WO2019100624A1

WO2019100624A1 - Autonomously moving on-panel cleaning method and on-panel cleaning robot

Info

Publication number: WO2019100624A1
Application number: PCT/CN2018/079066
Authority: WO
Inventors: 张翼; 朱玲芬; 周国成
Original assignee: 浙江国自机器人技术有限公司
Priority date: 2017-11-23
Filing date: 2018-03-15
Publication date: 2019-05-31
Also published as: CN107748565A

Abstract

An autonomously moving on-panel cleaning robot and a cleaning method. The method is applied to an on-panel cleaning robot. The method comprises: a controller controlling a cleaning machine to move along a first side edge of a panel to be cleaned, and stop moving when a first angular position of the first side edge is sensed (S1); the controller controlling the cleaning machine to rotate so as to face away from the first side edge, and start cleaning operation (S2); the controller controlling the cleaning machine to move forward along a side edge on one side of the cleaning machine, and when an angular position in the forward direction is sensed, stop moving and turn around to approach another side edge parallel to the side edge, and move forward; when the controller senses that the cleaning machine reaches a second angular position of the first side edge, the controller controlling the cleaning machine to rotate toward the first angular position (S3). The method controls the cleaning machine to perform mobile cleaning along the edges of the panel to be cleaned by means of the sensing of the controller on the relative position of the side edge and angular positions of the panel to be cleaned and the cleaning machine, so that the cleaning process of the panel to be cleaned can be realized.

Description

Autonomous moving on-board cleaning method and on-board cleaning robot

This application claims the priority of the Chinese patent application filed on November 23, 2017, the Chinese Patent Office, the application number is 201711182711.5, and the invention name is "an autonomous mobile on-board cleaning method and on-board cleaning robot", the entire contents of which are This is incorporated herein by reference.

Technical field

The present invention relates to the field of intelligent robot technology, and more particularly to an autonomous mobile board cleaning method. Furthermore, the invention relates to an autonomous mobile board cleaning robot.

Background technique

As the proportion of society's demand for clean energy continues to increase, photovoltaic applications are also deepening and refining. From research and development to application, many different types of photovoltaic equipment have gradually gained a lot of attention.

Factors Affecting the Cleaning Method In addition to the above-mentioned terrain, automation level, cost, component safety, and efficiency, the characteristics of the PV module itself also determine the characteristics of the appropriate cleaning method. The tracking array system is a new type of photovoltaic system that enables the automatic tracking system to track solar movements in real time and direct sunlight to the photovoltaic array, thereby increasing the amount of solar radiation received by the photovoltaic array and increasing the overall power generation of the solar photovoltaic power generation system.

The existing cleaning equipment walks along the edge of the photovoltaic board. The edge of the ordinary polysilicon board has an aluminum alloy frame with a thickness of about 45 mm, which enables the guide wheel of the board washing machine to walk along the aluminum alloy frame at the edge of the board. The double-glass panel photovoltaic module usually has a thickness of only 6mm, and there is no aluminum alloy frame protection. The edge of the board may be misaligned during the installation process, and there is a height difference; when the guide wheel of the board washing machine carries the weight of the washing machine When passing through the gap at a certain speed, a certain impact is necessarily generated on the corners at the gap. The double-panel "sandwich" type structure is mainly composed of two tempered glass sandwiched by solar panels. The surface strength of the tempered glass is sufficient to withstand the impact of rain, snow and even hail, but at the side of the tempered glass. The angular position is particularly susceptible to cracking after impact. Therefore, the original way of relying on the border to walk can not continue to use, and it is necessary to design a new cleaning method according to the new application.

In summary, how to provide a cleaning device that avoids damage to the photovoltaic module is an urgent problem to be solved by those skilled in the art.

Summary of the invention

In view of the above, it is an object of the present invention to provide an autonomous moving plate cleaning method which can achieve safe movement of the cleaning device on the cleaning plate to avoid collision with the cleaning plate.

Another object of the present invention is to provide an autonomous mobile board cleaning robot.

In order to achieve the above object, the present invention provides the following technical solutions:

An autonomous moving board cleaning method is applied to an on-board cleaning robot, the board cleaning robot comprising a washing machine and a controller, wherein the method comprises:

S1. The controller controls the cleaning machine to move along a first side of the cleaning board, and stops when the first angular position of the first side is sensed;

S2, the controller controls the washing machine to rotate to face away from the first side, and initiate a cleaning operation;

S3. The controller controls the washing machine to move forward along a side of the washing machine side. When an angular position in the forward direction is sensed, the movement is stopped and the head is turned off to be close to the side parallel to the side. a side edge and moving forward; the controller sensing the washing machine to rotate to face the first angular position and moving when the cleaning machine reaches the second angular position of the first side The movement and washing are stopped after the first angular position.

Preferably, the S3 comprises:

S31, the controller controls the washing machine to move forward along a side of the washing machine side, stops moving when sensing an angular position in the forward direction, and rotates to face away from the side, and along Moving along the other side perpendicular to and connected to the side edges; fine-tuning during movement to keep the movement of the washing machine parallel to the side edges along which it is moved;

S32. The controller determines whether the first angular position is reached. If yes, the movement and the cleaning operation are stopped; if not, the process returns to S31.

Preferably, the fine adjustment is performed during the moving to keep the movement of the washing machine parallel with the side edges, including:

The controller acquires position information of the side edge of the washing machine near the side in real time, and sends an adjustment control signal to the washing machine, the adjustment control signal including if the side edge is on the side a side edge, controlling the forward movement of the washing machine, a small angle shift is close to the side; if the side edge is outside the side edge, controlling the washing machine to move forward At the same time, the small angled offset is away from the sides.

Preferably, the controller in the S2 controls the washing machine to rotate to face away from the first side, including:

The controller controls the washing machine to rotate 90 degrees in a direction away from the first side and retreat to be close to the first side; the controller determines whether the tail of the washing machine reaches the first On one side, if it is, stop.

Preferably, before the cleaning operation is started in the S2, the method further includes:

The controller senses whether a distance between a tail portion of the cleaning machine and the first side edge is within a preset range, and sensing a side edge of the cleaning machine adjacent to the first side edge and perpendicular to the first Whether the spacing of the sides of one side is within a preset range, and if yes, the cleaning operation is turned on; if at least one is no, the linear distance is finely adjusted.

Preferably, the controlling the movement of the washing machine by the controller comprises:

S61. The controller selects a reference stripe fixed to a relative position of the cleaning board as a moving route.

S62. The controller controls the sensing device to acquire a tangential direction corresponding to a current position of the cleaning machine on the reference stripe in real time, and acquire a moving direction of the cleaning machine.

S63, the controller obtains an angle between the tangential direction and the moving direction, and controls the cleaning board to rotate from the moving direction toward the tangential direction, the rotation angle is the angle of the angle, and returns S62;

Wherein the reference object comprises an intrinsic stripe on the cleaning plate, a side edge of the reference object, a stripe of the side of the cleaning plate, or a stripe on the device below the cleaning plate.

An autonomous mobile board cleaning robot comprising a controller and a cleaning machine for cleaning the cleaning board, the cleaner being connected to the controller; the controller for controlling the cleaning machine along the cleaning board Moving on one side, stopping movement when sensing the first angular position of the first side; controlling the rotation of the washing machine to face away from the first side, opening a cleaning operation; controlling the cleaning machine along the The side of the side of the washing machine moves forward. When the angular position in the advancing direction is sensed, the movement is stopped and the head is turned to approach the other side parallel to the side and moved forward; The first angular position is described. If yes, the movement and the cleaning operation are stopped; if not, the control is continued to move forward along the side of the cleaning machine.

Preferably, the controller comprises:

An inductive device for sensing an angular position in a forward direction, the sensing device being disposed at an edge and an angular position of the washing machine;

An actuator connected to the washing machine and the sensing device, wherein the actuator is configured to control the washing machine to move forward along a side of the washing machine side, and when receiving a position signal of the sensing device, Controlling the washing machine to rotate to face away from the side and to move along another side perpendicular and connected to the side; the actuator controls fine adjustment during movement of the washing machine to The movement of the washer is kept parallel to the side edges along which it is.

Preferably, the sensing device is configured to acquire position information of the side edge of the washing machine near the side in real time; the actuator comprises:

Close to the trimmer for controlling the forward movement of the washing machine when the side edge is inside the side edge, while the small angle shift is close to the side edge;

Remote from the trimmer, for controlling the forward movement of the washing machine while the side edges are outside the sides, the small angle offset is away from the sides.

Preferably, the actuator further comprises:

a mesh acquirer, configured to acquire a reference stripe corresponding to the cleaning direction as the moving route during the moving process;

An analyzer, coupled to the mesh acquirer, for acquiring an angle between a tangential direction corresponding to a current position of the cleaning machine and the moving direction on the reference stripe, and for using the proximity trimmer Transmitting, by the remote trimmer, a signal that controls the washing machine to perform the rotation of the angle, the signal including an angle of the included angle and a direction of rotation.

The method provided by the present invention can move the washing machine from the first angular position to the second angular position adjacent thereto, and then move from the second angular position to the first angular position, thereby completing the cleaning plate for the rectangle. A complete cleaning process in the circumferential direction. Cleaning in the above manner can realize a completely autonomous cleaning process, and the controller can control the relative position of the side and the angular position of the cleaning plate and the relative position of the cleaning machine, and control the cleaning machine to perform mobile cleaning along the edge of the cleaning plate. Cleaning plate cleaning process.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can obtain other drawings according to the provided drawings without any creative work.

1 is a flow chart of a method for cleaning an autonomous mobile board according to the present invention;

2 is a schematic diagram of a process of an autonomous mobile board cleaning method according to the present invention;

FIG. 3 is a schematic diagram of a process of an autonomous mobile board cleaning method according to the present invention; FIG.

Figure 4a is a first schematic view of the process of the autonomous moving plate cleaning method;

Figure 4b is a second schematic view of the process of cleaning the autonomous moving plate;

Figure 4c is a third schematic diagram of the process of the autonomous moving plate cleaning method;

Figure 4d is a fourth schematic view of the process of the autonomous moving plate cleaning method;

Figure 4e is a fifth schematic diagram of the process of the cleaning method on the autonomous moving board;

Figure 4f is a sixth schematic diagram of the process of the autonomous moving plate cleaning method;

Figure 4g is a seventh schematic diagram of the process of the autonomous moving plate cleaning method;

FIG. 5 is a schematic diagram of a method for cleaning an autonomous mobile board according to the present invention.

In Figure 1-5:

100 is a washing machine and 200 is a washing board.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The core of the invention is to provide an autonomous moving plate cleaning method, which can realize the safe movement of the cleaning device on the cleaning plate and avoid the collision with the cleaning plate. Another core of the present invention is to provide an autonomous mobile board cleaning robot.

Please refer to FIG. 1 to FIG. 4g. FIG. 1 is a flowchart of a method for cleaning an autonomous moving board according to the present invention; FIG. 2 is a schematic diagram of a process for cleaning autonomous moving board according to the present invention; The schematic diagram of the process of the autonomous moving plate cleaning method provided by the present invention; FIG. 4a to FIG. 4g are schematic diagrams of the first to seventh processes in the process of the autonomous moving plate cleaning method.

The invention provides an autonomous mobile board cleaning method, which is applied to an on-board cleaning robot. The board cleaning robot comprises a cleaning machine and a controller, and the method comprises the following steps:

Step S1: The controller controls the washing machine to move along the first side of the cleaning plate, and stops when the first angular position of the first side is sensed.

Step S2: The controller controls the washing machine to rotate to face away from the first side, and the cleaning operation is started.

Step S3, the controller controls the washing machine to move forward along the side of the washing machine side. When sensing the angular position in the advancing direction, stop moving and turn the head to approach the other side parallel to the side, and forward Moving; when the controller senses that the washing machine reaches the second angular position of the first side, controlling the washing machine to rotate to face the first angular position and move to the first angular position Stop after.

It should be noted that the viewing angles of FIG. 4a to FIG. 4g are the viewing angles of FIG. 2 and FIG. 3 rotated counterclockwise by 90 degrees, that is, the edges of the cleaning plates below in FIGS. 4a to 4g are A in FIGS. 2 and 3. side.

It should be noted that the washing machine in step S1 needs to meet the movement along the first side, and the first side is the reference side in the present scheme.

The first side has two angular positions, wherein the first angular position is an angular position in the moving direction of the washing machine, and moving to the first angular position indicates that the washing machine is at the same time close to the first side and perpendicularly connected to the first side The position of the other side is the edge point d in Fig. 2.

The first angular position is the starting point of the cleaning operation of the washing machine. If the washing machine is not placed at the first angular position when placed on the cleaning plate, it can be adjusted by moving. For example, referring to FIG. 2 to FIG. 4g, when the washing machine is placed on the cleaning plate with the side parallel to the edge A of the cleaning plate, the cleaning machine moves forward until the controller senses the edge point d, that is, the drawing. The first step indicated by 4a.

In step S2, the controller controls the rotation of the washing machine so that the back side of the first side means that the controller controls the washing machine to rotate 90° in situ, specifically 90 degrees clockwise in FIGS. 4a and 4b. After the rotation is completed, the washing machine can be controlled to open the cleaning operation switch to perform the cleaning operation during the subsequent movement.

In step S3, when the washing machine is located at the first angular position, it is located at the starting point of the moving position of the present application. It should be noted that when the washing machine moves forward for the first time, if there is no movement deviation, the washing machine should move back to the side opposite to the first side and parallel, and close to the corner of the first side. At the position, that is, the controller controls the washing machine to move to another corner position. At this point, the movement can be stopped and the U-turn can be made close to the other side, where the other side refers to the side parallel to the side and moves forward.

It should be noted that the washing machine in the present application refers to a mechanical structure other than the controller in the cleaning robot. In addition, all forward movements in the present application refer to the front and rear of the absolute position, and both refer to the movement toward the head of the washing machine, so the moving direction of the washing machine determines the direction of the forward movement described above.

The above method can move the washing machine from the first angular position to the second angular position adjacent thereto, and then from the second angular position to the first angular position, thereby completing the complete cleaning process for the rectangular cleaning plate. Cleaning in the above manner can realize a completely autonomous cleaning process, and the controller can control the relative position of the side and the angular position of the cleaning plate and the relative position of the cleaning machine, and control the cleaning machine to perform mobile cleaning along the edge of the cleaning plate. Cleaning plate cleaning process.

Optionally, after the rotation is completed, the controller controls the washing machine to retract so that the tail of the washing machine is closer to the first side of the cleaning plate (ie, the A side in the figure).

Optionally, in the present application, the trigger of the position sensing of the washing machine can be realized by a sensor disposed at the tail of the washing machine, so as to find the edge A of the cleaning plate at the tail of the washing machine, even if the washing machine is closer to the edge of the cleaning plate.

Optionally, the turning angle can be linearly controlled by the turning mechanism of the chassis, wherein the linear control of the turning mechanism refers to a specific angle of rotation obtained according to the mesh stripe on the cleaning plate surface.

Based on the foregoing embodiment, step S3 may specifically include the following steps:

Step S31, the controller controls the washing machine to move forward along the side of the washing machine side, stops moving when the angular position in the forward direction is sensed, and rotates to face away from the side, and is connected perpendicularly to the side. Move the other side; fine-tune during the move so that the movement of the washer is parallel to the side along which it is being moved.

In step S32, the controller determines whether the first angular position is reached. If YES, the movement and the cleaning operation are stopped; if not, the process returns to step S31.

It should be noted that since the cleaning plate is usually a rectangular plate member, the cleaning of the cleaning plate needs to be performed along two pairs of parallel sides, especially when the width of the cleaning plate is large, and the cleaning machine is required to be respectively along each side. Move and clean. In step S31, the movement starts from one side, and when the first angular position is sensed, the movement is stopped, and the rotation and adjustment are performed. In step S32, the angular position is determined. If the starting position is not reached, the process returns to step S31, and the mobile cleaning is continued until the first angular position is sensed. If the starting position has been reached, the cleaning has been completed, and the cleaning operation can be turned off. .

It should be noted that the above steps include fine adjustment during the movement to keep the movement of the washing machine parallel with the side along which the movement is performed, wherein the fine adjustment during the movement, that is, the direction of movement, the movement by the position sensing or the like Control the angle, etc., so that the movement is controlled accurately and close to the edge of the cleaning plate.

On the basis of the above embodiment, the step of fine-tuning during the moving of step S31 to keep the movement of the washing machine parallel with the side edges includes the following steps:

Step S33: The controller acquires position information of the side edge of the washing machine near the side in real time, and sends an adjustment control signal to the washing machine, and if the side edge is inside the side, the washing machine is controlled to move forward. At the same time, the small-angle offset is close to the side; if the side edge is outside the side, the cleaning machine is controlled to move forward while the small-angle offset is away from the side.

It should be noted that the controller is used to sense the relationship between the edge of the cleaning machine and the edge of the cleaning plate. If the direction advances accurately, the edge of the cleaning machine should be located at the edge of the cleaning plate and always maintained. However, in actual operation, there may be a certain The deviation and error of walking, so the deviation can be corrected by sensing the positional relationship between the two in real time. Specifically, when the side edge is detected on the inner side of the side, the washing machine is controlled to move forward, and the small angle of the washing machine is controlled to be close to the side; when the side edge is outside the side, the washing machine is controlled. While moving forward, control the small angular offset of the washer away from the sides.

The solution provided by the embodiment can perform the deviation control during the movement of the washing machine, thereby performing the correcting operation, and ensuring the accuracy of the moving direction during the moving process.

Based on any of the above embodiments, the controller in S2 controls the washing machine to rotate to face away from the first side, including:

The controller controls the washing machine to rotate 90 degrees away from the first side and retreats to approach the first side; the controller determines whether the tail of the washing machine reaches the first side, and if so, stops.

It should be noted that, after the controller controls the cleaning machine to face away from the first side, it is still necessary to retreat so as to be close to the first side. The purpose of this operation is to make the starting position as close as possible to the corner position, thereby making the cleaning operation The range is larger and the cleaning efficiency is improved.

Optionally, in the above solution, the cleaning machine is placed on the first side by turning 90°. Of course, the rotation angle is not limited to 90°. In a specific embodiment, the rotation angle may also be 180°, please refer to Figure 5, driving in a direction parallel to the first side (short side), after the induction reaches the next side, the washing machine is controlled to turn around, and the distance of a turning radius is laterally translated during the U-turn, compared to the first route. It is parallel, so repeated many times, it can also make the moving range of the washing machine cover the entire surface to be cleaned, and finally return to the first angular position through multiple foldbacks and movements, compared with the number of U-turns in this scheme. Many, but for the case where the width of the cleaning plate is large, it is better to ensure that the panel is completely cleaned.

On the basis of any of the above embodiments, before the cleaning operation is started in step S2, the method further includes:

The controller senses whether the distance between the tail of the cleaning machine and the first side is within a preset range, and whether the distance between the side edge of the induction washing machine near the first side and the side perpendicular to the first side is preset Within the range, if both are YES, the cleaning operation is turned on; if at least one is No, the linear distance is fine-tuned.

On the basis of any of the above embodiments, during the moving process, the controller acquires a grid perpendicular to the edge of the cleaning plate on the cleaning plate, obtains an angle between the mesh and the moving direction, and controls the angle of the cleaning machine. .

Specifically, the controller controlling the movement of the washing machine includes the following steps:

Step S61: The controller selects a reference stripe fixed in position relative to the cleaning board as a moving route;

Step S62: The controller controls the sensing device to acquire a tangential direction corresponding to the current position of the cleaning machine on the reference stripe in real time, and obtain a moving direction of the cleaning machine;

Step S63, the controller obtains the angle between the tangential direction and the moving direction, and controls the cleaning plate to rotate from the moving direction toward the tangential direction, the rotation angle is the angle of the angle, and returns to step S62;

Wherein, the reference object includes an intrinsic stripe on the cleaning plate, a side edge of the reference object, a stripe on the side of the cleaning plate, or a stripe on the device below the cleaning plate.

In a specific embodiment provided by the present invention, a plurality of sensors and sensing devices are provided on the side and rear of the washing machine for providing sensing information to the controller. The method may specifically include: after the cleaning machine is placed on the photovoltaic panel in a posture in which the side is parallel with the long side A of the end of the photovoltaic panel, the cleaning machine moves forward until the sensor detects the edge point d, that is, the state shown in FIG. 4a. Turning 90° to the right, the turning angle can be controlled linearly through the turning mechanism of the chassis, controlling the washing machine to retreat, and when the sensor at the end of the washing machine senses the edge, it means finding the edge A of the photovoltaic panel at the tail of the washing machine. If the sensor on the left side of the washer is not triggered at this time, control the washing machine to move to the position near the edge (ie, move forward to the left) until the left sensor is triggered, and move to and sense the edge B of the photovoltaic panel on the left side. The washing machine adjusts the body to a right angle and retracts to the end d of the photovoltaic panel, that is, the state shown in Figure 4b. At this time, the sensors on the left side and the tail of the washing machine are in a trigger state, indicating that the washing machine is in place according to the setting. .

Start the washing machine and move forward in a straight line. During the movement, the edge B is constantly corrected and moved to ensure that the walking route is straight, that is, the state shown in Figure 4c, until the front end sensor is triggered, that is, the state shown in Figure 4d, arrives. Point e position; control the washing machine to turn right 90° to the right, and go straight ahead until the sensor at the cleaning front is triggered again, reach point f, and turn right again 90° to the right, that is, the state shown in Figure 4e; continue Go straight ahead, move along the D side and maintain the long-distance straight line accuracy, and finally reach the starting edge point g, the front end sensor of the washing machine triggers, that is, the state shown in Figure 4f. Then turn 90° to the right, and the side of the left side of the washing machine is in the same state as the one originally placed on the photovoltaic panel, that is, parallel to the edge A of the photovoltaic panel. Moving closer to the A side and moving forward to the point d, this completes the cleaning process of a row of photovoltaic array panels. The above process is only an embodiment. The cleaning process is different according to different navigation methods, PV array specifications, and cleaning head size.

In addition to the autonomous moving plate cleaning method provided by the various embodiments described above, the present invention also provides an autonomous moving plate cleaning robot for implementing the above method.

The autonomous mobile board cleaning robot mainly comprises a controller and a washing machine 100 for cleaning the cleaning board 200, and the washer and the controller are connected;

The controller is configured to control the cleaning machine 100 to move along the first side of the cleaning plate 200, and stop moving when the first angular position of the first side is sensed; control the cleaning machine 100 to rotate to face away from the first side, and open the cleaning operation Controlling the washing machine 100 to move forward along the side of the washing machine 100 side, and when sensing the angular position in the advancing direction, stop moving and turn the head to approach the other side parallel to the side and move forward; It is judged whether or not the first angular position is reached. If YES, the movement and cleaning operation are stopped; if not, the control washing machine 100 is moved forward along the side of the cleaning machine 100 side.

Optionally, the cleaning machine 100 mainly comprises a cleaning execution component, a walking unit and a detecting unit, and the controller is respectively connected with the parts.

The cleaning actuator refers to a structure having a cleaning capability. The cleaning structure has a dynamic active cleaning method, such as a rotatable cylindrical roller brush; a rotatable disc brush; or a structure with a dust suction effect; the cleaning mechanism also has a passive cleaning method without power, and the thrust is provided by the moving chassis. The pressure, mop cleaning method, the cleaning head may be in the form of a block, a strip, a brush or the like of one or more materials such as cloth, rubber, nylon, and the like. The method of spraying water to the surface to be cleaned or directly moisturizing the cleaning material is not excluded in the cleaning head or the outside, and the manner of adding the cleaning agent may be optionally selected, which is similar to the water spray structure. As shown, the cleaning actuator unit consists of a cleaning head and a cleaning drive.

The walking unit is a wheeled or tracked component with linear controllable motion capability and is powered by a battery and driven by a motor. Due to the application on the photovoltaic panel, the surface pressure is required to be small, and the mirror wear is small, so the crawler chassis is selected. Chassis turning and U-turn function can be realized by differential control.

The detection unit is mounted on the chassis and is responsible for collecting and transmitting information about the mobile chassis itself and the surrounding environment, and is composed of a sensor group. An important part of the function of moving the chassis to move autonomously. The detecting unit may be composed of one or more of ultrasonic, laser, proximity switch, camera, 3D laser, odometer, speed meter, and the like. Navigation path identification and vehicle body status confirmation mainly depend on the detection unit to complete.

The control unit is an upper control part of the cleaning system, and mainly comprises a controller and a driver having computing capability, compiling capability, and driving capability, and can receive environmental information fed back by the detecting unit and status information of the chassis itself. According to the compiled software flow, the corresponding instruction is output to the execution unit of the cleaning system for different feedbacks, such as cleaning the actuator switching, acceleration and deceleration, forward and reverse rotation, etc., moving the chassis acceleration, deceleration, turning, turning, and the like.

For other accessories, the cleaning connector is a connector that connects the cleaning execution unit to the moving part of the body. The specific connection form is related to the size and shape of the cleaning execution unit itself. The grabbing kit is a fixture that cooperates with the gripping mechanism when the washing machine performs the panel changing operation; the identification mark is convenient for the detecting unit to confirm the position of the washing machine, commonly used reflective sheet or two-dimensional code, etc.; The charging module is designed to match the charging pile structure of the mobile system (mother car). Of course, the position of the charging module is also one of the embodiments. According to different charging pile structures, the charging module structure and installation position of the cleaning machine also follow Adjustment.

It should be noted that the control method and operation procedure of the cleaning machine 100 and the controller described above may be specifically referred to the embodiment of the above-described autonomous moving board cleaning method.

Based on the above embodiments, the controller includes an inductive device and an actuator.

The sensing device is for sensing the angular position in the forward direction, and the sensing device is disposed at the edge and angular position of the washing machine 100.

The actuator is connected to the washing machine 100 and the sensing device, and the actuator is used for controlling the washing machine 100 to move forward along the side of the washing machine 100 side. When receiving the position signal of the sensing device, the cleaning machine 100 is controlled to rotate to the side. And moving along the other side that is perpendicular to and connected to the side; the actuator controls fine adjustment during movement of the washing machine 100 to keep the movement of the washing machine 100 parallel to the sides along which it is.

Based on the above embodiment, the sensing device is used to acquire position information of the side edges of the washing machine 100 near the side in real time; the actuator includes a proximity trimmer and a remote trimmer.

Close to the trimmer for controlling the cleaning machine 100 to move forward while the side edge is inside the side, while the small angle shift is close to the side;

The remote adjuster is used to control the cleaning machine 100 to move forward while the side edges are outside the sides, while the small angle shifts away from the sides.

It should be noted that the above-mentioned proximity trimmer and the remote trimmer are all small-sized controllers, and can realize different operation control according to the received control signals, both of which are connected to the cleaning machine 100.

Based on any of the above embodiments, the actuator further includes a mesh acquirer and an analyzer.

The mesh acquirer is used to acquire a reference stripe corresponding to the cleaning direction as a moving route during the moving process.

The analyzer is connected to the mesh acquirer for acquiring an angle between the tangential direction and the moving direction corresponding to the current position of the washing machine on the reference stripe, and is used for sending the control washing machine 100 to the near-trimmer and away from the trimmer. The signal of rotation, the signal including the angle of the angle and the direction of rotation.

It should be noted that the structure of each component in this embodiment refers to the prior art. For the specific control manner, refer to the embodiment of the foregoing cleaning method.

Please refer to the prior art for the structure of other parts of the cleaning robot on the autonomous mobile board, and no further description is provided herein.

The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments may be referred to each other.

The autonomous mobile board cleaning method and the cleaning robot provided by the present invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, and the description of the above embodiments is only to assist in understanding the method of the present invention and its core idea. It should be noted that those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the invention.

Claims

An autonomous moving board cleaning method is applied to an on-board cleaning robot, the board cleaning robot comprising a washing machine and a controller, wherein the method comprises:

S1. The controller controls the cleaning machine to move along a first side of the cleaning board, and stops when the first angular position of the first side is sensed;

S2, the controller controls the washing machine to rotate to face away from the first side, and initiate a cleaning operation;

S3. The controller controls the washing machine to move forward along a side of the washing machine side. When an angular position in the forward direction is sensed, the movement is stopped and the head is turned off to be close to the side parallel to the side. a side edge and moving forward; the controller sensing the washing machine to rotate to face the first angular position and moving when the cleaning machine reaches the second angular position of the first side The movement and washing are stopped after the first angular position.
The autonomous moving board cleaning method according to claim 1, wherein the S3 comprises:

S31, the controller controls the washing machine to move forward along a side of the washing machine side, stops moving when sensing an angular position in the forward direction, and rotates to face away from the side, and along Moving along the other side perpendicular to and connected to the side edges; fine-tuning during movement to keep the movement of the washing machine parallel to the side edges along which it is moved;

S32. The controller determines whether the first angular position is reached. If yes, the movement and the cleaning operation are stopped; if not, the process returns to S31.
The autonomous moving plate cleaning method according to claim 2, wherein the moving is fine-tuned to keep the movement of the washing machine parallel with the side edges, including:

The controller acquires position information of the side edge of the washing machine near the side in real time, and sends an adjustment control signal to the washing machine, the adjustment control signal including if the side edge is on the side a side edge, controlling the forward movement of the washing machine, a small angle shift is close to the side; if the side edge is outside the side edge, controlling the washing machine to move forward At the same time, the small angled offset is away from the sides.
The autonomous moving plate cleaning method according to claim 3, wherein the controller in the S2 controls the rotation of the cleaning machine to face away from the first side, comprising:

The controller controls the washing machine to rotate 90 degrees in a direction away from the first side and retreat to be close to the first side; the controller determines whether the tail of the washing machine reaches the first On one side, if it is, stop.
The autonomous mobile board cleaning method according to claim 4, wherein before the cleaning operation is started in the S2, the method further includes:

The controller senses whether a distance between a tail portion of the cleaning machine and the first side edge is within a preset range, and sensing a side edge of the cleaning machine adjacent to the first side edge and perpendicular to the first Whether the spacing of the sides of one side is within a preset range, and if yes, the cleaning operation is turned on; if at least one is no, the linear distance is finely adjusted.
The autonomous moving board cleaning method according to claim 5, wherein the controller controlling the movement of the washing machine comprises:

S61. The controller selects a reference stripe fixed to a relative position of the cleaning board as a moving route.

S62. The controller controls the sensing device to acquire a tangential direction corresponding to a current position of the cleaning machine on the reference stripe in real time, and acquire a moving direction of the cleaning machine.

S63, the controller obtains an angle between the tangential direction and the moving direction, and controls the cleaning board to rotate from the moving direction toward the tangential direction, the rotation angle is the angle of the angle, and returns S62;

Wherein the reference object comprises an intrinsic stripe on the cleaning plate, a side edge of the reference object, a stripe of the side of the cleaning plate, or a stripe on the device below the cleaning plate.
An autonomous mobile board cleaning robot characterized by comprising a controller and a cleaning machine for cleaning the cleaning board, the cleaner being connected to the controller; the controller for controlling the cleaning machine along Moving the first side of the cleaning plate to stop moving when sensing the first angular position of the first side; controlling the washing machine to rotate to face the first side, opening the cleaning operation; controlling the The washing machine moves forward along the side of the washing machine side, and when the angular position in the advancing direction is sensed, stops moving and turns around to approach the other side parallel to the side and moves forward; It is determined whether the first angular position is reached, and if so, the moving and cleaning operations are stopped; if not, then returning to the control, the washing machine moves forward along the side of the washing machine side.
The autonomous mobile board cleaning robot according to claim 7, wherein the controller comprises:

An inductive device for sensing an angular position in a forward direction, the sensing device being disposed at an edge and an angular position of the washing machine;

An actuator connected to the washing machine and the sensing device, wherein the actuator is configured to control the washing machine to move forward along a side of the washing machine side, and when receiving a position signal of the sensing device, Controlling the washing machine to rotate to face away from the side and to move along another side perpendicular and connected to the side; the actuator controls fine adjustment during movement of the washing machine to The movement of the washer is kept parallel to the side edges along which it is.
The autonomous mobile board cleaning robot according to claim 8, wherein the sensing device is configured to acquire position information of the side edge of the washing machine near the side in real time; the actuator comprises:

Close to the trimmer for controlling the forward movement of the washing machine when the side edge is inside the side edge, while the small angle shift is close to the side edge;

Remote from the trimmer, for controlling the forward movement of the washing machine while the side edges are outside the sides, the small angle offset is away from the sides.
The autonomous mobile board cleaning robot according to claim 7, wherein the actuator further comprises:

a mesh acquirer, configured to acquire a reference stripe corresponding to the cleaning direction as the moving route during the moving process;

An analyzer, coupled to the mesh acquirer, for acquiring an angle between a tangential direction corresponding to a current position of the cleaning machine and the moving direction on the reference stripe, and for using the proximity trimmer Transmitting, by the remote trimmer, a signal that controls the washing machine to perform the rotation of the angle, the signal including an angle of the included angle and a direction of rotation.