Control method and control device for facade washing vehicle and facade washing vehicle

Abstract

The application discloses a control method and device for a facade cleaning vehicle and the facade cleaning vehicle. The control method comprises: obtaining three-dimensional data of an obstacle on a wall to be cleaned when a brush frame of the facade cleaning vehicle is attached to the wall to be cleaned to perform a cleaning operation on the wall to be cleaned, the three-dimensional data comprising a wall distance of the obstacle; obtaining arm frame parameters of the arm frame in real time, the arm frame parameters comprising an elongation length of a second arm section; controlling the first arm section to perform a rotating obstacle avoidance operation when the elongation length is less than or equal to the wall distance; and controlling the second arm section to perform a telescopic obstacle avoidance operation when the elongation length is greater than the wall distance. In different cases, different obstacle avoidance modes are selected to avoid the obstacle. The facade cleaning vehicle can accurately avoid the obstacle and automatically adjust the arm frame, which can improve the cleaning efficiency of the wall, reduce the time and labor consumption of manual work, and improve the operation safety of the facade cleaning vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a control method and device for a facade cleaning vehicle, the facade cleaning vehicle and a storage medium. BACKGROUND

[0002] With people's increasingly high requirements for living environment, city soundproof screens are used more and more. A large amount of dust will be attached to the soundproof screen during long-term use, which affects the motion parallax contrast of the driver and reduces the driving safety. In order to improve the driving environment and improve the driving safety, the demand for cleaning the soundproof screen is increasing day by day, and at present, ordinary cleaning vehicles are mainly used for cleaning with manual operation. In the prior art, the cleaning arm frame and device of the current equipment avoid the soundproof barrier obstacles mainly by manual visual inspection and manual operation of the arm frame. This method needs to manually determine the obstacle avoidance strategy and manually adjust the arm frame action, which causes low cleaning efficiency, and manual judgment errors or operation errors can easily cause safety accidents. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a control method and device for a facade cleaning vehicle, the facade cleaning vehicle and a storage medium, to solve the technical problems of low manual operation efficiency and easy safety accidents in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for a facade cleaning vehicle, the facade cleaning vehicle comprising an arm frame, a vehicle body and a brush frame connected to the end of the arm frame, the arm frame comprising a plurality of arm sections, the plurality of arm sections comprising a first arm section connected to the vehicle body and a second arm section connected to the first arm section, the control method comprising:

[0005] In the case that the brush frame of the facade cleaning vehicle is attached to the wall surface to be cleaned to perform cleaning operation on the wall surface to be cleaned, three-dimensional data of the obstacle on the wall surface to be cleaned is obtained, the three-dimensional data comprising the wall thickness from the obstacle;

[0006] The arm frame parameters of the arm frame are obtained in real time, the arm frame parameters comprising the elongation length of the second arm section;

[0007] In the case that the elongation length is less than or equal to the wall thickness from the obstacle, the first arm section is controlled to perform the rotating obstacle avoidance operation;

[0008] In the case that the elongation length is greater than the wall thickness from the obstacle, the second arm section is controlled to perform the telescopic obstacle avoidance operation.

[0009] In the embodiments of the present application, in the case that the elongation length is less than or equal to the wall thickness, the control of the first arm section to perform the rotating obstacle avoidance operation comprises: obtaining the vehicle speed of the facade cleaning vehicle; in the case that the elongation length is less than or equal to the wall thickness, determining the first obstacle avoidance start time of the facade cleaning vehicle according to the three-dimensional data, the vehicle speed and the arm support parameters; and controlling the first arm section to perform the rotating obstacle avoidance operation at the first obstacle avoidance start time.

[0010] In the embodiments of the present application, the determination of the first obstacle avoidance start time of the facade cleaning vehicle according to the three-dimensional data, the vehicle speed and the arm support parameters comprises: determining the first interval distance between the first arm section and the wall surface to be cleaned according to the arm support parameters; determining the target rotation angle of the rotating platform of the first arm section according to the first interval distance and the wall thickness; and determining the first obstacle avoidance start time according to the first interval distance, the vehicle speed and the target rotation angle.

[0011] In the embodiments of the present application, the determination of the first obstacle avoidance start time according to the first interval distance, the vehicle speed and the target rotation angle comprises: obtaining the rotation angular velocity of the first arm section; determining the linear rotation speed of the brush hair end of the brush support according to the rotation angular velocity and the first interval distance; in the case that the linear rotation speed is greater than the vehicle speed, determining the preset time as the first obstacle avoidance start time; and in the case that the linear rotation speed is less than or equal to the vehicle speed, determining the first obstacle avoidance start time according to the target rotation angle and the rotation angular velocity.

[0012] In the embodiments of the present application, the arm support parameters comprise the arm section length of each arm section and the arm section inclination angle between each two adjacent arm sections, and the determination of the first interval distance between the first arm section and the wall surface to be cleaned according to the arm support parameters comprises: obtaining the brush hair length of the brush support; and determining the first interval distance between the first arm section and the wall surface to be cleaned according to the brush hair length, the total arm section length and the total arm section inclination angle.

[0013] In the embodiments of the present application, in the case that the elongation length is greater than the wall thickness, the control of the second arm section to perform the telescopic obstacle avoidance operation comprises: obtaining the telescopic speed of the second arm section; in the case that the elongation length is greater than the wall thickness, determining the second obstacle avoidance start time of the facade cleaning vehicle according to the wall thickness and the telescopic speed; and controlling the second arm section to perform the telescopic obstacle avoidance operation at the second obstacle avoidance start time.

[0014] In the embodiments of the present application, the three-dimensional data further comprises the length of the obstacle, and the control method further comprises: after the facade cleaning vehicle performs the obstacle avoidance operation, determining the obstacle avoidance end time according to the length of the obstacle and the vehicle speed; in the case that the elongation length is less than or equal to the wall thickness, controlling the first arm section to end the rotating obstacle avoidance operation at the obstacle avoidance end time; and in the case that the elongation length is greater than the wall thickness, controlling the second arm section to end the telescopic obstacle avoidance operation at the obstacle avoidance end time.

[0015] In the embodiments of the present application, the control method further comprises: determining a working area of the wall surface to be cleaned before the interval distance between the facade cleaning vehicle and the wall surface to be cleaned is the preset interval distance and before the brush holder is attached to the wall surface to be cleaned; determining a first target position of the brush holder when the brush holder is attached to the wall surface to be cleaned according to the working area; determining a second target position corresponding to any two adjacent joints between the arm segments when the brush holder is at the first target position; and sequentially and circularly controlling each arm segment to move from the arm segment at the end of the arm frame, so that each joint moves to the corresponding second target position, until the interval distance between the position of the brush holder and the first target position is less than or equal to the preset distance threshold, or the number of times of circularly controlling the arm frame to move is greater than or equal to the preset number threshold.

[0016] In the embodiments of the present application, the brush holder comprises a roller brush and bristles connected to the roller brush, and the control method further comprises: during the cleaning operation of the facade cleaning vehicle on the wall surface to be cleaned, acquiring a second interval distance between the roller brush and the wall surface to be cleaned, a length of the bristles of the brush holder, and a lag inertia distance of the second arm segment; and determining an extension and retraction action of the second arm segment according to the second interval distance, the length of the bristles, and the lag inertia distance, so that the bristles are attached to the wall surface to be cleaned.

[0017] In the embodiments of the present application, determining the extension and retraction action of the second arm segment according to the second interval distance, the length of the bristles, and the lag inertia distance comprises: in the case that the sum of one half of the length of the bristles and the lag inertia distance is greater than the second interval distance, controlling the second arm segment to perform the extension action; and in the case that the sum of the length of the bristles and the lag inertia distance is less than or equal to the second interval distance, controlling the second arm segment to perform the retraction action.

[0018] The second aspect of the present application provides a control device for a facade cleaning vehicle, comprising:

[0019] a memory configured to store instructions; and

[0020] a processor configured to call the instructions from the memory and capable of realizing the above-mentioned control method for the facade cleaning vehicle when executing the instructions.

[0021] The third aspect of the present application provides a facade cleaning vehicle, comprising:

[0022] a vehicle body;

[0023] an arm frame comprising a plurality of arm segments, the plurality of arm segments comprising a first arm segment connected to the vehicle body and a second arm segment connected to the first arm segment;

[0024] a brush holder connected to the end of the arm frame; and

[0025] the above-mentioned control device for the facade cleaning vehicle.

[0026] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the control method described above for a facade cleaning vehicle.

[0027] Through the above technical solution, when the brush holder of the facade cleaning vehicle is in close contact with the wall to be cleaned for cleaning operations, three-dimensional data of obstacles on the wall to be cleaned is acquired. The three-dimensional data includes the distance and thickness of the obstacle from the wall. The boom parameters are acquired in real time, including the extension length of the second boom section. When the extension length is less than or equal to the distance from the wall thickness, the first boom section is controlled to perform a rotational obstacle avoidance operation at the first obstacle avoidance activation time. When the extension length is greater than the distance from the wall thickness, the second boom section is controlled to perform a telescopic obstacle avoidance operation at the second obstacle avoidance activation time. Different obstacle avoidance times are selected and different obstacle avoidance methods are activated under different conditions to avoid obstacles. This achieves automatic obstacle avoidance by the facade cleaning vehicle and automated boom adjustment, which can improve the cleaning efficiency of the wall, reduce manual labor time and effort, and improve the operational safety of the facade cleaning vehicle.

[0028] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0030] Figure 1 This schematic diagram illustrates a structural block diagram of a facade cleaning vehicle according to an embodiment of this application;

[0031] Figure 2 The illustration shows a schematic flowchart of a control method for a facade cleaning vehicle according to an embodiment of this application;

[0032] Figure 3a This schematic diagram illustrates the boom structure of a facade cleaning vehicle in its initial state according to an embodiment of this application.

[0033] Figure 3b This schematic diagram illustrates the boom structure of a facade cleaning vehicle in operation according to an embodiment of this application.

[0034] Figure 4 A schematic diagram illustrating the adjustment of the boom using a cyclic coordinate descent algorithm according to an embodiment of this application is shown.

[0035] Figure 5 This schematic diagram illustrates a structural block diagram of a control device for a facade cleaning vehicle according to an embodiment of this application;

[0036] Figure 6 A schematic diagram illustrating a structural block of another facade cleaning vehicle according to an embodiment of this application is shown.

[0037] Figure 7 The illustration shows a schematic diagram of the structure of a computer device according to an embodiment of the present application.

[0038] Explanation of reference numerals in the attached figures

[0039] Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0041] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0043] Figure 1 A schematic diagram of the structure of a facade cleaning vehicle according to an embodiment of this application is shown. Figure 1As shown in the illustration, this application provides a facade cleaning vehicle, including a vehicle body 10, a boom 20, and a brush holder 30. The boom 20 includes multiple boom sections, specifically a first boom section 21 and a second boom section 22. The two ends of the first boom section are connected to the vehicle body and the second boom section, respectively, and the brush holder is connected to the end of the boom. When the facade cleaning vehicle is performing cleaning operations, the chassis of the vehicle body can drive the vehicle, and the multiple boom sections can move in coordination to adjust the spatial position of the brush holder, thereby enabling better cleaning of facade walls, glass, curtain walls, sound barriers, etc.

[0044] Figure 2 The illustration schematically shows a flow chart of a control method for a facade cleaning vehicle according to an embodiment of this application. Figure 2 As shown in the figure, this application embodiment provides a control method for a facade cleaning vehicle, which may include the following steps.

[0045] Step 202: With the brush holder of the facade cleaning vehicle in contact with the wall to be cleaned for cleaning operation, obtain three-dimensional data of obstacles on the wall to be cleaned. The three-dimensional data includes the distance and thickness of the obstacles from the wall.

[0046] The wall to be cleaned refers to facade walls, glass, curtain walls, sound barriers, etc. Before performing cleaning operations on the wall, the facade cleaning truck will drive itself to park near the wall and control the brush holder to fit against it. At this time, the processor can acquire 3D data of obstacles on the wall. An obstacle is an object on the wall that obstructs the brush holder's movement path and hinders the cleaning of the wall. The 3D data includes the distance and thickness of the obstacle from the wall. Specifically, a LiDAR and an RGB camera can be installed on the roof of the facade cleaning truck to identify obstacles on the wall and their locations, and acquire their 3D data.

[0047] S204, real-time acquisition of boom parameters, including the extension length of the second boom section.

[0048] Specifically, an ultrasonic sensor can be installed on the second arm segment to measure the elongation of the second arm segment.

[0049] S206, when the elongation length is less than or equal to the wall thickness, controls the first arm segment to perform a rotational obstacle avoidance operation.

[0050] Since the wall to be cleaned may have a certain length and area, the facade cleaning truck can control the boom to adjust the brush holder to fit against the wall. Simultaneously, the chassis drives the truck to move parallel to the wall, cleaning the wall as it moves. However, if an obstacle obstructs the brush holder's cleaning process, and the extension length of the second boom section is less than or equal to the thickness of the obstacle relative to the wall, retracting the second boom section will not allow the boom to avoid the obstacle. In this case, the first boom section can be rotated away from the wall to promptly avoid the obstacle and ensure the safety of the facade cleaning truck.

[0051] In an embodiment of this application, when the extended length is less than or equal to the wall thickness, controlling the first boom segment to perform a rotational obstacle avoidance operation includes: acquiring the speed of the facade cleaning vehicle; when the extended length is less than or equal to the wall thickness, determining the first obstacle avoidance start time of the facade cleaning vehicle based on three-dimensional data, vehicle speed, and boom parameters; and controlling the first boom segment to perform a rotational obstacle avoidance operation at the first obstacle avoidance start time.

[0052] If the extension length of the second boom is less than or equal to the wall thickness of the obstacle, the first boom can be controlled to rotate and avoid the obstacle. Since the facade cleaning vehicle is constantly moving, in order to avoid obstacles on the wall to be cleaned, the processor can first obtain the vehicle speed of the facade cleaning vehicle. Based on the three-dimensional data of the obstacle, the speed of the facade cleaning vehicle, and the boom parameters, the processor determines the first obstacle avoidance start time of the facade cleaning vehicle, so as to control the first boom to perform a rotation obstacle avoidance operation at the first obstacle avoidance start time, so as to accurately avoid the obstacle at the accurate time.

[0053] In the embodiments of this application, determining the first obstacle avoidance start time of the facade cleaning vehicle based on three-dimensional data, vehicle speed, and boom parameters includes: determining the first interval distance between the first boom section and the wall to be cleaned based on the boom parameters; determining the target rotation angle of the turntable of the first boom section based on the first interval distance and the wall thickness; and determining the first obstacle avoidance start time based on the first interval distance, vehicle speed, and target rotation angle.

[0054] The first boom segment can rotate around its turntable, allowing the entire boom to rotate around its center. The processor can determine a first interval distance between the first boom segment and the wall to be cleaned based on boom parameters, and then determine the target rotation angle of the turntable based on this first interval distance and the wall thickness. Furthermore, the processor can determine the first obstacle avoidance initiation time when the first boom segment performs obstacle avoidance rotation based on the first interval distance, vehicle speed, and target rotation angle.

[0055] In embodiments of this application, the boom parameters include the boom length of each boom segment and the boom tilt angle between every two adjacent boom segments. Determining the first interval distance between the first boom segment and the wall to be cleaned based on the boom parameters includes: obtaining the bristle length of the brush holder; and determining the first interval distance between the first boom segment and the wall to be cleaned based on the bristle length, the total boom segment length, and the total boom segment tilt angle.

[0056] Boom parameters include the length of each boom section and the boom tilt angle between every two adjacent boom sections. The processor can obtain the bristle length of the brush holder to determine the initial spacing distance between the first boom section and the wall to be cleaned based on the bristle length, the total boom section length, and the total boom tilt angle. For example... Figure 3a and Figure 3b As shown, the facade cleaning truck targets a soundproof barrier wall for cleaning. The truck's boom includes a main boom 301 (first boom section), a first boom 302, a second boom 303 (second boom section), and a third boom 304. The end of the third boom connects to a brush holder 305, which includes a roller brush and brush bristles. The length of the first boom 302 is... The length of the two arms is The length of the three arms is Brush holder length The extension length of the two arms is Z. The first gap distance between the main arm 301 and the sound barrier is X. The brush holder is equipped with ultrasonic sensors 310 and 320, the main arm 301 is equipped with a rotary encoder 330 and a tilt sensor 340, the first arm 302 is equipped with a tilt sensor 350, the second arm is equipped with a tilt sensor 360 and an ultrasonic sensor 370, the third arm is equipped with a tilt sensor 380, and the brush holder is also equipped with a tilt sensor 390. Each tilt sensor is used to measure the tilt angle of the corresponding arm segment to calculate the arm segment angle between every two adjacent arm segments. For example, this includes the angle α between the first arm and the horizontal direction, and the angle between the first arm and the second arm. The angle between the two arms and the three arms The angle between the three arms and the brush holder The rotary encoder 330 is used to measure the rotation angle of the boom 301. Ultrasonic sensors 310 and 320 are used to measure the distance between the upper and lower ends of the boom brush and the wall surface to be cleaned, respectively. Specifically, the first distance is calculated according to the following formula (1):

[0057] (1)

[0058] in, This refers to the initial distance between the first arm section and the wall surface to be cleaned. It refers to the length of one arm. It refers to the length of the two arms. It refers to the length of three arms. Z refers to the length of the brush holder, Z refers to the extension length of the two arms, and α refers to the angle between one arm and the horizontal direction. It refers to the angle between one arm and two arms. It refers to the angle between the two-armed and the three-armed. This refers to the length of the brush bristles.

[0059] In the embodiments of this application, determining the first obstacle avoidance start time based on the first interval distance, vehicle speed, and target rotation angle includes: obtaining the rotation angular velocity of the first arm segment; determining the rotation linear velocity of the brush tip of the brush holder based on the rotation angular velocity and the first interval distance; determining the preset time as the first obstacle avoidance start time when the rotation linear velocity is greater than the vehicle speed; and determining the first obstacle avoidance start time based on the target rotation angle and rotation angular velocity when the rotation linear velocity is less than or equal to the vehicle speed.

[0060] The processor can obtain the rotational angular velocity of the first arm segment and determine the rotational linear velocity of the brush tip of the brush holder based on the rotational angular velocity and the first interval distance. When the rotational linear velocity is greater than the vehicle speed, the boom of the facade cleaning vehicle can rotate quickly. In this case, the preset time set by the technician according to technical experience can be determined as the first obstacle avoidance start time. When the rotational linear velocity is less than or equal to the vehicle speed, the boom of the facade cleaning vehicle rotates slowly, and the facade cleaning vehicle may collide with the obstacle due to the high vehicle speed and slow boom rotation. In this case, the processor can determine the first obstacle avoidance start time based on the target rotation angle and rotational angular velocity. For example, the first obstacle avoidance start time can be calculated according to the following formula (2):

[0061] (2)

[0062] Where X refers to the first gap distance between the first arm section and the wall surface to be cleaned. This refers to the rotational angular velocity of the first arm segment. "v" refers to the target rotation angle of the first boom section, and "v" refers to the speed of the facade cleaning vehicle. This refers to the first obstacle avoidance activation time. This refers to the current time.

[0063] The target rotation angle of the first arm segment is calculated according to the following formula (3):

[0064] (3)

[0065] in, X refers to the target rotation angle of the first boom section, and X refers to the initial distance between the first boom section and the wall surface to be cleaned. This refers to the distance between the obstacle and the wall.

[0066] S208, when the extension length is greater than the wall thickness, controls the second arm segment to perform telescopic obstacle avoidance operation.

[0067] If the extended length of the second boom section exceeds the distance between the obstacle and the wall thickness, the processor can control the second boom section to retract to perform an obstacle avoidance operation. After the second boom section retracts, when the facade cleaning vehicle passes over an obstacle, the boom will not come into contact with the obstacle, thus avoiding the obstacle in time and protecting the safety of the facade cleaning vehicle.

[0068] In an embodiment of this application, when the extension length is greater than the wall thickness, controlling the second boom to perform the telescopic obstacle avoidance operation includes: obtaining the telescopic speed of the second boom; when the extension length is greater than the wall thickness, determining the second obstacle avoidance start time of the facade cleaning vehicle based on three-dimensional data and the telescopic speed; and controlling the second boom to perform the telescopic obstacle avoidance operation at the second obstacle avoidance start time.

[0069] If the extension length of the second boom is greater than the distance from the wall to the obstacle, the second boom can be controlled to retract to avoid the obstacle. Since the body of the facade cleaning vehicle is constantly moving, in order to avoid obstacles on the wall to be cleaned, the processor can first obtain the extension speed of the second boom, and determine the second obstacle avoidance start time of the facade cleaning vehicle based on the distance from the wall to the obstacle and the extension speed of the second boom, so as to control the second boom to perform the extension and retraction obstacle avoidance operation at the second obstacle avoidance start time, so as to accurately avoid the obstacle at the accurate time. Specifically, the second obstacle avoidance start time can be determined according to the following formula (4):

[0070] (4)

[0071] in, This refers to the activation time of the second obstacle avoidance method. This refers to the current time. This refers to the distance between the obstacle and the wall. This refers to the extension and retraction speed of the second arm segment.

[0072] In embodiments of this application, the three-dimensional data also includes the length of the obstacle, and the control method further includes: after the facade cleaning vehicle performs obstacle avoidance operation, determining the obstacle avoidance end time based on the obstacle length and vehicle speed; when the extension length is less than or equal to the wall thickness, controlling the first arm to end the rotation obstacle avoidance operation at the obstacle avoidance end time; when the extension length is greater than the wall thickness, controlling the second arm to end the telescopic obstacle avoidance operation at the obstacle avoidance end time.

[0073] After the facade cleaning vehicle performs obstacle avoidance maneuvers on the wall to be cleaned, it can be controlled to re-adhere to the wall for cleaning. Specifically, after the facade cleaning vehicle performs obstacle avoidance, the processor determines the obstacle avoidance end time based on the obstacle's length and the vehicle's speed. If the extended length is less than or equal to the wall thickness, the processor controls the first arm to perform a rotational obstacle avoidance maneuver at the first obstacle avoidance initiation time. If the first arm performs a rotational obstacle avoidance maneuver, it ends the rotational obstacle avoidance maneuver at the obstacle avoidance end time. If the second arm performs a telescopic obstacle avoidance maneuver, it ends the telescopic obstacle avoidance maneuver at the obstacle avoidance end time. Furthermore, the first arm can begin rotating towards the wall to be cleaned at the obstacle avoidance end time, or the second arm can begin extending at the obstacle avoidance end time, so that the brush bristles of the brush holder re-adhere to the wall to be cleaned, continuing the cleaning work.

[0074] Specifically, the obstacle avoidance end time is calculated according to the following formula (5):

[0075] (5)

[0076] in, This refers to the obstacle avoidance end time, S refers to the length of the obstacle, and V refers to the speed of the facade cleaning vehicle. This refers to the current time.

[0077] In embodiments of this application, the control method further includes: determining the work area of ​​the wall to be cleaned before the distance between the facade cleaning vehicle and the wall to be cleaned is a preset distance and before the brush holder is in contact with the wall to be cleaned; determining the first target position of the brush holder when it is in contact with the wall to be cleaned based on the work area; determining the second target position corresponding to the joint between any two adjacent arm sections when the brush holder is in the first target position; and controlling the movement of each arm section sequentially and cyclically starting from the arm section at the end of the arm, so that each joint moves to the corresponding second target position, until the distance between the position of the brush holder and the first target position is less than or equal to a preset distance threshold, or the number of times the arm movement is cyclically controlled is greater than or equal to a preset number of times threshold.

[0078] The preset interval distance refers to the distance between the wall cleaning vehicle and the wall to be cleaned, set by technicians based on experience. When the interval distance between the wall cleaning vehicle and the wall to be cleaned is the preset interval distance, the processor can determine the work area of ​​the wall to be cleaned. Specifically, a LiDAR and an RGB camera can be installed on the roof of the vehicle to identify the wall to be cleaned and determine its three-dimensional dimensions and position information to determine the work area of ​​the wall to be cleaned. The first target position refers to the position of the brush holder when cleaning the wall to be cleaned, requiring it to be in close contact with the wall. The processor can determine the first target position based on the work area. In a specific implementation plan, after determining the first target position, the operator can input relevant data, extend the boom, and rotate it to a middle position close to the first target position.

[0079] Furthermore, the processor can use a cyclic coordinate descent algorithm to determine the second target position corresponding to the joint between any two adjacent boom segments when the brush holder is in the first target position. The second target position refers to the position of the other boom joints corresponding to the brush holder when it is in the first target position. Based on the cyclic coordinate descent algorithm, starting from the boom segment at the end of the boom, each boom segment is sequentially controlled to move towards its corresponding second target position. If the brush holder is not in the first target position after the first boom segment is adjusted, then the movement of each boom segment is sequentially controlled again starting from the boom segment at the end of the boom, and so on. This allows each joint of the boom to move to its corresponding second target position until the distance between the brush holder position and the first target position is less than or equal to a preset distance threshold, or the number of times the boom movement is cyclically controlled is greater than or equal to a preset number of times threshold. The preset distance threshold and the preset number of times threshold are distance values ​​and the number of cycles set by technicians based on their technical experience, respectively. This can improve the efficiency of boom adjustment and reduce the time spent on repeated boom adjustments.

[0080] Specifically, such as Figure 3a and Figure 3b As shown, Figure 3a This is the initial state of the boom of the facade cleaning vehicle. Figure 3b This image shows the operational state of the boom of the facade cleaning vehicle. The boom of the facade cleaning vehicle includes a main boom 301 (first boom section), a secondary boom 302, a tertiary boom 303 (second boom section), and a tertiary boom 304. The main boom 301 is equipped with a rotary encoder 330 and a tilt sensor 340; the secondary boom 302 is equipped with a tilt sensor 350; the tertiary boom is equipped with a tilt sensor 360 and an ultrasonic sensor 370; the tertiary boom is equipped with a tilt sensor 380; and the brush holder is also equipped with a tilt sensor 390. Each tilt sensor is used to measure the tilt angle of the corresponding boom section, and the spatial position of the brush holder is calculated based on the boom parameters such as the tilt angle, rotation angle, and boom section length measured by the sensors.

[0081] Specifically, the steps for adjusting the arm segment using the cyclic coordinate descent algorithm are as follows:

[0082] 1. Start from the foremost joint arm (first arm segment) and traverse to the corresponding first target position;

[0083] 2. Each joint arm uses the axis point of its child joint arm (the previous joint arm corresponding to each joint arm) as the following point (the smallest child joint arm has no child nodes and needs to directly follow the target point) to start approaching the corresponding second target position;

[0084] 3. The joint arm following method is to take the straight line direction between its own axis point and the target position as the joint arm transformation direction, and align the end point of the joint arm with the target position. Start solving from the target position (X), and gradually move the entire chain structure closer to the target position from the "leaf node" to the "root node".

[0085] For example, refer to Figure 4 First, construct a chain structure: [P2, P1], [P, P2], [P4, P3], with lengths d1, d2, and d3 respectively. For example... Figure 4 As shown in part (A), starting from the tail end, the line approaches point X from [P4, P3]. Figure 4 As shown in part (B), when d3 approaches, connect [P3, X], move [P4, P3] to [P4', P3'], P4' = X. Figure 4 As shown in part (C), when d2 approaches, connect [P2, P3'] and move [P3, P2] to [P3', P2']. Figure 4 As shown in part (D), when d1 approaches, connect [P1, P2'] and move [P2, P1] to [P2', P1'].

[0086] In the embodiments of this application, the wall surface and obstacles to be cleaned can be detected first. Since the refracted light from walls such as soundproof glass can interfere with the LiDAR positioning, a LiDAR and RGB camera are installed on the roof of the vehicle to identify the wall surface and obstacles, and determine their three-dimensional dimensions and position information to determine the work area of ​​the wall surface to be cleaned and the location of the obstacles. Specifically, after installing the LiDAR and RGB camera on the top of the facade cleaning vehicle, joint calibration of the LiDAR and camera is performed in a calibration scene to obtain a high-precision extrinsic parameter matrix. Subsequently, through a joint perception scheme, data on the wall surface and obstacles to be cleaned are collected. A deep learning object detection algorithm is used on the camera images to detect various objects such as traffic signs, light poles, and trees. The coordinates of the objects are mapped to the LiDAR coordinate system, and the LiDAR point cloud data is used for ROI region extraction and filtering. The wall surface is segmented using its geometric features. Finally, a Euclidean clustering algorithm is used to extract the three-dimensional data (length, width, height) and position (X, Y, Z) information of the wall surface and its obstacles to be cleaned, achieving a precise positioning scheme for the work area and its obstacles. By deploying the overall solution at the edge, the deep learning object detection algorithm is accelerated by TensorRT and then deployed to the edge controller. The overall system can achieve accurate real-time calculation through the acceleration of the edge controller.

[0087] In embodiments of this application, the brush holder includes a roller brush and bristles connected to the roller brush. The control method further includes: during the cleaning operation of the facade cleaning vehicle on the wall to be cleaned, obtaining a second interval distance between the roller brush and the wall to be cleaned, the bristle length of the brush holder, and the hysteresis distance of the second arm section; determining the extension and retraction action of the second arm section based on the second interval distance, the bristle length, and the hysteresis distance, so that the bristles fit against the wall to be cleaned.

[0088] During the cleaning operation of the facade cleaning vehicle on the wall to be cleaned, the extension and retraction of the second arm needs to be restricted due to the lag in the hydraulic system's extension movement. The processor can obtain the second interval distance between the roller brush and the wall to be cleaned, the bristle length of the brush holder, and the lag inertia distance of the second arm to determine the extension and retraction movement of the second arm so that the bristles fit snugly against the wall to be cleaned.

[0089] In embodiments of this application, determining the extension / retraction action of the second arm segment based on the second interval distance, the bristle length, and the hysteresis distance includes: controlling the second arm segment to extend when the sum of half the bristle length and the hysteresis distance is greater than the second interval distance; and controlling the second arm segment to retract when the sum of the bristle length and the hysteresis distance is less than or equal to the second interval distance.

[0090] The brush holder is equipped with ultrasonic sensors 310 and 320. These sensors detect distances D1 and D2 between the roller brush and the wall, respectively. Therefore, the second interval between the roller brush and the wall to be cleaned can be... The bristle length is M, and the optimal distance for the bristles to press against the wall during cleaning is... Therefore, the minimum value of the second interval distance D cannot be less than... Because the hydraulic system for extending the second boom section has a certain lag, its lag inertia distance is... When the vehicle deviates slightly or avoids obstacles while cleaning the facade and returns to the working wall, the automatic wall-hugging function is activated. Its control logic is as follows: When... At that time, the second arm segment extends. At that time, the second arm segment retracts to avoid hitting the wall to be cleaned. During operation, the second boom segment remains stationary and is in normal working condition. When an obstacle is encountered, the automatic wall-hugging program automatically stops and begins automatic obstacle avoidance. Once the obstacle is avoided and the boom re-enters the working wall, the automatic wall-hugging program restarts. Furthermore, to ensure the second boom segment can extend and retract normally during automatic wall-hugging, the initial operating position of the second boom segment is 2 meters. <Z<1000mm-2M。

[0091] In the embodiments of this application, after the boom of the facade cleaning vehicle completes the cleaning operation, the technician can set the initial state of the boom on the display screen according to the actual situation (e.g., Figure 3a The processor can sequentially execute the actions of horizontalizing the brush holder, retracting the second arm, raising the third arm, and rotating the boom. At this time, the boom is moved to a position parallel to the forward direction of the vertical cleaning vehicle, and then the main boom, third arm, and second arm are lowered. The boom returns to the initial position, and the automatic retraction strategy is completed.

[0092] In one specific embodiment Figure 3b This diagram schematically illustrates the boom structure of a facade cleaning vehicle in operation. (Reference) Figure 3b A facade cleaning vehicle according to a specific embodiment is provided. The facade cleaning vehicle includes a vehicle body, a boom, and a brush holder. The boom includes a main boom 301 (first boom segment), a secondary boom 302, a second secondary boom 303 (second boom segment), and a third secondary boom 304. The ends of the third secondary boom are connected to a brush holder 305, which includes a roller brush and bristles on the roller brush. The length of the secondary boom 302 is... The length of the two arms is The length of the three arms is Brush holder length The extension length of the two arms is Z. The first gap distance between the main arm 301 and the sound barrier is X. The brush holder is equipped with ultrasonic sensors 310 and 320, the main arm 301 is equipped with a rotary encoder 330 and a tilt sensor 340, the first arm 302 is equipped with a tilt sensor 350, the second arm is equipped with a tilt sensor 360 and an ultrasonic sensor 370, the third arm is equipped with a tilt sensor 380, and the brush holder is also equipped with a tilt sensor 390. Each tilt sensor is used to measure the tilt angle of the corresponding arm segment to calculate the arm segment angle between every two adjacent arm segments. For example, this includes the angle between one arm and the horizontal direction. The angle between one arm and two arms The angle between the two arms and the three arms The angle between the three arms and the brush holder The rotary encoder 330 is used to measure the rotation angle of the boom 301. The ultrasonic sensors 310 and 320 are used to measure the distance between the upper and lower ends of the boom brush and the wall surface to be cleaned, respectively.

[0093] Through the above technical solution, when the brush holder of the facade cleaning vehicle is in close contact with the wall to be cleaned for cleaning operations, three-dimensional data of obstacles on the wall to be cleaned is acquired. The three-dimensional data includes the distance and thickness of the obstacle from the wall. The boom parameters are acquired in real time, including the extension length of the second boom section. When the extension length is less than or equal to the distance from the wall thickness, the first boom section is controlled to perform a rotational obstacle avoidance operation at the first obstacle avoidance activation time. When the extension length is greater than the distance from the wall thickness, the second boom section is controlled to perform a telescopic obstacle avoidance operation at the second obstacle avoidance activation time. Different obstacle avoidance times are selected and different obstacle avoidance methods are activated under different conditions to avoid obstacles. This achieves automatic obstacle avoidance by the facade cleaning vehicle and automated boom adjustment, which can improve the cleaning efficiency of the wall, reduce manual labor time and effort, and improve the operational safety of the facade cleaning vehicle.

[0094] Figure 5 This schematically illustrates a structural block diagram of a control device for a facade cleaning vehicle according to an embodiment of this application. Figure 5 As shown, this application embodiment provides a control device 500, which may include:

[0095] Memory 510 is configured to store instructions; and

[0096] The processor 520 is configured to retrieve instructions from the memory 510 and, when executing the instructions, to implement the aforementioned control method for the facade cleaning vehicle.

[0097] Specifically, in this embodiment of the application, the processor 520 can be configured to:

[0098] When the brush holder of the facade cleaning vehicle is in contact with the wall to be cleaned to perform the cleaning operation, the three-dimensional data of the obstacles on the wall to be cleaned is obtained. The three-dimensional data includes the distance and thickness of the obstacles from the wall.

[0099] The boom parameters are acquired in real time, including the extension length of the second boom section;

[0100] When the extension length is less than or equal to the wall thickness, control the first boom segment to perform a rotational obstacle avoidance operation;

[0101] When the extension length is greater than the wall thickness, control the second arm segment to perform telescopic obstacle avoidance operation.

[0102] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0103] When the extended length is less than or equal to the wall thickness, controlling the first boom section to perform a rotational obstacle avoidance operation includes: obtaining the speed of the facade cleaning vehicle; when the extended length is less than or equal to the wall thickness, determining the first obstacle avoidance start time of the facade cleaning vehicle based on three-dimensional data, vehicle speed, and boom parameters; and controlling the first boom section to perform a rotational obstacle avoidance operation at the first obstacle avoidance start time.

[0104] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0105] Determining the first obstacle avoidance start time of the facade cleaning vehicle based on three-dimensional data, vehicle speed, and boom parameters includes: determining the first interval distance between the first boom section and the wall to be cleaned based on the boom parameters; determining the target rotation angle of the turntable of the first boom section based on the first interval distance and the wall thickness; and determining the first obstacle avoidance start time based on the first interval distance, vehicle speed, and target rotation angle.

[0106] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0107] Determining the first obstacle avoidance start time based on the first interval distance, vehicle speed, and target rotation angle includes: obtaining the rotation angular velocity of the first arm segment; determining the rotation linear velocity of the brush tip of the brush holder based on the rotation angular velocity and the first interval distance; if the rotation linear velocity is greater than the vehicle speed, determining the preset time as the first obstacle avoidance start time; if the rotation linear velocity is less than or equal to the vehicle speed, determining the first obstacle avoidance start time based on the target rotation angle and rotation angular velocity.

[0108] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0109] The boom parameters include the boom length of each boom section and the boom tilt angle between every two adjacent boom sections. Determining the first interval distance between the first boom section and the wall to be cleaned based on the boom parameters includes: obtaining the brush bristle length of the brush holder; and determining the first interval distance between the first boom section and the wall to be cleaned based on the brush bristle length, the total boom section length, and the total boom section tilt angle.

[0110] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0111] When the extension length is greater than the wall thickness, controlling the second boom to perform the telescopic obstacle avoidance operation includes: obtaining the telescopic speed of the second boom; when the extension length is greater than the wall thickness, determining the second obstacle avoidance start time of the facade cleaning vehicle based on the wall thickness and the telescopic speed; and controlling the second boom to perform the telescopic obstacle avoidance operation at the second obstacle avoidance start time.

[0112] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0113] The three-dimensional data also includes the length of the obstacle, and the control method also includes: after the facade cleaning vehicle performs obstacle avoidance operation, determining the obstacle avoidance end time based on the obstacle length and vehicle speed; when the extension length is less than or equal to the wall thickness, controlling the first arm to end the rotation obstacle avoidance operation at the obstacle avoidance end time; when the extension length is greater than the wall thickness, controlling the second arm to end the telescopic obstacle avoidance operation at the obstacle avoidance end time.

[0114] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0115] The control method further includes: determining the work area of ​​the wall to be cleaned before the wall cleaning vehicle and the wall to be cleaned are at a preset interval distance and before the brush holder is in contact with the wall to be cleaned; determining the first target position of the brush holder when it is in contact with the wall to be cleaned based on the work area; determining the second target position corresponding to the joint between any two adjacent arm sections when the brush holder is at the first target position; and controlling the movement of each arm section sequentially and cyclically from the arm section at the end of the arm so that each joint moves to the corresponding second target position until the interval distance between the position of the brush holder and the first target position is less than or equal to a preset distance threshold, or the number of times the arm movement is cyclically controlled is greater than or equal to a preset number of times threshold.

[0116] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0117] The brush holder includes a roller brush and bristles connected to the roller brush. The control method further includes: during the cleaning operation of the facade cleaning vehicle on the wall to be cleaned, obtaining the second interval distance between the roller brush and the wall to be cleaned, the bristle length of the brush holder, and the hysteresis distance of the second arm section; determining the extension and retraction action of the second arm section based on the second interval distance, bristle length, and hysteresis distance, so that the bristles fit against the wall to be cleaned.

[0118] Furthermore, in one embodiment, the processor 520 may also be configured to:

[0119] The extension and retraction actions of the second arm segment are determined based on the second interval distance, the bristle length, and the hysteresis distance, including: when the sum of half the bristle length and the hysteresis distance is greater than the second interval distance, the second arm segment is controlled to extend; when the sum of the bristle length and the hysteresis distance is less than or equal to the second interval distance, the second arm segment is controlled to retract.

[0120] In one embodiment, a facade cleaning vehicle 600 is also provided, comprising:

[0121] Vehicle body 610;

[0122] The boom 620 includes multiple boom sections, including a first boom section 621 connected to the vehicle body 610 and a second boom section 622 connected to the first boom section 621;

[0123] The brush holder 630 is connected to the end of the boom 620;

[0124] The control device 500 for the facade cleaning vehicle is configured to execute the control method for the facade cleaning vehicle described above.

[0125] Specifically, refer to Figure 3a and Figure 3b The boom includes a large boom 301 (first boom segment), a first boom 302, a second boom 303 (second boom segment), and a third boom 304. The end of the third boom is connected to a brush holder 305, which includes a roller brush and bristles on the roller brush. The length of the first boom 302 is... The length of the two arms is The length of the three arms is Brush holder length The extension length of the two arms is Z. The first gap distance between the main arm 301 and the sound barrier is X. The brush holder is equipped with ultrasonic sensors 310 and 320, the main arm 301 is equipped with a rotary encoder 330 and a tilt sensor 340, the first arm 302 is equipped with a tilt sensor 350, the second arm is equipped with a tilt sensor 360 and an ultrasonic sensor 370, the third arm is equipped with a tilt sensor 380, and the brush holder is also equipped with a tilt sensor 390. The control device 500 can acquire the tilt angle of the corresponding arm segment measured by each tilt sensor to calculate the arm segment angle between every two adjacent arm segments. For example, this includes the angle between one arm and the horizontal direction. The angle between one arm and two arms The angle between the two arms and the three arms The angle between the three arms and the brush holder The rotary encoder 330 is used to measure the rotation angle of the boom 301. The control device 500 can obtain the distance between the upper and lower ends of the boom brush and the wall to be cleaned, as measured by the ultrasonic sensors 310 and 320, respectively.

[0126] Through the above technical solution, when the brush frame of the facade cleaning vehicle is in close contact with the wall to be cleaned for cleaning operations, three-dimensional data of obstacles on the wall to be cleaned is acquired. The three-dimensional data includes the distance and thickness of the obstacle from the wall. The boom parameters are acquired in real time, including the extension length of the second boom section. When the extension length is less than or equal to the distance and thickness from the wall, the first boom section is controlled to perform a rotational obstacle avoidance operation at the first obstacle avoidance activation time. When the extension length is greater than the distance and thickness from the wall, the second boom section is controlled to perform a telescopic obstacle avoidance operation at the second obstacle avoidance activation time. In different situations, different obstacle avoidance times are selected to activate different obstacle avoidance methods to avoid obstacles. This realizes a fully automated operation process for the facade cleaning vehicle, from automatically extending the boom to the target position before cleaning, to automatically contacting the wall and automatically avoiding obstacles during the cleaning operation, to automatically retracting the boom to the initial state after the cleaning operation. This reduces human intervention, improves work efficiency, and reduces safety accidents caused by human judgment errors and operational errors.

[0127] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for a facade cleaning vehicle.

[0128] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database of the computer device contains data for the control method of the facade cleaning vehicle. The network interface A02 of the computer device is used for communication with external terminals via a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for the facade cleaning vehicle.

[0129] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0130] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0132] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0133] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0134] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0135] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0136] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0137] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0138] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a facade cleaning vehicle, characterized in that, The facade cleaning vehicle includes a boom, a vehicle body, and a brush holder connected to the end of the boom. The boom includes multiple boom sections, each including a first boom section connected to the vehicle body and a second boom section connected to the first boom section. The control method includes: When the brush holder of the facade cleaning vehicle is in contact with the wall to be cleaned to perform the cleaning operation, three-dimensional data of the obstacles on the wall to be cleaned is obtained, and the three-dimensional data includes the distance and thickness of the obstacles from the wall. The boom parameters are acquired in real time, including the extension length of the second boom section; Obtain the speed of the facade cleaning vehicle; When the elongation length is less than or equal to the wall thickness, a first interval distance between the first boom section and the wall to be cleaned is determined according to the boom parameters; a target rotation angle of the turntable of the first boom section is determined according to the first interval distance and the wall thickness; the rotational angular velocity of the first boom section is obtained; the rotational linear velocity of the brush tip of the brush holder is determined according to the rotational angular velocity and the first interval distance; when the rotational linear velocity is greater than the vehicle speed, a preset time is determined as the first obstacle avoidance start time; when the rotational linear velocity is less than or equal to the vehicle speed, the first obstacle avoidance start time is determined according to the target rotation angle and the rotational angular velocity; the first boom section is controlled to perform a rotational obstacle avoidance operation at the first obstacle avoidance start time. When the extension length is greater than the wall thickness, the extension speed of the second boom is obtained; when the extension length is greater than the wall thickness, the second obstacle avoidance start time of the facade cleaning vehicle is determined according to the wall thickness and the extension speed; the second boom is controlled to perform extension and obstacle avoidance operation at the second obstacle avoidance start time.

2. The control method for a facade cleaning vehicle according to claim 1, characterized in that, The boom parameters include the boom length of each boom section and the boom tilt angle between every two adjacent boom sections. Determining the first interval distance between the first boom section and the wall surface to be cleaned based on the boom parameters includes: Obtain the bristle length of the brush holder; The first interval distance between the first arm section and the wall surface to be cleaned is determined based on the bristle length, the total arm section length, and the total arm section tilt angle.

3. The control method for a facade cleaning vehicle according to claim 1, characterized in that, The three-dimensional data also includes the length of the obstacle, and the control method further includes: After the facade cleaning vehicle performs the obstacle avoidance operation, the obstacle avoidance end time is determined based on the length of the obstacle and the vehicle speed; If the elongation length is less than or equal to the wall thickness, the first boom section is controlled to end the rotational obstacle avoidance operation at the obstacle avoidance end time. If the elongation length is greater than the wall thickness, the second boom is controlled to end the telescopic obstacle avoidance operation at the obstacle avoidance end time.

4. The control method for a facade cleaning vehicle according to claim 1, characterized in that, The control method further includes: Before the wall cleaning vehicle and the wall to be cleaned are at a preset distance, and before the brush holder is in contact with the wall to be cleaned, the working area of ​​the wall to be cleaned is determined. Determine the first target position of the brush holder when it is in contact with the wall surface to be cleaned, based on the work area; Determine the second target position corresponding to the joint between any two adjacent arm segments when the brush holder is in the first target position; Starting from the boom segment at the end of the boom, the movement of each boom segment is controlled sequentially and cyclically so that each joint moves to the corresponding second target position until the distance between the position of the brush holder and the first target position is less than or equal to a preset distance threshold, or the number of times the boom movement is cyclically controlled is greater than or equal to a preset number threshold.

5. The control method for a facade cleaning vehicle according to claim 1, characterized in that, The brush holder includes a roller brush and brush bristles connected to the roller brush, and the control method further includes: During the process of the facade cleaning vehicle cleaning the wall to be cleaned, the second interval distance between the roller brush and the wall to be cleaned, the bristle length of the brush holder, and the hysteresis distance of the second arm section are obtained. The extension and retraction motion of the second arm is determined based on the second interval distance, the bristle length, and the hysteresis distance, so that the bristles fit against the wall surface to be cleaned.

6. The control method for a facade cleaning vehicle according to claim 5, characterized in that, The step of determining the extension and retraction motion of the second arm segment based on the second interval distance, the bristle length, and the hysteresis distance includes: If the sum of half the bristle length and the hysteresis distance is greater than the second interval distance, the second arm segment is controlled to extend. If the sum of the bristle length and the hysteresis distance is less than or equal to the second interval distance, the second arm segment is controlled to perform a retraction action.

7. A control device for a facade cleaning vehicle, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for a facade cleaning vehicle according to any one of claims 1 to 6.

8. A facade cleaning vehicle, characterized in that, include: Vehicle body; The boom includes multiple boom sections, the multiple boom sections including a first boom section connected to the vehicle body and a second boom section connected to the first boom section; The brush holder is connected to the end of the boom; and The control device for a facade cleaning vehicle according to claim 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for a facade cleaning vehicle according to any one of claims 1 to 6.

Images