CN115299814A - Intelligent cleaning robot control system and control method based on ultrasonic cleaning - Google Patents
Intelligent cleaning robot control system and control method based on ultrasonic cleaning Download PDFInfo
- Publication number
- CN115299814A CN115299814A CN202210846843.8A CN202210846843A CN115299814A CN 115299814 A CN115299814 A CN 115299814A CN 202210846843 A CN202210846843 A CN 202210846843A CN 115299814 A CN115299814 A CN 115299814A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- stain
- cleaning robot
- intelligent
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 231
- 238000004506 ultrasonic cleaning Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000010276 construction Methods 0.000 claims abstract description 21
- 239000007788 liquid Substances 0.000 claims abstract description 19
- 238000002360 preparation method Methods 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 239000002351 wastewater Substances 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 10
- 230000006870 function Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
-
- 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
-
- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- 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
-
- 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
-
- 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
- A47L11/4086—Arrangements for steam generation
-
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of intelligent cleaning robot control systems, and discloses an intelligent cleaning robot control system and a control method based on ultrasonic cleaning, wherein the system is used for spot identification and cleaning, and planar grid map construction, real-time positioning and optimal path planning, and comprises the following steps: the cleaning device comprises a vehicle body driving system, an ultrasonic cleaning system, a stain visual recognition system, an environment construction and positioning system and a control system, wherein the vehicle body driving system comprises a driving motor, the ultrasonic cleaning system comprises an ultrasonic oscillator, a cleaning brush device, a cleaning liquid preparation device, an intelligent liquid dropping device and a waste water collection device, and the stain visual recognition system comprises a monocular camera and a memory. According to the intelligent cleaning robot control system and method based on ultrasonic cleaning, the cleaning robot can effectively and intelligently recognize stubborn ground stains, effectively clean the ground stains in a targeted manner, avoid repeated cleaning, improve cleaning efficiency and reduce cleaning water consumption.
Description
Technical Field
The invention relates to the technical field of intelligent cleaning robot control systems, in particular to an intelligent cleaning robot control system and a control method based on ultrasonic cleaning.
Background
Nowadays, along with the requirement promotion of people to living environment and the rapid development of intelligent house, the intelligence is clean and is satisfied people gradually to living environment health's demand, and the society has had higher requirement to the clean degree of depth and the intellectuality of intelligent cleaning instrument.
In order to meet the requirements on the cleaning depth and the intellectualization of intelligent cleaning instruments, for example, a Chinese patent with the publication number of CN111345742A discloses a cleaning robot and a control method, wherein the cleaning robot achieves the cleaning purpose by utilizing a floor mopping module and has a navigation module to realize the navigation and positioning functions in the cleaning process; however, the cleaning robot cannot accurately and effectively identify the stains and automatically select and switch the cleaning gears according to the sizes of the stains, and cannot select a specific cleaning range area, so that the cleaning water and the cleaning time are increased, more energy is consumed in the cleaning process, and the cleaning effectiveness is reduced.
The existing intelligent cleaning robot based on ultrasonic cleaning has the following defects in use:
1. the specific area of the stain cannot be effectively identified, so that a plurality of unnecessary areas are cleaned, and the problems of waste of cleaning solution and low cleaning efficiency are solved.
2. The cleaning gear required by cleaning stains can not be effectively and intelligently selected to carry out self-adaptive cleaning, and the problems of poor stain cleaning effect, low cleaning water utilization rate and the like need to be solved.
3. The specific cleaning range area and the specific traveling or standby place cannot be selected, and the problems that the specific applicable scene is few and the cleaning robot is strong in sense of feeling need to be solved.
Disclosure of Invention
The invention aims to provide an intelligent cleaning robot control system and a control method based on ultrasonic cleaning, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent cleaning robot control system based on ultrasonic cleaning is used for spot recognition and cleaning and planar grid map construction and real-time positioning and optimal path planning, and comprises: the vehicle body driving system comprises a driving motor, the ultrasonic cleaning system comprises an ultrasonic oscillator, a cleaning brush device, a cleaning liquid preparation device, an intelligent liquid dropping device and a wastewater collection device, the stain visual identification system comprises a monocular camera and a memory, the vehicle body driving system is used for controlling the motor driving to realize the function of cleaning the robot to move, the ultrasonic cleaning system is used for carrying out ultrasonic cleaning on stains and utilizing the ultrasonic cavitation effect, the stains can be broken to be separated from the ground by means of high-energy high-frequency ultrasonic waves and ultrasonic waves to achieve the purpose of cleaning the stains, the stain visual identification system is used for identifying the direction of the stains and calculating the area of the stain coverage area to realize the self-adaptive selection function of intelligent cleaning and intelligent cleaning gear, the environment construction and positioning system is used for acquiring surrounding environment data, a plane grid map and real-time positioning and optimal path planning are constructed, the control system is used for sending instructions and controlling the cleaning state of the cleaning robot and can be connected with the ultrasonic cleaning system, the visual identification system, the environment construction and positioning system to realize the intelligent cleaning function, the cleaning system is connected with the steel brush device, the cleaning device is used for cleaning the stain in a large number of the high-pressure ultrasonic cleaning liquid, the high-pressure oscillation and the negative pressure cavitation effect can be generated in the cleaning process, the high-pressure ultrasonic cleaning device can be used for collecting the stain and collecting the stain in the high-pressure negative pressure tank, and the high-pressure tank cleaning process of the high-pressure tank cleaning system, the high-pressure tank cleaning device can be used for collecting the high-pressure tank cleaning system for collecting the high-pressure tank, and the high-pressure tank cleaning device, the high-pressure tank cleaning device can be used for collecting the high-pressure tank cleaning device, will explode and generate huge energy to shatter the stains; moreover, the surface of the bubble has high speed gradient and viscous stress to promote the dropping of dirt on the surface of the cleaning piece, and the intelligent liquid dropping device is used for controlling and adjusting the using amount of the cleaning liquid according to the covering area of the dirt; the cleaning solution preparation device is used for controlling the preparation proportion of the raw materials of the cleaning solution and water to prepare the required cleaning solution; the device comprises a wastewater collecting device, a monocular camera, a vehicle body and a vehicle body, wherein the wastewater collecting device is used for collecting and treating wastewater generated by cleaning, and the monocular camera is arranged outside the vehicle body and used for identifying stains and calculating the coverage area; the memory is used for storing the stain identification image.
Preferably, the environment construction and positioning system comprises a laser radar, an encoder and a gyroscope, wherein the laser radar is used for acquiring data of the surrounding environment and constructing the plane grid map; the encoder and the gyroscope are used for accurate real-time positioning and path planning.
Preferably, the cleaning solution preparation device signal connection is in control system, monocular camera signal connection is in control system, laser radar signal connection is in control system, encoder signal connection is in control system gyroscope signal connection is in control system.
Preferably, the control system comprises a control panel, a wireless communication module and a processor, wherein the processor is used for processing the received control instruction, the real-time stain identification, the coverage area calculation and the intelligent path planning; when the stains are recognized, the stain visual recognition system determines the direction of the stains, calculates the area of a stain coverage area and feeds data back to the processor, the processor corresponds a cleaning instruction to the ultrasonic cleaning system according to the user presetting of the control panel, the ultrasonic cleaning system sends a signal to the processor after cleaning is finished, and the processor obtains the user presetting of the control panel again to perform the next operation; after the control panel receives a cleaning mode closing signal sent by a user, the control panel sends a corresponding signal to the processor, and the processor returns the planned route to a preset position to enter a standby state.
As shown in fig. 5, in the intelligent cleaning robot control method based on ultrasonic cleaning, cleaning liquid is preset and configured according to the acquired cleaning robot; the cleaning robot identifies the direction of the stain and calculates the coverage range of the stain; stubborn stains are cleaned by utilizing the characteristic of strong ultrasonic cleaning capability; the cleaning robot simultaneously constructs a plane grid map and performs real-time positioning and optimal path planning in the operation process; the method comprises the following specific steps:
s1: and sending an instruction to the processor through the control panel according to the function selected by the user, starting a walking state by the control system according to the preset of the user, and receiving data of the laser radar, the encoder, the gyroscope and the monocular camera by the processor in the walking state.
For example, the mobile phone terminal can be connected with the wireless communication module through the APP, the applet application and the webpage end, and can transmit the preset modified mobile phone terminal to the control panel through the internet of things technology, such as a cleaning solution preparation scheme, a selected cleaning range area, a standby place, preset cleaning time and the like, and the wireless communication module can also transmit various information of the cleaning robot, such as water tank storage capacity, electric quantity, positioning information and the like, to the mobile phone terminal.
S2: the processor carries out classification processing on the received data by a stain visual recognition system and an environment construction and positioning system, and facilitates stain recognition, calculation of the stain coverage area, construction of a plane grid map and positioning through pre-classification processing on the data.
S3: and processing the received data of the laser radar, the encoder and the gyroscope, constructing a plane grid map, carrying out real-time accurate positioning, and carrying out image recognition processing on the received data of the monocular camera.
S4: and after the stains are identified, the cleaning robot stops the walking state, further performs image processing on the monocular camera data, identifies the stain direction and calculates the stain coverage area.
S5: executing an ultrasonic cleaning instruction, and moving to a stain covering area to be cleaned according to the direction of the stain; and selecting an intelligent cleaning gear according to the area of the stain coverage range.
S6: after the stain cleaning instruction is finished, starting a walking state by the cleaning robot; and after receiving an instruction of canceling the cleaning mode, processing the constructed plane grid map, planning an optimal path, returning to a preset position according to the path for standby, and waiting for issuing a next instruction.
For example, after the cleaning robot completes the cleaning command, if the cleaning robot does not receive the command of canceling the cleaning mode, the cleaning robot repeats the fourth step and the fifth step; if the cleaning robot receives an instruction of canceling the cleaning mode, the cleaning robot acquires current position information and preset position information, if the preset position is a charging station, the processor processes a constructed plane grid map, an optimal path to the charging station is calculated by using a path planning algorithm, and the motor driving system drives the cleaning robot to the charging station according to a calculated result, enters a standby mode and waits for issuing a next instruction.
Preferably, in step S1, the monocular camera acquires images at a frequency of 12 times per 1 second, and the image acquisition frequency is not set too fast or too slow in order to reduce the occupation of the processor in the operation performance while achieving a good recognition effect.
Preferably, in step S5, the user can modify preset range threshold of the spot coverage area, and can perform adaptive selection processing of the intelligent cleaning gear for different spot coverage areas, for example, after the spot is identified by the monocular camera, the area of the spot coverage area is 500cm through calculation of the data 2 Acquiring azimuth data of stains, moving the stains to a stain cleaning coverage area, and intelligently selecting the stains containing 500cm according to a stain area interval corresponding to each cleaning gear set by a user 2 The cleaning robot executes the cleaning action preset in the corresponding interval to finish the cleaning of the stains.
Preferably, the processor in step S5 plans an optimal path by processing the constructed planar grid map, converts the obtained optimal path data into corresponding encoder and gyroscope data, and the control system controls the forward target location of the motor driving system according to the encoder and gyroscope data.
Compared with the prior art, the intelligent cleaning robot control system and the control method based on ultrasonic cleaning provided by the invention have the following beneficial effects:
1. according to the intelligent cleaning robot control system and method based on ultrasonic cleaning, the cleaning robot can effectively and intelligently recognize stubborn ground stains, effectively clean the ground stains in a targeted manner, avoid repeated cleaning, improve cleaning efficiency and reduce cleaning water consumption.
2. According to the control system and the control method of the intelligent cleaning robot based on ultrasonic cleaning, the cleaning robot can effectively obtain the stain coverage area, and intelligently selects the cleaning gear according to the stain coverage area, so that the cleaning efficiency is improved, and the cleaning water consumption is reduced.
3. According to the intelligent cleaning robot control system and method based on ultrasonic cleaning, the cleaning robot can efficiently and powerfully clean stains by using the cavitation effect of ultrasonic waves, and the cleaning level of the ground is effectively improved.
4. According to the intelligent cleaning robot control system and method based on ultrasonic cleaning, the cleaning robot adopts the environment construction and positioning system, can effectively construct a plane grid map and perform real-time positioning, and can select a cleaning area and go to a specific standby position according to the requirements of a user.
5. According to the intelligent cleaning robot control system and method based on ultrasonic cleaning, the cleaning robot is provided with the cleaning solution preparation device, the cleaning solution with the concentration and the type required by a user can be specifically configured according to the user demand in real time, the application range of the cleaning robot is greatly enlarged, the waste of residual cleaning solution is reduced, and resources and energy are effectively saved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive labor:
fig. 1 is a schematic structural diagram of an intelligent cleaning robot control system based on ultrasonic cleaning according to an embodiment of the present invention;
fig. 2 is a first basic control flowchart of an intelligent cleaning robot control system based on ultrasonic cleaning according to an embodiment of the present invention;
fig. 3 is a basic control flowchart ii of an intelligent cleaning robot control system based on ultrasonic cleaning according to an embodiment of the present invention;
fig. 4 is a third basic control flow chart of the control system of the intelligent cleaning robot based on ultrasonic cleaning according to the embodiment of the present invention;
fig. 5 is a flowchart of a basic control method of an intelligent cleaning robot control system based on ultrasonic cleaning according to an embodiment of the present invention.
In the figure: 1. a vehicle body drive system; 2. an ultrasonic cleaning system; 3. a stain visual recognition system; 4. An environment construction and positioning system; 5. a control system; 6. a drive motor; 7. an ultrasonic oscillator; 8. a cleaning brush device; 9. a cleaning solution preparation device; 10. an intelligent liquid dropping device; 11. a waste water collecting device; 12. A monocular camera; 13. a memory; 14. a laser radar; 15. an encoder; 16. a gyroscope; 17. A control panel; 18. a wireless communication module; 19. a processor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
Examples
Referring to fig. 1 to 5, an intelligent cleaning robot control system based on ultrasonic cleaning according to an embodiment of the present invention is used for identifying and cleaning stains, constructing a planar grid map, positioning in real time, and planning an optimal path, and includes: the cleaning robot comprises a vehicle body driving system 1, an ultrasonic cleaning system 2, a stain visual identification system 3, an environment construction and positioning system 4 and a control system 5, wherein the vehicle body driving system 1 comprises a driving motor 6, the ultrasonic cleaning system 2 comprises an ultrasonic oscillator 7, a cleaning brush device 8, a cleaning liquid preparation device 9, an intelligent liquid dropping device 10 and a waste water collection device 11, the stain visual identification system 3 comprises a monocular camera 12 and a storage 13, the vehicle body driving system 1 is used for controlling the driving of the motor and realizing the moving function of the cleaning robot, the ultrasonic cleaning system 2 is used for carrying out ultrasonic cleaning on stains, the stain is broken by means of high-energy high-frequency ultrasonic waves and the ultrasonic waves by themselves and separated from the ground by utilizing the ultrasonic cavitation effect, the stain is cleaned by breaking the stains and separating from the ground, the stain cleaning purpose is achieved, the visual identification system 3 is used for identifying the direction of the stains and calculating the stain coverage area, the intelligent cleaning and intelligent cleaning gear self-adaptive selection function is realized, an environment construction and positioning system 4 is used for acquiring surrounding environment data, constructing a plane grid map and real-time positioning and optimal path planning, a control system 5 is used for sending instructions and controlling the cleaning state of a cleaning robot and is connected with an ultrasonic cleaning system, a stain visual identification system and an environment construction and positioning system to realize the intelligent stain cleaning function, a cleaning brush device 8 is provided with a rolling brush, a square steel brush and a round brush for cleaning stains, the stains and sewage can be centralized at a wastewater collection part after being treated by different types of cleaning brushes, an ultrasonic oscillator 7 can enable the brushes to oscillate at high frequency, the stains are cleaned at high frequency by the brushes, and in the process of cleaning the stains, a large amount of bubbles with low pressure and negative pressure can be generated in a cleaning agent liquid due to the cavitation effect of ultrasonic waves, a large amount of low-pressure and negative-pressure air bubbles can be broken in a very short time, and can explode to generate huge energy to shake and break stains; moreover, the surface of the bubble has high speed gradient and viscous stress to promote the dropping of dirt on the surface of the cleaning piece, and the intelligent liquid dropping device 10 is used for controlling and adjusting the dosage of the cleaning liquid according to the covering area of the dirt; the cleaning liquid preparation device 9 is used for controlling the preparation proportion of the raw material of the cleaning liquid and water to prepare the required cleaning liquid; the wastewater collection device 11 is used for collecting and treating wastewater generated by cleaning, and the monocular camera 12 is arranged outside the vehicle body and used for identifying stains and calculating the coverage area; the memory 13 is used for storing stain identification images, the environment construction and positioning system 4 comprises a laser radar 14, an encoder 15 and a gyroscope 16, and the laser radar 14 is used for acquiring data of the surrounding environment and constructing a planar grid map; the encoder 15 and the gyroscope 16 are used for accurate real-time positioning and path planning, the cleaning solution preparation device 9 is in signal connection with the control system 5, the monocular camera 12 is in signal connection with the control system 5, the laser radar 4 is in signal connection with the control system 5, the encoder 15 is in signal connection with the control system 5, the gyroscope 16 is in signal connection with the control system 5, the control system 5 comprises a control panel 17, a wireless communication module 18 and a processor 19, and the processor 19 is used for processing received control instructions, real-time stain identification and coverage area calculation and intelligent path planning; when the stains are recognized, the stain visual recognition system 3 determines the direction of the stains and calculates the area of a stain coverage area, and feeds data back to the processor 19, the processor 19 corresponds to a cleaning instruction to the ultrasonic cleaning system 2 according to the user preset of the control panel 17, the ultrasonic cleaning system 2 sends a signal to the processor 19 after cleaning is finished, and the processor 19 obtains the user preset of the control panel 17 again to perform the next operation; when the control panel 17 receives a signal for turning off the cleaning mode sent by the user, and the control panel 17 sends a corresponding signal to the processor 19, the processor 19 will plan the route and return to the preset position to enter the standby state.
As shown in fig. 5, the intelligent cleaning robot control method based on ultrasonic cleaning configures cleaning solution according to the preset configuration of the cleaning robot; the cleaning robot identifies the direction of the stain and calculates the coverage range of the stain; stubborn stains are cleaned by utilizing the characteristic of strong ultrasonic cleaning capability; constructing a plane grid map and real-time positioning and optimal path planning simultaneously in the operation process of the cleaning robot; the method comprises the following specific steps:
s1: the control system 5 starts a walking state according to the presetting of the user by sending an instruction to the processor 19 through the control panel 17 according to the function selected by the user, and when the walking state is in, the processor 19 receives data of the laser radar 14, the encoder 15, the gyroscope 16 and the monocular camera 12, the frequency of the image collected by the monocular camera 12 is 12 times of images obtained every 1 second, and in order to reduce the occupation of the arithmetic performance of the processor while ensuring good recognition effect, the image collection frequency is too fast and too slow to set.
For example, the mobile phone terminal can be connected with the wireless communication module 18 through the APP, the applet, and the web page, and can transmit the preset modified mobile phone terminal to the control panel 17 through the internet of things technology, such as a cleaning solution preparation scheme, a selected cleaning range area, a standby place, preset cleaning time, and the like, and the wireless communication module 18 can also transmit various information of the cleaning robot, such as water tank storage capacity, electric quantity, positioning information, and the like, to the mobile phone terminal.
S2: the processor 19 classifies the received data by a stain visual recognition system and an environment construction and positioning system, and performs pre-classification processing on the data to facilitate stain recognition, calculation of stain coverage area, construction of a plane grid map and positioning.
S3: and processing the received data of the laser radar 14, the encoder 15 and the gyroscope 16 to construct a plane grid map, performing real-time accurate positioning, and performing image recognition processing on the received data of the monocular camera 12.
S4: when the stains are identified, the cleaning robot stops the walking state, further performs image processing on the data of the monocular camera 12, identifies the stain direction and calculates the stain coverage area.
S5: executing an ultrasonic cleaning instruction, and moving to a stain covering area to be cleaned according to the direction of the stain; the intelligent cleaning gear selection is performed according to the area of the stain coverage area, the processor 19 processes the constructed planar grid map to plan an optimal path, the obtained optimal path data is converted into data corresponding to the encoder 15 and the gyroscope 16, the control system controls the forward target location of the motor driving system 1 according to the data of the encoder 15 and the gyroscope 16, a user can modify the interval threshold range presetting of the stain coverage area, the intelligent cleaning gear self-adaptive selection processing can be performed on different stain coverage areas, for example, after the monocular camera 12 identifies stains, the data is calculated to obtain the stain coverage area of 500cm 2 Acquiring azimuth data of the stain, moving the stain to a stain-cleaning coverage area, and intelligently selecting the stain area containing 500cm according to the stain area interval corresponding to each cleaning gear set by a user 2 The interval is preset, and the cleaning robot executes the cleaning action preset in the corresponding interval to complete the cleaning of the stains.
S6: after the stain cleaning instruction is finished, starting a walking state by the cleaning robot; and after receiving an instruction of canceling the cleaning mode, processing the constructed planar grid map, planning an optimal path, returning to a preset position according to the path for standby, and waiting for issuing a next instruction.
For example, after the cleaning robot completes the cleaning command, if the cleaning robot does not receive the command of canceling the cleaning mode, the cleaning robot repeats the fourth step and the fifth step; if the cleaning robot receives an instruction for canceling the cleaning mode, the cleaning robot acquires current position information and preset position information, if the preset position is a charging station, the processor 19 processes the constructed plane grid map, an optimal path for going to the charging station is calculated by using a path planning algorithm, and the motor driving system 1 drives the cleaning robot to go to the charging station according to the calculated result, enters a standby mode and waits for issuing a next instruction.
According to the control system and the control method of the intelligent cleaning robot based on ultrasonic cleaning, provided by the embodiment of the invention, the cleaning robot can effectively and intelligently identify stubborn ground stains, effectively clean the ground stains in a targeted manner, avoid repeated cleaning, improve the cleaning efficiency and reduce the cleaning water consumption.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising" is used to specify the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof, but does not exclude the presence of other similar features, integers, steps, operations, components, or groups thereof.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an intelligent cleaning robot control system based on ultrasonic cleaning which characterized in that for spot discernment and cleanness and planar grid map construction and real-time location and optimal path planning, includes: automobile body actuating system (1), ultrasonic cleaning system (2), spot vision recognition system (3), environment construction and positioning system (4), control system (5), its characterized in that: automobile body actuating system (1) includes driving motor (6), ultrasonic cleaning system (2) include ultrasonic oscillator (7), cleaning brush device (8), cleaning solution preparation device (9), intelligent dropping liquid device (10) and waste water collection device (11), spot vision identification system (3) include monocular camera (12) and memory (13).
2. The intelligent cleaning robot control system based on ultrasonic cleaning according to claim 1, wherein: the environment construction and positioning system (4) comprises a lidar (14), an encoder (15) and a gyroscope (16).
3. The intelligent cleaning robot control system based on ultrasonic cleaning according to claim 1, wherein: device (9) signal connection is prepared to the cleaning solution in control system (5), monocular camera (12) signal connection is in control system (5), laser radar (4) signal connection is in control system (5), encoder (15) signal connection is in control system (5) gyroscope (16) signal connection is in control system (5).
4. The intelligent cleaning robot control system based on ultrasonic cleaning according to claim 1, wherein: the control system (5) comprises a control panel (17), a wireless communication module (18) and a processor (19).
5. An intelligent cleaning robot control method based on ultrasonic cleaning is characterized by comprising the following steps: presetting and configuring cleaning liquid according to the acquired cleaning robot; the cleaning robot identifies the direction of the stain and calculates the coverage range of the stain; the characteristic of strong ultrasonic cleaning capability is utilized to clean stubborn stains; and simultaneously constructing a plane grid map, positioning in real time and planning an optimal path in the operation process of the cleaning robot.
6. The intelligent cleaning robot control method based on ultrasonic cleaning according to claim 5, characterized by comprising the following steps:
s1: sending an instruction to a processor (19) through a control panel (17) according to a function selected by a user, starting a walking state by a control system (5) according to the preset of the user, and receiving data of a laser radar (14), an encoder (15), a gyroscope (16) and a monocular camera (12) by the processor (19) in the walking state;
the mobile phone terminal is connected with the wireless communication module (18) through an APP (application), a small program application and a webpage end, the preset modified by the mobile phone terminal can be transmitted to the control panel (17) through the Internet of things technology, such as a cleaning solution preparation scheme, a selected cleaning range area, a standby place, preset cleaning time and the like, and the wireless communication module (18) can also transmit various information of the cleaning robot, such as water tank storage capacity, electric quantity, positioning information and the like, to the mobile phone terminal;
s2: the processor (19) carries out classification processing on the received data by a spot visual recognition system and an environment construction and positioning system, and facilitates spot recognition, spot coverage area calculation, plane grid map construction and positioning through pre-classification processing on the data;
s3: processing the received data of the laser radar (14), the encoder (15) and the gyroscope (16), constructing a planar grid map, carrying out real-time accurate positioning, and carrying out image recognition processing on the received data of the monocular camera (12);
s4: when the stains are identified, the cleaning robot stops the walking state, further performs image processing on the data of the monocular camera (12), identifies the directions of the stains and calculates the area of a stain coverage area;
s5: executing an ultrasonic cleaning instruction, and moving to a stain covering area to be cleaned according to the direction of the stain; selecting an intelligent cleaning gear according to the area of a stain coverage range;
s6: after the stain cleaning instruction is finished, starting a walking state by the cleaning robot; processing the constructed planar grid map after receiving an instruction of canceling the cleaning mode, planning an optimal path, returning to a preset position according to the path for standby, and waiting for issuing a next instruction;
after the cleaning robot completes the cleaning instruction, if the cleaning robot does not receive the instruction of canceling the cleaning mode, the cleaning robot repeats the fourth step and the fifth step; if the cleaning robot receives an instruction of canceling the cleaning mode, the cleaning robot acquires current position information and preset position information, if the preset position is a charging station, a processor (19) processes a constructed plane grid map, an optimal path for going to the charging station is calculated by using a path planning algorithm, and a motor driving system (1) drives the cleaning robot to go to the charging station according to a calculated result, enters a standby mode and waits for issuing of a next instruction.
7. The intelligent cleaning robot control method based on ultrasonic cleaning according to claim 6, wherein: in the step S1, the monocular camera (12) acquires images for 12 times every 1 second, and in order to reduce the occupation of the arithmetic performance of the processor while ensuring good identification effect, the image acquisition frequency is not suitable to be set too fast or too slow.
8. The intelligent cleaning robot control method based on ultrasonic cleaning according to claim 6, wherein: in the step S5, the user can modify the preset range of the interval threshold of the stain coverage area, and can perform the intelligent cleaning gear self-adaptive selection processing on different stain coverage areas, for example, after the stain is identified by the monocular camera (12), the area of the stain coverage area is 500cm through the calculation of the data 2 Acquiring azimuth data of the stain, moving the stain to a stain-cleaning coverage area, and intelligently selecting the stain area containing 500cm according to the stain area interval corresponding to each cleaning gear set by a user 2 The interval is preset, and the cleaning robot executes the cleaning action preset in the corresponding interval to complete the cleaning of the stains.
9. The intelligent cleaning robot control method based on ultrasonic cleaning according to claim 6, wherein: and in the step S5, the processor (19) processes the constructed plane grid map, plans an optimal path, converts the obtained optimal path data into data corresponding to the encoder (15) and the gyroscope (16), and controls the motor driving system (1) to move to a target location according to the data of the encoder (15) and the gyroscope (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210846843.8A CN115299814A (en) | 2022-07-19 | 2022-07-19 | Intelligent cleaning robot control system and control method based on ultrasonic cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210846843.8A CN115299814A (en) | 2022-07-19 | 2022-07-19 | Intelligent cleaning robot control system and control method based on ultrasonic cleaning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115299814A true CN115299814A (en) | 2022-11-08 |
Family
ID=83856539
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210846843.8A Pending CN115299814A (en) | 2022-07-19 | 2022-07-19 | Intelligent cleaning robot control system and control method based on ultrasonic cleaning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115299814A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117351065A (en) * | 2023-12-05 | 2024-01-05 | 武汉市品持科技有限公司 | Cleaning method and device, storage medium and electronic equipment |
| CN117901144A (en) * | 2024-03-19 | 2024-04-19 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
| CN111158375A (en) * | 2020-01-10 | 2020-05-15 | 五邑大学 | Cleaning robot and path planning method thereof |
| CN112315383A (en) * | 2020-10-29 | 2021-02-05 | 上海高仙自动化科技发展有限公司 | Inspection cleaning method and device for robot, robot and storage medium |
| CN113250116A (en) * | 2021-05-21 | 2021-08-13 | 黔南民族师范学院 | Guardrail cleaning device |
| CN214906356U (en) * | 2021-02-05 | 2021-11-30 | 深圳市银星智能科技股份有限公司 | Maintenance base station and cleaning robot system |
| CN215605436U (en) * | 2021-08-27 | 2022-01-25 | 广东固特超声股份有限公司 | Hand-held type ultrasonic cleaner |
| CN216776897U (en) * | 2021-11-19 | 2022-06-21 | 杭州华橙软件技术有限公司 | Cleaning device, host computer and cleaning robot |
-
2022
- 2022-07-19 CN CN202210846843.8A patent/CN115299814A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425801A (en) * | 2015-12-10 | 2016-03-23 | 长安大学 | Intelligent cleaning robot based on advanced path programming technology and cleaning method thereof |
| CN111158375A (en) * | 2020-01-10 | 2020-05-15 | 五邑大学 | Cleaning robot and path planning method thereof |
| CN112315383A (en) * | 2020-10-29 | 2021-02-05 | 上海高仙自动化科技发展有限公司 | Inspection cleaning method and device for robot, robot and storage medium |
| CN214906356U (en) * | 2021-02-05 | 2021-11-30 | 深圳市银星智能科技股份有限公司 | Maintenance base station and cleaning robot system |
| CN113250116A (en) * | 2021-05-21 | 2021-08-13 | 黔南民族师范学院 | Guardrail cleaning device |
| CN215605436U (en) * | 2021-08-27 | 2022-01-25 | 广东固特超声股份有限公司 | Hand-held type ultrasonic cleaner |
| CN216776897U (en) * | 2021-11-19 | 2022-06-21 | 杭州华橙软件技术有限公司 | Cleaning device, host computer and cleaning robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117351065A (en) * | 2023-12-05 | 2024-01-05 | 武汉市品持科技有限公司 | Cleaning method and device, storage medium and electronic equipment |
| CN117351065B (en) * | 2023-12-05 | 2024-02-23 | 武汉市品持科技有限公司 | Cleaning method and device, storage medium and electronic equipment |
| CN117901144A (en) * | 2024-03-19 | 2024-04-19 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
| CN117901144B (en) * | 2024-03-19 | 2024-05-14 | 湖南蓝天机器人科技有限公司 | AGV car washing robot intelligent control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115299814A (en) | Intelligent cleaning robot control system and control method based on ultrasonic cleaning | |
| CN108803599B (en) | Sweeping working method based on working mode | |
| KR102636745B1 (en) | Control methods, devices, equipment and storage media of mopping robots | |
| RU2697154C1 (en) | Method and apparatus for performing a cleaning operation by means of a cleaning device and a readable data medium | |
| KR102649384B1 (en) | Control methods, devices, equipment and storage media of mopping robots | |
| CN108733061B (en) | Path correction method for cleaning operation | |
| CN108420371B (en) | Control method of separated type floor sweeping robot | |
| CN106909156B (en) | Air purification method and device | |
| EP4154789A1 (en) | Method and apparatus for determining dirt level of cleaning mechanism, and storage medium | |
| CN109528089B (en) | Method, device and chip for continuously walking trapped cleaning robot | |
| CN108614545B (en) | Abnormal state monitoring method | |
| CN108716201B (en) | Collaborative sweeping method | |
| CN108776478B (en) | Planning method of operation path | |
| CN108776479B (en) | Collaborative sweeping operation method | |
| CN111381590A (en) | Sweeping robot and route planning method thereof | |
| CN112806912B (en) | Robot cleaning control method and device and robot | |
| CN108563231B (en) | Cleaning task planning method | |
| CN111706979A (en) | Control method of intelligent dehumidifier and intelligent dehumidifier | |
| CN113427490A (en) | Visual long-range intelligent epidemic prevention disinfection robot of disinfection operation | |
| CN110604515A (en) | Multi-machine cooperation system and cleaning equipment | |
| CN112540611A (en) | Path planning method of robot, robot and master control chip | |
| CN108614557A (en) | Control floor-cleaning machine washes the mthods, systems and devices on ground | |
| CN203973549U (en) | A kind of wheeled Bi Zhang robot | |
| CN109598962A (en) | A kind of calling system of unmanned sweeper | |
| CN110946509A (en) | Sweeping method of sweeping robot and sweeping device of sweeping robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20221108 |
|
| RJ01 | Rejection of invention patent application after publication |