Method and apparatus for controlling movement of a cleaning robot, and cleaning robot

Abstract

The application provides a mobile control method and device of a cleaning robot and the cleaning robot, and belongs to the technical field of robots. The mobile control method comprises the following steps: deploying the cleaning robot in a fish farm, and moving the cleaning robot along a patrol line path; when the cleaning robot moves to a positioning area, rotating a mounting chassis by a chassis motor, extending a first adjusting mechanical arm, a second adjusting mechanical arm and a cleaning mechanism to a fish tank on one side, and overlapping a positioning pulley on a positioning slide rail of the fish tank on one side by controlling the extension length of the first adjusting mechanical arm; a moving mechanism starts to move along a cleaning path, and the inner wall of the fish tank is cleaned by the cleaning mechanism. The cleaning robot can realize autonomous movement between fish tanks and can perform point cleaning on the fish tanks by cooperating with a patrol line mark. The positioning pulley can be used as a fulcrum when the cleaning robot cleans the fish tank, and effectively prevents path deviation during the cleaning process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a moving control method and device of a cleaning robot and the cleaning robot. BACKGROUND

[0002] In the development process of aquaculture, traditional breeding methods are gradually eliminated, and instead, circular fish ponds are built on land to carry fish fry. In the process of land-based aquaculture, when the fish in the fish pond grow after a period of cultivation, the fish feed, feces and some small impurities in the air may fall into the fish pond, thereby gathering on the inner wall of the fish pond and affecting the water quality. Therefore, the inner wall of the fish pond needs to be cleaned regularly. The fish pond cleaning device in the prior art.

[0003] The Chinese patent with the granted publication number CN220000476U discloses a fish pond debris cleaning device, which includes a middle pipe, a plurality of water suction pipes and a guide assembly. The middle pipe is vertically arranged in the middle of the fish pond. The water suction pipe includes a water suction part and a distribution part, both of which are tubular. Each water suction part is closed at one end and connected to one end of each distribution part at the other end. Each distribution part is arranged in the middle pipe and connected to an external water pump. The bottom of each water suction part is provided with a scraper, and each scraper is in contact with the inside of the bottom of the fish pond. A plurality of water suction holes are formed in the outer periphery of the water suction part and connected to the inside of the water suction part. A fixing rod is arranged between the outer periphery of the water suction part and the outer periphery of the middle pipe. The middle pipe is driven by the guide assembly and rotates around its axis.

[0004] The above-mentioned prior art solution has the following disadvantages: the existing fish pond cleaning device is usually large in size, and needs to be installed inside the fish pond before use. The device has low automation and is inconvenient to use. SUMMARY

[0005] To solve the above problems, the present application provides a moving control method and device of a cleaning robot and the cleaning robot to solve the above problems existing in the prior art.

[0006] According to the first aspect of the present application, a moving control method and device of a cleaning robot and the cleaning robot are provided, which include:

[0007] Step 1: Deploy the cleaning robot in the fish farm, and move the cleaning robot along the patrol line path.

[0008] Step two: when the cleaning robot moves to the positioning area, the installation chassis is driven to rotate by the chassis motor, the first adjusting mechanical arm, the second adjusting mechanical arm and the cleaning mechanism are stretched to one side of the fish tank, the positioning pulley is connected to the positioning slide rail of the fish tank on one side by controlling the length of the first adjusting mechanical arm.

[0009] Step three: the moving mechanism starts to move along the cleaning path and cleans the inner wall of the fish tank by the cleaning mechanism.

[0010] Step four: the cleaning robot returns to the positioning area in step two, repeats step two to connect the positioning pulley to the positioning slide rail of the fish tank on the other side, and moves along the cleaning path of the fish tank on the other side to clean the inner wall of the fish tank on the other side.

[0011] Step five: the cleaning robot continues to move along the line patrol path to the next positioning area, and repeats the above steps until all the fish tanks are cleaned.

[0012] As a further solution of the first aspect of the application: in step two, the photoelectric sensor adjusts the position of the moving mechanism by the color difference between the positioning area and the cleaning path and the line patrol path, so that the moving mechanism is arranged at the middle of the adjacent fish tank, thereby facilitating the measurement of the distance between the positioning pulley and the positioning slide rail, the positioning pulley is connected to the positioning slide rail by controlling the length of the first adjusting mechanical arm, the installation seat is always in a horizontal state by cooperating with the first adjusting motor and the second adjusting motor, so that the positioning pulley can be vertically arranged on the positioning slide rail, after the positioning pulley is connected to the positioning slide rail, the spring is compressed, the trigger rod presses the pressure sensor, the pressure sensor sends a signal, the first adjusting motor, the second adjusting motor and the first adjusting mechanical arm stop working, and the connection work is completed.

[0013] According to the second aspect of the application, a moving control method and device of a cleaning robot and the cleaning robot are provided, which comprises: the moving control device of the cleaning robot comprises a processor, a memory and a bus, and the processor and the memory can communicate with each other through the bus.

[0014] According to the third aspect of the application, a cleaning robot is provided, which comprises:

[0015] The moving mechanism is fixedly connected with the chassis motor, the driving end of the chassis motor is provided with the installation chassis, the first adjusting mechanical arm is rotatably connected to the installation chassis, the connecting frame is rotatably connected to the first adjusting mechanical arm, the installation seat is fixedly connected to the connecting frame, the second adjusting mechanical arm is fixedly connected to the installation seat, the installation plate is fixedly connected to the second adjusting mechanical arm, and the cleaning mechanism is arranged on the installation plate.

[0016] The trigger mechanism comprises a connecting plate I and a connecting plate II, a spring is arranged between the connecting plate I and the connecting plate II, the upper end surface of the connecting plate II is fixedly connected with the mounting base, the pressure sensor is fixedly connected on the lower end surface of the connecting plate II, the trigger rod is fixedly connected on the upper end surface of the connecting plate I, the connecting rod is fixedly connected on the lower end surface of the connecting plate I, and the positioning pulley is arranged on the lower end of the connecting rod.

[0017] As a further scheme of the third aspect of the present application, the platform body of the moving mechanism is provided with a control base near each corner, the control base is rotatably provided with an adjusting rod, the adjusting rod is fixedly connected with an adjusting block, and the sensor mounting plate is rotatably arranged on the side end surface of the adjusting block.

[0018] As a further scheme of the third aspect of the present application, the laser radar, the infrared sensor, the ultrasonic sensor and the photoelectric sensor are arranged on the sensor mounting plate.

[0019] As a further scheme of the third aspect of the present application, the laser radar, the infrared sensor, the ultrasonic sensor, the pressure sensor and the photoelectric sensor are electrically connected with the processor through the bus.

[0020] As a further scheme of the third aspect of the present application, the connecting plate I is fixedly connected with a sleeve rod, the connecting plate II is fixedly connected with a sleeve, and the sleeve rod is sleeved in the sleeve.

[0021] As a further scheme of the third aspect of the present application, the scheme further comprises a line-patrolling mark, the line-patrolling mark comprises a plurality of line-patrolling paths which are uniformly distributed and arranged in a cross manner, the plurality of line-patrolling paths are arranged in a chessboard shape, the plurality of line-patrolling paths form a plurality of square regions, each square region is provided with a circular cleaning path, and the overlapping part of the adjacent cleaning path and the line-patrolling path is provided with a positioning area.

[0022] As a further scheme of the third aspect of the present application, there is a color difference between the positioning area, the cleaning path and the line-patrolling path.

[0023] As a further scheme of the third aspect of the present application, the connecting rod is fixedly connected with a mounting block I, and the positioning pulley is rotatably arranged on the mounting block I, the positioning pulley comprises a pulley body, and the positioning groove is arranged on the pulley body.

[0024] As a further scheme of the third aspect of the present application, the adjusting mechanical arm I is a telescopic mechanical arm, and the adjusting mechanical arm II is a multi-joint mechanical arm.

[0025] The present application has the following beneficial effects:

[0026] The cleaning robot can realize autonomous movement between fish pools and fixed-point cleaning of the fish pools by cooperating with the line patrol mark, the positioning area is arranged at the intersection of the cleaning path and the line patrol path, the photoelectric sensor can realize autonomous line patrol movement of the cleaning robot between the fish pools, and the cleaning robot can be switched between the cleaning path and the line patrol path, different fish pools in different areas can be cleaned, meanwhile, the positioning area can facilitate the overlap between the positioning pulley and the positioning slide rail, so that the positioning pulley can be used as a fulcrum for the cleaning robot to clean the fish pool, the cleaning robot can clean the inner wall of the fish pool around the cleaning path, and path deviation in the cleaning process is effectively prevented. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A cleaning robot structure schematic diagram according to the present application;

[0028] Figure 2 A connecting rod, a trigger mechanism, an installation block one and a positioning pulley of a cleaning robot according to the present application;

[0029] Figure 3 A trigger mechanism of a cleaning robot according to the present application;

[0030] Figure 4 A positioning pulley of a cleaning robot according to the present application;

[0031] Figure 5 A cleaning mechanism of a cleaning robot according to the present application;

[0032] Figure 6 A line patrol mark of a cleaning robot according to the present application.

[0033] LIST OF REFERENCE NUMERALS:

[0034] 1, moving mechanism; 2, control base; 3, adjusting rod; 4, adjusting block; 5, sensor mounting plate; 6, chassis motor; 7, mounting chassis; 8, adjusting mechanical arm one; 9, adjusting motor one; 10, adjusting motor two; 11, connecting frame; 12, mounting seat; 13, connecting rod; 14, trigger mechanism; 141, connecting plate one; 142, connecting plate two; 143, spring; 144, trigger rod; 145, pressure sensor; 146, sleeve; 147, sleeve rod; 15, mounting block one; 16, positioning pulley; 161, pulley main body; 162, positioning groove; 17, adjusting mechanical arm two; 18, mounting plate; 19, slide rail; 20, sliding block; 21, mounting frame; 22, mounting rod; 23, mounting block two; 24, cleaning brush; 100, line patrol mark; 101, line patrol path; 102, cleaning path; 103, positioning area; 200, fish tank. DETAILED DESCRIPTION

[0035] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application with reference to the drawings.

[0036] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0037] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Reference Figures 1 to 6 , the present application provides a cleaning robot, comprising:

[0039] The mobile mechanism 1 is fixedly connected with a chassis motor 6, a mounting chassis 7 is arranged on the driving end of the chassis motor 6, an adjusting mechanical arm one 8 is rotatably connected to the mounting chassis 7, a connecting frame 11 is rotatably connected to the adjusting mechanical arm one 8, a mounting seat 12 is fixedly connected to the connecting frame 11, an adjusting mechanical arm two 17 is fixedly connected to the mounting seat 12, a mounting plate 18 is fixedly connected to the adjusting mechanical arm two 17, and a cleaning mechanism is arranged on the mounting plate 18.

[0040] The trigger mechanism 14 comprises a connecting plate one 141 and a connecting plate two 142, a spring 143 is arranged between the connecting plate one 141 and the connecting plate two 142, a sleeve rod 147 is fixedly connected to the connecting plate one 141, a sleeve 146 is fixedly connected to the connecting plate two 142, the sleeve rod 147 is sleeved in the sleeve 146, the upper end surface of the connecting plate two 142 is fixedly connected with the mounting seat 12, a pressure sensor 145 is fixedly connected to the lower end surface of the connecting plate two 142, a trigger rod 144 is fixedly connected to the upper end surface of the connecting plate one 141, a connecting rod 13 is fixedly connected to the lower end surface of the connecting plate one 141, and a positioning pulley 16 is arranged on the lower end of the connecting rod 13.

[0041] As shown in Figure 1 The mobile mechanism 1 is a wheeled platform specially designed for robots, and specifically, an AGV chassis can be used in cooperation with a Mecanum wheel or an omni-directional wheel. Control bases 2 are arranged on the platform body of the mobile mechanism 1 near the corners, adjusting rods 3 are rotatably arranged on the control bases 2, adjusting blocks 4 are fixedly connected to the adjusting rods 3, sensor mounting plates 5 are rotatably arranged on the side end surfaces of the adjusting blocks 4, and laser radars, infrared sensors, ultrasonic sensors, and photoelectric sensors are mounted on the sensor mounting plates 5. The sensors are used to realize the automatic line-patrolling movement of the mobile mechanism 1 between fish ponds in a fish farm. Control devices are arranged in the mobile mechanism 1, and the data of the sensors are transmitted to the control devices in the mobile mechanism 1 in real time. The control devices accurately calculate the distance and relative position of the mobile mechanism 1 from the boundaries of the fish ponds and obstacles according to the information fed back by the sensors. When the laser radar detects an obstacle in front, the control device quickly analyzes the size, shape, and position of the obstacle, and then adjusts the rotating direction and speed of the Mecanum wheel or the omni-directional wheel, so that the mobile mechanism 1 can flexibly avoid the obstacle and continue to move along the preset route. The infrared sensor is mainly used to detect the temperature change of the environment around the fish pond. The ultrasonic sensor can accurately detect the distance of an object within a short distance, which assists the laser radar in detecting and identifying obstacles and improves the obstacle avoidance capability of the mobile mechanism 1. The photoelectric sensor is used to identify the line-patrolling marks 100 on the ground of the fish farm, so that the mobile mechanism 1 can accurately move along the preset route without deviation.

[0042] During the moving process, the control base 2 is provided with a control motor one for controlling the rotation of the adjusting rod 3, the adjusting block 4 is provided with a control motor two for controlling the rotation of the sensor mounting plate 5, and various sensors on the sensor mounting plate 5 can adjust the detection range and angle according to the actual situation to adapt to different fish farm environments and line patrol requirements. When the moving mechanism 1 approaches the edge of the fish pond, the control device can control the adjusting rod 3 to tilt the sensor mounting plate 5 towards the fish pond, so that the sensor can more accurately detect the condition of the edge of the fish pond.

[0043] The moving mechanism 1 can also be equipped with a backup power supply system to ensure that the moving mechanism 1 can continue to work for a period of time when the main power supply fails. The backup power supply system will automatically start when the main power supply is insufficient or fails to provide the necessary power support for the moving mechanism 1, ensuring that it can safely return to the charging position for charging. At the same time, the moving mechanism 1 can also have a remote communication gateway, which can connect to a cloud platform through the remote communication gateway. Workers can remotely monitor the running state of the moving mechanism 1, sensor data and other information through mobile phones, computers and other terminal devices, and remotely control and set parameters. When the infrared sensor detects an abnormal temperature, the control device will record the position information and feedback the abnormal situation to the worker's mobile phone, computer and other terminal devices through the cloud platform, making it easier for workers to troubleshoot abnormal conditions.

[0044] As shown in Figure 6 The fish farm is evenly distributed with several fish ponds 200, and the line patrol mark 100 includes several evenly distributed and intersecting line patrol paths 101. The several line patrol paths 101 are arranged in a chessboard pattern, and the several line patrol paths 101 form a plurality of square areas. Each square area is provided with a circular cleaning path 102 concentrically surrounding the fish pond 200. The overlapping part of the adjacent cleaning path 102 and the line patrol path 101 is provided with a positioning area 103. There is a color difference between the positioning area 103, the cleaning path 102 and the line patrol path 101. For example, the line patrol path 101 is white, the cleaning path 102 is blue, and the positioning area 103 is red. The photoelectric sensor of the device uses a color-recognizable spectrum sensor. This spectrum sensor can accurately perceive the reflection of light of different colors through RGB three-color detection technology combined with a spectrometer, and accurately identify the color difference between the positioning area 103, the cleaning path 102 and the line patrol path 101. When the cleaning robot moves on the path of the fish farm, the spectrum sensor can feed back the detected color information to the control device in real time. The control device can determine whether the current position of the cleaning robot is the positioning area 103, the cleaning path 102 or the line patrol path 101 according to the preset color corresponding path information.

[0045] When the spectral sensor detects white light reflection, the control device determines that the cleaning robot is on the patrol path 101, and controls the robot to move along the patrol path 101 according to a preset patrol program, so as to comprehensively patrol the entire fish farm. If blue light reflection is detected, the control device controls the robot to enter the cleaning path 102 to clean the fish tank. When red light reflection is detected, it indicates that the cleaning robot has reached the positioning area 103, and at this time the control device controls the robot to calibrate the positioning pulley 16 and the positioning slide rail.

[0046] As shown in Figure 2 and Figure 4 The connecting rod 13 is fixedly connected with the mounting block one 15, and the positioning pulley 16 is rotatably arranged on the mounting block one 15. The positioning pulley 16 includes a pulley body 161, and the pulley body 161 is provided with a positioning groove 162. The fish tank 200 is provided with a circular positioning slide rail corresponding to the positioning pulley 16 at the opening edge of the fish tank 200. The positioning pulley 16 is slidably arranged on the positioning slide rail through the positioning groove 162.

[0047] The adjusting mechanical arm 8 is a telescopic mechanical arm, such as a hydraulic telescopic mechanical arm. An adjusting motor 9 is arranged at the connection between the adjusting mechanical arm 8 and the mounting chassis 7, and is used to control the rotation of the adjusting mechanical arm 8 relative to the mounting chassis 7. An adjusting motor 10 is arranged at the connection between the adjusting mechanical arm 8 and the connecting frame 11, and is used to control the rotation of the adjusting mechanical arm 8 relative to the connecting frame 11. Through the adjusting motor 9, the adjusting motor 10, and the telescopic adjusting mechanical arm 8, when the cleaning robot moves to the positioning area 103, since there is a color difference between the positioning area 103 and the cleaning path 102 and the patrolling path 101, the position of the moving mechanism 1 can be adjusted by the photoelectric sensor on the sensor mounting plate 5, so that the moving mechanism 1 is arranged at the middle of the adjacent fish tank 200, thereby facilitating the measurement of the distance between the positioning pulley 16 and the positioning slide rail. The mounting chassis 7 is driven to rotate by the chassis motor 6, so that the adjusting mechanical arm 8, the adjusting mechanical arm 17, and the cleaning mechanism are extended to one side of the fish tank 200. The telescopic length of the adjusting mechanical arm 8 is controlled, so that the positioning pulley 16 is lapped on the positioning slide rail. At the same time, the adjusting motor 9 and the adjusting motor 10 are controlled, so that the mounting seat 12 is always in a horizontal state, thereby enabling the positioning pulley 16 to be vertically arranged on the positioning slide rail. After the positioning pulley 16 is lapped on the positioning slide rail, the spring 143 is compressed, the trigger rod 144 is pressed against the pressure sensor 145, the pressure sensor 145 sends a signal, the adjusting motor 9, the adjusting motor 10, and the adjusting mechanical arm 8 all stop working, the lapping work is completed, the moving mechanism 1 starts to move along the cleaning path 102, and the inner wall of the fish tank 200 is cleaned by the cleaning mechanism. The positioning pulley 16 can be used as the fulcrum of the cleaning robot when cleaning the fish tank, so that the cleaning robot can clean the inner wall of the fish tank along the cleaning path, and effectively prevent the path from deviating during the cleaning process.

[0048] As Figure 1 And Figure 5As shown, the cleaning mechanism includes a slide rail 19, a slider 20, a mounting bracket 21, a mounting rod 22, and a cleaning brush 24. The slide rail 19 is fixedly connected to the mounting plate 18. The slider 20 is slidably mounted on the slide rail 19. The mounting bracket 21 is fixedly connected to the slider 20. The mounting rod 22 is fixedly connected to the mounting bracket 21. A second mounting block 23 is fixedly connected to the cleaning brush 24. The second mounting block 23 is fixedly connected to the mounting rod 22. The slide rail 19 and the slider 20 together constitute a sliding cylinder. The moving mechanism 1 is equipped with a mechanism for supplying air to the sliding cylinder. The pneumatic system of the source, by moving the slider 20 up and down on the slide rail 19, can expand the cleaning range of the fish pond 200. At the same time, it can drive the cleaning brush 24 up and down during cleaning, improving the cleaning effect of the fish pond 200. The second mechanical arm 17 is a multi-joint mechanical arm, which can flexibly adjust the position and angle of the cleaning mechanism. By adjusting the rotation of each joint of the second mechanical arm 17, the cleaning brush 24 can accurately reach each corner of the inner wall of the fish pond 200, and accurately deliver the cleaning brush 24 to the corners for cleaning.

[0049] The specific working process of the cleaning mechanism is as follows: When the moving mechanism 1 moves to the appropriate cleaning position of the fish pond 200, the pneumatic system starts to work, providing an air source for the slide cylinder. Driven by the air source, the slider 20 can slide up and down along the slide rail 19. As the slider 20 moves, the mounting bracket 21 fixedly connected to it also moves synchronously. The mounting bracket 21 drives the mounting rod 22 to move, and the mounting rod 22 is fixedly connected to the mounting block 23 on the cleaning brush 24. Therefore, the cleaning brush 24 will move up and down with the movement of the mounting bracket 21 and the mounting rod 22. During the up and down movement of the cleaning brush 24, the adjusting mechanical arm 2 17 begins to play its role. The control device can flexibly rotate and adjust the joints of the adjusting mechanical arm 2 17 according to the different positions and angles required on the inner wall of the fish pond 200. In this way, the cleaning brush 24 can accurately reach all corners of the inner wall of the fish pond 200, including some hard-to-reach edges and corners.

[0050] During the cleaning process, the cleaning brush 24 continuously moves up and down and adjusts its angle to continuously clean the inner wall of the fish pond 200. At the same time, the moving mechanism 1 can also make the cleaning robot slowly move around the fish pond 200 along the cleaning path 102 according to the progress of the cleaning and the actual situation, so that the cleaning mechanism can carry out a complete cleaning operation on the inner wall of the entire fish pond 200 to achieve a good cleaning effect and provide a clean and hygienic environment for the fish pond 200, which is conducive to the healthy growth of fish.

[0051] The movement control device of the cleaning robot comprises a processor, a memory and a bus, the processor and the memory can communicate with each other through the bus, the laser radar, the infrared sensor, the ultrasonic sensor, the pressure sensor 145 and the photoelectric sensor are electrically connected with the processor through the bus, the memory is a computer readable storage medium, which can be used to store software programs, computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the present disclosure. The processor executes the program instructions / modules stored in the memory to perform function applications and data processing, and realizes the movement control method of the cleaning robot in the following embodiments.

[0052] In combination with Figures 1 to 6 The cleaning robot shown in the embodiment of the present disclosure provides a movement control method of a cleaning robot, and the movement control method comprises the following steps:

[0053] Step one: deploy the cleaning robot in the fish farm 200, and move the cleaning robot along the patrol path 101;

[0054] Step two: when the cleaning robot moves to the positioning area 103, drive the installation chassis 7 to rotate by the chassis motor 6, extend the adjusting mechanical arm one 8, the adjusting mechanical arm two 17 and the cleaning mechanism to one side of the fish tank 200, and overlap the positioning pulley 16 on the positioning slide rail of one side of the fish tank 200 by controlling the extension length of the adjusting mechanical arm one 8;

[0055] Step three: the moving mechanism 1 starts to move along the cleaning path 102, and cleans the inner wall of the fish tank 200 by the cleaning mechanism;

[0056] Step four: the cleaning robot returns to the positioning area 103 in step two, repeats step two to overlap the positioning pulley 16 on the positioning slide rail of the other side of the fish tank 200, and moves along the cleaning path 102 of the fish tank 200 on the side to clean the inner wall of the fish tank 200 on the side;

[0057] Step five: the cleaning robot continues to move along the patrol path 101 to the next positioning area 103, and repeats the above steps until all the fish tanks 200 are cleaned.

[0058] In step two, the photoelectric sensor adjusts the position of the moving mechanism 1 through the color difference between the positioning area 103 and the cleaning path 102 and the line inspection path 101, so that the moving mechanism 1 is arranged at the middle of the adjacent fish tank 200, thereby facilitating the measurement of the distance between the positioning pulley 16 and the positioning slide rail, the positioning pulley 16 is overlapped on the positioning slide rail by controlling the extension length of the adjusting mechanical arm 8, and the mounting seat 12 is always in a horizontal state by cooperating with the adjusting motor 9 and the adjusting motor 10, so that the positioning pulley 16 can be vertically arranged on the positioning slide rail. After the positioning pulley 16 is overlapped on the positioning slide rail, the spring 143 is extruded, the trigger rod 144 extrudes the pressure sensor 145, the pressure sensor 145 sends a signal, the adjusting motor 9, the adjusting motor 10 and the adjusting mechanical arm 8 all stop working, the overlapping work is completed, and through the cooperation of the cleaning robot and the line inspection mark 100, the cleaning robot can realize autonomous movement between the fish tanks and can perform point cleaning on the fish tanks. The positioning area 103 is arranged at the intersection of the cleaning path 102 and the line inspection path 101, and the photoelectric sensor can realize the autonomous line inspection movement of the cleaning robot between the fish tanks, and the cleaning robot can also switch between the cleaning path 102 and the line inspection path 101, and can clean the fish tanks in different areas.

[0059] It should be noted that not all steps and modules in the above processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above embodiments can be a physical structure or a logical structure, that is, some modules can be implemented by the same physical entity, or some modules can be implemented by multiple physical entities, or they can be implemented by some components in multiple independent devices.

[0060] In the above embodiments, the hardware modules can be implemented mechanically or electrically. The above has shown and described the present application in detail through the drawings and preferred embodiments, however, the present application is not limited to these disclosed embodiments, and based on the above multiple embodiments, those skilled in the art can know that the code review means in the above different embodiments can be combined to obtain more embodiments of the present application, and these embodiments are also within the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that, include: A moving mechanism (1) is fixedly connected to a base frame motor (6). A mounting base (7) is provided on the drive end of the base frame motor (6). An adjusting mechanical arm (8) is rotatably connected to the mounting base (7). A connecting frame (11) is rotatably connected to the adjusting mechanical arm (8). A mounting seat (12) is fixedly connected to the connecting frame (11). An adjusting mechanical arm (17) is fixedly connected to the mounting seat (12). A mounting plate (18) is fixedly connected to the adjusting mechanical arm (17). A cleaning mechanism is provided on the mounting plate (18). Triggering mechanism (14) includes connecting plate one (141) and connecting plate two (142). A spring (143) is provided between connecting plate one (141) and connecting plate two (142). The upper end face of connecting plate two (142) is fixedly connected to the mounting base (12). A pressure sensor (145) is fixedly connected to the lower end face of connecting plate two (142). A trigger rod (144) is fixedly connected to the upper end face of connecting plate one (141). A connecting rod (13) is fixedly connected to the lower end face of connecting plate one (141). A positioning pulley (16) is provided at the lower end of the connecting rod (13). The positioning pulley (16) includes a pulley body (161), and a positioning groove (162) is provided on the pulley body (161). A circular positioning slide rail corresponding to the positioning pulley (16) is provided at the opening edge of the fish pond (200). The positioning pulley (16) can be slidably mounted on the positioning slide rail through the positioning groove (162). The patrol marker (100) includes several evenly distributed and intersecting patrol paths (101). The patrol paths (101) are arranged in a checkerboard pattern, and the patrol paths (101) form multiple square areas. Each square area is provided with a circular cleaning path (102). The overlapping part of the adjacent cleaning path (102) and the patrol path (101) is provided with a positioning area (103). The platform body of the mobile mechanism (1) is equipped with control bases (2) near the four corners. An adjustment rod (3) is rotatably mounted on the control base (2). An adjustment block (4) is fixedly connected to the adjustment rod (3). A sensor mounting plate (5) is rotatably mounted on the side end face of the adjustment block (4). The sensor mounting plate (5) is equipped with a lidar, an infrared sensor, an ultrasonic sensor, and a photoelectric sensor; The photoelectric sensor is a color-identifiable spectral sensor. The spectral sensor can feed back the detected color information to the control device in real time. The control device determines the current position of the cleaning robot as the positioning area (103), the cleaning path (102), or the line-following path (101) based on the preset color-corresponding path information.

2. A cleaning robot according to claim 1, characterized in that, The lidar, infrared sensor, ultrasonic sensor, pressure sensor (145), and photoelectric sensor are all electrically connected to the processor via a bus.

3. A cleaning robot according to claim 1, characterized in that, A sleeve rod (147) is fixedly connected to a connecting plate one (141), and a sleeve (146) is fixedly connected to a connecting plate two (142). The sleeve rod (147) is fitted inside the sleeve (146).

4. A cleaning robot according to claim 1, characterized in that, There are color differences between the positioning area (103), the cleaning path (102), and the patrol path (101).

5. A cleaning robot according to claim 1, characterized in that, A mounting block (15) is fixedly connected to the connecting rod (13), and a positioning pulley (16) is rotatably mounted on the mounting block (15).

6. A cleaning robot according to claim 1, characterized in that, Adjustable robotic arm one (8) is a telescopic robotic arm, and adjustable robotic arm two (17) is a multi-joint robotic arm.

7. A method for controlling the movement of a cleaning robot, wherein the cleaning robot is the cleaning robot according to any one of claims 1-6, characterized in that, include: Step 1: Deploy the cleaning robot in the fish pond (200), and the cleaning robot moves along the patrol path (101); Step 2: When the cleaning robot moves to the positioning area (103), the mounting base (7) is rotated by the base frame motor (6), and the adjustment robotic arm 1 (8), adjustment robotic arm 2 (17) and cleaning mechanism are extended to the fish pond (200) on one side. By controlling the extension and retraction length of the adjustment robotic arm 1 (8), the positioning pulley (16) is attached to the positioning slide rail of the fish pond (200) on one side. Step 3: The moving mechanism (1) begins to move along the cleaning path (102) and cleans the inner wall of the fish pond (200) through the cleaning mechanism; Step 4: The cleaning robot returns to the positioning area (103) in Step 2, repeats Step 2, attaches the positioning pulley (16) to the positioning rail of the fish pond (200) on the other side, and moves along the cleaning path (102) of the fish pond (200) on that side to clean the inner wall of the fish pond (200) on that side. Step 5: The cleaning robot continues to move along the patrol path (101) to the next positioning area (103) and repeats the above steps until all fish ponds (200) are cleaned.

8. The method for controlling the movement of a cleaning robot according to claim 7, characterized in that, In step two, the photoelectric sensor adjusts the position of the moving mechanism (1) by the color difference between the positioning area (103) and the cleaning path (102) and the patrol path (101), so that the moving mechanism (1) is set in the middle of the adjacent fish pond (200), which makes it easier to calculate the distance between the positioning pulley (16) and the positioning slide rail. By controlling the extension length of the adjusting robotic arm (8), the positioning pulley (16) is connected to the positioning slide rail. At the same time, the adjusting motor (9) and the adjusting motor (10) are coordinated to keep the mounting base (12) in a horizontal state, so that the positioning pulley (16) can be set vertically on the positioning slide rail. After the positioning pulley (16) is connected to the positioning slide rail, the spring (143) is squeezed, the trigger rod (144) squeezes the pressure sensor (145), the pressure sensor (145) sends a signal, and the adjusting motor (9), the adjusting motor (10) and the adjusting robotic arm (8) all stop working, and the connection work ends.

9. A motion control device for a cleaning robot, wherein the cleaning robot is the cleaning robot according to any one of claims 1-6, characterized in that, include: The mobile control device of a cleaning robot includes a processor, a memory, and a bus. The processor and memory can communicate with each other via the bus.

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