Cleaning method and cleaning system suitable for robot dog and robot vision system

Abstract

According to the cleaning method and system suitable for the robot dog and the robot vision system, an independent cleaning liquid supply module and an independent high-pressure spraying module are designed, and the cleaning liquid supply module is installed on a robot body of the robot dog or the robot in an embedded mode; the high-pressure spraying module is hidden in a machine body of the robot dog or the robot in a storage mode; a control module and a self-checking module are additionally arranged, the control module is integrated in a main control bin of the robot dog or the robot, and the self-checking module automatically executes a rapid self-checking process when the robot or the robot dog is started; the robot or the robot dog is started, the self-checking module executes the self-checking process, after self-checking is completed, if self-checking is normal, the cleaning system automatically enters a low-power-consumption standby state, whether cleaning is needed or not is judged, and if cleaning is needed, the cleaning liquid supply module and the high-pressure spraying module are controlled to conduct cleaning. According to the invention, a hidden arrangement and modular design mode is adopted, so that the core targets of traceless appearance, quick disassembly and assembly, low consumption, energy conservation and flexible upgrading are realized.

Description

Technical Field

[0001] This invention belongs to the field of cleaning systems or cleaning methods, and specifically relates to a cleaning method and cleaning system suitable for robot dogs and robot vision systems. Background Technology

[0002] The imaging quality of cameras on robots and robot dogs directly determines their working accuracy, but existing technologies have significant drawbacks: manual wiping is inefficient; exposed cleaning devices damage the equipment's appearance; the integrated structure is time-consuming to disassemble and assemble (over 2 hours), resulting in high maintenance costs; and energy consumption is high (a single cleaning reduces battery life by more than 10%). While automotive autonomous driving camera cleaning systems are highly efficient, their exposed structure and fixed design are unsuitable for robots and robot dogs with stringent requirements regarding appearance, size, and energy consumption. Therefore, it is necessary to provide a cleaning method suitable for robot dogs and robot vision systems. Summary of the Invention

[0003] In view of the shortcomings and deficiencies of existing technologies, this invention draws on the core advantages of high-pressure atomization in automotive autonomous driving camera cleaning systems, and combines the appearance requirements, battery life limitations, and personalized upgrade needs of robots and robot dogs to provide a cleaning method and system suitable for robot dog and robot vision systems. This cleaning system adopts a hidden layout and modular design to achieve the core objectives of "no traces on the appearance, quick disassembly and assembly, low energy consumption, and flexible upgrades", and solves the problem of decreased perception accuracy caused by camera contamination in complex environments.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A cleaning method applicable to robot dogs and robot vision systems, the method comprising the following steps:

[0006] Step 1. Design an independent cleaning fluid supply module. The cleaning fluid supply module is embedded in the body of the robot dog or robot. The cleaning fluid supply module is equipped with a first quick-release interface that is electrically connected to the battery pack of the robot dog or robot and a second quick-release interface that is mechanically connected to the cleaning pipeline. The cleaning fluid supply module is equipped with a storage tank. The storage tank is equipped with a pressure sensor and a replenishment valve. The outlet of the storage tank is connected to the second quick-release interface. The pressure sensor and the replenishment pump are electrically connected to the second quick-release interface. The battery pack supplies power to the pressure sensor and the replenishment pump through the second quick-release interface.

[0007] Step 2. Design an independent high-pressure injection module. The high-pressure injection module is concealed within the body of the robot dog or robot. The module has a third quick-release interface electrically connected to the robot dog or robot's battery pack and a fourth quick-release interface mechanically connected to the cleaning pipeline. An adjustable bracket is built into the module, driven by a servo motor, allowing it to extend, retract, and rotate. The adjustable bracket is connected to a miniature piezoelectric atomizing nozzle via a fifth quick-change interface. The miniature piezoelectric atomizing nozzle, servo motor, and third quick-release interface are electrically connected, allowing the battery pack to power the nozzle and servo motor. The fifth quick-change interface connects to the fourth quick-release interface. Through the second quick-release interface, cleaning pipeline, fourth quick-release interface, and fifth quick-change interface, the high-pressure injection module is connected to the cleaning fluid supply module. A replenishment pump delivers the cleaning fluid from the storage tank to the miniature piezoelectric atomizing nozzle, which then cleans the robot dog or robot's camera.

[0008] Step 3. Add a control module and a self-test module. The control module is integrated into the main control compartment of the robot dog or robot and is used to control the cleaning fluid supply module and the high-pressure jet module. The self-test module automatically executes a rapid self-test process when the robot or robot dog is started. The self-test content includes pressure detection in the storage tank, nozzle vibrator detection, and high-pressure jet module storage detection.

[0009] Step 4. The robot or robot dog starts up, and the self-test module performs the self-test process. After the self-test is completed, if there is a fault, the self-test module transmits the fault information and handling suggestions to the main control system of the robot or robot dog through the CAN bus. The main control system reminds the staff through "blinking body indicator light + APP push"; if the self-test is normal, proceed to step 5.

[0010] Step 5. The cleaning system automatically enters a low-power standby state; at the same time, the control module determines whether cleaning is needed based on the images collected by the robot or robot dog and the light transmittance of the camera. If cleaning is needed, the control module controls the cleaning fluid supply module and the high-pressure jet module to perform cleaning; before cleaning, the remaining power of the robot or robot dog is detected, and the cleaning time is controlled according to the remaining power.

[0011] As a preferred embodiment of the present invention, the liquid storage tank is a flat liquid storage tank with a heat insulation layer on the outside, and the flat liquid storage tank is embedded in the interlayer of the robot dog or robot body; the pressure sensor is used to detect whether the pressure inside the liquid storage tank is within the range of 0.8-1.2MPa, and sends the detection signal to the self-test module; the liquid replenishment pump is used to provide power for liquid replenishment.

[0012] As a preferred embodiment of the present invention, the inlet of the flat liquid storage tank is provided with a filter unit, which is a 5μm stainless steel filter screen, and the inlet is magnetically connected to the replenishment port cover.

[0013] As a preferred embodiment of the present invention, the high-pressure injection module is installed and fixed in the storage compartment of the camera forehead of the robot dog or robot by magnetic attraction.

[0014] As a preferred embodiment of the present invention, the miniature piezoelectric atomizing nozzle is provided with an anti-clogging unit near the fifth quick-change interface.

[0015] As a preferred embodiment of the present invention, the control module adopts the STM32L431 low-power chip.

[0016] As a preferred embodiment of the present invention, the robot dog or robot body is further provided with a waste liquid recovery module near the high-pressure injection module. The waste liquid recovery module is provided with a liquid collection box, and the liquid collection box is provided with a liquid level sensor. The liquid level sensor is electrically connected to the self-test module and is used to send monitoring information to the self-test module.

[0017] As a preferred embodiment of the present invention, the self-test module is electrically connected to the pressure sensor, the liquid level sensor, the adjustment bracket, and the miniature piezoelectric atomizing nozzle. The self-test process of the self-test module is as follows:

[0018] Pressure detection: Determine whether the pressure inside the storage tank is within the range of 0.8-1.2MPa based on the monitoring signal of the pressure sensor. If the pressure is abnormal, mark it as "supply pressure failure".

[0019] Liquid level detection: Check whether the liquid level in the collection box is below 20% based on the monitoring signal of the liquid level sensor. If the liquid level is too high, mark "waste liquid recovery failure".

[0020] Vibrator detection: Control the nozzle vibrator to start for 0.5 seconds, and determine whether it is working properly through current feedback. If abnormal, mark "nozzle unblocking fault";

[0021] Storage test: Control the high-pressure injection module to complete one extension and retraction action, and confirm that the storage and extension functions are normal according to the sensor used to monitor and adjust the extension and retraction action of the bracket. If there is an abnormality, mark "injection module stuck";

[0022] After the self-test is completed, if a fault is found, the core faults will be given priority alarms according to their impact. The core faults include liquid supply pressure faults.

[0023] This invention also provides a cleaning system suitable for robot dogs and robot vision systems, including a cleaning fluid supply module, a high-pressure jet module, a control module, and a self-test module; wherein, the cleaning fluid supply module is embedded in the body of the robot dog or robot, and the cleaning fluid supply module is provided with a first quick-release interface electrically connected to the battery pack of the robot dog or robot and a second quick-release interface mechanically connected to the cleaning pipeline, the cleaning fluid supply module is provided with a liquid storage tank, the liquid storage tank is provided with a pressure sensor and a replenishment valve, the liquid outlet of the liquid storage tank is connected to the second quick-release interface, the pressure sensor and the replenishment pump are electrically connected to the second quick-release interface, and the battery pack supplies power to the pressure sensor and the replenishment pump through the second quick-release interface;

[0024] The high-pressure injection module is concealed within the body of the robot dog or robot. It features a third quick-release interface electrically connected to the robot dog or robot's battery pack and a fourth quick-release interface mechanically connected to the cleaning pipeline. An adjustable bracket, driven by a servo motor, is internally located and can extend, retract, and rotate. The bracket connects to a miniature piezoelectric atomizing nozzle via a fifth quick-change interface. The miniature piezoelectric atomizing nozzle, servo motor, and third quick-release interface are electrically connected, allowing the battery pack to power the nozzle and servo motor. The fifth quick-change interface connects to the fourth quick-release interface, and the high-pressure injection module is connected to the cleaning fluid supply module via a second quick-release interface, cleaning pipeline, fourth quick-release interface, and fifth quick-change interface. A replenishment pump delivers the cleaning fluid from the storage tank to the miniature piezoelectric atomizing nozzle, which then cleans the robot dog or robot's camera.

[0025] The control module is integrated into the main control compartment of the robot dog or robot and is used to control the cleaning fluid supply module and the high-pressure jet module.

[0026] The self-test module automatically performs a rapid self-test process when the robot or robot dog starts up.

[0027] Advantages and beneficial effects of the present invention:

[0028] (1) The present invention sets up an independent cleaning fluid supply module, a high-pressure jet module, a control module and a waste liquid recovery module. Each module adopts a hidden structure and is integrated and installed inside the camera mounting base of the robot or robot dog, the interlayer of the body shell and the reserved area of ​​the main control compartment. They are connected through a standardized quick-release interface to form an independent replaceable unit. While working in conjunction with the camera, it does not damage the appearance of the equipment. The overall power consumption of the system is controlled within 1.5W, and the energy consumption of a single cleaning has an impact of ≤1% on the equipment's battery life.

[0029] (2) The present invention is equipped with a self-test module, which is connected to the core sensors of each module to realize rapid self-test and fault warning, improve the reliability and scalability of the cleaning system, and the self-test module automatically executes a rapid self-test process when the robot or robot dog starts, which takes ≤2 seconds and does not affect the equipment startup speed.

[0030] (3) This invention provides a hidden and modular camera cleaning system that achieves the core objectives of "no traces on the surface, quick disassembly and assembly, low energy consumption and flexible upgrades" and solves the problem of decreased perception accuracy caused by camera contamination in complex environments.

[0031] (4) The invention features a fully concealed design with no exposed parts, fits the shape of the equipment, and has a modular quick-release design that makes it easy to maintain. Disassembly and assembly take ≤30 seconds, improving maintenance efficiency by 90%+. It also has advantages such as low energy consumption (24-hour battery life loss ≤5%) and high cleaning efficiency (light transmittance ≥90% after cleaning, efficiency improved by 60%+). Detailed Implementation

[0032] The technical solutions in the embodiments of this application are described clearly and completely below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] This embodiment provides a cleaning method suitable for robot dogs and robot vision systems, the method including the following steps:

[0034] Step 1. Design an independent cleaning fluid supply module. The cleaning fluid supply module is embedded in the body of the robot dog or robot. The cleaning fluid supply module is equipped with a first quick-release interface that is electrically connected to the battery pack of the robot dog or robot and a second quick-release interface that is mechanically connected to the cleaning pipeline. The cleaning fluid supply module is equipped with a storage tank (volume 30-150mL, pressure 0.8-1.2MPa). The storage tank is equipped with a pressure sensor and a replenishment valve. The outlet of the storage tank is connected to the second quick-release interface. The pressure sensor and the replenishment pump (current ≤50mA) are electrically connected to the second quick-release interface. The battery pack supplies power to the pressure sensor and the replenishment pump through the second quick-release interface.

[0035] Specifically, the storage tank is an 80mL flat storage tank (12mm thick), with a heat insulation layer on the outside. The flat storage tank is embedded in the body of the robot dog or robot, with a working pressure of 1.0MPa. A filter unit is provided at the inlet of the flat storage tank, and the filter unit is a 5μm stainless steel filter screen. The inlet is magnetically connected to the replenishment port cover. The pressure sensor is used to detect whether the pressure inside the storage tank is within the range of 0.8-1.2MPa and sends the detection signal to the self-test module. The replenishment pump is used to provide power for replenishment. It is a low-power replenishment pump with a current ≤50mA.

[0036] Step 2. Design an independent high-pressure injection module. This module is concealed within the robot's or robot's body using a retractable design. The module features a third quick-release interface for electrical connection to the robot's or robot's battery pack and a fourth quick-release interface for mechanical connection to the cleaning pipeline. An adjustable bracket, driven by a servo motor, is internally located and can extend, retract, and rotate (spray angle adjustable from 15° to 60°, accuracy ±0.5°). The adjustable bracket connects to a micro piezoelectric atomizing nozzle (diameter ≤8mm, atomized particles 10⁻⁵) via a fifth quick-change interface. The micro piezoelectric atomizing nozzle (0μm, pressure 0.6-1.0MPa) is connected to the third quick-release interface. The micro piezoelectric atomizing nozzle and servo motor are electrically connected to the third quick-release interface, through which the battery pack powers the micro piezoelectric atomizing nozzle and servo motor. The fifth quick-release interface is connected to the fourth quick-release interface. The high-pressure jet module is connected to the cleaning fluid supply module through the second quick-release interface, the cleaning pipeline, the fourth quick-release interface, and the fifth quick-release interface. Under the action of the replenishment pump, the cleaning fluid in the storage tank is delivered to the micro piezoelectric atomizing nozzle, and the camera of the robot dog or robot is cleaned through the micro piezoelectric atomizing nozzle.

[0037] Specifically, the high-pressure injection module is magnetically installed and fixed in the storage compartment on the forehead of the robot dog or robot's camera. It uses a low-noise nozzle (noise ≤38dB), atomized particles of 30-50μm, injection pressure of 0.7MPa, and is driven by an MG90S low-power servo motor.

[0038] The miniature piezoelectric atomizing nozzle is equipped with an anti-clogging unit near the fifth quick-change interface.

[0039] Step 3. Add a control module and a self-test module. The control module is integrated into the main control compartment of the robot dog or robot and is used to control the cleaning fluid supply module and the high-pressure jet module. The self-test module automatically executes a rapid self-test process when the robot or robot dog is started. The self-test content includes pressure detection in the storage tank, nozzle vibrator detection, and high-pressure jet module storage detection.

[0040] Specifically, the control module uses an STM32L431 low-power chip (static current ≤20μA).

[0041] Step 4. The robot or robot dog starts up, and the self-test module performs the self-test process. After the self-test is completed, if there is a fault, the self-test module transmits the fault information and handling suggestions to the main control system of the robot or robot dog through the CAN bus. The main control system reminds the staff through "blinking body indicator light + APP push"; if the self-test is normal, proceed to step 5.

[0042] Step 5. The cleaning system automatically enters a low-power standby state (standby current ≤ 5mA, continuous standby for 24 hours consumes only 0.12Wh, with the impact on battery life controlled within 1%). At the same time, the control module determines whether cleaning is needed based on the images collected by the robot or robot dog and the light transmittance of the camera (the contamination detection threshold is grayscale variance < 150 + light transmittance < 85%). If cleaning is needed, the cleaning fluid supply module and high-pressure spray module are controlled to perform cleaning, while the cleaning range is collected in real time through the motion status acquisition unit. Before cleaning, the remaining power of the robot or robot dog is detected, and the cleaning time is controlled according to the remaining power (when the power is < 20%, the spraying time during cleaning is shortened from 2 seconds to 1 second).

[0043] Furthermore, in this embodiment, the robot dog or robot body is also provided with a waste liquid recovery module near the high-pressure injection module. The waste liquid recovery module is provided with a liquid collection box, and the liquid collection box is provided with a liquid level sensor. The liquid level sensor is electrically connected to the self-test module and is used to send monitoring information to the self-test module.

[0044] In this embodiment, the self-test module is electrically connected to the pressure sensor, liquid level sensor, adjustment bracket, and miniature piezoelectric atomizing nozzle. The self-test process of the self-test module is as follows:

[0045] Pressure detection: Determine whether the pressure inside the storage tank is within the range of 0.8-1.2MPa based on the monitoring signal of the pressure sensor. If the pressure is abnormal, mark it as "supply pressure failure".

[0046] Liquid level detection: Check whether the liquid level in the collection box is below 20% based on the monitoring signal of the liquid level sensor. If the liquid level is too high, mark "waste liquid recovery failure".

[0047] Vibrator detection: Control the nozzle vibrator to start for 0.5 seconds, and determine whether it is working properly through current feedback. If abnormal, mark "nozzle unblocking fault";

[0048] Storage test: Control the high-pressure injection module to complete one extension and retraction action, and confirm that the storage and extension functions are normal according to the sensor used to monitor and adjust the extension and retraction action of the bracket. If there is an abnormality, mark "injection module stuck";

[0049] After the self-test is completed, if a fault is found, the core faults will be given priority alarms according to their impact. The core faults include liquid supply pressure faults.

[0050] Based on the above method, this embodiment also provides a cleaning system suitable for robot dogs and robot vision systems, including a cleaning fluid supply module, a high-pressure jet module, a control module, and a self-test module; wherein, the cleaning fluid supply module is embedded in the body of the robot dog or robot, and the cleaning fluid supply module is provided with a first quick-release interface electrically connected to the battery pack of the robot dog or robot and a second quick-release interface mechanically connected to the cleaning pipeline. The cleaning fluid supply module is provided with a storage tank, and the storage tank is provided with a pressure sensor and a replenishment valve. The outlet of the storage tank is connected to the second quick-release interface, and the pressure sensor and the replenishment pump are electrically connected to the second quick-release interface. The battery pack supplies power to the pressure sensor and the replenishment pump through the second quick-release interface.

[0051] The high-pressure injection module is concealed within the body of the robot dog or robot. It features a third quick-release interface electrically connected to the robot dog or robot's battery pack and a fourth quick-release interface mechanically connected to the cleaning pipeline. An adjustable bracket, driven by a servo motor, is internally located and can extend, retract, and rotate. The bracket connects to a miniature piezoelectric atomizing nozzle via a fifth quick-change interface. The miniature piezoelectric atomizing nozzle, servo motor, and third quick-release interface are electrically connected, allowing the battery pack to power the nozzle and servo motor. The fifth quick-change interface connects to the fourth quick-release interface, and the high-pressure injection module is connected to the cleaning fluid supply module via a second quick-release interface, cleaning pipeline, fourth quick-release interface, and fifth quick-change interface. A replenishment pump delivers the cleaning fluid from the storage tank to the miniature piezoelectric atomizing nozzle, which then cleans the robot dog or robot's camera.

[0052] The control module is integrated into the main control compartment of the robot dog or robot and is used to control the cleaning fluid supply module and the high-pressure jet module.

[0053] The self-test module automatically performs a rapid self-test process when the robot or robot dog starts up.

[0054] Commercial welcoming robots have extremely high requirements for their appearance, needing to maintain an elegant look in places such as shopping malls and hotels, while ensuring a battery life of more than 8 hours. Cameras are easily contaminated by dust and cosmetic stains carried by people. This invention provides a cleaning system that has been tested on welcoming robots in high-end shopping malls. The robot works 8 hours a day, and the cleaning system triggers cleaning 15 times (once every 30 minutes during peak hours). There are no exposed parts, so customers do not notice any difference. Each cleaning takes 2 seconds and consumes 1 mL of liquid. The total energy consumption over 8 hours is 0.12 Wh, resulting in only a 12-minute reduction in the robot's battery life (from the original 8 hours). After cleaning, the lens transmittance is above 93%, and there are no issues with nozzle clogging or waste liquid leakage, effectively ensuring the accuracy of the robot's facial recognition and path guidance.

[0055] The above describes specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A cleaning method suitable for robot dogs and robot vision systems, characterized in that, The method includes the following steps: Step 1. Design an independent cleaning fluid supply module. The cleaning fluid supply module is embedded in the body of the robot dog or robot. The cleaning fluid supply module is equipped with a first quick-release interface that is electrically connected to the battery pack of the robot dog or robot and a second quick-release interface that is mechanically connected to the cleaning pipeline. The cleaning fluid supply module is equipped with a storage tank. The storage tank is equipped with a pressure sensor and a replenishment valve. The outlet of the storage tank is connected to the second quick-release interface. The pressure sensor and the replenishment pump are electrically connected to the second quick-release interface. The battery pack supplies power to the pressure sensor and the replenishment pump through the second quick-release interface. Step 2. Design an independent high-pressure injection module. The high-pressure injection module is concealed within the body of the robot dog or robot. The module has a third quick-release interface electrically connected to the robot dog or robot's battery pack and a fourth quick-release interface mechanically connected to the cleaning pipeline. An adjustable bracket is built into the module, driven by a servo motor, allowing it to extend, retract, and rotate. The adjustable bracket is connected to a miniature piezoelectric atomizing nozzle via a fifth quick-change interface. The miniature piezoelectric atomizing nozzle, servo motor, and third quick-release interface are electrically connected, allowing the battery pack to power the nozzle and servo motor. The fifth quick-change interface connects to the fourth quick-release interface. Through the second quick-release interface, cleaning pipeline, fourth quick-release interface, and fifth quick-change interface, the high-pressure injection module is connected to the cleaning fluid supply module. A replenishment pump delivers the cleaning fluid from the storage tank to the miniature piezoelectric atomizing nozzle, which then cleans the robot dog or robot's camera. Step 3. Add a control module and a self-test module. The control module is integrated into the main control compartment of the robot dog or robot and is used to control the cleaning fluid supply module and the high-pressure jet module. The self-test module automatically executes a rapid self-test process when the robot or robot dog is started. The self-test content includes pressure detection in the storage tank, nozzle vibrator detection, and high-pressure jet module storage detection. Step 4. The robot or robot dog starts up, and the self-test module performs the self-test process. After the self-test is completed, if there is a fault, the self-test module transmits the fault information and handling suggestions to the main control system of the robot or robot dog through the CAN bus. The main control system reminds the staff through "blinking body indicator light + APP push"; if the self-test is normal, proceed to step 5. Step 5. The cleaning system automatically enters a low-power standby state; at the same time, the control module determines whether cleaning is needed based on the images collected by the robot or robot dog and the light transmittance of the camera. If cleaning is needed, the control module controls the cleaning fluid supply module and the high-pressure jet module to perform cleaning; before cleaning, the remaining power of the robot or robot dog is detected, and the cleaning time is controlled according to the remaining power.

2. The cleaning method for robot dogs and robot vision systems according to claim 1, characterized in that, The liquid storage tank is a flat liquid storage tank with a heat insulation layer on the outside. The flat liquid storage tank is embedded in the body of the robot dog or robot. The pressure sensor is used to detect whether the pressure inside the liquid storage tank is within the range of 0.8-1.2MPa and sends the detection signal to the self-test module. The liquid replenishment pump is used to provide power for liquid replenishment.

3. A cleaning method suitable for robot dogs and robot vision systems according to claim 1 or 2, characterized in that, The liquid storage tank is equipped with a filter unit at the liquid inlet. The filter unit is a 5μm stainless steel filter screen. The liquid inlet is magnetically connected to the liquid replenishment port cover.

4. A cleaning method suitable for robot dogs and robot vision systems according to any one of claims 1 to 3, characterized in that, The high-pressure injection module is magnetically installed and fixed in the storage compartment on the forehead of the robot dog or robot's camera.

5. A cleaning method suitable for robot dogs and robot vision systems according to any one of claims 1 to 4, characterized in that, The miniature piezoelectric atomizing nozzle is equipped with an anti-clogging unit near the fifth quick-change interface.

6. A cleaning method suitable for robot dogs and robot vision systems according to any one of claims 1 to 5, characterized in that, The control module uses the STM32L431 low-power chip.

7. A cleaning method suitable for robot dogs and robot vision systems according to any one of claims 1 to 6, characterized in that, The robot dog or robot also has a waste liquid recovery module located near the high-pressure injection module inside its body. The waste liquid recovery module has a collection box inside, and a liquid level sensor is installed inside the collection box. The liquid level sensor is electrically connected to the self-test module and is used to send monitoring information to the self-test module.

8. A cleaning method for robot dogs and robot vision systems according to claim 7, characterized in that, The self-test module is electrically connected to the pressure sensor, liquid level sensor, adjustment bracket, and miniature piezoelectric atomizing nozzle. The self-test process of the self-test module is as follows: Pressure detection: Determine whether the pressure inside the storage tank is within the range of 0.8-1.2MPa based on the monitoring signal of the pressure sensor. If the pressure is abnormal, mark "Liquid supply pressure failure"; Liquid level detection: Check whether the liquid level in the collection box is below 20% based on the monitoring signal from the liquid level sensor. If the liquid level is too high, mark "Waste liquid recovery failure". Vibrator detection: Control the nozzle vibrator to start for 0.5 seconds, and determine whether it is working properly through current feedback. If abnormal, mark "nozzle unblocking fault"; Storage test: Control the high-pressure injection module to complete one extension and retraction action, and confirm that the storage and extension functions are normal according to the sensor used to monitor and adjust the extension and retraction action of the bracket. If there is an abnormality, mark "injection module stuck"; After the self-test is completed, if a fault is found, the core faults will be given priority alarms according to their impact. The core faults include liquid supply pressure faults.

9. A cleaning system suitable for robot dogs and robot vision systems for implementing the cleaning method according to any one of claims 1 to 8, characterized in that, The system includes a cleaning fluid supply module, a high-pressure jet module, a control module, and a self-test module. The cleaning fluid supply module is embedded in the body of the robot dog or robot. The cleaning fluid supply module has a first quick-release interface that is electrically connected to the battery pack of the robot dog or robot and a second quick-release interface that is mechanically connected to the cleaning pipeline. The cleaning fluid supply module has a storage tank inside, which contains a pressure sensor and a replenishment valve. The outlet of the storage tank is connected to the second quick-release interface. The pressure sensor and the replenishment pump are electrically connected to the second quick-release interface, and the battery pack supplies power to the pressure sensor and the replenishment pump through the second quick-release interface. The high-pressure injection module is concealed within the body of the robot dog or robot. It features a third quick-release interface electrically connected to the robot dog or robot's battery pack and a fourth quick-release interface mechanically connected to the cleaning pipeline. An adjustable bracket, driven by a servo motor, is internally located and can extend, retract, and rotate. The bracket connects to a miniature piezoelectric atomizing nozzle via a fifth quick-change interface. The miniature piezoelectric atomizing nozzle, servo motor, and third quick-release interface are electrically connected, allowing the battery pack to power the nozzle and servo motor. The fifth quick-change interface connects to the fourth quick-release interface, and the high-pressure injection module is connected to the cleaning fluid supply module via a second quick-release interface, cleaning pipeline, fourth quick-release interface, and fifth quick-change interface. A replenishment pump delivers the cleaning fluid from the storage tank to the miniature piezoelectric atomizing nozzle, which then cleans the robot dog or robot's camera. The control module is integrated into the main control compartment of the robot dog or robot and is used to control the cleaning fluid supply module and the high-pressure jet module. The self-test module automatically performs a rapid self-test process when the robot or robot dog starts up.