Control Method and Device for a Surface Cleaning Robot

Abstract

An embodiment of the present invention relates to a control method and device for a surface cleaning robot. The control method of the surface cleaning robot includes motion planning, robot movement, and the cleaning component plans the cleaning path of the robot according to the uncleaned area of the surface to be cleaned within the current working range and the working space of the robot to obtain the first cleaning path; executes the cleaning task, and adjusts the robot cleaning path: the cleaning component obtains the second cleaning path according to the information of the cleaned area of the surface to be cleaned within the current working range; and completes the cleaning task within the current working range. The robot has a simple and stable structure, a low computational amount for the working position of the robot, and a short waiting time. At the same time, stubborn stains and residual stains during the cleaning process are processed through path adjustment, taking into account the cleaning effect of the surface to be cleaned.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot control, and particularly to a control method and device for a surface cleaning robot. Background Art

[0002] With the rapid development of the social economy, large buildings can be seen everywhere at home and abroad, and the styles of large buildings are diverse. Curtain walls and glass windows are usually installed on the outer surface of large buildings. The cleanliness of the building appearance affects the direct perception and evaluation of the public, investors or customers. A clean appearance can effectively improve people's satisfaction and trust in the product. Therefore, vertical surfaces such as curtain walls and glass windows need to be cleaned regularly. At present, the profession of "spiderman" mainly completes such surface cleaning tasks. This kind of surface cleaning work has relatively high requirements for people's work efficiency and physical fitness. This profession is relatively dangerous, and fewer and fewer people are engaged in this industry. Using intelligent robots to replace humans to complete surface cleaning tasks has become the research direction of many scholars and companies at this stage.

[0003] For the method of relying on robots to clean the outer surface of large buildings, in the prior art, most of them are by means of carrying cleaning components by aircraft or using other instruments to assist the cleaning components, such as the methods of suction cups, guiding rods, and rooftop cranes. In the above two methods, in the first method of carrying cleaning components by aircraft, it is difficult to maintain a stable height when the cleaning components are working, and the shaking of the aircraft is not conducive to the stable operation of the cleaning components; in the second method of using other instruments to assist, it increases the complexity of the system. Guiding rods and rooftop cranes need to be erected outdoors in advance, and it is difficult for suction cups to ensure the adsorption effect on the dusty outer surface, which increases the insecurity of high-altitude operations. Moreover, the movement of the above other instruments brings inconvenience to the cleaning work. The existing surface cleaning methods based on intelligent robots in the prior art have unstable cleaning working states and complex system installation and use.

[0004] On the other hand, when the intelligent robot cleans the surface to be cleaned, the robot arm works and moves on the two-dimensional plane where the surface to be cleaned is located. In the surface cleaning method based on the intelligent robot, in order to complete the cleaning work of the entire building surface, usually the intelligent robot needs to move along a specific path so that the cleaning component covers each position of the surface, that is, it is necessary to continuously calculate the real-time two-dimensional position of the robot. At present, there are mainly two ways to determine the moving path of the intelligent robot. One is to directly preset the moving path manually in order to improve the cleaning speed. This method is only for completing the cleaning task and cannot be adaptively adjusted in real time according to the cleanliness of the surface to be cleaned during the cleaning process, resulting in poor surface cleaning effect. The other is that the intelligent robot pre-collects the space to be cleaned, and then plans the cleaning path according to the current dirt state of the surface. This method generally uses complex path planning algorithms, with a large amount of calculation and a long waiting time, and it cannot be adaptively adjusted in real time according to the cleanliness of the surface during the cleaning process, resulting in poor cleaning effect. Even if adjustments are made, complex algorithms need to be used to solve again, with a long cleaning waiting time and a large amount of calculation.

[0005] Therefore, there is an urgent need for a method and device that can meet the cleaning requirements and enable the robot to quickly complete the cleaning task. Summary of the Invention

[0006] The purpose of the embodiments of the present invention is to provide a method and device. The device itself has high stability, a simple system structure, is convenient and concise to use, and the robot path planning method has a low amount of calculation and a short waiting time, resulting in better robot control effect.

[0007] To solve the above technical problems, an embodiment of the present invention provides a control method for a surface cleaning robot. The control method for the surface cleaning robot specifically includes:

[0008] Step S1, motion planning: Plan the robot moving path of the robot moving component according to the working range of the cleaning component;

[0009] Step S2, robot movement: The moving component moves the robot to the position to be cleaned according to the robot moving path;

[0010] Step S3, cleaning task planning: The cleaning component plans the robot cleaning path according to the uncleaned area of the surface to be cleaned in the current working range and the robot working space to obtain the first cleaning path;

[0011] Step S4, execute the cleaning task: The robot cleans the surface to be cleaned in the current working range according to the first cleaning path;

[0012] Step S5, robot cleaning path adjustment: The cleaning component obtains the second cleaning path according to the information of the cleaned area of the surface to be cleaned in the current working range;

[0013] Step S6, complete the cleaning task within the current working range: The robot cleans the surface to be cleaned within the current working range according to the second cleaning path.

[0014] Preferably, step S1 specifically includes:

[0015] The cleaning component at least includes a manipulator and a cleaning squeegee. Select the maximum length from the length information of the working range of the manipulator and the length of the cleaning squeegee as the length of the working range of the cleaning component; use the height of the working range of the manipulator as the height of the working range of the cleaning component;

[0016] The robot movement path includes vertical movement and horizontal movement. The distance of a single vertical movement is less than the height of the working range of the cleaning component, and the distance of a single horizontal movement is less than the length of the working range of the cleaning component.

[0017] Preferably, determine the closest distance between the robot and the surface to be cleaned, use this closest distance as the working position of the robot, determine the circular area where the spherical working area of the robot intersects the plane where the surface to be cleaned is located, and use the largest inscribed rectangle of the circular area as the working range of the robotic arm hand.

[0018] Preferably, step S3 specifically includes:

[0019] Calculate the largest rectangular space for a single robot cleaning, set the starting point and ending point of the uncleaned area, and plan the robot cleaning path.

[0020] Preferably, the length of the largest rectangular space is the length of the cleaning squeegee, and the height of the largest rectangular space is the maximum distance that the robot can move in the vertical direction; the starting point and ending point of the first uncleaned area are the upper left corner and the lower right corner of the uncleaned area respectively, the starting point of other uncleaned areas coincides with the ending point of the previous uncleaned area, and the ending point of other uncleaned areas is the point on the diagonal line opposite to the starting point.

[0021] Preferably, planning the robot cleaning path specifically includes: obtaining an image of the uncleaned area, determining whether the uncleaned area is rectangular. If it is, set the cleaning path as the first path; if the uncleaned area is not rectangular, use the left side as one side, construct the largest rectangle within the uncleaned area to obtain the first rectangular area, set the cleaning path as the first path within the first rectangular area, and set the cleaning path as the second path in the area of the uncleaned area except the first rectangular area.

[0022] Preferably, step S4 specifically includes:

[0023] Before performing the cleaning task, the robot detects the degree of dirt on the surface to be cleaned, adjusts the cleaning intensity of the cleaning component according to the dirt length, and the cleaning component cleans the surface to be cleaned within the current working range according to the cleaning intensity.

[0024] Preferably, adjusting the cleaning intensity of the cleaning component specifically includes:

[0025] The robot takes pictures of the surface to be cleaned through its built-in hand-eye, and detects the dirt block area of the surface to be cleaned within the current working range according to the pictures of the surface to be cleaned.

[0026] If the proportion of the dirt block area in the area of the surface to be cleaned within the current working range exceeds the first dirt threshold, adjust the cleaning intensity of the cleaning component to the high-intensity state;

[0027] If the proportion of the dirt block area in the area of the surface to be cleaned within the current working range is less than the second dirt threshold, adjust the cleaning intensity of the cleaning component to the low-intensity state;

[0028] If the proportion of the dirt block area in the area of the surface to be cleaned within the current working range is less than or equal to the first dirt threshold and greater than or equal to the second dirt threshold, adjust the cleaning intensity of the cleaning component to the normal cleaning intensity state.

[0029] Preferably, step S5 specifically includes:

[0030] After each cleaning cycle is completed, the cleaning component obtains pictures of the area that has been cleaned in the previous cycle and detects whether there are stubborn stains.

[0031] If there are, adjust the cleaning path for the new cycle so that it covers the stubborn stains in the area that has been cleaned in the previous cycle, and obtain the second cleaning path;

[0032] If not, there is no need to adjust the cleaning path for the new cycle, and still clean the surface to be cleaned according to the first cleaning path.

[0033] An embodiment of the present invention also provides a control device for a surface cleaning robot.

[0034] The robot includes a moving component and a cleaning component. The control device for the surface cleaning robot includes:

[0035] A motion planning module, configured to plan the robot moving path of the robot moving component according to the working range of the cleaning component;

[0036] A movement control module, configured to control the moving component to move the robot to the position to be cleaned according to the robot moving path;

[0037] A cleaning task planning module, configured to plan the robot cleaning path according to the uncleaned area of the surface to be cleaned within the current working range and the robot working space, and obtain the first cleaning path.

[0038] A cleaning task execution module, configured to control a robot to clean a surface to be cleaned within a current working range according to a first cleaning path;

[0039] A path adjustment module, configured to obtain a second cleaning path according to information on a cleaned area of the surface to be cleaned within the current working range;

[0040] The cleaning task execution module is further configured to control the robot to clean the surface to be cleaned within the current working range according to the second cleaning path.

[0041] In terms of the embodiments of the present invention compared with the prior art, the present invention provides a control method and device for a surface cleaning robot. From the perspective of the system structure, the robot uses moving components in the horizontal and vertical directions to assist the robot to reach the target cleaning position, separates the movement of the device from the cleaning task of the device for planning and control, has a flexible control method, and is convenient for maintaining the stability of the device when performing the cleaning task. In addition, the robot provided by the present invention can reach the cleaning target position smoothly without the need to externally install auxiliary instruments in advance and without the need to adsorb on the surface. The robot works stably, the cleaning components do not shake, and the cleaning ability is strong. The robot equipment has good operation accessibility and system stability.

[0042] From the perspective of the cleaning task itself, the present invention can automatically plan the cleaning path according to the information of the surface to be cleaned and its own working ability, reduces the dependence on humans in the entire cleaning process, and improves the scientificity and automation of the cleaning process; during the execution of the cleaning task, the cleaning component realizes the cleaning of a single area, and the moving component superimposes multiple single cleaning areas to realize the cleaning of the entire surface to be cleaned, and there is an overlapping part between the single cleaning area and the single cleaning area, avoiding the occurrence of incomplete cleaning and improving the cleaning effect. The cleaning path planning and adjustment steps cooperate with each other. When planning the path, local stubborn stains are not considered, and the path is planned from an overall perspective, reducing the path planning calculation amount and reducing the cleaning waiting time; when adjusting the path, the stubborn stains are monitored, and the cleaning path is adjusted so that it can be cleaned twice, ensuring the cleaning effect of the surface.

[0043] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are specifically given below. Description of the Drawings

[0044] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a scale limitation.

[0045] Figure 1 It is a schematic diagram of a surface cleaning robot;

[0046] Figure 2 It is a flowchart of the control method of the surface cleaning robot;

[0047] Figure 3 It is a schematic diagram of the working range of the robot;

[0048] Figure 4 It is a schematic diagram of the moving path of the robot;

[0049] Figure 5 It is a schematic diagram of the cleaning path of the cleaning component. Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will elaborate on the various embodiments of the present invention in conjunction with the drawings. However, those of ordinary skill in the art can understand that in various embodiments of the present invention, many technical details are provided for the readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions required to be protected by the present application can still be achieved. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation manners of the present invention. The various embodiments can be combined and cross-referenced with each other on the premise of no contradiction.

[0051] The first embodiment of the present invention relates to a control method of a surface cleaning robot,

[0052] As Figure 1 shown, the surface cleaning robot includes a moving component and a cleaning component. The cleaning component is mounted on the moving component. The moving component includes a moving platform 1 and a lifting ladder 2. As an optional embodiment, the surface cleaning robot can be a surface cleaning manipulator. The moving platform can be an AGV moving platform. The moving platform is used to support the upper components to move in a direction parallel to the ground. The lifting ladder is used to support the upper components to move in a direction perpendicular to the ground. The cleaning component includes a manipulator 3, a torque sensor 4, and a cleaning squeegee 5. The torque sensor 4 can detect the force in a direction perpendicular to the surface to be cleaned. The AGV moving platform 1 is installed with the lifting ladder 2. The manipulator 3 is mounted on the lifting ladder 2. One end of the force control sensor 4 is connected to the end of the manipulator 3, and the other end is connected to the cleaning squeegee 5.

[0053] As Figure 2As shown in the figure, a control method for a surface cleaning robot includes the following steps:

[0054] Step S1, motion planning: Plan the robot's moving path of the moving part according to the working range of the cleaning part.

[0055] The surface to be cleaned can be a curtain wall or a glass window. The length and height of the surface to be cleaned are L and H respectively. The working range of the cleaning part is a rectangle, the length information of the rectangular area is m, and the height is n. The cleaning part includes at least a manipulator and a cleaning squeegee. Select the maximum length from the working range length information of the manipulator and the length of the cleaning squeegee as the length of the working range of the cleaning part; use the working range height of the manipulator as the height of the working range of the cleaning part.

[0056] As an optional embodiment, in order to determine the working range of the robot, determine the closest distance between the manipulator 3 and the surface to be cleaned. The initial working space of the manipulator 3 is similar to a sphere. Calculate the closest distance between the manipulator and the surface to be measured according to the environmental picture, and the largest circular working area of the manipulator 3 on the wall surface can be calculated. As Figure 3 shown, the initial working space of the manipulator 3 is a sphere. Calculate the closest distance between the manipulator and the surface to be measured, and use this closest distance as the working position of the manipulator to determine the circular area where the sphere intersects the plane where the surface to be cleaned is located. The largest inscribed rectangle of the circular area is used as the working range of the manipulator arm 3.

[0057] Specifically, the robot's moving path includes vertical movement and horizontal movement. The vertical movement depends on the elevator 2, and the horizontal movement depends on the moving platform.

[0058] The robot's moving path can move column by column from left to right for cleaning, or can move row by row, from top to bottom for cleaning, and move and clean in a preset direction, which helps to automatically distinguish the cleaned area and the uncleaned area, without the need to partition and mark the surface to be cleaned, nor to plan a complex walking path to bypass the cleaned area. While avoiding secondary pollution to the cleaned area, it simplifies and reduces the complexity of the cleaning process and improves the cleaning efficiency.

[0059] As Figure 4 shown, if cleaning column by column, continuously move the manipulator 3 vertically downward to the next position during the cleaning process until moving downward by a distance of H to complete the cleaning of a single column; then move the manipulator 3 to the right to the next column, first move upward by a distance of H to reach the starting point of this column, and then continue to move vertically downward for cleaning until moving to the right by a distance of L, that is, first clean downward and then translate to the right.

[0060] In the robot's movement path, there are overlapping areas in both the vertical and horizontal directions, that is, the distance of a single movement in the vertical direction is less than the height n of the working range of the cleaning component, and the distance of a single movement in the horizontal direction is less than the length m of the working range of the cleaning component. As an alternative embodiment, considering the working ability of the cleaning component, a horizontal overlap spacing value a and a vertical overlap spacing value b are set. In the movement paths of the robot in the vertical and horizontal directions, the single movement distance of the robot is calculated according to the horizontal and vertical overlap spacing values respectively. Specifically, the position of the robot is obtained. If the robot is greater than the length and height of the working range of the cleaning component from the cleaning end point in the horizontal and vertical directions respectively, the single movement distance of the robot in the horizontal direction is m - a, and the movement distance in the vertical direction is n - b; if the robot is less than or equal to the length or height of the working range of the cleaning component from the cleaning end point in the horizontal or vertical direction, the robot moves in the horizontal and vertical directions to reach the cleaning end point.

[0061] When the present invention controls the robot to move in the horizontal and vertical directions, compared with directly moving according to the working range, the present invention sets overlapping areas in both the vertical and horizontal directions, avoiding the occurrence of incomplete cleaning.

[0062] Step S2, robot movement: The moving component moves the robot to the position to be cleaned according to the robot movement path;

[0063] The moving component moves the robot to the closest distance to the surface to be cleaned, and moves in the horizontal and vertical directions according to the horizontal and vertical movement paths of the robot, and sends the robot to the initial position, which is the upper left corner position of the area to be cleaned. As an alternative embodiment, the AGV mobile platform 1 and the lift 2 are respectively controlled to send the manipulator 3 to the upper left corner of the area to be cleaned on the surface to be cleaned as the initial position. The AGV mobile platform 1 is equipped with a lidar, which can achieve high-precision positioning movement along the side elevation of the surface to be cleaned. Further, after reaching the position to be cleaned, when the manipulator 3 performs the cleaning task, the AGV mobile platform 1 and the lift 2 are in a static locked state. After the cleaning task is completed, the AGV mobile platform 1 and the lift 2 move to move the manipulator 3 to the next target position. When the robot of the present invention performs the cleaning task, the components supporting the robot remain stationary and stable, providing a stable working platform for the robot, ensuring full and stable contact between the cleaning wiper and the surface to be cleaned, and optimizing the surface cleaning effect.

[0064] Before starting the mobile cleaning, the present invention plans the robot movement path, reduces the pauses during the cleaning process, and speeds up the cleaning process; and the movement path planning before cleaning is split in different directions and handed over to different components for single movement, reducing the complexity of path planning solution and shortening the overall working time of the equipment.

[0065] Step S3, cleaning task planning: The cleaning component plans the robot cleaning path based on the uncleaned areas of the surface to be cleaned within the current working range and the robot working space, and obtains the first cleaning path;

[0066] Specifically, calculate the maximum rectangular space for a single robot cleaning, set the starting point and ending point of the uncleaned area, and plan the robot cleaning path. The length of the maximum rectangular space for a single robot cleaning is the length of the cleaning squeegee, and the height of the maximum rectangular space is the maximum distance that the robot can move in the vertical direction. The starting point and ending point of the first uncleaned area are the upper left corner and the lower right corner of the uncleaned area respectively. The starting point of other uncleaned areas coincides with the ending point of the previous uncleaned area, and the ending point of other uncleaned areas is the point on the diagonal line with the starting point. The manipulator 3 is a six-axis robot with flexible movements. As Figure 5 (a) shows, the cleaning path can be a column-by-column cleaning trajectory from top to bottom; as Figure 5 (b) shows, a "bow"-shaped cleaning trajectory; or other multi-posture movements are used to achieve the cleaning task.

[0067] Specifically, planning the robot cleaning path includes: obtaining an image of the uncleaned area, determining whether the uncleaned area is rectangular. If it is, set the cleaning path as the first path, and the first path can be column-by-column cleaning from top to bottom; if the uncleaned area is not rectangular, use the left side as one side, construct the largest rectangle within the uncleaned area to obtain the first rectangular area, set the cleaning path as the first path within the first rectangular area, and set the cleaning path as the second path in the area of the uncleaned area except the first rectangular area. The second path is a "bow" shape.

[0068] There may be areas on the surface to be cleaned that cannot be cleaned due to the installation of other instruments. At this time, the uncleaned area is not a standard rectangle. If cleaning is always carried out column by column from top to bottom, more stains will remain in the areas that cannot be cleaned. The present invention sets different cleaning paths according to the actual shape of the uncleaned area. In large rectangular areas, the operation is simple, the robot moves quickly, and the reaction time is fast; the movement is from top to bottom, avoiding secondary pollution; in complex areas with areas that cannot be cleaned, the second path is adopted, the cleaning action is continuous, the cleaning module is in contact with the surface to be cleaned all the time until the cleaning is completed. The cleaning squeegee is perpendicular to the surface to be cleaned, but not in a vertical state, with a small inclination angle, and the cleaning row and the row to be cleaned are transformed by rotating the rotation angle, so that the sewage of the cleaning row can be treated, without redundant steps, saving time. Therefore, the robot cleaning path planning method of the present invention can select the most suitable cleaning path from the preset methods according to the actual situation of the uncleaned area when planning the robot cleaning path, reducing the calculation amount of path planning and taking into account the time of the entire cleaning process and the cleaning efficiency.

[0069] Step S4, perform the cleaning task: The robot cleans the surface to be cleaned within the current working range according to the first cleaning path;

[0070] Specifically, before performing the cleaning task, the robot detects the degree of dirt on the surface to be cleaned, adjusts the cleaning intensity of the cleaning component according to the dirt length, and the cleaning component cleans the surface to be cleaned within the current working range according to the cleaning intensity. The robot takes pictures of the surface to be cleaned through its built-in hand-eye, detects the area of the dirt block on the surface to be cleaned within the current working range according to the picture of the surface to be cleaned. If the proportion of the dirt block area to the area of the surface to be cleaned within the current working range exceeds the first dirt threshold, adjust the cleaning intensity of the cleaning component to the high-intensity state; if the proportion of the dirt block area to the area of the surface to be cleaned within the current working range is less than the second dirt threshold, adjust the cleaning intensity of the cleaning component to the low-intensity state; if the proportion of the dirt block area to the area of the surface to be cleaned within the current working range is less than or equal to the first dirt threshold and greater than or equal to the second dirt threshold, adjust the cleaning intensity of the cleaning component to the normal cleaning intensity state. The cleaning component starts to clean the surface to be cleaned. The cleaning component at least further includes a torque sensor 4. The torque sensor 4 detects the pressure of the cleaning wiper in the direction perpendicular to the surface to be cleaned in real time, so as to adjust the cleaning intensity of the cleaning surface to the preset cleaning intensity, and always ensure that the cleaning wiper 5 maintains a constant cleaning intensity when cleaning the surface to be cleaned.

[0071] Normally, the dirt on the surface to be cleaned is mainly dust. At this time, there is no need to scrub the surface to be cleaned with great force. However, occasionally there will still be stubborn stains on the surface to be cleaned that need to be scrubbed with great force to fall off. Compared with the prior art that usually scrubs the surface to be cleaned with a constant force, the present invention can adjust the intensity of the cleaning component according to the stain situation, saving the energy consumption of the cleaning component while improving the cleaning effect. At the same time, the cleaning component can detect the cleaning intensity and ensure that the cleaning is carried out with a constant force, avoiding poor cleaning effect caused by the cleaning wiper leaving the surface to be cleaned due to shaking.

[0072] Step S5, robot cleaning path adjustment: The cleaning component obtains the second cleaning path according to the information of the cleaned area of the surface to be cleaned within the current working range;

[0073] After each cleaning cycle, the cleaning component obtains a picture of the area that has been cleaned in the previous cycle, detects whether there are stubborn stains. If there are, it adjusts the cleaning path for the new cycle to cover the stubborn stains in the area that has been cleaned in the previous cycle, and obtains the second cleaning path. If not, there is no need to adjust the cleaning path for the new cycle, and the surface to be cleaned is still cleaned according to the first cleaning path. The robot cleaning path can be from top to bottom. At this time, the robot cleaning direction in each cycle is from top to bottom, and each column cleaning is completed as a cycle. The robot cleaning path can be in the shape of a "bow". At this time, each row is a cleaning cycle of the robot. At this time, the built-in hand-eye of the robot obtains a picture of the area that has been cleaned in the previous cycle, detects whether there are stubborn stains that have not been cleaned cleanly. If there are, it records the positions of the stubborn stains, adjusts the cleaning path of the upcoming latest cycle, so that the edge of the cleaning component coincides with the edge of the stubborn stain far from the cleaning component, so that while the cleaning component covers the stubborn stain, the largest area cleans other areas.

[0074] When stubborn stains cannot be removed by one scrubbing, the robot arm will automatically identify its position and adjust the subsequent cleaning path so that in the next cycle of cleaning the surface to be cleaned, the uncleaned surface can be cleaned and the stubborn stains can be cleaned twice. Compared with the prior art of scrubbing according to the cleaning path, the present invention can automatically identify the remaining stubborn stains and adaptively adjust the cleaning path, improving the cleaning effect while ensuring the cleaning speed.

[0075] Step S6, complete the cleaning task within the current working range: The robot cleans the surface to be cleaned within the current working range according to the second cleaning path;

[0076] After obtaining the second cleaning path, the robot starts a new cycle of cleaning work according to the second cleaning path.

[0077] The current working range needs to be cleaned multiple times, that is, multiple cleaning cycles are required. Starting from the second cleaning cycle, after each cleaning cycle is completed, return to step S5 until all the surfaces to be cleaned within the current working range are cleaned.

[0078] Furthermore, the method for planning the cleaning path of the surface to be cleaned provided by the present invention further includes: judging whether there are still uncleaned areas on the surface to be cleaned. If there are, select the uncleaned area closest in distance and return to step S2. If not, the surface cleaning is completed.

[0079] The control method of the surface cleaning robot provided in the first embodiment of the present invention uses moving components in the horizontal and vertical directions on the hardware device to assist the robot to reach the target cleaning position. This moving component does not require auxiliary equipment to be erected outside in advance, and does not need to adsorb on the surface. The robot works stably, the cleaning component will not shake, and the cleaning ability is relatively strong. During the surface cleaning process, it can automatically plan the cleaning path according to the size of the surface to be cleaned and the working range, improving the adaptability of the intelligent robot's surface cleaning method. During the execution of the cleaning task, the present invention can adjust the cleaning intensity and the cleaning path according to the detected stains. On the one hand, when planning the global path, special areas are not considered, thereby reducing the complexity and calculation amount of path planning. On the other hand, the path is continuously adjusted according to the actual situation during the cleaning process, so that stubborn stains can be cleaned by repeated wiping multiple times, improving the cleaning effect of the surface.

[0080] There is a dual cooperation in the cleaning path planning method of the present invention. The first is the cooperation between path planning and path adjustment. When planning the path, local stubborn stains are not considered, and the path is planned from an overall perspective, reducing the path planning calculation amount and the cleaning waiting time. When adjusting the path, stubborn stains are monitored, and the cleaning path is adjusted so that it can be cleaned twice, ensuring the cleaning effect of the surface. The second is the cooperation between the moving path and the cleaning path. There are overlaps in both the moving path and the cleaning path during planning, so that the edge can be covered by secondary cleaning each time, ensuring the cleaning effect of the surface.

[0081] The second embodiment of the present invention provides a control device for a surface cleaning robot. The robot includes a moving component and a cleaning component. The control device of the surface cleaning robot includes:

[0082] A motion planning module for planning the robot moving path of the robot moving component according to the working range of the cleaning component;

[0083] A movement control module for controlling the moving component to move the robot to the position to be cleaned according to the robot moving path;

[0084] A cleaning task planning module for planning the robot cleaning path according to the uncleaned area of the surface to be cleaned in the current working range and the robot working space to obtain the first cleaning path;

[0085] A cleaning task execution module for controlling the robot to clean the surface to be cleaned in the current working range according to the first cleaning path;

[0086] A path adjustment module for obtaining the second cleaning path according to the information of the cleaned area of the surface to be cleaned in the current working range;

[0087] The cleaning task execution module is further configured to control the robot to clean the surface to be cleaned within the current working range according to the second cleaning path.

[0088] It is not difficult to find that this embodiment is a device embodiment corresponding to the first embodiment, and this embodiment can be implemented in cooperation with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment. To avoid repetition, they will not be elaborated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0089] It is worth mentioning that each module involved in this embodiment is a logical module. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovative part of the present invention, units that are not closely related to solving the technical problems proposed by the present invention are not introduced in this embodiment, but this does not mean that there are no other units in this embodiment.

[0090] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. A control method for a surface cleaning robot, characterized in that, The cleaning component at least includes a manipulator and a cleaning wiper. The control method of the surface cleaning robot specifically includes: Step S1, motion planning: Determine the closest distance between the robot and the surface to be cleaned. Use this closest distance as the working position of the robot to determine the circular area where the spherical working area of the robot intersects the plane where the surface to be cleaned is located. The largest inscribed rectangle of the circular area is used as the working range of the manipulator. Select the maximum length from the length information of the working range of the manipulator and the length of the cleaning wiper as the length of the working range of the cleaning component, and use the height of the working range of the manipulator as the height of the working range of the cleaning component. Plan the robot movement path of the robot's moving component according to the working range of the cleaning component, split the movement path planning in different directions, and let different components perform single movements. Move in the horizontal and vertical directions according to the horizontal and vertical movement paths of the robot. Step S2, robot movement: The moving component moves the robot to the position to be cleaned according to the robot movement path. Step S3, cleaning task planning: The cleaning component plans the robot cleaning path according to the uncleaned area of the surface to be cleaned within the current working range and the robot working space, and obtains the first cleaning path. Step S4, execute the cleaning task: The robot cleans the surface to be cleaned within the current working range according to the first cleaning path. Step S5, robot cleaning path adjustment: The cleaning component obtains the second cleaning path according to the information of the cleaned area of the surface to be cleaned within the current working range. Step S6, complete the cleaning task within the current working range: The robot cleans the surface to be cleaned within the current working range according to the second cleaning path.

2. The control method of the surface cleaning robot according to claim 1, characterized in that, The specific content of step S1 includes: The robot movement path includes vertical movement and horizontal movement. The distance of a single vertical movement is less than the height of the working range of the cleaning component, and the distance of a single horizontal movement is less than the length of the working range of the cleaning component.

3. The control method of the surface cleaning robot according to claim 1, characterized in that The specific content of step S3 includes: Calculate the largest rectangular space that the robot can clean in a single time, set the starting point and ending point of the uncleaned area, and plan the robot cleaning path.

4. According to the control method of the surface cleaning robot described in claim 3, it is characterized in that The length of the largest rectangular space is the length of the cleaning wiper, and the height of the largest rectangular space is the maximum distance that the robot can move in the vertical direction; the starting point and ending point of the first uncleaned area are the upper left corner and the lower right corner of the uncleaned area respectively. The starting point of other uncleaned areas coincides with the ending point of the previous uncleaned area, and the ending point of other uncleaned areas is the point on the diagonal line with the starting point.

5. The control method of the surface cleaning robot according to claim 3, characterized in that, The specific content of planning the robot cleaning path includes: Obtain the image of the uncleaned area, judge whether the uncleaned area is a rectangle. If so, set the cleaning path as the first path; if the uncleaned area is not a rectangle, use the left side as one side, construct the largest rectangle within the uncleaned area to obtain the first rectangular area, set the cleaning path as the first path within the first rectangular area, and set the cleaning path as the second path in the area of the uncleaned area except the first rectangular area.

6. The control method of the surface cleaning robot according to claim 1, characterized in that, The specific content of step S4 includes: Before performing the cleaning task, the robot detects the degree of dirt on the surface to be cleaned, adjusts the cleaning intensity of the cleaning component according to the degree of dirt, and the cleaning component cleans the surface to be cleaned within the current working range according to the cleaning intensity.

7. The control method of the surface cleaning robot according to claim 6, wherein The specific adjustment of the cleaning intensity of the cleaning component includes: The robot takes pictures of the surface to be cleaned through its built-in hand-eye, and detects the area of the dirt block on the surface to be cleaned within the current working range according to the pictures of the surface to be cleaned. If the proportion of the area of the dirt block in the area of the surface to be cleaned within the current working range exceeds the first dirt threshold, the cleaning intensity of the cleaning component is adjusted to the high-intensity state. If the proportion of the area of the dirt block in the area of the surface to be cleaned within the current working range is less than the second dirt threshold, the cleaning intensity of the cleaning component is adjusted to the low-intensity state. If the proportion of the area of the dirt block in the area of the surface to be cleaned within the current working range is less than or equal to the first dirt threshold and greater than or equal to the second dirt threshold, the cleaning intensity of the cleaning component is adjusted to the normal cleaning intensity state.

8. The control method of the surface cleaning robot according to claim 1, wherein, The specific step S5 includes: After each cleaning cycle is completed, the cleaning component obtains pictures of the area that has been cleaned in the previous cycle and detects whether there are stubborn stains. If there are, adjust the cleaning path for the new cycle so that it covers the stubborn stains in the area that has been cleaned in the previous cycle to obtain the second cleaning path. If not, there is no need to adjust the cleaning path for the new cycle, and the surface to be cleaned is still cleaned according to the first cleaning path.

9. A control device for a surface cleaning robot, characterized in that, The robot includes a moving component and a cleaning component. The control device of the surface cleaning robot includes: A motion planning module, which is used to determine the closest distance between the robot and the surface to be cleaned, use this closest distance as the working position of the robot to determine the circular area where the spherical working area of the robot intersects the plane where the surface to be cleaned is located, and use the maximum inscribed rectangle of the circular area as the working range of the manipulator. Select the maximum length from the length information of the working range of the manipulator and the length of the cleaning squeegee as the length of the working range of the cleaning component, and use the height of the working range of the manipulator as the height of the working range of the cleaning component; plan the robot moving path of the robot moving component according to the working range of the cleaning component, split the moving path planning in different directions, and hand it over to different components for single motion, and move in the horizontal and vertical directions according to the horizontal and vertical moving paths of the robot. A movement control module, which is used to control the moving component to move the robot to the position to be cleaned according to the robot moving path. A cleaning task planning module, which is used to plan the robot cleaning path according to the uncleaned area of the surface to be cleaned within the current working range and the robot working space to obtain the first cleaning path. A cleaning task execution module, which is used to control the robot to clean the surface to be cleaned within the current working range according to the first cleaning path. A path adjustment module, which is used to obtain the second cleaning path according to the information of the area that has been cleaned on the surface to be cleaned within the current working range. The cleaning task execution module is also used to control the robot to clean the surface to be cleaned within the current working range according to the second cleaning path.

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