is obtained; and the manipulator component is controlled to perform attitude transformation according to the cleaning operation instruction, so that the manipulator component performs cleaning according to a trajectory corresponding to the cleaning operation instruction. In this application, ground markings set on a preset route are collected by a sensor component, corresponding cleaning operation instructions are determined according to the ground markings, and the manipulator component is controlled to continuously change its attitude and perform cleaning according to the trajectory; it can replace manual labor to move in a large-scale farm and complete corresponding cleaning tasks, realizing the automation of cleaning in the farm and greatly improving the cleaning efficiency of the site.

[0089] For the convenience of those skilled in the art to understand this application, as Figure 3 shown, another flowchart of the robot cleaning control method is provided:

[0090] The trolley controller remains in a standby state. After receiving a start instruction, it triggers the trolley driver and the sensing component (equivalent to the sensor component in this application), and controls the trolley driver to drive the robot body to move according to the route laid with magnetic strips, and reaches a work point where ground markings are preset in advance; after reaching the work point, the trolley controller sends a signal to the manipulator controller, and the manipulator controller sends corresponding joint parameters to the driver of the manipulator component according to the cleaning control instruction corresponding to this work point; the driver controls the manipulator component to perform attitude transformation according to the preset point parameters of the teaching. Each time a teaching point is reached, the high-pressure solenoid valve is controlled to open, and water flows out through the high-pressure nozzle installed at the end of the manipulator component for cleaning. Until the operation of the last teaching point is completed, all joints of the manipulator return to the zero position; in addition, when an obstacle is detected, the trolley controller can switch to the standby state to stop the movement of the robot body. When the obstacle moves away, the trolley continues to move along the track and reaches the next work point.

[0091] In one embodiment, as Figure 4 shown, a schematic diagram of the process of alarm when encountering an obstacle is provided:

[0092] When the trolley controller detects an obstacle, it measures the distance to the obstacle in real time through a lidar; when the distance is greater than or equal to 0.8 meters, it makes no response and controls the robot trolley carrying the robot body to move forward at the original speed; when the distance is less than 0.8 meters and greater than or equal to 0.5 meters, the trolley controller controls the trolley to decelerate at a deceleration of 1m / s 2 ; when the distance is less than 0.5 meters and greater than or equal to 0.3 meters, the trolley controller controls the trolley to decelerate at a deceleration of 3m / s 2 ; when the distance is less than 0.3 meters, the trolley controller controls the trolley to stop running.

[0093] In one embodiment, when the manipulator controller detects that the attitude transformation of the manipulator component exceeds the set range, an alarm instruction can be generated and sent to the trolley controller, and the trolley controller generates an alarm message and sends it to a preset terminal, which can be a display screen set on the robot body and connected to the trolley controller.

[0094] In addition, the triggering conditions for the alarm instruction of the manipulator controller can also be the encoder line failure of the manipulator driver, the motor failure of the manipulator driver, etc.; different failure reasons carry different failure identifiers, and through this identifier, the trolley controller can generate different alarm messages for differential display on the preset terminal.

[0095] In one embodiment, as Figure 5 shown, a flow schematic diagram of the hub assembly alarm is provided:

[0096] Specifically, the trolley controller mainly controls the hub motor to drive the hub component to move the robot body. The hub motor is equipped with a temperature sensor. When it senses that the temperature of the hub motor is abnormal (caused by reasons such as excessive load due to overload), an alarm signal is generated and fed back to the trolley controller. When the temperature T exceeds the preset threshold T', the trolley can be controlled to stop urgently; on the contrary, when the temperature T does not exceed the preset threshold T', it can continue to move.

[0097] In one embodiment, there is also a cleaning robot configured with the above-mentioned robot cleaning control system, including a robot body, a trolley controller, a manipulator controller, a sensor component, and a manipulator component; the trolley controller is used to control the robot body to move along a preset route; during the movement of the robot body, ground marks set on the preset route are collected through the sensor component; a cleaning operation instruction corresponding to the ground mark is obtained and sent to the manipulator controller; the manipulator controller is used to control the manipulator component to perform attitude transformation according to the cleaning operation instruction, so that the manipulator component performs cleaning according to the trajectory corresponding to the cleaning operation instruction. The trolley controller realizes the movement control of the cleaning robot body, and controls the manipulator component to perform attitude transformation through the manipulator controller to realize cleaning according to the preset trajectory; it can replace manual labor to move in a large-scale breeding farm and complete the corresponding cleaning tasks, realizing the automation of cleaning in the breeding farm and greatly improving the cleaning efficiency in the site.

[0098] It should be understood that although Figure 2-5 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 2-5At least some of the steps may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in rotation with at least some of the steps or stages in other steps or other steps.

[0099] In one embodiment, as Figure 6 shown, a robot cleaning control device is provided, including: an identification acquisition module 61, an instruction acquisition module 62, and an instruction execution module 63, where:

[0100] The identification acquisition module 61 is configured to acquire ground markings set on a preset route through a sensor component;

[0101] The instruction acquisition module 62 is configured to acquire a cleaning operation instruction corresponding to the ground marking;

[0102] The instruction execution module 63 is configured to control the posture transformation of the robotic arm component according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to a trajectory corresponding to the cleaning operation instruction.

[0103] For specific limitations on the robot cleaning control device, reference can be made to the limitations on the robot cleaning control method in the above text, which will not be elaborated here. Each module in the above robot cleaning control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0104] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 7As shown in the figure. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be achieved through WIFI, operator networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a robot cleaning control method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball, or touchpad set on the computer device housing, or an external keyboard, touchpad, or mouse, etc.

[0105] Those skilled in the art can understand that Figure 7 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0106] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0107] Collect the ground markings set on the preset route through the sensor component;

[0108] Obtain the cleaning operation instruction corresponding to the ground marking;

[0109] Control the robotic arm component to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to the trajectory corresponding to the cleaning operation instruction.

[0110] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the following steps are implemented:

[0111] Collect the ground markings set on the preset route through the sensor component;

[0112] Obtain the cleaning operation instruction corresponding to the ground marking;

[0113] Control the robotic arm component to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to the trajectory corresponding to the cleaning operation instruction.

[0114] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The above computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above various methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0115] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0116] The above various embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A robot cleaning control system, characterized in that, The system includes: a robot body, a trolley controller, a robotic arm controller, a sensor component, and a robotic arm component; the trolley controller is communicatively connected to the robotic arm controller and the sensor component respectively; the robotic arm controller is communicatively connected to the robotic arm component; the sensor component includes a lidar, a magnetic navigation sensor, and a radio frequency identification sensor; The trolley controller is configured to control the robot body to move along a preset route; during the movement of the robot body, collect the ground markings set on the preset route through the sensor component; obtain a cleaning operation instruction corresponding to the ground marking, and send the cleaning operation instruction to the robotic arm controller; the preset route is determined by the magnetic induction intensity information of the magnetic strip pre-laid on the ground; The robotic arm controller is configured to control the robotic arm component to perform attitude transformation according to the cleaning operation instruction, so that the robotic arm component performs cleaning according to the cleaning trajectory information corresponding to the cleaning operation instruction; The robotic arm controller is further configured to: Obtain the point position parameters corresponding to the cleaning operation instruction; the point position parameters are determined by a teaching module communicatively connected to the robotic arm controller; a visual cleaning robot teaching system and a matching file management system are installed in the teaching module; Generate cleaning trajectory information corresponding to the cleaning operation instruction according to the point position parameters; the cleaning trajectory information is used to determine the action attitude of the robotic arm component during cleaning; The robotic arm controller is further configured to: Perform interpolation processing on the point position parameters to obtain interpolation point parameters corresponding to the point position parameters; Perform iterative calculation on the interpolation point parameters to obtain target interpolation point parameters with feasible solutions; Generate the cleaning trajectory information according to the target interpolation point parameters; The robotic arm controller is further configured to: Generate continuous joint adjustment parameter information according to the cleaning trajectory information; Control the robotic arm component to adjust to the action attitude corresponding to the joint adjustment parameter information according to the joint adjustment parameter information; The trolley controller is further configured to: Obtain point cloud image information of the environment where the robot body is located through the lidar; If an obstacle object is detected in the point cloud image information, determine the moving speed of the robot body according to the distance between the robot body and the obstacle object; The trolley controller is further configured to: When the distance between the robot body and the obstacle object is less than a preset distance threshold, control the robot body to stop; The trolley controller is further configured to: Generate an alarm information according to the distance between the robot body and the obstacle object.

2. The system according to claim 1, wherein The trolley controller is further configured to: Obtain the magnetic induction intensity information of the magnetic strip pre-laid on the ground through the magnetic navigation sensor; determine the preset route according to the magnetic induction intensity information; Identify the radio frequency tag pre-set on the preset route as the ground marking through the radio frequency identification sensor.

3. The system according to claim 1, wherein The ground marking refers to an electronic tag storing information.

4. The system according to claim 1, wherein The robotic arm controller refers to a control device for driving the robotic arm components.

5. The system according to claim 1, wherein The trolley controller refers to a control device for driving the robotic trolley.

6. The system according to claim 5, wherein The trolley controller refers to the PLC unit.

7. A robot cleaning control method, characterized in that, The method includes: Collecting ground markings set on a preset route through a sensor component; the sensor component includes a lidar, a magnetic navigation sensor, and a radio frequency identification sensor; the preset route is determined based on the magnetic induction intensity information of a magnetic strip pre-laid on the ground; Obtaining a cleaning operation instruction corresponding to the ground marking; Controlling the robotic arm components to perform posture transformation according to the cleaning operation instruction, so that the robotic arm components perform cleaning according to the cleaning trajectory information corresponding to the cleaning operation instruction; The method further includes: Obtaining point position parameters corresponding to the cleaning operation instruction; the point position parameters are determined by a teaching module communicatively connected to the robotic arm controller; a visual cleaning robot teaching system and a matching file management system are installed in the teaching module; Generating cleaning trajectory information corresponding to the cleaning operation instruction according to the point position parameters; the cleaning trajectory information is used to determine the action postures of the robotic arm components during the cleaning process; The method further includes: Performing interpolation processing on the point position parameters to obtain interpolation point parameters corresponding to the point position parameters; Performing iterative calculation on the interpolation point parameters to obtain target interpolation point parameters with feasible solutions; Generating the cleaning trajectory information according to the target interpolation point parameters; The method further includes: Generating continuous joint adjustment parameter information according to the cleaning trajectory information; Controlling the robotic arm components to adjust to the action postures corresponding to the joint adjustment parameter information according to the joint adjustment parameter information; The method further includes: Obtaining point cloud image information of the environment where the robot body is located through the lidar; If an obstacle object is detected in the point cloud image information, determining the moving speed of the robot body according to the distance between the robot body and the obstacle object; The method further includes: When the distance between the robot body and the obstacle object is less than a preset distance threshold, controlling the robot body to stop; The method further includes: Generating an alarm information according to the distance between the robot body and the obstacle object.

8. A robot cleaning control device, characterized in that, The device includes: A marking collection module for collecting ground markings set on a preset route through a sensor component; the sensor component includes a lidar, a magnetic navigation sensor, and a radio frequency identification sensor; the preset route is determined based on the magnetic induction intensity information of a magnetic strip pre-laid on the ground; An instruction acquisition module for obtaining a cleaning operation instruction corresponding to the ground marking; An instruction execution module for controlling the robotic arm components to perform posture transformation according to the cleaning operation instruction, so that the robotic arm components perform cleaning according to the cleaning trajectory information corresponding to the cleaning operation instruction; The device is further configured to obtain point position parameters corresponding to the cleaning operation instruction; the point position parameters are determined by a teaching module communicatively connected to the robotic arm controller; a visual cleaning robot teaching system and a matching file management system are installed in the teaching module; generate cleaning trajectory information corresponding to the cleaning operation instruction according to the point position parameters; the cleaning trajectory information is used to determine the motion posture of the robotic arm component during the cleaning process; The device is further configured to perform interpolation processing on the point position parameters to obtain interpolation point parameters corresponding to the point position parameters; perform iterative calculation on the interpolation point parameters to obtain target interpolation point parameters with feasible solutions; generate the cleaning trajectory information according to the target interpolation point parameters; The device is further configured to generate continuous joint adjustment parameter information according to the cleaning trajectory information; control the robotic arm component to adjust to the motion posture corresponding to the joint adjustment parameter information according to the joint adjustment parameter information; The device is further configured to obtain point cloud image information of the environment where the robot body is located through the lidar; if an obstacle object is detected in the point cloud image information, determine the moving speed of the robot body according to the distance between the robot body and the obstacle object; The device is further configured to control the robot body to stop when the distance between the robot body and the obstacle object is less than a preset distance threshold; The device is further configured to generate an alarm information according to the distance between the robot body and the obstacle object.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to claim 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to claim 7 are implemented.

Images