Control method for high-altitude cleaning equipment, processor and high-altitude cleaning equipment

Abstract

The invention discloses a control method for high-altitude cleaning equipment, a processor, a control device and the high-altitude cleaning equipment. The control method comprises the steps that it is determined that a rolling brush of the high-altitude cleaning equipment is attached to a to-be-cleaned wall surface; the high-altitude cleaning equipment is controlled to execute cleaning operation; determining that an obstacle exists on the advancing path of the high-altitude cleaning equipment; the high-altitude cleaning equipment is controlled to execute obstacle avoidance operation, the height value of the obstacle is obtained, and the obstacle avoidance operation comprises far-away operation and obstacle-avoiding advancing operation; acquiring a vertical movement actual value of the rolling brush; determining that the obstacle avoidance operation is executed according to the vertical movement actual value and the height value; the high-altitude cleaning equipment is controlled to execute wall surface approaching operation; determining that the rolling brush is attached to the wall surface to be cleaned again; and the high-altitude cleaning equipment is controlled to continue to execute cleaning operation. The control method for the high-altitude cleaning equipment is simple and easy to operate, the operation precision of the high-altitude cleaning equipment is greatly improved, and the control method has a large application range and high practical applicability.

Description

Technical Field

[0001] The present application belongs to the technical field of high-altitude cleaning equipment, and specifically relates to a control method, a processor, a control device and high-altitude cleaning equipment for high-altitude cleaning equipment. Background Art

[0002] High-altitude cleaning equipment (such as high-altitude wall cleaning robots) is equipment specially used for cleaning the walls of high-rise buildings. The high-altitude cleaning equipment in the prior art has realized functions such as automatic adhesion of the cleaning device to the wall when performing cleaning operations, and real-time parallelism of the working platform and the wall. However, when the cleaning device of the high-altitude cleaning equipment in the prior art encounters various obstacles (such as windows or objects protruding from the wall) during operation, it is unable to perceive the three-dimensional information of the obstacle and requires manual control to avoid the obstacle. If the obstacle is at a higher position, it is more difficult to control it with manual farsightedness, and due to the large visual angle error, it is easy to cause collision or leave the wall prematurely, which leads to a large cleaning blind spot, making it difficult to ensure the accuracy of wall cleaning. Summary of the invention

[0003] The purpose of this application is to provide a control method, processor, control device and high-altitude cleaning equipment for high-altitude cleaning equipment. The control method for high-altitude cleaning equipment is simple and easy to operate, greatly improves the operating accuracy of the high-altitude cleaning equipment, and has a large scope of application and strong practical applicability.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for high-altitude cleaning equipment, the control method comprising:

[0005] Make sure the roller brush of the high-altitude cleaning equipment is in close contact with the wall to be cleaned;

[0006] Control high-altitude cleaning equipment to perform cleaning operations;

[0007] Determine that there are obstacles in the path of the aerial cleaning equipment;

[0008] Controlling the high-altitude cleaning equipment to perform obstacle avoidance operations and obtain the height value of obstacles, wherein the obstacle avoidance operations include moving away from operations and moving around obstacles;

[0009] Get the actual value of the vertical movement of the roller brush;

[0010] Determine that the obstacle avoidance operation is completed according to the actual vertical movement value and the height value;

[0011] Control the high-altitude cleaning equipment to perform wall approach operations;

[0012] Make sure the roller brush fits the wall to be cleaned again;

[0013] Control the aerial cleaning equipment to continue cleaning operations.

[0014] In an embodiment of the present application, the high-altitude cleaning equipment further includes an obstacle detection device for acquiring original point cloud data of objects in the detection area in real time, and determining that there is an obstacle on the forward path of the high-altitude cleaning equipment includes:

[0015] Determine corrected real-time point cloud data based on original point cloud data;

[0016] Determine the distance between the obstacle detection device and the wall to be cleaned based on the corrected real-time point cloud data;

[0017] Performing a first comparison operation on the spacing and the first spacing value, and performing a first filtering process on the corrected real-time point cloud data according to a result of the first comparison operation to obtain a first filtering process result;

[0018] According to the first filtering process result, it is determined that there is an obstacle on the forward path of the high-altitude cleaning equipment.

[0019] In an embodiment of the present application, determining corrected real-time point cloud data according to original point cloud data includes:

[0020] Controlling the obstacle detection device to perform detection operations and obtain real-time point cloud data within the detection area of ​​the obstacle detection device;

[0021] Downsampling the real-time point cloud data to obtain down-sampled real-time point cloud data;

[0022] Get the target rotation matrix;

[0023] The corrected real-time point cloud data is determined according to the target rotation matrix and the real-time point cloud data after downsampling.

[0024] In an embodiment of the present application, obtaining a target rotation matrix includes:

[0025] Make sure the high-altitude cleaning equipment enters the calibration mode;

[0026] Make sure the roller brush of the aerial cleaning equipment is in contact with the obstacle-free area on the wall to be cleaned;

[0027] Construct the original reference coordinate system of the obstacle detection equipment;

[0028] Obtaining original point cloud data of the wall to be cleaned in the original reference coordinate system of the obstacle detection device;

[0029] Obtain the plane normal vector according to the original point cloud data;

[0030] Get the target normal vector;

[0031] Get the target rotation matrix based on the plane normal vector and the target normal vector.

[0032] In an embodiment of the present application, obtaining a target rotation matrix according to a plane normal vector and a target normal vector includes:

[0033] Calculate the rotation axis vector and the rotation angle according to the plane normal vector and the target normal vector;

[0034] Determine a preliminary rotation matrix according to the rotation axis vector and the rotation angle;

[0035] The preliminary rotation matrix is ​​subjected to Euler angle conversion processing, and the rotation matrix obtained after the Euler angle conversion processing is determined as the target rotation matrix.

[0036] In an embodiment of the present application, determining that there is an obstacle on the forward path of the high-altitude cleaning equipment according to the first filtering process result includes:

[0037] When it is determined that point cloud data exists in the first filtering processing result, it is determined that there is an obstacle on the forward path of the high-altitude cleaning equipment.

[0038] In an embodiment of the present application, the high-altitude cleaning equipment further includes a distance detector, which is used to detect in real time the distance between the installation position of the distance detector and the wall to be cleaned, and the control method further includes:

[0039] When the high-altitude cleaning device performs a distance operation, the distance detector is obtained to perform a distance detection operation and obtain a real-time distance detection value;

[0040] Performing a third comparison operation on the real-time distance detection value and the second distance value;

[0041] When the real-time distance detection value is greater than the second spacing value, performing a second filtering process on the corrected real-time point cloud data according to the second spacing value to obtain a second filtering process result;

[0042] Determining, according to the second filtering processing result, that there is no obstacle in the vertical direction corresponding to the roller brush;

[0043] Control the high-altitude cleaning equipment to stop performing the distance operation.

[0044] In an embodiment of the present application, determining the height value of the obstacle includes:

[0045] When the high-altitude cleaning equipment performs the operation of moving away from and avoiding obstacles, the corrected real-time point cloud data is obtained;

[0046] Performing a third filtering process on the corrected real-time point cloud data according to the first spacing value to obtain a third filtering process result;

[0047] Performing clustering processing on the third filtering processing result to obtain a clustering processing result;

[0048] The height value of the obstacle is determined based on the clustering processing results.

[0049] In an embodiment of the present application, determining that the obstacle avoidance operation is completed according to the actual vertical movement value and the height value includes:

[0050] Determine a preset height value according to the height value;

[0051] When the actual vertical movement value reaches the preset height value, the high-altitude cleaning equipment is controlled to stop executing the obstacle-circling forward operation;

[0052] Confirm that the obstacle avoidance operation is completed.

[0053] In an embodiment of the present application, the distance detector further includes a distance detector, which is used to detect in real time the distance between the installation position of the distance detector and the wall to be cleaned, and the control method further includes:

[0054] When the high-altitude cleaning equipment is performing a wall approach operation, it is determined in real time whether there is an obstacle in the vertical direction corresponding to the roller brush. If there is no obstacle in the vertical direction corresponding to the roller brush, the high-altitude cleaning equipment is controlled to continue to perform the wall approach operation until it is determined that the roller brush is in contact with the wall to be cleaned again.

[0055] A second aspect of the present application provides a processor configured to execute the above-mentioned control method for high-altitude cleaning equipment.

[0056] A third aspect of the present application provides a control device, the control device comprising:

[0057] an obstacle detection device, configured to obtain point cloud data of objects within a first detection area in real time; and

[0058] The processors described above.

[0059] A third aspect of the present application provides a high-altitude cleaning device, which includes the above-mentioned control device.

[0060] Through the above technical scheme, it can be known that the control method includes: determining that the roller brush of the high-altitude cleaning equipment has been attached to the wall to be cleaned; controlling the high-altitude cleaning equipment to perform a cleaning operation; determining that there is an obstacle on the forward path of the high-altitude cleaning equipment; controlling the high-altitude cleaning equipment to perform an obstacle avoidance operation and obtain the height value of the obstacle, wherein the obstacle avoidance operation includes a distance operation and an obstacle forward operation; obtaining the actual vertical movement value of the roller brush; determining that the obstacle avoidance operation is completed according to the actual vertical movement value and the height value; controlling the high-altitude cleaning equipment to perform a wall approach operation; determining that the roller brush is in contact with the wall to be cleaned again; and controlling the high-altitude cleaning equipment to continue to perform the cleaning operation. The control method for high-altitude cleaning equipment is simple and easy to implement, and can adaptively avoid obstacles according to the height value of the obstacle, which can avoid collisions between the high-altitude cleaning equipment and obstacles, and will not cause missed cleaning. It greatly improves the operating accuracy of the high-altitude cleaning equipment, and has a large scope of application and strong practical applicability.

[0061] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0063] Figure 1 This is a schematic diagram of the main flow of the control method in the embodiment of the present application;

[0064] Figure 2 This is a schematic diagram of the working platform in the embodiment of the present application;

[0065] Figure 3 This is a schematic diagram of the cleaning operation of the high-altitude cleaning equipment in the embodiment of the present application;

[0066] Figure 4 This is a detection schematic diagram of an obstacle detection device in an embodiment of the present application;

[0067] Figure 5 A detection schematic diagram of the first distance detector or the second distance detector in an embodiment of the present application;

[0068] Figure 6 Schematic diagram of the reference coordinate system where the target rotation matrix is ​​located in the embodiment of the present application;

[0069] Figure 7 In the embodiment of this application, L 滚刷 Schematic diagram.

[0070] Description of Reference Numerals

[0071] 1-roller brush; 2-wall to be cleaned; 3-obstacle; 4-obstacle detection device; 5-first detection area; 6-first distance detector; 7-second distance detector; 8-obstacle avoidance path; 9-working platform; 10-second detection area; 11-reference coordinate system. DETAILED DESCRIPTION

[0072] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0073] The embodiment of the present application provides a control method for high-altitude cleaning equipment, such as Figure 1 As shown, the control method includes the following steps:

[0074] Step S101: Determine whether the roller brush 1 of the high-altitude cleaning equipment is in contact with the wall surface 2 to be cleaned.

[0075] Specifically, the high-altitude cleaning equipment in this embodiment can be selected as a high-altitude wall cleaning robot and includes a cleaning device and a control device. The cleaning device includes a base, a mechanical arm, a working platform 9, a connecting rod and a roller brush 1. The mechanical arm can be movably arranged on the base (the mechanical arm in this embodiment can rotate and / or change amplitude and / or extend relative to the base), the working platform 9 is arranged at the moving end of the mechanical arm, the connecting rod is arranged on the working platform 9 through an elastic member (such as a torsion spring), and the roller brush 1 can be pivotally arranged at the end of the connecting rod away from the working platform 9; the control device includes a distance detector (such as an ultrasonic sensor) and a processor that is communicatively connected to the distance detector. The distance detector is arranged on the side of the working platform 9 facing the wall 2 to be cleaned and is used to detect the distance between the installation position of the distance detector and the wall 2 to be cleaned in real time. In this embodiment, the distance detected by the distance detector in real time is the real-time distance detection value.

[0076] Furthermore, after the distance detector completes the detection, the real-time distance detection value is sent to the processor, which pre-stores a first preset distance value and can be retrieved when needed. After receiving the real-time distance detection value, the processor compares it with the first preset distance value. If the distance detection value is less than or equal to the first preset distance value, it is determined that the roller brush 1 of the high-altitude cleaning equipment has been attached to the wall surface 2 to be cleaned (at this time, the roller brush 1 is not only in contact with the wall surface 2 to be cleaned, but also there is a certain force between the two).

[0077] Furthermore, if Figure 2As shown, there are two distance detectors in this embodiment, and the two distance detectors include a first distance detector 6 and a second distance detector 7, both of which are arranged on the side of the working platform 9 facing the wall 2 to be cleaned. The first distance detector 6 and the second distance detector 7 are respectively located at the two ends of the length direction of the working platform 9. Before executing step S101, the processor needs to determine that the working platform 9 is in a posture adjustment completion state. Specifically, the first distance detector 6 and the second distance detector 7 send their respective distance detection values ​​to the processor, and the processor calculates the difference between the distance detection values ​​of the first distance detector 6 and the second distance detector 7. If the difference is within the preset difference range, it is determined that the working platform 9 is in a posture adjustment completion state (that is, it is determined that the side of the working platform 9 close to the wall 2 to be cleaned is parallel to the wall 2 to be cleaned).

[0078] Step S102: Control the high-altitude cleaning equipment to perform a cleaning operation.

[0079] Specifically, after the processor determines that the roller brush 1 of the high-altitude cleaning equipment has been in contact with the wall 2 to be cleaned, it controls the robotic arm to drive the working platform 9 and the roller brush 1 to move, so that the roller brush 1 rolls forward according to a preset forward path and cleans the wall.

[0080] Step S103: Determine that there is an obstacle 3 on the forward path of the high-altitude cleaning equipment.

[0081] In one embodiment of the present application, the high-altitude cleaning equipment further includes an obstacle detection device 4 for acquiring original point cloud data of objects in the detection area in real time, and determining in step S103 that there is an obstacle 3 on the forward path of the high-altitude cleaning equipment further includes steps S201-S204, wherein:

[0082] Step S201: Determine corrected real-time point cloud data based on original point cloud data.

[0083] Specifically, the obstacle detection device 4 (such as a laser radar) is connected to the processor and is arranged on the side of the work platform 9 facing the wall surface 2 to be cleaned. The step S201 determines the corrected real-time point cloud data according to the original point cloud data and includes steps S301 to S304, wherein:

[0084] Step S301 : controlling the obstacle detection device 4 to perform a detection operation and obtain real-time point cloud data within the detection area of ​​the obstacle detection device 4 .

[0085] Specifically, during the execution of step S102, the processor controls the obstacle detection device 4 to perform a detection operation, which is a real-time detection operation. The obstacle detection device 4 sends real-time point cloud data obtained by real-time detection in the detection area to the processor. In this embodiment, the detection area of ​​the obstacle detection device 4 is the first detection area 5. Figure 4shown.

[0086] Step S302: downsampling the real-time point cloud data to obtain down-sampled real-time point cloud data;

[0087] Step S303: Obtain the target rotation matrix.

[0088] In one embodiment of the present application, step S303 of obtaining the target rotation matrix further includes steps S401 to S407, wherein:

[0089] Step S401: Determine whether the high-altitude cleaning equipment enters a calibration mode.

[0090] Specifically, in this embodiment, the high-altitude cleaning equipment needs to enter the calibration mode and execute steps S401-S407 only before the obstacle detection device 4 is installed and performs the cleaning operation for the first time. Then, the processor stores the target rotation matrix obtained in step S407 in the processor and retrieves it when needed.

[0091] Furthermore, the high-altitude cleaning equipment also includes an operating device that is communicatively connected to the processor. The operator sends a signal to enter the calibration mode to the processor through a calibration function button on the operating device (such as an operating handle, remote control or touch screen, etc.). After receiving the above signal, the processor can determine that the high-altitude cleaning equipment has entered the calibration mode.

[0092] Further, after completing step S401, the processor may also control the first distance detector 6 and the second distance detector 7 to perform distance detection operations (in this embodiment, the detection area of ​​the first distance detector 6 or the second distance detector 7 is the second detection area 10, such as Figure 5 As shown), and the robot arm is controlled according to the detection results of the first distance detector 6 and the second distance detector 7, so that the working platform 9 is in a posture adjustment completion state (that is, it is determined that the working platform 9 is in a leveling state).

[0093] Step S402: Determine that the roller brush 1 of the high-altitude cleaning equipment has been in contact with the obstacle-free area 3 on the wall surface 2 to be cleaned.

[0094] Specifically, in this embodiment, the operator can manually control the roller brush 1 to fit with the obstacle-free area 3 on the wall 2 to be cleaned when the high-altitude cleaning equipment enters the calibration mode, and after observing that the roller brush 1 has completed the fit with the obstacle-free area 3 on the wall 2 to be cleaned, send a corresponding signal to the processor. After receiving the above signal, the processor can determine that the roller brush 1 has fit with the obstacle-free area 3 on the wall 2 to be cleaned.

[0095] Step S403: constructing an original reference coordinate system of the obstacle detection device 4;

[0096] Step S404: obtaining original point cloud data of the wall surface 2 to be cleaned in the original reference coordinate system of the obstacle detection device 4.

[0097] Specifically, in step S403 of this embodiment, the processor constructs the original reference coordinate system of the obstacle detection device 4 (lidar) with the installation position of the obstacle detection device 4 as the origin; in step S404, the processor controls the obstacle detection device 4 to perform the detection operation, and the obstacle detection device 4 sends the point cloud data obtained by the detection to the processor. At this time, the point cloud data received by the processor is the original point cloud data of the wall 2 to be cleaned in the original reference coordinate system of the obstacle detection device 4 (lidar). After receiving the above-mentioned original point cloud data, the processor performs plane fitting on it based on the RANSAC algorithm to obtain the plane equation AX+BY+CZ+D=0 of the wall 2 to be cleaned.

[0098] Step S405: obtaining a plane normal vector according to the original point cloud data;

[0099] Specifically, the processor obtains the plane normal vector based on the plane equation AX+BY+CZ+D=0, and assumes that the plane normal vector is i(m, n, k), and the direction of the plane normal vector is perpendicular to the wall and points to the inside of the wall.

[0100] Step S406: Obtain the target normal vector.

[0101] Specifically, in this embodiment, the reference coordinate system of the corrected obstacle detection device 4 (laser radar) is O' lidar , let the plane normal vector be i(m, n, k) in the reference coordinate system O' of the obstacle detection device 4 (lidar) lidar The vector below is the target normal vector, which is i`(1, 0, 0) and is pre-stored in the processor and can be called out when needed.

[0102] Step S407: Obtain a target rotation matrix according to the plane normal vector and the target normal vector.

[0103] In one embodiment of the present application, step S407 of obtaining a target rotation matrix according to the plane normal vector and the target normal vector further includes steps S501 to S503, wherein:

[0104] Step S501: Calculate the rotation axis vector and the rotation angle according to the plane normal vector and the target normal vector.

[0105] Specifically, the processor can calculate the rotation axis vector and the rotation angle based on the following method:

[0106] i x =i×i` (1)

[0107] Among them, i xis the rotation vector (i x _x,i x _y,i x _z), i is the plane normal vector (m, n, k), and i` is the target normal vector (1, 0, 0).

[0108]

[0109] Among them, θ x is the rotation angle.

[0110] Step S502: Determine a preliminary rotation matrix according to the rotation axis vector and the rotation angle.

[0111] Specifically, the processor may calculate the preliminary rotation matrix based on the following method:

[0112]

[0113] in,

[0114]

[0115]

[0116] Furthermore, after the processor calculates the preliminary rotation matrix R0 based on formula (3) to formula (12), verification can be performed based on the following method:

[0117] i”=R0·i (13)

[0118] Among them, i" is the verification normal vector.

[0119] After the processor calculates the verification normal vector i'' based on formula (13), it compares it with the target normal vector i'' (1, 0, 0). When the verification normal vector i'' is consistent with the target normal vector i'', it is determined that the calculation of the preliminary rotation matrix R0 is correct.

[0120] Step S503: performing Euler angle conversion processing on the preliminary rotation matrix, and determining the rotation matrix obtained after the Euler angle conversion processing as the target rotation matrix.

[0121] Specifically, after obtaining the preliminary rotation matrix R0, the processor can make the yz plane of the coordinate system where the preliminary rotation matrix R0 is located parallel to the wall 2 to be cleaned, convert R0 into Euler angles, and the rotation matrix obtained after the preliminary rotation matrix is ​​converted into Euler angles is the target rotation matrix R1. The roll value is changed so that the z axis of the coordinate system where the preliminary rotation matrix is ​​located is perpendicular to the ground. The reference coordinate system 11 is obtained after the target rotation matrix R1 is converted. Figure 6 shown.

[0122] After obtaining the target rotation matrix R1, the processor stores it in the processor and can retrieve it when needed. Further, if the obstacle detection device 4 is disassembled and reinstalled, steps S401 to S407 are performed again after reinstallation to obtain a new target rotation matrix R1 and store it in the processor.

[0123] Furthermore, the processor can also calibrate the origin of the reference coordinate system 11 obtained after the conversion of the target rotation matrix R1 and the installation position of the first distance detector 6 and the installation position of the second distance detector 7 in the calibration mode of the high-altitude cleaning equipment (that is, obtain the coordinate positions of the origin of the target rotation matrix R1 coordinate system, the installation position of the first distance detector 6 in the reference coordinate system 11 obtained after the conversion of the target rotation matrix R1, and the installation position of the second distance detector 7), and obtain the difference between the origin of the reference coordinate system 11 obtained after the conversion of the target rotation matrix R1 and the installation position of the first distance detector 6 in the reference coordinate system 11 obtained after the conversion of the target rotation matrix R1 (or the installation position of the second distance detector 7 in the reference coordinate system 11 obtained after the conversion of the target rotation matrix R1) based on the above calibration result, which is the position difference between the origin of the reference coordinate system 11 obtained after the conversion of the target rotation matrix R1 and the installation position of the first distance detector 6 (or the installation position of the second distance detector 7) in the direction perpendicular to the wall;

[0124] Let the installation position of the first distance detector 6 obtained after the target rotation matrix R1 transformation in the reference coordinate system 11 (or the installation position of the second distance detector 7 obtained after the target rotation matrix R1 transformation in the reference coordinate system 11) be offset0, and let the real-time distance detection value obtained after the first distance detector 6 and the second distance detector 7 perform the distance detection operation be d realtime , then the distance between the origin of the reference coordinate system 11 and the wall after the target rotation matrix R1 is d realtime +offset0.

[0125] Step S304: determining corrected real-time point cloud data according to the target rotation matrix and the real-time point cloud data after downsampling.

[0126] Specifically, in step S302, the real-time point cloud data is downsampled to obtain the real-time point cloud data P after downsampling. downsample , and then the processor can obtain the corrected point cloud data based on the following method:

[0127] P trans =R1·P downsample (14)

[0128] Among them, P transis the corrected real-time point cloud data, P downsample It is the real-time point cloud data after downsampling.

[0129] Step S202: Determine the distance between the obstacle detection device 4 and the wall surface 2 to be cleaned according to the corrected real-time point cloud data.

[0130] Specifically, the corrected real-time point cloud data P trans That is, the point cloud data corresponding to each point cloud of the object in the current detection area of ​​the obstacle detection device 4 and after being corrected, the processor obtains the corrected real-time point cloud data P trans Afterwards, the corrected real-time point cloud data P can be further obtained trans The x-axis coordinate values ​​of each point cloud in the above-mentioned each x-axis coordinate value is the distance between the object in the current detection area of ​​the obstacle detection device 4 and the installation position of the obstacle detection device 4 in the x-direction. Further, if the above-mentioned each x-axis coordinate value is the same (or the difference between any two of the above-mentioned each x-axis coordinate value is within the preset numerical range), it is determined that the object in the current detection area of ​​the obstacle detection device 4 at this time is only the wall surface 2 to be cleaned, and the above-mentioned x-axis coordinate value is the distance between the obstacle detection device 4 and the wall surface 2 to be cleaned.

[0131] Step S203: performing a first comparison operation on the spacing and the first spacing value, and performing a first filtering process on the corrected real-time point cloud data according to a result of the first comparison operation to obtain a first filtering process result.

[0132] Specifically, in this embodiment, the first preset distance can be obtained according to the following method:

[0133] J1=d realtime +offset0-ε1 (15)

[0134] Among them, J1 is the first spacing value, ε1 is the first margin, and the first margin ε1 is set by the operator according to actual experience and pre-selected and stored in the processor, and can be retrieved when needed.

[0135] Furthermore, the real-time distance detection value d in formula (15) realtime The point cloud data is obtained at the same time as the point cloud data detected by the obstacle detection device 4 in step S202.

[0136] After the processor completes step S202 and obtains the spacing, it calculates the first spacing value J1, and then compares the spacing with the first spacing value J1 (i.e., the first comparison operation). If the spacing is greater than the first spacing value J1, the corrected real-time point cloud data P trans Specifically, the processor processes the corrected real-time point cloud data P transThe x-axis coordinate value of each point cloud in the image is compared with the first spacing value J1, and the corrected real-time point cloud data P trans The point cloud whose x-axis coordinate value is greater than the first spacing value J1 is filtered out, and the first filtering processing result is the corrected real-time point cloud data P trans The set of point clouds whose x-axis coordinate values ​​are less than or equal to the first spacing value J1 is called P1. clip .

[0137] Step S204: Determine, based on the first filtering result, that there is an obstacle 3 on the forward path of the high-altitude cleaning equipment.

[0138] In one embodiment of the present application, determining in step S204 that there is an obstacle 3 on the forward path of the high-altitude cleaning equipment according to the first filtering processing result further includes:

[0139] Step S601: when it is determined that there is point cloud data in the first filtering processing result, it is determined that there is an obstacle 3 on the forward path of the high-altitude cleaning equipment.

[0140] Specifically, the processor obtains the set P1 clip After that, judge the set P1 clip Is it an empty set? If the set P1 clip is not an empty set, then it is determined that there is an obstacle 3 on the path of the high-altitude cleaning equipment; if the set P1 clip If it is an empty set, it is determined that there is no obstacle 3 on the forward path of the high-altitude cleaning device. At this time, the processor controls the high-altitude cleaning device to continue to perform the cleaning operation along the forward path.

[0141] Step S104: Control the high-altitude cleaning equipment to perform an obstacle avoidance operation and obtain the height value of the obstacle 3, wherein the obstacle avoidance operation includes a stay-away operation and an obstacle-circling operation.

[0142] Specifically, in this embodiment, the moving away operation refers to the horizontal movement of the cleaning device in the direction away from the wall 2 to be cleaned, and the obstacle-circling forward operation refers to the vertical movement of the cleaning device in the direction consistent with the forward path. If the forward path is upward, the obstacle-circling forward operation is a vertical upward movement. When the processor determines that there is an obstacle 3 on the forward path of the high-altitude cleaning equipment, it is necessary to first control the high-altitude cleaning equipment to perform the moving away operation, so that the roller brush 1 and / or the working platform 9 are away from the wall and the obstacle 3, and avoid interference between the roller brush 1 and / or the working platform 9 and the obstacle 3; after the moving away operation is completed, the obstacle-circling forward operation is performed again, so that the roller brush 1 moves forward while avoiding the obstacle 3, laying the foundation for the subsequent cleaning operation.

[0143] Furthermore, the control method further includes:

[0144] When it is determined that there is an obstacle 3 on the forward path of the high-altitude cleaning equipment, a vertical minimum value in the first filtering processing result is obtained;

[0145] The vertical minimum value is compared with the preset vertical value. When the vertical minimum value reaches the preset vertical value, the high-altitude cleaning equipment is controlled to perform a distance operation.

[0146] Specifically, in the set P1 clip If it is not an empty set, the processor obtains the set P1 clip The z values ​​of the midpoint cloud elements (i.e., the coordinate values ​​of the z-axis) are obtained, and then the minimum absolute value among them is obtained based on multiple z values, and the minimum absolute value is the vertical minimum value; the preset vertical value is pre-stored in the processor and can be retrieved when needed; after obtaining the vertical minimum value, the processor compares it with the vertical minimum value. If the vertical minimum value is greater than the preset vertical value, the high-altitude cleaning equipment is controlled to continue the cleaning operation; if the vertical minimum value is less than or equal to the preset vertical value, the high-altitude cleaning equipment is controlled to perform a distance operation to avoid a collision between the high-altitude cleaning equipment and obstacle 3.

[0147] In one embodiment of the present application, the high-altitude cleaning device further includes a distance detector, which is used to detect in real time the distance between the installation position of the distance detector and the wall surface 2 to be cleaned, and the control method further includes steps S701-S705, wherein:

[0148] Step S701: When the high-altitude cleaning device performs a distance operation, the distance detector is controlled to perform a distance detection operation and obtain a real-time distance detection value.

[0149] Specifically, the distance detection operation in this embodiment is a real-time detection operation, so the real-time distance detection value obtained by the distance detector is a value that is continuously updated. The value that is continuously updated is d realtime .

[0150] Step S702: performing a second comparison operation on the real-time distance detection value and the second interval value.

[0151] Specifically, in this embodiment, the second spacing value can be obtained according to the following method:

[0152] J2=L 滚刷1 +σ (16)

[0153] Wherein, J2 is the second spacing value; L 滚刷1 is the horizontal distance value (e.g., the distance between the roller brush 1 and the working platform 9) when the cleaning device is in a natural state (i.e., the roller brush 1 is not subjected to pressure or thrust to deflect the connecting rod relative to the working platform 9, or the elastic member is not deformed). Figure 7As shown in the figure, the horizontal distance value is a fixed value and is pre-stored in the processor, and can be retrieved when needed; σ is

[0154] The second margin, the second margin σ, is set by the operator based on actual experience and pre-selected and stored in the processor, and can be retrieved when needed.

[0155] After obtaining the real-time distance detection value in step S701, the processor compares it with the second distance value J2 (ie, a second comparison operation).

[0156] Step S703: When the real-time distance detection value is greater than the second distance value, a second filtering process is performed on the corrected real-time point cloud data according to the second distance value to obtain a second filtering process result.

[0157] Specifically, after the processor performs the second comparison operation, if the result of the second comparison operation is that the real-time distance detection value is less than or equal to the second spacing value, it means that the roller brush 1 has not yet been separated from the wall surface 2 to be cleaned; if the result of the second comparison operation is that the real-time distance detection value is greater than the second spacing value, it means that the roller brush 1 has been separated from the wall surface 2 to be cleaned. In this case, the processor performs a second filtering process on the corrected real-time point cloud data according to the second spacing value, that is, the processor filters the corrected real-time point cloud data P at this moment. trans The x-axis coordinate value of each point cloud in the image is compared with the second spacing value J2, and the corrected real-time point cloud data P trans The point cloud whose x-axis coordinate value is greater than the second spacing value J2 is filtered out, and the second filtering processing result is the corrected real-time point cloud data P at that moment. trans The set of point clouds whose x-axis coordinate values ​​are less than or equal to the second spacing value J2 is called P2 clip .

[0158] Step S704: determining that there is no obstacle 3 in the vertical direction corresponding to the roller brush 1 according to the second filtering processing result;

[0159] Step S705: Control the high-altitude cleaning equipment to stop performing the distance operation.

[0160] Specifically, the processor obtains the set P2 clip Then, judge the set P2 clip Is it an empty set? If the set P2 clip If the set P2 is not empty, it is determined that there is an obstacle 3 below or above the roller brush 1, and the high-altitude cleaning device continues to perform the distance operation; clip If it is an empty set, it is determined that there is no obstacle 3 below or above the roller brush 1. At this time, the processor controls the high-altitude cleaning equipment to stop executing the away operation and start executing the obstacle-circling operation.

[0161] In one embodiment of the present application, determining the height value of the obstacle 3 further includes steps S801 to S805, wherein:

[0162] Step S801: Acquire corrected real-time point cloud data during the process of the high-altitude cleaning equipment performing the distance operation and the obstacle-avoiding forward operation.

[0163] Specifically, during the process of the high-altitude cleaning equipment performing the moving away operation and the obstacle-circling operation, the processor controls the obstacle detection device 4 to perform the detection operation in real time and obtain the original point cloud data within the detection area of ​​the obstacle detection device 4 in real time; then, the corrected real-time point cloud data Ptrans at that moment is obtained based on the original point cloud data.

[0164] Step S802: performing a third filtering process on the corrected real-time point cloud data according to the first spacing value to obtain a third filtering process result.

[0165] Specifically, the processor obtains the corrected real-time point cloud data P trans Afterwards, the corrected real-time point cloud data P can be further obtained trans The x-axis coordinate value of each point cloud is then compared with the first spacing value J1, and the corrected real-time point cloud data P trans The point cloud whose x-axis coordinate value is greater than the first spacing value J1 is filtered out, and the result of the third filtering process is the corrected real-time point cloud data P trans The set of point clouds whose x-axis coordinate values ​​are less than or equal to the first spacing value J1 is called P3 clip .

[0166] Step S803: performing clustering processing on the third filtering processing result to obtain a clustering processing result;

[0167] Step S804: Determine the height value of obstacle 3 according to the clustering processing result.

[0168] Specifically, the processor obtains the set P3 clip After that, for the set P3 clip The point cloud data in is subjected to Euclidean clustering processing to determine the number of obstacles 3. If there are multiple obstacles 3, the processor further determines the height value of the obstacle 3 closest to the roller brush 1 based on the result of the Euclidean clustering processing, and the height value is the height value of the obstacle 3 in step S804; if there is only one height value of an obstacle 3, the processor further determines the height value of the obstacle 3 directly based on the result of the Euclidean clustering processing, and the height value is the height value of the obstacle 3 in step S804.

[0169] Step S105: obtaining the actual value of the vertical movement of the roller brush 1.

[0170] Specifically, the processor calculates the vertical displacement value of the moving end of the mechanical arm of the high-altitude cleaning equipment during the obstacle-circumventing operation based on the principle of forward kinematics, and the vertical displacement value is consistent with the actual value of the vertical movement of the roller brush 1.

[0171] Step S106: Determine whether the obstacle avoidance operation is completed according to the actual vertical movement value and the height value.

[0172] In one embodiment of the present application, step S106 determines that the obstacle avoidance operation is completed according to the actual vertical movement value and the height value, and further includes steps S901 to S903, wherein:

[0173] Step S901: determining a preset height value according to the height value;

[0174] Step S902: When the actual vertical movement value reaches a preset height value, the high-altitude cleaning device is controlled to stop executing the obstacle-circling forward operation;

[0175] Step S903: Determine whether the obstacle avoidance operation is completed.

[0176] Specifically, during the process of the high-altitude cleaning device performing the obstacle-circling forward operation, the actual vertical movement value of the roller brush 1 changes in real time, so the actual vertical movement value is a real-time changing value, and the processor can obtain the preset height value based on the following method:

[0177] H=H 障碍物3 +ε2+ε3 (17)

[0178] Among them, H is the preset height value, H 障碍物3 is the height value of obstacle 3, ε2 is the third margin, ε3 is the fourth margin, the third margin ε2 and the fourth margin ε3 are both set by the operator according to actual experience and pre-selected and stored in the processor, and can be retrieved when needed.

[0179] After obtaining the actual value of vertical movement in real time, the processor compares it with the preset height value. If the actual value of vertical movement reaches the preset height value, it is determined that at this time, in the direction of the wall 2 to be cleaned, the roller brush 1 will not interfere with the obstacle 3. Therefore, in order to avoid missing cleaning, the processor controls the high-altitude cleaning equipment to stop executing the obstacle avoidance operation. After the obstacle avoidance operation stops, it can be determined that the obstacle avoidance operation is completed.

[0180] Step S107: Control the high-altitude cleaning equipment to perform a wall approach operation.

[0181] Specifically, after executing step S903, the processor controls the high-altitude cleaning device to drive the roller brush 1 to move horizontally toward the direction of the wall 2 to be cleaned (ie, performs a wall approach operation).

[0182] In one embodiment of the present application, the distance detector further includes a distance detector, and the distance detector is used to detect the distance between the installation position of the distance detector and the wall surface 2 to be cleaned in real time, and the control method further includes the following steps:

[0183] Step S1001: During the process of the high-altitude cleaning device performing the wall approach operation, it is determined in real time whether there is the obstacle 3 in the vertical direction corresponding to the roller brush 1. When there is no obstacle 3 in the vertical direction corresponding to the roller brush 1, the high-altitude cleaning device is controlled to continue to perform the wall approach operation until it is determined that the roller brush 1 is in contact with the wall 2 to be cleaned again.

[0184] Specifically, during the process of the high-altitude cleaning equipment performing the wall approach operation, the processor controls the distance detector to perform the distance detection operation and obtain the real-time distance detection value d realtime At the same time, the processor also controls the obstacle detection device 4 to perform detection in real time, and obtains the original point cloud data in the detection area of ​​the obstacle detection device 4 in real time, and then obtains the corrected real-time point cloud data P at that moment based on the original point cloud data trans .

[0185] The processor obtains the real-time distance detection value d realtime Then compare it with the second distance value J2. If the real-time distance detection value d realtime If the distance is greater than the second distance value J2, it means that the roller brush 1 has not yet contacted the wall surface 2 to be cleaned, and the processor will correct the real-time point cloud data P at this moment. trans The x-axis coordinate value of each point cloud in the corrected real-time point cloud data (Ptrans) is compared with the second spacing value J2, and the point cloud whose x-axis coordinate value is greater than the second spacing value J2 in the corrected real-time point cloud data (Ptrans) is filtered out to obtain the corrected real-time point cloud data Ptrans at that moment. trans The set of point clouds whose x-axis coordinate values ​​are less than or equal to the second spacing value J2 is called P4. clip ;

[0186] The processor obtains the set P4 clip After that, judge the set P4 clip Is it an empty set? If the set P4 clip If the set P4 is not empty, it is determined that there is an obstacle 3 below or above the roller brush 1, and the high-altitude cleaning equipment performs a distance operation; clip If it is an empty set, it is determined that there is no obstacle 3 below or above the roller brush 1, and the processor controls the high-altitude cleaning device to continue to perform the wall approach operation;

[0187] If the real-time distance detection value d realtime If the roller brush 1 is less than or equal to the second spacing value J2, it means that the roller brush 1 is in contact with the wall surface 2 to be cleaned. The processor will correct the real-time point cloud data P at this moment.trans The x-axis coordinate value of each point cloud in the image is compared with the first spacing value J1, and the corrected real-time point cloud data P trans The point cloud whose x-axis coordinate value is greater than the first spacing value J1 is filtered out to obtain the corrected real-time point cloud data P trans The set of point clouds whose x-axis coordinate values ​​are less than or equal to the first spacing value J1 is called P5 clip ;

[0188] The processor obtains the set P5 clip Then, judge the set P5 clip Is it an empty set? If the set P5 clip If the set P5 is not empty, it is determined that there is an obstacle 3 below or above the roller brush 1, and the high-altitude cleaning equipment performs a distance operation; clip If it is an empty set, it is determined that there is no obstacle 3 below or above the roller brush 1. At this time, the processor controls the high-altitude cleaning equipment to move so that the roller brush 1 fits the wall surface 2 to be cleaned.

[0189] In this embodiment, the path that the high-altitude cleaning device passes through when performing obstacle avoidance operation and wall approaching operation is the obstacle avoidance path 8. The obstacle avoidance path 8 is as shown in FIG. Figure 3 shown.

[0190] Step S108: Determine that the roller brush 1 is in contact with the wall surface 2 to be cleaned again.

[0191] Specifically, the processor starts from step S1001, and after receiving the real-time distance detection value, compares it with the first preset distance value. If the distance detection value is less than or equal to the first preset distance value, it is determined that the roller brush 1 of the high-altitude cleaning equipment is in contact with the wall surface 2 to be cleaned again.

[0192] Step S109: Control the high-altitude cleaning equipment to continue the cleaning operation.

[0193] Specifically, after the high-altitude cleaning equipment continues to perform the cleaning operation, the processor controls the obstacle detection device 4 to perform the detection operation in turn and further determines whether there is an obstacle 3 on the forward route of the high-altitude cleaning equipment based on the corrected real-time point cloud data. If there is an obstacle 3, steps S103-S109 are looped.

[0194] The control method for high-altitude cleaning equipment in this embodiment is simple and easy to implement, and can adaptively avoid obstacles according to the height value of the obstacle 3, which can avoid collision between the high-altitude cleaning equipment and the obstacle 3 and prevent missed cleaning. It greatly improves the operating accuracy of the high-altitude cleaning equipment, has a large scope of application and strong practical applicability. In addition, the control method for high-altitude cleaning equipment also reduces human participation, reduces the operating burden of personnel, and improves the safety of use and cleaning efficiency of the high-altitude cleaning equipment.

[0195] Another embodiment of the present application provides a processor, which is configured to execute the control method for high-altitude cleaning equipment in the above embodiment.

[0196] Another embodiment of the present application provides a control device, the control device comprising:

[0197] The obstacle detection device 4 is used to obtain the original point cloud data of the objects in the first detection area 5 in real time; and

[0198] The processor in the above embodiment.

[0199] Another embodiment of the present application provides a high-altitude cleaning device, which includes the control device in the above embodiment.

[0200] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0201] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0202] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0203] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method for high-altitude cleaning equipment, It is characterized in that The control method comprises: Determining that the roller brush (1) of the high-altitude cleaning device is in contact with the wall surface (2) to be cleaned; Controlling the high-altitude cleaning equipment to perform cleaning operations; Determining that there is an obstacle on the forward path of the high-altitude cleaning equipment (3); Controlling the high-altitude cleaning equipment to perform an obstacle avoidance operation and obtain the height value of the obstacle (3), wherein the obstacle avoidance operation includes a stay-away operation and an obstacle-circling operation; Obtaining the actual value of the vertical movement of the roller brush (1); Determining that the obstacle avoidance operation is completed according to the actual vertical movement value and the height value; Controlling the high-altitude cleaning equipment to perform a wall approach operation; Confirming that the roller brush (1) and the wall surface (2) to be cleaned are in contact with each other again; The high-altitude cleaning equipment is controlled to continue the cleaning operation.

2. The control method for high-altitude cleaning equipment according to claim 1, It is characterized in that The high-altitude cleaning device further comprises an obstacle detection device (4) for acquiring original point cloud data of objects in a detection area in real time, and the determining that there is an obstacle (3) on the forward path of the high-altitude cleaning device comprises: Determine corrected real-time point cloud data according to the original point cloud data; Determining the distance between the obstacle detection device (4) and the wall surface (2) to be cleaned according to the corrected real-time point cloud data; Performing a first comparison operation on the interval and the first interval value, and performing a first filtering process on the corrected real-time point cloud data according to a result of the first comparison operation to obtain a first filtering process result; According to the first filtering process result, it is determined that there is the obstacle (3) on the forward path of the high-altitude cleaning equipment.

3. The control method for high-altitude cleaning equipment according to claim 2, It is characterized in that Determining the corrected real-time point cloud data according to the original point cloud data comprises: Controlling the obstacle detection device (4) to perform a detection operation and obtain real-time point cloud data within a detection area of ​​the obstacle detection device (4); Downsampling the real-time point cloud data to obtain down-sampled real-time point cloud data; Get the target rotation matrix; The corrected real-time point cloud data is determined according to the target rotation matrix and the real-time point cloud data after downsampling.

4. The control method for high-altitude cleaning equipment according to claim 3, It is characterized in that The obtaining of the target rotation matrix comprises: Determining that the high-altitude cleaning equipment enters a calibration mode; Determining that the roller brush (1) of the high-altitude cleaning device has been in contact with an obstacle-free (3) area on the wall surface (2) to be cleaned; Constructing an original reference coordinate system (11) of the obstacle detection device (4); Acquiring original point cloud data of the wall surface (2) to be cleaned in the original reference coordinate system (11) of the obstacle detection device (4); Acquire a plane normal vector according to the original point cloud data; Get the target normal vector; A target rotation matrix is ​​obtained according to the plane normal vector and the target normal vector.

5. The control method for high-altitude cleaning equipment according to claim 4, It is characterized in that The acquiring of the target rotation matrix according to the plane normal vector and the target normal vector comprises: Calculate the rotation axis vector and the rotation angle according to the plane normal vector and the target normal vector; Determine a preliminary rotation matrix according to the rotation axis vector and the rotation angle; The preliminary rotation matrix is ​​subjected to Euler angle conversion processing, and the rotation matrix obtained after the Euler angle conversion processing is determined as the target rotation matrix.

6. The control method for high-altitude cleaning equipment according to claim 3, It is characterized in that The determining, based on the first filtering process result, that there is the obstacle (3) on the forward path of the high-altitude cleaning equipment comprises: When it is determined that point cloud data exists in the first filtering processing result, it is determined that the obstacle (3) is on the forward path of the high-altitude cleaning equipment.

7. The control method for high-altitude cleaning equipment according to claim 2, It is characterized in that The high-altitude cleaning device further comprises a distance detector, which is used to detect in real time the distance between the installation position of the distance detector and the wall surface (2) to be cleaned. The control method further comprises: During the process of the high-altitude cleaning equipment performing the distance operation, obtaining the distance detector to perform a distance detection operation and obtain a real-time distance detection value; Performing a third comparison operation on the real-time distance detection value and the second distance value; When the real-time distance detection value is greater than the second spacing value, performing a second filtering process on the corrected real-time point cloud data according to the second spacing value to obtain a second filtering process result; Determining, based on the second filtering processing result, that there is no obstacle (3) in the vertical direction corresponding to the roller brush (1); The high-altitude cleaning equipment is controlled to stop performing the distance operation.

8. The control method for high-altitude cleaning equipment according to claim 1, It is characterized in that Determining the height value of the obstacle (3) comprises: During the process of the high-altitude cleaning equipment performing the distance operation and the obstacle-avoiding forward operation, obtaining corrected real-time point cloud data; Performing a third filtering process on the corrected real-time point cloud data according to the first spacing value to obtain a third filtering process result; Performing clustering processing on the third filtering processing result to obtain a clustering processing result; The height value of the obstacle (3) is determined according to the clustering processing result.

9. The control method for high-altitude cleaning equipment according to claim 1, It is characterized in that The determining, according to the actual vertical movement value and the height value, that the obstacle avoidance operation is completed comprises: Determine a preset height value according to the height value; When the actual vertical movement value reaches the preset height value, controlling the high-altitude cleaning equipment to stop performing the obstacle-avoiding forward operation; Determine that the obstacle avoidance operation is completed.

10. The control method for high-altitude cleaning equipment according to claim 1, It is characterized in that The high-altitude cleaning device further comprises a distance detector, which is used to detect in real time the distance between the installation position of the distance detector and the wall surface (2) to be cleaned. The control method further comprises: During the process of the high-altitude cleaning device performing the wall approaching operation, it is determined in real time whether the obstacle (3) exists in the vertical direction corresponding to the roller brush (1); if there is no obstacle (3) in the vertical direction corresponding to the roller brush (1), the high-altitude cleaning device is controlled to continue performing the wall approaching operation until it is determined that the roller brush (1) is in contact with the wall (2) to be cleaned again.

11. A processor, It is characterized in that The processor is configured to execute the control method for high-altitude cleaning equipment according to any one of claims 1-10.

12. A control device, It is characterized in that The control device comprises: An obstacle detection device (4) is used to obtain point cloud data of objects in a first detection area (5) in real time; and A processor according to claim 11.

13. A high-altitude cleaning device, It is characterized in that The high-altitude cleaning equipment includes the control device according to claim 12.

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