Control method for obstacle crossing of cleaning equipment and related equipment

Abstract

The invention relates to a control method for obstacle crossing of cleaning equipment and related equipment. The method comprises the steps that in the process that curtain wall cleaning equipment ascends along a curtain wall, first distance information of a first guide wheel and a front curtain wall area in the ascending direction is obtained in real time through a first distance sensing module; according to the first distance information, whether the front curtain wall area has an obstacle face or not is judged, and the obstacle face is a windowsill protruding out of the curtain wall; when the obstacle surface exists, a first control strategy is obtained according to the first distance information, and the first control strategy is used for controlling the first thrust device to drive the first guide wheel to be away from the curtain wall; when the first guide wheel crosses the barrier surface, a second control strategy is obtained according to the first distance information, and the second control strategy is used for controlling the first thrust device to drive the first guide wheel to make contact with the curtain wall. The distance information is acquired in real time, and the position of the guide wheel is adjusted according to the existence of the obstacle surface, so that the cleaning equipment effectively adapts to the obstacle on the complex wall surface.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment control, and in particular to a control method and related equipment for cleaning equipment to overcome obstacles. Background Art

[0002] With the continuous advancement of urbanization, the number of glass curtain wall buildings is increasing, and the demand for curtain wall cleaning is also increasing. Curtain wall cleaning mainly relies on manual work, which is not only labor-intensive and inefficient, but also has certain safety hazards. In order to improve cleaning efficiency and reduce labor costs, automated cleaning equipment came into being.

[0003] Most of the existing automated cleaning equipment adopts the form of suction cup wall climbing robots. Although it frees up manpower, it often cannot continue the cleaning operation when encountering protruding obstacles (window sills, decorative strips, etc.) on the exterior walls of buildings, resulting in unsatisfactory cleaning effects. This is because the obstacles make it impossible for the cleaning equipment to rise up in line with the wall, which will hinder the normal movement of the cleaning equipment. In other words, the relevant technology is not ideal for complex wall surfaces.

[0004] Therefore, there is an urgent need for a control method and related equipment for cleaning equipment to overcome obstacles and solve the above technical problems. Summary of the invention

[0005] The present application provides a control method and related equipment for cleaning equipment to overcome obstacles, which are used to solve the problem of poor adaptability of cleaning equipment to overcome obstacles on complex walls in the related art.

[0006] To achieve the above objectives, this application is implemented through the following technical solutions:

[0007] The present application provides a control method for a cleaning device to overcome obstacles, wherein the cleaning device is a curtain wall cleaning device, the curtain wall cleaning device comprises a device body, and a first guide wheel arranged in the ascending direction of the device body, the curtain wall cleaning device further comprises a first distance sensor module arranged around the first guide wheel, and a first thrust device arranged between the device body and the first guide wheel; the method comprises:

[0008] When the curtain wall cleaning device is ascending along the curtain wall, the first distance sensor module is used to obtain in real time first distance information between the first guide wheel and the front curtain wall area in the ascending direction;

[0009] According to the first distance information, it is determined whether there is an obstacle surface in the front curtain wall area; when there is an obstacle surface, a first control strategy is obtained according to the first distance information, and the first control strategy is used to control the first thrust device to drive the first guide wheel away from the curtain wall;

[0010] When the first guide wheel passes over the obstacle surface, a second control strategy is acquired according to the first distance information, and the second control strategy is used to control the first thrust device to drive the first guide wheel to contact the curtain wall.

[0011] In one embodiment, the curtain wall cleaning device further includes a second guide wheel arranged in the descending direction of the device body, a second distance sensor module arranged around the second guide wheel, and a second thrust device arranged between the device body and the second guide wheel; the method further includes:

[0012] When the curtain wall cleaning device is descending along the curtain wall, the second distance sensor module is used to obtain in real time the second distance information between the second guide wheel and the front curtain wall area in the descending direction;

[0013] According to the second distance information, it is determined whether there is an obstacle surface in the front curtain wall area; when there is an obstacle surface, a third control strategy is obtained according to the second distance information, and the third control strategy is used to control the second thrust device to drive the second guide wheel away from the curtain wall;

[0014] When the second guide wheel passes over the obstacle surface, a fourth control strategy is acquired according to the second distance information, and the fourth control strategy is used to control the second thrust device to drive the second guide wheel to approach and contact the curtain wall.

[0015] In one embodiment, the curtain wall cleaning device further includes a pressure sensing module; the pressure sensing module is used to obtain first pressure information between the first guide wheel and the curtain wall during the ascending process, and the first pressure information is used to determine whether the first guide wheel contacts the curtain wall; and / or,

[0016] The pressure sensing module is used to obtain second pressure information between the second guide wheel and the curtain wall during the descent process, and the second pressure information is used to determine whether the second guide wheel contacts the curtain wall.

[0017] In one embodiment, the method of judging whether the first guide wheel has crossed the obstacle surface includes: when the first distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the first guide wheel has crossed the obstacle surface;

[0018] The method of judging whether the second guide wheel has passed over the obstacle surface includes: when the second distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the second guide wheel has passed over the obstacle surface.

[0019] In one of the embodiments, the pressure sensing module is further used to obtain third pressure information between the first guide wheel and the obstacle surface during the ascent;

[0020] The method of determining whether the first guide wheel has crossed the obstacle surface further includes:

[0021] When the first distance information indicates that there is an obstacle surface in the front curtain wall area, timing is started, and when it is determined that the first guide wheel has passed the obstacle surface, the timing is reset to zero;

[0022] When the timing duration is greater than the preset duration, it is determined whether the first guide wheel has passed over the obstacle surface according to the third pressure information.

[0023] In one of the embodiments, the pressure sensing module is further used to obtain fourth pressure information between the second guide wheel and the obstacle surface during the descent process;

[0024] The method of determining whether the second guide wheel has crossed the obstacle surface further includes:

[0025] When the second distance information indicates that there is an obstacle surface in the front curtain wall area, timing is started, and when it is determined that the second guide wheel has passed the obstacle surface, the timing is reset to zero;

[0026] When the timing duration is greater than the preset duration, it is determined whether the second guide wheel has passed the obstacle surface according to the fourth pressure information.

[0027] The present application also provides an electronic device, which includes one or more processors and a memory; one or more programs are stored in the memory and are configured to be executed by the one or more processors to perform any of the above-mentioned methods.

[0028] The present application also provides a control system, which is used for curtain wall cleaning equipment, including the electronic device described above, and also including a first distance sensing module arranged on the curtain wall cleaning equipment, the first distance sensing module being used to obtain in real time the first distance information between the first guide wheel and the front curtain wall area in the rising direction during the process of the curtain wall cleaning equipment rising along the curtain wall.

[0029] In one of the embodiments, it also includes a second distance sensor module arranged on the curtain wall cleaning device, and the second distance sensor module is used to obtain second distance information between the second guide wheel and the front curtain wall area in the descending direction in real time during the process of the curtain wall cleaning device descending along the curtain wall.

[0030] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods are implemented.

[0031] The present application provides a control method and related equipment for a cleaning device to cross obstacles. During the process of the curtain wall cleaning device rising along the curtain wall, the first distance sensing module obtains the first distance information between the first guide wheel and the curtain wall area in the rising direction in real time, and the first distance information is realized through the continuous monitoring of the sensor to ensure that the distance data of the front area can be obtained in time. According to the first distance information, it is judged whether there is an obstacle surface (such as a protruding window edge) in the front curtain wall area. If the obstacle surface is detected, a first control strategy is generated according to the first distance information to control the first thrust device so that the first guide wheel is away from the curtain wall and contacts the obstacle surface, and guides the cleaning device to pass through the obstacle surface. After the first guide wheel passes the obstacle surface, a second control strategy is generated according to the first distance information to control the first thrust device so that the first guide wheel contacts the curtain wall again. Therefore, by obtaining the distance information in real time and adjusting the position of the guide wheel according to the presence or absence of the obstacle surface, the cleaning device can effectively adapt to obstacles on complex wall surfaces, improve the adaptability of the device, and enable it to perform cleaning operations on various complex building walls. By controlling the distance between the first guide wheel and the curtain wall, its position can be quickly adjusted when encountering an obstacle, so that the first guide wheel contacts the obstacle surface more fully. By ensuring that the first guide wheel can quickly fit the curtain wall after passing over the obstacle surface, the cleaning equipment continues to be lifted during this process, and the first guide wheel provides a supporting force (lifting the body) to the equipment body to enable it to pass over the obstacle surface more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0033] Figure 1 and Figure 2 A schematic structural diagram of a cleaning device provided in the present application is shown.

[0034] Figure 3 A flow chart of a control method for cleaning equipment overcoming obstacles provided by the present application is shown.

[0035] Figure 4 A structural schematic diagram of an electronic device provided by the present application is shown. DETAILED DESCRIPTION

[0036] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0038] First, the cleaning equipment involved in the technical solution of this application is described. Figure 1 and Figure 2 , Figure 1 and Figure 2 The schematic diagram of the structure of a cleaning device provided by the present application is shown. Figure 1 The cleaning equipment is shown facing away from the side of the curtain wall. Figure 2 A side view of the cleaning equipment.

[0039] The cleaning device comprises a device body 20 , wherein a roller brush 25 and an obstacle-crossing wheel 26 are arranged on a side of the device body 20 facing the curtain wall, and a first guide wheel 21 and a second guide wheel 23 are arranged at two ends of the device body 20 .

[0040] A water tank and a water pipe are provided in the equipment body 20. One end of the water pipe is connected to the water tank, and the other end of the water pipe is provided with a nozzle. A water pump may be provided in the middle of the water pipe to pump out the water in the water tank and rinse the curtain wall. When the cleaning equipment executes the curtain wall cleaning instruction (using the lifting device 30), it moves upward, and starts the roller brush 25 and the water pump to spray water to clean the curtain wall. As an example, when the cleaning equipment moves upward and encounters an obstacle, the first guide wheel 21 first contacts the obstacle surface 40 of the obstacle protruding from the glass curtain wall, and the cleaning equipment as a whole is moved upward by the traction of the top hoisting structure. At this time, the first guide wheel 21 rotates to drive the equipment body 20 to climb the obstacle, effectively avoiding the possibility of the equipment body 20 getting stuck at the obstacle (such as the window edge).

[0041] The first guide wheel 21 includes two mounting seats mounted on the equipment body, and wheels mounted on each mounting seat. The first thrust device 22 includes an electric cylinder corresponding to each set of mounting seats and wheels, a control seat arranged at the piston end of the electric cylinder, and a connecting rod arranged at the end of the control seat away from the electric cylinder. For each set of mounting seats and wheels, the end of the corresponding connecting rod away from the control seat is hinged to the mounting seat through a rotating shaft, and the wheel is mounted on the other end of the connecting rod through a rotating shaft; the end of the control seat close to the electric cylinder is hinged to the piston end of the electric cylinder through a rotating shaft, and the other end of the control seat is connected to the connecting rod through a rotating shaft.

[0042] Similarly, the second guide wheel 23 may include two mounting seats mounted on the equipment body and wheels mounted on each mounting seat. The second thrust device 24 includes an electric cylinder corresponding to each set of mounting seats and wheels, a control seat arranged at the piston end of the electric cylinder, and a connecting rod arranged at the end of the control seat away from the electric cylinder. For each set of mounting seats and wheels, the end of the connecting rod away from the control seat is hinged to the mounting seat through a rotating shaft, and the wheel is mounted on the other end of the connecting rod through a rotating shaft; the end of the control seat close to the electric cylinder is hinged to the piston end of the electric cylinder through a rotating shaft, and the other end of the control seat is connected to the connecting rod through a rotating shaft. When the electric cylinder of the first thrust device or the second thrust device is started, the corresponding wheel is driven to approach or move away from the curtain wall through the above-mentioned transmission structure.

[0043] The present application provides a control method and related equipment for cleaning equipment to overcome obstacles, which can more smoothly overcome obstacles when using the cleaning equipment to clean curtain walls. The following will first describe the method, and then describe the equipment, etc.

[0044] Method embodiment.

[0045] See also Figure 3 , Figure 3 A flow chart of a control method for cleaning equipment to overcome obstacles provided by the present application is shown. The control method for cleaning equipment to overcome obstacles includes:

[0046] S101, during the process of the curtain wall cleaning device ascending along the curtain wall, using the first distance sensing module to obtain in real time first distance information between the first guide wheel and the curtain wall area in front of the ascending direction; the first distance sensing module and the second distance module mentioned below may include an ultrasonic distance sensor;

[0047] S102, judging whether there is an obstacle surface in the front curtain wall area according to the first distance information; when there is an obstacle surface, acquiring a first control strategy according to the first distance information, the first control strategy being used to control the first thrust device to drive the first guide wheel away from the curtain wall;

[0048] S103: When the first guide wheel passes over the obstacle surface, a second control strategy is acquired according to the first distance information, where the second control strategy is used to control the first thrust device to drive the first guide wheel to contact the curtain wall.

[0049] In the technical solution, during the process of the curtain wall cleaning equipment rising along the curtain wall, the first distance sensing module obtains the first distance information between the first guide wheel and the curtain wall area in front of the rising direction in real time, which is achieved through continuous monitoring by the sensor to ensure that the distance data of the front area can be obtained in time. According to the first distance information, it is judged whether there is an obstacle surface (such as a protruding window edge) in the front curtain wall area. If an obstacle surface is detected, a first control strategy is generated according to the first distance information to control the first thrust device to drive the first guide wheel away from the curtain wall and contact the obstacle surface, and guide the cleaning equipment to pass through the obstacle surface. After the first guide wheel passes the obstacle surface, a second control strategy is generated according to the first distance information to control the first thrust device to drive the first guide wheel to contact the curtain wall.

[0050] Therefore, by obtaining distance information in real time and adjusting the position of the guide wheel according to the presence or absence of an obstacle surface, the cleaning device can effectively adapt to obstacles on complex wall surfaces, thereby improving the adaptability of the device and enabling it to perform cleaning operations on various complex building walls. By controlling the distance between the first guide wheel and the curtain wall, its position can be quickly adjusted when encountering an obstacle, so that the first guide wheel is in more complete contact with the obstacle surface. By ensuring that the first guide wheel can quickly fit the curtain wall after crossing the obstacle surface, the cleaning device continues to be lifted during this process, and the first guide wheel gives the device body a supporting force (to lift the fuselage) to enable it to pass the obstacle surface more smoothly.

[0051] In some embodiments, the curtain wall cleaning device further includes a second guide wheel disposed in the descending direction of the device body, a second distance sensor module disposed around the second guide wheel, and a second thrust device disposed between the device body and the second guide wheel; the method further includes:

[0052] When the curtain wall cleaning device is descending along the curtain wall, the second distance sensor module is used to obtain in real time the second distance information between the second guide wheel and the front curtain wall area in the descending direction;

[0053] According to the second distance information, it is determined whether there is an obstacle surface in the front curtain wall area; when there is an obstacle surface, a third control strategy is obtained according to the second distance information, and the third control strategy is used to control the second thrust device to drive the second guide wheel away from the curtain wall;

[0054] When the second guide wheel passes over the obstacle surface, a fourth control strategy is acquired according to the second distance information, and the fourth control strategy is used to control the second thrust device to drive the second guide wheel to approach and contact the curtain wall.

[0055] The same as the technical solution of the previous embodiment is that, during the process of the curtain wall cleaning device descending along the curtain wall, it is determined whether there is an obstacle surface (such as a protruding window edge) in the front curtain wall area according to the second distance information. If an obstacle surface is detected, a third control strategy is generated according to the second distance information. The third control strategy is used to control the second thrust device to make the second guide wheel away from the curtain wall. After the second guide wheel passes the obstacle surface, a fourth control strategy is generated according to the second distance information to control the second thrust device to make the second guide wheel contact the curtain wall again, so as to ensure that the equipment can continue to descend stably.

[0056] In some embodiments, the curtain wall cleaning device further includes a pressure sensing module, and the pressure sensing module includes a plurality of pressure sensors respectively disposed on the first guide wheel and the second guide wheel.

[0057] The pressure sensing module is used to obtain first pressure information between the first guide wheel and the curtain wall during the ascending process, and the first pressure information is used to determine whether the first guide wheel contacts the curtain wall; and / or,

[0058] The pressure sensing module is used to obtain second pressure information between the second guide wheel and the curtain wall during the descent process, and the second pressure information is used to determine whether the second guide wheel contacts the curtain wall.

[0059] In the present technical solution, the curtain wall cleaning equipment is equipped with a pressure sensing module, which is used to obtain the pressure information between the first guide wheel and the second guide wheel and the curtain wall (and the obstacle surface) respectively during the rising and falling process of the equipment. The contact state between the guide wheel and the curtain wall can be determined based on the pressure information, and the working state of the thrust device can be adjusted accordingly. For example, during the descent of the equipment, the second guide wheel contacts the obstacle surface, and when the second guide wheel is separated from the obstacle surface, the pressure information indicates that the pressure value of the wheel decreases. Then the second thrust device makes the second guide wheel approach and contact the curtain wall, so that the pressure value corresponding to the pressure information increases, indicating that the second guide wheel contacts the curtain wall.

[0060] In some embodiments, the method of determining whether the first guide wheel has crossed the obstacle surface includes: when the first distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the first guide wheel has crossed the obstacle surface;

[0061] The method of judging whether the second guide wheel has passed over the obstacle surface includes: when the second distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the second guide wheel has passed over the obstacle surface.

[0062] During the ascending process, the first distance sensing module obtains in real time the first distance information between the first guide wheel and the curtain wall area in front of the ascending direction. During the descending process, the second distance sensing module obtains in real time the second distance information between the second guide wheel and the curtain wall area in front of the descending direction. It is judged whether there is an obstacle surface in the front curtain wall area based on the first distance information. If the first distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the first guide wheel has crossed the obstacle surface. Similarly, it is judged whether there is an obstacle surface in the front curtain wall area based on the second distance information. If the second distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the second guide wheel has crossed the obstacle surface. Therefore, by obtaining the distance information in real time and judging whether the guide wheel has crossed the obstacle surface, the fourth control strategy can be obtained in time, and the thrust device can be controlled to drive the guide wheel to approach and contact the curtain wall, thereby improving the adaptability to obstacles on complex wall surfaces.

[0063] In some embodiments, the pressure sensing module is further used to obtain third pressure information between the first guide wheel and the obstacle surface during the ascent;

[0064] The method of determining whether the first guide wheel has crossed the obstacle surface further includes:

[0065] When the first distance information indicates that there is an obstacle surface in the front curtain wall area, timing is started, and when it is determined that the first guide wheel has passed the obstacle surface, the timing is reset to zero;

[0066] When the timing duration is greater than the preset duration, it is determined whether the first guide wheel has passed over the obstacle surface according to the third pressure information.

[0067] This embodiment provides a timing mechanism, which starts when the first distance information indicates that there is an obstacle surface in the curtain wall area ahead, and is reset when it is determined that the first guide wheel has crossed the obstacle surface. If the timing duration is longer than the preset duration, it is determined whether the first guide wheel has crossed the obstacle surface based on the third pressure information. Specifically, when the contact pressure between the first guide wheel and the obstacle surface changes (such as the pressure disappears), and the timing exceeds the preset duration, it can be determined that the first guide wheel has crossed the obstacle surface. The preset duration is, for example, 2 seconds or 3 seconds. Therefore, by combining the distance information and the pressure information, it is possible to more accurately determine whether the first guide wheel has crossed the obstacle surface, which helps to avoid misjudgment.

[0068] In some embodiments, the pressure sensing module is further used to obtain fourth pressure information between the second guide wheel and the obstacle surface during the descent process;

[0069] The method of determining whether the second guide wheel has crossed the obstacle surface further includes:

[0070] When the second distance information indicates that there is an obstacle surface in the front curtain wall area, timing is started, and when it is determined that the second guide wheel has passed the obstacle surface, the timing is reset to zero;

[0071] When the timing duration is greater than the preset duration, it is determined whether the second guide wheel has passed the obstacle surface according to the fourth pressure information.

[0072] Similar to the previous embodiment, this embodiment provides a timing mechanism. When the second distance information indicates that there is an obstacle surface in the front curtain wall area, the timing starts, and when it is determined that the second guide wheel has crossed the obstacle surface, the timing is reset. If the timing duration is greater than the preset duration, it is determined whether the second guide wheel has crossed the obstacle surface based on the fourth pressure information. Therefore, by combining the distance information and the pressure information, it is possible to more accurately determine whether the second guide wheel has crossed the obstacle surface, which helps to avoid misjudgment.

[0073] As an example, a control method for cleaning equipment to overcome obstacles is provided, wherein the cleaning equipment is a curtain wall cleaning equipment, and the curtain wall cleaning equipment includes an equipment body and a first guide wheel arranged in the ascending direction of the equipment body. The curtain wall cleaning equipment also includes a first distance sensor module arranged around the first guide wheel, and a first thrust device arranged between the equipment body and the first guide wheel.

[0074] It also includes a second guide wheel arranged in the descending direction of the equipment body, a second distance sensor module arranged around the second guide wheel, and a second thrust device arranged between the equipment body and the second guide wheel.

[0075] It also includes a pressure sensing module; the pressure sensing module is used to obtain first pressure information between the first guide wheel and the curtain wall during the ascending process, and the first pressure information is used to determine whether the first guide wheel contacts the curtain wall; the pressure sensing module is also used to obtain second pressure information between the second guide wheel and the curtain wall during the descending process, and the second pressure information is used to determine whether the second guide wheel contacts the curtain wall. The pressure sensing module is also used to obtain third pressure information between the first guide wheel and the obstacle surface during the ascending process, and obtain fourth pressure information between the second guide wheel and the obstacle surface during the descending process.

[0076] The method comprises:

[0077] When the curtain wall cleaning device is ascending along the curtain wall, the first distance sensor module is used to obtain in real time first distance information between the first guide wheel and the front curtain wall area in the ascending direction;

[0078] According to the first distance information, it is determined whether there is an obstacle surface in the front curtain wall area, and the obstacle surface is a window edge protruding from the curtain wall; when there is an obstacle surface, a first control strategy is obtained according to the first distance information, and the first control strategy is used to control the first thrust device to drive the first guide wheel away from the curtain wall;

[0079] When the first guide wheel passes over the obstacle surface, a second control strategy is acquired according to the first distance information, and the second control strategy is used to control the first thrust device to drive the first guide wheel to contact the curtain wall. The method of judging whether the first guide wheel passes over the obstacle surface includes: timing when the first distance information indicates that there is an obstacle surface in the front curtain wall area, and the timing is reset when it is judged that the first guide wheel passes over the obstacle surface; when the timing duration is greater than the preset duration, judging whether the first guide wheel passes over the obstacle surface according to the third pressure information.

[0080] When the curtain wall cleaning device is descending along the curtain wall, the second distance sensor module is used to obtain in real time the second distance information between the second guide wheel and the front curtain wall area in the descending direction;

[0081] According to the second distance information, it is determined whether there is an obstacle surface in the front curtain wall area; when there is an obstacle surface, a third control strategy is obtained according to the second distance information, and the third control strategy is used to control the second thrust device to drive the second guide wheel away from the curtain wall;

[0082] When the second guide wheel passes over the obstacle surface, a fourth control strategy is obtained according to the second distance information, and the fourth control strategy is used to control the second thrust device to drive the second guide wheel to approach and contact the curtain wall. The method of judging whether the second guide wheel passes over the obstacle surface includes: when the second distance information indicates that there is an obstacle surface in the front curtain wall area, timing is performed, and when it is judged that the second guide wheel passes over the obstacle surface, the timing is reset to zero; when the timing duration is greater than the preset duration, judging whether the second guide wheel passes over the obstacle surface according to the fourth pressure information.

[0083] In this example, when the curtain wall cleaning equipment encounters obstacles (such as protruding window edges) on complex walls, it is often unable to effectively cross the obstacles, resulting in interruption of the cleaning operation or poor cleaning effect. During the process of the curtain wall cleaning equipment rising along the curtain wall, the first distance sensing module obtains the first distance information between the first guide wheel and the curtain wall area in the rising direction in real time. Through continuous monitoring by the sensor, it is ensured that the distance data of the front area can be obtained in time. According to the first distance information, it is determined whether there is an obstacle surface (such as a protruding window edge) in the front curtain wall area. If the obstacle surface is detected, proceed to the next step. According to the first distance information, a first control strategy is generated to control the first thrust device so that the first guide wheel is away from the curtain wall and contacts the obstacle surface, guiding the cleaning equipment to pass the obstacle surface more stably. After the first guide wheel passes the obstacle surface, a second control strategy is generated according to the first distance information to control the first thrust device so that the first guide wheel contacts the curtain wall again. In the process of crossing the obstacle surface, the first guide wheel gives the equipment body a supporting force (lifting the fuselage) to enable it to pass the obstacle surface more smoothly, thereby improving the stability of the subsequent movement of the cleaning equipment.

[0084] Therefore, by acquiring distance information in real time and adjusting the position of the guide wheel according to the presence or absence of an obstacle surface, the cleaning equipment can effectively adapt to obstacles on complex wall surfaces and pass through the obstacle surface to perform cleaning operations, thereby solving the problem of poor obstacle-crossing adaptability of cleaning equipment on complex walls in related technologies.

[0085] Electronic device embodiments.

[0086] This embodiment provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor is configured to implement the steps of any method in the method embodiment when executing the computer program. The specific implementation method and beneficial effects are the same as those in the method embodiment, and will not be repeated here.

[0087] See also Figure 4 , Figure 4 A structural schematic diagram of an electronic device provided by the present application is shown.

[0088] The electronic device may include, for example, at least one memory 11, at least one processor 12, and a bus 13 connecting different platform systems.

[0089] The memory 11 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 111 and / or a cache memory 112 , and may further include a read-only memory (ROM) 113 .

[0090] The memory 11 also stores a computer program, which can be executed by the processor 12 so that the processor 12 implements the steps of any of the above methods.

[0091] The memory 11 may also include a utility 114 having at least one program module 115, such program module 115 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0092] Accordingly, the processor 12 may execute the above-mentioned computer program, and may execute the utility 114 .

[0093] The processor 12 may adopt one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), or other electronic components.

[0094] Bus 13 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures.

[0095] The electronic device may also communicate with one or more external devices such as a keyboard, a pointing device, a Bluetooth device, etc., and may also communicate with one or more devices that can interact with the electronic device, and / or communicate with any device (such as a router, a modem, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output interface 14. In addition, the electronic device may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN) and / or a public network, such as the Internet) through a network adapter 15. The network adapter 15 may communicate with other modules of the electronic device through the bus 13. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device in actual applications, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0096] System Embodiments.

[0097] The embodiment of the present application provides a control system, and its specific implementation methods and beneficial effects are the same as those of the method embodiment, and will not be described in detail.

[0098] The control system is used for the curtain wall cleaning equipment mentioned above, including the electronic equipment of the equipment embodiment, and also includes a first distance sensing module arranged on the curtain wall cleaning equipment, and the first distance sensing module is used to obtain the first distance information between the first guide wheel and the front curtain wall area in the rising direction in real time during the process of the curtain wall cleaning equipment rising along the curtain wall.

[0099] In some embodiments, a second distance sensing module is further included in the curtain wall cleaning device, and the second distance sensing module is used to obtain second distance information between the second guide wheel and the front curtain wall area in the descending direction in real time during the descent of the curtain wall cleaning device along the curtain wall.

[0100] Computer readable storage medium embodiments.

[0101] The embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the steps of any of the above-mentioned methods are implemented. The specific implementation methods and beneficial effects thereof are the same as those of the method embodiment, and will not be described in detail.

[0102] The computer readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written into one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0103] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A control method for cleaning equipment to overcome obstacles, wherein the cleaning equipment is a curtain wall cleaning equipment, the curtain wall cleaning equipment comprises an equipment body, and a first guide wheel arranged in the ascending direction of the equipment body, characterized in that: The curtain wall cleaning device also includes a first distance sensor module arranged around the first guide wheel, and a first thrust device arranged between the device body and the first guide wheel; the method includes: When the curtain wall cleaning device is ascending along the curtain wall, the first distance sensor module is used to obtain in real time first distance information between the first guide wheel and the front curtain wall area in the ascending direction; According to the first distance information, it is determined whether there is an obstacle surface in the front curtain wall area; when there is an obstacle surface, a first control strategy is obtained according to the first distance information, and the first control strategy is used to control the first thrust device to drive the first guide wheel away from the curtain wall; When the first guide wheel passes over the obstacle surface, a second control strategy is acquired according to the first distance information, and the second control strategy is used to control the first thrust device to drive the first guide wheel to contact the curtain wall.

2. The control method according to claim 1, characterized in that: The curtain wall cleaning device further comprises a second guide wheel arranged in the descending direction of the device body, a second distance sensor module arranged around the second guide wheel, and a second thrust device arranged between the device body and the second guide wheel; the method further comprises: When the curtain wall cleaning device is descending along the curtain wall, the second distance sensor module is used to obtain in real time the second distance information between the second guide wheel and the front curtain wall area in the descending direction; According to the second distance information, it is determined whether there is an obstacle surface in the front curtain wall area; when there is an obstacle surface, a third control strategy is obtained according to the second distance information, and the third control strategy is used to control the second thrust device to drive the second guide wheel away from the curtain wall; When the second guide wheel passes over the obstacle surface, a fourth control strategy is acquired according to the second distance information, and the fourth control strategy is used to control the second thrust device to drive the second guide wheel to approach and contact the curtain wall.

3. The control method according to claim 2, characterized in that: The curtain wall cleaning device further comprises a pressure sensing module; the pressure sensing module is used to obtain first pressure information between the first guide wheel and the curtain wall during the ascending process, and the first pressure information is used to determine whether the first guide wheel contacts the curtain wall; and / or, The pressure sensing module is used to obtain second pressure information between the second guide wheel and the curtain wall during the descent process, and the second pressure information is used to determine whether the second guide wheel contacts the curtain wall.

4. The control method according to claim 3, characterized in that: The method of judging whether the first guide wheel has crossed the obstacle surface includes: when the first distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the first guide wheel has crossed the obstacle surface; The method of judging whether the second guide wheel has passed over the obstacle surface includes: when the second distance information indicates that there is no obstacle surface in the front curtain wall area, it is considered that the second guide wheel has passed over the obstacle surface.

5. The control method according to claim 4, characterized in that: The pressure sensing module is further used to obtain third pressure information between the first guide wheel and the obstacle surface during the ascent; The method of determining whether the first guide wheel has crossed the obstacle surface further includes: When the first distance information indicates that there is an obstacle surface in the front curtain wall area, timing is started, and when it is determined that the first guide wheel has passed the obstacle surface, the timing is reset to zero; When the timing duration is greater than the preset duration, it is determined whether the first guide wheel has passed over the obstacle surface according to the third pressure information.

6. The control method according to claim 4, characterized in that: The pressure sensing module is further used to obtain fourth pressure information between the second guide wheel and the obstacle surface during the descent process; The method of determining whether the second guide wheel has crossed the obstacle surface further includes: When the second distance information indicates that there is an obstacle surface in the front curtain wall area, timing is started, and when it is determined that the second guide wheel has passed the obstacle surface, the timing is reset to zero; When the timing duration is greater than the preset duration, it is determined whether the second guide wheel has passed the obstacle surface according to the fourth pressure information.

7. An electronic device, characterized in that: The electronic device includes one or more processors and a memory; one or more programs are stored in the memory and are configured so that the one or more processors execute the method according to any one of claims 1 to 6.

8. A control system, characterized in that: The control system is used for curtain wall cleaning equipment, including the electronic device described in claim 7, and also includes a first distance sensor module arranged on the curtain wall cleaning equipment, the first distance sensor module is used to obtain the first distance information between the first guide wheel and the front curtain wall area in the rising direction in real time during the process of the curtain wall cleaning equipment rising along the curtain wall.

9. The control system according to claim 8, characterized in that: It also includes a second distance sensor module arranged on the curtain wall cleaning device, and the second distance sensor module is used to obtain second distance information between the second guide wheel and the front curtain wall area in the descending direction in real time during the process of the curtain wall cleaning device descending along the curtain wall.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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