CN106444737A - Control system of obstacle-crossing wall surface cleaning robot - Google Patents
Control system of obstacle-crossing wall surface cleaning robot Download PDFInfo
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- CN106444737A CN106444737A CN201610337853.3A CN201610337853A CN106444737A CN 106444737 A CN106444737 A CN 106444737A CN 201610337853 A CN201610337853 A CN 201610337853A CN 106444737 A CN106444737 A CN 106444737A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 238000013461 design Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 6
- 238000012544 monitoring process Methods 0.000 claims abstract description 3
- 238000010521 absorption reaction Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000006855 networking Effects 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 230000036461 convulsion Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000012546 transfer Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000011521 glass Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- YLYPIBBGWLKELC-RMKNXTFCSA-N 2-[2-[(e)-2-[4-(dimethylamino)phenyl]ethenyl]-6-methylpyran-4-ylidene]propanedinitrile Chemical compound C1=CC(N(C)C)=CC=C1\C=C\C1=CC(=C(C#N)C#N)C=C(C)O1 YLYPIBBGWLKELC-RMKNXTFCSA-N 0.000 description 1
- ZNJRONVKWRHYBF-VOTSOKGWSA-N 4-(dicyanomethylene)-2-methyl-6-julolidyl-9-enyl-4h-pyran Chemical compound O1C(C)=CC(=C(C#N)C#N)C=C1\C=C\C1=CC(CCCN2CCC3)=C2C3=C1 ZNJRONVKWRHYBF-VOTSOKGWSA-N 0.000 description 1
- 239000012491 analyte Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control system of an obstacle-crossing wall surface cleaning robot. The control system comprises a controller, a sensor set, a Wifi pick-up head module, a Wifi transmission module and a mobile phone operation APP, wherein the controller is used for receiving an operation instruction and controlling each mechanism of the robot to perform coordinated motion; the sensor set comprises an angle sensor, a pressure sensor and an infrared sensor and is used for detecting wall surface conditions and feeding work attitude of the cleaning robot back; the independent Wifi pick-up head module is used for monitoring an external environment and a motion state of the robot in real time; and the mobile phone operation APP sends the operation instruction to the robot, and the Wifi transmission module transmits the operation instruction and real-time field conditions. The robot control system sends the operation instruction through the mobile phone APP, the Wifi transmission module transmits the instruction, a control board emits control signals after receiving the instruction and controls an execution mechanism to act, and at the same time, the Wifi pick-up head module feeds the motion state of the robot back to the mobile phone APP in real time. The control system is simple in design and easy to operate.
Description
Technical field
The present invention relates to the control system of a kind of clean robot technical field, especially relate to one and relate to high-building glass
Wall can the control system of obstacle crossing type clean robot.
Background technology
With developing rapidly of Robotics, the application of high building wall cleaning robot is more and more extensive, economically
With on security standpoint and dependable with function, the design of control system all should be more perfect.Current high building wall cleaning machine
Overall design is more paid attention in the design of people's system, often have ignored robot absorption affinity Detection of Stability and control and wall barrier
Hinder analyte detection and control.And for robot actuating mechanism coordinate control do not provide concrete control program.
The Chinese invention patent of Application No. 201110020001.9, record a kind of glass-cleaning robot control system and
Its control method, described glass-cleaning robot includes driving machine and follower, is respectively equipped with polarity in driving machine and follower
Contrary magnet, moves so that follower follows driving machine.Follower includes cleaning module, remote control signal transmission device；Drive
Machine includes driving machine processing module, remote control signal receiver, driving module and connected first walking module.Driving machine
Processing module is connected with remote control signal receiver and driving module, processes being believed by remote control of remote control signal receiver reception
The signal that number emitter is launched.The control system of this glass-cleaning robot and control method thereof, it is possible to achieve artificial manipulation is wiped
Glass robot is operated, and makes cleaning glass window more easy and convenient, safe and reliable, and can improve the efficiency cleaning the windows.
But, this control system lacks detection and the obstacle detouring control program of wall obstacle.
The patent of current robot for cleaning wall surfaces control system has the Chinese invention of Application No. CN200310121761.4
Patent, publication date is 2004-12-15, describes a kind of from the control system climbing clean robot, and this system includes control machine
It the controller of device people motion, is used for the sensor of measuring robots oneself state and external working environment, wireless for communication
Digital transmission module, the interpersonal mutual operating case composition being used for supervisory-controlled robot duty and transmission instruction.Operator is by behaviour
Make box utilizes wireless data transmission module to be sent to robot, after the controller of robot receives instruction, by this Command Resolution by instruction
For multiple orderly sub-instructions, sub-instructions is distributed on each sub-controller of robot by the CAN in robot, respectively
The corresponding motor of information-driven that individual sub-controller provides according to instruction and sensor, is automatically completed robot and climbs and clear
Wash work.But when this control system is for climbing cleaning certainly, lack the control of obstacle detouring operation.
Content of the invention
In order to solve the problems mentioned in background technology, the present invention provide a kind of high-building glass wall can obstacle crossing type clear
The control system of clean robot.
To achieve these goals, the present invention is one in view of absorption and the practical problem such as obstacle, and devises corresponding
Sensor and control operational order, realize obstacle detouring on the premise of ensureing robot stabilized absorption.
Described independent Wifi camera module, is mainly used in monitoring in real time the motion state of clean robot, works as operation
Personnel control to robot run into obstacle when, a key operation can be passed through, make robot actively obstacle detouring, if occurring unexpected anxious at any time
Stopping, also can passing through single-step operation simultaneously, substep point joint adjusts, and manually adjusts obstacle detouring.
Described Wifi transport module, can give certain IP networking, it is achieved transmission operation between mobile phone A PP and controller
Instruction and image.
Described controller, master control borad is Arduino Due, the executing agency of control robot and reception set of sensors
Control panel needed for signal be externally provided with simulation output PWM mouth, numeral input I/O mouth, I2C EBI, external interrupt and other
Input and output I/O mouth through programming.Three steering wheels for performing robot ambulation linkage by three tunnels with the cycle are
The PWM of 20ms uses the method coordinated signals that planning backstage, foreground performs.
Described obstacle detouring controls, and when infrared sensor detects obstacle, the work of advance wiped clean stops, and passes through controller
Send corresponding control signal control stepper motor and steering wheel coordination, it is achieved the overall obstacle detouring action of robot.
Described absorption and control, robot is taken in motion process and detects its absorption situation, examined by pressure sensor quarter
Survey the pressure at vavuum pump, if pressure is too small, adjust vavuum pump, increase it and run power, improve absorption affinity, if pressure is higher than
Set minimum, then keep the operation power of vavuum pump.
Described cleaning controls, after controller receives instruction, and the rotational angle of control stepper motor, utilize angular transducer
Angular dimension, thus control two, the left and right vavuum pump cooperation cleaning of robot.
Described overall control flow, first mobile phone A PP interface eject whether manually operated instruction, if desired artificial controlled
System, then control robot by way of remote control and complete cleaning and obstacle detouring action, otherwise, detect whether to deposit by photoelectric sensor
At obstacle, if obstacle being detected, robot carries out obstacle detouring operation, and otherwise robot walks wiping automatically, cleans wall.
The present invention a kind of high-building glass wall can the Advantageous Effects of control system of obstacle crossing type clean robot be：Real
Simple with, control, there is preferable promotion and use value.
Brief description
Fig. 1 be a kind of can the overall control block diagram of control system of robot for cleaning wall surfaces of obstacle detouring.
Fig. 2 is robot control system architecture figure.
Fig. 3 is this robot control program and peripheral hardware figure.
Fig. 4 is this robot overall control program flow diagram.
Fig. 5 is this robot ambulation operation figure.
Fig. 6 is that this robot cleans control figure.
Fig. 7 is this robot obstacle detouring control figure.
Fig. 8 is this robotic vacuum absorption and control figure.
Fig. 9 is the circuit connection diagram of this robot control panel.
Detailed description of the invention
In conjunction with Fig. 19, the present invention is further described in detail.
Fig. 1 be a kind of can the overall control block diagram of control system of robot for cleaning wall surfaces of obstacle detouring, its feature includes:Whole
Individual control system includes the controller of each mechanism coordinated movement of various economic factors for receiving various operational order and control clean robot
（1）, for detecting self duty of clean robot and the set of sensors of wall obstacle situation（2）, for real-time prison
The independent WiFi camera module of man-controlled mobile robot duty（6）, for sending the mobile phone of various operational order to robot
Operation APP（3）, for transmitting the Wifi transport module of operational order and image（4）.Wherein, operating personnel are sent out by mobile phone A PP
Send operational order, and by the transmission instruction of Wifi transport module, it is translated after accepting instruction by control panel, then coordinates and passes
Sensor, instructs the motion of foreground planning robot, and executing agency is instructed on backstage（5）Action makes robot complete high building wall（7）
On advance wiping and obstacle detouring, WiFi camera module can be by robot motion's state Real-time Feedback to mobile phone APP simultaneously, such as figure
Shown in 1.
Fig. 2 is robot control system architecture figure, and first operator sends operational order by mobile phone A PP, and controller connects
Instructed, and according to the corresponding element of corresponding instruction control or sensor, mainly included that control vavuum pump is adsorbed in wall, control
Stepper motor processed rotates given angle, and control direct current generator and steering wheel rotate and control executing agency's action, control barometer
Detection atmospheric pressure value, control photoelectric sensor detection barrier.
Fig. 3 is this robot control program and peripheral hardware figure, and master control borad is Arduino Due, the execution machine of control robot
The control panel needed for signal of structure and reception set of sensors is externally provided with simulation output PWM mouth, numeral input I/O mouth, I2C bus
The input and output I/O mouth of interface, external interrupt and other process programmings.For performing three rudders of robot ambulation linkage
The PWM with the cycle as 20ms for Ji You tri-road uses the method coordinated signals that planning backstage, foreground performs；Clear for coordinating robot
Sweep, obstacle detouring when stepper motor use and represent direction through arithmetic programming Guo tri-tunnel respectively, the I/O mouth of output pulse and enable
The given a series of pulses requiring of output control DVR8825 driving stepper motor to control stepper motor work；Vavuum pump and
Direct current generator all uses l298N motor to drive, and the I/O mouth being enabled by control direction, the PWM of power output and control is controlled
The rotating speed of direct current generator and vavuum pump and direction；4 railway digital I/O mouths receive the infrared obstacle signal transmitting；Each encoder leads to
The angle feed-back crossing two external interrupt to detect stepper motor and filled is accurately performed cleaning and obstacle detouring work to system；Logical
Cross I2C bus and receive the signal that barometer transmits, judge to judge its work shape as feedback signal when vavuum pump works at needs
State completes absorption and control.
Fig. 4 is this robot overall control program flow diagram, and first robot adsorbs at wall under the effect of vavuum pump
On, whether manually operated instruction, if desired Artificial Control, then control by way of remote control is then ejected at mobile phone A PP interface
Robot processed completes cleaning and obstacle detouring action, otherwise, detects whether there is obstacle by photoelectric sensor, if obstacle being detected,
Robot carries out obstacle detouring operation, and otherwise robot walks wiping automatically, cleans wall.
Fig. 5 is this robot ambulation operation figure, complete motor steering wheel unified instruction control, it is achieved Motor execution planning with
The unified instruction collection that instruction accepts, key-course program is divided into Motor execution, motion planning and command reception.Concrete control realization
For Motor execution is background task, performs in interruption, obtains moving mass and complete from motion queue.Motion planning is front
Platform task, effect is to obtain instruction from command reception module, and is broken down into little linear movement（Burst）, add sports team
Row perform for Motor execution module.Command reception module effect is the instruction of translation string format, makes motion planning module energy
Enough understanding, and process the inter-related tasks such as instruction wait.Whether detection motion queue is empty, and instruction fetch performs（Output steering wheel signal,
Direction of motion signal, exports driving stepper motor signal afterwards）, whether detection steering wheel action after stepper motor action completes completes
（Steering wheel action needs the set time）, remove current motion block.Attempt obtaining instruction, determine burst number, instruct burst（Computation of table lookup
Steering wheel angle, calculates stepper motor steps）Adding motion queue, if motion queue full, hanging up present instruction, subsequent cycle continues
Continue and complete burst, if present instruction is disposed, attempt obtaining next instruction.
Fig. 6 is that this robot cleans control figure, after controller receives instruction, and the rotational angle of control stepper motor, profit
Use angular transducer angular dimension, thus control two, the left and right vavuum pump cooperation cleaning of robot.
Fig. 7 is this robot obstacle detouring control figure, and when infrared sensor detects obstacle, the work of advance wiped clean stops
Only, corresponding control signal control stepper motor and steering wheel coordination are sent by controller, it is achieved overall the getting over of robot
Barrier action.
Fig. 8 is this robotic vacuum absorption and control figure, and robot takes in motion process and detects its absorption situation quarter, logical
Pressure at excess pressure sensor detection vavuum pump, if pressure is too small, adjusts vavuum pump, increases it and runs power, improves absorption
Power, if pressure is higher than set minimum, then keeps the operation power of vavuum pump.
Fig. 9 is the circuit connection diagram of control panel, infrared sensor U2, U3, U4, U6, U7, U8, U9, U10's（1）Termination height
Level 3.3V,（2）End ground connection,（3）The output signal of termination infrared sensor.Baroceptor BMP180 U1, U5's（1）End
Meet high level 3.3V,（2）End ground connection,（3）The serial data line SDA of termination controller I2C bus（13）End,（4）I2C is total for termination
The serial data line SDA of line（14）End.Stepper motor STEPPER1, STEPPER2 connect A, B two-phase, and A+, A-, B+, B-connect respectively
Drive module（6）、（7）、（8）、（9）End, driving stepper motor module MODULE2, the power supply of MODULE3 connect 3.3V and
Ground, Driving Stepping Motor power supply PWR+, PWR-connect 24V and ground.Driving stepper motor module MODULE2, enable EN of MODULE3
（3）End connects controller respectively（1）、（4）End, pulse input end STEP（4）End connects controller respectively（2）、（5）End, direction
Control end DIR connects controller respectively（3）、（6）End.Direct current generator DC1, DC2 are driven by transistor amplifier, and power supply connects
24V, connects control panel respectively by DCM1, DCM2 end（24）,（25）End control motor cut-offs.Steering wheel SERVO1, SERVO2,
The PWR of SERVO3 connects 24V power supply, and GND is grounded, and SIG connects control panel respectively（7）,（8）,（9）, vavuum pump BUMP1, BUMP2's
P+ connects 24V power supply, P-ground connection, and control switch CTRL connects respectively（24）,（25）.
Present invention may also apply to control automated cleaning and the obstacle detouring of ground and stair etc..
Above-mentioned application example is only technology design and the feature that the present invention is described, its object is to allow and is familiar with technique
Personage will appreciate that present disclosure and is carried out, and can not limit the scope of the invention, all according to present invention essence
The equivalence that god's essence is made changes or modifies, and all should cover within the scope of the present invention.
Claims (11)
1. can the control system of robot for cleaning wall surfaces of obstacle detouring, its feature includes:Whole control system includes for connecing
Receive various operational order and control the controller of each mechanism coordinated movement of various economic factors of clean robot（1）, be used for detecting clean robot
Self duty and the set of sensors of wall obstacle situation（2）, for the independence of real-time supervisory-controlled robot duty
WiFi camera module（6）, for sending the mobile phone operation APP of various operational order to robot（3）, be used for transmitting operation
Instruction and the Wifi transport module of image（4）；Wherein, operating personnel send operational order by mobile phone A PP, and are passed by Wifi
Defeated module transfer instructs, and it is translated after accepting instruction by control panel, then coordinates sensor, instructs foreground planning robot
Motion, executing agency is instructed on backstage（5）Action makes robot complete high building wall（7）On advance wiping and obstacle detouring, simultaneously
WiFi camera module can be by robot motion's state Real-time Feedback to mobile phone APP；Operator passes through mobile phone A PP（3）Send behaviour
Instruct, controller（1）Accept instruction, and according to the corresponding element of corresponding instruction control or sensor, mainly include control
Vavuum pump（8）It is adsorbed in wall, control stepper motor（9）Rotate given angle, and pass through angular transducer（14）Detection is simultaneously
Feedback, control direct current generator (10) and steering wheel（11）Rotate and control executing agency's action, control barometer（12）Detection air pressure
Value, controls photoelectric sensor（13）Detection barrier.
2. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：At height
During empty wall cleaning, the main movement state of robot includes advancing and two parts of obstacle detouring, therefore this control system
Design is in view of practical problems such as absorption and obstacles, and devises corresponding sensor and control operational order, is ensureing machine
Obstacle detouring is realized on the premise of people is stably adsorbed.
3. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：Master control
Plate is Arduino Due, and the executing agency of control robot and the control panel needed for signal of reception set of sensors are externally provided with
Simulate output PWM mouth, numeral input I/O mouth, I2C EBI, external interrupt and other are through the input and output I/O programming
Mouthful；For performing after three steering wheels of robot ambulation linkage use foreground planning by the PWM with the cycle as 20ms for three roads
The method coordinated signals that platform performs.
4. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：For
When coordinating robot cleaner, obstacle detouring, stepper motor uses and represents direction through arithmetic programming Guo tri-tunnel respectively, output pulse and
The given a series of pulses requiring of I/O mouth output enabling control DVR8825 driving stepper motor to control stepper motor work
Make；Each encoder detects, by two external interrupt, the angle feed-back that stepper motor filled and is accurately performed clearly to system
Sweep and obstacle detouring work.
5. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：Vacuum
Pump and direct current generator all use L298N motor to drive, and the I/O mouth being enabled by control direction, the PWM of power output and control is come
The rotating speed of control direct current generator and vavuum pump and direction；4 railway digital I/O mouths receive the infrared obstacle signal transmitting.
6. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：Pass through
I2C bus receives the signal that barometer transmits, and judges to judge its duty as feedback signal when vavuum pump works at needs
Complete absorption and control.
7. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：Independent
Wifi camera module be mainly used in monitoring in real time the motion state of clean robot, when operating personnel monitor robot meet
During to obstacle, a key operation can be passed through, make robot actively obstacle detouring, if unexpected jerk at any time occurs, also can pass through single simultaneously
Step operation, substep point joint adjusts, and manually adjusts obstacle detouring.
8. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：For
Wifi transport module, can give certain IP networking, it is achieved transmit operational order and image between mobile phone A PP and controller.
9. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：It is whole
Whether body running control flow is that robot adsorbs on wall under the effect of vavuum pump, then eject at mobile phone A PP interface
Manually operated instruction, if desired Artificial Control, then control robot by way of remote control and complete cleaning and obstacle detouring action, no
Then, detecting whether there is obstacle by photoelectric sensor, if obstacle being detected, robot carries out obstacle detouring operation, otherwise robot
Automatically walking wiping, cleans wall.
10. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：Electricity
The cooperation of machine steering wheel is controlled by unified instruction, it is achieved the unified instruction collection that Motor execution planning accepts with instruction, control
Layer program is divided into Motor execution, motion planning and command reception.
11. according to claim 1 a kind of can the control system of robot for cleaning wall surfaces of obstacle detouring, it is characterised in that：Hold
Being implemented as of row mechanism controls, Motor execution is background task, performs in interruption, obtains moving mass from motion queue
And complete；Motion planning is foreground task, and effect is to obtain instruction from command reception module, and is broken down into little linear fortune
Dynamic, add motion queue to perform for Motor execution module；Command reception module effect is the instruction of translation string format, makes fortune
Dynamic planning module is it is understood that and process instruction wait.
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| CN201610337853.3A CN106444737A (en) | 2016-05-22 | 2016-05-22 | Control system of obstacle-crossing wall surface cleaning robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976490A (en) * | 2017-04-05 | 2017-07-25 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN107253203A (en) * | 2017-06-29 | 2017-10-17 | 上海理工大学 | Multimode Intelligent toy collects robot |
| CN107791250A (en) * | 2017-10-17 | 2018-03-13 | 上海霄卓机器人有限公司 | Work high above the ground robot system and its control method |
| CN108294703A (en) * | 2018-02-26 | 2018-07-20 | 张伟 | Outer wall cleaning robots people and its control method and device |
| CN109008841A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of metope repair robot by different level |
| CN110928223A (en) * | 2019-11-28 | 2020-03-27 | 浙江大学 | Electric-pneumatic hybrid wall-climbing rust removal robot control system and method |
| CN113581390A (en) * | 2021-02-27 | 2021-11-02 | 安徽久吾天虹环保科技有限公司 | Water surface cleaning robot equipment |
| CN113967912A (en) * | 2021-10-21 | 2022-01-25 | 深圳市亚博智能科技有限公司 | Robot control system and control method thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106976490A (en) * | 2017-04-05 | 2017-07-25 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN109008841A (en) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | A kind of metope repair robot by different level |
| CN107253203A (en) * | 2017-06-29 | 2017-10-17 | 上海理工大学 | Multimode Intelligent toy collects robot |
| CN107791250A (en) * | 2017-10-17 | 2018-03-13 | 上海霄卓机器人有限公司 | Work high above the ground robot system and its control method |
| CN107791250B (en) * | 2017-10-17 | 2018-11-02 | 上海霄卓机器人有限公司 | Working at height robot system and its control method |
| CN108294703A (en) * | 2018-02-26 | 2018-07-20 | 张伟 | Outer wall cleaning robots people and its control method and device |
| CN110928223A (en) * | 2019-11-28 | 2020-03-27 | 浙江大学 | Electric-pneumatic hybrid wall-climbing rust removal robot control system and method |
| CN113581390A (en) * | 2021-02-27 | 2021-11-02 | 安徽久吾天虹环保科技有限公司 | Water surface cleaning robot equipment |
| CN113967912A (en) * | 2021-10-21 | 2022-01-25 | 深圳市亚博智能科技有限公司 | Robot control system and control method thereof |
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