CN112617695A - Maintenance method and system suitable for artificial intelligent cleaning robot - Google Patents
Maintenance method and system suitable for artificial intelligent cleaning robot Download PDFInfo
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- CN112617695A CN112617695A CN202011521472.3A CN202011521472A CN112617695A CN 112617695 A CN112617695 A CN 112617695A CN 202011521472 A CN202011521472 A CN 202011521472A CN 112617695 A CN112617695 A CN 112617695A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
Abstract
The invention provides a maintenance method and a system suitable for an artificial intelligent cleaning robot, comprising the following steps: step S1: acquiring environmental characteristic acquisition result information; step S2: acquiring self-checking state feedback acquisition result information; step S3: arranging one or more maintenance robots, and acquiring arrangement result information of the maintenance robots; step S4: cooperatively controlling the maintenance robot and the cleaning robot according to the arrangement result information of the maintenance robot, the environment characteristic acquisition result information and the self-checking state feedback acquisition result information to acquire cooperative control information of the maintenance robot and the cleaning robot; and the cooperative control information of the maintenance robot and the cleaning robot guides the cooperative behavior of the maintenance robot and the cleaning robot. The invention has reasonable flow structure and convenient use, and can realize the intellectualization of the maintenance of the field renewable energy equipment by arranging the maintenance robot.
Description
Technical Field
The invention relates to the technical field of robot maintenance, in particular to a maintenance method and a maintenance system suitable for an artificial intelligent cleaning robot.
Background
With the development of science and technology and the progress of times, the artificial intelligent robot is further developed. Artificial intelligence robots have shown advantages in many respects. However, in some severe robot working environments, such as desert, the maintenance of the artificial intelligence robot is a problem that needs to be solved in the prior art.
Patent document CN203693504U discloses an external wall cleaning and maintenance robot, which comprises a supporting device, a robot body and a connecting cable for connecting the robot body and the supporting device, the supporting device comprises a sewage recovery device, a water supply device, a power supply device, a cable winding device and a winch, the robot body comprises a frame, a cleaning and maintenance mechanism arranged on the frame, a main control device, an adsorption device, a monitoring device and a sensor device, the cleaning and maintaining mechanism is arranged at one end of the frame close to the wall surface, the frame is connected with a plurality of walking devices, the end part of the walking device is connected with an adsorption device, the connecting mooring rope comprises a hauling rope, a water supply pipe, a recovery pipe and a cable, the haulage rope is connected with the winch, the water supply pipe is connected with the water supply device, the recovery pipe is connected with the sewage recovery device, and the cable is connected with the power supply device. The patent still leaves room for improvement in process configuration and technical performance.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a maintenance method and a maintenance system suitable for an artificial intelligent cleaning robot.
The maintenance method suitable for the artificial intelligent cleaning robot provided by the invention comprises the following steps:
step S1: acquiring control information according to the environmental characteristics, and acquiring environmental characteristic acquisition result information;
step S2: acquiring self-checking state feedback acquisition result information according to the self-checking state feedback acquisition information;
step S3: acquiring result information according to environmental characteristics and feeding back the acquired result information from a self-checking state, arranging one or more maintenance robots, and acquiring arrangement result information of the maintenance robots;
step S4: cooperatively controlling the maintenance robot and the cleaning robot according to the arrangement result information of the maintenance robot, the environment characteristic acquisition result information and the self-checking state feedback acquisition result information to acquire cooperative control information of the maintenance robot and the cleaning robot;
and the cooperative control information of the maintenance robot and the cleaning robot guides the cooperative behavior of the maintenance robot and the cleaning robot.
Preferably, the step S3 includes:
step S3.1: and selecting control information according to the energy source type to obtain energy source type selection result information.
Preferably, the step S3 further includes:
step S3.2: and providing control information according to energy collection, supplying energy to the maintenance robot, and acquiring energy collection and providing result information.
Preferably, the step S4 further includes:
step S4.1: acquiring positioning cruise result information according to the positioning cruise control information;
and the cleaning robot positions and cruises to the maintenance robot by using the positioning and crusing result information.
Preferably, the step S4 further includes:
step S4.2: acquiring planning shortest route control information according to the positioning cruise result information;
and the planning shortest route control information guides the cleaning robot to plan the behavior of the shortest route.
According to the invention, the maintenance system suitable for the artificial intelligent cleaning robot comprises:
module M1: acquiring control information according to the environmental characteristics, and acquiring environmental characteristic acquisition result information;
module M2: acquiring self-checking state feedback acquisition result information according to the self-checking state feedback acquisition information;
module M3: acquiring result information according to environmental characteristics and feeding back the acquired result information from a self-checking state, arranging one or more maintenance robots, and acquiring arrangement result information of the maintenance robots;
module M4: cooperatively controlling the maintenance robot and the cleaning robot according to the arrangement result information of the maintenance robot, the environment characteristic acquisition result information and the self-checking state feedback acquisition result information to acquire cooperative control information of the maintenance robot and the cleaning robot;
and the cooperative control information of the maintenance robot and the cleaning robot guides the cooperative behavior of the maintenance robot and the cleaning robot.
Preferably, said module M3 comprises:
module M3.1: and selecting control information according to the energy source type to obtain energy source type selection result information.
Preferably, the module M3 further includes:
module M3.2: and providing control information according to energy collection, supplying energy to the maintenance robot, and acquiring energy collection and providing result information.
Preferably, the module M4 further includes:
module M4.1: acquiring positioning cruise result information according to the positioning cruise control information;
and the cleaning robot positions and cruises to the maintenance robot by using the positioning and crusing result information.
Preferably, the module M4 further includes:
module M4.2: acquiring planning shortest route control information according to the positioning cruise result information;
and the planning shortest route control information guides the cleaning robot to plan the behavior of the shortest route.
Compared with the prior art, the invention has the following beneficial effects: a
1. The invention has reasonable flow structure and convenient use, can be realized by arranging the maintenance robot, and realizes the intellectualization of the maintenance of the field renewable energy equipment;
2. the invention can provide energy for the maintenance robot by peripheral renewable energy equipment, and can automatically clean and supply energy for the cleaning robot to maintain;
3. the invention can reduce manual operation, can carry out maintenance control aiming at environmental characteristics, and can be well suitable for the cleaning robot in severe working environment.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic overall flow chart of the present invention.
Fig. 2 is a schematic sectional view of a cleaning robot according to an embodiment of the present invention.
In the figure:
1-vehicle body shell 11-connecting plate
2-maintenance cover plate 12-connecting flange
3-water tank 13-joint bearing
4-water level probe 14-rolling brush
5-Water pipe 15-Sand blocking housing
6-sand scraping plate 16-cleaning brush motor
7-water pump bracket 17-driven chain wheel
8-Water Pump 18-synchronous Belt
9-distance sensor 19-drive sprocket
10-nozzle 130-drive assembly
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
When the working environment of the cleaning robot is severe, such as desert and the like, aiming at the environmental characteristics, the cleanliness of the mirror surface is reduced quickly, and when the cleaning robot needs to be conveyed remotely, one or more intelligent maintenance robots can be arranged in a certain working range of the cleaning robot. The maintenance robot energy source is powered by peripheral renewable energy devices. The general control system is used for carrying out uniform energy distribution or is exclusively supplied with energy by nearby renewable energy devices. The device has the functions of self-cleaning and self-supplying, reduces manual operation, and realizes the intellectualization of field renewable energy equipment maintenance.
Example 1
In a maintenance method adapted for an artificial intelligence cleaning robot, the cleaning robot comprising: the device comprises a vehicle body shell 1, a maintenance cover plate 2, a water tank 3, a water level probe 4, a water pipe 5, a sand scraping plate 6, a water pump bracket 7, a water pump 8, a distance sensor 9, a spray head 10, a connecting plate 11, a connecting flange 12, a joint bearing 13, a rolling brush 14, a sand blocking shell 15, a cleaning brush motor 16, a driven sprocket 17, a synchronous belt 18, a transmission sprocket 19 and a driving assembly 130.
And when the cleaning robot finishes a cleaning task in one period, automatically cruising to the maintenance robot according to the GPS positioner. After the cleaning robot reaches a designated place, the cleaning brush motor 16 is started and the roll brush 14 is rotated. The cleaning motor 1 of the maintenance robot starts corotation, the distance detector is installed at the top end of the cleaning baffle assembly, the distance between the cleaning baffle assembly and the cleaning robot mirror surface cleaning module is detected, when the baffle interferes with the rolling brush to reach a certain numerical value, the cleaning baffle assembly stops moving, the cleaning motor 2 starts, the cleaning baffle assembly rotates, the rotating direction is opposite to the rotating direction of the rolling brush of the cleaning robot, and the water spraying assembly starts to work. The timing is started, and after a certain time, the cleaning brush motor 16 stops working, and the rolling brush 14 stops rotating. The cleaning motor 2 of the maintenance robot stops working and the cleaning baffle assembly stops rotating. The water spray assembly stops spraying water. The cleaning motor 1 is started to rotate reversely, and the cleaning baffle plate assembly is retracted to the initial position. The maintenance robot completes cleaning and maintenance work.
And predicting the service life of the rolling brush according to the service life of the rolling brush, detecting a cleaning object after cleaning by using a sensor after the cleaning robot finishes a period of cleaning work, and if the detected data is not much different from the numerical value before the cleaning task and is close to the predicted service life of the rolling brush, indicating that the rolling brush is invalid and needs to be replaced regularly. According to the GPS positioner, the robot automatically cruises to a specified position, the maintenance robot takes down the cleaning brush assembly by using the clamp with preset positioning or takes down the bristles on the original rolling brush, and the maintenance robot replaces the new bristles to achieve the purpose of replacing the cleaning brush assembly of the cleaning robot.
When the cleaning robot cleans the dirty value of the detection feedback mirror surface of the photoelectric sensor on the scraping strip component and the dirty value of the detection color mirror surface before cleaning, the scraping strip is proved to have reached the service life, the GPS positioner automatically cruises to the designated position, the maintenance robot utilizes the clamp with the preset positioning to detach the connecting clamp on the scraping strip component, the new scraping strip is replaced or the scraping strip is directly pulled out along the clamping handle, and the new scraping strip is installed, thereby achieving the purpose of replacing the cleaning robot scraping strip component.
According to the pressure sensor who installs in the drive assembly tire, detect whether the tire has big grit card in the tire, if have, maintain the robot water spray subassembly and start, utilize the high pressure water spray, wash away the big grit on the tire.
According to the distance sensor, the tire tread pattern depth distance is detected. When the depth is lower than a certain numerical value, the maintenance robot unloads the connecting bolt of the tire by utilizing the clamp with preset positioning, then starts the motor to rotate forwards, unloads the tire, stops the motor, clamps the edge of the tire, replaces a new tire, rotates backwards, installs and fixes the new tire, and therefore the purpose of rapidly managing the tire is achieved.
Example 2
When cleaning robot's electric quantity is low, perception system transmits the signal to the treater, and control system can make the electric quantity feedback according to receiving the signal: and the cleaning robot stops cleaning tasks, the GPS positioner sends the positioning of the cleaning robot to the control system, the system sets parameters, the shortest route is planned according to the position of the latest maintenance robot, and the cleaning robot autonomously navigates to the maintenance robot. And exchanging the battery of the maintenance robot and the battery of the cleaning robot by using a quick battery replacement mode. Or a charging platform is arranged near the ground where the maintenance robot is located, and the cleaning robot is stopped at the place to perform wireless charging.
Example 3
When the electric quantity of the cleaning robot is low, the sensing system transmits a signal to the processor, the processor transmits the signal to the charger robot through wireless data, calculates the moving route and the charging position of the charger robot, transmits the signal to the charger robot through the wireless data, and starts the charger robot to the designated position. The cleaning robot reaches the designated position (non-working position location) through the GPS locator, and is adjusted to the correct charging position for charging on the premise of not hindering the work of other cleaning robots. The front end of the charging robot is provided with a charging socket which is directly butted with the cleaning robot for charging. After the connection charging is stable, the cleaning robot and the charging robot can be started simultaneously and move forward at the same speed in the same direction, and the cleaning robot continues to perform a cleaning task. When the electric quantity of the cleaning robot is full, the charger robot stops, and the cleaning robot continues to operate. After the cleaning robot is completely separated from the charging interface, the charger robot returns to the initial position and charges energy by using renewable energy.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A maintenance method suitable for an artificial intelligence cleaning robot is characterized by comprising the following steps:
step S1: acquiring control information according to the environmental characteristics, and acquiring environmental characteristic acquisition result information;
step S2: acquiring self-checking state feedback acquisition result information according to the self-checking state feedback acquisition information;
step S3: acquiring result information according to environmental characteristics and feeding back the acquired result information from a self-checking state, arranging one or more maintenance robots, and acquiring arrangement result information of the maintenance robots;
step S4: cooperatively controlling the maintenance robot and the cleaning robot according to the arrangement result information of the maintenance robot, the environment characteristic acquisition result information and the self-checking state feedback acquisition result information to acquire cooperative control information of the maintenance robot and the cleaning robot;
and the cooperative control information of the maintenance robot and the cleaning robot guides the cooperative behavior of the maintenance robot and the cleaning robot.
2. The maintenance method for an artificial intelligence cleaning robot as claimed in claim 1, wherein said step S3 includes:
step S3.1: and selecting control information according to the energy source type to obtain energy source type selection result information.
3. The maintenance method for an artificial intelligence cleaning robot according to claim 2, wherein the step S3 further includes:
step S3.2: and providing control information according to energy collection, supplying energy to the maintenance robot, and acquiring energy collection and providing result information.
4. The maintenance method for an artificial intelligence cleaning robot according to claim 2, wherein the step S4 further includes:
step S4.1: acquiring positioning cruise result information according to the positioning cruise control information;
and the cleaning robot positions and cruises to the maintenance robot by using the positioning and crusing result information.
5. The maintenance method for an artificial intelligence cleaning robot according to claim 2, wherein the step S4 further includes:
step S4.2: acquiring planning shortest route control information according to the positioning cruise result information;
and the planning shortest route control information guides the cleaning robot to plan the behavior of the shortest route.
6. A maintenance system suitable for an artificial intelligence cleaning robot, comprising:
module M1: acquiring control information according to the environmental characteristics, and acquiring environmental characteristic acquisition result information;
module M2: acquiring self-checking state feedback acquisition result information according to the self-checking state feedback acquisition information;
module M3: acquiring result information according to environmental characteristics and feeding back the acquired result information from a self-checking state, arranging one or more maintenance robots, and acquiring arrangement result information of the maintenance robots;
module M4: cooperatively controlling the maintenance robot and the cleaning robot according to the arrangement result information of the maintenance robot, the environment characteristic acquisition result information and the self-checking state feedback acquisition result information to acquire cooperative control information of the maintenance robot and the cleaning robot;
and the cooperative control information of the maintenance robot and the cleaning robot guides the cooperative behavior of the maintenance robot and the cleaning robot.
7. The maintenance system adapted for use with an artificial intelligence cleaning robot of claim 6, wherein said module M3 includes:
module M3.1: and selecting control information according to the energy source type to obtain energy source type selection result information.
8. The maintenance system adapted for use with an artificial intelligence cleaning robot of claim 7, wherein said module M3 further comprises:
module M3.2: and providing control information according to energy collection, supplying energy to the maintenance robot, and acquiring energy collection and providing result information.
9. The maintenance system adapted for use with an artificial intelligence cleaning robot of claim 6, wherein said module M4 further comprises:
module M4.1: acquiring positioning cruise result information according to the positioning cruise control information;
and the cleaning robot positions and cruises to the maintenance robot by using the positioning and crusing result information.
10. The maintenance system adapted for use with an artificial intelligence cleaning robot of claim 6, wherein said module M4 further comprises:
module M4.2: acquiring planning shortest route control information according to the positioning cruise result information;
and the planning shortest route control information guides the cleaning robot to plan the behavior of the shortest route.
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Application publication date: 20210409 |