CN108056711A - A kind of wall clean robot control method and control system - Google Patents

Abstract

The invention provides a method for controlling a wall cleaning robot, which detects whether the wall cleaning robot is in the cleaning area, and if so, starts the cleaning mode, so that the wall cleaning robot can be fixed on the wall surface to perform wall cleaning operations; when the cleaning mode is running , control the work of the fresh water pump and the drive motor, pump the water from the clean water collection tank to the cleaning plate used to clean the wall surface, drive the roller brush on the cleaning plate to rotate through the drive motor and clean the wall surface with the help of clean water, when climbing When running in climbing mode, the X-axis cylinder is controlled to move and/or the Y-axis cylinder is controlled to move, so that the wall cleaning robot climbs to the next cleaning area, so as to perform cleaning in the next cleaning area. The invention replaces the manual cleaning of the glass wall, thereby realizing the automation of the cleaning operation of the glass wall and improving the cleaning efficiency at the same time. The invention also provides a wall cleaning robot control system.

Description

A control method and control system for a wall cleaning robot

technical field

The invention relates to the technical field of cleaning equipment, in particular to a control method and a control system for a wall cleaning robot.

Background technique

At present, with the development of society, most buildings such as high-rise buildings use glass walls as exterior walls. While glass walls add a modern atmosphere to the city, they need to be cleaned regularly to maintain good light transmission.

In the prior art, the cleaning of glass walls relies on manual cleaning. Workers hang themselves outside high-rise buildings by hanging baskets or fresh-keeping ropes to clean glass walls. Working at heights is not only dangerous, but also has low cleaning efficiency; therefore , it is imperative to develop an automated cleaning robot for cleaning glass walls.

Contents of the invention

The embodiment of the present invention provides a wall cleaning robot control method and control system to solve the existing technical problems of high risk and low cleaning efficiency caused by manual cleaning of glass walls due to high-altitude operations, and replace manual cleaning of glass walls with machines, thereby Automate glass wall cleaning operations while increasing cleaning efficiency.

In order to solve the above technical problems, the present invention provides a method for controlling a wall cleaning robot. The wall cleaning robot includes a controller and an air pump electrically connected to the controller, a clear water pump, a drive motor, and an X-axis cylinder. As well as the Y-axis cylinder, the control method includes the steps of:

S1. Control the work of the air pump used to provide the power source;

S2. Detect whether the wall cleaning robot is in the cleaning area, and if so, start the cleaning mode;

S3. When the cleaning mode is running, control the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder to be adsorbed on the wall surface, so that the wall cleaning robot is fixed on the wall;

S4. After detecting that the wall cleaning robot is fixed on the wall, control the clean water pump and drive motor to work, pump the water from the clean water collection tank to the cleaning plate used to clean the wall surface, and drive the roller brush on the cleaning plate to rotate through the drive motor And clean the wall surface with the help of clean water;

S5. Detect whether the cleaning mode of the wall cleaning robot is turned off, if so, control the clean water pump and the drive motor to stop working, and start the climbing mode;

S6. When the climbing mode is running, control the X-axis cylinder to move in the X-axis direction and/or control the Y-axis cylinder to move in the Y-axis direction, so that the wall cleaning robot climbs to the next cleaning area;

S7. Detect whether the wall cleaning robot has climbed to the next cleaning area, and if so, start the cleaning mode.

As a preferred solution, when the step S6 is running in the climbing mode, control the X-axis cylinder to move in the X-axis direction and/or control the Y-axis cylinder to move in the Y-axis direction so that the wall cleaning robot can climb to the next The cleaning area specifically includes:

S61. When the climbing mode is running, it is judged whether the wall cleaning robot moves in the direction of the X axis or the direction of the Y axis;

S62. When it is judged that the wall cleaning robot is moving in the X-axis direction, control the suction cup on the X-axis cylinder to feed air, and control the X-axis cylinder to move in the positive/reverse direction of the X-axis; and,

After the X-axis cylinder moves in the positive/reverse direction of the X-axis, the suction cup on the X-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the Y-axis cylinder is released to control the X-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the X axis;

S63. When it is judged that the wall cleaning robot is moving in the Y-axis direction, control the suction cup on the Y-axis cylinder to feed air, and control the Y-axis cylinder to move in the positive/reverse direction of the Y-axis; and,

After the Y-axis cylinder moves in the positive/reverse direction of the Y-axis, the suction cup on the Y-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the X-axis cylinder is released to control the Y-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the Y axis.

As a preferred solution, the wall cleaning robot control system also includes a first solenoid valve, a first direction solenoid valve, a second solenoid valve, a second direction solenoid valve electrically connected to the controller, the air pump, the first The solenoid valve and the first direction solenoid valve are connected to the intake end of the X-axis cylinder through pipelines in turn, and the air pump, the second solenoid valve and the second direction solenoid valve are connected to the Y axis through pipelines in turn. On the intake end of the shaft cylinder;

Then the step S62 is specifically:

When it is judged that the wall cleaning robot is moving in the X-axis direction, the suction cup on the X-axis cylinder is controlled to feed air, the first electromagnetic valve is energized, the first directional electromagnetic valve is energized and selected by the first directional electromagnetic valve The X-axis cylinder moves in the positive/reverse direction of the X-axis; and,

After the X-axis cylinder moves to the positive/reverse direction of the X-axis, the suction cup on the X-axis cylinder is adsorbed on the wall surface, and the suction cup on the Y-axis cylinder is released at the same time, and the X-axis cylinder is driven back through the first direction solenoid valve. Go to the original position to make the wall cleaning robot move in the positive/reverse direction of the X axis;

Then the step S63 is specifically:

When it is judged that the wall cleaning robot is moving in the Y-axis direction, the sucker on the Y-axis cylinder is controlled to feed in the air, the second electromagnetic valve is energized, the second direction electromagnetic valve is energized and selected by the second direction electromagnetic valve The Y-axis cylinder moves in the positive/reverse direction of the Y-axis; and,

After the Y-axis cylinder moves in the positive/reverse direction of the Y-axis, the suction cup on the Y-axis cylinder is adsorbed on the wall surface, and at the same time the suction cup on the X-axis cylinder is released, and the Y-axis cylinder is driven back by the second direction solenoid valve. to the original position, so that the wall cleaning robot moves in the positive/reverse direction of the Y axis.

As a preferred solution, the wall cleaning robot also includes a third solenoid valve, a fourth solenoid valve, a first vacuum generator, a second vacuum generator, a first air circuit solenoid valve, a Two air circuit solenoid valves; the third solenoid valve, the first vacuum generator, and the first air circuit solenoid valve are connected to the suction cup on the Y-axis cylinder through pipelines, and the fourth solenoid valve . The second vacuum generator and the second air circuit solenoid valve are connected to the suction cup on the X-axis cylinder through pipelines;

The step S3, when the cleaning mode is running, control the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder to be adsorbed on the wall surface, so that the wall cleaning robot is fixed on the wall. Specifically:

When the cleaning mode is running, control the fourth solenoid valve and the second air circuit solenoid valve to de-energize, so that the second vacuum generator can remove the air in the suction cup on the X-axis cylinder, so that The wall cleaning robot is adsorbed on the wall surface through the suction cup on the X-axis cylinder; and

Controlling the third solenoid valve and the first air path solenoid valve to de-energize, so that the first vacuum generator sucks the air in the suction cup on the Y-axis cylinder, so that the wall cleaning robot can pass through The suction cup on the Y-axis cylinder is adsorbed on the wall surface.

As a preferred solution, the step S62 is specifically:

When it is judged that the wall cleaning robot is moving in the direction of the X-axis, control the fourth solenoid valve and the second air circuit solenoid valve to be energized to release the suction cup on the X-axis cylinder, and control the X-axis cylinder to move in the positive/reverse direction of the X-axis exercise; and,

After the X-axis cylinder moves to the positive/reverse direction of the X-axis, the fourth solenoid valve and the second air circuit solenoid valve are de-energized, so that the second vacuum generator can remove the X-axis cylinder The air in the suction cup on the upper surface, so that the wall cleaning robot is adsorbed on the wall surface through the suction cup on the X-axis cylinder, and at the same time, the third solenoid valve and the first air circuit solenoid valve are energized to release the Y-axis The suction cup on the cylinder controls the X-axis cylinder to return to its original position, so that the wall cleaning robot can move in the positive/reverse direction of the X-axis;

The step S63 is specifically:

When it is judged that the wall cleaning robot is moving in the direction of the Y axis, the third electromagnetic valve and the first air circuit electromagnetic valve are energized to control the sucker on the Y axis cylinder to pass into the air, and the positive direction of the Y axis cylinder to the Y axis is controlled. / movement in the opposite direction; and,

After the Y-axis cylinder moves to the positive/reverse direction of the Y-axis, the third solenoid valve and the first air circuit solenoid valve are de-energized so that the first vacuum generator can draw the Y-axis cylinder The air in the suction cup on the upper surface makes the wall cleaning robot adsorb on the wall surface through the suction cup on the Y-axis cylinder. At the same time, the first solenoid valve and the second air circuit solenoid valve are energized to release the X-axis The suction cup on the cylinder controls the Y-axis cylinder to return to its original position, so that the wall cleaning robot can move in the positive/reverse direction of the Y-axis.

As a preferred solution, the wall cleaning robot includes a Raspberry Pi camera electrically connected to the controller; the step S2, detecting whether the wall cleaning robot is in the cleaning area, if so, starting the cleaning mode is specifically:

The raspberry pie camera recognizes the area where the wall cleaning robot climbs, and sends a signal to the controller, and the controller processes the signal and judges the cleaning area;

When it is judged that the wall cleaning robot is in a non-cleaning area, the climbing mode is started, and the X-axis cylinder is controlled to move and/or the Y-axis cylinder is controlled to move so that the wall cleaning robot climbs to the next cleaning area;

When it is judged that the wall cleaning robot is in the cleaning area, the cleaning mode is started.

As a preferred solution, the wall cleaning robot also includes a stepping motor and a synchronous belt, the output shaft of the stepping motor is connected to the synchronous belt, the synchronous belt is fixedly connected to the cleaning plate, and the stepping motor Connect with the controller; the step S4 is specifically:

After detecting that the wall cleaning robot is fixed on the wall, the clean water pump is controlled to work, and the water in the clean water collection tank is pumped out to the cleaning plate for cleaning the wall surface; and

Control the operation of the stepping motor so that the stepping motor drives the timing belt, thereby driving the cleaning plate to reciprocate; and

The drive motor is controlled to work, and the roller brush on the cleaning plate is driven to rotate by the drive motor, and the wall surface is cleaned with the aid of clear water.

As a preferred solution, the wall cleaning robot also includes a sewage water pump, a filter, and a sewage water collection tank for collecting sewage after cleaning the wall surface, and the anhydrous water pump is electrically connected to the controller; Step S4 is specifically:

After detecting that the wall cleaning robot is fixed on the wall, control the clean water pump and drive motor to work, pump the water from the clean water collection tank to the cleaning plate used to clean the wall surface, and drive the roller brush on the cleaning plate to rotate through the drive motor. cleaning of wall surfaces with the aid of fresh water; and,

The sewage water pump is controlled to extract water from the sewage water collection tank and deliver it to the clean water collection tank through the filter, thereby forming a clean water cycle.

In order to solve the same technical problem, another aspect of the present invention provides a wall cleaning robot control system, the wall cleaning robot includes a housing, the housing is provided with a controller and respectively electrically connected to the controller Air pump, clean water pump, driving motor, X-axis cylinder and Y-axis cylinder, the X-axis cylinder includes an X-axis slider and an X-axis moving rod, suction cups are arranged on both ends of the X-axis moving rod, and the The X-axis slider is slidably connected to the X-axis moving rod; the Y-axis cylinder includes a Y-axis slider and a Y-axis moving rod, and suction cups are arranged on both ends of the Y-axis moving rod, and the The Y-axis slider is slidably connected on the Y-axis moving rod; the controller is used for

Control the operation of the air pump used to provide the power source;

Detect whether the wall cleaning robot is in the cleaning area, and if so, start the cleaning mode;

When the cleaning mode is running, control the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder to adsorb on the wall surface, so that the wall cleaning robot is fixed on the wall;

After detecting that the wall cleaning robot is fixed on the wall, control the clean water pump and drive motor to work, pump the water from the clean water collection tank to the cleaning plate used to clean the wall surface, and drive the roller brush on the cleaning plate to rotate through the drive motor. Clean the wall surface with the aid of clean water;

Detect whether the cleaning mode of the wall cleaning robot is off, if so, control the fresh water pump and drive motor to stop working, and start the climbing mode;

When the climbing mode is running, control the X-axis cylinder to move in the X-axis direction and/or control the Y-axis cylinder to move in the Y-axis direction so that the wall cleaning robot climbs to the next cleaning area;

Detect whether the wall cleaning robot has climbed to the next cleaning area, and if so, start the cleaning mode.

As a preferred solution, the controller is also used for

When the climbing mode is running, judge whether the wall cleaning robot is moving in the X-axis direction or the Y-axis direction;

When it is judged that the wall cleaning robot is moving in the X-axis direction, control the suction cup on the X-axis cylinder to feed air, and control the X-axis cylinder to move in the positive/reverse direction of the X-axis; and,

After the X-axis cylinder moves in the positive/reverse direction of the X-axis, the suction cup on the X-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the Y-axis cylinder is released to control the X-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the X axis;

When it is judged that the wall cleaning robot is moving in the Y-axis direction, control the suction cup on the Y-axis cylinder to feed air, and control the Y-axis cylinder to move in the positive/reverse direction of the Y-axis; and,

After the Y-axis cylinder moves in the positive/reverse direction of the Y-axis, the suction cup on the Y-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the X-axis cylinder is released to control the Y-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the Y axis.

The present invention has following beneficial effects:

1. Through the alternate movement of the X-axis cylinder and the Y-axis cylinder with the assistance of the suction cup, the wall cleaning robot can climb on the two-dimensional plane wall surface and ensure the stability of the wall cleaning robot during the movement process and reliability;

2. When the wall cleaning robot is located in the cleaning area, the roller brush rotates at high speed under the drive of the drive motor, and cleans the wall surface with the help of clean water, thereby improving the cleaning efficiency;

3. After the wall cleaning robot completes the cleaning operation in a cleaning area, start the climbing mode, so that the wall cleaning robot climbs to the wall surface to be cleaned; when climbing to the next cleaning area, it passes through the suction cup on the X-axis cylinder And the suction cup on the Y-axis cylinder is fixed again and is in the next cleaning area, and the cleaning mode is started to continue the cleaning of the wall surface;

4. The air pump not only provides suction for the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder, but also provides power for the movement of the X-axis cylinder and the Y-axis cylinder, so that the wall cleaning robot can move on the wall surface; through the air pump , X-axis cylinder, Y-axis cylinder and the suction cup work together to simplify the structure of the wall cleaning robot and reduce the operation difficulty of the wall cleaning robot;

5. The X-axis cylinder enables the wall cleaning robot to achieve linear motion in the X-axis direction, and the Y-axis cylinder enables the wall cleaning robot to achieve linear motion in the Y-axis direction, so that the wall cleaning robot can move in a two-dimensional plane through the synthesis of linear motion in two directions. Free movement on the wall.

Description of drawings

Fig. 1 is a schematic flow chart of the first embodiment of the wall cleaning robot control method provided by the present invention;

Fig. 2 is a schematic flow chart of the second embodiment of the method for controlling a wall cleaning robot provided by the present invention;

Fig. 3 is a schematic flow chart of a third embodiment of the method for controlling a wall cleaning robot provided by the present invention;

Fig. 4 is a schematic structural view of the first embodiment of the wall cleaning robot control device provided by the present invention;

Fig. 5 is an electrical schematic diagram of the first embodiment of the wall cleaning robot control device provided by the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

1 to 5, a preferred embodiment of the present invention provides a method for controlling a wall cleaning robot, the wall cleaning robot includes a controller and an air pump 100, a clear water pump 20, and a driving motor electrically connected to the controller, respectively. , X-axis cylinder 109 and Y-axis cylinder 110, the control method includes steps:

S1. Control the operation of the air pump 100 for providing the power source;

S2. Detect whether the wall cleaning robot is in the cleaning area, and if so, start the cleaning mode;

S3. When the cleaning mode is running, control the suction cup a on the X-axis cylinder and the suction cup b on the Y-axis cylinder to adsorb on the wall surface, so that the wall cleaning robot is fixed on the wall;

S4, after detecting that the wall cleaning robot is fixed on the wall, control the clean water pump 20 and the driving motor to work, pump the water from the clean water collection tank 21 to the cleaning plate 22 for cleaning the wall surface, and drive the cleaning plate 22 through the driving motor The rolling brush 222 rotates and cleans the wall surface with the assistance of clear water;

S5. Detect whether the cleaning mode of the wall cleaning robot is closed, if so, control the clean water pump 20 and the driving motor to stop working, and start the climbing mode;

S6. When the climbing mode is running, control the X-axis cylinder 109 to move in the X-axis direction and/or control the Y-axis cylinder 110 to move in the Y-axis direction, so that the wall cleaning robot climbs to the next cleaning area;

S7. Detect whether the wall cleaning robot has climbed to the next cleaning area, and if so, start the cleaning mode.

In the embodiment of the present invention, the X-axis cylinder 109 and the Y-axis cylinder 110 are alternately moved with the assistance of the suction cup, so that the wall cleaning robot can climb on the wall surface of the two-dimensional plane, and ensure that the wall cleaning robot Stability and reliability during movement; when the wall cleaning robot is located in the cleaning area, the roller brush 222 rotates at high speed under the drive of the drive motor, and cleans the wall surface with the assistance of clear water, thereby improving cleaning efficiency; After the cleaning robot completes the cleaning work in a cleaning area, start the climbing mode, so that the wall cleaning robot climbs to the wall surface to be cleaned; when climbing to the next cleaning area, it passes through the suction cup a and Y on the X-axis cylinder The suction cup b on the axis cylinder is fixed again and is in the next cleaning area, and the cleaning mode is started to continue the cleaning operation on the wall surface; the air pump 100 not only provides suction for the suction cup a on the X-axis cylinder and the suction cup b on the Y-axis cylinder, It also provides power for the movement of the X-axis cylinder 109 and the Y-axis cylinder 110, so that the wall cleaning robot can move on the wall surface; through the cooperation of the air pump 100, the X-axis cylinder 109, the Y-axis cylinder 110 and the suction cup, it is simplified. The structure of the wall cleaning robot reduces the difficulty of operation of the wall cleaning robot; since the X-axis cylinder 109 enables the wall cleaning robot to achieve linear motion in the X-axis direction, and the Y-axis cylinder 110 enables the wall cleaning robot to achieve linear motion in the Y-axis direction, thus through two The combination of direction and linear motion enables the wall cleaning robot to move freely on the two-dimensional wall.

In this embodiment, it should be noted that the controller is a stm32 single-chip microcomputer, and the stm32 single-chip microcomputer has the ability to output high and low levels, and sends the control signal to the solenoid valve of the climbing device, wherein the stm32 single-chip microcomputer can output 0 to 3.3V, the operating voltage of the solenoid valve is 12V, so as to realize the process of low voltage control high voltage. Due to the fast data transmission of the Raspberry Pi camera and the large amount of transmitted data, the raspberry pi 3b+ processing speed can reach 700MHZ. In addition, the cleaning robot is equipped with a steering gear to control the pan-tilt bracket, so that the camera can be rotated at will, so that real-time Data is collected and transmitted to the processor for data processing.

In addition, the wall cleaning robot is also provided with an obstacle avoidance sensor, the obstacle avoidance sensor is used to detect obstacles, and send the detection information to the controller for processing, thereby realizing the automatic movement of the wall cleaning robot when climbing. Obstacle Avoidance to automatically navigate around obstacles. Moreover, the controller is capable of communication, and can transmit information from the lower computer to the upper computer, so that human-computer interaction can be performed more conveniently, and the status of the robot can be better understood.

Referring to Figures 1 to 5, in the embodiment of the present invention, in step S6, when the climbing mode is running, control the X-axis cylinder 109 to move in the X-axis direction and/or control the Y-axis cylinder 110 to move in the Y-axis direction Making the wall cleaning robot climb to the next cleaning area specifically includes:

S61. When the climbing mode is running, it is judged whether the wall cleaning robot moves in the direction of the X axis or the direction of the Y axis;

S62. When it is judged that the wall cleaning robot is moving in the X-axis direction, control the suction cup a on the X-axis cylinder to feed air, and control the X-axis cylinder 109 to move in the positive/reverse direction of the X-axis; and,

After the X-axis cylinder 109 moves to the positive/reverse direction of the X-axis, the suction cup a on the X-axis cylinder is adsorbed on the wall surface, and the suction cup b on the Y-axis cylinder is released at the same time, and the X-axis cylinder 109 is controlled to return to the original position , so that the wall cleaning robot moves in the positive/reverse direction of the X axis;

S63. When it is judged that the wall cleaning robot is moving in the Y-axis direction, control the suction cup b on the Y-axis cylinder to feed air, and control the Y-axis cylinder 110 to move in the positive/reverse direction of the Y-axis; and,

After the Y-axis cylinder 110 moves in the positive/reverse direction of the Y-axis, the suction cup b on the Y-axis cylinder is adsorbed on the wall surface, and at the same time the suction cup a on the X-axis cylinder is released to control the Y-axis cylinder 110 to return to its original position , so that the wall cleaning robot moves in the positive/reverse direction of the Y axis.

In the embodiment of the present invention, it should be noted that both the X-axis cylinder 109 and the Y-axis cylinder 110 are rodless cylinders, and the slider of the X-axis cylinder 109 and the slider of the Y-axis cylinder 110 are fixed together and Installed in the shell of the wall cleaning robot, the principle of the rodless cylinder is: the rodless cylinder has two intake ends, and when one end of the rodless cylinder receives air, the slider slides to the other end. The X-axis rodless cylinder and the Y-axis rodless cylinder move alternately under the control of the controller, which can be transformed into T-shaped and cross-shaped, thereby realizing movement on a two-dimensional plane.

Referring to Fig. 3 to Fig. 5, in the embodiment of the present invention, the wall cleaning robot further includes a first solenoid valve 101, a first direction solenoid valve 105, a second solenoid valve 102, and a second direction solenoid valve electrically connected to the controller respectively. The solenoid valve 106, the air pump 100, the first solenoid valve 101, and the first direction solenoid valve 105 are sequentially connected to the intake end of the X-axis cylinder 109 through pipelines, and the air pump 100, the second The solenoid valve 102 and the second direction solenoid valve 106 are sequentially connected to the intake end of the Y-axis cylinder 110 through pipelines;

Then the step S62 is specifically:

When it is judged that the wall cleaning robot is moving in the X-axis direction, the sucker a on the X-axis cylinder is controlled to feed air, the first electromagnetic valve 101 is energized, the first direction electromagnetic valve 105 is energized, and the first direction electromagnetic valve 105 is energized. The solenoid valve 105 selects the X-axis cylinder 109 to move in the positive/reverse direction of the X-axis; and,

After the X-axis cylinder 109 moves in the positive/reverse direction of the X-axis, the suction cup a on the X-axis cylinder is adsorbed on the wall surface, and the suction cup b on the Y-axis cylinder is released at the same time, driven by the first direction solenoid valve 105 The X-axis cylinder 109 returns to its original position, so that the wall cleaning robot moves in the positive/reverse direction of the X-axis;

Then the step S63 is specifically:

When it is judged that the wall cleaning robot is moving in the Y-axis direction, the sucker b on the Y-axis cylinder is controlled to feed air, the second solenoid valve 102 is energized, the second direction solenoid valve 106 is energized, and the second direction The solenoid valve 106 selects the Y-axis cylinder 110 to move in the positive/reverse direction of the Y-axis; and,

After the Y-axis cylinder 110 moves in the positive/reverse direction of the Y-axis, the suction cup b on the Y-axis cylinder is adsorbed on the wall surface, and at the same time the suction cup a on the X-axis cylinder is released, and driven by the second direction solenoid valve 106 The Y-axis cylinder 110 returns to its original position, so that the wall cleaning robot can move in the positive/reverse direction of the Y-axis.

Referring to Fig. 3 to Fig. 5, in the embodiment of the present invention, the wall cleaning robot further includes a third solenoid valve 103, a fourth solenoid valve 104, a first vacuum generator 111, a Two vacuum generators 112, the first gas path solenoid valve 117, and the second gas path solenoid valve 118; the third solenoid valve 103, the first vacuum generator 111, and the first gas path solenoid valve 117 are The pipeline is connected to the suction cup b on the Y-axis cylinder, and the fourth solenoid valve 104, the second vacuum generator 112, and the second air solenoid valve 118 are connected to the X-axis cylinder through pipelines. on the suction cup a;

The step S3, when the cleaning mode is running, control the suction cup a on the X-axis cylinder and the suction cup b on the Y-axis cylinder to adsorb on the wall surface, so that the wall cleaning robot is fixed on the wall. Specifically:

When the cleaning mode is running, control the fourth solenoid valve 104 and the second air circuit solenoid valve 118 to cut off power, so that the second vacuum generator 112 can remove the vacuum in the suction cup a on the X-axis cylinder. air, so that the wall cleaning robot is adsorbed on the wall surface through the suction cup a on the X-axis cylinder; and

Control the third solenoid valve 103 and the first air path solenoid valve 117 to cut off the power, so that the first vacuum generator 111 sucks the air in the suction cup b on the Y-axis cylinder, so that the The wall cleaning robot is adsorbed on the wall surface through the suction cup b on the Y-axis cylinder.

Referring to Fig. 3 to Fig. 5, in the embodiment of the present invention, the step S62 is specifically:

When it is judged that the wall cleaning robot is moving in the X-axis direction, the fourth electromagnetic valve 104 and the second air circuit electromagnetic valve 118 are controlled to be energized to release the sucker a on the X-axis cylinder, and the X-axis cylinder 109 is controlled to move toward the X-axis. forward/reverse direction movement; and,

After the X-axis cylinder 109 moves in the positive/reverse direction of the X-axis, the fourth electromagnetic valve 104 and the second air circuit electromagnetic valve 118 are de-energized, so that the second vacuum generator 112 is pumped out. The air in the suction cup a on the X-axis cylinder, so that the wall cleaning robot is adsorbed on the wall surface through the suction cup a on the X-axis cylinder, and at the same time, through the third solenoid valve 103, the first air circuit The solenoid valve 117 is energized to release the suction cup b on the Y-axis cylinder, and controls the X-axis cylinder 109 to return to the original position, so that the wall cleaning robot moves in the positive/reverse direction of the X-axis;

The step S63 is specifically:

When it is judged that the wall cleaning robot is moving in the Y-axis direction, the third solenoid valve 103 and the first air circuit solenoid valve 117 are energized to control the sucker b on the Y-axis cylinder to feed air, and the Y-axis cylinder 110 is controlled to move toward the Y-axis. Forward/reverse direction movement of the Y axis; and,

After the Y-axis cylinder 110 moves in the positive/reverse direction of the Y-axis, the third electromagnetic valve 103 and the first air circuit electromagnetic valve 117 are de-energized, so that the first vacuum generator 111 is pumped out. The air in the suction cup b on the Y-axis cylinder, so that the wall cleaning robot is adsorbed on the wall surface through the suction cup b on the Y-axis cylinder, and at the same time, through the first electromagnetic valve 101, the second air circuit The solenoid valve 118 is energized to release the suction cup a on the X-axis cylinder, and controls the Y-axis cylinder 110 to return to the original position, so that the wall cleaning robot moves in the positive/reverse direction of the Y-axis.

Preferably, in the embodiment of the present invention, the wall cleaning robot also includes a Raspberry Pi camera (not shown) electrically connected to the controller; the step S2, detecting whether the wall cleaning robot is in the cleaning area, if , then start the cleaning mode specifically as follows:

The raspberry pie camera recognizes the area where the wall cleaning robot climbs, and sends a signal to the controller, and the controller processes the signal and judges the cleaning area;

When it is judged that the wall cleaning robot is in an unclean area, the climbing mode is started, the X-axis cylinder 109 is controlled to move and/or the Y-axis cylinder 110 is controlled to move so that the wall cleaning robot climbs to the next cleaning area ;

When it is judged that the wall cleaning robot is in the cleaning area, the cleaning mode is started.

Referring to Fig. 3 to Fig. 5, in the embodiment of the present invention, the wall cleaning robot further includes a stepping motor 223 and a synchronous belt 221, the output shaft of the stepping motor 223 is connected with the synchronous belt 221, and the synchronous The belt 221 is fixedly connected to the cleaning plate 22, and the stepping motor 223 is connected to the controller; the step S4 is specifically:

After detecting that the wall cleaning robot is fixed on the wall, the clean water pump 20 is controlled to work, and the water in the clean water collection tank 21 is pumped out to the cleaning plate 22 for cleaning the wall surface; and

Control the stepper motor 223 to work, so that the stepper motor 223 drives the timing belt 221, thereby driving the cleaning plate 22 to reciprocate; and

The driving motor is controlled to work, and the rolling brush 222 on the cleaning plate 22 is driven to rotate by the driving motor and the wall surface is cleaned with the assistance of clear water.

In the embodiment of the present invention, it should be noted that there are four stepping motors 223, and two synchronous belts 221. The synchronous belts 221 are H-shaped, and the four stepping motors 223 jointly drive 2 The synchronous belt 221 is provided to drive the cleaning plate 22 to move, thereby expanding the contact area between the roller brush 222 and the wall surface, so as to realize the cleaning of most of the bottom area of the wall cleaning robot.

Preferably, in the embodiment of the present invention, the wall cleaning robot also includes a sewage water pump 23, a filter 25, and a sewage water collection tank for collecting sewage after cleaning the wall surface, and the anhydrous water pump and the Described controller is electrically connected; Described step S4 is specifically:

After detecting that the wall cleaning robot is fixed on the wall, the clean water pump 20 and the driving motor are controlled to work, and the water in the clean water collection tank 21 is pumped out to the cleaning plate 22 for cleaning the wall surface, and the roller on the cleaning plate 22 is driven by the driving motor. The brush 222 rotates and cleans the wall surface with the aid of clean water; and,

The sewage pump 23 is controlled to extract the water from the sewage collection tank and deliver it to the clean water collection tank 21 through the filter 25, thereby forming a clean water cycle.

In the embodiment of the present invention, it should be noted that the cleaning plate 22 is provided with a water inlet. When the clean water pump 20 pumps the water in the clean water collection tank 21 to the cleaning plate 22, the water flowing into the cleaning plate 22 passes through the rolling The brush 222 and the rolling brush 222 rotate at a high speed under the drive of the driving motor, thereby cleaning the glass when it is wet, and the clear water can also clean the rolling brush 222 to keep the rolling brush 222 clean. The anhydrous glass that has been cleaned flows into the anhydrous water collection tank, and the sewage is pumped back to the clean water collection tank 21 by the sewage pump 23, and during this cycle, the filter 25 filters the sewage, thereby purifying the water to a certain extent The water transported back to the clear water collection tank 21 for storage, thereby completing a water cycle.

Referring to Fig. 3 and Fig. 4, in order to solve the same technical problem, the present invention also provides a wall cleaning robot control system, the wall cleaning robot includes a housing, the housing is provided with a controller and the Air pump 100, clean water pump 20, drive motor, X-axis cylinder 109 and Y-axis cylinder 110 electrically connected to the controller, the X-axis cylinder 109 includes an X-axis slide block and an X-axis moving rod, and the X-axis moving rod Both ends are provided with suction cups, and the X-axis slider is slidably connected to the X-axis moving rod; the Y-axis cylinder 110 includes a Y-axis slider and a Y-axis moving rod, and the Y-axis moving rod There are suction cups on both ends, and the Y-axis slider is slidably connected to the Y-axis moving rod; the controller is used for:

Control the operation of the air pump 100 used to provide the power source;

Detect whether the wall cleaning robot is in the cleaning area, and if so, start the cleaning mode;

When the cleaning mode is running, control the suction cup a on the X-axis cylinder and the suction cup b on the Y-axis cylinder to adsorb on the wall surface, so that the wall cleaning robot is fixed on the wall;

After detecting that the wall cleaning robot is fixed on the wall, the clean water pump 20 and the driving motor are controlled to work, and the water in the clean water collection tank 21 is pumped out to the cleaning plate 22 for cleaning the wall surface, and the roller on the cleaning plate 22 is driven by the driving motor. The brush 222 rotates and cleans the wall surface with the aid of clear water;

Detect whether the wall cleaning robot closes the cleaning mode, if so, then control the clean water pump 20 and the driving motor to stop working, and start the climbing mode;

When the climbing mode is running, control the X-axis cylinder 109 to move in the X-axis direction and/or control the Y-axis cylinder 110 to move in the Y-axis direction so that the wall cleaning robot climbs to the next cleaning area;

Detect whether the wall cleaning robot has climbed to the next cleaning area, and if so, start the cleaning mode.

Referring to Fig. 3 and Fig. 4, in the embodiment of the present invention, the controller is also used for:

When the climbing mode is running, judge whether the wall cleaning robot is moving in the X-axis direction or the Y-axis direction;

When it is judged that the wall cleaning robot is moving in the X-axis direction, the suction cup a on the X-axis cylinder is controlled to feed air, and the X-axis cylinder 109 is controlled to move in the positive/reverse direction of the X-axis; and,

After the X-axis cylinder 109 moves to the positive/reverse direction of the X-axis, the suction cup a on the X-axis cylinder is adsorbed on the wall surface, and the suction cup b on the Y-axis cylinder is released at the same time, and the X-axis cylinder 109 is controlled to return to the original position , so that the wall cleaning robot moves in the positive/reverse direction of the X axis;

When it is judged that the wall cleaning robot is moving in the Y-axis direction, control the suction cup b on the Y-axis cylinder to feed air, and control the Y-axis cylinder 110 to move in the positive/reverse direction of the Y-axis; and,

After the Y-axis cylinder 110 moves in the positive/reverse direction of the Y-axis, the suction cup b on the Y-axis cylinder is adsorbed on the wall surface, and at the same time the suction cup a on the X-axis cylinder is released to control the Y-axis cylinder 110 to return to its original position , so that the wall cleaning robot moves in the positive/reverse direction of the Y axis.

Referring to Fig. 3 and Fig. 4, in the embodiment of the present invention, the wall cleaning robot also includes a first solenoid valve 101, a first direction solenoid valve 105, a second solenoid valve 102, and a second direction solenoid valve electrically connected to the controller respectively. The solenoid valve 106, the air pump 100, the first solenoid valve 101, and the first direction solenoid valve 105 are sequentially connected to the intake end of the X-axis cylinder 109 through pipelines, and the air pump 100, the second The solenoid valve 102 and the second direction solenoid valve 106 are sequentially connected to the intake end of the Y-axis cylinder 110 through pipelines; the controller is also used for:

When it is judged that the wall cleaning robot is moving in the X-axis direction, the sucker a on the X-axis cylinder is controlled to feed air, the first electromagnetic valve 101 is energized, the first direction electromagnetic valve 105 is energized, and the first direction electromagnetic valve 105 is energized. The solenoid valve 105 selects the X-axis cylinder 109 to move in the positive/reverse direction of the X-axis; and,

After the X-axis cylinder 109 moves in the positive/reverse direction of the X-axis, the suction cup a on the X-axis cylinder is adsorbed on the wall surface, and the suction cup b on the Y-axis cylinder is released at the same time, driven by the first direction solenoid valve 105 The X-axis cylinder 109 returns to its original position, so that the wall cleaning robot moves in the positive/reverse direction of the X-axis;

When it is judged that the wall cleaning robot is moving in the Y-axis direction, the sucker b on the Y-axis cylinder is controlled to feed air, the second solenoid valve 102 is energized, the second direction solenoid valve 106 is energized, and the second direction The solenoid valve 106 selects the Y-axis cylinder 110 to move in the positive/reverse direction of the Y-axis; and,

After the Y-axis cylinder 110 moves in the positive/reverse direction of the Y-axis, the suction cup b on the Y-axis cylinder is adsorbed on the wall surface, and at the same time the suction cup a on the X-axis cylinder is released, and driven by the second direction solenoid valve 106 The Y-axis cylinder 110 returns to its original position, so that the wall cleaning robot can move in the positive/reverse direction of the Y-axis.

Referring to Fig. 3 and Fig. 4, in the embodiment of the present invention, the wall cleaning robot further includes a third solenoid valve 103, a fourth solenoid valve 104, a first vacuum generator 111, a Two vacuum generators 112, the first gas path solenoid valve 117, and the second gas path solenoid valve 118; the third solenoid valve 103, the first vacuum generator 111, and the first gas path solenoid valve 117 are The pipeline is connected to the suction cup b on the Y-axis cylinder, and the fourth solenoid valve 104, the second vacuum generator 112, and the second air solenoid valve 118 are connected to the X-axis cylinder through pipelines. on the suction cup a; the controller is also used for:

When the cleaning mode is running, control the suction cup a on the X-axis cylinder and the suction cup b on the Y-axis cylinder to adsorb on the wall surface, so that the wall cleaning robot is fixed on the wall. Specifically:

When the cleaning mode is running, control the fourth solenoid valve 104 and the second air circuit solenoid valve 118 to cut off power, so that the second vacuum generator 112 can remove the vacuum in the suction cup a on the X-axis cylinder. air, so that the wall cleaning robot is adsorbed on the wall surface through the suction cup a on the X-axis cylinder; and

Control the third solenoid valve 103 and the first air path solenoid valve 117 to cut off the power, so that the first vacuum generator 111 sucks the air in the suction cup b on the Y-axis cylinder, so that the The wall cleaning robot is adsorbed on the wall surface through the suction cup b on the Y-axis cylinder.

In the embodiment of the present invention, the working principle of the wall cleaning robot control system is:

First of all, whether the wall cleaning robot has climbed to the cleaning area is detected by the Raspberry Pi camera or ultrasonic and laser sensors. If the wall cleaning robot is in the cleaning area, the cleaning mode is started.

When running in cleaning mode, the first solenoid valve 101, the second solenoid valve 102, the third solenoid valve 103, and the fourth solenoid valve 104 are all powered off to control the suction cup a on the X-axis cylinder And the suction cup b on the Y-axis cylinder is adsorbed on the wall surface, so that the wall cleaning robot is fixed on the wall; at the same time, the controller controls the clean water pump 20 to work through PWM, and the water in the clean water collection tank 21 is pumped out to the Clean the cleaning board 22 on the wall surface, control the drive motor to drive the roller brush 222 on the cleaning board 22 to rotate and clean the wall surface with the assistance of clear water; in addition, the controller controls the stepping motor 223 to drive the cleaning board 22 to move , to expand the cleaning area.

When the cleaning mode is turned off, the first electromagnetic valve 101, the fourth electromagnetic valve 104, and the second air circuit electromagnetic valve 118 are controlled to be energized so that the suction cup a on the X-axis cylinder is separated from the wall surface, and the suction cup a on the Y-axis cylinder b is still adsorbed on the wall surface; adjust the moving direction of the X-axis cylinder 109 through the first direction solenoid valve 105, and when the X-axis cylinder 109 moves to a certain position, control the fourth solenoid valve 104, the second The pneumatic solenoid valve 118 is de-energized so that the first vacuum generator 111 removes the air from the suction cup a on the X-axis cylinder, so that the X-axis cylinder 109 is fixed on the wall surface, and then the controller passes the The third electromagnetic valve 103 and the first air circuit electromagnetic valve 117 are energized so that the suction cup b on the Y-axis cylinder is separated from the wall surface, so that the controller controls the first direction electromagnetic valve 105 to adjust the X-axis cylinder 109 The moving direction of the slide block makes the wall cleaning robot move toward the direction of the X-axis cylinder 109 movement, thereby realizing the movement of the wall cleaning robot in the X-axis direction; similarly, the wall cleaning robot moves toward the Y-axis direction The principle of moving is the same as the principle of moving in the X-axis direction, and will not be repeated here. When the raspberry pie camera detects that the wall cleaning robot is in the next cleaning area, it will re-enter the above-mentioned cleaning mode and cycle in turn until each cleaning area is cleaned.

In summary, the present invention provides a wall cleaning robot control method and control system, which have the following beneficial effects:

6. Through the alternate movement of the X-axis cylinder and the Y-axis cylinder with the assistance of the suction cup, the wall cleaning robot can climb on the wall surface of the two-dimensional plane, and the stability of the wall cleaning robot during the movement is guaranteed and reliability;

7. When the wall cleaning robot is located in the cleaning area, the roller brush rotates at high speed under the drive of the drive motor, and cleans the wall surface with the help of clean water, thereby improving the cleaning efficiency;

8. After the wall cleaning robot completes the cleaning operation in a cleaning area, start the climbing mode, so that the wall cleaning robot climbs to the wall surface to be cleaned; when climbing to the next cleaning area, it passes through the suction cup on the X-axis cylinder And the suction cup on the Y-axis cylinder is fixed again and is in the next cleaning area, and the cleaning mode is started to continue the cleaning of the wall surface;

9. The air pump not only provides suction for the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder, but also provides power for the movement of the X-axis cylinder and the Y-axis cylinder, so that the wall cleaning robot can move on the wall surface; through the air pump , X-axis cylinder, Y-axis cylinder and the suction cup work together to simplify the structure of the wall cleaning robot and reduce the operation difficulty of the wall cleaning robot;

10. The X-axis cylinder enables the wall cleaning robot to achieve linear motion in the X-axis direction, and the Y-axis cylinder enables the wall cleaning robot to achieve linear motion in the Y-axis direction, so that the wall cleaning robot can move in a two-dimensional plane through the synthesis of linear motion in two directions. Free movement on the wall.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) and the like.

The above description is a preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered Be the protection scope of the present invention.

Claims (10)

1. A method for controlling a wall cleaning robot, wherein the wall cleaning robot includes a controller and an air pump electrically connected to the controller, a clear water pump, a drive motor, an X-axis cylinder and a Y-axis cylinder, the Said control method comprises steps: S1. Control the work of the air pump used to provide the power source; S2. Detect whether the wall cleaning robot is in the cleaning area, and if so, start the cleaning mode; S3. When the cleaning mode is running, control the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder to be adsorbed on the wall surface, so that the wall cleaning robot is fixed on the wall; S4. After detecting that the wall cleaning robot is fixed on the wall, control the clean water pump and drive motor to work, pump the water from the clean water collection tank to the cleaning plate used to clean the wall surface, and drive the roller brush on the cleaning plate to rotate through the drive motor And clean the wall surface with the help of clean water; S5. Detect whether the cleaning mode of the wall cleaning robot is turned off, if so, control the clean water pump and the drive motor to stop working, and start the climbing mode; S6. When the climbing mode is running, control the X-axis cylinder to move in the X-axis direction and/or control the Y-axis cylinder to move in the Y-axis direction, so that the wall cleaning robot climbs to the next cleaning area; S7. Detect whether the wall cleaning robot has climbed to the next cleaning area, and if so, start the cleaning mode. 2. The method for controlling a wall cleaning robot according to claim 1, wherein in step S6, when the climbing mode is running, the X-axis cylinder is controlled to move in the X-axis direction and/or the Y-axis cylinder is controlled to move in the Y-axis direction. The direction of movement to enable the wall cleaning robot to climb to the next cleaning area specifically includes: S61. When the climbing mode is running, it is judged whether the wall cleaning robot moves in the direction of the X axis or the direction of the Y axis; S62. When it is judged that the wall cleaning robot is moving in the X-axis direction, control the suction cup on the X-axis cylinder to feed air, and control the X-axis cylinder to move in the positive/reverse direction of the X-axis; and, After the X-axis cylinder moves in the positive/reverse direction of the X-axis, the suction cup on the X-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the Y-axis cylinder is released to control the X-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the X axis; S63. When it is judged that the wall cleaning robot is moving in the Y-axis direction, control the suction cup on the Y-axis cylinder to feed air, and control the Y-axis cylinder to move in the positive/reverse direction of the Y-axis; and, After the Y-axis cylinder moves in the positive/reverse direction of the Y-axis, the suction cup on the Y-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the X-axis cylinder is released to control the Y-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the Y axis. 3. The wall cleaning robot control method as claimed in claim 2, wherein the wall cleaning robot also includes a first solenoid valve, a first direction solenoid valve, a second solenoid valve, a first solenoid valve, and a first solenoid valve electrically connected to the controller respectively. Two-directional electromagnetic valve, the air pump, the first electromagnetic valve, and the first directional electromagnetic valve are sequentially connected to the intake end of the X-axis cylinder through pipelines, the air pump, the second electromagnetic valve, and the The second directional solenoid valve is connected to the intake end of the Y-axis cylinder through pipelines in turn; Then the step S62 is specifically: When it is judged that the wall cleaning robot is moving in the X-axis direction, the suction cup on the X-axis cylinder is controlled to feed air, the first electromagnetic valve is energized, the first directional electromagnetic valve is energized and selected by the first directional electromagnetic valve The X-axis cylinder moves in the positive/reverse direction of the X-axis; and, After the X-axis cylinder moves to the positive/reverse direction of the X-axis, the suction cup on the X-axis cylinder is adsorbed on the wall surface, and the suction cup on the Y-axis cylinder is released at the same time, and the X-axis cylinder is driven back through the first direction solenoid valve. Go to the original position to make the wall cleaning robot move in the positive/reverse direction of the X axis; Then the step S63 is specifically: When it is judged that the wall cleaning robot is moving in the Y-axis direction, the sucker on the Y-axis cylinder is controlled to feed in the air, the second electromagnetic valve is energized, the second direction electromagnetic valve is energized and selected by the second direction electromagnetic valve The Y-axis cylinder moves in the positive/reverse direction of the Y-axis; and, After the Y-axis cylinder moves in the positive/reverse direction of the Y-axis, the suction cup on the Y-axis cylinder is adsorbed on the wall surface, and at the same time the suction cup on the X-axis cylinder is released, and the Y-axis cylinder is driven back by the second direction solenoid valve. to the original position, so that the wall cleaning robot moves in the positive/reverse direction of the Y axis. 4. the wall cleaning robot control method as claimed in claim 3, is characterized in that, described wall cleaning robot also comprises the 3rd solenoid valve, the 4th solenoid valve, the first vacuum generator that are electrically connected with described controller respectively. , the second vacuum generator, the first gas path solenoid valve, and the second gas path solenoid valve; the third solenoid valve, the first vacuum generator, and the first gas path solenoid valve are connected to the On the suction cup on the Y-axis cylinder, the fourth electromagnetic valve, the second vacuum generator, and the second air circuit solenoid valve are connected to the suction cup on the X-axis cylinder through pipelines; the steps S3. When the cleaning mode is running, control the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder to be adsorbed on the wall surface, so that the wall cleaning robot is fixed on the wall. Specifically: When the cleaning mode is running, control the fourth solenoid valve and the second air circuit solenoid valve to de-energize, so that the second vacuum generator can remove the air in the suction cup on the X-axis cylinder, so that The wall cleaning robot is adsorbed on the wall surface through the suction cup on the X-axis cylinder; and Controlling the third solenoid valve and the first air path solenoid valve to de-energize, so that the first vacuum generator sucks the air in the suction cup on the Y-axis cylinder, so that the wall cleaning robot can pass through The suction cup on the Y-axis cylinder is adsorbed on the wall surface. 5. The wall cleaning robot control method according to claim 4, characterized in that, the step S62 is specifically: When it is judged that the wall cleaning robot is moving in the direction of the X-axis, control the fourth solenoid valve and the second air circuit solenoid valve to be energized to release the suction cup on the X-axis cylinder, and control the X-axis cylinder to move in the positive/reverse direction of the X-axis exercise; and, After the X-axis cylinder moves to the positive/reverse direction of the X-axis, the fourth solenoid valve and the second air circuit solenoid valve are de-energized, so that the second vacuum generator can remove the X-axis cylinder The air in the suction cup on the upper surface, so that the wall cleaning robot is adsorbed on the wall surface through the suction cup on the X-axis cylinder, and at the same time, the third solenoid valve and the first air circuit solenoid valve are energized to release the Y-axis The suction cup on the cylinder controls the X-axis cylinder to return to its original position, so that the wall cleaning robot can move in the positive/reverse direction of the X-axis; The step S63 is specifically: When it is judged that the wall cleaning robot is moving in the direction of the Y axis, the third electromagnetic valve and the first air circuit electromagnetic valve are energized to control the sucker on the Y axis cylinder to pass into the air, and the positive direction of the Y axis cylinder to the Y axis is controlled. / movement in the opposite direction; and, After the Y-axis cylinder moves to the positive/reverse direction of the Y-axis, the third solenoid valve and the first air circuit solenoid valve are de-energized so that the first vacuum generator can draw the Y-axis cylinder The air in the suction cup on the upper surface makes the wall cleaning robot adsorb on the wall surface through the suction cup on the Y-axis cylinder. At the same time, the first solenoid valve and the second air circuit solenoid valve are energized to release the X-axis The suction cup on the cylinder controls the Y-axis cylinder to return to its original position, so that the wall cleaning robot can move in the positive/reverse direction of the Y-axis. 6. the wall cleaning robot control method as claimed in claim 1, is characterized in that, described wall cleaning robot also comprises the Raspberry pie camera that is electrically connected with described controller; Described step S2, detect whether wall cleaning robot is in Clean the area, if so, start the cleaning mode specifically as follows: The raspberry pie camera recognizes the area where the wall cleaning robot climbs, and sends a signal to the controller, and the controller processes the signal and judges the cleaning area; When it is judged that the wall cleaning robot is in a non-cleaning area, the climbing mode is started, and the X-axis cylinder is controlled to move and/or the Y-axis cylinder is controlled to move so that the wall cleaning robot climbs to the next cleaning area; When it is judged that the wall cleaning robot is in the cleaning area, the cleaning mode is started. 7. The wall cleaning robot control method as claimed in claim 1, wherein the wall cleaning robot further comprises a stepping motor and a synchronous belt, the output shaft of the stepping motor is connected with the synchronous belt, and the The timing belt is fixedly connected to the cleaning plate, and the stepper motor is connected to the controller; the step S4 is specifically: After detecting that the wall cleaning robot is fixed on the wall, the clean water pump is controlled to work, and the water in the clean water collection tank is pumped out to the cleaning plate for cleaning the wall surface; and Control the operation of the stepping motor so that the stepping motor drives the timing belt, thereby driving the cleaning plate to reciprocate; and The drive motor is controlled to work, and the roller brush on the cleaning plate is driven to rotate by the drive motor, and the wall surface is cleaned with the aid of clear water. 8. the wall cleaning robot control method as claimed in claim 1 or 7, is characterized in that, described wall cleaning robot also comprises sewage water pump, filter, the sewage collection box that is used to collect the sewage after cleaning wall surface, so The anhydrous pump described above is electrically connected to the controller; the step S4 is specifically: After detecting that the wall cleaning robot is fixed on the wall, control the clean water pump and drive motor to work, pump the water from the clean water collection tank to the cleaning plate used to clean the wall surface, and drive the roller brush on the cleaning plate to rotate through the drive motor. cleaning of wall surfaces with the aid of fresh water; and, The sewage water pump is controlled to extract water from the sewage water collection tank and deliver it to the clean water collection tank through the filter, thereby forming a clean water cycle. 9. A control system for a wall cleaning robot, characterized in that, the wall cleaning robot includes a housing, and the housing is provided with a controller and an air pump, a clear water pump, and a driving motor electrically connected to the controller respectively , X-axis cylinder and Y-axis cylinder, the X-axis cylinder includes an X-axis slider and an X-axis moving rod, suction cups are arranged on both ends of the X-axis moving rod, and the X-axis slider is slidably connected On the X-axis moving rod; the Y-axis cylinder includes a Y-axis slider and a Y-axis moving rod, suction cups are arranged on both ends of the Y-axis moving rod, and the Y-axis slider is slidably connected On the Y-axis travel bar; the controller is used to: Control the operation of the air pump used to provide the power source; Detect whether the wall cleaning robot is in the cleaning area, and if so, start the cleaning mode; When the cleaning mode is running, control the suction cup on the X-axis cylinder and the suction cup on the Y-axis cylinder to adsorb on the wall surface, so that the wall cleaning robot is fixed on the wall; After detecting that the wall cleaning robot is fixed on the wall, control the clean water pump and drive motor to work, pump the water from the clean water collection tank to the cleaning plate used to clean the wall surface, and drive the roller brush on the cleaning plate to rotate through the drive motor. Clean the wall surface with the aid of clean water; Detect whether the cleaning mode of the wall cleaning robot is off, if so, control the fresh water pump and drive motor to stop working, and start the climbing mode; When the climbing mode is running, control the X-axis cylinder to move in the X-axis direction and/or control the Y-axis cylinder to move in the Y-axis direction so that the wall cleaning robot climbs to the next cleaning area; Detect whether the wall cleaning robot has climbed to the next cleaning area, and if so, start the cleaning mode. 10. The wall cleaning robot control method according to claim 9, wherein the controller is also used for: When the climbing mode is running, judge whether the wall cleaning robot is moving in the X-axis direction or the Y-axis direction; When it is judged that the wall cleaning robot is moving in the X-axis direction, control the suction cup on the X-axis cylinder to feed air, and control the X-axis cylinder to move in the positive/reverse direction of the X-axis; and, After the X-axis cylinder moves in the positive/reverse direction of the X-axis, the suction cup on the X-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the Y-axis cylinder is released to control the X-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the X axis; When it is judged that the wall cleaning robot is moving in the Y-axis direction, control the suction cup on the Y-axis cylinder to feed air, and control the Y-axis cylinder to move in the positive/reverse direction of the Y-axis; and, After the Y-axis cylinder moves to the positive/reverse direction of the Y-axis, the suction cup on the Y-axis cylinder is adsorbed on the surface of the wall, and at the same time the suction cup on the X-axis cylinder is released to control the Y-axis cylinder to return to its original position, so that the wall The cleaning robot moves in the positive/reverse direction of the Y axis.