Electrified cleaning method, storage medium and cleaning robot

Abstract

The invention discloses a hot-line cleaning method, a storage medium and a cleaning robot, and the hot-line cleaning method comprises the following steps: obtaining image parameters of to-be-cleaned equipment, and judging whether the to-be-cleaned equipment has dirt or not according to the image parameters; if dirt exists on the to-be-cleaned equipment, the distribution position of the dirt on the to-be-cleaned equipment is obtained; cleaning liquid is sprayed out through the spray gun through the liquid conveying pump to clean the dirt distribution position; image parameters of the to-be-cleaned equipment are obtained and updated, and whether dirt is effectively removed or not is determined based on the image parameters before updating and after updating; if the dirt is effective, executing the step of cleaning the dirt distribution position by spraying a cleaning solution through a spray gun by virtue of an infusion pump until the dirt cannot be effectively removed or the dirt cleaning is finished; and storing the latest updated image parameter data. Through image comparison of the to-be-cleaned equipment before and after cleaning, spraying of the cleaning liquid is stopped under the condition that dirt cannot be removed, and waste of the cleaning liquid during electrified cleaning is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of live cleaning, and in particular to a live cleaning method, a storage medium and a cleaning robot. Background Art

[0002] Live cleaning refers to the use of special cleaning agents to directly spray various precision electronic equipment, power machinery and other equipment when they are in normal operation, quickly removing the comprehensive pollution (such as dust, oil smoke, moisture, salt, accumulated static electricity and various charged particles, etc.) that adheres to the inside and surface of these equipment for various reasons, eliminating the "soft faults" caused by comprehensive pollution, improving the safety and reliability of equipment operation, restoring them to the best working condition, and extending the service life of the equipment.

[0003] Cleaning robots are now available to replace manual labor in live cleaning operations. However, current cleaning robots are unable to specifically clean heavily soiled areas, and they will continue to release cleaning agents into the soiled areas, which will cause huge waste if the cleaning is ineffective. Summary of the Invention

[0004] The main purpose of the present invention is to provide a live cleaning method, a storage medium and a cleaning robot, aiming to reduce the waste caused by the cleaning robot during live cleaning.

[0005] To achieve the above-mentioned object, the present invention proposes a live cleaning method, which is applied to a cleaning robot. The cleaning robot includes a camera module, a spray gun, a gas compressor, and an infusion pump; the spray gun is respectively connected to the gas compressor and the infusion pump pipeline; the live cleaning method includes the following steps:

[0006] Obtain image parameters of the equipment to be cleaned, and determine whether there is dirt on the equipment to be cleaned based on the image parameters;

[0007] If there is dirt on the equipment to be cleaned, obtaining the distribution position of the dirt on the equipment to be cleaned;

[0008] The cleaning liquid is sprayed out from the infusion pump through the spray gun to clean the dirt distribution location;

[0009] Obtaining and updating image parameters of the equipment to be cleaned, and determining whether dirt is effectively removed based on the image parameters before and after the update;

[0010] If effective, the step of spraying the cleaning liquid through the spray gun by the infusion pump to clean the dirt distribution position is executed until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is confirmed to be completed;

[0011] Stores the latest updated image parameter data.

[0012] Optionally, the acquiring of image parameters of the device to be cleaned includes:

[0013] The equipment to be cleaned is cleaned by spraying gas from a gas compressor through a spray gun.

[0014] Optionally, determining whether dirt is effectively removed based on image parameters before and after updating includes:

[0015] Obtaining the distribution position of dirt on the equipment to be cleaned in the image parameters before and after the update;

[0016] Compare the size of the dirt area in the image parameters before and after the update;

[0017] When the area of ​​the dirt in the updated image parameters is smaller than the area of ​​the dirt in the image parameters before the update, it is determined that the dirt is effectively removed.

[0018] Optionally, the cleaning robot further includes: a data transmission module; the storing of the latest updated image parameter data, and then includes:

[0019] Determining whether there is residual dirt on the equipment to be cleaned based on the most recently updated image parameter data;

[0020] The instruction corresponding to the judgment conclusion is transmitted to the user through the data transmission module.

[0021] The present invention also proposes a storage medium, on which a live cleaning program is stored. When the live cleaning program is executed by a processor, the steps corresponding to the live cleaning method are implemented.

[0022] The present invention also provides a cleaning robot, comprising a camera module, a spray gun, a gas compressor, an infusion pump, an aiming device, and a control module; the spray gun is connected to the gas compressor and the infusion pump via pipelines; the control module is connected to the camera module, the gas compressor, the aiming device, and the infusion pump; the spray gun is disposed above the aiming device;

[0023] The camera module is used to obtain image parameters of the equipment to be cleaned and output them to the control module; the control module is used to determine whether there is dirt on the equipment to be cleaned based on the image parameters. The control module is also used to obtain the distribution location of the dirt if there is dirt on the equipment to be cleaned, and control the aiming device, the infusion pump or the gas compressor to clean the dirt using a spray gun;

[0024] The control module is also used to determine whether the dirt is effectively removed based on the image parameters before and after the update after receiving the updated image parameters of the camera module; if so, the control module controls the aiming device and the infusion pump to clean the dirt through the spray gun until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is completed.

[0025] Optionally, a flow sensor is provided in the pipeline of the spray gun, and the flow sensor is connected to the control module;

[0026] The flow sensor is used to obtain the flow velocity data and flow rate data of the gas / liquid in the pipeline and transmit the data to the control module;

[0027] The control module is also used to control the infusion pump or gas compressor to increase power when it is determined based on the image parameters before and after the update that dirt cannot be effectively removed at the current gas / liquid flow rate, until the gas / liquid flow rate is equal to the preset flow rate threshold or the dirt cleaning is confirmed to be completed.

[0028] Optionally, the control module is also used to control the aiming device and the infusion pump to clean the equipment to be cleaned by spraying gas through a spray gun when it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is completed based on the image parameters before and after the update.

[0029] Optionally, the cleaning robot further comprises: a data transmission module; the data transmission module is connected to the control module;

[0030] The control module is used to store the most recently updated image parameter data of the camera module and transmit it to the user terminal through the data transmission module after confirming that the dirt cannot be effectively removed or confirming that the dirt cleaning is completed.

[0031] The present invention discloses a live cleaning method, a storage medium, and a cleaning robot. The live cleaning method includes the following steps: obtaining image parameters of a device to be cleaned, determining whether dirt exists on the device to be cleaned based on the image parameters; if dirt exists on the device to be cleaned, obtaining the distribution location of the dirt on the device to be cleaned; spraying cleaning fluid through a spray gun using an infusion pump to clean the dirt distribution location; obtaining and updating the image parameters of the device to be cleaned, and determining whether the dirt is effectively removed based on the image parameters before and after the update; if so, executing the step of spraying cleaning fluid through a spray gun using an infusion pump to clean the dirt distribution location until it is determined that the dirt cannot be effectively removed or that the dirt cleaning is complete; and storing the most recently updated image parameter data. The present invention determines whether the dirt is effectively removed by comparing images of the device to be cleaned before and after cleaning. If the dirt cannot be removed, the spraying of the cleaning fluid is stopped, thereby reducing waste caused by the cleaning robot during live cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0033] Figure 1 This is a schematic diagram of the steps of an embodiment of the live cleaning method of the present invention;

[0034] Figure 2 Schematic diagram of the steps of another embodiment of the live cleaning method of the present invention;

[0035] Figure 3 This is a schematic diagram of the steps of another embodiment of the live cleaning method of the present invention.

[0036] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0039] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0040] In addition, in the present invention, descriptions such as "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] The present invention proposes a live cleaning method, which is applied to a cleaning robot. The cleaning robot includes a camera module, a spray gun, a gas compressor, and an infusion pump; the spray gun is connected to the gas compressor and the infusion pump pipeline respectively; Figure 1 As shown, the live cleaning method includes the following steps:

[0042] Obtain image parameters of the equipment to be cleaned, and determine whether there is dirt on the equipment to be cleaned based on the image parameters;

[0043] If there is dirt on the equipment to be cleaned, obtaining the distribution position of the dirt on the equipment to be cleaned;

[0044] The cleaning liquid is sprayed out from the infusion pump through the spray gun to clean the dirt distribution location;

[0045] Obtaining and updating image parameters of the equipment to be cleaned, and determining whether dirt is effectively removed based on the image parameters before and after the update;

[0046] If effective, the step of spraying the cleaning liquid through the spray gun by the infusion pump to clean the dirt distribution position is executed until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is confirmed to be completed;

[0047] Stores the latest updated image parameter data.

[0048] It should be noted that the live cleaning method proposed in the present invention is applied to a cleaning robot and is stored in the cleaning robot in the form of a program, which influences and determines the cleaning steps of the cleaning robot. The spray gun is connected to the gas compressor and the infusion pump pipeline respectively. It should be noted that in the present invention, the cleaning robot releases high-flow gas or cleaning liquid to the equipment to be cleaned to clean the equipment to be cleaned, wherein the gas is delivered to the spray gun by the gas compressor and the cleaning liquid is delivered to the spray gun by the infusion pump. The spray gun is used to ensure that the gas or cleaning liquid reaches the designated location. In addition, it should be noted that the cleaning robot in the present invention can have a liquid storage component for storing cleaning liquid and / or a gas tank for storing gas. The cleaning robot can also have a gas interface or a liquid interface. The gas interface can be connected to the gas inlet of the gas compressor, and the liquid interface can be connected to the inlet of the infusion pump; the cleaning robot receives external gas or liquid through the gas interface and liquid interface. Considering that cleaning robots are often used in high-voltage live environments. The gas and cleaning liquid need to have good insulating properties. Furthermore, since air has good insulating properties, the cleaning robot can use a gas compressor to draw air directly from the atmosphere and use a spray gun to clean the equipment being cleaned. The cleaning liquid can also include insulating particles to enhance dirt removal capabilities.

[0049] In the first embodiment of the present invention, first, S10, obtain the image parameters of the device to be cleaned, and determine whether the device to be cleaned has dirt based on the image parameters. An image of the device to be cleaned is obtained through a camera module, and the image has corresponding image parameters; it is easy to understand that an image is composed of the image parameters that constitute it, and in the present invention, the two can be regarded as equivalent. After obtaining the image parameters, determine whether the device to be cleaned has dirt based on the image parameters. Optionally, after obtaining the image parameters, the image parameters are minimum filtered. Among them, minimum filtering can reduce image noise, reduce errors due to the performance of the camera module itself, and improve image clarity and accuracy.

[0050] This embodiment proposes two methods for determining whether dirt is present in the equipment to be cleaned. The first method involves converting the RGB image to a grayscale image, then performing noise reduction using Gaussian filtering (to remove Gaussian noise), median filtering (to remove salt and pepper noise), or non-local mean filtering (NLM). Histogram equalization (HE) or adaptive histogram equalization (CLAHE) is then performed to enhance the contrast between dirt and clean surfaces. Object edges are then detected using the Canny or Sobel operator, combined with contour extraction (such as OpenCV's findContours) to determine the ROI. A semantic segmentation model is then used to generate an ROI mask to eliminate background interference (such as unrelated objects around the equipment). This completes image preprocessing. The image is then thresholded (global thresholding, using the Otsu algorithm, or local thresholding, using the Niblack algorithm). Finally, the gray-level co-occurrence matrix (GLCM) is used to calculate texture parameters such as contrast, entropy, and correlation to distinguish areas of dirt. The second method is to call a pre-stored image of the device to be cleaned, in which the device to be cleaned does not have dirt; and compare the pre-stored image in the file with the image obtained by the camera module to determine whether the device to be cleaned has dirt.

[0051] S20: If dirt is present on the equipment to be cleaned, the distribution location of the dirt on the equipment to be cleaned is obtained. Whether by image recognition or image comparison, once it is confirmed that the equipment to be cleaned has dirt, the distribution location and distribution area of ​​the dirt can be easily obtained.

[0052] S30: The infusion pump sprays cleaning fluid through the spray gun to clean the dirt distribution area. The infusion pump delivers cleaning fluid to the spray gun, which, under the control of the cleaning robot, sprays the cleaning fluid toward the dirt distribution area to clean the dirt. It should be noted that the operating power of the infusion pump directly affects the flow rate of the cleaning fluid, thereby affecting the cleaning effect of the dirt.

[0053] To avoid wasting cleaning fluid, the cleaning robot uses a camera module to recapture and update image parameters of the equipment being cleaned after spraying cleaning fluid at the dirt distribution location for a first duration. This first duration can be set by the operator or initially set by the developer. It is easy to understand that if the cleaning fluid can effectively remove dirt at the current flow rate, then the image before and after the update should be different. Specifically, the area of ​​dirt in the updated image parameters should be smaller than the area of ​​dirt in the image parameters before the update.

[0054] S40: Acquire and update image parameters of the device to be cleaned, and determine whether dirt is effectively removed based on the image parameters before and after the update.

[0055] If the dirt is effectively removed, it means that the current cleaning fluid at the current flow rate is sufficient to complete the cleaning task, and the current cleaning method can be maintained to continuously clean the dirt on the equipment to be cleaned.

[0056] Accordingly, if the dirt cannot be effectively removed, it means that the current cleaning fluid at the current flow rate is insufficient to complete the cleaning task, and the cleaning fluid flow rate needs to be increased or the cleaning fluid needs to be changed.

[0057] It should be understood that the present invention determines whether the dirt is effectively removed. If the dirt cannot be effectively removed, the flow rate of the cleaning liquid is changed, the type of cleaning liquid is replaced, or cleaning is stopped, thereby avoiding waste of cleaning liquid.

[0058] like Figure 2 As shown, optionally, S410, obtaining the distribution position of dirt on the device to be cleaned in the image parameters before and after the update;

[0059] S420, comparing the size of the dirt area in the image parameters before and after the update;

[0060] S430: When the area of ​​the dirt in the updated image parameters is smaller than the area of ​​the dirt in the image parameters before the update, it is determined that the dirt is effectively removed.

[0061] S50: If effective, execute the step of spraying cleaning liquid from the infusion pump through the spray gun to clean the dirt distribution position until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is confirmed to be completed.

[0062] It should be understood that, in the present invention, when the current cleaning method is able to effectively remove dirt, after the judgment is completed, the method returns to the step of cleaning the respective positions of the dirt by spraying the cleaning liquid through the infusion pump through the spray gun; after the first cleaning period, the image parameters are updated, and based on the image parameters before and after the update, it is determined whether the dirt is effectively removed. If it is confirmed that the dirt is effectively removed, the method returns to the step of cleaning the respective positions of the dirt by spraying the cleaning liquid through the infusion pump through the spray gun. If it is confirmed that the dirt cannot be effectively removed, the cleaning is suspended, and the flow rate or cleaning liquid with stronger cleaning ability is automatically switched; if there is no allowed higher flow rate or cleaning liquid with stronger cleaning ability, the cleaning is stopped. It is easy to understand that if the distribution area of ​​the dirt on the equipment to be cleaned is determined to be zero based on the updated image parameters, it can be confirmed that the dirt cleaning is completed.

[0063] S60: Store the latest updated image parameter data.

[0064] It should be noted that to avoid image recognition errors, the present invention incorporates a manual confirmation step. Specifically, the most recently updated image parameter data is stored, allowing for manual confirmation of the completion of the cleaning task for the equipment being cleaned. Furthermore, storing this image parameter data facilitates subsequent inspections, forming a work record and providing an initial comparison image for the next determination of whether a dirt area on the equipment being cleaned is present.

[0065] The present invention discloses a live cleaning method, comprising the following steps: obtaining image parameters of a device to be cleaned, determining whether dirt exists on the device to be cleaned based on the image parameters; if dirt exists on the device to be cleaned, obtaining the distribution location of the dirt on the device to be cleaned; spraying cleaning fluid through a spray gun using an infusion pump to clean the dirt distribution location; obtaining and updating the image parameters of the device to be cleaned, and determining whether the dirt is effectively removed based on the image parameters before and after the update; if so, executing the step of spraying cleaning fluid through a spray gun using an infusion pump to clean the dirt distribution location until it is determined that the dirt cannot be effectively removed or that the dirt cleaning is complete; and storing the most recently updated image parameter data. The present invention determines whether the dirt is effectively removed by comparing images of the device to be cleaned before and after cleaning. If the dirt cannot be removed, the spraying of the cleaning fluid is stopped, thereby reducing waste caused by the cleaning robot during live cleaning.

[0066] In a second embodiment of the present invention, obtaining image parameters of the device to be cleaned includes:

[0067] The equipment to be cleaned is cleaned by spraying gas from a gas compressor through a spray gun.

[0068] It is easy to understand that the surface of the equipment to be cleaned generally has floating dust. When determining whether the equipment to be cleaned is contaminated based on an image, the floating dust and other easily cleanable objects on the equipment surface may affect the judgment result. In a second embodiment, before obtaining image parameters of the equipment to be cleaned, the equipment to be cleaned is cleaned by spraying gas to perform a preliminary cleaning. This not only removes floating dust and other objects on the surface, but also helps to highlight dirt on the equipment, thereby improving the recognition success rate. In addition, it should be noted that since the cost of air / gas is lower than that of cleaning fluid, using gas for preliminary cleaning can also help reduce cleaning costs.

[0069] In addition, in this embodiment, after confirming that the dirt cannot be effectively removed or confirming that the dirt cleaning is completed, the gas to be cleaned can be sprayed through the gas compressor through the spray gun to clean the equipment to be cleaned, so as to achieve the purpose of quickly evaporating the cleaning liquid.

[0070] It should be noted that after cleaning, the cleaning robot outputs the cleaning results so that the user / operator can learn about the cleaning results and take appropriate measures in a timely manner. Figure 3As shown, the cleaning robot further includes: a data transmission module; the storage of the latest updated image parameter data, and then includes:

[0071] S70, judging whether there is residual dirt on the equipment to be cleaned based on the most recently updated image parameter data;

[0072] S80: Transmitting instructions corresponding to the judgment conclusion to the user through the data transmission module.

[0073] It is understandable that the distribution area of ​​dirt on the equipment to be cleaned in the most recently updated image parameter data is obtained; if the distribution area of ​​dirt is not zero, it means that there is residual dirt; if the distribution area of ​​dirt is zero, it means that there is no residual dirt.

[0074] In addition, the present invention only stops cleaning the equipment to be cleaned in two situations: when it is confirmed that the dirt cannot be removed and when it is confirmed that the dirt cleaning is complete. Correspondingly, if it is determined that there is residual dirt, it means that the current cleaning method of the cleaning robot is unable to remove the dirt on the equipment to be cleaned; if it is determined that there is no residual dirt, it means that the dirt on the equipment to be cleaned has been cleaned.

[0075] After the conclusion is obtained, the conclusion can be transmitted to the user terminal through the data transmission module for the user to view.

[0076] In addition, the cleaning robot may further include: a display module; the live cleaning method may further include:

[0077] After receiving the view trigger instruction, the cleaning data corresponding to the view trigger instruction is displayed through the display module.

[0078] It is easy to understand that the present invention not only provides a way for operators / users to view data remotely, but also provides a way to view data on-site to facilitate on-site debugging. Live cleaning is a high-risk job that may cause regional power outages; usually, when the cleaning robot is cleaning, the operator observes the movements of the cleaning robot at the work site. After the cleaning robot finishes its work, the cleaning results are manually determined and, based on the cleaning results, a decision is made as to whether the cleaning task is completed, or the relevant parameters of the cleaning robot are adjusted to clean again. For example: when the cleaning robot receives the spray gun outlet flow rate newly set by the user, it adjusts the spray gun outlet flow rate to the set flow rate by adjusting the working power of the gas compressor or infusion pump. It is easy to understand that when it is determined that the dirt cannot be effectively removed, the user / operator usually increases the spray gun outlet flow rate. Correspondingly, the live cleaning method also includes: when receiving a parameter adjustment instruction, adjusting the working power of the gas compressor or infusion pump to the power value corresponding to the parameter adjustment instruction.

[0079] Optionally, the cleaning robot further comprises: a flow sensor; the flow sensor is used to obtain the flow rate of the cleaning fluid sprayed by the spray gun; the live cleaning method further comprises:

[0080] When it is confirmed that the dirt cannot be effectively removed, the operating power of the infusion pump is increased at set intervals until the flow rate of the cleaning fluid is greater than or equal to a preset flow rate threshold or the dirt is confirmed to be effectively removed.

[0081] The flow rate of a liquid is positively correlated with its cleaning capacity. When dirt cannot be effectively removed at the current liquid flow rate, the present invention increases the liquid flow rate to improve cleaning capacity. Accordingly, the operating power of the infusion pump needs to be increased. Furthermore, due to the structural limitations of the cleaning robot, the liquid flow rate it can handle is limited. To maintain structural stability, a preset flow rate threshold can be set. When the gas / liquid flow rate reaches this preset flow rate threshold, the control module no longer increases the operating power of the infusion pump or gas compressor. The preset flow rate threshold is determined experimentally by R&D personnel.

[0082] In addition, if it is confirmed that the dirt cleaning is completed, the operating power of the infusion pump or the gas compressor can be adjusted to zero.

[0083] It is easy to understand that when the dirt cannot be effectively removed at present, the cleaning capacity is improved by increasing the flow rate of the cleaning fluid to remove the dirt that can be cleaned after the improvement. When the remaining dirt cannot be removed using the current cleaning capacity, the flow rate of the cleaning fluid is increased again to further improve the cleaning capacity; thereby achieving a step-by-step improvement in the cleaning capacity. In the process of improving the cleaning capacity, all dirt is removed, or cleaning is stopped when the flow rate of the cleaning fluid is greater than or less than the preset flow rate threshold.

[0084] Optionally, the cleaning robot further comprises: a temperature sensor; the temperature sensor is used to obtain the temperature value of the cleaning fluid sprayed by the spray gun; the live cleaning method further comprises:

[0085] obtaining the temperature of the cleaning fluid through a temperature sensor;

[0086] When the dielectric constant corresponding to the temperature of the cleaning liquid is greater than a set dielectric constant value, the infusion pump is controlled to stop running.

[0087] It should be noted that live cleaning requires the use of insulating materials for cleaning, and the insulating properties of the cleaning fluid are affected by temperature. Specifically, the insulating properties of the cleaning fluid decrease as the temperature rises. In order to avoid the insulation performance from seriously decreasing due to the increase in temperature during the cleaning process, high voltage electricity is conducted to the cleaning robot, damaging the cleaning robot. When the dielectric constant corresponding to the cleaning fluid temperature is greater than the set dielectric constant value, the infusion pump is controlled to stop running and the cleaning work is stopped. In addition, it is easy to understand that after determining the cleaning fluid to be used, the temperature-dielectric constant MAP table corresponding to the cleaning fluid can be stored in the control module. The temperature of the cleaning fluid obtained by the temperature sensor can be queried in the MAP table to obtain the dielectric constant corresponding to the temperature value. The set dielectric constant value is determined and set by the R&D personnel.

[0088] The present invention also proposes a storage medium, on which a live cleaning program is stored. When the live cleaning program is executed by a processor, the steps corresponding to the live cleaning method are implemented.

[0089] The present invention also provides a cleaning robot, comprising a camera module, a spray gun, a gas compressor, an infusion pump, an aiming device, and a control module; the spray gun is connected to the gas compressor and the infusion pump via pipelines; the control module is connected to the camera module, the gas compressor, the aiming device, and the infusion pump; the spray gun is disposed above the aiming device;

[0090] The camera module is used to obtain image parameters of the equipment to be cleaned and output them to the control module; the control module is used to determine whether there is dirt on the equipment to be cleaned based on the image parameters. The control module is also used to obtain the distribution location of the dirt if there is dirt on the equipment to be cleaned, and control the aiming device, the infusion pump or the gas compressor to clean the dirt using a spray gun;

[0091] The control module is also used to determine whether the dirt is effectively removed based on the image parameters before and after the update after receiving the updated image parameters of the camera module; if so, the control module controls the aiming device and the infusion pump to clean the dirt through the spray gun until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is completed.

[0092] It is easy to understand that the control module has the live cleaning program, the aiming device includes a pan-tilt platform, and the control module is connected to the drive motor in the pan-tilt platform, and controls the pan-tilt platform to rotate by driving the motor, thereby completing the aiming of the spray gun arranged on the aiming device.

[0093] The control module may include: MCU, FPGA, SOC and other controllers.

[0094] In addition, the control module controls the aiming device and the infusion pump to clean the dirt through the spray gun when it is determined that the dirt has been effectively removed, until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is completed. This can achieve continuous cleaning of the dirt when the dirt can be cleaned, and stop spraying the cleaning fluid when the cleaning is completed or the dirt cannot be cleaned, thereby reducing the problem of waste of cleaning fluid.

[0095] Optionally, the control module is also used to control the aiming device and the infusion pump to clean the equipment to be cleaned by spraying gas through a spray gun when it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is completed based on the image parameters before and after the update.

[0096] Optionally, a flow sensor is provided in the pipeline of the spray gun, and the flow sensor is connected to the control module;

[0097] The flow sensor is used to obtain the flow velocity data and flow rate data of the gas / liquid in the pipeline and transmit the data to the control module;

[0098] The control module is also used to control the infusion pump or gas compressor to increase power when it is determined based on the image parameters before and after the update that dirt cannot be effectively removed at the current gas / liquid flow rate, until the gas / liquid flow rate is equal to the preset flow rate threshold or the dirt cleaning is confirmed to be completed.

[0099] It's easy to understand that the flow rate of a gas / liquid is positively correlated with its cleaning capacity. When the current gas / liquid flow rate is insufficient to effectively remove dirt, the present invention increases the gas / liquid flow rate to improve cleaning capacity. This, in turn, requires increasing the operating power of the infusion pump or gas compressor. Furthermore, due to structural limitations of the cleaning machine, the gas / liquid flow rate it can handle is limited. To maintain structural stability, a preset flow rate threshold can be set. When the gas / liquid flow rate reaches this threshold, the control module no longer increases the operating power of the infusion pump or gas compressor.

[0100] In addition, if it is confirmed that the dirt cleaning is completed, the operating power of the infusion pump or the gas compressor can be adjusted to zero.

[0101] Optionally, the cleaning robot further comprises: a data transmission module; the data transmission module is connected to the control module;

[0102] The control module is used to store the most recently updated image parameter data of the camera module and transmit it to the user terminal through the data transmission module after confirming that the dirt cannot be effectively removed or confirming that the dirt cleaning is completed.

[0103] The data transmission module may include a Bluetooth module, a WiFi module or an Internet of Things communication module, etc. The user terminal may refer to a server, a mobile phone, a tablet, a computer or other electronic device where a user can view relevant data.

[0104] Optionally, a temperature sensor is provided in the pipeline of the spray gun, and the temperature sensor is connected to the control module; the temperature sensor is used to obtain the temperature value of the gas / liquid in the pipeline and transmit it to the control module;

[0105] The control module is further configured to control the gas compressor / infusion pump to stop running when the dielectric constant corresponding to the gas temperature / liquid temperature is greater than a set dielectric constant value.

[0106] It should be noted that live cleaning requires the use of insulating materials for cleaning, and the insulating properties of gas and cleaning fluid are affected by temperature. Specifically, the insulating properties of gas and cleaning fluid decrease as the temperature rises. In order to prevent the gas and cleaning fluid from being broken down due to the increase in temperature during the cleaning process, high voltage electricity is conducted to the cleaning robot, damaging the cleaning robot. The control module is also used to control the gas compressor / infusion pump to stop running and stop cleaning when the dielectric constant corresponding to the gas temperature / liquid temperature is greater than the set dielectric constant value. In addition, it is easy to understand that after determining the gas and cleaning fluid to be used, the temperature-dielectric constant MAP table corresponding to the gas / cleaning fluid can be stored in the control module. By querying the MAP table through the temperature of the gas / cleaning fluid, the dielectric constant corresponding to the temperature value can be obtained. The set dielectric constant value is determined and set by the R&D personnel.

[0107] The above descriptions are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present description and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A live cleaning method, characterized in that: The live cleaning method is applied to a cleaning robot, which includes a camera module, a spray gun, a gas compressor, and an infusion pump; the spray gun is connected to pipelines of the gas compressor and the infusion pump, respectively; the live cleaning method includes the following steps: Obtain image parameters of the equipment to be cleaned, and determine whether there is dirt on the equipment to be cleaned based on the image parameters; If there is dirt on the equipment to be cleaned, obtaining the distribution position of the dirt on the equipment to be cleaned; The cleaning liquid is sprayed out from the infusion pump through the spray gun to clean the dirt distribution location; Obtaining and updating image parameters of the equipment to be cleaned, and determining whether dirt is effectively removed based on the image parameters before and after the update; If effective, the step of spraying the cleaning liquid through the spray gun by the infusion pump to clean the dirt distribution position is executed until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is confirmed to be completed; Stores the latest updated image parameter data.

2. The live cleaning method according to claim 1, wherein: The step of obtaining image parameters of the device to be cleaned includes: The equipment to be cleaned is cleaned by spraying gas from a gas compressor through a spray gun.

3. The live cleaning method according to claim 1, wherein: The determining whether dirt is effectively removed based on the image parameters before and after the update includes: Obtaining the distribution position of dirt on the equipment to be cleaned in the image parameters before and after the update; Compare the size of the dirt area in the image parameters before and after the update; When the area of ​​the dirt in the updated image parameters is smaller than the area of ​​the dirt in the image parameters before the update, it is determined that the dirt is effectively removed.

4. The live cleaning method according to claim 1, wherein: The cleaning robot further comprises: a data transmission module; the storage of the latest updated image parameter data, and then comprising: Determining whether there is residual dirt on the equipment to be cleaned based on the most recently updated image parameter data; The instruction corresponding to the judgment conclusion is transmitted to the user through the data transmission module.

5. A storage medium, characterized in that: The storage medium stores a live cleaning program, which, when executed by the processor, implements the steps corresponding to the live cleaning method according to any one of claims 1 to 4.

6. A cleaning robot, characterized in that: The cleaning robot includes a camera module, a spray gun, a gas compressor, an infusion pump, an aiming device, and a control module; the spray gun is connected to the gas compressor and the infusion pump via pipelines; the control module is connected to the camera module, the gas compressor, the aiming device, and the infusion pump; the spray gun is arranged on the aiming device; The camera module is used to obtain image parameters of the equipment to be cleaned and output them to the control module; the control module is used to determine whether there is dirt on the equipment to be cleaned based on the image parameters. The control module is also used to obtain the distribution location of the dirt if there is dirt on the equipment to be cleaned, and control the aiming device, the infusion pump or the gas compressor to clean the dirt using a spray gun; The control module is also used to determine whether the dirt is effectively removed based on the image parameters before and after the update after receiving the updated image parameters of the camera module; if so, the control module controls the aiming device and the infusion pump to clean the dirt through the spray gun until it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is completed.

7. The cleaning robot according to claim 6, wherein: A flow sensor is provided in the pipeline of the spray gun, and the flow sensor is connected to the control module; The flow sensor is used to obtain the flow velocity data and flow rate data of the gas / liquid in the pipeline and transmit the data to the control module; The control module is also used to control the infusion pump or gas compressor to increase power when it is determined based on the image parameters before and after the update that dirt cannot be effectively removed at the current gas / liquid flow rate, until the gas / liquid flow rate is equal to the preset flow rate threshold or the dirt cleaning is confirmed to be completed.

8. The cleaning robot according to claim 6, wherein: The control module is also used to control the aiming device and the infusion pump to clean the equipment to be cleaned by spraying gas through the spray gun when it is confirmed that the dirt cannot be effectively removed or the dirt cleaning is completed based on the image parameters before and after the update.

9. The cleaning robot according to claim 8, wherein: The cleaning robot further includes: a data transmission module; the data transmission module is connected to the control module; The control module is used to store the most recently updated image parameter data of the camera module and transmit it to the user terminal through the data transmission module after confirming that the dirt cannot be effectively removed or confirming that the dirt cleaning is completed.

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