Pole cleaning device and control method thereof, and computer readable storage medium

Abstract

The present invention discloses a pole cleaning device and a control method thereof, and a computer-readable storage medium. The pole cleaning device includes an execution component, which includes a base, a first arm component, and a second arm component. The first arm component is installed on the base, and is movable in the up-down direction relative to the base, retractable in the horizontal direction, and rotatable around a horizontal axis. The second arm component is connected to the first arm component and is provided with a cleaning part for cleaning the pole. The auxiliary arm of the second arm component is movable in the up-down direction relative to the main arm and rotatable around a vertical axis. The control method includes: determining obstacle information of the environment around the pole; performing obstacle avoidance planning according to the obstacle information of the environment around the pole, and obtaining an obstacle avoidance planning path; controlling the first arm component and the second arm component to move according to the obstacle avoidance planning path, so that the cleaning part moves to the target cleaning position, and controlling the cleaning part to perform cleaning work. The control method according to an embodiment of the present invention can automatically complete obstacle avoidance cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and more specifically, to a pole cleaning device and a control method thereof, and a computer-readable storage medium. Background Art

[0002] In the related art, the cleaning of the poles requires manual cleaning with a handheld spray gun. This method has a limited cleaning range, low operating efficiency, high labor intensity, high cost, and there are safety hazards for workers working at heights. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a control method for a pole cleaning device, wherein the control method enables the pole cleaning device to automatically perform obstacle avoidance cleaning.

[0004] Another object of the present invention is to provide a computer-readable storage medium.

[0005] Another object of the present invention is to provide a pole cleaning device that can implement the above-mentioned control method.

[0006] Another object of the present invention is to provide a pole cleaning device.

[0007] According to the control method of the pole cleaning device of an embodiment of the present invention, the pole cleaning device includes an execution component, and the execution component includes a base, a first arm component and a second arm component, the first arm component is installed on the base, the first arm component is movable in the up and down directions relative to the base, is retractable in the horizontal direction and is rotatable around a horizontal axis, the second arm component is connected to the first arm component, the auxiliary arm of the second arm component is movable in the up and down directions relative to the main arm and is rotatable around a vertical axis, the second arm component is provided with a cleaning part for cleaning the pole, and the control method includes: determining obstacle information of the environment around the pole; performing obstacle avoidance planning according to the obstacle information of the environment around the pole to obtain an obstacle avoidance planning path; controlling the first arm component and the second arm component to move according to the obstacle avoidance planning path, so that the cleaning part moves to the target cleaning position, and controlling the cleaning part to perform cleaning work.

[0008] According to the control method of the pole cleaning device of the embodiment of the present invention, it is possible to obtain an obstacle avoidance planning path based on the obstacle information of the environment around the pole, and control the movement of the cleaning part according to the obstacle avoidance planning path to automatically complete the cleaning operation of the pole and automatically and effectively avoid obstacles, which can reduce manual operations, reduce manual labor intensity, improve work efficiency, and the cleaning height is not subject to manual restrictions.

[0009] In addition, the control method of the pole cleaning device according to the above embodiment of the present invention may also have the following additional technical features:

[0010] According to some embodiments of the present invention, after determining the obstacle information of the environment around the pole, the control method further includes: when it is determined that there are obstacles on three sides of the pole based on the obstacle information of the environment around the pole, determining the highest point of the obstacle, and determining the target cleaning position based on the highest point of the obstacle.

[0011] According to some embodiments of the present invention, after determining obstacle information of the environment around the pole, the control method further includes: when it is determined that there are obstacles on both sides of the pole based on the obstacle information of the environment around the pole, determining the bottom position of the pole, and determining the target cleaning position based on the bottom position of the pole.

[0012] According to some embodiments of the present invention, after determining the obstacle information of the environment around the pole, the control method further includes: when it is determined that there are obstacles on the front and one side of the pole based on the obstacle information of the environment around the pole, determining the highest point of the obstacle, and determining the target cleaning position based on the highest point of the obstacle.

[0013] According to some embodiments of the present invention, after determining obstacle information of the environment around the pole, the control method further includes: when it is determined that there is an obstacle on one side of the pole based on the obstacle information of the environment around the pole, determining the bottom position of the pole, and determining the target cleaning position based on the bottom position of the pole.

[0014] According to some embodiments of the present invention, after determining the obstacle information of the environment around the pole, the control method further includes: when it is determined that there is an obstacle in front of the pole based on the obstacle information of the environment around the pole, determining the highest point of the obstacle, and determining the target cleaning position based on the highest point of the obstacle.

[0015] According to some embodiments of the present invention, after determining obstacle information of the environment around the pole, the control method further includes: when it is determined that there is an obstacle on the back of the pole based on the obstacle information of the environment around the pole, determining the bottom position of the pole, and determining the target cleaning position based on the bottom position of the pole.

[0016] According to some embodiments of the present invention, when it is determined that there are no obstacles around the pole based on obstacle information of the environment around the pole, the control method further includes: determining the bottom position of the pole, and determining the target cleaning position based on the bottom position of the pole.

[0017] According to some embodiments of the present invention, after the target cleaning position is determined according to the bottom position of the vertical pole, the cleaning part is controlled to perform cleaning work, including: controlling the first arm assembly to move up and down along the base, so as to drive the cleaning part to vertically clean the vertical pole through the second arm assembly.

[0018] According to some embodiments of the present invention, when there is an obstacle in front of the pole, the first arm assembly and the second arm assembly are controlled to move according to the obstacle avoidance planning path, including: preferentially controlling the first arm assembly to bypass the obstacle, and when the first arm assembly cannot bypass the obstacle, controlling at least one auxiliary arm in the second arm assembly to move upward to drive the cleaning part to clean the side of the pole.

[0019] According to some embodiments of the present invention, when there is an obstacle on one side of the vertical pole, the first arm assembly and the second arm assembly are controlled to move according to the obstacle avoidance planning path, including: preferentially controlling the second arm assembly to bypass the obstacle, and when the second arm assembly cannot bypass the obstacle, controlling the first arm assembly to rotate to avoid the obstacle.

[0020] The computer-readable storage medium according to the embodiment of the present invention stores a control program of the pole cleaning device, and when the control program of the pole cleaning device is executed by a processor, the control method of the pole cleaning device according to the embodiment of the present invention is implemented.

[0021] According to an embodiment of the present invention, the pole cleaning device includes a memory, a processor, and a control program for the pole cleaning device stored in the memory and executable on the processor. When the processor executes the control program, the control method for the pole cleaning device according to the embodiment of the present invention is implemented.

[0022] According to an embodiment of the present invention, the pole cleaning device includes: an execution component, which is used to clean the pole; an identification component, which is used to identify the pole and obstacles; a control component, the identification component and the execution component are respectively connected to the control component, and the control component is used to control the movement of the execution component according to the identification result of the identification component to avoid obstacles and clean the pole.

[0023] According to some embodiments of the present invention, the execution assembly includes: a base; a first arm assembly, which is installed on the base and is movable in the up and down directions relative to the base; a second arm assembly, which is connected to the first arm assembly and is movable relative to the first arm assembly, and the second arm assembly is provided with a cleaning portion for cleaning the vertical pole.

[0024] According to some embodiments of the present invention, the first arm assembly includes a first arm portion and a second arm portion that are telescopically connected, the first arm portion is connected to the base and can move up and down along the base, and the second arm portion is connected to the second arm assembly.

[0025] According to some embodiments of the present invention, the base is provided with a first guide rail extending in the up-down direction, the first arm is provided with a second guide rail slidably matched with the first guide rail, and the base is further provided with a detection component for detecting the position of the second guide rail.

[0026] According to some embodiments of the present invention, the pole cleaning device further comprises a rotary drive member, wherein the rotary drive member connects the first arm assembly and the base, and is used for driving the first arm assembly to rotate around a horizontal axis relative to the base.

[0027] According to some embodiments of the present invention, the second arm assembly includes: a main arm, which is connected to the first arm assembly and extends perpendicularly to the first arm assembly; two auxiliary arms, which are rotatably connected to both ends of the main arm respectively, and the cleaning part is provided on at least one side of the main arm and the auxiliary arms facing the vertical pole.

[0028] According to some embodiments of the present invention, a proximity switch is provided on a side of at least one of the main arm and the auxiliary arm facing the vertical pole.

[0029] According to some embodiments of the present invention, at least two of the proximity switches are provided on the main arm and are spaced apart in the up-down direction, and / or at least two of the proximity switches are provided on the main arm and are spaced apart in the length direction of the main arm.

[0030] According to some embodiments of the present invention, the auxiliary arm is movable in an up-down direction relative to the main arm.

[0031] According to some embodiments of the present invention, the main arm is rotatably connected to the first arm assembly around a horizontal axis.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0034] Figure 1 is a schematic structural diagram of a pole cleaning device according to an embodiment of the present invention;

[0035] Figure 2is a partial structural top view of a pole cleaning device according to an embodiment of the present invention;

[0036] Figure 3 is a diagram of an automatic obstacle avoidance control strategy for a pole cleaning device according to an embodiment of the present invention;

[0037] Figure 4 is a flow chart of a control method of a pole cleaning device according to an embodiment of the present invention;

[0038] Figure 5 is a flow chart of a method for determining a target cleaning position of a pole cleaning device according to an embodiment of the present invention;

[0039] Figure 6 is a schematic diagram of cleaning of the pole cleaning device according to an embodiment of the present invention when there are no obstacles;

[0040] Figure 7 is a cleaning schematic diagram of a pole cleaning device according to an embodiment of the present invention when there is an obstacle in front, wherein the two arc-shaped rods corresponding to the left auxiliary arm respectively represent the heights of the arc-shaped rods before and after the auxiliary arm moves up and down;

[0041] Figure 8 It is a cleaning schematic diagram of the pole cleaning device according to an embodiment of the present invention when there is an obstacle on the side, wherein the two arc rods corresponding to each auxiliary arm respectively represent the heights of the arc rods before and after the first arm assembly rotates.

[0042] Reference numerals:

[0043] Pole cleaning device 100; pole 200; obstacle 300;

[0044] Actuator assembly 10; base 11; first arm assembly 12; first arm portion 121; second arm portion 122; drag chain 123; second arm assembly 13; main arm 131; auxiliary arm 132; turntable 133; cleaning portion 14; arc rod 15;

[0045] Identification component 20; proximity switch 30; rotary drive member 40; first detection component 41; second detection component 42; first guide rail 31; second guide rail 32. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0048] In the description of the present invention, "first feature" and "second feature" may include one or more such features, "plurality" means two or more, a first feature "above" or "below" the second feature may include the first and second features being directly in contact, or may include the first and second features not being in direct contact but being in contact through another feature between them, and a first feature "above", "above" and "above" the second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is horizontally higher than the second feature.

[0049] The following describes a pole cleaning device 100 according to a first embodiment of the present invention with reference to the accompanying drawings.

[0050] Reference Figure 1-Figure 8 As shown, the pole cleaning device 100 according to the embodiment of the present invention may include: an execution component 10, an identification component 20 and a control component (not shown).

[0051] Specifically, the execution assembly 10 is used to clean the upright pole 200. For example, the execution assembly 10 can spray water, cleaning agent, high-pressure gas, etc. outward to clean the upright pole 200 in the spraying area.

[0052] The identification component 20 is used to identify the pole 200 and the obstacle 300. For example, the identification component 20 may include a positioning sensor, such as a laser radar, to locate the pole 200 and the obstacle 300 and identify the types of the pole 200 and the obstacle 300; for another example, the identification component 20 may include a visual recognition sensor, such as a visual camera, to capture image information of the surrounding environment of the pole 200 and process the image information to identify the pole 200 and the obstacle 300 and determine the spatial position of the pole 200 and the obstacle 300; or the identification component 20 may include both a positioning sensor and a visual recognition sensor, and the two cooperate to achieve a more accurate recognition result.

[0053] In addition, the recognition component 20 and the execution component 10 are respectively connected to the control component, and the control component is used to control the movement of the execution component 10 according to the recognition result of the recognition component 20 to avoid the obstacle 300 and the cleaning pole 200.

[0054] For example, the control component may include an intelligent control unit and a main control unit. The recognition component 20 transmits the spatial position information of the pole 200 and the obstacle 300 to the intelligent control unit in real time. The intelligent control unit may process the data transmitted by the recognition component 20 and transmit the planned obstacle avoidance path to the main control unit in real time. The main control unit controls the movement of the execution unit to complete the obstacle avoidance. The movement mode of the execution component 10 may be flexibly set according to actual conditions, for example, it may include at least one of horizontal extension, up and down movement, rotation, etc.

[0055] Thus, the pole cleaning device 100 can automatically clean the pole 200 and can automatically and effectively avoid obstacles 300 on the pole 200. The entire working process does not require manual hand-held execution assembly 10 for cleaning, and the cleaning efficiency is high, which reduces the labor intensity of manual labor and avoids the risk of high-altitude operations. In addition, compared with manual labor, the execution assembly 10 can move to a larger range, such as achieving cleaning operations in higher areas, and the cleaning height is not limited by the manual operation range.

[0056] It should be noted that, in the embodiment of the present invention, the pole 200 should be understood in a broad sense, referring to all upright pole-like structures that need to be cleaned, including but not limited to street light poles, electric poles, billboard poles, etc.; the obstacle 300 can be an object installed on the pole 200 or an object located near the pole 200, such as low shrubs, middle electric control boxes, tree branches, high signboards, billboards, etc.

[0057] According to the pole cleaning device 100 of the embodiment of the present invention, the identification component 20 identifies the pole 200 and the obstacle 300, and controls the execution component 10 to clean the pole 200 and avoid the obstacle 300 according to the identification result. The pole 200 cleaning operation can be automatically performed, and the obstacle 300 can be automatically and effectively avoided, thereby reducing manual operations, reducing manual labor intensity, improving work efficiency, and the cleaning height is not limited by manual labor.

[0058] The specific structure of the execution component 10 according to some embodiments of the present invention is described below with reference to the accompanying drawings.

[0059] In some embodiments of the present invention, Figure 1 and Figure 2As shown, the actuator assembly 10 includes: a base 11, a first arm assembly 12 and a second arm assembly 13. The base 11 can provide stable support for the first arm assembly 12 and the second arm assembly 13. For example, the base 11 can be a base body placed on the ground, or can be a movable work vehicle body. The first arm assembly 12 is installed on the base 11, and the second arm assembly 13 is connected to the first arm assembly 12. The second arm assembly 13 is provided with a cleaning part 14 for cleaning the upright pole 200. For example, the cleaning part 14 can be a cleaning nozzle, a cleaning brush, etc.

[0060] Furthermore, the first arm assembly 12 is movable relative to the base 11 in the up-down direction, and the second arm assembly 13 is movable relative to the first arm assembly 12, such as rotating, moving up-down, grabbing, etc. Therefore, the first arm assembly 12 can drive the second arm assembly 13 and the cleaning part 14 on the second arm assembly 13 to move up-down, so as to achieve cleaning at different positions in the height direction of the vertical pole 200, and at the same time facilitate avoiding obstacles 300. The second arm assembly 13 is movable relative to the first arm assembly 12, so as to adjust the position of the cleaning part 14 within a small range, so as to adjust the distance between the cleaning part 14 and the vertical pole 200, the cleaning intensity, etc., and avoid obstacles 300 on the vertical pole 200. The cooperation between the first arm assembly 12 and the second arm assembly 13 can achieve a richer range of motion states, a more flexible obstacle avoidance effect, and meet the obstacle avoidance needs of diverse environments.

[0061] According to some embodiments of the present invention, Figure 1-Figure 3 As shown, the first arm assembly 12 is movable in the up-down direction relative to the base 11, is retractable in the horizontal direction, and is rotatable around the horizontal axis to achieve multi-dimensional movement, which is convenient for cleaning the upright pole 200 and avoiding obstacles 300. The second arm assembly 13 includes a main arm 131 connected to the first arm assembly 12 and a secondary arm 132 provided on the main arm 131. The secondary arm 132 can move up-down and rotate around the vertical axis relative to the main arm 131 to cooperate with the movement of the first arm assembly 12 to more accurately complete obstacle avoidance and cleaning, and meet obstacle avoidance cleaning in multiple environments.

[0062] In some embodiments of the present invention, Figure 1 and Figure 3 As shown, the first arm assembly 12 includes a first arm portion 121 and a second arm portion 122, and the first arm portion 121 and the second arm portion 122 are telescopically connected, wherein the first arm portion 121 is connected to the base 11, and the first arm portion 121 can move up and down along the base 11, and the second arm portion 122 is connected to the second arm assembly 13. This drives the second arm assembly 13 to move up and down relative to the base 11 and along the length direction (such as the horizontal direction) of the first arm assembly 12. For example, in the initial state, the first arm assembly 12 is extended to move the second arm assembly 13 to the vicinity of the vertical pole 200, so as to facilitate cleaning of the vertical pole 200; when there is no obstacle 300, as shown in FIG. Figure 6 As shown, by moving the first arm portion 121 up and down along the base 11, cleaning can be achieved at various positions in the height direction of the pole 200; when there is an obstacle 300, the first arm assembly 12 can be shortened, and then the first arm portion 121 can be moved up and down along the base 11 to cross the obstacle 300. After completing the obstacle avoidance, the first arm assembly 12 is extended again to continue cleaning.

[0063] In some specific embodiments, Figure 1 As shown, the first arm assembly 12 may further include a drag chain 123 , which is hydraulically driven to extend and retract on the drag chain 123 , thereby achieving the telescopic movement of the second arm portion 122 relative to the first arm portion 121 .

[0064] In some specific embodiments, Figure 1 and Figure 3 As shown, the base 11 is provided with a first guide rail 31 extending in the up-down direction, and the first arm portion 121 is provided with a second guide rail 32, and the second guide rail 32 is slidably matched with the first guide rail 31 to realize the up-down movement of the first arm assembly 12. For example, the first guide rail 31 can have a track groove, and the second guide rail 32 can be located in the track groove and can move along the track groove.

[0065] In addition, continue to refer to Figure 1 As shown, the base 11 may also be provided with a first detection component 41, which is used to detect the position of the second guide rail 32. The control component may control the movement of the second guide rail 32 according to the detection result of the first detection component 41, so that the obstacle avoidance and cleaning action control are more accurate.

[0066] In some specific embodiments, Figure 1 and Figure 3 As shown, the pole cleaning device 100 also includes a rotating drive member 40, which connects the first arm assembly 12 and the base 11. The rotating drive member 40 is used to drive the first arm assembly 12 to rotate around the horizontal axis relative to the base 11 to achieve more diverse obstacle avoidance actions and meet the obstacle avoidance requirements of more diverse environments. For example, when obstacles cannot be avoided only by extending and retracting the first arm assembly 12, Figure 8 As shown, the control component can control the rotary drive member 40 to drive the first arm component 12 to rotate to avoid obstacles.

[0067] For example, in an embodiment including a first guide rail 31 and a second guide rail 32, the rotating drive member 40 can be installed on the second guide rail 32, and the first arm portion 121 is installed on the rotating drive member 40. The second guide rail 32 can move up and down to drive the rotating drive member 40 and the first arm assembly 12 to move up and down. The rotating drive member 40 can drive the connected first arm portion 121 to rotate around a horizontal axis, and then rotate relative to the base 11.

[0068] For example, the first arm assembly 12 and the connected second arm assembly 13 can be rotated within the range of ±90°, wherein when the rotation angle is 0°, the auxiliary arm 132 and the main arm 131 of the second arm assembly 13 are located in the same horizontal plane, that is, the two auxiliary arms 132 have the same horizontal height.

[0069] In some embodiments, the rotary drive member 40 may include a rotary encoder, which can feed back angle information of the first arm assembly 12 to the control assembly, and the control assembly can control the rotation of the first arm assembly 12 according to the received angle information.

[0070] According to some embodiments of the present invention, Figure 1-Figure 3 As shown, the second arm assembly 13 includes: a main arm 131 and two auxiliary arms 132. The main arm 131 is connected to the first arm assembly 12, and the main arm 131 extends perpendicularly to the first arm assembly 12. The two auxiliary arms 132 are rotatably connected to both ends of the main arm 131, respectively, so as to realize the grabbing action of the vertical pole 200, and facilitate the rotation of the auxiliary arms 132 to avoid the obstacle 300 when there is an obstacle 300 on the side of the vertical pole 200.

[0071] For example Figure 2 As shown, in the initial state, the first arm assembly 12 extends in the front-to-back direction, the main arm 131 extends in the left-to-right direction, and the auxiliary arm 132 is rotatable around the vertical axis relative to the main arm 131, so that the angle between the auxiliary arm 132 and the main arm 131 is adjustable between 90° and 180°.

[0072] Specifically, in the initial state, the control component can control the two auxiliary arms 132 to open at 180° with the main arm 131, then the first arm component 12 extends until the main arm 131 is close to the vertical pole 200, and then the two auxiliary arms 132 rotate to 90° with the main arm 131 to achieve the grip of the vertical pole 200, and the cleaning part 14 is close to the vertical pole 200 to ensure the cleaning effect of the vertical pole 200. When there is an obstacle 300 on the side of the vertical pole 200, the auxiliary arm 132 corresponding to the side where the obstacle 300 is located can be controlled to open to avoid the position interference between the auxiliary arm 132 and the obstacle 300 during the process of the first arm component 12 driving the second arm component 13 to move up and down, thereby achieving the obstacle avoidance function.

[0073] At least one of the main arm 131 and the auxiliary arm 132 is provided with a cleaning portion 14 on a side facing the upright pole 200, so that the cleaning portion 14 can clean the upright pole 200. Figure 2 In the example shown, the main arm 131 and the two auxiliary arms 132 are each provided with a plurality of cleaning parts 14. The second arm assembly 13 surrounds the upright rod 200 on three sides to grasp the upright rod 200. When the cleaning part 14 sprays the cleaning medium outward, the cleaning medium is sprayed radially to clean all four sides of the upright rod 200 to avoid blind spots in cleaning.

[0074] In some embodiments of the present invention, Figure 2 As shown, at least one of the main arm 131 and the auxiliary arm 132 is provided with a proximity switch 30 on the side facing the upright pole 200. The proximity switch 30 can be used to assist the identification component 20 in determining whether the second arm component 13 touches the obstacle 300, so as to control the corresponding main arm 131 or auxiliary arm 132 to stop moving when approaching the obstacle 300, so as to achieve a more accurate obstacle avoidance function. The proximity switch 30 provided on the auxiliary arm 132 is used to detect whether the side obstacle 300 is touched, and the proximity switch 30 provided on the main arm 131 is used to detect whether the front obstacle 300 is touched. The proximity switch 30 provided on the main arm 131 can also be used to prevent the main arm 131 from hitting the front obstacle 300 during the extension and retraction process of the first arm component 12.

[0075] Of course, in some embodiments, such as Figure 1 As shown, the pole cleaning device 100 may further include a second detection component 42, which may be used to detect the telescopic length of the first arm component 12, so that the control component can control the telescopic length of the first arm component 12 to achieve obstacle avoidance and cleaning functions.

[0076] In addition, in some embodiments, the pole cleaning device 100 may further include a remote control component, through which manual remote control can be achieved. In this mode, the proximity switch 30 can be used to prevent the second arm component 13 from colliding with the obstacle 300 or the pole 200 due to manual misoperation.

[0077] In order to achieve better detection results, Figure 2 As shown, at least two proximity switches 30 are provided on the main arm 131, and at least two proximity switches 30 are arranged at intervals along the length direction of the main arm 131, for example Figure 2 As shown, they are arranged at intervals along the left and right directions to detect in a larger range and achieve a more comprehensive obstacle avoidance effect.

[0078] In some specific embodiments, at least two proximity switches 30 are provided on the main arm 131, and at least two proximity switches 30 are arranged at intervals in the vertical direction. The uppermost proximity switch 30 is closer to the upper surface of the main arm 131, and during the upward movement of the main arm 131, the proximity switch 30 can timely detect whether the upper surface of the main arm 131 is close to the obstacle 300, whether there is a collision risk, so as to take the upward movement and obstacle avoidance measures in time; the lowermost proximity switch 30 is closer to the lower surface of the main arm 131, and during the downward movement of the main arm 131, the proximity switch 30 can timely detect whether the lower surface of the main arm 131 is close to the obstacle 300, whether there is a collision risk, so as to take the downward movement and obstacle avoidance measures in time.

[0079] According to some embodiments of the present invention, Figure 2 As shown, a curved rod 15 is provided on the side of the main arm 131 facing the vertical pole 200, and a curved rod 15 is provided on the side of the auxiliary arm 132 facing the vertical pole 200. The curved rod 15 extends along the circumference of the vertical pole 200, so that the three curved rods 15 of the second arm assembly 13 can be arranged around the circumference of the vertical pole 200, and the spacing between each area and the outer peripheral surface of the vertical pole 200 is more uniform. The cleaning part 14 can be provided on the curved rod 15, so that the spacing between the cleaning part 14 and the vertical pole 200 is small, and the spacing between the multiple cleaning parts 14 and the vertical pole 200 is uniform, which is conducive to achieving a more uniform cleaning effect, facilitating the position control of the main arm 131 and the auxiliary arm 132, and also facilitating increasing the cleaning range of the cleaning part 14 on the outer peripheral surface of the vertical pole 200.

[0080] It should be noted that in the embodiment where the auxiliary arm 132 moves up and down relative to the main arm 131, the arc rod 15 on the auxiliary arm 132 may move up and down, or the entire auxiliary arm 132 may move up and down relative to the main arm 131, which is within the protection scope of the present invention.

[0081] In some embodiments of the present invention, Figure 2 and Figure 7 As shown, the auxiliary arm 132 is movable in the up-down direction relative to the main arm 131. When there is an obstacle 300 in front of the column, the auxiliary arm 132 moves up-down relative to the main arm 131, so that the side of the column at the same height as the obstacle 300 can be cleaned, and the cleaning is more comprehensive, while avoiding interference between the main arm 131 and the obstacle 300.

[0082] In some embodiments, the auxiliary arm 132 is movable between an upper limit position and a lower limit position relative to the main arm 131, wherein the auxiliary arm 132 is located above the main arm 131 in the upper limit position, and the auxiliary arm 132 is located below the main arm 131 in the lower limit position. Thus, when cleaning the upright pole 200 from top to bottom and encountering a front obstacle 300, the auxiliary arm 132 can be moved downward relative to the main arm 131 to clean the side of the upright pole; when cleaning the upright pole 200 from bottom to top and encountering a front obstacle 300, the auxiliary arm 132 can be moved upward relative to the main arm 131 to clean the side of the upright pole, which can meet more cleaning method requirements.

[0083] According to some embodiments of the present invention, Figure 2As shown, the main arm 131 is rotatably connected to the first arm assembly 12 around a horizontal axis, for example, the main arm 131 is connected to the first arm assembly 12 via a turntable 133. By rotating the main arm 131 relative to the first arm assembly 12, the auxiliary arm 132 can be driven to rotate around the horizontal axis, thereby adjusting the distance between the cleaning portion 14 on the auxiliary arm 132 and the outer peripheral surface of the vertical pole 200 to adjust the cleaning effect. For example, when the heights of the two auxiliary arms 132 are the same, the distance between the cleaning portion 14 on the auxiliary arm 132 and the outer peripheral surface of the vertical pole 200 is the largest, and a larger cleaning range can be achieved; when the main arm 131 rotates relative to the first arm assembly 12 so that there is a difference in the heights of the two auxiliary arms 132, the distance between the cleaning portion 14 on the auxiliary arm 132 and the outer peripheral surface of the vertical pole 200 is reduced, and a greater cleaning force can be achieved.

[0084] The following describes a control method for a pole cleaning device according to an embodiment of the second aspect of the present invention with reference to the accompanying drawings.

[0085] It should be noted that the control method of the pole cleaning device according to the embodiment of the present invention can be used for the pole cleaning device 100 according to the embodiment of the present invention, and can also be used for other pole cleaning devices; the pole cleaning device 100 according to the embodiment of the present invention can adopt the control method of the pole cleaning device according to the embodiment of the present invention, and can also adopt other control methods.

[0086] In order to make the description clearer, the control method of the pole cleaning device according to the embodiment of the present invention is described below by taking the pole cleaning device 100 according to the embodiment of the present invention as an example.

[0087] like Figure 1-Figure 3 As shown, the pole cleaning device 100 includes an actuator assembly 10, which includes a base 11, a first arm assembly 12, and a second arm assembly 13. The first arm assembly 12 is mounted on the base 11, and the first arm assembly 12 is movable in the up-down direction relative to the base 11, is retractable in the horizontal direction, and is rotatable around a horizontal axis. The second arm assembly 13 is connected to the first arm assembly 12, and the second arm assembly 13 includes a main arm 131 and a secondary arm 132. The secondary arm 132 of the second arm assembly 13 is movable in the up-down direction relative to the main arm 131 and is rotatable around a vertical axis. The second arm assembly 13 is provided with a cleaning portion 14 for cleaning the pole 200.

[0088] like Figure 4 As shown, the control method of the pole cleaning device 100 according to the embodiment of the present invention comprises the following steps:

[0089] S1: Determine information of obstacles 300 in the surrounding environment of the pole 200;

[0090] S2: performing obstacle avoidance planning according to information of obstacles 300 in the surrounding environment of the pole 200, and obtaining an obstacle avoidance planning path;

[0091] S3: Control the first arm assembly 12 and the second arm assembly 13 to move according to the obstacle avoidance planning path, so that the cleaning unit 14 moves to the target cleaning position, and control the cleaning unit 14 to perform the cleaning work.

[0092] For example, the spatial information of the surrounding environment can be recognized by the recognition component 20 such as a positioning sensor or a visual recognition sensor, and the control component establishes a three-dimensional coordinate system with the assembly position of the recognition component 20 as the origin. Through the algorithm, the posture of the shortest distance to the vertical pole 200 is used as the initial position of the main arm 131, and then the target cleaning position and grasping posture of the cleaning unit 14 are determined. By the first arm component 12 moving up and down, horizontally extending and retracting, and rotating around the horizontal axis, and by the auxiliary arm 132 moving up and down relative to the main arm 131 and rotating around the vertical axis, the cleaning unit 14 can be flexibly moved in three-dimensional space to avoid obstacles and ensure that the vertical pole 200 is fully cleaned.

[0093] According to the control method of the pole cleaning device 100 of the embodiment of the present invention, it is possible to obtain an obstacle avoidance planning path based on the information of the obstacle 300 in the surrounding environment of the pole 200, and control the movement of the cleaning unit 14 according to the obstacle avoidance planning path, so as to automatically complete the cleaning operation of the pole 200 and automatically and effectively avoid the obstacle 300, thereby reducing manual operations, lowering manual labor intensity, improving work efficiency, and the cleaning height is not subject to manual restrictions.

[0094] According to some embodiments of the present invention, Figure 3 and Figure 5 As shown, after determining the information of the obstacle 300 in the surrounding environment of the pole 200, the control method also includes: when it is determined that there are obstacles 300 on three sides of the pole 200 according to the information of the obstacle 300 in the surrounding environment of the pole 200, determining the highest point of the obstacle 300, and determining the target cleaning position according to the highest point of the obstacle 300.

[0095] When there are obstacles 300 on three sides of the upright pole 200, both the main arm 131 and the auxiliary arm 132 are at risk of colliding with the obstacles 300. By taking the highest point of the obstacle 300 as the target cleaning position, the cleaning unit 14 can effectively avoid the obstacles 300 on three sides.

[0096] For example, the first arm assembly 12 and the second arm assembly 13 can be controlled to move so that the cleaning part 14 moves to above the obstacle 300, and then the first arm assembly 12 can be controlled to move upward to drive the second arm assembly 13 to move upward, thereby achieving obstacle avoidance and preventing the cleaning part 14 of the second arm assembly 13 from colliding with the obstacle 300.

[0097] According to some embodiments of the present invention, Figure 3 and Figure 5As shown, after determining the information of obstacles 300 in the surrounding environment of the pole 200, the control method further includes: when it is determined that there are obstacles 300 on both sides of the pole 200 according to the information of obstacles 300 in the surrounding environment of the pole 200, determining the bottom position of the pole 200, and determining the target cleaning position according to the bottom position of the pole 200.

[0098] When there are obstacles 300 on both sides of the pole 200, there is no risk of the main arm 131 colliding with the obstacles 300. By taking the bottom position of the pole 200 as the target cleaning position, the cleaning portion 14 on the main arm 131 can clean the front area at the same height as the obstacle 300, and the two auxiliary arms 132 can be unfolded to avoid the side obstacles 300.

[0099] According to some embodiments of the present invention, Figure 3 and Figure 5 As shown, after determining the information of the obstacle 300 in the surrounding environment of the pole 200, the control method also includes: when it is determined that there are obstacles 300 on the front and one side of the pole 200 according to the information of the obstacle 300 in the surrounding environment of the pole 200, determining the highest point of the obstacle 300, and determining the target cleaning position according to the highest point of the obstacle 300.

[0100] When there is an obstacle 300 on the front and one of the sides of the upright pole 200, there is a risk of collision with the obstacle 300 on the front and the side, but there is no risk of collision with the obstacle 300 on the other side. By taking the highest point of the obstacle 300 as the target cleaning position, the main arm 131 and one of the auxiliary arms 132 can avoid the obstacle. In addition, the auxiliary arm 132 corresponding to the other side without the obstacle 300 can be moved downward from the target cleaning position to achieve cleaning of the side.

[0101] According to some embodiments of the present invention, Figure 3 and Figure 5 As shown, after determining the information of the obstacle 300 in the environment around the pole 200, the control method also includes: when it is determined that there is an obstacle 300 on one side of the pole 200 according to the information of the obstacle 300 in the environment around the pole 200, determining the bottom position of the pole 200, and determining the target cleaning position according to the bottom position of the pole 200.

[0102] When there is an obstacle 300 on one side of the pole 200, there is a risk of hitting the obstacle 300 on this side, but there is no risk of hitting the obstacle 300 on the front and the other side. By taking the bottom position of the pole 200 as the target cleaning position, the front and the other side without the obstacle 300 can be cleaned. At this time, the auxiliary arm 132 corresponding to the side with the obstacle 300 can be opened to avoid the obstacle 300.

[0103] Reference Figure 1-Figure 5As shown, when there is an obstacle 300 on one side of the vertical pole 200, controlling the first arm assembly 12 and the second arm assembly 13 to move according to the obstacle avoidance planning path in step S3 may include: preferentially controlling the second arm assembly 13 to bypass the obstacle 300, and when the second arm assembly 13 cannot bypass the obstacle 300, controlling the first arm assembly 12 to rotate to avoid the obstacle 300.

[0104] For example, in some embodiments, the auxiliary arm 132 of the second arm assembly 13 is rotatable relative to the main arm 131 to unfold and grab. When there is an obstacle 300 on one side of the upright pole 200, the auxiliary arm 132 corresponding to the side is preferentially controlled to rotate and unfold relative to the main arm 131 to avoid the obstacle 300, so that when the first arm assembly 12 drives the second arm assembly 13 to move upward, the auxiliary arm 132 can bypass the obstacle 300 and move above the obstacle 300.

[0105] If the second arm assembly 13 cannot bypass the obstacle 300, such as the obstacle 300 has a large extension in the front-to-back direction, and the auxiliary arm 132 moves upward after being unfolded, it will still interfere with the obstacle 300, then the first arm assembly 12 can be controlled to rotate, such as rotating around a horizontal axis. Figure 8 As shown, the height difference between the two auxiliary arms 132 is adjusted so that the auxiliary arm 132 can be staggered with the obstacle 300 in height to achieve obstacle avoidance. Specifically, the auxiliary arm 132 can be controlled to expand and the first arm assembly 12 can be controlled to retract so that the second arm assembly 13 is away from the vertical pole 200; then the first arm assembly 12 rotates around the horizontal axis to drive the auxiliary arm 132 on the side with the obstacle 300 to rotate to be higher than the auxiliary arm 132 on the side without the obstacle 300, so that the auxiliary arm 132 on the side of the obstacle 300 is higher than the obstacle 300; then the first arm assembly 12 is extended to make the second arm assembly 13 close to the vertical pole 200; then the auxiliary arm 132 is controlled to grab the vertical pole 200 to complete the obstacle avoidance. At this time, the first arm assembly 12 can move upward to drive the second arm assembly 13 to move upward to vertically clean the vertical pole 200.

[0106] According to some embodiments of the present invention, Figure 1-Figure 3 and Figure 5 After determining the obstacle 300 information in the surrounding environment of the pole 200, the control method further includes: when it is determined that there is an obstacle 300 in front of the pole 200 according to the obstacle 300 information in the surrounding environment of the pole 200, determining the highest point of the obstacle 300, and determining the target cleaning position according to the highest point of the obstacle 300.

[0107] When there is an obstacle 300 in front of the upright pole 200, the main arm 131 is at risk of colliding with the obstacle 300, but the two auxiliary arms 132 are not at risk of colliding with the obstacle 300. By taking the highest point of the obstacle 300 as the target cleaning position, front obstacle avoidance can be achieved. At this time, the two auxiliary arms 132 can move downward relative to the main arm 131 to clean the side area at the same height as the obstacle 300.

[0108] In some embodiments, Figure 1-Figure 3 and Figure 5 As shown, when there is an obstacle 300 in front of the vertical pole 200, controlling the first arm assembly 12 and the second arm assembly 13 to move according to the obstacle avoidance planning path in step S3 may include: preferentially controlling the first arm assembly 12 to bypass the obstacle 300, and when the first arm assembly 12 cannot bypass the obstacle 300, controlling at least one auxiliary arm 132 in the second arm assembly 13 to move upward to drive the cleaning unit 14 to clean the side of the vertical pole 200.

[0109] For example, in some embodiments, the first arm assembly 12 can be retracted to allow the main arm 131 and the front obstacle 300 to be offset in the horizontal direction; then the first arm assembly 12 can be moved upward until the main arm 131 is higher than the highest point of the front obstacle 300; then the first arm assembly 12 can be extended to allow the second arm assembly 13 to approach the pole 200 to grasp the pole 200.

[0110] If the first arm assembly 12 cannot bypass the front obstacle 300, for example, when the first arm assembly 12 is retracted to the limit position, the main arm 131 still cannot be offset from the front obstacle 300. Figure 7 As shown, the auxiliary arm 132 in the second arm assembly 13 can be controlled to move upward to drive the cleaning unit 14 to clean the side of the upright pole 200. It should be noted that the auxiliary arm 132 that moves upward is the auxiliary arm 132 corresponding to the side without the obstacle 300. If there is an obstacle 300 on one of the sides, only one of the auxiliary arms 132 is controlled to move upward. If there is no obstacle 300 on both sides, both auxiliary arms 132 are controlled to move upward.

[0111] According to some embodiments of the present invention, Figure 5 As shown, after determining the information of the obstacle 300 in the environment around the pole 200, the control method also includes: when it is determined that there is an obstacle 300 on the back of the pole 200 according to the information of the obstacle 300 in the environment around the pole 200, determining the bottom position of the pole 200, and determining the target cleaning position according to the bottom position of the pole 200.

[0112] Since the second arm assembly 13 includes a main arm 131 and two auxiliary arms 132, the vertical pole 200 is surrounded on three sides. Therefore, when there is an obstacle 300 on the back of the vertical pole 200, there is no risk of collision between the second arm assembly 13 and the obstacle 300. The bottom position of the vertical pole 200 can be used as the target cleaning position, so that the cleaning part 14 of the second arm assembly 13 can clean the vertical pole 200 from the bottom.

[0113] Of course, in some embodiments, the cleaning medium sprayed by the cleaning unit 14 is diffusely sprayed onto the surface of the upright pole 200 , so the three-sided surrounding structure of the second arm assembly 13 can still achieve cleaning of the back side of the upright pole 200 , ensuring comprehensive and thorough cleaning, and the movement of the second arm assembly 13 will not be interfered with by the rear obstacle 300 .

[0114] According to some embodiments of the present invention, Figure 5 As shown, when it is determined that there are no obstacles 300 around the pole 200 according to the information of obstacles 300 in the surrounding environment of the pole 200, the control method further includes: determining the bottom position of the pole 200, and determining the target cleaning position according to the bottom position of the pole 200. When there are no obstacles 300 around the pole 200, cleaning can be gradually performed from the bottom position of the pole 200 upwards without obstacle avoidance.

[0115] In some embodiments, as 1 and Figure 6 As shown, after determining the target cleaning position according to the bottom position of the upright pole 200, controlling the cleaning unit 14 to perform cleaning work in step S3 may include: controlling the first arm assembly 12 to move up and down along the base 11, so as to drive the cleaning unit 14 to vertically clean the upright pole 200 through the second arm assembly 13. This ensures that all areas in the height direction of the upright pole are automatically and comprehensively cleaned, thereby ensuring the cleaning effect and cleaning efficiency.

[0116] The computer-readable storage medium according to the third aspect of the present invention stores a control program of the pole cleaning device 100, which, when executed by a processor, implements the control method of the pole cleaning device 100 according to the second aspect of the present invention.

[0117] Since the control method of the pole cleaning device 100 according to the second aspect of the embodiment of the present invention has the above-mentioned beneficial technical effects, the computer-readable storage medium according to the embodiment of the present invention can obtain an obstacle avoidance planning path based on the information of the obstacle 300 in the surrounding environment of the pole 200, and control the movement of the cleaning unit 14 according to the obstacle avoidance planning path to automatically complete the cleaning operation of the pole 200 and automatically and effectively avoid the obstacle 300, which can reduce manual operation, reduce manual labor intensity, improve work efficiency, and the cleaning height is not limited by manual labor.

[0118] According to the third aspect of the embodiment of the present invention, the pole cleaning device 100 includes a memory, a processor, and a control program of the pole cleaning device 100 stored in the memory and executable on the processor. When the processor executes the control program, the control method of the pole cleaning device 100 according to the second aspect of the present invention is implemented.

[0119] Since the control method of the pole cleaning device 100 according to the embodiment of the second aspect of the present invention has the above-mentioned beneficial technical effects, the pole cleaning device 100 according to the embodiment of the present invention can obtain an obstacle avoidance planning path based on the information of the obstacle 300 in the surrounding environment of the pole 200, and control the movement of the cleaning unit 14 according to the obstacle avoidance planning path to automatically complete the cleaning operation of the pole 200 and automatically and effectively avoid the obstacle 300, which can reduce manual operation, reduce manual labor intensity, improve work efficiency, and the cleaning height is not limited by manual labor.

[0120] The following describes in detail a pole cleaning device 100 and a control method thereof according to a specific embodiment of the present invention with reference to the accompanying drawings. It should be understood that the following description is merely illustrative and should not be construed as limiting the invention.

[0121] like Figure 1-Figure 3 As shown, the pole cleaning device 100 according to the embodiment of the present invention includes an execution component 10, an identification component 20 and a control component. The execution component 10 includes a base 11, a first arm component 12 and a second arm component 13. The first arm component 12 can slide up and down with the first guide rail 31 of the base 11 through the second guide rail 32. The first arm component 12 can rotate ±90° around the horizontal axis with the second guide rail 32 through the rotating driving member 40, and the first arm component 12 can be retracted in the horizontal direction. A first detection component 41 for detecting the position of the second guide rail 32 is provided on the base 11, and a second detection component 42 for detecting the length of the first arm component 12 is provided on the first arm component 12. The second arm component 13 includes a main arm 131 and two auxiliary arms 132 (such as electric push rods). The auxiliary arm 132 can rotate 90° to 180° relative to the main arm 131 to achieve unfolding and grasping, and the auxiliary arm 132 can move up and down relative to the main arm 131, and the main arm 131 can rotate around the horizontal axis relative to the first arm component 12. The main arm 131 and the auxiliary arm 132 are both provided with a cleaning part 14 and a proximity switch 30. The control component includes an intelligent control unit and a main control unit, and the control component can perform data processing and logic calculation through feedback data from the identification component 20, the rotary drive member 40, the first detection component 41, the second detection component 42 and the proximity switch 30, and accurately control the action of the execution component 10.

[0122] The recognition component 20 acts as a sensing source to actively identify the surrounding environment of the pole 200 to be cleaned, and transmits the spatial position information of the pole 200 and the obstacle 300 to the intelligent control unit in real time. The intelligent control unit processes the data and transmits the planned obstacle avoidance path to the main control unit in real time. The main control unit completes the obstacle avoidance by controlling the execution component 10 to act.

[0123] Taking cleaning the upright pole 200 from bottom to top as an example, the working process of the upright pole cleaning device 100 is as follows. According to the following description, the working process of cleaning the upright pole 200 from top to bottom is understandable to those skilled in the art.

[0124] Before cleaning, the recognition component 20 recognizes the spatial information of the surrounding environment, and the control component establishes a three-dimensional coordinate system with the recognition component 20 as the origin. Through the algorithm, the posture with the shortest distance to the pole 200 is used as the initial position of the main arm 131;

[0125] Determine that there are no obstacles 300 on the front and both sides of the bottom of the pole 200, take the bottom of the pole 200 as the cleaning bottom, control the second arm assembly 13 to approach the cleaning bottom to grab the pole 200, then control the first arm assembly 12 to move upward and drive the second arm assembly 13 to move upward, and the cleaning part 14 of the second arm assembly 13 performs obstacle-free vertical cleaning on the pole 200;

[0126] When the vehicle moves upward to the middle or upper part of the upright pole 200 and there is an obstacle 300, the first arm assembly 12 and the second arm assembly 13 are controlled to move to avoid the obstacle.

[0127] When it is determined that there are obstacles 300 on the front and both sides of the pole 200, the first arm assembly 12 is controlled to retract and move upward to above the obstacle 300, and then the first arm assembly 12 is extended to allow the second arm assembly 13 to grab the pole 200 again;

[0128] When it is determined that there are obstacles 300 on both sides of the upright pole 200, the two auxiliary arms 132 are controlled to unfold, and the first arm assembly 12 continues to move upward to avoid obstacles while performing front cleaning;

[0129] When it is determined that there is an obstacle 300 on the front and one of the sides of the pole 200, the first arm assembly 12 is controlled to retract and then move upward to avoid the obstacle, and then the first arm assembly 12 is extended to allow the second arm assembly 13 to grab the pole 200 again, and then the auxiliary arm 132 on the side without the obstacle 300 can move downward to clean the side area at the same height as the obstacle 300;

[0130] When it is determined that there is only an obstacle 300 in front of the pole 200, the first arm assembly 12 is controlled to retract and then move upward to avoid the obstacle, and then the first arm assembly 12 is extended to allow the second arm assembly 13 to grab the pole 200 again, and then the auxiliary arm 132 can move downward to clean the side area at the same height as the obstacle 300;

[0131] When it is determined that there is an obstacle 300 on the front of the pole 200 (there is an obstacle 300 only on the front, or there is an obstacle 300 on the front and one side) and the first arm assembly 12 cannot avoid the obstacle by contraction, the auxiliary arm 132 corresponding to the side without the obstacle 300 is controlled to move upward for cleaning; when it is determined that there is an obstacle 300 only on one side of the pole 200, the auxiliary arm 132 on the side with the obstacle 300 is controlled to open, and the first arm assembly 12 continues to move upward to avoid the obstacle and clean the front and the other side at the same time;

[0132] When it is determined that there is an obstacle 300 on only one side and the auxiliary arm 132 cannot avoid the obstacle by opening, the first arm assembly 12 is controlled to retract, and then the first arm assembly 12 rotates around the horizontal axis to make the auxiliary arm 132 on the side with the obstacle 300 rise to be offset from the obstacle 300, and then the first arm assembly 12 extends to allow the second arm assembly 13 to grab the vertical pole 200 again.

[0133] In summary, the pole cleaning device 100 according to the above embodiment of the present invention can automatically sense and determine the position of the obstacle 300 around the pole 200 and plan an obstacle avoidance path, and automatically clean the pole 200. Through the combination of the first arm assembly 12, the main arm 131 and the auxiliary arm 132, it can meet the obstacle avoidance cleaning in a variety of environments, and can effectively increase the cleaning height, improve work efficiency, intelligently and automatically avoid obstacles, reduce manual operations, and improve the level of intelligence.

[0134] Other structures and operations of the pole cleaning device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0135] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0136] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0137] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A control method for a pole cleaning device, characterized in that: The pole cleaning device comprises an actuator assembly, which comprises a base, a first arm assembly and a second arm assembly, wherein the first arm assembly is mounted on the base, the first arm assembly is movable in the up-down direction relative to the base, is retractable in the horizontal direction and is rotatable around a horizontal axis, the second arm assembly is connected to the first arm assembly, a secondary arm of the second arm assembly is movable in the up-down direction relative to the main arm and is rotatable around a vertical axis, and the second arm assembly is provided with a cleaning portion for cleaning the pole, and the control method comprises: Determining obstacle information of the surrounding environment of the pole; Performing obstacle avoidance planning based on obstacle information of the environment surrounding the pole to obtain an obstacle avoidance planning path; Controlling the first arm assembly and the second arm assembly to move according to the obstacle avoidance planning path, so that the cleaning unit moves to a target cleaning position, and controlling the cleaning unit to perform a cleaning operation; After determining the obstacle information of the surrounding environment of the pole, the control method further includes: When it is determined that there is an obstacle on one side of the pole according to obstacle information of the surrounding environment of the pole, the bottom position of the pole is determined, and the target cleaning position is determined according to the bottom position of the pole; When there is an obstacle on one side of the pole, controlling the first arm assembly and the second arm assembly to move according to the obstacle avoidance planning path includes: The second arm assembly is preferentially controlled to bypass the obstacle, and when the second arm assembly cannot bypass the obstacle, the first arm assembly is controlled to rotate to avoid the obstacle.

2. The control method according to claim 1, characterized in that: After determining the obstacle information of the surrounding environment of the pole, the control method further includes: When it is determined that there are obstacles on three sides of the upright pole according to the obstacle information of the environment around the upright pole, the highest point of the obstacle is determined, and the target cleaning position is determined according to the highest point of the obstacle.

3. The control method according to claim 1, characterized in that: After determining the obstacle information of the surrounding environment of the pole, the control method further includes: When it is determined that there are obstacles on both sides of the pole according to obstacle information of the surrounding environment of the pole, the bottom position of the pole is determined, and the target cleaning position is determined according to the bottom position of the pole.

4. The control method according to claim 1, characterized in that: After determining the obstacle information of the surrounding environment of the pole, the control method further includes: When it is determined that there are obstacles on the front and one side of the pole according to the obstacle information of the surrounding environment of the pole, the highest point of the obstacle is determined, and the target cleaning position is determined according to the highest point of the obstacle.

5. The control method according to claim 1, characterized in that: After determining the obstacle information of the surrounding environment of the pole, the control method further includes: When it is determined that there is an obstacle in front of the upright pole according to the obstacle information of the environment around the upright pole, the highest point of the obstacle is determined, and the target cleaning position is determined according to the highest point of the obstacle.

6. The control method according to claim 1, characterized in that: After determining the obstacle information of the surrounding environment of the pole, the control method further includes: When it is determined that there is an obstacle on the back of the pole according to the obstacle information of the surrounding environment of the pole, the bottom position of the pole is determined, and the target cleaning position is determined according to the bottom position of the pole.

7. The control method according to claim 1, characterized in that: When it is determined that there are no obstacles around the pole according to the obstacle information of the surrounding environment of the pole, the control method further includes: The bottom position of the upright pole is determined, and the target cleaning position is determined according to the bottom position of the upright pole.

8. The control method according to claim 7, characterized in that: After determining the target cleaning position according to the bottom position of the upright pole, controlling the cleaning unit to perform the cleaning work includes: The first arm assembly is controlled to move up and down along the base, so as to drive the cleaning part to vertically clean the upright pole through the second arm assembly.

9. The control method according to claim 5, characterized in that: When there is an obstacle in front of the upright pole, controlling the first arm assembly and the second arm assembly to move according to the obstacle avoidance planning path includes: The first arm assembly is preferentially controlled to bypass the obstacle, and when the first arm assembly cannot bypass the obstacle, at least one auxiliary arm in the second arm assembly is controlled to move upward to drive the cleaning part to clean the side of the upright pole.

10. A computer-readable storage medium, characterized in that: A control program of the pole cleaning device is stored thereon, and when the control program of the pole cleaning device is executed by the processor, a control method of the pole cleaning device according to any one of claims 1-9 is implemented.

11. A pole cleaning device, characterized in that: The invention comprises a memory, a processor and a control program of a pole cleaning device which is stored in the memory and can be run on the processor. When the processor executes the control program, the control method of the pole cleaning device according to any one of claims 1 to 9 is implemented.

12. The pole cleaning device according to claim 11, characterized in that: The pole cleaning device also includes: An execution component, the execution component is used for cleaning the upright pole; An identification component, the identification component is used to identify the poles and obstacles; The control component is connected to the recognition component and the execution component respectively, and the control component is used to control the movement of the execution component according to the recognition result of the recognition component to avoid obstacles and clean the poles.

13. The pole cleaning device according to claim 12, characterized in that: The execution components include: Pedestal; a first arm assembly, the first arm assembly being mounted on the base and movable in an up-down direction relative to the base; The second arm assembly is connected to the first arm assembly and is movable relative to the first arm assembly. The second arm assembly is provided with a cleaning portion for cleaning the vertical pole.

14. The pole cleaning device according to claim 13, characterized in that: The first arm assembly includes a first arm portion and a second arm portion which are telescopically connected, the first arm portion is connected to the base and can move up and down along the base, and the second arm portion is connected to the second arm assembly.

15. The pole cleaning device according to claim 14, characterized in that: The base is provided with a first guide rail extending in the up-down direction, the first arm is provided with a second guide rail slidingly matched with the first guide rail, and the base is further provided with a detection component, and the detection component is used to detect the position of the second guide rail.

16. The pole cleaning device according to claim 14, characterized in that: It also includes a rotation drive member, which connects the first arm assembly and the base, and is used to drive the first arm assembly to rotate around a horizontal axis relative to the base.

17. The pole cleaning device according to claim 14, characterized in that: The second arm assembly comprises: a main arm, the main arm being connected to the first arm assembly and extending perpendicularly to the first arm assembly; Two auxiliary arms are rotatably connected to two ends of the main arm respectively, and the cleaning part is arranged on a side of at least one of the main arm and the auxiliary arms facing the vertical pole.

18. The pole cleaning device according to claim 17, characterized in that: A proximity switch is provided on a side of at least one of the main arm and the auxiliary arm facing the vertical pole.

19. The pole cleaning device according to claim 18, characterized in that: At least two of the proximity switches are disposed on the main arm and are spaced apart in the up-down direction, and / or at least two of the proximity switches are disposed on the main arm and are spaced apart in the length direction of the main arm.

20. The pole cleaning device according to claim 17, characterized in that: The auxiliary arm is movable in an up-down direction relative to the main arm.

21. The pole cleaning device according to claim 17, characterized in that: The main arm is rotatably connected to the first arm assembly around a horizontal axis.

Images