Wall-climbing cleaning robot and control method thereof

Abstract

The invention discloses a wall-climbing cleaning robot and a control method thereof, and relates to the field of robots. The wall-climbing cleaning robot comprises a walking unit and a cleaning unit installed at the front end of the walking unit, a pneumatic dust removal unit is arranged on the walking unit, an intelligent chip is arranged in the intelligent walking robot, and an energy-saving algorithm is designed in the intelligent chip. According to the wall-climbing cleaning robot and the control method thereof, by intelligently adjusting the moving speed of the intelligent walking robot, increasing of the wind speed of the variable-frequency axial flow fan and increasing of the downward pressure, the rotation speed and the revolution speed of the cleaning brush, the cleaning effect is guaranteed, and meanwhile the energy-saving purpose is achieved; meanwhile, the cleaning unit and the pneumatic dust removal unit are designed, so that the cleaning effect is improved, dust blowing and suction operation can be carried out, and the application range is wider.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and specifically to a wall-climbing cleaning robot and its control method. Background Art

[0002] A wall-climbing cleaning robot is a cleaning robot with a suction cup. When the robot moves along the cleaning area, the suction cup at its bottom provides an adsorption force, so as to ensure that the cleaning robot can perform cleaning operations on non-horizontal surfaces.

[0003] Existing cleaning robots usually clean by installing cleaning brushes and sweeping with the cleaning brushes during movement. However, in actual use, after the cleaning brushes scrape off impurities, some fine dust will continue to be adsorbed on the surface of the cleaning area under the action of static electricity. Therefore, pneumatic cooperation is required to blow and remove the dust. In actual use, in some special environments, the dust to be cleaned needs to be removed from the entire environment. At this time, the cleaning robot needs to be equipped with a vacuum cleaner for use, which poses a greater design difficulty for the cleaning robot.

[0004] More importantly, for a cleaning robot, if it carries a smaller battery, the total cleaning area of the overall cleaning operation will be smaller. If it carries a larger battery, the load on the suction cup will become greater. Therefore, it is necessary to control the energy consumption of the cleaning robot. When the cleaning robot is operating, the overall moving speed, the rotation speed, pressure of the cleaning brush, and the power of blowing and sucking dust will all affect the cleaning effect.

[0005] Secondly, when cleaning, if the size of the cleaning brush is designed too large, the overall load and the power consumption of the cleaning brush will increase. If the size of the cleaning brush is too small, the area cleaned by the cleaning brush following the single movement of the robot will become smaller, resulting in an increase in the moving path of the robot during the entire cleaning process, and further leading to an increase in energy consumption.

[0006] Therefore, a wall-climbing cleaning robot and its control method are provided specifically, which can effectively reduce energy consumption on the premise of ensuring the cleaning effect. Summary of the Invention

[0007] Aiming at the deficiencies of the prior art, the present invention provides a wall-climbing cleaning robot and its control method, which solves the problem of the imbalance between the cleaning effect and energy consumption existing in the existing wall-climbing cleaning robots.

[0008] To achieve the above objectives, the present invention is realized through the following technical solutions: A wall-climbing cleaning robot, including a walking unit and a cleaning unit installed at the front end of the walking unit, and a pneumatic dust removal unit is provided on the walking unit.

[0009] The cleaning unit includes a cleaning cantilever, an elevating electric cylinder is installed between the cleaning cantilever and the traveling unit, a swing arm is rotatably arranged at the front end of the cleaning cantilever, a cleaning brush is arranged in the swing arm, the rotation speeds of the swing arm and the cleaning brush are adjustable, the cleaning brush can move along the swing arm to change the revolution radius when the cleaning brush is cleaning, and the elevating electric cylinder pulls the cleaning cantilever to turn up and down to change the downward pressure of the cleaning brush on the cleaning area;

[0010] The pneumatic dust removal unit includes a variable air nozzle installed at the bottom of the traveling unit, a dust storage mechanism is installed at the end of the traveling unit, a variable frequency axial flow fan is installed between the variable air nozzle and the dust storage mechanism, and by changing the rotation direction of the variable frequency axial flow fan, the variable air nozzle can suck or blow dust;

[0011] A matrix camera is installed at the bottom of the traveling unit, and the number of dust particles in the area after cleaning is detected by the matrix camera, and an adjustment signal for controlling the cleaning unit and the pneumatic dust removal unit is generated according to the detection result.

[0012] Preferably, the traveling unit includes an intelligent walking robot and an electric suction cup installed at the bottom of the intelligent walking robot, a vision camera and a signal antenna are installed at the top of the intelligent walking robot, a plurality of lidars are installed on the side of the intelligent walking robot, an assembly station is arranged at the front side of the intelligent walking robot, and the cleaning cantilever is installed in the assembly station.

[0013] Preferably, a mounting shaft is fixedly arranged at the end of the cleaning cantilever, the mounting shaft is rotatably connected in the assembly station, a traction shaft is fixedly arranged in the middle of the cleaning cantilever, one end of the elevating electric cylinder is movably hinged on the inner wall of the assembly station, the output end of the elevating electric cylinder is rotatably arranged on the traction shaft, a front car lip is installed at the front side of the assembly station, a pressure sensor for detecting the downward pressure of the cleaning cantilever is installed on the front car lip, and the variable air nozzle is installed at the inner bottom of the front car lip.

[0014] Preferably, a U-shaped support is fixedly arranged at the top of the front car lip, the pressure sensor is fixedly embedded inside the U-shaped support, a movable block is arranged at the top of the pressure sensor, a pressure conduction spring is arranged between the movable block and the pressure sensor, and the top of the movable block abuts against the bottom of the cleaning cantilever.

[0015] Preferably, a diamond-shaped groove is formed at the bottom of the front lip. The variable air nozzle includes two linear air heads. Rotating heads are fixedly arranged at the opposite ends of the two linear air heads. A rubber connecting and sealing sleeve is installed at the opposite ends of the two linear air heads. The rotating heads are rotatably arranged inside both ends of the diamond-shaped groove. A rubber sheet is installed at the bottom of the linear air head. A linear air port is formed on the rubber sheet. A deformable electric cylinder is fixedly embedded in the inner top wall of the diamond-shaped groove. The output end of the deformable electric cylinder is movably hinged to two traction bars. The other ends of the two traction bars are respectively movably hinged to the two linear air heads.

[0016] Preferably, the deformable electric cylinder expands and contracts to enable the two linear air heads to rotate outward or inward around the rotating heads respectively, so that the two linear air heads are in a divergent state on both sides to blow the dust to both sides when blowing dust; the two linear air heads are in a converging state to gather the dust to the middle when sucking dust. The front side of the linear air head is tilted upward so that the air flow is inclined to the cleaning surface; the inner side of the inner top of the diamond-shaped groove is tilted downward so that the middle is closer to the ground when the two linear air heads rotate inward, which has a stronger suction force on the dust.

[0017] Preferably, a revolution motor is fixedly installed at the top of the outer end of the cleaning cantilever. The output end of the revolution motor is fixedly connected to the swing arm. A limiting slide rail is arranged at the inner bottom of the swing arm. A sliding seat is slidably arranged on the limiting slide rail. An adjusting electric cylinder is fixedly arranged inside one end of the swing arm. The output end of the adjusting electric cylinder is fixedly connected to the sliding seat to enable the sliding seat to move along the limiting slide rail. A rotation motor is fixedly arranged in the sliding seat. The output end of the rotation motor is coaxially and fixedly connected to the cleaning brush by bolts. Both the revolution motor and the rotation motor are variable-frequency motors.

[0018] Preferably, an air duct is installed at the top of the linear air head. The number of variable-frequency axial-flow fans is two, and the variable-frequency axial-flow fans are forward and reverse motors. Beam-forming sleeves are respectively installed outside the two variable-frequency axial-flow fans. The front ends of the two beam-forming sleeves are respectively connected to the two air ducts. A three-way hose is installed between the rear ends of the two beam-forming sleeves and the dust storage mechanism. Mounting seats are fixedly arranged on both sides of the top of the intelligent walking robot. The beam-forming sleeve is installed in the mounting seat.

[0019] Preferably, the dust storage mechanism includes an anchor ring fixedly arranged at the end of the intelligent walking robot. A dust collection bin is rotatably arranged inside the anchor ring. The middle of the dust collection bin is recessed downward to form a bent tube shape with high ends and a low middle, and the two ends of the dust collection bin are coaxial;

[0020] The top of the middle section of the dust collection bin is fixedly connected to the three-way hose. The bottom of the middle section of the dust collection bin is threadedly connected to an ash storage tank. Both ends of the dust collection bin are provided with movable filter heads. An anti-disengagement ring is fixedly arranged inside the movable filter head, and air inlet holes are formed in the outer wall of the anti-disengagement ring. A retaining ring for blocking the anti-disengagement ring is fixedly arranged inside both ends of the dust collection bin;

[0021] When sucking dust, the movable filter head is pushed outward by the air flow, so that the anti-disengagement ring abuts against the inner wall of the end of the dust collection bin, and the air inlet holes are blocked;

[0022] When blowing dust, the movable filter head is pushed inward by the air flow, so that the anti-disengagement ring abuts against the retaining ring, and the air inlet holes are opened.

[0023] Preferably, the control method of the wall-climbing cleaning robot includes the following steps;

[0024] S1. Start, and select blowing dust or sucking dust according to the dust removal environment;

[0025] S2. The matrix camera takes pictures of the cleaning path, and judges whether the number of dusts after cleaning meets the standard according to the images;

[0026] S3. If the cleaning meets the standard, maintain the current cleaning state. If not, adjust the moving speed of the intelligent walking robot, the rotating speed of the variable-frequency axial flow fan, the extension amount of the lifting electric cylinder, the rotating speed of the revolving motor and the rotating speed of the rotating motor to improve the cleaning effect;

[0027] In the above S3, by setting an intelligent chip inside the intelligent walking robot and designing an energy-saving algorithm in the intelligent chip, as follows;

[0028] Let;

[0029] The moving speed of the intelligent walking robot is V1, the power consumption is P1, and the cleaning contribution value is S1;

[0030] The power consumption of the electric suction cup is P2;

[0031] The rotating speed of the variable-frequency axial flow fan is V2, the power consumption is P3, and the cleaning contribution value is S2;

[0032] The rotating speed of the revolving motor is V3, the power consumption is P4, and the cleaning contribution value is S3;

[0033] The rotating speed of the rotating motor is V4, the power consumption is p5, and the cleaning contribution value is S4;

[0034] The extension amount of the lifting electric cylinder provides a downward pressure position P for the cleaning brush, so that the power consumption of the rotating motor and the revolving motor increases to P6, and the cleaning contribution value is S5;

[0035] The total cleaning time is t;

[0036] Thus, it can be obtained;

[0037] Total power consumption; P 总 =P1+P2+P3+P4+P5+P6

[0038] Total energy consumption; E = P 总 ·t

[0039] Overall cleanliness; S now =α·S1+β·S2+γ·S3+λ·S4+δ·S5

[0040] Among them, |α|+β+γ+λ+δ=1, which represents the contribution coefficient of each cleaning contribution. Among them, S2, S3, S4, and S5 are proportional to the power consumption P, and the walking speed of the intelligent walking robot is inversely proportional to the cleanliness contribution. Therefore, α is a negative number. Assume that the proportional coefficient is Q. According to the total power consumption and the total cleaning contribution, the equation is combined, and by setting the cleanliness threshold S min , S min ≥S now ;

[0041] Thus, the specific values of S1, S2, S3, S4, and S5 are obtained, and then according to;

[0042] S=P·Q

[0043] This is used to calculate the output power of each component under the optimal energy consumption condition, and to generate a feedback signal to control each component to output corresponding electrical energy, thereby ensuring the lowest overall energy consumption and improving effective operating capacity.

[0044] The present invention discloses a wall-climbing cleaning robot and a control method thereof, which have the following beneficial effects:

[0045] 1. The wall-climbing cleaning robot is designed to cooperate with the cleaning unit and the pneumatic dust removal unit. When the pneumatic dust removal unit is in use, it changes the rotation direction of the variable frequency axial flow fan to achieve dust suction or dust blowing. When suctioning, the middle parts of the two sets of linear air heads move backward and gather together, and because the inner side of the diamond groove is tilted downward, the middle parts of the two sets of linear air heads are closer to the cleaning surface. At the same time, the left cleaning brush is controlled to rotate clockwise and the right cleaning brush is controlled to rotate counterclockwise, so that the dust gathers to the middle part, which is more convenient for dust suction and removal. When blowing dust, the middle parts of the two sets of linear air heads move forward and diffuse. At the same time, the left cleaning brush rotates counterclockwise and the right cleaning brush rotates clockwise, so that the dust is blown away quickly to both sides, thereby improving the blowing and suction effect and simplifying the overall blowing and suction structure design.

[0046] 2. The wall-climbing cleaning robot starts the rotation motor, which drives the cleaning brush to rotate, thereby removing dust. During the cleaning process, the revolution motor drives the swing arm to rotate, and at this time, the swing arm drives the cleaning brush to revolve around the revolution motor as the axis, thereby increasing the cleaning area. At the same time, the electric cylinder can be adjusted to drive the sliding seat to move along the limit slide rail, thereby changing the revolution radius of the cleaning brush, so that when the two groups of cleaning brushes move with the intelligent walking robot, the overall cleaning cross-section becomes wider, so that the entire intelligent walking robot can reduce the number of back-and-forth walks and improve the cleaning speed from the perspective of a single cleaning surface; at the same time, the cleaning overlap area in the middle of the two groups of cleaning brushes increases, enhancing the cleaning effect.

[0047] 3. When the wall-climbing cleaning robot performs vacuum cleaning, the variable-frequency axial-flow fan rotates in reverse, and at this time, the dust is pumped into the dust collection bin. Under the action of the air flow, the two groups of movable filter heads move outward, so that the anti-disengagement ring abuts against the inner sides of both ends of the dust collection bin, blocking the air inlet holes, and the air passes through the movable filter heads and is discharged outward. When performing dust blowing cleaning, the variable-frequency axial-flow fan rotates forward. Under the action of the air flow, the movable filter heads move towards the middle, so that the anti-disengagement ring abuts against the retaining ring. At this time, the external air mainly enters through the air inlet holes and then jets out from the two linear air nozzles, blowing the dust to both sides for removal. A small amount of air will enter through the movable filter heads, thereby realizing automatic backwashing of the movable filter heads, so that the movable filter heads can achieve self-cleaning to a certain extent.

[0048] 4. The control method of the wall-climbing cleaning robot takes pictures of the cleaning area through a matrix camera, calculates the dust quantity distribution in the area after cleaning by analyzing the pictures, and then sets a threshold, requiring that the dust quantity after cleaning does not exceed the threshold; adjusts the moving speed of the intelligent walking robot, increases the wind speed of the variable-frequency axial-flow fan, increases the downward pressure of the cleaning brush, the rotation speed and the revolution speed. And normalize these factors that can affect the cleaning effect, expressed as the corresponding cleaning degree contribution value. Through experimental analysis, the proportion of the improvement of the cleaning effect of each factor during the power improvement process is obtained, so as to obtain the proportional coefficient Q between the cleaning degree contribution value of each factor and the power. Then, by synthesizing the contribution coefficients of each factor, according to the contribution coefficients and the cleaning degree contribution values, the specific data of the cleaning degree contribution values of each factor are calculated when the cleaning degree is lower than the threshold; then, the overall output power is calculated by each component reaching the corresponding contribution value and the proportional coefficient Q. At this time, a feedback signal is automatically generated to control each component to adjust the power, so as to match the cleaning effect with the required threshold during actual cleaning, and at the same time, by reasonably allocating the proportion improvement of each factor, the best energy-saving effect is achieved. Description of the Drawings

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0050] Figure 1 Schematic diagram of the overall top structure of the present invention;

[0051] Figure 2 Schematic diagram of the overall bottom structure of the present invention;

[0052] Figure 3 Schematic diagram of the lower surface structure of the intelligent walking robot of the present invention;

[0053] Figure 4 Schematic diagram of the front outer surface structure of the intelligent walking robot of the present invention;

[0054] Figure 5 Schematic diagram of the cleaning unit structure of the present invention;

[0055] Figure 6 Schematic diagram of the internal structure of the swing arm of the present invention;

[0056] Figure 7 Schematic diagram of the dust blowing operation state of the pneumatic dust removal unit of the present invention;

[0057] Figure 8 Schematic diagram of the dust suction operation state of the pneumatic dust removal unit of the present invention;

[0058] Figure 9 Schematic diagram of the outer surface structure of the variable air nozzle of the present invention;

[0059] Figure 10 Schematic diagram of the ash storage mechanism structure of the present invention;

[0060] Figure 11 Schematic diagram of the cleaning path of the cleaning brush of the present invention;

[0061] Figure 12 Flowchart of the overall control method of the wall-climbing cleaning robot of the present invention.

[0062] In the figure: 1. Walking unit; 11. Intelligent walking robot; 12. Electric suction cup; 13. Matrix camera; 14. Diamond-shaped groove; 15. Signal antenna; 16. Vision camera; 17. Lidar; 18. Assembly station; 19. Front lip of the vehicle; 110. U-shaped support; 111. Movable block; 112. Pressure sensor; 113. Pressure conduction spring;

[0063] 2. Cleaning unit; 21. Cleaning cantilever; 22. Mounting shaft; 23. Lifting electric cylinder; 24. Traction shaft; 25. Swing arm; 26. Cleaning brush; 262. Rotating motor; 27. Revolution motor; 28. Sliding seat; 29. Limit slide rail; 210. Adjusting electric cylinder;

[0064] 3. Pneumatic dust removal unit; 31. Variable air nozzle; 32. Beam current sleeve; 33. Ash storage mechanism; 34. Air duct; 35. Three-way hose; 36. Deformation electric cylinder; 37. Mounting seat; 38. Variable frequency axial flow fan; 39. Traction bar;

[0065] 311. Linear air head; 312. Rotating head; 313. Rubber connection seal; 314. Rubber sheet; 315. Linear air port;

[0066] 331. Dust collection bin; 332. Ash storage tank; 333. Anchor ring; 334. Movable filter head; 335. Retaining ring; 336. Air inlet hole; 337. Anti-disengagement ring. Detailed implementation mode

[0067] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0068] By providing a wall-climbing cleaning robot and its control method in the embodiments of the present application, the problem of imbalance between cleaning effect and energy consumption existing in the existing wall-climbing cleaning robots is solved.

[0069] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0070] Embodiment 1. This embodiment discloses a wall-climbing cleaning robot.

[0071] According to the attached Figures 1-10 As shown, it includes a walking unit 1 and a cleaning unit 2 installed at the front end of the walking unit 1, and a pneumatic dust removal unit 3 is arranged on the walking unit 1;

[0072] The cleaning unit 2 includes a cleaning cantilever 21. An elevating electric cylinder 23 is installed between the cleaning cantilever 21 and the traveling unit 1. A swing arm 25 is rotatably provided at the front end of the cleaning cantilever 21. A cleaning brush 26 is provided in the swing arm 25. The rotational speeds of both the swing arm 25 and the cleaning brush 26 are adjustable. The cleaning brush 26 can move along the swing arm 25 to change the revolution radius during cleaning. The elevating electric cylinder 23 pulls the cleaning cantilever 21 to turn up and down to change the downward pressure of the cleaning brush 26 on the cleaning area.

[0073] The pneumatic dust removal unit 3 includes a variable air nozzle 31 installed at the bottom of the traveling unit 1. A dust storage mechanism 33 is installed at the end of the traveling unit 1. A variable frequency axial flow fan 38 is installed between the variable air nozzle 31 and the dust storage mechanism 33. By changing the rotation direction of the variable frequency axial flow fan 38, the variable air nozzle 31 can be used for dust suction or dust blowing.

[0074] A matrix camera 13 is installed at the bottom of the traveling unit 1. The number of dust particles in the area after cleaning is detected by the matrix camera 13, and an adjustment signal for controlling the cleaning unit 2 and the pneumatic dust removal unit 3 is generated according to the detection result.

[0075] The traveling unit 1 includes an intelligent mobile robot 11 and an electric suction cup 12 installed at the bottom of the intelligent mobile robot 11. A vision camera 16 and a signal antenna 15 are installed on the top of the intelligent mobile robot 11. A plurality of lidar sensors 17 are installed on the side of the intelligent mobile robot 11. An assembly station 18 is provided at the front side of the intelligent mobile robot 11. The cleaning cantilever 21 is installed in the assembly station 18.

[0076] An installation shaft 22 is fixedly provided at the end of the cleaning cantilever 21. The installation shaft 22 is rotatably connected in the assembly station 18. A traction shaft 24 is fixedly provided in the middle of the cleaning cantilever 21. One end of the elevating electric cylinder 23 is movably hinged on the inner wall of the assembly station 18. The output end of the elevating electric cylinder 23 is rotatably provided on the traction shaft 24. A front car lip 19 is installed at the front side of the assembly station 18. A pressure sensor 112 for detecting the downward pressure of the cleaning cantilever 21 is installed on the front car lip 19. The variable air nozzle 31 is installed at the inner bottom of the front car lip 19.

[0077] A U-shaped support 110 is fixedly provided at the top of the front car lip 19. The pressure sensor 112 is fixedly embedded inside the U-shaped support 110. A movable block 111 is provided at the top of the pressure sensor 112. A pressure conduction spring 113 is provided between the movable block 111 and the pressure sensor 112. The top of the movable block 111 abuts against the bottom of the cleaning cantilever 21.

[0078] A diamond-shaped groove 14 is provided at the bottom of the front lip 19. The variable air nozzle 31 includes two groups of linear air heads 311. At the opposite ends of the two groups of linear air heads 311, rotating heads 312 are fixedly arranged. At the opposite ends of the two groups of linear air heads 311, a rubber connecting seal sleeve 313 is installed. The rotating heads 312 are rotatably arranged inside both ends of the diamond-shaped groove 14. At the bottom of the linear air heads 311, rubber sheets 314 are installed. Linear air openings 315 are provided on the rubber sheets 314. A deformable electric cylinder 36 is fixedly embedded in the inner top wall of the diamond-shaped groove 14. The output end of the deformable electric cylinder 36 is movably hinged with two groups of traction bars 39. The other ends of the two groups of traction bars 39 are respectively movably hinged on the two groups of linear air heads 311.

[0079] The deformable electric cylinder 36 expands and contracts to cause the two groups of linear air heads 311 to rotate outward or inward around the rotating heads 312 respectively, so that when dusting, the two groups of linear air heads 311 are in a state of spreading to both sides to blow the dust to both sides; when vacuuming, the two groups of linear air heads 311 are in a state of gathering to gather the dust to the middle. The front side of the linear air heads 311 is inclined upward so that the air flow is inclined to the cleaning surface; the inner side of the inner top of the diamond-shaped groove 14 is inclined downward so that when the two groups of linear air heads 311 rotate inward, the middle is close to the ground and has a stronger suction force on the dust.

[0080] At the top of the outer end of the cleaning cantilever 21, a revolution motor 27 is fixedly installed. The output end of the revolution motor 27 is fixedly connected to the swing arm 25. A limiting slide rail 29 is arranged at the inner bottom of the swing arm 25. A sliding seat 28 is slidably arranged on the limiting slide rail 29. An adjusting electric cylinder 210 is fixedly arranged inside one end of the swing arm 25. The output end of the adjusting electric cylinder 210 is fixedly connected to the sliding seat 28 to cause the sliding seat 28 to move along the limiting slide rail 29. A rotation motor 262 is fixedly arranged in the sliding seat 28. The output end of the rotation motor 262 is coaxially fixed to the cleaning brush 26 by bolts. Both the revolution motor 27 and the rotation motor 262 are variable-frequency motors.

[0081] At the top of the linear air heads 311, air guide pipes 34 are installed. The number of variable-frequency axial-flow fans 38 is two groups, and the variable-frequency axial-flow fans 38 are forward and reverse motors. Air flow sleeves 32 are respectively installed outside the two groups of variable-frequency axial-flow fans 38. The front ends of the two groups of air flow sleeves 32 are respectively connected to the two groups of air guide pipes 34. A three-way hose 35 is installed between the rear ends of the two groups of air flow sleeves 32 and the dust storage mechanism 33. Mounting seats 37 are fixedly arranged on both sides of the top of the intelligent mobile robot 11. The air flow sleeves 32 are installed in the mounting seats 37.

[0082] The dust storage mechanism 33 includes an anchoring ring 333 fixedly arranged at the end of the intelligent mobile robot 11. A dust collection bin 331 is rotatably arranged inside the anchoring ring 333. The middle of the dust collection bin 331 is recessed downward to form a curved tube shape with high ends and a low middle, and the two ends of the dust collection bin 331 are coaxial;

[0083] The middle section top of the dust collection bin 331 is fixedly connected to the three-way hose 35. The middle section bottom of the dust collection bin 331 is threadedly connected to the ash storage tank 332. Both ends of the dust collection bin 331 are provided with movable filter heads 334. An anti-disengagement ring 337 is fixedly arranged inside the movable filter head 334, and air inlet holes 336 are formed in the outer wall of the anti-disengagement ring 337. Retaining rings 335 for blocking the anti-disengagement ring 337 are fixedly arranged inside both ends of the dust collection bin 331;

[0084] During dust suction, the movable filter head 334 is pushed outward by the air flow, so that the anti-disengagement ring 337 abuts against the inner wall of the end of the dust collection bin 331, and the air inlet holes 336 are blocked;

[0085] During dust blowing, the movable filter head 334 is pushed inward by the air flow, so that the anti-disengagement ring 337 abuts against the retaining ring 335, and the air inlet holes 336 are opened.

[0086] Working principle: When the device is in use, first set the cleaning method according to the cleaning area, which can be set to dust suction or dust blowing. Dust suction is mainly applied to the area where there are electrical equipment or inside the container during the cleaning process, and the dust to be cleaned will have a greater negative impact on the entire regional environment; while dust blowing is mainly applied to the areas outside the equipment container where the dust has no significant negative impact, and it only needs to ensure that the dust leaves the cleaning area;

[0087] At this time, the intelligent walking robot 11 is attached to the surface of the cleaning area and adsorbed by the electric suction cup 12. At this time, the intelligent walking robot 11 moves along the cleaning area, and visual positioning is carried out by using the vision camera 16 and the lidar 17. At the same time, it is connected to the remote control of the intelligent walking robot 11 through the signal antenna 15. When moving, first, the output end of the lifting electric cylinder 23 extends, so that the cleaning cantilever 21 drives the cleaning brush 26 to move downward. At this time, the cleaning brush 26 contacts the surface of the cleaning area. At the same time, according to the feedback of the pressure sensor 112 on the pressing degree, the rotation motor 262 is started at this time. The rotation motor 262 drives the cleaning brush 26 to rotate, so as to remove dust. And when cleaning, the swing arm 25 is driven to rotate by the revolution motor 27. At this time, the swing arm 25 drives the cleaning brush 26 to revolve around the revolution motor 27 as the axis, so as to increase the cleaning area. At the same time, the adjusting electric cylinder 210 can be used to drive the sliding seat 28 to move along the limit slide rail 29, so as to change the revolution radius of the cleaning brush 26, so that when the two cleaning brushes 26 move along with the intelligent walking robot 11, the overall cleaning cross-section becomes wider, so that the whole intelligent walking robot 11 can reduce the number of back-and-forth walks and improve the cleaning speed from the perspective of a single cleaning surface; at the same time, the cleaning overlapping area in the middle of the two cleaning brushes 26 increases, and the rotation directions of the two revolution motors 27 are set to be opposite. In this way, when performing dust blowing and cleaning, the left cleaning brush 26 rotates counterclockwise and the right cleaning brush 26 rotates clockwise, so that the dust diffuses to both sides, making it easier for the dust to be blown away to both sides. When performing vacuum cleaning, the left cleaning brush 26 rotates clockwise and the right cleaning brush 26 rotates counterclockwise, so that the dust gathers towards the middle, making it more convenient for the dust to be sucked and removed. It should be noted in this process that there is a 270-degree angle difference between the two swing arms 25 to prevent the two cleaning brushes 26 from contacting and colliding with each other during revolution;

[0088] When performing vacuum cleaning, by controlling the output end of the deformation electric cylinder 36 to contract, the middle parts of the two linear air heads 311 move backward. And because the inner side of the diamond-shaped groove 14 slopes downward, the middle parts of the two linear air heads 311 are closer to the cleaning surface. At this time, by controlling the variable-frequency axial-flow fan 38 to rotate reversely, the dust is pumped into the air duct 34 at this time, and then pumped into the dust collection bin 331 through the three-way hose 35. At this time, under the action of the air flow, the two movable filter heads 334 move outward, so that the anti-detachment ring 337 abuts against the inner sides of both ends of the dust collection bin 331. At this time, the air inlet holes 336 are blocked, and the air passes through the movable filter heads 334 and is discharged outward, while the dust is intercepted and remains inside the dust collection bin 331. And because the middle part of the whole dust collection bin 331 is sunken downward, and a dust storage tank 332 is arranged at the sunken part, under the action of gravity, the whole dust collection bin 331 rotates inside the anchoring ring 333, so that the dust storage tank 332 is always vertically downward, so that the dust is naturally collected into the dust storage tank 332;

[0089] When performing dust blowing and cleaning, by controlling the output end of the deformable electric cylinder 36 to extend, at this time, the middle parts of the two linear air heads 311 rotate forward, so that the two linear air heads 311 incline towards both sides. At this time, by controlling the forward rotation of the variable-frequency axial-flow fan 38, the air inside the dust collection bin 331 is pumped into the air duct 34 through the three-way hose 35. At this time, under the action of the air flow, the movable filter head 334 moves towards the middle, so that the anti-drop ring 337 abuts against the retaining ring 335. At this time, the external air mainly enters through the air inlet hole 336 and then jets out from the two linear air heads 311, blowing the dust to both sides for cleaning. A small amount of air will enter through the movable filter head 334, thereby realizing the automatic backwashing of the movable filter head 334, so that the movable filter head 334 realizes self-cleaning to a certain extent.

[0090] Embodiment 2. This embodiment discloses a control method for a wall-climbing cleaning robot.

[0091] According to the attached Figures 1-12 As shown, it includes the following steps;

[0092] S1. Start, select dust blowing or dust suction according to the dust removal environment;

[0093] S2. The matrix camera 13 takes pictures of the cleaning path, and judges whether the number of dusts after cleaning meets the standard according to the images;

[0094] S3. If the cleaning meets the standard, maintain the current cleaning state. If it does not meet the standard, adjust the moving speed of the intelligent walking robot 11, the rotation speed of the variable-frequency axial-flow fan 38, the extension amount of the lifting electric cylinder 23, the rotation speed of the revolution motor 27 and the rotation speed of the rotation motor 262 to improve the cleaning effect;

[0095] In S3, by setting an intelligent chip inside the intelligent walking robot 11 and designing an energy-saving algorithm in the intelligent chip, as follows;

[0096] Let;

[0097] The moving speed of the intelligent walking robot 11 is V1, the power consumption is P1, and the cleaning contribution value is S1;

[0098] The power consumption of the electric suction cup 12 is P2;

[0099] The rotation speed of the variable-frequency axial-flow fan 38 is V2, the power consumption is P3, and the cleaning contribution value is S2;

[0100] The rotation speed of the revolution motor 27 is V3, the power consumption is P4, and the cleaning contribution value is S3;

[0101] The rotation speed of the rotation motor 262 is V4, the power consumption is p5, and the cleaning contribution value is S4;

[0102] The extension of the lifting electric cylinder 23 provides a downward pressure position P for the cleaning brush 26, so that the power consumption of the rotating motor and the revolution motor increases to P6, and the cleaning contribution is S5;

[0103] The total cleaning time is t;

[0104] Thus, we can obtain

[0105] Total power consumption; P 总 =P1+P2+P3+P4+P5+P6

[0106] Total energy consumption; E = P 总 ·t

[0107] Overall cleanliness; S now =α·S1+β·S2+γ·S3+λ·S4+δ·S5

[0108] Among them, |α|+β+γ+λ+δ=1, which represents the contribution coefficient of each cleaning contribution. Among them, S2, S3, S4, and S5 are proportional to the power consumption P, and the walking speed of the intelligent walking robot 11 is inversely proportional to the cleanliness contribution, so α is a negative number. Assume that the proportional coefficient is Q; according to the total power consumption and the total cleaning contribution, the equation is established simultaneously, and by setting the cleanliness threshold S min , S min ≥S now ;

[0109] Thus, the specific values of S1, S2, S3, S4, and S5 are obtained, and then according to;

[0110] S=P·Q

[0111] This is used to calculate the output power of each component under the optimal energy consumption condition, and to generate a feedback signal to control each component to output corresponding electrical energy, thereby ensuring the lowest overall energy consumption and improving effective operating capacity.

[0112] Working principle: In this control method, the wind speed of the variable frequency axial flow fan 38, the downward force, rotation speed and revolution speed of the cleaning brush 26 are all positive factors for cleaning, while the movement speed of the intelligent walking robot 11 is the negative factor for cleaning. The matrix camera 13 takes real-time pictures of the cleaning area after cleaning, and captures the features of the dust in the image, so as to analyze the distribution of the dust quantity in the area after cleaning in real time. Then, by setting a threshold, it is required that the dust quantity after cleaning does not exceed the threshold;

[0113] The operation items that can be implemented to improve the cleaning effect include reducing the moving speed of the intelligent walking robot 11, increasing the wind speed of the variable-frequency axial-flow fan 38, increasing the downward pressure, rotational speed and revolution speed of the cleaning brush 26. Then, normalize these factors that can affect the cleaning effect and represent them as corresponding cleanliness contribution values;

[0114] Through experimental analysis, obtain the improvement ratio of each factor on the cleaning effect during the power increase process, so as to obtain the proportional coefficient Q between the cleanliness contribution value of each factor and the power. In actual processing, the proportional coefficient Q is not a fixed value. It is actually a relational function formula between the cleanliness contribution value of this factor and the power. Then, synthesize the contribution coefficients of each factor, and calculate the specific data of the cleanliness contribution values of each factor when the cleanliness is lower than the threshold according to the contribution coefficient and the cleanliness contribution value;

[0115] Then, calculate the overall output power through the cleanliness contribution values of each factor and the proportional coefficient Q. At this time, automatically generate a feedback signal to control the power adjustment of each component, so as to match the cleaning effect with the required threshold during actual cleaning. At the same time, achieve the best energy-saving effect by reasonably allocating the proportional increase of each factor.

[0116] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. Wall-climbing cleaning robot, comprising a walking unit (1) and a cleaning unit (2) installed at the front end of the walking unit (1), characterized in that, An air dust removal unit (3) is provided on the walking unit (1); The cleaning unit (2) includes a cleaning cantilever (21). An elevating electric cylinder (23) is installed between the cleaning cantilever (21) and the walking unit (1). A swing arm (25) is rotatably provided at the front end of the cleaning cantilever (21). A cleaning brush (26) is provided in the swing arm (25). The rotation speeds of the swing arm (25) and the cleaning brush (26) are adjustable. The cleaning brush (26) can move along the swing arm (25) to change the revolution radius when the cleaning brush (26) is cleaning. The elevating electric cylinder (23) pulls the cleaning cantilever (21) to turn up and down to change the downward pressure of the cleaning brush (26) on the cleaning area; The air dust removal unit (3) includes a variable air nozzle (31) installed at the bottom of the walking unit (1). A dust storage mechanism (33) is installed at the end of the walking unit (1). A variable frequency axial flow fan (38) is installed between the variable air nozzle (31) and the dust storage mechanism (33). By changing the rotation direction of the variable frequency axial flow fan (38), the variable air nozzle (31) can suck or blow dust; A matrix camera (13) is installed at the bottom of the walking unit (1). The number of dust particles in the area after cleaning is detected by the matrix camera (13), and an adjustment signal for controlling the cleaning unit (2) and the air dust removal unit (3) is generated according to the detection result.

2. The wall-climbing cleaning robot according to claim 1, characterized in that: The walking unit (1) includes an intelligent walking robot (11) and an electric suction cup (12) installed at the bottom of the intelligent walking robot (11). A vision camera (16) and a signal antenna (15) are installed at the top of the intelligent walking robot (11). A plurality of lidar sensors (17) are installed on the side of the intelligent walking robot (11). An assembly station (18) is provided at the front side of the intelligent walking robot (11). The cleaning cantilever (21) is installed in the assembly station (18).

3. The wall-climbing cleaning robot according to claim 2, wherein: An installation shaft (22) is fixedly provided at the end of the cleaning cantilever (21). The installation shaft (22) is rotatably connected in the assembly station (18). A traction shaft (24) is fixedly provided in the middle of the cleaning cantilever (21). One end of the elevating electric cylinder (23) is movably hinged to the inner wall of the assembly station (18). The output end of the elevating electric cylinder (23) is rotatably provided on the traction shaft (24). A front vehicle lip (19) is installed at the front side of the assembly station (18). A pressure sensor (112) for detecting the downward pressure of the cleaning cantilever (21) is installed on the front vehicle lip (19). The variable air nozzle (31) is installed at the inner bottom of the front vehicle lip (19).

4. The wall-climbing cleaning robot according to claim 3, wherein: A U-shaped support member (110) is fixedly arranged at the top of the front lip (19). The pressure sensor (112) is fixedly embedded inside the U-shaped support member (110). An active block (111) is arranged at the top of the pressure sensor (112). A pressure conduction spring (113) is arranged between the active block (111) and the pressure sensor (112). The top of the active block (111) abuts against the bottom of the cleaning cantilever (21).

5. The wall-climbing cleaning robot according to claim 3, characterized in that: A diamond-shaped groove (14) is formed at the bottom of the front lip (19). The variable air nozzle (31) includes two linear air heads (311). Rotating heads (312) are fixedly arranged at the opposite ends of the two linear air heads (311). A rubber connection seal sleeve (313) is installed at the opposite ends of the two linear air heads (311). The rotating heads (312) are rotatably arranged inside the two ends of the diamond-shaped groove (14). A rubber sheet (314) is installed at the bottom of the linear air head (311). A linear air port (315) is formed on the rubber sheet (314). A deformation electric cylinder (36) is fixedly embedded in the inner top wall of the diamond-shaped groove (14). The output end of the deformation electric cylinder (36) is movably hinged with two traction bars (39). The other ends of the two traction bars (39) are respectively movably hinged on the two linear air heads (311).

6. The wall-climbing cleaning robot according to claim 5, characterized in that: The deformation electric cylinder (36) expands and contracts to enable the two linear air heads (311) to rotate outwards or inwards around the rotating heads (312) respectively, so that the two linear air heads (311) are in a diffused state on both sides to blow the dust to both sides when blowing dust; the two linear air heads (311) are in a converged state to gather the dust towards the middle when sucking dust. The front side of the linear air head (311) is inclined upwards so that the air flow is inclined to the cleaning surface; the inner top side of the diamond-shaped groove (14) is inclined downwards so that the middle is closer to the ground when the two linear air heads (311) rotate inwards, and has a stronger suction force on the dust.

7. The wall-climbing cleaning robot according to claim 1, wherein: A revolution motor (27) is fixedly installed at the outer end top of the cleaning cantilever (21). The output end of the revolution motor (27) is fixedly connected with the swing arm (25). A limit slide rail (29) is arranged at the inner bottom of the swing arm (25). A sliding seat (28) is slidably arranged on the limit slide rail (29). An adjusting electric cylinder (210) is fixedly arranged inside one end of the swing arm (25). The output end of the adjusting electric cylinder (210) is fixedly connected with the sliding seat (28) to enable the sliding seat (28) to move along the limit slide rail (29). A rotation motor (262) is fixedly arranged in the sliding seat (28). The output end of the rotation motor (262) is coaxially and fixedly connected with the cleaning brush (26) by bolts. Both the revolution motor (27) and the rotation motor (262) are variable-frequency motors.

8. The wall-climbing cleaning robot according to claim 5, wherein: An air guide tube (34) is installed on the top of the linear air head (311), the number of the variable frequency axial flow fans (38) is two groups, and the variable frequency axial flow fans (38) are forward and reverse motors, and beam sleeves (32) are installed on the outside of the two groups of variable frequency axial flow fans (38), the front ends of the two groups of beam sleeves (32) are respectively connected to the two groups of air guide tubes (34), and a three-way hose (35) is installed between the rear ends of the two groups of beam sleeves (32) and the ash storage mechanism (33). Mounting seats (37) are fixedly provided on both sides of the top of the intelligent walking robot (11), and the beam sleeves (32) are installed in the mounting seats (37).

9. The wall-climbing cleaning robot according to claim 8, wherein: The dust storage mechanism (33) includes an anchoring ring (333) fixedly arranged at the end of the intelligent walking robot (11), and a dust collecting bin (331) is rotatably arranged inside the anchoring ring (333). The middle part of the dust collecting bin (331) is concave downward to form a curved tube shape with high ends and a low middle, and the two ends of the dust collecting bin (331) are coaxial. The top of the middle section of the dust collecting bin (331) is fixedly connected to the three-way hose (35); the bottom of the middle section of the dust collecting bin (331) is threadedly connected to the dust storage tank (332); both ends of the dust collecting bin (331) are provided with movable filter heads (334); an anti-slip ring (337) is fixedly provided on the inner side of the movable filter head (334); and an air inlet hole (336) is provided on the outer wall of the anti-slip ring (337); and retaining rings (335) for blocking the anti-slip ring (337) are fixedly provided inside the two ends of the dust collecting bin (331); The movable filter head (334) is pushed outward by the air flow during dust collection, so that the anti-slip ring (337) abuts against the inner wall of the end of the dust collecting bin (331), and the air inlet (336) is blocked; The movable filter head (334) is pushed inward by the airflow when blowing dust, so that the anti-slip ring (337) and the retaining ring (335) are pressed against each other, and the air inlet (336) is opened.

10. The control method of the wall-climbing cleaning robot according to any one of claims 1-9, characterized in that: The following steps are included: S1. Start, and select dust blowing or dust suction according to the dust removal environment; S2, the matrix camera (13) takes a picture of the cleaning path, and identifies the image to determine whether the dust count after cleaning meets the standard; S3. If the cleaning reaches the standard, the current cleaning state is maintained. If the cleaning reaches the standard, the moving speed of the intelligent walking robot (11), the speed of the variable frequency axial flow fan (38), the extension of the lifting electric cylinder (23), the speed of the revolution motor (27) and the speed of the rotation motor (262) are adjusted to improve the cleaning effect. In said S3, an intelligent chip is provided inside the intelligent walking robot (11), and an energy-saving algorithm is designed in the intelligent chip as follows; make; The moving speed of the intelligent walking robot (11) is V1, the power consumption is P1, and the cleaning contribution value is S1; The power consumption of the electric suction cup (12) is P2; The speed of the variable frequency axial flow fan (38) is V2, the power consumption is P3, and the cleaning contribution value is S2; The rotation speed of the revolution motor (27) is V3, the power consumption is P4, and the cleaning contribution value is S3; The rotation speed of the self-rotating motor (262) is V4, the power consumption is p5, and the cleaning contribution value is S4; The extension of the lifting electric cylinder (23) provides a downward pressure position P for the cleaning brush (26), increasing the power consumption of the rotation motor (262) and the revolution motor (27) to P6, and the cleaning contribution is the value S5; The total cleaning time is t; Thus, it can be obtained; The total power consumption; P 总 = P1 + P2 + P3 + P4 + P5 + P6 Total energy consumption; E = P 总 ·t Total cleanliness; S now = α·S1 + β·S2 + γ·S3 + λ·S4 + δ·S5 where |α| + β + γ + λ + δ = 1, representing the contribution coefficients of each cleaning contribution. Among them, S2, S3, S4, and S5 are proportional to the power consumption P, and the walking speed of the intelligent mobile robot (11) is inversely proportional to the cleaning contribution. Therefore, α is negative, and the proportionality coefficient is assumed to be Q; According to the total power consumption and total cleaning contribution, the equation is combined and the cleanliness threshold S is set. min , S min ≥S now ; Thus, the specific values of S1, S2, S3, S4, and S5 are obtained, and then according to; S = P·Q Based on this, the output power of each component is calculated under the optimal energy consumption condition, and a feedback signal is generated to control each component to perform corresponding electrical energy output, thereby ensuring the lowest overall energy consumption and improving the effective operation ability.

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