Cleaning control method of cleaning robot suitable for high-dust industrial environment

Abstract

This invention discloses a cleaning control method for a cleaning robot suitable for high-dust industrial environments, solving technical problems such as lidar navigation failure and insufficient ultrasonic obstacle avoidance accuracy caused by high dust in existing technologies. The cleaning robot includes a robot body and a perception and navigation module. The perception and navigation module includes a lidar, an ultrasonic ranging sensor, a dust detection unit, and a radar frequency conversion control unit. The cleaning control method includes: using the lidar to perform laser scanning and mapping of the working environment; using the ultrasonic ranging sensor to detect nearby obstacles in the direction of travel, and using ultrasonic phased array technology to achieve 360° obstacle scanning without blind spots through beam adaptive adjustment; using the dust detection unit to collect dust concentration data of the working environment in real time; and the radar frequency conversion control unit automatically adjusting the operating frequency and wavelength of the lidar according to the dust concentration data, and reducing the radar frequency when the detected dust concentration exceeds a preset dust threshold.

Description

Technical Field

[0001] This invention belongs to the field of industrial cleaning equipment and intelligent robot technology, specifically relating to a ground cleaning robot that can effectively suppress secondary dust and ensure the reliability of the navigation system under harsh working conditions with high concentrations of dust (such as metal powder, coal powder, dust, etc.) through intelligent control and mechanical structure optimization. Background Technology

[0002] In typical industrial settings such as metallurgy, casting, building materials, and mining, large amounts of fine dust often accumulate on the ground. Currently, common floor cleaning methods (including manual cleaning and general-purpose robotic vacuum cleaners) have the following main drawbacks: 1. Serious secondary dust pollution problem Traditional cleaning methods, especially the high-speed rotating side brushes of robotic vacuum cleaners, easily stir up dust from the ground, causing serious secondary pollution. This not only directly worsens the air quality in the working environment, endangers workers' health, and increases the risk of explosion, but also resuspends settled dust, greatly reducing the actual cleaning effect.

[0003] 2. Interfering with the robot's autonomous navigation The core navigation component of modern intelligent cleaning robots is usually a lidar system. However, a large amount of dust suspended in the air will cause severe absorption and scattering of the lidar's scanning beam, making it unable to accurately identify environmental features. This leads to problems such as mapping distortion, positioning drift, and obstacle avoidance failure, ultimately causing the robot to "get lost" or run in a chaotic manner, making it unable to work properly.

[0004] To address the aforementioned issues, there is an urgent need for a cleaning robot specifically designed for high-dust industrial environments that can efficiently collect dust while minimizing dust generation during the cleaning process and ensuring the stability and reliability of its navigation system under harsh conditions. Summary of the Invention

[0005] The main objective of this invention is to provide a cleaning control method for a cleaning robot suitable for high-dust industrial environments, solving the technical problems in the prior art such as the failure of lidar navigation due to high dust, insufficient accuracy of ultrasonic obstacle avoidance, and serious secondary dust generation during the cleaning process.

[0006] To achieve the above objectives, the solution of the present invention is: A cleaning control method for a cleaning robot suitable for high-dust industrial environments is disclosed. The cleaning robot includes a robot body and a perception and navigation module integrated on the robot body. The perception and navigation module includes at least a lidar, an ultrasonic ranging sensor, a dust detection unit, and a radar frequency conversion control unit. The cleaning control method includes: using the lidar to perform laser scanning and mapping of the working environment to construct a global ground map of the working environment; using the ultrasonic ranging sensor to detect nearby obstacles in the direction of travel and employing ultrasonic phased array technology to achieve 360° obstacle scanning without blind spots through beam adaptive adjustment; using the dust detection unit to collect dust concentration data of the working environment in real time; and the radar frequency conversion control unit automatically adjusting the operating frequency and wavelength of the lidar based on the dust concentration data. When the detected dust concentration exceeds a preset dust threshold, the radar frequency is reduced to adapt to the high-dust environment.

[0007] The processing flow of the radar frequency conversion control unit is as follows: (1) Initialization: Configure the default frequency / wavelength and dust threshold of the lidar; (2) Dust detection and adaptive frequency conversion: The dust detection unit collects dust concentration data of the working environment in real time and performs filtering, noise reduction and stability verification; the radar frequency conversion control unit receives dust concentration data and makes real-time judgments; when the dust concentration is greater than the dust threshold, the radar frequency conversion control unit reduces the frequency of the lidar 2 and the wavelength of the lidar automatically increases; when the dust concentration is less than or equal to the dust threshold and is stable, the radar frequency conversion control unit restores the lidar to the default frequency / wavelength.

[0008] Preferably, the dust detection unit uses a moving average filter with a window size of 5 when filtering; it uses a median filter with a window size of 3 when denoising; and it uses the standard deviation of the moving window to determine whether the data has converged when performing stability verification. If the fluctuation is too large, the point is discarded and re-acquired until the data is stable.

[0009] The processing flow of the ultrasonic ranging sensor is as follows: (1) Initialization: Phased array probe parameter configuration, omnidirectional scanning angle setting, obstacle detection threshold calibration, and travel reference parameter initialization; (2) Full-range beam angle switching to achieve 360° scanning coverage without blind spots; (3) Transmit ultrasonic detection signals and receive echo signals from obstacles; (4) Process the echo signal, including filtering, noise reduction, time delay calculation, and analyze the distance, orientation, and size of the obstacle; (5) Conduct a comprehensive assessment of obstacle information, including determining the presence, location, size, and distance parameters of obstacles; (6) If an obstacle is detected, the obstacle information is transmitted to the sweeping robot's travel control system in real time to plan the optimal travel path and adjust the travel direction and speed; otherwise, the current travel state is maintained. (7) Repeat steps (2) to (6) until the cleaning robot stops.

[0010] Preferably, the echo signal processing specifically involves: filtering with a bandpass filter to retain the ultrasonic frequency band; using adaptive filtering or wavelet denoising to reduce noise; determining the time difference Δt by the cross-correlation peak value between the transmitted pulse and the echo; calculating the one-way distance based on the sound speed v (340 m / s) and Δt; the pointing angle of the current phased array beam being the obstacle direction; and estimating the size using the echo envelope width or multi-angle scanning synthetic aperture. The obstacle information comprehensive judgment is as follows: determine whether there is an obstacle based on whether the echo amplitude exceeds a preset threshold; directly use the analysis result of the echo signal as the position / distance of the obstacle; if there are echoes from multiple consecutive angles, fit the lateral size of the obstacle based on the angle range and distance changes; finally, package the comprehensive obstacle attributes and send them to the travel control system for path planning.

[0011] The sensing and navigation module also includes anti-collision sensor strips disposed on the periphery of the robot body, which are used to provide a feedback obstruction signal when the cleaning robot encounters and makes contact with an obstacle.

[0012] The cleaning robot also includes a cleaning execution module and an intelligent control module; the cleaning execution module includes a side brush, a roller brush, and a hopper for collecting garbage; the intelligent control module has three preset working modes: high dust, medium dust, and low dust, and can automatically switch to one of them according to the dust concentration data of the dust detection unit or preset logic. In the high dust mode, the side brush is disabled and only the roller brush is enabled.

[0013] Preferably, the cleaning execution module further includes a dustproof pad connected to the robot body and located around the roller brush, the dustproof pad being made of an elastic material.

[0014] Preferably, the bottom rear end of the hopper is provided with a discharge port, and a hopper cover is movably opened and closed at the discharge port. The hopper cover is driven by an electric push rod. A position sensor is also installed on the hopper. The detection end of the position sensor is set opposite to the end point of the stroke of the hopper cover or the electric push rod, and is used to detect in real time whether the hopper cover is completely closed.

[0015] The cleaning robot also includes a drive module that provides power for the robot's movement, an energy module that supplies power to the robot and has a charging function, and a human-machine interaction module that facilitates user operation and control.

[0016] By adopting the above technical solution, the present invention has the following technical effects: This invention monitors environmental dust concentration in real time using a dust detection unit. Combined with a radar frequency conversion control unit, it adaptively adjusts the frequency and wavelength of the lidar. In high-dust environments, it lowers the frequency and increases the wavelength, reducing dust absorption and scattering of the laser beam. This effectively solves the problems of lidar navigation failure and positioning drift under high-dust conditions, ensuring the stability and reliability of the cleaning robot's autonomous navigation. Secondly, this invention employs a dual-sensor scheme combining lidar global mapping with ultrasonic phased array near-range obstacle avoidance. Through adaptive beam control, it achieves 360° obstacle scanning without blind spots, compensating for the shortcomings of laser detection under high dust conditions and improving obstacle recognition accuracy and robot obstacle avoidance reliability. Finally, this invention sets multiple working modes for different dust concentrations. In high-dust mode, the side brushes are disabled, and the dust-proof pads around the roller brush reduce secondary dust generation during cleaning, improving air quality, reducing safety risks, and enhancing cleaning effectiveness. This makes it suitable for cleaning needs in high-dust industrial environments. Attached Figure Description

[0017] Figure 1 The cleaning robot of this invention is a three-dimensional structure. Figure One .

[0018] Figure 2 The cleaning robot of this invention is a three-dimensional structure. Figure Two .

[0019] Figure 3 The cleaning robot of this invention is a three-dimensional structure. Figure Three .

[0020] Figure 4 This is a cross-sectional view of a cleaning robot according to a specific embodiment of the present invention.

[0021] Figure 5 This is a perspective view of the closed state of the silo according to a specific embodiment of the present invention.

[0022] Figure 6 The three-dimensional view of the hopper in the open state according to a specific embodiment of the present invention. Figure One .

[0023] Figure 7 This is a three-dimensional representation of the hopper in the open state according to a specific embodiment of the present invention. Figure Two .

[0024] Figure 8 This is a flowchart of the filtering, denoising, and stability verification algorithm according to a specific embodiment of the present invention.

[0025] Figure 9 This is a flowchart illustrating the echo signal processing and obstacle information comprehensive determination process in a specific embodiment of the present invention.

[0026] Explanation of icon numbers: 100-Sweeping robot; 1-Robot body; 2-LiDAR; 3-Ultrasonic ranging sensor; 4-Anti-collision sensor strip; 5-Side brush; 6-Roll brush; 7-Hopper; 71-Discharge port; 8-Dustproof pad; 9-Hopper cover; 10-Electric push rod; 20-Position sensor. Detailed Implementation

[0027] To further explain the technical solution of the present invention, the present invention will be described in detail below through specific embodiments.

[0028] This invention discloses a cleaning control method for a cleaning robot suitable for high-dust industrial environments, with reference to... Figures 1 to 7 As shown, the cleaning robot 100 includes a robot body 1 and a perception and navigation module integrated on the robot body 1 for environmental modeling and real-time obstacle avoidance; the perception and navigation module includes at least a lidar 2, an ultrasonic ranging sensor 3, a dust detection unit, and a radar frequency conversion control unit; the cleaning control method includes: The LiDAR 2 performs laser scanning and mapping of the working environment, constructing a global ground map of the working environment and providing a basis for path planning; The ultrasonic ranging sensor 3 detects nearby obstacles in the direction of travel, and uses ultrasonic phased array technology to achieve 360° obstacle scanning without blind spots through beam adaptive control. The dust detection unit collects dust concentration data of the working environment in real time, and the radar frequency conversion control unit automatically adjusts the working frequency and wavelength of the lidar 2 according to the dust concentration data. Specifically, when the dust concentration is detected to exceed the preset dust threshold, the radar frequency will be automatically reduced and the wavelength will be automatically increased to adapt to the high dust environment.

[0029] The following details the solution of the present invention: The processing flow of the radar frequency conversion control unit mentioned above is as follows: (1) Initialization: Configure the default frequency / wavelength and dust threshold of LiDAR 2; (2) Dust Detection and Adaptive Frequency Conversion: The dust detection unit collects dust concentration data of the working environment in real time and performs filtering, noise reduction, and stability verification; the radar frequency conversion control unit receives dust concentration data and makes real-time judgments; when the dust concentration is greater than the dust threshold, the radar frequency conversion control unit reduces the frequency of the lidar 2, and the wavelength of the lidar 2 automatically increases, and the cleaning robot 100 enters a high dust adaptive working mode; when the dust concentration is less than or equal to the dust threshold and stabilizes, the radar frequency conversion control unit restores the lidar 2 to the default frequency / wavelength. Specifically, the dust threshold and radar frequency can be set according to actual needs and the experience of the staff, for example, the dust threshold can be set to 4mg / m³. 3 When the dust threshold is reached, the emission frequency of lidar 2 is set to 10kHz-15kHz and the scanning frequency is set to 2Hz-5Hz (approximately 1 / 3 to 1 / 2 of the normal value). At this time, the wavelength can reach 3-5 times that of the normal state, which can significantly reduce the scattering / absorption effect of dust particles.

[0030] Further, see Figure 8 The dust detection unit employs a moving average filter with a window size of 5 for filtering and a median filter with a window size of 3 for noise reduction. During stability verification, the standard deviation of the moving window is used to determine data convergence; if fluctuations are too large, the data point is discarded and re-acquired until the data stabilizes (i.e., the standard deviation of consecutive samples is ≤ a threshold, e.g., 0.5% of full scale). In practice, the window length and standard deviation threshold can be adjusted according to the noise characteristics of the dust detection unit.

[0031] The ultrasonic ranging sensor 3 described above employs ultrasonic phased array technology, which can identify obstacles omnidirectionally and without blind spots in complex spaces with many obstacles, ensuring smooth movement. See [link to related documentation]. Figure 9 The processing flow is as follows: (1) Initialization: Phased array probe parameter configuration, omnidirectional scanning angle setting, obstacle detection threshold calibration, and travel reference parameter initialization; (2) Full-range beam angle switching to achieve 360° scanning coverage without blind spots; (3) Transmit ultrasonic detection signals and receive echo signals from obstacles; (4) Process the echo signal, including filtering, noise reduction, time delay calculation, and analyze the distance, orientation, and size of the obstacle; (5) Conduct a comprehensive assessment of obstacle information, including determining the presence, location, size, and distance parameters of obstacles; (6) If an obstacle is detected, the obstacle information is transmitted to the movement control system of the cleaning robot 100 in real time, the optimal movement path is planned and the movement direction and speed are adjusted; otherwise, the current movement state is maintained. (7) Repeat steps (2) to (6) until the cleaning robot stops.

[0032] Furthermore, the specific process of processing the echo signal is as follows: • Filtering: Use a bandpass filter to preserve the ultrasonic frequency band (e.g., 40kHz) and suppress ambient noise; • Noise reduction: Adaptive filtering or wavelet denoising is used to improve the signal-to-noise ratio; • Delay calculation: The time difference Δt is determined by the peak value of the cross-correlation between the transmitted pulse and the echo; • Distance analysis: Calculate the one-way distance based on the speed of sound v (340m / s) and Δt; • Directional analysis: The pointing angle of the current phased array beam is the direction of the obstacle; • Size analysis: Estimate size using echo envelope width (for point obstacles) or multi-angle scan synthetic aperture (for extended obstacles).

[0033] Meanwhile, the comprehensive determination of obstacle information specifically involves: • Judgment: Does the echo amplitude exceed the preset threshold (considering background noise and attenuation compensation); • Location / Distance: Directly using the analytical results of the echo signal; • Size: If echoes are generated from multiple consecutive angles, the lateral dimensions of the obstacle are fitted based on the angle range and distance variations. Output: Package the synthesized obstacle attributes and send them to the travel control system for path planning.

[0034] In practice, the threshold and size estimation algorithm can be adjusted based on the beam characteristics (such as focus and sidelobes) of the actual ultrasonic phased array. If more complex clustering or multi-target recognition logic is required, connected component analysis can be added to the decision module.

[0035] The aforementioned perception and navigation module also includes anti-collision sensor strips 4 set around the robot body 1, which are used to provide a resistance signal when the cleaning robot 100 encounters and makes contact with an obstacle, so that it changes its course.

[0036] The aforementioned cleaning robot 100 also includes a cleaning execution module and an intelligent control module; the cleaning execution module includes a side brush 5, a roller brush 6, and a material bin 7 for collecting garbage; the intelligent control module has three preset working modes: high dust, medium dust, and low dust, and can automatically switch to one of them according to the dust concentration data of the dust detection unit or preset logic. In the high dust mode, the side brush is disabled and only the roller brush is activated, which can effectively suppress dust.

[0037] Furthermore, the three working modes are explained as follows: (a) High Dust Mode (Powerful Dust Suppression Mode): When the dust detection unit detects extremely high ambient dust concentration, or when the operator switches the robot to this mode based on experience, the intelligent control module will only activate the roller brush 6 for cleaning, while completely stopping the rotation of the side brush 5. The logic of this mode is that in high dust environments, the high-speed rotation of the side brush is the main factor causing large-scale dust dispersion. By disabling the side brush 5 and using only the roller brush 6 to adhere to and sweep away the thick layer of dust on the ground, dust dispersion caused by the side brush striking and scattering can be eliminated at the source, significantly reducing the concentration of suspended particulate matter in the air.

[0038] (b) Medium Dust Mode (Balanced Cleaning Mode): When the dust concentration on the ground decreases to a medium level, or when the robot enters an area that has been initially cleaned, the intelligent control module will activate the side brush 5, but make it rotate at a low speed, while the roller brush operates at normal speed. The low-speed rotating side brush 5 can gently gather the more concentrated debris and some dust into the middle of the robot's cleaning path, where it is then processed by the roller brush 6. This significantly reduces the amount of dust generated by the side brush while ensuring a certain cleaning efficiency.

[0039] (c) Low dust mode (normal mode, high-efficiency cleaning mode): When the ambient dust concentration is very low (such as in the area of ​​daily maintenance cleaning), the intelligent control module controls the side brush 5 and the roller brush 6 to run at the highest design speed to achieve maximum cleaning power and coverage efficiency and quickly complete the cleaning task.

[0040] Specifically, in this embodiment, it is set as follows: Low dust mode: Dust concentration ≤ 0.5 mg / m³ 3 The side brush speed is set to 100 rpm; Medium dust mode: Dust concentration > 0.5 mg / m³ 3 And ≤4mg / m 3 The side brush speed is set to 50 rpm; High dust mode: Dust concentration > 4mg / m³ 3 The side brush speed is set to 20 rpm.

[0041] This mode-switching strategy enables the invention to adapt to different cleaning stages and achieve the optimal balance between dust suppression and efficiency.

[0042] Secondly, the aforementioned cleaning execution module also includes a dust-proof pad 8 connected to the robot body 1 and located around the roller brush 6 (especially at its two ends and in the longitudinal gap area in contact with the ground). The dust-proof pad 8 is made of an elastic material, such as high-density foam, wear-resistant silicone, or composite brush strips. This dust-proof pad 8 forms a flexible dynamic seal with the ground, effectively confining the dust that is agitated and may splash outward when the roller brush rotates within a relatively closed cavity formed by the roller brush 6, the front opening of the hopper 7, and the dust-proof pads 8 on the sides and bottom. In this way, most of the swept dust is guided into the hopper, rather than diffused into the air from the gaps on the sides and bottom of the roller brush, thus achieving dust suppression at the physical level.

[0043] Furthermore, a discharge port 71 is provided at the bottom rear end of the aforementioned hopper 7. A hopper cover 9 is movably opened and closed at the discharge port 71, and the hopper cover 9 is driven by an electric push rod 10. Thus, by driving the hopper cover 9 with the electric push rod 10, the discharge port 71 can automatically open and close without manual intervention. This facilitates automatic unloading after the cleaning robot completes its cleaning task, reducing the workload of workers, avoiding direct contact with industrial dust, and further improving operational safety. In this embodiment, a position sensor 20 is also installed on the aforementioned hopper 7. The detection end of the position sensor 20 is positioned opposite to the end point of the travel of the hopper cover 9 or the electric push rod 10 (this end point refers to the end point of the closing action of the hopper cover 9), used to detect in real time whether the hopper cover 9 is fully closed.

[0044] The aforementioned cleaning robot 100 also includes a drive module that provides driving power for the robot, an energy module that supplies power to the robot and has a charging function, and a human-machine interaction module that facilitates user operation and control.

[0045] Through the above solution, the present invention has the following technical effects: (I) Significantly improve the working environment: By intelligently stopping or slowing down the side brushes, combined with the dustproof sealing structure of the roller brush, secondary dust is reduced at the source during sweeping operations, effectively controlling the dust concentration in the working area, protecting personnel health, and reducing industrial hygiene and safety risks.

[0046] (II) Ensuring the reliability of the navigation system: Reduced dust directly reduces the interference of suspended particulate matter in the air on the lidar, enabling the robot to obtain relatively clear and stable environmental scanning data in high dust environments, ensuring the normal operation of positioning, mapping and obstacle avoidance functions, and avoiding operational chaos, collision or shutdown problems caused by navigation failure.

[0047] (III) Adaptive intelligent cleaning: The robot can automatically select the optimal cleaning mode according to the dust concentration or preset logic, which can not only ensure effective dust suppression in highly polluted areas, but also achieve the highest efficiency in relatively clean areas, realizing intelligent and refined operation throughout the entire process.

[0048] (IV) Improve equipment durability and ease of maintenance: The design of the electrically controlled unloading port enables automated and sealed dumping of waste, reducing manual contact with dust and the workload of frequent cleaning of the hopper; at the same time, the targeted use of cleaning components under harsh working conditions helps to extend the overall service life of the equipment.

[0049] The above embodiments and figures are not intended to limit the product form and style of the present invention. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of the present invention.

Claims

1. A cleaning control method for a cleaning robot suitable for high-dust industrial environments, characterized in that, The cleaning robot includes a robot body and a perception and navigation module integrated on the robot body. The perception and navigation module includes at least a lidar, an ultrasonic ranging sensor, a dust detection unit, and a radar frequency conversion control unit. The cleaning control method includes: The lidar performs laser scanning and mapping of the working environment to construct a global ground map of the working environment; The ultrasonic ranging sensor detects nearby obstacles in the direction of travel, and uses ultrasonic phased array technology to achieve 360° obstacle scanning without blind spots through beam adaptive control. The dust detection unit collects dust concentration data of the working environment in real time. The radar frequency conversion control unit automatically adjusts the working frequency and wavelength of the lidar according to the dust concentration data. When the dust concentration exceeds the preset dust threshold, the radar frequency is reduced to adapt to the high dust environment.

2. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 1, characterized in that, The processing flow of the radar frequency conversion control unit is as follows: (1) Initialization: Configure the default frequency / wavelength and dust threshold of the lidar; (2) Dust detection and adaptive frequency conversion: The dust detection unit collects dust concentration data of the working environment in real time and performs filtering, noise reduction and stability verification; the radar frequency conversion control unit receives dust concentration data and makes real-time judgments; when the dust concentration is greater than the dust threshold, the radar frequency conversion control unit reduces the frequency of the lidar 2 and the wavelength of the lidar automatically increases; when the dust concentration is less than or equal to the dust threshold and is stable, the radar frequency conversion control unit restores the lidar to the default frequency / wavelength.

3. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 2, characterized in that: The dust detection unit uses a moving average filter with a window size of 5 for filtering and a median filter with a window size of 3 for denoising. When performing stability verification, it uses the standard deviation of the moving window to determine whether the data has converged. If the fluctuation is too large, the point is discarded and re-acquired until the data is stable.

4. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 1, characterized in that, The processing flow of the ultrasonic ranging sensor is as follows: (1) Initialization: Phased array probe parameter configuration, omnidirectional scanning angle setting, obstacle detection threshold calibration, and travel reference parameter initialization; (2) Full-range beam angle switching to achieve 360° scanning coverage without blind spots; (3) Transmit ultrasonic detection signals and receive echo signals from obstacles; (4) Process the echo signal, including filtering, noise reduction, time delay calculation, and analyze the distance, orientation, and size of the obstacle; (5) Conduct a comprehensive assessment of obstacle information, including determining the presence, location, size, and distance parameters of obstacles; (6) If an obstacle is detected, the obstacle information is transmitted to the sweeping robot's travel control system in real time to plan the optimal travel path and adjust the travel direction and speed; Otherwise, maintain the current movement state; (7) Repeat steps (2) to (6) until the cleaning robot stops.

5. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 4, characterized in that: The echo signal processing specifically involves: filtering with a bandpass filter to preserve the ultrasonic frequency band; using adaptive filtering or wavelet denoising to reduce noise; determining the time difference Δt by the cross-correlation peak value between the transmitted pulse and the echo; calculating the one-way distance based on the sound speed v (340 m / s) and Δt; the pointing angle of the current phased array beam is the obstacle direction; and estimating the size using the echo envelope width or multi-angle scanning synthetic aperture. The obstacle information comprehensive judgment is as follows: determine whether there is an obstacle based on whether the echo amplitude exceeds a preset threshold; directly use the analysis result of the echo signal as the position / distance of the obstacle; if there are echoes from multiple consecutive angles, fit the lateral size of the obstacle based on the angle range and distance changes; finally, package the comprehensive obstacle attributes and send them to the travel control system for path planning.

6. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 1, characterized in that: The sensing and navigation module also includes anti-collision sensor strips disposed on the periphery of the robot body, which are used to provide a feedback obstruction signal when the cleaning robot encounters and makes contact with an obstacle.

7. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 1, characterized in that: The cleaning robot also includes a cleaning execution module and an intelligent control module; the cleaning execution module includes a side brush, a roller brush, and a hopper for collecting garbage; the intelligent control module has three preset working modes: high dust, medium dust, and low dust, and can automatically switch to one of them according to the dust concentration data of the dust detection unit or preset logic. In the high dust mode, the side brush is disabled and only the roller brush is enabled.

8. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 7, characterized in that: The cleaning execution module also includes a dustproof pad connected to the robot body and located around the roller brush, the dustproof pad being made of an elastic material.

9. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 7, characterized in that: The bottom rear end of the hopper is provided with a discharge port, and a hopper cover is movably opened and closed at the discharge port. The hopper cover is driven by an electric push rod. A position sensor is also installed on the hopper. The detection end of the position sensor is set opposite to the end point of the stroke of the hopper cover or the electric push rod, and is used to detect in real time whether the hopper cover is completely closed.

10. The cleaning control method for a cleaning robot suitable for high-dust industrial environments as described in claim 1, characterized in that: The cleaning robot also includes a drive module that provides power for the robot's movement, an energy module that supplies power to the robot and has a charging function, and a human-machine interaction module that facilitates user operation and control.

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