CN110653235B - Object cleaning device and cleaning method - Google Patents
Object cleaning device and cleaning method Download PDFInfo
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- CN110653235B CN110653235B CN201810703259.0A CN201810703259A CN110653235B CN 110653235 B CN110653235 B CN 110653235B CN 201810703259 A CN201810703259 A CN 201810703259A CN 110653235 B CN110653235 B CN 110653235B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B08B1/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Landscapes
- Cleaning By Liquid Or Steam (AREA)
- Food-Manufacturing Devices (AREA)
- Image Processing (AREA)
Abstract
The invention provides an automatic object cleaning device, which can self-adaptively clean an object according to the three-dimensional shape of the object. The cleaning device comprises a characteristic information acquisition module, and can acquire characteristic information of an object, wherein the characteristic information comprises three-dimensional shape information of the object. The cleaning scheme generation module is used for generating a cleaning scheme of the object according to the characteristic information and the equipment information of the object. Comprises a cleaning control module and a cleaning execution module. The wash control module can control the wash execution module to perform a selected wash operation on the surface region block according to a wash protocol. The cleaning method comprises the steps of obtaining characteristic information of an object to be cleaned, generating a cleaning scheme and cleaning. The cleaning device and the cleaning method can automatically and intelligently clean the object according to the three-dimensional shape and material of the object, improve the cleaning efficiency and improve the cleaning effect.
Description
Technical Field
The present invention relates to a cleaning apparatus and a cleaning method, and more particularly to an apparatus and a method capable of performing cleaning adaptively according to the shape of an object to be cleaned.
Background
There are many different types of surface cleaning machines, such as automatic car washers, automatic dish washers, and building exterior wall cleaners. When the machines are used for cleaning, people are required to operate the machines, for example, a building outer wall cleaning machine needs to determine the position to be cleaned and control the cleaning process; or washing the washed object indiscriminately, such as in an automatic dishwasher; or, although the general range of the object to be cleaned can be sensed, the detailed cleaning cannot be performed, for example, in an automatic car washer. While a cleaning process, such as brushing, can only be done manually by a person.
These cleaning methods and devices are not fully automatic and completely unmanned and are not very convenient.
Disclosure of Invention
The object of the present invention is to provide an apparatus and a method capable of automatically cleaning an object, which can adaptively clean the object according to the three-dimensional form/structure of the object, and particularly, can clean the surface of the object according to the three-dimensional surface form of the object.
The cleaning device comprises at least one characteristic information acquisition module, and can acquire the characteristic information of the object, wherein the characteristic information comprises three-dimensional shape information, three-dimensional surface shape information and material information of the object. The characteristic information acquisition module comprises at least one three-dimensional measurement module, and the three-dimensional measurement module can measure the three-dimensional form and material of the surface of the object. The measurement modes of the three-dimensional measurement module include, but are not limited to, three-dimensional laser scanning measurement, structured light measurement, binocular stereo vision measurement, TOF measurement, ultrasonic measurement and other known three-dimensional shape measurement modes. The cleaning device comprises at least one cleaning scheme generation module which can generate a cleaning scheme of the object according to the characteristic information and the equipment information of the object. The cleaning scheme comprises cleaning operations, a dividing mode of the surface blocks of the object to be cleaned, the cleaning sequence of the surface blocks and a three-dimensional route of the cleaning device moving on the surface of the object. The cleaning device comprises at least one cleaning control module and at least one cleaning execution module. The cleaning control module can record and store the cleaning scheme. The cleaning execution module comprises at least one solvent/water spraying submodule, at least one cleaning agent spraying submodule, at least one scrubbing submodule, at least one suction submodule and at least one scrubbing submodule. The wash control module is capable of controlling the wash execution module to perform a selected wash operation on the surface region block according to a wash protocol. The scrubbing-and-brushing sub-module includes at least one brush or scrubbing mechanism capable of scrubbing or scrubbing the surface of the object. The suction sub-module comprises at least one negative pressure sewage/dirt recovery module which can suck sewage/dirt by utilizing negative pressure. The suction module comprises at least one suction module capable of sucking up the sewage/filth by capillary action, such as a fabric or sponge. The scraping submodule comprises at least one scraping mechanism, such as a wiper blade, which is capable of scraping off dirt, in particular dirt from smooth flat surfaces, such as glass. The cleaning execution module comprises a known necessary servo mechanism and a driving mechanism and can drive each submodule to move on the surface of an object to finish the cleaning operation. The cleaning protocol includes a three-dimensional path along which each sub-module of the cleaning execution module moves along the three-dimensional surface of the object. Each submodule of the cleaning execution module can keep a set distance to move along the three-dimensional surface of the object. The cleaning device comprises at least one positioning module, and can determine the relative position relation between the cleaning device and an object to be cleaned and measure the relative position between the cleaning device and the surface block in real time. The cleaning device comprises at least one walking module, and can drive the cleaning device to move on the surface of an object, so that the cleaning execution module moves to the surface block to be cleaned. The device comprises at least one overturning and moving mechanism which can change the relative position between an object and the cleaning device so as to move the surface block to be cleaned to the cleaning execution module. The cleaning device comprises at least one fixing mechanism, the cleaning device can be fixed on the surface of an object or near the object, and the spatial position relation between the cleaning device and the object can be kept constant.
The cleaning method comprises the step of acquiring characteristic information of the cleaned object, wherein the cleaning machine can acquire the characteristic information of the cleaned object from a server/an upper computer or can carry out three-dimensional measurement on the object to acquire the characteristic information of the object. The step of acquiring characteristic information of the cleaned object comprises a three-dimensional measurement step. The method comprises a cleaning scheme generation step, and the cleaning scheme can be generated according to the characteristic information and the equipment information of the object. The method comprises a cleaning scheme obtaining step, wherein the cleaning device can obtain the cleaning scheme from a server/upper computer. Including a cleaning scheme storing step, the cleaning control module can store the cleaning scheme obtained from the server/upper computer/cleaning scheme generating module in the cleaning control module. The method comprises a positioning step, wherein a positioning module can determine the relative position relation between the cleaning device and an object to be cleaned, and a cleaning control module can determine the position relation between a cleaning execution module and a surface block to be cleaned. The cleaning control module can control the cleaning execution module to perform cleaning operation on the surface of the object according to the cleaning scheme. The method comprises a fixing step, wherein a fixing module is used for fixing the relative position between the cleaning device and an object to be cleaned and keeping the relative position constant.
The cleaning device and the cleaning method can automatically and intelligently clean the object according to the three-dimensional shape and material of the object, improve the cleaning efficiency and improve the cleaning effect.
Drawings
FIG. 1 is a schematic view of a surface block;
FIG. 2 is a block diagram of the structure of one embodiment of the cleaning apparatus of the present invention;
FIG. 3 is a flow chart of one embodiment of a cleaning method of the present invention;
FIG. 4 is a flow chart of one embodiment of a cleaning method of the present invention;
FIG. 5 is a block diagram of another embodiment of the cleaning apparatus of the present invention;
FIG. 6 is a flow chart of one embodiment of a cleaning method of the present invention;
FIG. 7 is a flow chart of one embodiment of a cleaning method of the present invention;
FIG. 8 is a flow chart of one embodiment of a cleaning method of the present invention;
FIG. 9 is a flow chart of one embodiment of a cleaning method of the present invention;
FIG. 10 is a flow chart of one embodiment of a cleaning method of the present invention;
FIG. 11 is a flow chart of a method of cleaning a vehicle with the cleaning apparatus of the present invention;
FIG. 12 is a flow chart of a method of the present invention for cleaning dishware;
FIG. 13 is a flow chart of a method of cleaning a building by the cleaning apparatus of the present invention;
FIG. 14 is a block diagram of the structure of one embodiment of the cleaning device of the present invention;
FIG. 15 is a flow chart of a method of cleaning teeth with the cleaning device of FIG. 14;
FIG. 16 is a block diagram of the structure of one embodiment of the cleaning apparatus of the present invention;
FIG. 17 is a flow chart of a method of cleaning an object by the cleaning apparatus of FIG. 16;
fig. 18 is a flowchart of a method of washing an object by the washing apparatus of fig. 16.
Detailed Description
In fig. 1, a surface area is an area divided on a three-dimensional surface of an object, and the surface of the object can be divided into at least one surface area. The surface areas 201, 202 are two surface areas of the surface of the object 2. Three-dimensional shape information, spatial position information, range information, material information, cleaning notice, and the like of the area where the surface block is located can be measured or known. The surface blocks can have numbering. The surface area can be located according to the number or the spatial position information. An object surface is divided into at least one surface area. When the surface of the object has a plurality of surface areas, each surface area can be traversed. The order of traversal can be recorded in the cleaning scheme.
In fig. 2, the cleaning apparatus 1 includes at least one characteristic information obtaining module 11, at least one cleaning scheme generating module 13, at least one cleaning control module 14, at least one cleaning execution module 15, and necessary known components including, but not limited to, a rack, a housing, a network connection module, a power module, a servo module, a signal transmission line, an electric wire, a liquid pipeline, a gas pipeline, and the like. The characteristic information acquisition module can acquire characteristic information of an object to be cleaned from an internet server or an upper computer, wherein the characteristic information comprises but is not limited to three-dimensional structure information, three-dimensional surface form information, material information, washing cautions of different materials, object space position information, surface block division information and the like of the object. The object to be cleaned is provided with a graphic code, and the characteristic information acquisition module can be connected with a network by scanning the graphic code and downloads the characteristic information of the object to be cleaned from a server/upper computer. The graphic code includes, but is not limited to, a two-dimensional code, a bar code, or other codes, and the graphic code includes a download address containing characteristic information of the object to be cleaned. The characteristic information acquisition module comprises at least one code scanning module and can scan the graphic code on the object to acquire the characteristic information of the object. The characteristic information acquisition module comprises at least one network connection module which can be connected with a network or an upper computer, acquires the characteristic information of the object from a server or the upper computer according to the download address and transmits the characteristic information to the cleaning scheme generation module. The cleaning plan generating module can generate the cleaning plan of the object according to the characteristic information of the object to be cleaned and the equipment information of the cleaning device, including but not limited to the characteristic size of the mechanical structure of the cleaning execution module. The cleaning scheme includes, but is not limited to, a surface block dividing manner of the three-dimensional surface of the object to be cleaned, three-dimensional shapes of the surface blocks, spatial positions of the surface blocks, ranges of the surface blocks, cleaning sequences of different surface blocks, cleaning procedures and steps of the surface blocks, a cleaning degree detection standard, three-dimensional movement route information and control information of the cleaning execution module on the surface blocks, a three-dimensional path along which the cleaning execution module moves along the three-dimensional surface of the surface blocks, cleaning operation control information, and the like. The cleaning protocol is communicated to a cleaning control module. The cleaning control module can control the cleaning execution module to move in a three-dimensional space along the three-dimensional surface of the surface block according to the cleaning scheme. The cleaning control module can control the cleaning execution module to move to the designated surface area according to the cleaning scheme, and control the cleaning execution module to perform cleaning operation on the surface area. The cleaning control module can control the cleaning execution module to complete cleaning of all the surface blocks according to the cleaning scheme.
The cleaning device comprises at least one walking module, and the walking module can drive the cleaning device to move on the surface of an object. The walking module comprises at least one adsorption module, and the adsorption module can enable the cleaning device to be adsorbed on the surface of an object without falling. The cleaning device 1 comprises at least one positioning module 19, which can determine the relative spatial position relationship between the cleaning device and the object to be cleaned, and further can determine the relative spatial position relationship between the cleaning execution module and the object to be cleaned, and further can determine the spatial position relationship between the cleaning execution module and any surface block of the object to be cleaned. The positioning module comprises at least one datum point a, the cleaning execution module comprises at least one datum point b, and the relative spatial position of the datum point a and the datum point b can be calculated through the three-dimensional size of the mechanical structure between the two datum points. When the cleaning execution module moves, the relative positions of the reference points a and b change, and the cleaning control module can calculate the relative spatial position between the two reference points in real time. The object to be cleaned comprises at least one reference point c, the surface block of the object to be cleaned comprises at least one reference point d, and the position relation between the reference point d and the reference point c of any surface block is known. The positioning module can determine the relative spatial position relationship between the reference point a and the reference point c, further determine the position relationship between the reference point b and the reference point d, and determine the relative position between the cleaning execution module and any surface block. The positioning module comprises at least one satellite positioning module and can determine the three-dimensional space position of the datum point a in real time. The spatial position of the reference point c can be measured or known, and the relative positional relationship between the reference point a and the reference point c can be obtained. The positioning module comprises at least one laser ranging and angle measuring module, and can measure the distance and the angle between the datum point a and the datum point c, so as to determine the position relation between the datum point a and the datum point c. The positioning module comprises at least one consistency navigation module, and initially, the position relation of the reference point a and the reference point c is determined. When the cleaning device and/or the cleaning execution module move, the coherence navigation device can measure the motion track of the cleaning device/the cleaning execution module in real time and can determine the position relation between the cleaning execution module and the surface block in real time.
The cleaning execution module comprises at least one spraying module which can spray water or solvent on the surface of the object. Comprises at least one cleaning agent spraying module which can spray cleaning agent/detergent/surfactant to the surface of an object. Comprises at least one brush module, wherein the brush module comprises at least one brush or cleaning brush which can brush or wipe the surface of an object. Comprises at least one suction and collection recovery module which can recover sewage or solvent by negative pressure suction or absorption of an absorber. The cleaning scheme comprises a spraying module/cleaning agent spraying module of a cleaning execution module, and the information of the position, range, spraying angle, sequence, time, force and dosage of water/solvent/detergent/surfactant spraying is carried out according to the three-dimensional surface shape, range and space position information of the surface block. The wash control module is capable of controlling the spray module/detergent spray module to spray water/solvent/detergent/surfactant on the surface area according to a wash protocol. The cleaning control module can control the brushing and wiping module to be attached to the surface of the surface block according to the three-dimensional surface shape of the surface block according to the cleaning scheme so as to brush and wipe the surface. The cleaning control module can control the suction and collection recovery module to be attached to the surface of the surface block according to the three-dimensional surface shape of the object according to the cleaning scheme, so that suction and collection recovery operation is completed.
The cleaning control module can acquire positioning information from the positioning module. The cleaning control module can store a cleaning protocol. When a plurality of same articles are washed, only the positional relationship between the reference point c and the reference point a of the article to be washed needs to be determined, and the washing control module can wash the articles according to the stored washing scheme without retrieving the characteristic information of the article to be washed and/or regenerating the washing scheme, that is, the washing schemes of the same articles can be the same. When the washing device 1 is fixedly arranged on/near the object to be washed, the position between the washing device and the object to be washed is kept fixed, and the washing control module can wash the articles directly according to the stored washing scheme without re-determining the positional relationship between the object to be washed and the washing device.
The cleaning scheme generation module can be arranged in the server/upper computer, and the cleaning scheme is generated in the server/upper computer and then downloaded to the cleaning control module. The cleaning scheme comprises cleaning steps including but not limited to water/solvent spraying time, spraying amount, force and range, cleaning agent spraying time, spraying amount and range, brushing time, brushing mode, force and range of brushing mechanism/component, dirt absorbing time and absorbing mode of absorbing and collecting recovery module, drying/drying operation time and temperature, and sequence of cleaning operations. The cleaning protocol includes a sequence of cleaning of different surface areas. The cleaning protocol includes the cleaning step of the same surface area. The cleaning protocol includes a sequence of different surface areas where the same cleaning step is performed.
In fig. 3, in step 306, the characteristic information acquiring module of the cleaning apparatus acquires characteristic information of the object to be cleaned. The acquisition mode can be that the cleaning device downloads the characteristic information from the server after scanning the image code of the article to be cleaned. The characteristic information is passed to a cleaning solution generation module, which can generate a cleaning solution based on the characteristic information and the own device information of the cleaning apparatus at step 400. The cleaning protocol is transferred to the cleaning control module, which can control the cleaning execution module to perform the cleaning operation according to the cleaning protocol at step 500. The cleaning control module controls the cleaning execution module to move according to the relative position relation between the cleaning execution module and the surface block to be cleaned, the cleaning execution module is moved to the position of the surface block to be cleaned, and the cleaning execution module carries out cleaning operation according to the cleaning scheme to clean the surface block.
In fig. 4, the cleaning control module of the cleaning apparatus stores therein the cleaning recipe of the object to be cleaned and can be read, or can acquire the cleaning recipe from a server/upper computer. The cleaning device can be fixedly disposed on/near the object to be cleaned, and the relative positions of the cleaning device reference point a and the object to be cleaned reference point c can be kept constant. When the object is cleaned, the relative positional relationship between the cleaning apparatus and the object to be cleaned is fixed at step 300. After the position is fixed, the cleaning control module can calculate the relative position between the cleaning execution module and the surface block to be cleaned in real time. In step 405, the washing control module can read the stored washing protocol or retrieve the washing protocol from the server/upper computer. In step 500, the cleaning control module controls the cleaning execution module to perform a cleaning operation to clean the surface area according to the cleaning recipe. Step 300 can be placed after step 405.
In fig. 5, the cleaning apparatus 1 includes at least one information uploading module 17. The information uploading module can upload the information of the cleaning device and/or the information of the object to be cleaned to a server and/or an upper computer. The server and/or the upper computer comprise at least one cleaning scheme generation module, and the cleaning scheme can be generated according to the information. The method for acquiring the information of the object to be cleaned by the information uploading module can be scanning the graphic code of the object to be cleaned and uploading the graphic code information to the server and/or the upper computer. The information of the cleaning device uploaded by the information uploading module includes, but is not limited to, the model of the cleaning device, the equipment state, the characteristic size of the equipment, the position information, and the like. The washing device comprises at least one washing protocol acquisition module 13, which is able to acquire/download washing protocols from a server or a host computer. The cleaning device comprises at least one cleaning control module 14 and at least one cleaning execution module 15, and the cleaning control module can operate the cleaning execution module to complete the cleaning process of the object to be cleaned. The washing device comprises at least one determination module 19 which is capable of determining the spatial position of the washing device and the relative position between the washing device and the object to be washed.
In fig. 6, the cleaning device is arranged on or near the object. The position of the cleaning device can be changed relative to the object. In step 302, the positioning module determines the spatial position of the cleaning device. In step 307, the cleaning apparatus uploads the device information and the position information of the cleaning apparatus to the server/upper computer. The server/upper computer stores characteristic information of the object to be cleaned. The uploading mode can be that the cleaning device scans the graphic code on the surface of the object, acquires the uploading address and uploads the equipment information to the server/upper computer. The graphic code comprises information of the object, and the server can identify the graphic code from which the address comes from the uploaded address, so as to determine the object to be cleaned and obtain characteristic information of the object from the database. And the server/upper computer generates a cleaning scheme according to the characteristic information of the object and the equipment information/position information. At step 406, the cleaning device obtains the cleaning protocol and stores it in the cleaning control module. At step 500, a cleaning operation is performed according to a cleaning protocol.
In fig. 7, step 306, the cleaning apparatus acquires characteristic information of the object to be cleaned. In step 407, the cleaning apparatus can generate a cleaning plan according to the characteristic information and the device information, or can acquire the cleaning plan from the server/upper computer. The positional relationship between the cleaning device and the object to be cleaned is determined. In step 521, the cleaning device selects a surface area to be cleaned. In step 523, the cleaning device determines the positional relationship between the cleaning execution module and the surface area to be cleaned. In step 525, the cleaning device is moved to the surface area to be cleaned, the cleaning execution module is moved to the surface area to be cleaned, and the cleaning execution module cleans the surface area. After the surface block is cleaned, step 538, determining whether there are surface blocks to be cleaned, and if yes, skipping to step 521; if not, step 540 is entered and the cleaning process is ended. The cleaning method of fig. 7 is suitable for an object having at least two surface areas, and the cleaning operation of a subsequent surface area is performed after the cleaning operation of one surface area is completed until the cleaning of all the areas is completed. Step 525 can include a plurality of cleaning operations, i.e., cleaning the surface area in step 525 can include performing a plurality of cleaning operations during the cleaning of the surface area.
When cleaning objects, such as automobiles and ceramic containers, the cleaning process usually involves spraying water on the surface of the object to remove dirt or other contaminants from the surface of the object. This operation is performed for all surfaces of the object. When the surface of the object is divided into a plurality of surface sections, each surface section is subjected to a cleaning operation of spraying water. Then, the cleaning agent is sprayed on the surface of the object, that is, each surface area is cleaned by spraying the cleaning agent. The object surface is then brushed, i.e. each surface area is brushed in turn. Then spraying water on the surface of the object again, namely spraying water on each surface block again. Finally, the surface of the object is wiped, namely, each surface block is scrubbed in sequence. Cleaning operations include, but are not limited to, spraying water/solvent onto the surface of the object, spraying a cleaning agent/surfactant, brushing the surface of the object, extracting the surface of the object with a dirty water/solvent, wiping the surface of the object, and scraping the surface of the object.
In fig. 8, in step 306, the cleaning apparatus acquires characteristic information of the object to be cleaned, the characteristic information including a three-dimensional shape and a material of the surface of the object. And 409, generating a cleaning scheme by the cleaning device according to the characteristic information. In step 520, the cleaning device selects a cleaning operation. In step 521, the cleaning device selects a surface area to be cleaned. Step 523, determine the positional relationship between the cleaning execution module and the surface area to be cleaned. Step 525, moving the cleaning execution module to the surface area to be cleaned, and performing the selected cleaning operation to clean the surface area. When cleaning the surface area, the cleaning execution device is capable of moving along the object surface according to the three-dimensional surface topography of the surface area, which is included in the cleaning protocol. The cleaning protocol can include the three-dimensional spatial position and the three-dimensional surface topography of the surface area to be cleaned. The cleaning execution module can move to the position of the surface block to be cleaned, the cleaning execution module can move along the three-dimensional surface of the block, and the cleaning execution module can be attached to the three-dimensional surface of the block to be cleaned or kept to move within a set distance range from the three-dimensional surface and perform cleaning operation. At step 538, it is determined whether each surface area has been subjected to the cleaning operation selected at step 520, i.e., whether there are more areas to be cleaned. If yes, go back to step 521; if not, step 539 is entered. At 539, it is determined whether additional cleaning operations are to follow. If yes, go back to step 520, select the next cleaning operation; if not, go to step 540 and end the cleaning.
For cleaning some objects, such as the outer wall of a building, it is common to spray water on a surface area of the building, then spray a cleaning agent, then wipe the surface area, then spray water for rinsing, and finally wipe the surface area to complete the cleaning of the surface area. Another surface block is then selected and the process is repeated until the building surface is cleaned.
In fig. 9, the cleaning apparatus acquires characteristic information of the object to be cleaned in step 306. In step 407, the washing apparatus obtains or generates a washing program from the server. In step 521, the cleaning device selects a surface area to be cleaned. Step 523, determine the positional relationship between the cleaning execution module and the surface area to be cleaned. Step 525, move the cleaning execution module to the surface area to be cleaned. In step 520, the cleaning device selects a cleaning operation and performs the selected cleaning operation on the surface area. In step 539, it is determined whether there are any additional cleaning operations on the surface patch selected in step 521. If yes, returning to the step 520, selecting the next cleaning operation and implementing; if not, step 538 is entered. In step 538, it is determined whether there are surface areas to be cleaned, and if there are surface areas to be cleaned, the process returns to step 521 to select the next surface area to be cleaned; if not, go to step 540 and end the cleaning. Wherein step 306 can be omitted. The method can also comprise a step of determining the mutual positional relationship between the cleaning device and the object, which can be placed at any position before the step of determining the positional relationship between the cleaning execution module and the surface area to be cleaned.
In fig. 10, step 520 of selecting a cleaning operation is after step 521 of selecting a surface area and before step 523. Step 525, move the cleaning execution module to the surface area to be cleaned, and perform the selected cleaning operation.
FIG. 11 is a method of cleaning a vehicle using the cleaning apparatus of the present invention. Step 306, the cleaning device obtains characteristic information of the vehicle, including three-dimensional shape information and/or material information. The acquisition mode can be downloading from a server or obtaining by a three-dimensional measurement mode. In step 407, the washing apparatus generates a washing plan of the automobile or acquires the washing plan of the automobile from a server. The automobile cleaning scheme includes the three-dimensional shape and material of the automobile surface. The cleaning solution enables the surface of the vehicle to be divided into a plurality of surface areas, such as a ceiling, a front window, a front left door, a rear right door, headlights. The cleaning protocol can include the three-dimensional spatial location and surface three-dimensional topography of these surface patches. The cleaning scheme comprises a combination of cleaning operations, a cleaning sequence of the surface blocks, and a spatial motion track of the cleaning execution module and the sub-modules. Next, the washing apparatus washes the automobile in accordance with the washing scheme. In step 520, the cleaning device selects a cleaning operation, such as spraying water to wash the surface of the vehicle. In step 521, the cleaning device selects a surface area to be cleaned, such as a headliner. In step 523, the cleaning control module determines the positional relationship between the cleaning execution module and the surface area to be cleaned, for example, the positional relationship between the water spray nozzle and the ceiling of the vehicle. Step 525, move the cleaning execution module to the surface area to be cleaned, and perform the selected cleaning operation. Moving the wash execution module to the surface area to be washed comprises moving a submodule of the wash execution module to a vicinity of the surface area to be washed, the submodule comprising the wash execution module being in contact with and/or being maintained at a set distance from the surface of the area, including the solvent/detergent released by the wash execution module being able to reach the surface area to be washed. For example, the water spray nozzle is moved to the vicinity of the automobile ceiling, the water spray nozzle is controlled to move along the surface of the ceiling according to the three-dimensional moving route set in the cleaning scheme, and the whole ceiling is traversed to carry out the flushing operation on the ceiling. In step 538, it is determined whether there are blocks to be cleaned. If yes, returning to the step 521, and selecting the next surface area to be cleaned, for example, selecting a front window of the automobile; if not, i.e. all surface areas of the vehicle have completed the selected cleaning operation, e.g. all surfaces of the vehicle have completed a flushing operation, step 539 is entered. At step 539, it is determined whether there are additional cleaning operations. If so, returning to step 520, such as spraying cleaning agent; if not, the process proceeds to step 540 to finish the washing of the car. The cleaning device can be fixed on the ground, and when the automobile stops near the cleaning device, the positioning module of the cleaning device determines the position relation between the cleaning device and the automobile, and further determines the position relation between the cleaning execution module and the automobile. According to the position relation, a cleaning scheme can be generated, wherein the cleaning scheme comprises the motion track of the cleaning execution module in a three-dimensional space, so that the cleaning execution module can move along the surface of the automobile to complete the cleaning operation. The cleaning execution module comprises a servo mechanism, and the servo mechanism can drive each submodule to move in a three-dimensional space.
The cleaning device comprises at least one walking module, and the walking module can drive the cleaning device to move on the surface of an object. The walking mode of the walking module can be rolling type or walking type. The walking module comprises at least one adsorption module, and the adsorption module can enable the cleaning device to be adsorbed on the surface of an object. The adsorption mode of the adsorption module can be negative pressure adsorption and/or electromagnetic adsorption and/or magnetic adsorption. The cleaning device can be arranged on an automobile and adsorbed on the surface of the automobile through an adsorption module, and preferably adopts a negative pressure adsorption mode. The walking module can drive the cleaning device to move on the surface of the automobile to clean different surface blocks. Initially, the positioning module determines a relative positional relationship between the cleaning device and a positioning point/origin of coordinates on the automobile, and generates a cleaning scheme according to the positional relationship. The cleaning control module can determine the position relation between the cleaning execution module and each surface block of the automobile, and further determine the moving route of the cleaning execution module on the surface of the automobile.
The cleaning device includes at least one clamping mechanism capable of clamping and securing the object within the cleaning device. The cleaning device comprises at least one object overturning and moving mechanism which can overturn/rotate/move the object and change the three-dimensional space position of the object so that the surface area block to be cleaned moves to the vicinity of the cleaning execution module. Fig. 12 is a method of washing dishes by the washing apparatus of the present invention. Vessels include, but are not limited to, bowls, dishes, vases, containers, tools, etc. made of various glasses, ceramics, plastics, rubbers, metals, etc. The ware can be placed into a washing device. The clamping mechanism clamps the vessel. The positioning module is capable of determining a positional relationship between the ware and the wash implement. At step 306, the washing device obtains characteristic information of the ware. The acquisition can be by scanning the graphic code on the object and then acquiring the characteristic information of the vessel from the server. It is also possible to take an image of an object, recognize the object by image recognition and then acquire feature information from a server. The characteristic information of the object can also be obtained in a three-dimensional measurement mode, including obtaining the three-dimensional size of the object through three-dimensional measurement and obtaining the material of the object through image analysis. In step 407, the washing device generates a washing plan for the vessel according to the characteristic information of the vessel and the equipment information of the washing device. Or the cleaning device uploads the self equipment information and the object characteristic information to the server, and the server generates the cleaning scheme and transmits the cleaning scheme to the cleaning device. The cleaning control module can store a cleaning protocol. In step 520, a cleaning operation is selected, such as spraying a cleaning agent. In step 521, a surface area to be cleaned, such as the upper surface of the dish, is selected. Step 523, determine the positional relationship between the cleaning execution module and the surface area to be cleaned. For example, the positional relationship between the cleaning agent spray nozzle and the upper surface of the tray is determined. The overturning and moving mechanism can overturn and move the vessel, so that the surface to be cleaned of the vessel is moved to the vicinity of the cleaning execution module. At step 525, the vessel and/or the wash execution module is moved to bring the surface area to be washed to the position of the wash execution module to perform the washing operation. For example, the upper surface of the dish is moved to the vicinity of the cleaning agent spray nozzle to spray the cleaning agent onto the upper surface of the dish. The moving object and/or the moving cleaning execution module can achieve the effect of moving the surface module to be cleaned to the position of the cleaning execution module. Step 538, judging whether the blocks are still to be cleaned, if so, jumping to step 521. For example, if the lower surface of the plate needs to be sprayed with cleaning agent, the lower surface of the plate is selected to perform the cleaning agent spraying operation. If not, then all surface patches are finished with the cleaning operation, and step 539 is entered. At 539, a determination is made as to whether there are additional cleaning operations, and if so, execution jumps to 520. For example, after the operation of spraying the cleaning agent on the plate is completed, the plate is brushed, and then the operation of brushing the plate is selected. If not, the cleaning is finished. Wherein step 306 can be omitted. The method can also comprise a step of determining the mutual positional relationship between the cleaning device and the object, which step can be placed at any position before the step of determining the positional relationship between the cleaning execution module and the surface area to be cleaned.
Fig. 13 is a method of cleaning the exterior surface of a building using the cleaning apparatus of the present invention. When a building is cleaned, a common cleaning method is to select one area of the building, complete cleaning operations such as water spraying, cleaning agent spraying, brushing, water spraying again, water scraping and the like, select the next area, and repeat the cleaning process. Step 306, the cleaning device obtains characteristic information of the building. The acquisition mode includes downloading from a server by inputting a building name. The obtaining mode comprises the steps of obtaining the three-dimensional surface size of the building through a three-dimensional laser scanning method, and obtaining material information of the surface of the building through image recognition. Step 407, acquire/generate a cleaning protocol. The cleaning device can generate a cleaning scheme according to the characteristic information of the building and the equipment information, and can also upload the equipment information to the server, and the server generates the cleaning scheme and transmits the cleaning scheme to the cleaning device. If the cleaning protocol is retrieved from the server, step 306 can be omitted. In step 521, a surface area to be cleaned is selected. Such as a glass window of a building. Step 523, determine the positional relationship between the cleaning execution module and the surface area to be cleaned. In step 525, the cleaning device is moved to the surface area to be cleaned, and the cleaning execution module is moved to the surface area to be cleaned. In step 520, a cleaning operation, such as water spraying, is selected. At step 533, the selected cleaning operation is performed, such as spraying water onto the glass. In 539, it is determined whether there are any additional cleaning operations, and if so, the process jumps to 520. For example, spraying water is followed by a spray rinse operation. If not, go to step 538 to determine whether there are more blocks to be cleaned. If so, then step 521 is skipped and the next surface patch is selected. If not, go to step 540 and finish the cleaning. The method can also comprise a step of determining the mutual positional relationship between the washing device and the building, which step can be placed at any position before the step of determining the positional relationship between the washing execution module and the surface area to be washed. The cleaning execution module comprises at least one scraping submodule which can scrape water or solvent on the surface of the object.
In fig. 14, the cleaning device 1 comprises at least one three-dimensional measuring module 11 capable of measuring the three-dimensional shape of the object to be cleaned, acquiring three-dimensional data, and capable of building a three-dimensional model of the object to be cleaned, in particular of the surface of the object. At least one cleaning protocol generation module 13 is included that is capable of generating a cleaning protocol from a three-dimensional model of the object. Including at least one cleaning control module 14 and at least one cleaning execution module 15. The cleaning control module can control the cleaning execution module to implement cleaning operation on the object according to the cleaning scheme. At least one positioning module 19 is included that is capable of determining the positional relationship between the cleaning device and the object to be cleaned. The cleaning device comprises at least one cleaning device fixing means 12 which is able to fix the cleaning device to the object to be cleaned or to a position which is in a constant positional relationship with the object to be cleaned, in order to ensure that the position between the cleaning device and the object is constant during the cleaning process. The fixing mechanism can be fixed on the object by means of mechanical connection. When the cleaning device is used for cleaning teeth, the fixing mechanism comprises at least one connecting block which is engaged with the upper occlusal surface and the lower occlusal surface of the teeth, and the connecting block can be occluded between the upper teeth and the lower teeth. The shape of the upper surface of the connecting block is matched with the occlusal surface of the selected position of the upper teeth, the shape of the lower surface of the connecting block is matched with the occlusal surface of the preset position of the lower teeth, when the upper teeth and the lower teeth are occluded, the connecting block can be just occluded between the selected positions of the upper teeth and the lower teeth, and the occlusion positions are ensured to be the same each time. If the position of the occlusion is changed, the connecting block cannot be tightly attached to the upper and lower teeth, so that a person feels uncomfortable, and the position of the connecting block is adjusted to be just meshed with the position of the preselected upper and lower teeth. The curved surface shapes of the upper and lower surfaces of the connecting block can be generated according to the surface shapes of the teeth, so that the engaging position of the connecting block and the teeth can be kept unique. The connecting block can be made of a flexible material. When the connecting block is engaged between the upper and lower teeth, the positional relationship between the cleaning device and the teeth is kept fixed. The cleaning device securing mechanism can also include a bracket secured to the head of the person, the bracket being capable of contacting the head at a plurality of points and maintaining a constant position between the bracket and the head, and thus between the cleaning device and the teeth. The cleaning device of figure 14 can be used for cleaning teeth and also for cleaning other objects. When the cleaning execution module is used for cleaning teeth, the cleaning execution module can comprise at least one brush, and the brush can brush the teeth; the cleaning execution module can comprise at least one sonic brush head; the cleaning execution module can comprise at least one dental floss retracting mechanism which can clean the dental floss. The preferred cleaning device includes at least two connecting blocks, the first connecting block being capable of being snapped between the upper and lower teeth on the left side, with the cleaning device being capable of cleaning the upper and lower teeth on the right side. The second connecting block can be occluded between the upper and lower teeth on the right side, at which time the cleaning device can clean the upper and lower teeth on the left side and the teeth in front.
FIG. 15 is a process of cleaning teeth using the cleaning device of FIG. 14. And 300, fixing the relative position between the cleaning device and the teeth, and keeping the spatial position relationship between the cleaning device and the teeth constant. For example, the connecting block can be snapped between the teeth or a holder fixedly connected to the cleaning device can be fixed to the head. In step 311, the three-dimensional measurement module performs three-dimensional measurement on the teeth and the gums to obtain characteristic information of the teeth and the gums, wherein the characteristic information includes three-dimensional morphological information of the teeth and the gums. The three-dimensional measurement module can record three-dimensional measurement results of teeth and gums for a plurality of times, and can record the measurement result when the teeth are cleanest. The three-dimensional measurement module can compare the latest measurement result with the past measurement result, and can find the differential changes of the teeth and the gingiva, wherein the differential changes include but are not limited to gingival swelling and shrinking, tooth deformation and erosion, tooth displacement, tartar food residues deposited on the surfaces of the teeth and food residues remained between teeth. The three-dimensional measurement module can upload the measurement result to a server and/or an upper computer/smart phone to inform a user and/or a doctor. Three-dimensional measurement of teeth is a well-known technique. The three-dimensional measuring module of the cleaning device can extend into the oral cavity to carry out three-dimensional measurement on teeth and gums. In step 313, the cleaning plan generating module and/or the three-dimensional measuring module can store the three-dimensional shape information of the teeth and gums, and can determine the positions of the teeth to be cleaned according to the measured tartar and food residue on the surfaces of the teeth. In step 400, the cleaning plan generating module can generate a tooth cleaning plan according to the characteristic information, the equipment information of the cleaning execution module of the cleaning device, the characteristic size and the tartar condition of the teeth, wherein the cleaning plan includes but is not limited to a tooth cleaning sequence, a key cleaning part, a cleaning operation process and the like. In step 521, the cleaning device selects a tooth to be cleaned. Step 523, determine the positional relationship between the cleaning execution module and the teeth to be cleaned. And step 525, moving the cleaning execution module to the tooth to be cleaned, and cleaning the tooth. The manner of cleaning the teeth includes, but is not limited to, brushing the surface of the teeth with a brush, cleaning the teeth with a sonic brush head, flossing the crevices of teeth, polishing the teeth with a polishing rotor, and the like. Step 538, judging whether teeth are still to be cleaned, and if so, turning to step 521; if not, the cleaning is finished.
In fig. 16, the cleaning device 1 comprises at least one fixing means 12 which is able to connect the cleaning device to the object to be cleaned and to keep the relative position between the cleaning device and the object constant. The connection mode of the fixing mechanism comprises but is not limited to bolt connection, riveting, splicing, negative pressure adsorption, magnetic adsorption and cementing. The positional relationship between the fixing mechanism and the object can be measured, and when the cleaning device is fixedly arranged on or near the surface of the object, the three-dimensional positional relationship of the cleaning device and the object is kept constant and can be measured, i.e. the positional relationship between the cleaning device and the object is known, and the positional relationship of the cleaning execution module and the object surface region block itself can be determined therefrom. The positional relationship between the object and the cleaning device is known and remains fixed. The cleaning includes at least one cleaning control module 14 and at least one cleaning execution module 15. The cleaning control module can store a cleaning protocol. The cleaning control module stores a cleaning scheme. The cleaning scheme can be input in advance, and the cleaning scheme can be input by a server and/or an upper computer. The cleaning plan can be obtained by three-dimensionally measuring the object using a three-dimensional measuring device to obtain a three-dimensional form of the object. Or the three-dimensional shape of the object is obtained from the design and manufacturing information of the object. And acquiring equipment information of the cleaning device, wherein the equipment information comprises the structural characteristic size of the equipment, in particular the characteristic size of the cleaning execution module and the sub-modules thereof. And generating a cleaning scheme of the object according to the equipment information and the three-dimensional shape information of the object. The cleaning apparatus of fig. 16 eliminates the three-dimensional measurement module and the cleaning recipe generation module, and can reduce the equipment cost. The cleaning device can include at least one positioning module that can determine a positional relationship between the cleaning device and the object. The cleaning device of fig. 16 can be used for cleaning of teeth. The cleaning device of fig. 16 can be used for cleaning of sanitary ware and the like, the cleaning device being fixedly arranged on the sanitary ware.
In fig. 17, step 300, the relative position between the cleaning device and the object is fixed, i.e. the cleaning device is fixedly connected to the object to be cleaned. The fixed attachment positional relationship can be recorded in the cleaning protocol. A cleaning control module of the cleaning device stores a cleaning scheme of an object. After the cleaning device is fixed at the set position, the cleaning device can traverse each surface area of the object according to the characteristic information and the motion path of the object recorded in the cleaning scheme and clean the area. Step 521, select a surface area. Step 523, determine the position relationship between the cleaning execution module and the block to be cleaned. In step 525, the cleaning execution module is moved to the area to be cleaned to perform the cleaning operation. Step 525 can include multiple cleaning operations, i.e., multiple different cleaning operations can be performed on the same surface area according to a cleaning scheme, and when all the predetermined cleaning operations are completed, the cleaning operations can be performed on other surface areas. Step 538, judging whether the block to be cleaned still exists, if so, returning to the step 521, and selecting the next surface block; if not, the cleaning is finished. Various cleaning operations can be included in the cleaning protocol. The cleaning device can perform various cleaning operations on the same surface area, and can also perform the same cleaning operation on a plurality of surface areas. The cleaning process of fig. 17 can be used for tooth cleaning, as well as for cleaning of other objects.
In fig. 18, step 300, the cleaning device is fixedly attached to the object to be cleaned, i.e. the cleaning device is fixedly arranged on the object. The cleaning control module stores a cleaning scheme. At step 520, a cleaning operation is selected. In step 521, a surface area to be cleaned is selected. Step 523, the positional relationship between the cleaning execution module and the surface area to be cleaned is determined. In step 525, the cleaning execution module is moved to the surface area to be cleaned to perform the selected cleaning operation. And step 538, judging whether the blocks are still to be cleaned, if so, turning to step 521, and if not, turning to step 539. Step 539 determines whether there are any other cleaning operations, if yes, step 520 is performed, if no, step 540 is performed, and the cleaning is ended.
Claims (9)
1. An apparatus for cleaning an object, which comprises a cleaning unit,
comprises at least one cleaning control module and at least one cleaning execution module;
the cleaning control module can store a cleaning scheme;
the device comprises at least one three-dimensional measuring module, a data processing module and a data processing module, wherein the three-dimensional measuring module can carry out three-dimensional measurement on teeth and gum and acquire three-dimensional morphological information of the teeth and the gum;
the cleaning scheme can comprise a surface block dividing mode of the three-dimensional surface of the object to be cleaned and a three-dimensional path of the cleaning execution module moving along the three-dimensional surface of the surface block;
the cleaning control module can control the cleaning execution module to implement the selected cleaning operation on the surface area block according to the cleaning scheme;
comprises at least one fixing mechanism which can keep the relative position between the cleaning device and the object constant;
fixing mechanism includes at least one and the tooth about the connecting block of occlusal surface meshing, the connecting block can be by the interlock between upper and lower tooth, characterized by:
the connecting block is at least two, and first connecting block can be held the interlock between the upper and lower tooth on the left side, and the second connecting block can be held the interlock between the upper and lower tooth on the right side.
2. The object cleaning apparatus according to claim 1, wherein:
the cleaning execution module comprises at least one dental floss retracting mechanism.
3. The object cleaning apparatus according to claim 1, wherein:
the cleaning execution module comprises at least one sound wave brush head.
4. The object cleaning apparatus according to claim 1, wherein:
the cleaning scheme generating/acquiring module is used for generating a cleaning scheme of the object according to the characteristic information of the object or acquiring the cleaning scheme of the object from a server/upper computer.
5. The object cleaning apparatus according to claim 1, wherein:
the cleaning device comprises at least one characteristic information acquisition module, wherein the characteristic information acquisition module can acquire characteristic information of an object to be cleaned from a server and/or in a measurement mode.
6. The object cleaning apparatus according to claim 1, wherein:
comprises at least one positioning module which can determine the relative position relationship between the cleaning device and the surface block.
7. The object cleaning apparatus according to claim 1, wherein:
the cleaning device comprises at least one walking module and/or a turnover mechanism, wherein the walking module and/or the turnover mechanism can change the relative position between the cleaning device and an object, so that the cleaning execution module is moved to the surface area to be cleaned or the surface area to be cleaned is moved to the cleaning execution module.
8. A cleaning method using the object cleaning apparatus according to claim 1, characterized by comprising the steps of:
s1, fixing the relative position between the cleaning device and the teeth;
s2, selecting a surface patch;
s3, determining the position relation between the cleaning execution module and the block to be cleaned;
s4, moving the cleaning execution module to the block to be cleaned to perform the cleaning operation.
9. A cleaning method using the object cleaning apparatus according to claim 1, characterized by comprising the steps of:
s1, fixing the relative position between the cleaning device and the teeth;
s2, carrying out three-dimensional measurement on the teeth and the gum to obtain characteristic information of the teeth and the gum, wherein the characteristic information comprises three-dimensional morphological information of the teeth and the gum;
s3, generating a tooth cleaning scheme according to the characteristic information and the equipment information of the cleaning execution module of the cleaning device;
and S4, moving the cleaning execution module to the tooth to be cleaned, and cleaning the tooth.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211099930.8A CN117816593A (en) | 2018-06-30 | 2018-06-30 | Ware cleaning device and cleaning method |
| CN202211081973.3A CN115646866A (en) | 2018-06-30 | 2018-06-30 | Building cleaning device and cleaning method |
| CN201810703259.0A CN110653235B (en) | 2018-06-30 | 2018-06-30 | Object cleaning device and cleaning method |
| CN202211093975.4A CN115646867A (en) | 2018-06-30 | 2018-06-30 | Automobile cleaning device and cleaning method |
| CN202210972068.0A CN115318784A (en) | 2018-06-30 | 2018-06-30 | Cleaning device and cleaning method for sanitary appliance |
Applications Claiming Priority (1)
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| CN201810703259.0A CN110653235B (en) | 2018-06-30 | 2018-06-30 | Object cleaning device and cleaning method |
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| CN202211081973.3A Division CN115646866A (en) | 2018-06-30 | 2018-06-30 | Building cleaning device and cleaning method |
| CN202211099930.8A Division CN117816593A (en) | 2018-06-30 | 2018-06-30 | Ware cleaning device and cleaning method |
| CN202210972068.0A Division CN115318784A (en) | 2018-06-30 | 2018-06-30 | Cleaning device and cleaning method for sanitary appliance |
| CN202211093975.4A Division CN115646867A (en) | 2018-06-30 | 2018-06-30 | Automobile cleaning device and cleaning method |
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| CN110653235A CN110653235A (en) | 2020-01-07 |
| CN110653235B true CN110653235B (en) | 2022-09-06 |
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| CN202210972068.0A Pending CN115318784A (en) | 2018-06-30 | 2018-06-30 | Cleaning device and cleaning method for sanitary appliance |
| CN202211093975.4A Pending CN115646867A (en) | 2018-06-30 | 2018-06-30 | Automobile cleaning device and cleaning method |
| CN201810703259.0A Active CN110653235B (en) | 2018-06-30 | 2018-06-30 | Object cleaning device and cleaning method |
| CN202211099930.8A Pending CN117816593A (en) | 2018-06-30 | 2018-06-30 | Ware cleaning device and cleaning method |
| CN202211081973.3A Pending CN115646866A (en) | 2018-06-30 | 2018-06-30 | Building cleaning device and cleaning method |
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| CN202210972068.0A Pending CN115318784A (en) | 2018-06-30 | 2018-06-30 | Cleaning device and cleaning method for sanitary appliance |
| CN202211093975.4A Pending CN115646867A (en) | 2018-06-30 | 2018-06-30 | Automobile cleaning device and cleaning method |
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| CN202211099930.8A Pending CN117816593A (en) | 2018-06-30 | 2018-06-30 | Ware cleaning device and cleaning method |
| CN202211081973.3A Pending CN115646866A (en) | 2018-06-30 | 2018-06-30 | Building cleaning device and cleaning method |
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| CN111672833A (en) * | 2020-06-11 | 2020-09-18 | 格力电器（武汉）有限公司 | Polyurethane foaming flash clearance system |
| CN116070451B (en) * | 2023-02-20 | 2023-10-27 | 江苏神州半导体科技有限公司 | Surface cleaning management method and system based on remote plasma source |
| CN115846338B (en) * | 2023-03-03 | 2023-05-02 | 江苏唯高生物科技有限公司 | Intestinal tract pressing machine cleaning detection and adjustment system based on cleaning data |
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- 2018-06-30 CN CN202211093975.4A patent/CN115646867A/en active Pending
- 2018-06-30 CN CN201810703259.0A patent/CN110653235B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115646866A (en) | 2023-01-31 |
| CN110653235A (en) | 2020-01-07 |
| CN115646867A (en) | 2023-01-31 |
| CN115318784A (en) | 2022-11-11 |
| CN117816593A (en) | 2024-04-05 |
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