A cleaning control method and related equipment for a curtain wall cleaning robot

Abstract

This invention provides a cleaning control method and related equipment for a curtain wall cleaning robot, relating to the field of curtain wall cleaning robot technology. The method includes the following steps: acquiring the current operating environment information; based on the operating environment information, decomposing the cleaning process of the current area into multiple task breakdowns under various working conditions, obtaining multiple action tasks to be executed, and writing these multiple action tasks into a task list; based on the task list, controlling the execution component to complete the action tasks to be executed, wherein controlling the execution component includes controlling the movement of the roller brush by adaptively adjusting the cleaning length; the cleaning length serves as a quantitative parameter for the cleaning effect of the roller brush. The method of this invention aims to solve the problem in existing curtain wall cleaning robot cleaning control methods where the roller brush pressure remains constant and cannot adaptively adjust according to the differences in material and dirt adhesion in different areas of the curtain wall surface, resulting in poor cleaning effects and incomplete cleaning of certain areas, thus improving cleaning efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of curtain wall cleaning robot technology, and more specifically, to a cleaning control method and related equipment for a curtain wall cleaning robot. Background Technology

[0002] To improve the cleaning efficiency of curtain wall surfaces, reduce operational difficulty and costs, and enhance operational safety, curtain wall cleaning robots are widely used in curtain wall cleaning. Existing curtain wall cleaning robots are generally equipped with cleaning devices. As the robot climbs vertically along the curtain wall surface, the cleaning device cleans the surface along its path. The actuators in the cleaning device typically include roller brushes. The cleaning principle of the roller brushes is to adhere tightly to the curtain wall surface and then wipe away dirt by rotating at high speed. Existing roller brush control methods generally set the roller brushes to adhere tightly to the curtain wall surface with constant pressure and rotate at a constant speed, while coordinating with the robot's uniform vertical ascent and descent. The main purpose of operators using this constant pressure, constant speed, and uniform vertical ascent and descent control method is to ensure the stability of the roller brush cleaning effect, thereby avoiding incomplete cleaning of certain areas of the curtain wall.

[0003] However, this constant-volume control method is only suitable for curtain wall surfaces where the material is uniform throughout. When the material varies across different areas of the curtain wall surface, this method can actually lead to incomplete cleaning of certain areas. For example, when the roller brush comes into contact with a rougher surface, the dirt adheres more strongly to this rough surface. Cleaning with the set constant-volume control parameters cannot remove all the dirt; in fact, the higher coefficient of friction between the roller brush and the surface can cause the brush speed to decrease, further weakening the cleaning effect. For curtain walls with inconsistent materials in certain areas, the existing control method is clearly insufficient to meet the high cleaning requirements.

[0004] There is currently no effective technical solution to the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a cleaning control method and related equipment for a curtain wall cleaning robot, which aims to solve the problem that existing curtain wall cleaning robot cleaning control methods cannot guarantee consistent cleaning results when dealing with curtain walls of different materials, thereby improving cleaning efficiency and cleaning quality.

[0006] In a first aspect, the present invention provides a cleaning control method for a curtain wall cleaning robot, which is applied to the control system of the curtain wall cleaning robot. The curtain wall cleaning robot is equipped with a cleaning device, and the actuating component in the cleaning device includes a roller brush.

[0007] The cleaning control method for curtain wall cleaning robots includes the following steps:

[0008] S1. Obtain the current operating environment information;

[0009] S2. Based on the work environment information, the cleaning process in the current area is decomposed into multiple working conditions to obtain multiple action tasks to be executed, and these multiple action tasks to be executed are written into the task list.

[0010] S3. Based on the task list, control the execution component to complete the task to be performed. The control execution component includes controlling the movement of the roller brush by adaptively adjusting the cleaning length; the cleaning length serves as a quantitative parameter for the cleaning effect of the roller brush.

[0011] The cleaning control method for curtain wall cleaning robots of the present invention can decompose the cleaning process into multiple working conditions based on the working environment information and adaptively adjust the cleaning length of the roller brush, thereby effectively solving the problem that curtain wall cleaning robots in the prior art cannot adjust the cleaning parameters according to different curtain wall materials, resulting in poor cleaning effect, and improving the adaptability and effect of cleaning.

[0012] Furthermore, the specific steps in step S2 include:

[0013] S21. Based on the material type contained in the work environment information, determine the process parameters of each execution component in the cleaning device by searching the preset cleaning process database;

[0014] S22. Determine the splicing position of the curtain wall structure in the current area based on the splicing type contained in the work environment information;

[0015] S23. Measure the first relative distance between the splicing position and the robot body;

[0016] S24. Convert the first relative distance into a second relative distance between the splicing position and each actuator in the cleaning device;

[0017] S25. Based on the second relative distance, the cleaning process in the current area is decomposed into multiple working conditions to obtain multiple action tasks to be executed, and the execution order of each action task to be executed is determined.

[0018] S26. Write the tasks to be performed, their corresponding execution order, and the process parameters of the corresponding execution components into the task list.

[0019] Furthermore, in step S3, the step of controlling the movement of the roller brush by adaptively adjusting the cleaning length includes:

[0020] S3A1. Based on the working environment information, obtain the target length required for the roller brush to scrub the current area from the cleaning process database;

[0021] S3A2. Obtain the current roller brush speed and roller brush contact time;

[0022] S3A3. Calculate the current cleaning length of the roller brush based on the roller brush rotation speed and roller brush contact time;

[0023] S3A4. Compare the cleaning length and the target length to obtain the comparison results;

[0024] S3A5. If the comparison result shows that the cleaning length is less than the target length, increase the contact time of the roller brush until the cleaning length is not less than the target length. The steps to increase the contact time of the roller brush include: increasing the rotation speed of the rotor on the robot body or increasing the extension length of the roller brush to increase the normal pressure of the roller brush on the current area, thereby increasing the amount of roller brush deformation and thus increasing the contact time of the roller brush.

[0025] Furthermore, in step S3A5, the step of increasing the contact time of the roller brush also includes:

[0026] The contact time of the roller brush is increased by reducing the lifting and lowering speed of the roller brush.

[0027] Furthermore, step S3A5 includes the following:

[0028] S3A6. If the contact time of the roller brush reaches the maximum value but the cleaning length is still less than the target length, increase the roller brush speed until the cleaning length is not less than the target length.

[0029] Furthermore, the actuating components in the cleaning device also include a squeegee;

[0030] Based on the task list, the control execution component completes the task to be performed. The control execution component also includes controlling the movement of the wiper blade by adaptively adjusting the extension length of the wiper blade.

[0031] Furthermore, the steps for controlling the wiper blade movement by adaptively adjusting the extension length of the wiper blade include:

[0032] S3B1. Real-time monitoring of the working angle of the wiper blade, and when the working angle changes, obtaining the current extension length of the wiper blade, the working angle before the change, and the working angle after the change;

[0033] S3B2. Calculate the target extension length of the wiper blade based on its current extension length, working angle before the change, and working angle after the change;

[0034] S3B3. Control the extension and retraction of the wiper blade according to the target extension length.

[0035] Secondly, the present invention provides a cleaning control device for a curtain wall cleaning robot, which is applied to the control system of a curtain wall cleaning robot. The curtain wall cleaning robot is equipped with a cleaning device, and the actuating component in the cleaning device includes a roller brush.

[0036] The cleaning control device for the curtain wall cleaning robot includes:

[0037] The acquisition module is used to acquire information about the current operating environment.

[0038] The task module is used to break down the cleaning process of the current area into multiple working conditions based on the working environment information, obtain multiple action tasks to be executed, and write the multiple action tasks to be executed into the task list.

[0039] The execution module is used to control the execution components to complete the tasks to be performed based on the task list. The control of the execution components includes controlling the movement of the roller brush by adaptively adjusting the cleaning length; the cleaning length serves as a quantitative parameter for the cleaning effect of the roller brush.

[0040] The curtain wall cleaning robot cleaning control device provided by the present invention controls the movement of the roller brush through pressure adaptive adjustment, which can ensure that the roller brush always acts on the curtain wall surface with the best pressure, thereby ensuring the cleaning effect while avoiding unnecessary damage to the curtain wall surface.

[0041] Thirdly, the present invention provides an electronic device including a processor and a memory, the memory storing computer-readable instructions, which, when executed by the processor, perform the steps of the curtain wall cleaning robot cleaning control method provided in the first aspect above.

[0042] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the curtain wall cleaning robot cleaning control method provided in the first aspect above.

[0043] As can be seen from the above, the cleaning control method for curtain wall cleaning robots provided by this invention can intelligently adjust the cleaning process and the cleaning length of the roller brush according to the material type and splicing type of different areas of the curtain wall. This effectively solves the problem in existing curtain wall cleaning robots that use a constant-quantity control method and cannot guarantee consistent cleaning results when facing curtain walls of different materials. This method achieves adaptability in the cleaning process, ensuring ideal cleaning results in various complex curtain wall environments, and significantly improving cleaning efficiency and thoroughness.

[0044] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0045] Figure 1 This is a flowchart of a curtain wall cleaning robot cleaning control method provided in an embodiment of the present invention.

[0046] Figure 2 This is a schematic diagram of the cleaning length in an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram of the target extension length in an embodiment of the present invention.

[0048] Figure 4 This is a schematic diagram of a cleaning control device for a curtain wall cleaning robot provided in an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0050] Label Explanation:

[0051] 100. Acquisition module; 200. Task module; 300. Execution module; 400. Scroll brush; 13. Electronic device; 1301. Processor; 1302. Memory; 1303. Communication bus. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0053] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] Please refer to Figure 1 , Figure 1 This is a flowchart of a cleaning control method for a curtain wall cleaning robot. This cleaning control method is applied to the control system of a curtain wall cleaning robot, which is equipped with a cleaning device. The actuators in the cleaning device include water spray strips, roller brushes, and squeegee strips.

[0055] The cleaning control method for curtain wall cleaning robots includes the following steps:

[0056] S1. Obtain the current working environment information through visual recognition; the working environment information includes the material type and splicing type of the curtain wall structure in the current area;

[0057] S2. Based on the work environment information, the cleaning process in the current area is decomposed into multiple working conditions to obtain multiple action tasks to be executed, and these multiple action tasks to be executed are written into the task list.

[0058] S3. Based on the task list, control the execution component to complete the task to be performed. The control execution component includes controlling the movement of the roller brush by adaptively adjusting the cleaning length. The cleaning length is used as a quantitative parameter of the cleaning effect of the roller brush. The larger the cleaning length value, the better the cleaning effect of the roller brush. The smaller the cleaning length value, the worse the cleaning effect of the roller brush.

[0059] This application introduces visual recognition technology to acquire information about the working environment and decomposes the cleaning process into multiple working conditions based on this information. This enables adaptive control of the actuators in the cleaning device, especially the adaptive adjustment of the roller brush movement. (In practical applications, the cleaning length is related to the deformation, rotation speed, and lifting speed of the roller brush. By adaptively adjusting the deformation, rotation speed, and lifting speed, the system can directly control the cleaning effect of the roller brush. The system can also directly evaluate and monitor the cleaning effect of the roller brush based on the cleaning length, thus forming a closed-loop control and feedback mechanism.) This ensures that ideal cleaning results can be achieved under different curtain wall materials and splicing types.

[0060] To better understand the technical solution proposed in this application, some key terms and implementation environments involved are first explained. The curtain wall cleaning robot involved in this application uses a control system as the application carrier of this method. This robot typically has the ability to climb on the curtain wall surface and is equipped with a cleaning device. The cleaning device is the component that directly contacts the curtain wall surface and performs the cleaning operation. Its execution components specifically include water spray strips, roller brushes, and squeegees. Water spray strips are used to spray cleaning agents and water, roller brushes are used to scrub the curtain wall surface, and squeegees are used to remove wastewater. The operating environment information refers to the structural characteristics of the curtain wall in the current cleaning area, including the type of curtain wall material (e.g., glass, metal, stone, etc.) and the splicing type (e.g., flat splicing, uneven splicing, etc.). The cleaning length is a quantitative parameter measuring the cleaning effect of the roller brush; its value directly reflects the thoroughness of the cleaning.

[0061] The core of the curtain wall cleaning robot cleaning control method in this application lies in achieving adaptive adjustment of the cleaning process through intelligent control strategies.

[0062] In step S1, the current working environment information is obtained through visual recognition. Visual recognition technology can be implemented in various ways. For example, a high-definition camera can be installed on the curtain wall cleaning robot to capture images or videos of the curtain wall surface in real time. Then, image processing and pattern recognition algorithms can be used to analyze the images to identify the material type and splicing type of the curtain wall structure. As another implementation method, the curtain wall surface can be scanned using LiDAR or ultrasonic sensors to obtain three-dimensional structural data of the curtain wall surface, and then the material type and splicing type can be analyzed. For example, for glass curtain walls, their reflectivity and light transmittance are significantly different from those of metal or stone curtain walls. By analyzing these optical properties, the material type can be identified. For the splicing type, it can be determined by identifying gaps, protrusions, or depressions on the curtain wall surface, such as whether it is a smooth glass splice or a metal plate splice with protruding edges. As another implementation method, the working environment information can also be obtained from a pre-established curtain wall structure database. After the robot determines its own position through the positioning system, it queries the database for the corresponding curtain wall material type and splicing type.

[0063] In step S2, based on the acquired work environment information, the cleaning process for the current area is broken down into multiple task segments to be executed, and these tasks are written into a task list. For example, if the current area is identified as a glass curtain wall with smooth joints, the system may generate a series of task segments such as "spraying glass-specific cleaner," "lightly scrubbing with a roller brush," and "scraping clean with a squeegee in one go." If the area is identified as an uneven metal joint, different task segments may be generated such as "spraying metal-specific cleaner," "focused scrubbing with a roller brush," and "scraping water in sections with a squeegee." If the curtain wall material is identified as rough stone, different task segments may be generated such as "spraying a powerful detergent with a sprayer," "deep scrubbing with a roller brush at high pressure and high speed," and "not scraping water with a squeegee." After these tasks are decomposed, they are stored in the task list, waiting to be executed.

[0064] In step S3, based on the task list, the execution component is controlled to complete the tasks to be performed, including controlling the movement of the roller brush by adaptively adjusting the cleaning length. Adaptive adjustment of the cleaning length is one of the key innovations of this application. For example, during the cleaning process, the current cleaning length can be calculated by real-time monitoring parameters such as the roller brush's rotational speed, contact time, and the normal pressure of the roller brush on the curtain wall (e.g., by increasing the rotational speed of the rotor on the robot body or increasing the extension length of the roller brush to increase the normal pressure of the roller brush on the current area). If the calculated cleaning length does not achieve the preset target cleaning effect, the system can automatically adjust the roller brush's motion parameters. For example, the contact time between the roller brush and the curtain wall can be increased, or the rotational speed of the roller brush can be increased to enhance the cleaning effect until the cleaning length reaches or exceeds the target value. This adaptive adjustment mechanism ensures that the roller brush provides the best cleaning effect under different cleaning conditions, avoiding the problem of incomplete cleaning in complex environments caused by traditional constant-volume control methods.

[0065] The curtain wall cleaning robot cleaning control method of this application acquires the current working environment information, including the material type and splicing type of the curtain wall structure, by introducing visual recognition technology. Based on this detailed working environment information, the system can perform refined multi-condition task breakdown of the cleaning process, generate a series of actions to be executed, and write them into a task list. Subsequently, the control system precisely controls the execution components in the cleaning device according to the task list, especially controlling the movement of the roller brush by adaptively adjusting the cleaning length. The cleaning length serves as a quantitative parameter of the roller brush cleaning effect, and its value directly reflects the thoroughness of the cleaning. When the system detects a change in the curtain wall material or splicing type, it can adjust the cleaning parameters of the roller brush in real time, such as increasing the roller brush contact time or increasing the roller brush speed, to ensure that the expected cleaning effect is achieved under different working conditions. This method effectively solves the problem of poor cleaning effect of the constant quantity control method in the prior art when facing complex and variable curtain wall environments, and significantly improves the thoroughness and efficiency of cleaning.

[0066] Compared with existing technologies, the core innovation of this application lies in its intelligent and adaptive control of the cleaning process. Traditional curtain wall cleaning robots typically employ constant pressure, constant speed, and uniform lifting and lowering methods. While this approach performs adequately when the curtain wall material is uniform, its cleaning effect is often unsatisfactory when dealing with curtain walls of different materials or complex splicing types. For example, when the roller brush encounters a rougher surface, the adhesion of dirt increases, and constant-volume control may lead to incomplete cleaning. This application, by introducing visual recognition technology, can acquire real-time information about the working environment, such as the material type and splicing type of the curtain wall, and break down the cleaning process into multiple working conditions based on this information. This refined task breakdown allows the cleaning process to be adjusted according to actual working conditions. For example, the cleaning pressure and water spray parameters of the roller brush can be adjusted for different material types, and the extension length of the roller brush and the working angle of the squeegee can be adjusted for splicing types. More importantly, this application controls the movement of the roller brush by adaptively adjusting the cleaning length, ensuring optimal cleaning results under any working condition. This adaptive adjustment mechanism compares the real-time calculated cleaning length with the target length and dynamically adjusts the contact time or rotation speed of the roller brush, effectively avoiding the problem of incomplete cleaning in complex environments caused by traditional constant-volume control methods. Therefore, the technical solution of this application significantly improves the intelligence level and cleaning effect of the curtain wall cleaning robot, and has higher practical value and technological advancement.

[0067] In some embodiments, the specific steps in step S2 include:

[0068] S21. Based on the material type contained in the work environment information, determine the process parameters of each executing component in the cleaning device by searching the preset cleaning process database; the process parameters include the cleaning pressure of the roller brush, the spray parameters of the water spray bar, and the wiping parameters of the squeegee; the spray parameters include the type of cleaning agent, water volume, spray angle, and duration; the squeegee parameters include the squeegee pressure;

[0069] S22. Determine the splicing position of the curtain wall structure in the current area based on the splicing type contained in the work environment information;

[0070] S23. Measure the first relative distance between the splicing position and the robot body;

[0071] S24. Convert the first relative distance into a second relative distance between the splicing position and each actuator in the cleaning device;

[0072] S25. Based on the second relative distance, the cleaning process in the current area is decomposed into multiple working conditions to obtain multiple action tasks to be executed, and the execution order of each action task to be executed is determined.

[0073] S26. Write the tasks to be performed, their corresponding execution order, and the process parameters of the corresponding execution components into the task list.

[0074] Specifically, in step S21, the material type included in the work environment information is used to retrieve the corresponding process parameters from a preset cleaning process database. The cleaning process database can be understood as a set of pre-set cleaning parameters for different curtain wall materials (e.g., glass, metal, stone, composite materials, etc.). These process parameters are designed to ensure that each component in the cleaning device, including the spray bar, roller brush, and squeegee, operates in a manner best suited to the current material. For example, the cleaning pressure of the roller brush can be adjusted according to the material's hardness and abrasion resistance to avoid damaging the curtain wall surface; the spray parameters of the spray bar, including the type of cleaning agent, water volume, spray angle, and duration, can be optimized according to the type of dirt and material characteristics to improve cleaning efficiency; and the squeegee pressure can be set according to the material's smoothness and drying requirements.

[0075] In step S22, based on the splicing type included in the work environment information, the system can identify and determine the splicing positions of the curtain wall structure in the current area. The splicing type can refer to the connection method between curtain wall units, such as silicone sealant, metal strips, dry-hanging joints, etc. Determining the splicing positions aims to allow for special treatment or avoidance of these sensitive areas during subsequent cleaning processes, preventing damage to the splicing structure from the cleaning equipment.

[0076] In step S23, once the splicing positions are determined, the robot body measures a first relative distance between itself and these splicing positions. The first relative distance refers to the spatial distance between the robot body's reference point and the splicing position. Subsequently, in step S24, this first relative distance is converted into a second relative distance between the splicing position and each actuator in the cleaning device. This conversion is necessary because the actuators of the cleaning device (such as rollers, spray strips, and squeegees) are typically located at specific positions on the robot body, and their actual effective distance from the splicing position may differ from the robot body's reference point. By accurately calculating the second relative distance, it can be ensured that the cleaning device can accurately adjust its movements when approaching or crossing the splicing position.

[0077] In step S25, based on the calculated second relative distance, the system decomposes the cleaning process for the current area into multiple task segments. This means that the cleaning task is no longer a single, homogeneous process, but is broken down into multiple specific action tasks to be performed according to different areas of the curtain wall (e.g., ordinary areas, splicing areas) and their corresponding process parameters. For example, in ordinary glass areas, a combined task of "high-pressure water spray + roller brush scrubbing + squeegee" may be performed, while in splicing areas, a special task of "low-pressure water spray + roller brush avoidance + gentle squeegee" may be performed. For example, the actions of the roller brush may include speed adjustment, contact area adjustment, forward and reverse rotation start, etc.; the actions of the water spray bar may include pressure adjustment, water spray angle adjustment, swing execution, etc.; and the actions of the squeegee bar may include squeegee extension adjustment, squeegee obstacle avoidance execution, etc. By pre-determining the execution sequence, it can be ensured that the necessary preparations (such as parameter adjustments and extension / retraction) are completed before the executing components reach their specific positions. This enables rapid response and improves cleaning efficiency. For example, if the robot identifies the splicing position at the first relative distance and determines that the material of the next area is different, the system will then determine the second relative distance of each executing component. Based on preset rules, the system will determine the tasks to be performed by each executing component. For instance, preset rules may stipulate that the roller brush should adjust its speed when the second relative distance is less than 1.5 meters, the water spray strip should adjust its spray angle when the second relative distance is less than 1 meter, and the squeegee should adjust its speed when the second relative distance is less than 0.5 meters. When the distance reaches a certain distance, the robot must perform a water-scraping obstacle avoidance maneuver. If the actual second relative distance meets the condition, the control unit performs the corresponding action. If the actual second relative distance does not meet the condition, it is determined as a task to be executed. The execution order of the tasks to be executed is independent of the physical position of each execution unit, and only depends on the second relative distance. For example, if the physical position of the water spray bar is at the top of the robot body, the physical position of the roller brush is in the middle of the robot body, and the physical position of the water scraper is at the bottom of the robot body, then, as the robot approaches the splicing position, the first action is to adjust the rotation speed of the roller brush, then the water spray bar is to adjust the spray angle, and finally the water scraper is to avoid obstacles. Finally, in step S26, these disassembled tasks to be executed, their corresponding execution order, and the process parameters of the corresponding execution units are written into the task list for subsequent execution modules to call.

[0078] This application's solution, by introducing a cleaning process database, accurately identifying splicing positions, and performing distance conversion, enables the curtain wall cleaning robot to perform a more refined and intelligent multi-condition task breakdown of the cleaning process based on the material type and splicing type of the working environment. Specifically, by searching the cleaning process database, the robot can automatically match the most suitable cleaning parameters for curtain walls made of different materials, avoiding errors from empirical judgment and the tediousness of manual adjustments. Simultaneously, by measuring and converting the relative distance between the splicing position and the execution component, the robot can accurately identify and handle sensitive splicing areas of the curtain wall, thereby ensuring cleaning effectiveness while effectively avoiding potential damage to the curtain wall structure. Thus, the task breakdown process becomes more automated, precise, and adaptable.

[0079] Through the aforementioned technical solutions, the cleaning control method for curtain wall cleaning robots can significantly improve the intelligence and adaptability of cleaning operations. This method can automatically adjust cleaning strategies and parameters based on differences in curtain wall materials and splicing types, thereby achieving precise cleaning of different curtain wall structures and effectively avoiding problems such as incomplete cleaning or curtain wall damage caused by improper cleaning parameters. Furthermore, through a pre-set cleaning process database and precise handling of splicing positions, the need for manual intervention is greatly reduced, improving cleaning efficiency and operational safety, enabling the cleaning robot to complete complex curtain wall cleaning tasks more autonomously and efficiently.

[0080] In some preferred embodiments, it is assumed that the curtain wall cleaning robot is cleaning a curtain wall composed of glass panels and aluminum alloy frames.

[0081] First, in step S21, the work environment information obtained through visual recognition shows that the material type of the current area is "glass". The system will search the cleaning process database to determine the cleaning parameters for the glass curtain wall. For example, the cleaning pressure of the roller brush is set to medium, the spray parameters of the water spray bar are set to use neutral cleaning agent, appropriate amount of water, 45-degree spray angle and 10-second duration, and the squeegee pressure is set to moderate.

[0082] Next, in step S22, the splicing type included in the work environment information is "aluminum alloy frame splicing". The system will determine the splicing position of the aluminum alloy frame in the current area of ​​the curtain wall structure based on the recognition result.

[0083] Subsequently, in step S23, the robot body measures a first relative distance between itself and the splicing locations of these aluminum alloy frames. For example, the center point of the robot body is 50 centimeters away from a certain splicing seam.

[0084] In step S24, the first relative distance is converted into a second relative distance between the various actuators (such as roller brushes, spray strips, and squeegees) in the cleaning device and the splicing position. For example, if the roller brush is located 10 centimeters in front of the robot body, the second relative distance between the roller brush and the splicing seam is 40 centimeters.

[0085] Based on these second relative distances, in step S25, the system breaks down the cleaning process for the current area into multiple task breakdowns. For example, for glass areas far from the seam, the task is broken down into "spraying water, scrubbing with a roller brush, and squeegeeing according to glass cleaning parameters"; while for areas less than the diameter of the roller brush from the seam, the task is broken down into special processing tasks such as "reducing the roller brush pressure, decreasing the water spray angle, and gently squeegeeing to avoid the seam." Simultaneously, the execution order of these tasks is determined, for example, cleaning large glass areas first, followed by detailed processing of the seam area.

[0086] Finally, in step S26, all these tasks to be performed, their corresponding execution order, and the corresponding process parameters of the execution components (such as the normal parameters of the glass area and the special parameters of the splicing area) are written into the task list for the robot control system to execute in sequence.

[0087] In some embodiments, reference is made to the appendix. Figure 2 In step S3, the step of controlling the movement of the roller brush by adaptively adjusting the cleaning length includes:

[0088] S3A1. Based on the work environment information, obtain the target length required for the roller brush to scrub the current area from the cleaning process database; the required cleaning effect is quantified as the target length (the target length is obtained from experience or through experimental verification).

[0089] S3A2. Obtain the current roller brush speed and roller brush contact time;

[0090] S3A3. Calculate the current cleaning length of the roller brush 400 based on the roller brush rotation speed and roller brush contact time; the cleaning length represents the current cleaning effect; specifically, it is calculated according to the following formula:

[0091] ;

[0092] ;

[0093] ;

[0094] ;

[0095] in, For cleaning length, The rotational speed of the roller brush. For the circumference of the roller brush, For the contact time of the roller brush, For the radius of the roller brush, This refers to the contact length of the roller brush. For the roller brush lifting speed, The amount of deformation of the roller brush (the amount of deformation can be determined by monitoring the distance between the center of rotation of the roller brush and the surface of the curtain wall using a sensor);

[0096] S3A4. Compare the cleaning length and the target length to obtain the comparison results;

[0097] S3A5. If the comparison result shows that the cleaning length is less than the target length, increase the brush contact time until the cleaning length is not less than the target length. The steps to increase the brush contact time include: increasing the rotation speed of the rotor on the robot body or increasing the extension length of the brush to increase the normal pressure of the brush on the current area, thereby increasing the amount of brush deformation and thus increasing the brush contact time. The robot body is equipped with a rotor and a first telescopic device for controlling the extension and retraction of the brush. Both can change the normal pressure of the brush on the current area, thereby causing the brush to deform and thus affecting the amount of brush deformation. It should be noted that the two can work together on the brush. For example, after the brush extends, it may push up the robot body, causing the brush to fail to achieve the expected amount of deformation. At this time, the rotor can be used to compensate for the normal pressure, thereby ensuring that the amount of brush deformation reaches the expected level, and thus ensuring that the brush contact time is increased (refer to the calculation formula below, which shows that the amount of brush deformation d is proportional to the brush contact time).

[0098] Specifically, in step S3A1, the target length refers to the theoretical cleaning distance or coverage area that the roller brush needs to achieve under specific cleaning area and curtain wall material conditions, used to quantify the required cleaning effect. This target length can be pre-stored in the cleaning process database and retrieved based on parameters such as material type in the operating environment information. In step S3A2, the roller brush rotation speed refers to the speed at which the roller brush rotates during the cleaning process, and the roller brush contact time refers to the actual contact time between the roller brush and the curtain wall surface for wiping. These parameters can be acquired in real time by sensors on the robot itself. In practical applications, in step S3A3, the cleaning length can be understood as the actual cleaning distance or coverage area completed by the roller brush at the current rotation speed and contact time, which can intuitively reflect the current cleaning effect. For example, the cleaning length can be calculated by multiplying the roller brush rotation speed and the roller brush contact time, combined with parameters such as the effective diameter of the roller brush. Further, in step S3A4, the comparison result is used to determine whether the current cleaning effect meets expectations. If the cleaning length is less than the target length, it indicates that the current cleaning effect is insufficient and adjustments are needed. In a preferred implementation, in step S3A5, if the comparison results show that the cleaning length is less than the target length, it indicates that the current cleaning effect has not met expectations. In this case, measures need to be taken to increase the brush contact time until the cleaning length is not less than the target length. Increasing the brush contact time can be achieved in several ways. Specifically, the positive pressure of the robot body on the curtain wall surface can be increased by increasing the rotational speed of the rotor on the robot body. The robot body is equipped with rotors to provide positive pressure, which ensures that the robot body is tightly attached to the curtain wall surface, thereby making the contact between the brush and the curtain wall more sufficient, increasing the deformation of the brush, and thus extending the actual contact time between the brush and the curtain wall. Alternatively, the extension length of the brush can be increased to allow it to contact the curtain wall surface more deeply, which can also increase the deformation and contact time of the brush.

[0099] This application's solution addresses the uncertainty in cleaning effectiveness inherent in traditional pressure adaptive regulation by introducing a quantitative evaluation and feedback adjustment mechanism for cleaning results. Specifically, a clear quantitative standard for the cleaning effect of the roller brush is set by obtaining the target length from a cleaning process database. Subsequently, by acquiring the roller brush rotation speed and contact time in real time and calculating the current cleaning length, real-time monitoring of the actual cleaning effect is achieved. When the comparison reveals that the cleaning length has not reached the target length, the system can intelligently increase the roller brush contact time. This increase in contact time, for example by increasing the rotation speed of the rotor on the robot body or increasing the extension length of the roller brush, increases the normal pressure of the roller brush on the current area, thereby increasing the amount of roller brush deformation and ensuring more sufficient contact between the roller brush and the curtain wall surface. This effectively improves the cleaning effect and ensures that the cleaning quality meets the preset target.

[0100] Through the above technical solution, this application enables precise and adaptive control of the roller brush movement of a curtain wall cleaning robot, significantly improving the thoroughness and efficiency of cleaning. By quantifying the cleaning effect into target length and cleaning length, and establishing a feedback adjustment mechanism based on the comparison between the two, the cleaning process of the roller brush is no longer a simple pressure adjustment, but can be intelligently optimized according to the actual cleaning effect. This effect-based feedback adjustment method can effectively avoid under-cleaning or over-cleaning, thereby ensuring cleaning quality while saving energy and cleaning agents and extending the service life of the roller brush. Especially when facing different levels of stains and curtain wall materials, this method can ensure that the roller brush is always cleaning in optimal condition, thereby obtaining stable and excellent cleaning results.

[0101] In some preferred embodiments, suppose the curtain wall cleaning robot is cleaning a glass curtain wall area, the degree of soiling of which is identified as moderate. Based on a pre-set cleaning process database, the system determines that the target length required for the roller brush to clean this area is 100 cm. During the initial cleaning process, the system obtains the current roller brush rotation speed as 50 RPM and the roller brush contact time as 2 seconds, calculating a cleaning length of 80 cm. Since the cleaning length of 80 cm is less than the target length of 100 cm, the system judges that the current cleaning effect is insufficient. At this time, the control system issues a command to increase the rotation speed of the rotor on the robot body, for example, from 2000 RPM to 2500 RPM. The increase in rotor speed increases the normal pressure of the robot body on the curtain wall surface, thereby increasing the deformation of the roller brush and the actual contact time between the roller brush and the curtain wall surface. The system continuously monitors and adjusts until the cleaning length of the roller brush reaches or exceeds 100 cm, for example, 105 cm. At this point, the system considers the cleaning effect to be satisfactory and continues to execute subsequent tasks. In this way, it is ensured that the roller brush achieves the expected cleaning effect under different cleaning conditions.

[0102] In some embodiments, step S3A5, the step of increasing the brush contact time, further includes:

[0103] The contact time of the roller brush is increased by reducing the lifting and lowering speed of the roller brush.

[0104] Specifically, the roller brush's lifting and lowering speed refers to the speed at which the roller brush moves vertically across the curtain wall surface. When the roller brush is scrubbing the curtain wall surface, the contact time between it and the surface is a key factor affecting the cleaning effect. By reducing the roller brush's lifting and lowering speed, i.e., slowing down its movement across the curtain wall surface, the roller brush can remain on a unit area for a longer period, effectively increasing the contact time between the roller brush and the curtain wall surface. This method complements the method of increasing contact time by increasing the positive pressure of the roller brush, providing another adjustment means to achieve a more refined cleaning effect.

[0105] The solution of this application prolongs the residence time of the rotary brush on the curtain wall surface by reducing the lifting speed of the rotary brush. Due to the increased residence time of the rotary brush in a specific area, the friction between the rotary brush and the curtain wall surface and the action time of the cleaning agent are correspondingly increased. Thus, without additionally increasing the normal pressure of the rotary brush or when the normal pressure has reached the upper limit, the cleaning effect can still be effectively improved, compensating for the possible limitations of solely adjusting the normal pressure.

[0106] Through the above technical solution, when it is necessary to further improve the cleaning effect, in addition to adjusting the normal pressure of the rotary brush, the contact time of the rotary brush can also be increased by reducing the lifting speed of the rotary brush, so as to achieve a more thorough and uniform cleaning. This multi-dimensional adjustment method enhances the flexibility and adaptability of the cleaning control method, especially suitable for cleaning stubborn stains or curtain walls made of special materials, effectively avoiding the problem of incomplete cleaning caused by insufficient single adjustment means, and improving the cleaning efficiency and quality.

[0107] In some preferred embodiments, when the curtain wall cleaning robot discovers during the cleaning process through step S3A4 that the cleaning length is less than the target length, and the maximum normal pressure has been reached by increasing the rotation speed of the rotors on the robot body, but the cleaning effect still fails to meet the standard, the control system can further issue an instruction to reduce the lifting speed of the rotary brush from the preset V1 to V2 (where V2 < V1). For example, if the initial lifting speed is 0.1 m / s, it can be reduced to 0.05 m / s. By reducing the lifting speed of the rotary brush, the residence time of the rotary brush in the unit area of the curtain wall surface increases, enabling the rotary brush to scrub the area for a longer time, thus effectively increasing the contact time of the rotary brush until the cleaning length is not less than the target length, ensuring that the cleaning effect meets the standard.

[0108] In certain embodiments, after step S3A5, it further includes:

[0109] S3A6. If the contact time of the rotary brush reaches the maximum value but the cleaning length is still less than the target length, increase the rotation speed of the rotary brush until the cleaning length is not less than the target length.

[0110] Specifically, when the roller brush contact time reaches its maximum value, it means that increasing the roller brush's normal pressure by increasing the rotor speed on the robot body, thereby increasing the roller brush deformation, can no longer further increase the contact area or contact time between the roller brush and the curtain wall surface. Under this critical condition, if the calculated cleaning length still does not reach the preset target length, a new adjustment mechanism needs to be introduced. At this point, this application chooses to compensate for the insufficient cleaning effect by increasing the roller brush speed. Increasing the roller brush speed can be understood as increasing the number or frequency of times the roller brush scrubs the curtain wall surface per unit time, thereby improving the intensity and efficiency of mechanical scrubbing without changing the contact time or contact area. This process will continue until the calculated cleaning length is not less than the target length to ensure that the expected cleaning effect is achieved.

[0111] This application's solution effectively solves the problem that simply increasing the brush contact time may not be enough to achieve the target cleaning effect by introducing a brush speed adjustment mechanism after the brush contact time has reached its maximum value. When the brush contact time cannot be increased further due to physical limitations or having reached its maximum value, increasing the brush speed becomes an effective alternative. Increasing the brush speed means that the brush bristles rub against the curtain wall surface more frequently per unit time, thus more effectively removing stubborn stains or achieving deeper cleaning within a limited contact time. This mechanism ensures that even when one adjustment dimension (contact time) reaches its limit, another dimension (speed) can still be adjusted, thereby guaranteeing the robustness of the cleaning control method and the reliability of the cleaning effect.

[0112] Through the above technical solution, this application can further improve the adaptability and cleaning effect of the curtain wall cleaning robot's cleaning control method. Especially when facing some stubborn stains or special curtain wall materials, and when increasing the contact time of the roller brush is no longer sufficient to meet the cleaning requirements, the introduction of an adjustment method to increase the roller brush speed can effectively compensate for the limitations of a single adjustment method. Therefore, this application ensures that the curtain wall cleaning robot can achieve or exceed the expected cleaning effect under various complex cleaning conditions, significantly improving the thoroughness and efficiency of cleaning, avoiding the need for secondary operations due to incomplete cleaning, thereby reducing operating costs and improving user satisfaction.

[0113] In some embodiments, the actuating components in the cleaning apparatus further include a squeegee;

[0114] Based on the task list, the control execution component completes the task to be performed. The control execution component also includes controlling the movement of the wiper blade by adaptively adjusting the extension length of the wiper blade. The robot body is equipped with a second telescopic device for controlling the extension and retraction of the wiper blade, which ensures that the wiper blade is in close contact with the curtain wall surface.

[0115] In practical applications, the robot body may tilt due to the movement of its actuators or external environmental factors. For example, an extended brush may push up the robot body, causing it to tilt; the robot may have left and right casters, and their alternating movement may cause tilting; or wind may cause the robot to tilt. In these situations, the wiper blade may not be able to maintain contact with the curtain wall surface at its original extension length, rendering it ineffective. "Adaptive adjustment of the wiper blade's extension length" can be understood as dynamically adjusting the wiper blade's extension length based on its actual changes to maintain contact with the curtain wall surface. This ensures the wiper blade can effectively remove water stains and residues from the curtain wall surface. In practical applications, the wiper blade's extension length can be precisely controlled by a drive mechanism, such as a stepper motor or hydraulic / pneumatic device, combined with sensor feedback for closed-loop adjustment.

[0116] This application's solution addresses the limitations of existing squeegee motion control by introducing an adaptive adjustment mechanism for the squeegee strip. Specifically, by adaptively adjusting the extension length of the squeegee strip, it ensures optimal contact with the curtain wall surface under various operating conditions. When there are localized unevenness on the curtain wall surface or slight changes in the robot's posture during climbing, the extension length of the squeegee strip can be dynamically adjusted to maintain stable contact with the curtain wall surface. This allows the squeegee strip to more effectively remove water stains and cleaning agent residue, avoiding incomplete wiping caused by poor contact.

[0117] Through the above technical solutions, the cleaning control method for curtain wall cleaning robots can achieve precise and adaptive control of the squeegee movement. This not only significantly improves the thoroughness and consistency of the squeegee operation and effectively reduces the generation of watermarks and residues, but also comprehensively improves the cleaning quality of the curtain wall.

[0118] In some embodiments, reference is made to the appendix. Figure 3 The steps for controlling the movement of the wiper blade by adaptively adjusting the extension length of the wiper blade include:

[0119] S3B1. Real-time monitoring of the working angle of the wiper blade, and when the working angle changes, obtaining the current extension length of the wiper blade, the working angle before the change, and the working angle after the change;

[0120] S3B2. Calculate the target extension length of the wiper blade based on its current extension length, working angle before the change, and working angle after the change; specifically, calculate using the following formula:

[0121] ;

[0122] in, Extend the length to the target. This is the distance between the wiper blade and the center of rotation along the vertical direction. This refers to the working angle of the wiper blades before the change. This is the current extension length of the wiper blade. This refers to the changed working angle of the wiper blades;

[0123] S3B3. Control the extension and retraction of the wiper blade according to the target extension length.

[0124] The step of controlling the movement of the wiper strip by adaptively adjusting its extension length is further refined. In step S3B1, the system is configured to monitor the working angle of the wiper strip in real time. The working angle refers to the angle between the wiper strip and the curtain wall surface, which directly affects the wiping effect and wear of the wiper strip. When a change in the working angle is detected, the system immediately obtains the current extension length of the wiper strip, the working angle before the change, and the working angle after the change. These parameters are the basis for subsequent calculations and adjustments.

[0125] In step S3B2, based on the current extension length of the wiper strip obtained in step S3B1, the working angle before the change, and the working angle after the change, the system calculates the target extension length of the wiper strip. The target extension length aims to ensure that the wiper strip maintains optimal contact with the curtain wall surface at the new working angle, thereby achieving an efficient and uniform wiping effect. The calculation process can be based on a preset geometric model, empirical formulas, or lookup tables to ensure that the wiper strip maintains appropriate contact pressure and wiping width at different angles.

[0126] Subsequently, in step S3B3, based on the calculated target extension length, the system controls the wiper blade to extend and retract. The extension and retraction mechanism of the wiper blade can be implemented using an electric actuator, hydraulic cylinder, or other linear actuators. By precisely controlling its extension and retraction, the wiper blade reaches the target extension length, thereby adapting to changes in the working angle.

[0127] This application's solution refines the adaptive adjustment mechanism of the squeegee, effectively addressing the issues of poor wiping performance or accelerated wear that may occur when the squeegee's working angle changes. By monitoring the squeegee's working angle in real time, the system can promptly detect changes in the contact state between the squeegee and the curtain wall surface. Once the working angle changes, the system can accurately calculate the target extension length required to restore the squeegee to its optimal working state based on the current extension length and the amount of angle change. It is precisely this precise adjustment based on real-time angle feedback that ensures the squeegee maintains ideal contact with the curtain wall surface, thereby guaranteeing the continuity and efficiency of the wiping operation.

[0128] Through the above technical solution, this application can significantly improve the stability and effectiveness of the squeegee operation of the curtain wall cleaning robot. By monitoring the working angle of the squeegee strip in real time and adaptively adjusting its extension length, the squeegee strip can dynamically adapt to the unevenness of the curtain wall surface or changes in the robot's posture, always maintaining contact with the curtain wall surface and avoiding missed areas that would reduce cleaning quality.

[0129] Please refer to Figure 4 , Figure 4 This is a cleaning control device for a curtain wall cleaning robot in some embodiments of the present invention. It is applied to the control system of the curtain wall cleaning robot. The cleaning control device is integrated into the back-end control equipment in the form of a computer program. The curtain wall cleaning robot is equipped with a cleaning device, and the execution component in the cleaning device includes a roller brush.

[0130] The cleaning control device for the curtain wall cleaning robot includes:

[0131] Module 100 is used to acquire the operating environment information of the current area;

[0132] The task module 200 is used to decompose the cleaning process of the current area into multiple working conditions based on the working environment information, obtain multiple action tasks to be executed, and write the multiple action tasks to be executed into the task list.

[0133] The execution module 300 is used to control the execution component to complete the task to be performed based on the task list. The control execution component includes controlling the movement of the roller brush by adaptively adjusting the cleaning length; the cleaning length is used as a quantitative parameter of the cleaning effect of the roller brush.

[0134] In some embodiments, the task module 200 is executed when it is used to decompose the cleaning process of the current area into multiple working conditions based on the working environment information, obtain multiple action tasks to be executed, and write the multiple action tasks to be executed into a task list:

[0135] S21. Based on the material type contained in the work environment information, determine the process parameters of each execution component in the cleaning device by searching the preset cleaning process database;

[0136] S22. Determine the splicing position of the curtain wall structure in the current area based on the splicing type contained in the work environment information;

[0137] S23. Measure the first relative distance between the splicing position and the robot body;

[0138] S24. Convert the first relative distance into a second relative distance between the splicing position and each actuator in the cleaning device;

[0139] S25. Based on the second relative distance, the cleaning process in the current area is decomposed into multiple working conditions to obtain multiple action tasks to be executed, and the execution order of each action task to be executed is determined.

[0140] S26. Write the tasks to be performed, their corresponding execution order, and the process parameters of the corresponding execution components into the task list.

[0141] In some embodiments, the execution module 300 performs the following when controlling the brush movement by adaptively adjusting the cleaning length:

[0142] S3A1. Based on the working environment information, obtain the target length required for the roller brush to scrub the current area from the cleaning process database;

[0143] S3A2. Obtain the current roller brush speed and roller brush contact time;

[0144] S3A3. Calculate the current cleaning length of the roller brush based on the roller brush rotation speed and roller brush contact time;

[0145] S3A4. Compare the cleaning length and the target length to obtain the comparison results;

[0146] S3A5. If the comparison result shows that the cleaning length is less than the target length, increase the contact time of the roller brush until the cleaning length is not less than the target length. The steps to increase the contact time of the roller brush include: increasing the rotation speed of the rotor on the robot body or increasing the extension length of the roller brush to increase the normal pressure of the roller brush on the current area, thereby increasing the amount of roller brush deformation and thus increasing the contact time of the roller brush.

[0147] In some embodiments, the execution module 300 further includes, in the step of increasing the brush contact time, increasing the brush contact time by reducing the brush lifting and lowering speed.

[0148] In some embodiments, the execution module 300 performs the following after executing step S3A5:

[0149] S3A6. If the contact time of the roller brush reaches the maximum value but the cleaning length is still less than the target length, increase the roller brush speed until the cleaning length is not less than the target length.

[0150] In some embodiments, the actuating components in the cleaning apparatus further include a squeegee;

[0151] When the execution module 300 is used to control the execution component to complete the task to be performed based on the task list, the control execution component also includes controlling the movement of the wiper blade by adaptively adjusting the extension length of the wiper blade.

[0152] In some embodiments, the execution module 300 performs the following steps when controlling the movement of the wiper blade by adaptively adjusting the extension length of the wiper blade:

[0153] S3B1. Real-time monitoring of the working angle of the wiper blade, and when the working angle changes, obtaining the current extension length of the wiper blade, the working angle before the change, and the working angle after the change;

[0154] S3B2. Calculate the target extension length of the wiper blade based on its current extension length, working angle before the change, and working angle after the change;

[0155] S3B3. Control the extension and retraction of the wiper blade according to the target extension length.

[0156] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The present invention provides an electronic device 13, including: a processor 1301 and a memory 1302. The processor 1301 and the memory 1302 are interconnected and communicate with each other through a communication bus 1303 and / or other forms of connection mechanism (not shown). The memory 1302 stores computer-readable instructions executable by the processor 1301. When the electronic device is running, the processor 1301 executes the computer-readable instructions to execute the method in any optional implementation of the above embodiments, so as to achieve the following functions: obtaining the working environment information of the current area; decomposing the cleaning process of the current area into multiple working conditions according to the working environment information, obtaining multiple action tasks to be executed, and writing the multiple action tasks to be executed into a task list; controlling the execution component to complete the action tasks to be executed based on the task list, wherein the control execution component includes controlling the movement of the roller brush by adaptively adjusting the cleaning length; the cleaning length is used as a quantitative parameter of the cleaning effect of the roller brush.

[0157] This invention provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it performs the method in any optional implementation of the above embodiments to achieve the following functions: acquiring the operating environment information of the current area; decomposing the cleaning process of the current area into multiple working conditions based on the operating environment information to obtain multiple action tasks to be executed, and writing the multiple action tasks to be executed into a task list; controlling the execution component to complete the action tasks to be executed based on the task list, wherein the control execution component includes controlling the movement of the roller brush by adaptively adjusting the cleaning length; the cleaning length is used as a quantitative parameter of the cleaning effect of the roller brush.

[0158] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0159] In the embodiments provided by this invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0160] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] Furthermore, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0162] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0163] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A curtain wall cleaning robot cleaning control method, applied to a control system of a curtain wall cleaning robot, characterized in that, The curtain wall cleaning robot is equipped with a cleaning device, and the actuating components in the cleaning device include roller brushes; The cleaning control method for curtain wall cleaning robots includes the following steps: S1. Obtain the current operating environment information; S2. Based on the work environment information, the cleaning process in the current area is decomposed into multiple working conditions to obtain multiple action tasks to be executed, and these multiple action tasks to be executed are written into the task list. S3. Based on the task list, control the execution component to complete the task to be performed. The control component includes controlling the movement of the roller brush by adaptively adjusting the cleaning length. The steps include: S3A1. Based on the operating environment information, obtain the target length required for the roller brush to scrub the current area from the preset cleaning process database; S3A2. Obtain the current roller brush speed and roller brush contact time; S3A3. Calculate the current cleaning length of the roller brush based on the roller brush rotation speed and roller brush contact time; S3A4. Compare the cleaning length and the target length to obtain the comparison results; S3A5. If the comparison result shows that the cleaning length is less than the target length, increase the contact time of the roller brush until the cleaning length is not less than the target length. The steps to increase the contact time of the roller brush include: increasing the rotation speed of the rotor on the robot body or increasing the extension length of the roller brush to increase the normal pressure of the roller brush on the current area, thereby increasing the amount of roller brush deformation and increasing the contact time of the roller brush. The cleaning length is used as a quantitative parameter of the cleaning effect of the roller brush.

2. The cleaning control method for a curtain wall cleaning robot according to claim 1, characterized in that, The specific steps in step S2 include: S21. Based on the material type contained in the work environment information, determine the process parameters of each execution component in the cleaning device by searching the preset cleaning process database; S22. Determine the splicing position of the curtain wall structure in the current area based on the splicing type contained in the work environment information; S23. Measure the first relative distance between the splicing position and the robot body; S24. Convert the first relative distance into a second relative distance between the splicing position and each actuator in the cleaning device; S25. Based on the second relative distance, the cleaning process in the current area is decomposed into multiple working conditions to obtain multiple action tasks to be executed, and the execution order of each action task to be executed is determined. S26. Write the tasks to be performed, their corresponding execution order, and the process parameters of the corresponding execution components into the task list.

3. The cleaning control method for a curtain wall cleaning robot according to claim 1, characterized in that, In step S3A5, the step of increasing the contact time of the roller brush also includes: The contact time of the roller brush is increased by reducing the lifting and lowering speed of the roller brush.

4. The cleaning control method for a curtain wall cleaning robot according to claim 1, characterized in that, Step S3A5 is followed by: S3A6. If the contact time of the roller brush reaches the maximum value but the cleaning length is still less than the target length, increase the roller brush speed until the cleaning length is not less than the target length.

5. The cleaning control method for a curtain wall cleaning robot according to claim 1, characterized in that, The actuating components in the cleaning device also include wiper blades; Based on the task list, the control execution component completes the task to be performed. The control execution component also includes controlling the movement of the wiper blade by adaptively adjusting the extension length of the wiper blade.

6. The cleaning control method for a curtain wall cleaning robot according to claim 5, characterized in that, The steps for controlling the movement of the wiper blade by adaptively adjusting the extension length of the wiper blade include: S3B1. Real-time monitoring of the working angle of the wiper blade, and when the working angle changes, obtaining the current extension length of the wiper blade, the working angle before the change, and the working angle after the change; S3B2. Calculate the target extension length of the wiper blade based on its current extension length, working angle before the change, and working angle after the change; S3B3. Control the extension and retraction of the wiper blade according to the target extension length.

7. A cleaning control device for a curtain wall cleaning robot, applied to the control system of a curtain wall cleaning robot, characterized in that, The curtain wall cleaning robot is equipped with a cleaning device, and the actuating components in the cleaning device include roller brushes; The cleaning control device for the curtain wall cleaning robot includes: The acquisition module is used to acquire information about the current operating environment. The task module is used to break down the cleaning process of the current area into multiple working conditions based on the working environment information, obtain multiple action tasks to be executed, and write the multiple action tasks to be executed into the task list. The execution module is used to control the execution components to complete the tasks to be performed based on the task list. The control of the execution components includes controlling the movement of the roller brush by adaptively adjusting the cleaning length. The steps include: S3A1. Based on the operating environment information, obtain the target length required for the roller brush to scrub the current area from the preset cleaning process database; S3A2. Obtain the current roller brush speed and roller brush contact time; S3A3. Calculate the current cleaning length of the roller brush based on the roller brush rotation speed and roller brush contact time; S3A4. Compare the cleaning length and the target length to obtain the comparison results; S3A5. If the comparison result shows that the cleaning length is less than the target length, increase the contact time of the roller brush until the cleaning length is not less than the target length. The steps to increase the contact time of the roller brush include: increasing the rotation speed of the rotor on the robot body or increasing the extension length of the roller brush to increase the normal pressure of the roller brush on the current area, thereby increasing the amount of roller brush deformation and increasing the contact time of the roller brush. The cleaning length is used as a quantitative parameter of the cleaning effect of the roller brush.

8. An electronic device, characterized in that, It includes a processor and a memory, the memory storing computer-readable instructions, which, when executed by the processor, perform the steps of the curtain wall cleaning robot cleaning control method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the steps in the curtain wall cleaning robot cleaning control method as described in any one of claims 1-6.

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