Outer wall cleaning control method and system based on mother cabin window cleaning robot

Abstract

The invention relates to the technical field of building outer wall cleaning, in particular to an outer wall cleaning control method and system based on a mother cabin window-cleaning robot. The method comprises the steps that an outer wall cleaning device is arranged on a roof, a mother cabin is released to a to-be-cleaned outer wall area, and multiple sets of window-cleaning robots are placed through a telescopic mechanical mechanism; the mother cabin is adsorbed and fixed through an electric push rod; after the mother cabin is fixed to the outer wall, the window cleaning robot is released to the outer wall, the mechanical arm is withdrawn, the window cleaning robot conducts positioning and deviation rectification, and outer wall cleaning is started; after the outer wall is cleaned, the window cleaning robot sends a signal to the recovery device, and the recovery device receives the signal and positions and recovers the window cleaning robot; and the mother cabin continues to throw the window cleaning robot to the next to-be-cleaned area for outer wall cleaning according to the set outer wall cleaning area. Through cooperative operation of the mother cabin and the window cleaning robot, positioning deviation correction and mechanical fixing technologies are combined, high efficiency and precision of outer wall cleaning are achieved, the operation safety is improved, and the cleaning coverage rate is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building exterior wall cleaning, in particular to an exterior wall cleaning control method and system based on a mother cabin window cleaning robot. BACKGROUND

[0002] With the rapid increase in the number of urban high-rise buildings, the demand for exterior wall cleaning is increasingly urgent. The traditional manual cleaning method has problems such as high operation risk, low efficiency, high cost, and difficulty in covering complex building facades. The existing automated cleaning equipment is mostly single robot independent operation, which has defects such as complicated deployment and recovery, incomplete cleaning coverage, and poor high-altitude stability. Especially in high-rise operations, the endurance and operation range of a single robot are limited, frequent deployment and recovery on the roof lead to low overall efficiency, and the lack of reliable fixing mechanism easily causes safety accidents. Therefore, an integrated, efficient and safe exterior wall cleaning solution is needed to solve the core pain points of existing technology through the coordinated operation of the mother cabin and the robot. SUMMARY

[0003] The present application provides an exterior wall cleaning control method and system based on a mother cabin window cleaning robot to realize the automation, efficiency and safety of exterior wall cleaning.

[0004] The present application is achieved by the following technical solutions: An exterior wall cleaning control method based on a mother cabin window cleaning robot is provided, which comprises the following steps: Step S10: Place the exterior wall cleaning device on the roof, release the mother cabin to the exterior wall area to be cleaned, and place the window cleaning robot on the exterior wall to be cleaned by the telescopic electric push rod. When the telescopic electric push rod is not long enough, the window cleaning robot is fixed to the surface of the exterior wall by the thrust of the back rotor power device, and the back rotor power device is turned off after fixing; Step S20: After the window cleaning robot is fixed to the surface of the exterior wall, start the positioning unit to position and correct the deviation, and navigate to the fixed area of the exterior wall cleaning area to start the exterior wall cleaning; Step S30: After the exterior wall cleaning is completed, the window cleaning robot sends a recovery signal to the mother cabin, the mother cabin receives the recovery signal and positions, and the window cleaning robot is retrieved; Step S40: The mother cabin follows the set exterior wall area cleaning plan and judges whether the next area to be cleaned needs to be cleaned. When it is judged that it needs to be cleaned, the window cleaning robot is deployed to the next area to be cleaned for exterior wall cleaning, and the cycle is repeated until all the exterior wall areas are cleaned.

[0005] Preferably, the exterior wall cleaning device installed on the rooftop in step S10 comprises a winch, a mobile base, and a main body. The mobile base is made of high-strength material and is securely connected to the rooftop concrete structure via cement counterweights and fixed steel cables, with a load-bearing capacity of ≥500kg to meet the load requirements of the main body and multiple window cleaning robots. The main body rollers are laid horizontally along the edge of the rooftop, with a length customized according to the building width and a straightness error of ≤2mm / m to ensure smooth horizontal movement of the main body. The winch is equipped with a variable frequency speed control unit and is connected to the main body via a steel cable with a tensile strength of ≥1500MPa and a diameter of ≥3mm. The winch controls the lifting speed of the main body, which can be dynamically adjusted within a range of 0.1-0.35m / s. During descent, the tension of the steel cable is monitored in real time to ensure that the tension value is maintained at 500-800N, allowing the main body to descend smoothly to the exterior wall area to be cleaned with a height error of ≤5cm.

[0006] Preferably, in step S10, the mothership uses a telescopic robotic arm to place the window cleaning robot onto the exterior wall to be cleaned, while the window cleaning robot is fixed to the exterior wall surface by the thrust of its dorsal wing power unit. Telescopic push rod drive: Made of aluminum alloy, it combines lightweight and high strength. The maximum telescopic stroke is ≥1.2m, which can cover the outer wall edge to the center area. The positioning accuracy is ±1mm. The arm is equipped with a servo motor drive and adopts a three-closed-loop control of position, speed and torque. The action response time is ≤100ms to meet the needs of accurate delivery. A flexible buffer pad is set at the end of the arm to avoid collision with the outer wall during delivery and cause damage. Deployment control: By modeling the exterior surface of the building to be cleaned, preset coordinates are filled in manually. The mother cabin moves according to the preset coordinates to place the window cleaning robot smoothly on the exterior wall surface and automatically adjusts the center. Robot Fixation: The rear rotor power unit of the window cleaning robot is equipped with four symmetrically distributed thrust rotors. After startup, the motor drives the rotors to generate a thrust perpendicular to the wall, with a thrust of ≥150N, forming the initial fixing force. At the same time, the vacuum suction cup at the bottom of the window cleaning robot is activated, generating a suction force of ≥80kPa through a vacuum pump. This works in conjunction with the thrust of the rotors to ensure that the window cleaning robot does not slip or fall off the vertical exterior wall surface. The fixed state is verified in real time by pressure sensors. When the detected pressure value reaches the set threshold, such as when the detected pressure value is ≥60kPa, it is determined that the fixation is reliable, and the window cleaning robot sends a ready signal to the main unit.

[0007] Preferably, the step S20 of activating the positioning unit for positioning and correction includes: Positioning mechanism: The window cleaning robot has a positioning accuracy of ≤0.3m and obtains its own absolute coordinates; the inertial measurement unit collects the robot's pitch angle, roll angle and angular acceleration at a frequency of ≥100Hz to capture attitude changes in real time; the wall texture recognition sensor collects wall texture features, matches them with a preset map, further corrects coordinate errors, and fuses the three types of data through a Kalman filter algorithm to output accurate real-time position coordinates; Correction control: The output real-time position coordinates are compared with the preset cleaning area coordinates. When the coordinate deviation is >5cm, the correction program is started. The window cleaning robot adjusts its position through the bottom tracked moving mechanism. The correction speed is ≤0.2m / s. The deviation value is fed back in real time during the correction process until the deviation is ≤2cm, ensuring that the robot accurately lands at the preset cleaning starting point. Navigation and Cleaning: The robot uses a left-to-right and top-to-bottom cleaning path for the exterior wall cleaning area. After navigating to the exterior wall cleaning area, it atomizes the cleaning liquid and sprays it onto the wall surface. The brush head then rubs the surface to remove stains. The cleaning width is ≥30cm, and the overlap rate of adjacent cleaning paths is ≥10%, effectively avoiding missed areas. At the same time, the window cleaning robot is equipped with an infrared distance sensor to monitor the distance to the wall in real time and maintain it at 5-8mm to ensure a uniform cleaning effect.

[0008] Preferably, in step S30, the mother cabin locates itself after receiving the retrieval signal, and the step of retrieving the window cleaning robot includes: Signal transmission: The window cleaning robot collects images of the wall after cleaning through image sensors and compares them with images before cleaning. When the stain coverage is ≤5%, it is determined that the cleaning has met the standard and the cleaning operation is automatically stopped. The window cleaning robot sends a recovery signal to the main compartment through its built-in wireless communication unit, which supports Bluetooth 5.0 and 4G dual-mode, with a communication distance of ≥100m and a transmission delay of ≤50ms. The signal includes its own real-time coordinates, pose information and cleaning completion status. Mother cabin positioning: The mother cabin locates the floor where the window cleaning robot is located based on the recovery signal, and sets the number of rotations of the winch according to the number of floors. When the mother cabin is less than or equal to 3 floors away from the floor where the window cleaning robot is located, the winch reduces the rotation speed so that the mother cabin can smoothly reach the floor where the window cleaning robot is located. Retraction Action: The mother cabin adjusts the winch to maintain the same height as the window cleaning robot. Then, the roller drive mechanism moves the mother cabin horizontally along the rooftop track, approaching the location of the window cleaning robot. The telescopic electric push rod extends according to the positioning coordinates, and the end gripper (suction cup) aligns the mother cabin with the top of the window cleaning robot via the retraction safety rope. After confirming that the suction cup has a firm grip, the mother cabin is retracted at a retraction speed of ≤0.3m / s. At the same time, the window cleaning robot shuts down the vacuum suction cup and thrust rotor to ensure a smooth detachment from the wall. During the retraction process, the window cleaning robot is fixed by the safety rope and traction structure. The tension sensor of the mother cabin continuously monitors the load of the electric push rod. When an abnormal load occurs, the retraction action is immediately paused and an alarm is triggered.

[0009] Preferably, in step S40, the step of the mother cabin continuing to deploy the window cleaning robot to the next area to be cleaned for exterior wall cleaning according to the pre-set exterior wall area cleaning plan includes: Area planning: The pre-defined exterior wall cleaning area is divided into a certain number of rectangular units according to the exterior wall structure, with each unit having an area of ​​5-10 square meters. 2 The mothership's built-in storage unit records cleaned and uncleaned areas to avoid repetitive work. Mother Cabin Movement: Based on the coordinates of the next unit to be cleaned, the winch and the track drive mechanism work together to move the mother cabin horizontally along the rooftop track at a speed of 0.2-0.8 m / s. At the same time, the vertical height is adjusted so that the mother cabin reaches the corresponding placement position of the next area to be cleaned at a speed of 0.2-0.8 m / s and a position error of ≤5 cm. During the movement, the obstacle avoidance sensor of the mother cabin monitors the surrounding environment in real time to avoid collisions with obstacles on the rooftop. Repeated deployment: After the mother cabin arrives at the designated location, the window cleaning robot is placed again to the next area to be cleaned by the telescopic robotic arm according to the deployment process in step S10. The deployment interval is ≤30s to achieve continuous cycle operation. When all the preset cleaning units have been cleaned, the mother cabin is retracted to the roof by the winch, and the entire cleaning operation is completed.

[0010] Preferably, in step S40, the mother cabin continues to deploy the window cleaning robot to the next area to be cleaned for exterior wall cleaning according to the pre-set exterior wall area cleaning plan. It also includes using artificial intelligence algorithms to determine whether to continue deploying the window cleaning robot based on the glass curtain wall specifications, the glass curtain wall cleaning status, the window cleaning robot's battery level and consumable reserves. When the window cleaning robot's battery level and consumable reserves are insufficient, it returns to the ground to be redeployed and the completed window cleaning robot is retrieved.

[0011] Furthermore, to achieve the above objectives, the present invention also proposes an exterior wall cleaning control system based on a mother-cabin window cleaning robot, wherein the exterior wall cleaning control system based on the mother-cabin window cleaning robot includes: Exterior wall cleaning device placement and window cleaning robot deployment module: used to place the exterior wall cleaning device on the roof, release the mother cabin to the area of ​​the exterior wall to be cleaned, and place the window cleaning robot to the exterior wall to be cleaned through the telescopic electric push rod. When the telescopic electric push rod is not long enough, the mother cabin uses the thrust of the rear rotor power device to fix the window cleaning robot to the exterior wall surface. After fixing, the rear rotor power device is turned off. Window cleaning robot exterior wall cleaning module: After the window cleaning robot is fixed to the exterior wall surface, the positioning unit is activated to locate and correct its deviation, and it navigates to the fixed area of ​​the exterior wall cleaning area before starting to clean the exterior wall. Window cleaning robot retrieval module: After the window cleaning robot finishes cleaning the exterior wall, it sends a retrieval signal to the main compartment. After receiving the retrieval signal, the main compartment locates and retrieves the window cleaning robot. Cyclic Operation Module: This module is used by the mother cabin to continuously deploy the window cleaning robot to the next area to be cleaned according to the pre-set exterior wall area cleaning plan, repeating the cycle until all exterior wall areas are cleaned. In the cyclic operation module, the mother cabin continues to deploy window cleaning robots to the next area to be cleaned according to the pre-set exterior wall area cleaning plan. It also includes using artificial intelligence algorithms to determine whether to continue deploying window cleaning robots based on the glass curtain wall specifications, glass curtain wall cleaning status, window cleaning robot battery level, and consumable reserves. When the window cleaning robot battery level and consumable reserves are insufficient, it returns to the ground to be redeployed and retrieved after completing the window cleaning task.

[0012] Furthermore, to achieve the above objectives, the present invention also proposes an exterior wall cleaning control device based on a mother-cabin window cleaning robot. The device includes: a memory, a processor, and programs such as an exterior wall cleaning control algorithm based on a mother-cabin window cleaning robot stored in the memory and executable on the processor. The exterior wall cleaning control algorithm and other programs based on a mother-cabin window cleaning robot are steps for implementing the exterior wall cleaning control method based on a mother-cabin window cleaning robot as described above.

[0013] In addition, to achieve the above objectives, the present invention also provides a computer program product, which includes programs such as an exterior wall cleaning control algorithm based on a mother-cabin window cleaning robot. When the processor executes the programs such as the exterior wall cleaning control algorithm based on the mother-cabin window cleaning robot, it implements the exterior wall cleaning control method based on the mother-cabin window cleaning robot described above.

[0014] The advantages and effects of this invention are: This invention proposes a method and system for controlling exterior wall cleaning based on a mother-cabin window cleaning robot. By using a rooftop fixing device and a mother-cabin load-bearing design, it replaces traditional manual suspended operations, eliminating the risk of falls from heights. The dual fixing mechanism of the window cleaning robot ensures stability on vertical walls, reducing the risk of equipment detachment. Simultaneously, the mother-cabin can cyclically deploy the window cleaning robot to multiple cleaning areas, avoiding frequent trips to the rooftop by a single robot and improving operational efficiency. A matrix-style cleaning path and overlap design enhances cleaning coverage. The system boasts a high degree of automation; from mother-cabin placement, window cleaning robot deployment, positioning and cleaning, to recycling, the entire process requires no manual intervention. It is adaptable to building exteriors of different heights and structures, reducing labor costs and operational complexity. Furthermore, the adjustable stroke of the telescopic electric push rod and the robot's flexible movement allow it to cover complex areas such as exterior wall edges and corners. It is suitable for various exterior wall materials such as glass curtain walls, stone, and tiles, demonstrating strong adaptability and a wide range of applications. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of an exterior wall cleaning control method based on a motherboard window cleaning robot according to the present invention.

[0017] Figure 2 This is a schematic diagram of the exterior wall cleaning control system based on a mother cabin window cleaning robot according to the present invention.

[0018] Figure 3 This is a schematic block diagram of an electronic control device for exterior wall cleaning based on a motherboard window cleaning robot according to the present invention. Detailed Implementation

[0019] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] like Figure 1 As shown, in one embodiment of the present invention, a method for controlling exterior wall cleaning based on a motherboard window cleaning robot includes the following steps: Step S10: Install the exterior wall cleaning device on the roof and release the mother cabin to the area of ​​the exterior wall to be cleaned. The mother cabin places the window cleaning robot to the exterior wall to be cleaned through the telescopic electric push rod. When the telescopic electric push rod is not long enough, the mother cabin uses the thrust of the rear rotor power unit to fix the window cleaning robot to the surface of the exterior wall. After fixing, turn off the rear rotor power unit.

[0021] Specifically, the exterior wall cleaning device installed on the rooftop in step S10 consists of a mother cabin track, a winch, a fixed base, and the main body of the mother cabin. The fixed base is made of high-strength material and is securely connected to the rooftop concrete structure with four sets of M24 expansion bolts, with a load-bearing capacity of ≥500kg to meet the load requirements of the mother cabin and multiple window cleaning robots. The mother cabin track is laid horizontally along the edge of the rooftop, with a length customized according to the building width and a straightness error of ≤2mm / m to ensure smooth horizontal movement of the mother cabin. The winch is equipped with a variable frequency speed control unit and is connected to the mother cabin via a steel cable with a tensile strength of ≥1500MPa and a diameter of ≥8mm. The winch controls the lifting speed of the mother cabin, which can be dynamically adjusted within a range of 0.1-0.5m / s. During descent, the tension of the steel cable is monitored in real time to ensure that the tension value is maintained at 500-800N, allowing the mother cabin to descend smoothly to the exterior wall area to be cleaned with a height error of ≤5cm.

[0022] Specifically, in step S10, the mothership uses a telescopic robotic arm to place the window cleaning robot onto the exterior wall to be cleaned, and simultaneously the window cleaning robot is fixed to the exterior wall surface by the thrust of its dorsal wing power unit. Telescopic push rod drive: Adopting a three-stage telescopic structure, made of aluminum alloy, it combines lightweight and high strength, with a maximum telescopic stroke of ≥3m, which can cover the outer wall edge to the center area, with a positioning accuracy of ±1mm. The arm is equipped with a servo motor drive, which adopts a three-closed-loop control of position, speed and torque, with an action response time of ≤100ms to meet the needs of accurate delivery. A flexible buffer pad, such as a polyurethane flexible buffer pad, with a thickness of ≥10mm is set at the end of the arm to avoid collision with the outer wall and damage during delivery. Deployment control: By modeling the exterior surface of the building to be cleaned, preset coordinates are filled in manually. The mother cabin moves according to the preset coordinates to place the window cleaning robot smoothly on the exterior wall surface and automatically adjusts the center. Robot Fixation: The power unit of the window cleaning robot's back wings is equipped with four symmetrically distributed thrust wings. After startup, the motor drives the wings to generate a thrust perpendicular to the wall, with a thrust of ≥15N, forming an initial fixing force. At the same time, the vacuum suction cup at the bottom of the window cleaning robot is activated, generating a suction force of ≥80kPa through a vacuum pump. This works in conjunction with the wing thrust to ensure that the window cleaning robot does not slip or fall off the vertical exterior wall surface. The fixed state is verified in real time by pressure sensors. When the detected pressure value reaches the set threshold, such as when the detected pressure value is ≥60kPa, it is determined that the fixation is reliable, and the window cleaning robot sends a ready signal to the main unit.

[0023] Step S20: After the window cleaning robot is fixed to the exterior wall surface, the positioning unit is activated to locate and correct its course. After navigating to the fixed area of ​​the exterior wall cleaning area, the exterior wall cleaning begins.

[0024] Specifically, step S20, which involves activating the positioning unit for positioning and correction, includes the following steps: Positioning Mechanism: The window cleaning robot has a built-in GPS / BeiDou dual-mode positioning unit with a positioning accuracy of ≤0.3m, which obtains its own absolute coordinates; the inertial measurement unit collects the robot's pitch angle, roll angle and angular acceleration at a frequency of ≥100Hz to capture attitude changes in real time; the wall texture recognition sensor collects wall texture features and matches them with a preset map to further correct coordinate errors. The three types of data are fused through a Kalman filter algorithm to output accurate real-time position coordinates. Correction control: The output real-time position coordinates are compared with the preset cleaning area coordinates. When the coordinate deviation is >5cm, the correction program is started. The window cleaning robot adjusts its position through the bottom tracked moving mechanism. The correction speed is ≤0.2m / s. The deviation value is fed back in real time during the correction process until the deviation is ≤2cm, ensuring that the robot accurately lands at the preset cleaning starting point. Navigation and Cleaning: The robot follows a left-to-right and top-to-bottom cleaning path for the exterior wall cleaning area. After navigating to the upper left corner of the area, it activates the rotating cleaning brush head and high-pressure water spray device. The rotation speed can be adjusted between 300-500 rpm to accommodate different types of stains. The high-pressure water spray device generates 5-8 MPa water pressure through a micro-pump, atomizing the cleaning solution and spraying it onto the wall surface. This, combined with the friction of the brush head, removes stains. The cleaning width is ≥30cm, and the overlap rate of adjacent cleaning paths is ≥10%, effectively preventing missed areas. Simultaneously, the window cleaning robot is equipped with an infrared distance sensor to monitor the distance to the wall in real time and maintain a distance of 5-8mm, ensuring a uniform cleaning effect.

[0025] Step S30: After the exterior wall cleaning is completed, the window cleaning robot sends a retrieval signal to the mother cabin. After receiving the retrieval signal, the mother cabin locates itself and retrieves the window cleaning robot.

[0026] Specifically, in step S30, after the mother cabin receives the retrieval signal, it performs positioning, and the steps for retrieving the window cleaning robot include: Signal transmission: The window cleaning robot collects images of the wall after cleaning through image sensors and compares them with images before cleaning. When the stain coverage is ≤5%, it is determined that the cleaning has met the standard and the cleaning operation is automatically stopped. The window cleaning robot sends a recovery signal to the main compartment through its built-in wireless communication unit, which supports Bluetooth 5.0 and 4G dual-mode, with a communication distance of ≥100m and a transmission delay of ≤50ms. The signal includes its own real-time coordinates, pose information and cleaning completion status. Mother cabin positioning: The mother cabin locates the floor where the window cleaning robot is located based on the recovery signal, and sets the number of rotations of the winch according to the number of floors. When the mother cabin is less than or equal to 3 floors away from the floor where the window cleaning robot is located, the winch reduces the rotation speed so that the mother cabin can smoothly reach the floor where the window cleaning robot is located. Retraction Action: The mother cabin adjusts the winch to maintain the same height as the window cleaning robot, approaches the robot's location, and extends the telescopic robotic arm according to the positioning coordinates. The end effector gripper aligns with the docking interface on the top of the window cleaning robot via an infrared sensor, with the clamping force controlled at 8-12N to avoid damage to the equipment. After clamping confirmation, the robot retracts at a speed ≤0.3m / s. Simultaneously, the window cleaning robot shuts off its vacuum suction cups and thrust wings to ensure a smooth detachment from the wall. During the retraction process, the window cleaning robot is secured by a safety rope and traction structure. The tension sensor in the mother cabin continuously monitors the load on the robotic arm. If an abnormal load occurs, such as a deviation from the preset value of ±20%, the retraction action is immediately paused and an alarm is triggered.

[0027] Step S40: According to the pre-set exterior wall area cleaning plan, the mother cabin will continue to deploy the window cleaning robot to the next area to be cleaned for exterior wall cleaning, repeating the cycle until all exterior wall areas are cleaned.

[0028] Specifically, in step S40, the mother cabin, according to the pre-set exterior wall area cleaning plan, continues to deploy the window cleaning robot to the next area to be cleaned for exterior wall cleaning. Area planning: The pre-defined exterior wall cleaning area is divided into a certain number of rectangular units according to the exterior wall structure, with each unit having an area of ​​5-10m2. The mother cabin has a built-in storage unit that records the cleaned area and the area to be cleaned to avoid repeated work. Mother Cabin Movement: Based on the coordinates of the next unit to be cleaned, the winch and the track drive mechanism work together to move the mother cabin horizontally along the rooftop track at a speed of 0.2-0.8 m / s. At the same time, the vertical height is adjusted so that the mother cabin reaches the corresponding placement position of the next area to be cleaned at a speed of 0.2-0.8 m / s and a position error of ≤5 cm. During the movement, the obstacle avoidance sensor of the mother cabin monitors the surrounding environment in real time to avoid collisions with obstacles on the rooftop. Repeated deployment: After the mother cabin arrives at the designated location, the window cleaning robot is placed again to the next area to be cleaned by the telescopic robotic arm according to the deployment process in step S10. The deployment interval is ≤30s to achieve continuous cycle operation. When all the preset cleaning units have been cleaned, the mother cabin is retracted to the roof by the winch, and the entire cleaning operation is completed.

[0029] Specifically, in step S40, the mother cabin continues to deploy the window cleaning robot to the next area to be cleaned for exterior wall cleaning according to the pre-set exterior wall area cleaning plan. It also includes using artificial intelligence algorithms to determine whether to continue deploying the window cleaning robot based on the glass curtain wall specifications, the remaining consumables in the mother cabin, and the battery power of the window cleaning robot. When the remaining consumables in the mother cabin and the battery power of the window cleaning robot are insufficient, the robot returns to the ground to be redeployed and retrieved after completion.

[0030] In addition, such as Figure 2As shown, in one embodiment of the present invention, an exterior wall cleaning control system based on a mother-cabin window cleaning robot is proposed. The system includes: Exterior wall cleaning device placement and window cleaning robot deployment module: used to place the exterior wall cleaning device on the roof, release the mother cabin to the area of ​​the exterior wall to be cleaned, and place the window cleaning robot to the exterior wall to be cleaned through the telescopic electric push rod. When the telescopic electric push rod is not long enough, the mother cabin uses the thrust of the rear rotor power device to fix the window cleaning robot to the exterior wall surface. After fixing, the rear rotor power device is turned off. Window cleaning robot exterior wall cleaning module: After the window cleaning robot is fixed to the exterior wall surface, the positioning unit is activated to locate and correct its deviation, and it navigates to the fixed area of ​​the exterior wall cleaning area before starting to clean the exterior wall. Window cleaning robot retrieval module: After the window cleaning robot finishes cleaning the exterior wall, it sends a retrieval signal to the main compartment. After receiving the retrieval signal, the main compartment locates and retrieves the window cleaning robot. Cyclic Operation Module: This module is used by the mother cabin to continuously deploy the window cleaning robot to the next area to be cleaned according to the pre-set exterior wall area cleaning plan, repeating the cycle until all exterior wall areas are cleaned. In the cyclic operation module, the mother cabin continues to deploy window cleaning robots to the next area to be cleaned according to the pre-set exterior wall area cleaning plan. It also includes using artificial intelligence algorithms to determine whether to continue deploying window cleaning robots based on the glass curtain wall specifications, glass curtain wall cleaning status, window cleaning robot battery level, and consumable reserves. When the window cleaning robot battery level and consumable reserves are insufficient, it returns to the ground to be redeployed and retrieved after completing the window cleaning task.

[0031] This application provides an exterior wall cleaning control system based on a mother-cabin window cleaning robot, employing an exterior wall cleaning control method based on a mother-cabin window cleaning robot as described in the above embodiments. This system solves the technical problems of low efficiency and low safety in traditional exterior wall cleaning control methods based on mother-cabin window cleaning robots. Compared with the prior art, the beneficial effects of the exterior wall cleaning control system based on a mother-cabin window cleaning robot provided in this application are the same as those of the exterior wall cleaning control method based on a mother-cabin window cleaning robot provided in the above embodiments. Furthermore, other technical features of the exterior wall cleaning control system based on a mother-cabin window cleaning robot are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0032] This application provides an exterior wall cleaning control device based on a mother-cabin window cleaning robot. The exterior wall cleaning control device based on a mother-cabin window cleaning robot includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the exterior wall cleaning control method based on a mother-cabin window cleaning robot in the above embodiment 1.

[0033] like Figure 3 As shown in the illustration, in one embodiment of the present invention, a structural schematic diagram of an exterior wall cleaning control device based on a mother-cabin window cleaning robot suitable for implementing the embodiments of this application is presented. The exterior wall cleaning control device based on a mother-cabin window cleaning robot in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), etc., as well as fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The exterior wall cleaning control device based on the mother cabin window cleaning robot shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0034] Figure 3The exterior wall cleaning control device based on a mother-cabin window cleaning robot shown may include a processor 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a machine-readable storage medium (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the exterior wall cleaning control device based on the mother-cabin window cleaning robot. The processor 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and a communication unit 1009. Communication unit 1009 allows an exterior wall cleaning control device based on a motherboard-mounted window cleaning robot to wirelessly or wiredly communicate with other devices to exchange data. Although the figure shows an exterior wall cleaning control device based on a motherboard-mounted window cleaning robot with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0035] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication unit, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processor 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0036] This application provides an exterior wall cleaning control device based on a mother-cabin window cleaning robot, employing an exterior wall cleaning control method based on a mother-cabin window cleaning robot as described in the above embodiments. This method solves the technical problems of low efficiency and low safety in traditional exterior wall cleaning control methods based on mother-cabin window cleaning robots. Compared with the prior art, the beneficial effects of the exterior wall cleaning control device based on a mother-cabin window cleaning robot provided in this application are the same as those of the exterior wall cleaning control method based on a mother-cabin window cleaning robot provided in the above embodiments. Furthermore, other technical features of this exterior wall cleaning control device based on a mother-cabin window cleaning robot are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0037] The various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0038] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the exterior wall cleaning control method based on a motherboard window cleaning robot as described above.

[0039] The computer program product provided in this application can solve the technical problems of low efficiency and low safety in traditional exterior wall cleaning control methods based on mother-cabin window cleaning robots. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the exterior wall cleaning control method based on mother-cabin window cleaning robots provided in the above embodiments, and will not be repeated here.

[0040] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An outer wall cleaning control method based on a mother-cabin window-wiping robot, characterized by, The method comprises the following steps: Step S10: The outer wall cleaning device is arranged on the roof, the mother cabin is released to the outer wall area to be cleaned, the mother cabin places the window cleaning robot to the outer wall to be cleaned through the telescopic electric push rod, when the telescopic electric push rod is insufficient in length, the mother cabin fixes the window cleaning robot to the outer wall surface by the thrust of the back rotor power device, and the back rotor power device is turned off after the fixing; Step S20: After the window cleaning robot is fixed to the outer wall surface, the positioning unit is started to perform positioning and deviation correction, and the window cleaning robot is navigated to the fixed area of the outer wall cleaning area to start the outer wall cleaning; Step S30: After the outer wall cleaning is completed, the window cleaning robot sends a recycling signal to the mother cabin, the mother cabin receives the recycling signal to perform positioning, and the window cleaning robot is collected; Step S40: The mother cabin releases the window cleaning robot to the next cleaning area according to the set outer wall area cleaning plan, and the outer wall cleaning is performed, and the process is repeated until the cleaning of all outer wall areas is completed; In the step S40, the mother cabin releases the window cleaning robot to the next cleaning area according to the set outer wall area cleaning plan, and the outer wall cleaning is performed, and the process is repeated until the cleaning of all outer wall areas is completed.

2. The outer wall cleaning control method of a mother-cabin window-cleaning robot according to claim 1, characterized by, The outer wall cleaning device arranged on the roof in the step S10 comprises a winch and a moving base, the mother cabin is horizontally laid along the roof edge, the winch is connected with the mother cabin through a steel cable, and the dynamic adjustment speed is released to enable the mother cabin to stably descend to the outer wall area to be cleaned.

3. The outer wall cleaning control method of a mother-cabin window-cleaning robot according to claim 1, characterized by, In the step S10, the mother cabin places the window cleaning robot to the outer wall to be cleaned through the telescopic electric push rod, and the mother cabin fixes the window cleaning robot to the outer wall surface by the thrust of the back rotor power device. The telescopic push rod drive adopts a telescopic structure, is equipped with a motor drive, and has the functions of adjusting depth, level and verticality. A flexible buffer pad is arranged at the end of the push rod to avoid collision with the outer wall. The release control is performed by modeling the outer surface of the building to be cleaned, preset coordinates are filled by artificial, the mother cabin moves according to the preset coordinates, the window cleaning robot is stably placed on the outer wall surface, and the center is automatically adjusted. The robot fixing is performed by the back rotor power device of the window cleaning robot, the thrust rotor is carried, vertical thrust is generated after the back rotor power device is started, double fixing is formed by cooperating with the bottom vacuum chuck, and the fixing state is verified in real time by the pressure sensor. When the detected pressure value reaches the set threshold value, the window cleaning robot is successfully fixed.

4. The outer wall cleaning control method of a mother-cabin window-cleaning robot according to claim 1, wherein In the step S20, the positioning unit is started to perform positioning and deviation correction, and the positioning mechanism comprises an inertial measurement unit. The deviation correction control is performed by comparing the positioning coordinates with the preset outer wall cleaning area coordinates, and the deviation correction is started when the coordinate deviation is greater than 5 cm. The position of the window cleaning robot is adjusted by the bottom tracked moving mechanism until the deviation is less than or equal to 2 cm. ​ Navigation and cleaning: adopt the cleaning path of the outer wall cleaning area from left to right and from top to bottom, after navigating to the upper left corner of the outer wall cleaning area, start the rotating cleaning brush head and water spraying device, the adjacent cleaning path overlap rate is greater than or equal to 10%, to avoid missing wiping.

5. The outer wall cleaning control method of a mother-cabin window-cleaning robot according to claim 1, wherein The step S30 of positioning the mother cabin after receiving the recycling signal in the mother cabin includes: Signal transmission: the window cleaning robot sends a recycling signal through a wireless communication unit, and the signal contains its own coding information; Mother cabin positioning: the mother cabin locates the floor where the window cleaning robot is located according to the recycling signal, and sets the number of turns of the hoist according to the number of floors. When the mother cabin is less than or equal to 3 floors away from the floor where the window cleaning robot is located, the hoist reduces the rotation speed to make the mother cabin reach the floor where the window cleaning robot is located smoothly; Retrieval action: the mother cabin adjusts the hoist to keep the same height as the window cleaning robot, allowing a certain deviation, and the telescopic electric push rod extends according to the positioning coordinates to align the end gripper or suction cup of the recycling mother cabin with the window cleaning robot. During the retrieval process, the negative pressure fixing state of the window cleaning robot is continuously monitored, and the window cleaning robot is fixed through the safety rope and the traction structure to ensure no risk of falling off.

6. The outer wall cleaning control method of a mother-cabin window-cleaning robot according to claim 1, wherein The step S40 of placing the window cleaning robot to the next cleaning area for outer wall cleaning according to the set outer wall area cleaning plan includes: Area planning: the preset outer wall cleaning area is divided into a certain number of rectangular units according to the outer wall structure, and the built-in storage unit in the mother cabin records the cleaned areas and the areas to be cleaned; Mother cabin movement: the hoist and the roller mechanism cooperate to move the mother cabin horizontally along the roof track and adjust the vertical height to reach the corresponding position of the next cleaning area; Repeat the placement: place the window cleaning robot to the next cleaning area according to the placement process of step S10 until all preset areas are cleaned.

7. An exterior wall cleaning control system based on a mother's cabin window cleaning robot, characterized by, It includes: Outer wall cleaning device placement and window cleaning robot placement module: used for placing the outer wall cleaning device on the roof, releasing the mother cabin to the outer wall area to be cleaned, and placing the window cleaning robot to the outer wall to be cleaned by the telescopic electric push rod. When the length of the telescopic electric push rod is insufficient, the mother cabin fixes the window cleaning robot to the outer wall surface with the help of the thrust of the back rotor power device, and closes the back rotor power device after fixing; Window cleaning robot outer wall cleaning module: used for positioning and correcting after the window cleaning robot is fixed to the outer wall surface, and starting outer wall cleaning after navigating to the fixed area of the outer wall cleaning area; Window cleaning robot recycling module: used for the window cleaning robot to send a recycling signal to the mother cabin after the outer wall cleaning is completed, and the mother cabin to locate and retrieve the window cleaning robot after receiving the recycling signal; Cyclic operation module: used for the mother cabin to place the window cleaning robot to the next cleaning area for outer wall cleaning according to the set outer wall area cleaning plan, and to repeat the cycle until all outer wall areas are cleaned; The circulating operation module further comprises the following steps: according to the set external wall area cleaning plan, the mother cabin continues to send the window cleaning robot to the next area to be cleaned for external wall cleaning; and through an artificial intelligence algorithm, whether to continue to send the window cleaning robot is determined according to the glass curtain wall specification, the glass curtain wall cleaning state, the window cleaning robot power and the consumable remaining amount; when the window cleaning robot power and the consumable remaining amount are insufficient, the window cleaning robot is returned to the ground to be re-sent and the completed window cleaning robot is recovered.

8. An outer wall cleaning control device based on a mother's cabin window cleaning robot, characterized by, The computer program product comprises a mother cabin-based window cleaning robot external wall cleaning control program, and the mother cabin-based window cleaning robot external wall cleaning control program realizes the mother cabin-based window cleaning robot external wall cleaning control method according to any one of claims 1 to 6 when executed by a processor. The computer program product comprises a mother cabin-based window cleaning robot external wall cleaning control program, and the mother cabin-based window cleaning robot external wall cleaning control program realizes the mother cabin-based window cleaning robot external wall cleaning control method according to any one of claims 1 to 6 when executed by a processor.

9. A computer program product, characterised in that, ​

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