CN116027792A - Path planning control device and operation method for underwater cleaning robot - Google Patents
Path planning control device and operation method for underwater cleaning robot Download PDFInfo
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Abstract
The invention relates to a path planning control device and an operation method of an underwater cleaning robot. The device is characterized by comprising a cleaning robot, a transmitting transducer, a sonar beacon group, a receiving matrix, a sonar signal processor and a remote controller. The operation method is that 1 transponder in the sonar beacon group is fixed on the cleaning robot, and the rest transponders are fixed on the underwater surface; extracting and processing the response signals of the transponder by using a sonar signal processor, and finally calculating the three-dimensional spatial relationship between the cleaning robot and the underwater surface to be cleaned; and the remote controller automatically generates a cleaning path diagram according to the three-dimensional space relation, controls the cleaning robot to move according to the cleaning path diagram and implements cleaning operation. The device and the operation method can automatically plan the motion path of the cleaning robot on the underwater surface, monitor the motion path in real time, reduce the difficulty of manual operation and smoothly finish the cleaning operation in a turbid water area.
Description
Technical Field
The invention relates to an underwater cleaning device, in particular to an underwater cleaning robot path planning control device based on a baseline positioning system and an operation method, which are particularly suitable for the underwater elevation cleaning operation of ships.
Background
As is well known, a large amount of parasitic organisms attach to the surface of objects immersed in water for a long time, particularly for ships, marine organisms (such as barnacles, oysters, coil worms and the like) are often parasitic on the ship body during offshore navigation, the rapid propagation of the parasitic organisms seriously affects the navigation speed of the ship, greatly increases the navigation oil consumption, and even seriously affects the operation of systems such as propellers, transmission shafts, sea bottom doors and the like, damages the coating on the metal surface, exposes the metal and causes corrosion, so that the underwater elevation of the ship body needs to be cleaned regularly. In the past, manual cleaning is mostly adopted, and a ship is towed into a dock to be cleaned by a high-pressure water gun, or a diver is required to perform underwater operation cleaning, so that the cleaning time is long, and a large amount of manpower and material resources are consumed.
With the progressive maturity of robotics and intellectualization, robotics have been developed to replace manual work in many areas, particularly in relatively dangerous, relatively time-consuming areas. The cleaning robot is adopted to operate, so that the cleaning time can be greatly shortened, the labor intensity of personnel is reduced, and some problems which are difficult to solve exist. The existing cleaning robot is operated by means of remote control of operators, the motion state and the motion direction of the robot are judged by the operators through real-time images transmitted back by the cameras arranged on the robot, when obstacles appear, obstacle avoidance decisions are carried out through the real-time images, manual operation obstacle avoidance is implemented, and the requirement on the actual operation level of the operators is high. Especially in a turbid water area, the visibility of the camera is poor, an operator can not control the robot through images and can only control the robot according to own experience or feel, so that the cleaning is incomplete or the operation can not be completed.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a path planning control device and an operation method of an underwater cleaning robot, which can automatically plan the motion path of the cleaning robot on the underwater surface and monitor the motion path in real time, can reduce the difficulty of manual operation, can smoothly finish cleaning operation in a turbid water area, and are particularly suitable for cleaning and maintaining the underwater elevation of a ship.
In order to solve the problems, the following technical scheme is adopted:
the invention relates to an underwater cleaning robot path planning control device which is characterized by comprising a cleaning robot, a transmitting transducer, a sonar beacon group, a receiving matrix, a sonar signal processor and a remote controller.
The self-communication module of the cleaning robot is used for receiving an operation instruction sent by the remote controller.
The transmitting transducer is for emitting an interrogation signal to the sonar beacon group.
The sonar beacon group comprises at least three transponders, one transponder is fixed on the cleaning robot, and the other transponders are fixed on the underwater surface to be cleaned. The transponder is used for receiving the inquiry signal sent by the transmitting transducer and sending out a response signal after receiving the inquiry signal.
The receiving matrix is used for receiving response signals sent by the transponder.
The sonar signal processor is used for controlling the transmitting transducer to send an inquiry signal and extracting and processing the response signal received by the receiving array, and calculating the three-dimensional space position from the cleaning robot and the underwater surface to be cleaned to the receiving array.
The remote controller is internally provided with path planning and monitoring software and is in communication connection with the sonar signal processor, and is used for receiving the position information of the cleaning robot and the underwater surface to be cleaned and automatically generating a cleaning path diagram through the path planning and monitoring software. The remote controller is also in wireless communication connection with the cleaning robot, and is used for remotely controlling the cleaning robot in real time and monitoring the working state of the cleaning robot in real time.
The operation method of the path planning control device of the underwater cleaning robot is characterized by comprising the following steps of:
the first step is to install the transmitting transducer and the receiving matrix on the mother ship or the quay, the receiving surface of the receiving matrix faces the direction of the underwater surface to be cleaned vertically.
And secondly, fixing 1 transponder in the sonar beacon group on the cleaning robot, and fixing the rest transponders on the underwater surface to be cleaned.
Thirdly, placing the cleaning robot into a water body where the underwater surface to be cleaned is located, and electrifying the transmitting transducer, the receiving matrix and the sonar beacon group.
Step four, a remote controller is opened to control the sonar signal processor to work; the sonar signal processor controls the transmitting transducer to send out an inquiry signal; each transponder in the sonar beacon group sends out a response signal after receiving the inquiry signal sent by the transmitting transducer; after receiving response signals sent by each transponder in the sonar beacon group, the receiving array sends the response signals to the sonar signal processor; the sonar signal processor extracts and processes the response signals, the three-dimensional space positions of the transponders to the receiving array are finally calculated, the positions of the transponders fixed on the cleaning robot are the positions of the cleaning robot, the positions of the rest transponders are the outline of the underwater surface to be cleaned, and the sonar signal processor sends the calculation results of the three-dimensional space positions of the transponders to the receiving array to the remote controller; after receiving the calculation result of the sonar signal processor, the remote controller can display the outline of the underwater surface to be cleaned and the three-dimensional spatial relationship between the cleaning robot and the underwater surface on a display of the remote controller.
Fifthly, path planning and monitoring software built in the remote controller automatically generates a cleaning path according to a set rule according to the three-dimensional space relation between the cleaning robot and the underwater surface to be cleaned, and displays a cleaning path diagram, wherein the unreasonable part can be manually modified on the remote controller; or manually generating a cleaning path according to the three-dimensional space relation, and inputting a corresponding three-dimensional coordinate set to generate a corresponding cleaning path diagram or drawing the corresponding cleaning path diagram by using a straight line tool and a curve tool in path planning and monitoring software.
Sixthly, the remote controller sends an operation control instruction to the cleaning robot to enable the cleaning robot to move along the cleaning path diagram planned in the fifth step, and cleaning operation of the underwater surface to be cleaned is implemented; in the cleaning process, the cleaning robot is remotely controlled by a remote controller in real time, and the working state of the cleaning robot is monitored in real time.
In the first step of the operation method, when the underwater surface to be cleaned is a vertical surface, the optimal depth of the transmitting transducer and the receiving matrix installed on the mother ship or the quay is half of the height of the underwater surface to be cleaned.
In the second step, except the transponders fixed on the cleaning robot, the rest of the transponders are fixed on the contour edge of the underwater surface to be cleaned and on important parts which cannot be cleaned, raised or recessed.
In the sixth step of cleaning process, the path planning and monitoring software built in the remote controller can receive the position coordinate information sent by the transponder in real time, judge whether the motion path of the cleaning robot is deviated or not, if so, the path planning and monitoring software compares the real-time position of the cleaning robot with the corresponding point position on the cleaning path diagram, calculates the motion track offset, and adjusts the motion direction and speed of the cleaning robot in real time so that the motion path of the cleaning robot is identical with the cleaning path diagram.
By adopting the scheme, the method has the following advantages:
the invention relates to an underwater cleaning robot path planning control device which comprises a cleaning robot, a transmitting transducer, a sonar beacon group, a receiving matrix, a sonar signal processor and a remote controller, wherein the transmitting transducer is connected with the sonar beacon group; the self-communication module of the cleaning robot is used for receiving an operation instruction sent by the remote controller; the transmitting transducer is used for sending an inquiry signal to the sonar beacon group; the sonar beacon group comprises at least three transponders, one transponder is fixed on the cleaning robot, and the other transponders are fixed on the underwater surface to be cleaned; the transponder is used for receiving the query signal sent by the transmitting transducer and sending a response signal after receiving the query signal; the receiving matrix is used for receiving response signals sent by the transponder; the sonar signal processor is used for controlling the transmitting transducer to send out an inquiry signal and extracting and processing a response signal received by the receiving array, and calculating the three-dimensional space position from the cleaning robot and the underwater surface to be cleaned to the receiving array; the remote controller is internally provided with path planning and monitoring software and is in communication connection with the sonar signal processor, and is used for receiving the position information of the cleaning robot and the underwater surface to be cleaned and automatically generating a cleaning path diagram through the path planning and monitoring software; the remote controller is also in wireless communication connection with the cleaning robot, and is used for remotely controlling the cleaning robot in real time and monitoring the working state of the cleaning robot in real time. The operation method mainly comprises the steps that 1 transponder in a sonar beacon group is fixed on a cleaning robot, and other transponders are fixed on the underwater surface to be cleaned; extracting and processing response signals of the transponders by using a sonar signal processor, calculating three-dimensional space positions from each transponder to a receiving matrix, namely three-dimensional space relation between the cleaning robot and the underwater surface to be cleaned, and sending the result to a remote controller; and the remote controller automatically generates a cleaning path diagram according to the three-dimensional space relation between the cleaning robot and the underwater surface to be cleaned, and controls the cleaning robot to move according to the cleaning path diagram so as to implement cleaning operation. Therefore, the invention firstly utilizes the base line positioning system consisting of the transmitting transducer, the sonar beacon group, the receiving array and the sonar signal processor to position the cleaning robot and the underwater surface to be cleaned, then utilizes the remote controller to carry out automatic path planning, and controls the cleaning robot to automatically run to finish cleaning operation. The device and the operation method can complete the path planning and the cleaning operation automatically, and can complete the cleaning operation almost without manual intervention. Even if manual operation is needed, the cleaning robot displayed on the remote controller and the three-dimensional space relation of the underwater surface to be cleaned are used for real-time operation, the image transmitted back by the camera arranged on the cleaning robot is not needed for operation, the difficulty of manual operation can be greatly reduced, the influence of visibility and operation level can not be received even in turbid water, the cleaning operation can still be successfully completed, and the cleaning device is particularly suitable for cleaning and maintaining the underwater elevation of a ship.
Drawings
Fig. 1 is a schematic diagram of a path planning control device for an underwater cleaning robot of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the path planning control device for the underwater cleaning robot comprises a cleaning robot, a transmitting transducer, a sonar beacon group, a receiving matrix, a sonar signal processor and a remote controller.
The self-communication module of the cleaning robot is used for receiving an operation instruction sent by the remote controller.
The transmitting transducer is for emitting an interrogation signal to the sonar beacon group.
The sonar beacon group comprises at least three transponders, one transponder is fixed on the cleaning robot, and the other transponders are fixed on the underwater surface to be cleaned; the transponder is used for receiving the inquiry signal sent by the transmitting transducer and sending out a response signal after receiving the inquiry signal.
The receiving matrix is used for receiving response signals sent by the transponder. The receiving matrix generally comprises three hydrophones, which are respectively used for determining the distance from the transponder to the receiving matrix in X, Y, Z directions of three-dimensional space coordinates after receiving the response signals, and when the underwater space environment is complex or the underwater surface structure to be cleaned is complex, the number of the hydrophones can be increased, and the accuracy of the subsequent calculation results is improved.
The sonar signal processor is used for controlling the transmitting transducer to send an inquiry signal and extracting and processing the response signal received by the receiving array, and calculating the three-dimensional space position from the cleaning robot and the underwater surface to be cleaned to the receiving array. After the receiving array receives the response signals, the sonar signal processor calculates X, Y phase differences in two directions according to the signals, and calculates the distance between each transponder and the receiving array according to the arrival time of sound waves, so that the three-dimensional positions of the cleaning robot and the underwater surface to be cleaned relative to the receiving array are obtained.
The remote controller is internally provided with path planning and monitoring software and is in communication connection with the sonar signal processor, and is used for receiving the position information of the cleaning robot and the underwater surface to be cleaned and automatically generating a cleaning path diagram through the path planning and monitoring software; the remote controller is also in wireless communication connection with the cleaning robot, and is used for remotely controlling the cleaning robot in real time and monitoring the working state of the cleaning robot in real time.
The operation method of the path planning control device of the underwater cleaning robot comprises the following steps:
the first step is to install the transmitting transducer and the receiving matrix on the mother ship or the quay, the receiving surface of the receiving matrix faces the direction of the underwater surface to be cleaned vertically.
And secondly, fixing 1 transponder in the sonar beacon group on the cleaning robot, and fixing the rest transponders on the underwater surface to be cleaned.
Thirdly, placing the cleaning robot into a water body where the underwater surface to be cleaned is located, and electrifying a transmitting transducer, a receiving matrix and a sonar beacon group;
step four, a remote controller is opened to control the sonar signal processor to work; the sonar signal processor controls the transmitting transducer to send out an inquiry signal; each transponder in the sonar beacon group sends out a response signal after receiving the inquiry signal sent by the transmitting transducer; after receiving response signals sent by each transponder in the sonar beacon group, the receiving array sends the response signals to the sonar signal processor; the sonar signal processor extracts and processes the response signals, the three-dimensional space positions of the transponders to the receiving array are finally calculated, the positions of the transponders fixed on the cleaning robot are the positions of the cleaning robot, the positions of the rest transponders are the outline of the underwater surface to be cleaned, and the sonar signal processor sends the calculation results of the three-dimensional space positions of the transponders to the receiving array to the remote controller; after receiving the calculation result of the sonar signal processor, the remote controller can display the outline of the underwater surface to be cleaned and the three-dimensional spatial relationship between the cleaning robot and the underwater surface on a display of the remote controller.
Fifthly, path planning and monitoring software built in the remote controller automatically generates a cleaning path according to a set rule according to the three-dimensional space relation between the cleaning robot and the underwater surface to be cleaned, and displays a cleaning path diagram, wherein the unreasonable part can be manually modified on the remote controller; or manually generating a cleaning path according to the three-dimensional space relation, and inputting a corresponding three-dimensional coordinate set to generate a corresponding cleaning path diagram or drawing the corresponding cleaning path diagram by using a straight line tool and a curve tool in path planning and monitoring software.
Sixthly, the remote controller sends an operation control instruction to the cleaning robot to enable the cleaning robot to move along the cleaning path diagram planned in the fifth step, and cleaning operation of the underwater surface to be cleaned is implemented; in the cleaning process, the cleaning robot is remotely controlled by a remote controller in real time, and the working state of the cleaning robot is monitored in real time.
In the first step, when the underwater surface to be cleaned is a vertical surface, the optimal depth of the transmitting transducer and the receiving matrix installed on a mother ship or a quay is one half of the height of the underwater surface to be cleaned.
In the second step, except the transponders fixed on the cleaning robot, the rest of the transponders are fixed on the contour edge of the underwater surface to be cleaned and on important parts which cannot be cleaned, raised or recessed.
In the sixth step of cleaning process, the path planning and monitoring software built in the remote controller can receive the position coordinate information sent by the transponder in real time, judge whether the motion path of the cleaning robot is deviated or not, if so, the path planning and monitoring software compares the real-time position of the cleaning robot with the corresponding point position on the cleaning path diagram, calculates the motion track offset, and adjusts the motion direction and speed of the cleaning robot in real time so that the motion path of the cleaning robot is identical with the cleaning path diagram.
The following describes in detail an underwater cleaning robot path planning control device and an operation method according to the present invention, taking an operation method for cleaning an underwater elevation of a ship as an example. The sonar beacon group consists of 14 transponders with the same model, and can be communicated with the receiving matrix in turn, and the number of the transponders can be increased or decreased according to the appearance of the cleaning ship and the access number of the transponders of the baseline positioning system.
The first step, the transmitting transducer and the receiving matrix are installed on a mother ship or a quay, the installation depth is one half of the height of the underwater elevation of the ship to be cleaned, and the receiving surface of the receiving matrix faces the direction of the ship to be cleaned vertically.
And secondly, fixing 1 transponder in the sonar beacon group on a cleaning robot, and fixing the rest 13 transponders on the contour edge of the underwater elevation of the ship to be cleaned (the starting point and the end point of the straight line are respectively provided with one transponder, if the straight line distance is long, the transponders can be provided with one transponder every 50 meters), and important parts (such as areas which cannot be cleaned, suddenly raised or recessed) of the underwater elevation of the ship to be cleaned.
Thirdly, placing the cleaning robot into a water body where the ship to be cleaned is located, and electrifying the transmitting transducer, the receiving matrix and the sonar beacon group.
Step four, a remote controller is opened to control the sonar signal processor to work; the sonar signal processor controls the transmitting transducer to send out an inquiry signal; the 14 transponders in the sonar beacon group send response signals after receiving the inquiry signals sent by the transmitting transducer; after receiving response signals sent by 14 transponders, the receiving array sends the response signals to the sonar signal processor; the sonar signal processor extracts and processes the response signals, the three-dimensional space position of each transponder to the receiving array is finally calculated, the position of the transponder fixed on the cleaning robot is the position of the cleaning robot, the positions of the rest 13 transponders are the outline of the underwater surface to be cleaned, and the sonar signal processor sends the calculation result of the three-dimensional space position of each transponder to the receiving array to the remote controller; after receiving the calculation result of the sonar signal processor, the remote controller can display the outline of the underwater elevation of the ship to be cleaned and the three-dimensional spatial relationship between the cleaning robot and the underwater elevation on a display of the remote controller.
Fifthly, path planning and monitoring software built in the remote controller automatically generates a cleaning path according to a set rule according to a three-dimensional space relation between the cleaning robot and the underwater elevation of the ship to be cleaned, and displays a cleaning path diagram, wherein the unreasonable part can be manually modified on the remote controller; or manually generating a cleaning path according to the three-dimensional space relation, inputting a corresponding three-dimensional coordinate set, and generating a corresponding cleaning path diagram or drawing the corresponding cleaning path diagram by using straight lines and curve tools in path planning and monitoring software so as to avoid important parts of the underwater facade of the ship to be cleaned.
Automatically generating a path description:
the bow-shaped route starts from the left upper corner of the underwater elevation to be cleaned, and carries out linear cleaning from left to right (from top to bottom), when the cleaning robot is detected to clean to the rightmost (lower) end, the cleaning robot moves downwards (right) by a cleaning width according to the outline of the underwater elevation of the ship, and then carries out linear cleaning from right to left (from bottom to top); when the cleaning robot cleans to the leftmost (upper) end, the cleaning robot moves downwards (right) by a cleaning width according to the outline of the underwater elevation of the ship and then performs linear cleaning from left to right (from top to bottom); and the like until the ship to be cleaned is cleaned to the lower right corner of the underwater elevation of the ship to be cleaned, and the whole cleaning operation is finished. When the outline of the underwater facade to be cleaned is regular, a reverse-character spiral route can be adopted for planning, and detailed description is omitted here.
In the whole cleaning process, if the robot encounters an obstacle marked by a transponder (namely, an important part which cannot be cleaned), the robot bypasses the right side of the obstacle to avoid the obstacle, and returns to the original cleaning path to continue operation after bypassing the obstacle.
Sixthly, the remote controller sends an operation control instruction to the cleaning robot to enable the cleaning robot to move along the cleaning path diagram planned in the fifth step, and cleaning operation of the underwater surface to be cleaned is implemented; in the cleaning process, the cleaning robot is remotely controlled by a remote controller in real time, and the working state of the cleaning robot is monitored in real time.
In the cleaning process, the path planning and monitoring software built in the remote controller can receive the position coordinate information sent by the transponder in real time and judge whether the motion path of the cleaning robot deviates or not, if so, the path planning and monitoring software compares the real-time position of the cleaning robot with the corresponding point position on the cleaning path diagram, calculates the motion track offset, and adjusts the motion direction and speed of the cleaning robot in real time so that the motion path of the cleaning robot is consistent with the cleaning path diagram.
In addition, under the condition that the outline of the ship cleaning elevation and the real-time position of the robot exist, an operator can manually control the robot without image assistance, cleaning operation is performed according to the three-dimensional space positions of the cleaning robot and the underwater grain surface to be cleaned, which are displayed on the remote controller, and a path diagram of the manual cleaning operation can be displayed in a software interface, so that the operator can timely adjust the cleaning operation.
Claims (5)
1. The path planning control device of the underwater cleaning robot is characterized by comprising the cleaning robot, a transmitting transducer, a sonar beacon group, a receiving array, a sonar signal processor and a remote controller;
the self-communication module of the cleaning robot is used for receiving an operation instruction sent by the remote controller;
the transmitting transducer is used for sending an inquiry signal to the sonar beacon group;
the sonar beacon group comprises at least three transponders, one transponder is fixed on the cleaning robot, and the other transponders are fixed on the underwater surface to be cleaned; the transponder is used for receiving the query signal sent by the transmitting transducer and sending a response signal after receiving the query signal;
the receiving matrix is used for receiving response signals sent by the transponder;
the sonar signal processor is used for controlling the transmitting transducer to send out an inquiry signal and extracting and processing a response signal received by the receiving array, and calculating the three-dimensional space position from the cleaning robot and the underwater surface to be cleaned to the receiving array;
the remote controller is internally provided with path planning and monitoring software and is in communication connection with the sonar signal processor, and is used for receiving the position information of the cleaning robot and the underwater surface to be cleaned and automatically generating a cleaning path diagram through the path planning and monitoring software; the remote controller is also in wireless communication connection with the cleaning robot, and is used for remotely controlling the cleaning robot in real time and monitoring the working state of the cleaning robot in real time.
2. A method of operating an underwater cleaning robot path planning control device as claimed in claim 1, characterized by comprising the steps of:
the method comprises the steps that firstly, a transmitting transducer and a receiving matrix are installed on a mother ship or a quay, and the receiving surface of the receiving matrix faces to the direction of the underwater surface to be cleaned vertically;
secondly, fixing 1 transponder in the sonar beacon group on a cleaning robot, and fixing the rest transponders on the underwater surface to be cleaned;
thirdly, placing the cleaning robot into a water body where the underwater surface to be cleaned is located, and electrifying a transmitting transducer, a receiving matrix and a sonar beacon group;
step four, a remote controller is opened to control the sonar signal processor to work; the sonar signal processor controls the transmitting transducer to send out an inquiry signal; each transponder in the sonar beacon group sends out a response signal after receiving the inquiry signal sent by the transmitting transducer; after receiving response signals sent by each transponder in the sonar beacon group, the receiving array sends the response signals to the sonar signal processor; the sonar signal processor extracts and processes the response signals, the three-dimensional space positions of the transponders to the receiving array are finally calculated, the positions of the transponders fixed on the cleaning robot are the positions of the cleaning robot, the positions of the rest transponders are the outline of the underwater surface to be cleaned, and the sonar signal processor sends the calculation results of the three-dimensional space positions of the transponders to the receiving array to the remote controller; after receiving the calculation result of the sonar signal processor, the remote controller can display the outline of the underwater surface to be cleaned and the three-dimensional spatial relationship between the cleaning robot and the underwater surface on a display of the remote controller;
fifthly, path planning and monitoring software built in the remote controller automatically generates a cleaning path according to a set rule according to the three-dimensional space relation between the cleaning robot and the underwater surface to be cleaned, and displays a cleaning path diagram, wherein the unreasonable part can be manually modified on the remote controller; or, according to the three-dimensional space relation, manually generating a cleaning path, inputting a corresponding three-dimensional coordinate set, and generating a corresponding cleaning path diagram or drawing the corresponding cleaning path diagram by using straight lines and curve tools in path planning and monitoring software;
sixthly, the remote controller sends an operation control instruction to the cleaning robot to enable the cleaning robot to move along the cleaning path diagram planned in the fifth step, and cleaning operation of the underwater surface to be cleaned is implemented; in the cleaning process, the cleaning robot is remotely controlled by a remote controller in real time, and the working state of the cleaning robot is monitored in real time.
3. The method of operation of the path planning control device for an underwater cleaning robot according to claim 2, wherein in the first step, when the underwater surface to be cleaned is a vertical surface, the optimum depth of the transmitting transducer and the receiving matrix installed on the mother ship or the quay is one half of the height of the underwater surface to be cleaned.
4. A method of operating a path planning control device for an underwater cleaning robot as claimed in claim 2, characterized in that in the second step, except for the transponders fixed to the cleaning robot, the remaining transponders are fixed to the contour edge of the underwater surface to be cleaned and to important parts which cannot be cleaned, raised or recessed.
5. The method of claim 2, wherein in the sixth step of cleaning, the path planning and monitoring software in the remote controller can receive the position coordinate information sent by the transponder in real time, determine whether the motion path of the cleaning robot is deviated, if so, the path planning and monitoring software compares the real-time position of the cleaning robot with the corresponding point position on the cleaning path map, calculates the motion track offset, and adjusts the motion direction and speed of the cleaning robot in real time so that the motion path of the cleaning robot coincides with the cleaning path map.
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