CN110418594A - Automatic Pilot cleans glass process, device and computer readable storage medium - Google Patents
Automatic Pilot cleans glass process, device and computer readable storage medium Download PDFInfo
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- CN110418594A CN110418594A CN201780088278.0A CN201780088278A CN110418594A CN 110418594 A CN110418594 A CN 110418594A CN 201780088278 A CN201780088278 A CN 201780088278A CN 110418594 A CN110418594 A CN 110418594A
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- washing
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of automatic Pilots to clean glass process, and the cleaning of automatic Pilot described in device and computer readable storage medium glass process includes: to control the cleaning vehicle when detecting cleaning building glass instruction and be adsorbed on external wall glass to be cleaned；The surface structure data for obtaining external wall glass to be cleaned generate the cleaning route of cleaning vehicle automatic Pilot and cleaning on exterior wall glass based on the surface structure data；It controls cleaning vehicle and carries out washing and cleaning operation on exterior wall glass according to the cleaning route.Cleaning building glass process efficiency is low in the prior art for present invention solution, the low technical problem of safety coefficient.
Description
Technical Field
The invention relates to the technical field of sanitation, in particular to a method and a device for automatically driving and cleaning glass and a computer readable storage medium.
Background
At the present stage, along with economic development and technological progress, building floors with glass appearances are more and more, and the buildings are more and more tall, so as to keep cities clean and tidy, the building glass needs to be cleaned regularly, the traditional cleaning technology generally cleans the glass through artificial window climbing or manufacturing windshield wipers with corresponding lengths, however, artificial cleaning is not only high in difficulty coefficient and causes waste of human resources, but also high in danger coefficient, and manufacturing windshield wiper cleaning glass with corresponding lengths has low efficiency and long period for the high building floors, so how to clean the building glass efficiently and safely becomes a problem to be solved urgently in modern cities.
Disclosure of Invention
The invention mainly aims to provide a method and a device for automatically cleaning glass by driving and a computer readable storage medium, and aims to solve the technical problems of low efficiency and low safety factor in the process of cleaning building glass in the prior art.
In order to achieve the above object, the present invention provides an automatic driving glass cleaning method, comprising:
when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;
acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data;
and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route.
Preferably, the step of acquiring surface structure data of the building outer wall glass to be cleaned and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data comprises the following steps:
acquiring surface structure data of building outer wall glass to be cleaned, and acquiring arrangement data of each lattice-shaped glass based on the surface structure data, wherein each lattice-shaped glass forms the building outer wall glass;
and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass.
Preferably, the automatic driver glass cleaning method further comprises:
and in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
Preferably, the step of generating a washing route for automatically driving the washing cart to pass through and wash the lattice glasses row by row or column by column in sequence based on the arrangement data of the respective lattice glasses includes:
acquiring a first sub-route of the cleaning vehicle for automatically driving and cleaning the latticed glass row by row or column by column in sequence based on the arrangement data of each latticed glass;
acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record;
and communicating the first sub-route with the second sub-routes of the grid-shaped glasses to generate a cleaning route for automatically driving the cleaning vehicle to pass through and clean the grid-shaped glasses.
Preferably, the cleaning vehicle comprises a nozzle and a cleaning brush, the nozzle sprays cleaning liquid, the cleaning brush rotates to clean the lattice glass, and the step of controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route comprises the following steps:
and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
In addition, to achieve the above object, the present invention also provides an automatic driving washing glass apparatus including: a memory, a processor, a communication bus, and an automatic drive washer glass handler stored on the memory,
the communication bus is used for realizing communication connection between the processor and the memory;
the processor is used for executing the automatic driving washing glass processing program to realize the following steps:
when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;
acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data;
and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route.
Preferably, the step of acquiring surface structure data of the building outer wall glass to be cleaned and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data comprises the following steps:
acquiring surface structure data of building outer wall glass to be cleaned, and acquiring arrangement data of each lattice-shaped glass based on the surface structure data, wherein each lattice-shaped glass forms the building outer wall glass;
and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass.
Preferably, the automated driver wash glass processing program further implements the steps of:
and in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
Preferably, the step of generating a washing route for automatically driving the washing cart to pass through and wash the lattice glasses row by row or column by column in sequence based on the arrangement data of the respective lattice glasses includes:
acquiring a first sub-route of the cleaning vehicle for automatically driving and cleaning the latticed glass row by row or column by column in sequence based on the arrangement data of each latticed glass;
acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record;
communicating the first sub-route with the second sub-routes of the respective lattice glasses to generate a cleaning route for the cleaning vehicle to automatically drive through and clean the lattice glasses;
the cleaning vehicle comprises a nozzle and a cleaning brush, the nozzle sprays cleaning liquid, the cleaning brush rotationally cleans the latticed glass, and the step of controlling the cleaning vehicle to clean the outer wall glass according to the cleaning route comprises the following steps:
and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium storing one or more programs, the one or more programs being executable by one or more processors for:
when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;
acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data;
and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route.
According to the invention, when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned; acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data; and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route. Because adsorb on architectural glass through wasing the car, automatic generation washs architectural glass's route and washs architectural glass, and not artificially wash, can not cause human resource's waste, and danger coefficient is low, and is efficient.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of the automatic glass cleaning method according to the present invention;
FIG. 2 is a detailed flow diagram of a route for acquiring an architectural glass structure to be cleaned, and generating an automatic driving and architectural glass cleaning vehicle based on the architectural glass structure to be cleaned according to a second embodiment of the automatic driving glass cleaning method;
fig. 3 is a schematic device structure diagram of a hardware operating environment related to the method according to the embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The present invention provides an automatic driving glass cleaning method, in a first embodiment of the automatic driving glass cleaning method of the present invention, referring to fig. 1, the automatic driving glass cleaning method includes:
step S10, when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;
when an instruction for cleaning the outer wall of the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building glass to be cleaned, wherein a control module is arranged in the cleaning vehicle and can control the cleaning vehicle to be adsorbed on the building glass, the cleaning vehicle runs, cleaning liquid is sprayed, the running direction is adjusted, the outer wall of the building glass is cleaned and the like, the specific process can be that a cleaner triggers and sends a series of instructions such as adsorption, cleaning liquid spraying or cleaning and the like to the cleaning vehicle control module through a remote controller or a start button, the control module controls the cleaning vehicle to execute corresponding operations after acquiring and receiving corresponding different instructions, in addition, the cleaning vehicle is connected with a preset number of water pipes with preset length according to actual requirements, the water pipes transport corresponding cleaning liquid, and when the use of cleaning liquid in the cleaning vehicle is finished or is lower than the preset value, an instruction for replenishing the cleaning liquid is triggered, to trigger the corresponding engine to start so as to execute the operation of replenishing the cleaning liquid, and in addition, the bottom of the cleaning vehicle is provided with a cleaning brush, the control module can control the cleaning brush to brush the glass according to a preset rotating speed and a rotating direction, particularly, the rotating direction can be adjusted, and one or more cameras which can shoot the panoramic angle or the partial angle of the architectural glass are arranged on the cleaning vehicle.
Step S20, acquiring surface structure data of the building outer wall glass to be cleaned, and generating a cleaning route for the cleaning vehicle to automatically drive and clean the outer wall glass based on the surface structure data;
because one or more cameras are arranged on the cleaning vehicle, the cameras can capture the panoramic angle or partial angle surface structure data of the architectural glass, so that the structure of the architectural glass to be cleaned can be obtained, the structure of the glass to be cleaned mainly refers to the structure of each block of the building to be cleaned to form glass, the structure of each block of the glass to be cleaned can be the same or can be changed in order or disorder, the specific embodiment is used for explaining that the architectural glass can be formed by rectangular glass with the same size or irregularly-shaped glass with the distributed areas from large to small, a route for automatically driving and cleaning the architectural glass by the cleaning vehicle is generated based on the structure of the architectural glass to be cleaned, and the cleaning vehicle can obtain the whole structure and the structure of the architectural glass according to the cameras before cleaning the architectural glass because the shapes and the structures of the corresponding glass to be formed can be different and the areas can also be different, comprehensively calculating to obtain an optimal route for cleaning the architectural glass, wherein the optimal route is the route which consumes the least time or has the shortest running distance of the cleaning vehicle in each route, for example, when the building glass is made of lattice glass composed of rectangles, the cleaning vehicle can be a route for cleaning the glass in sequence according to the corresponding row sequence or the row sequence of the glass, time waste caused by messy driving is avoided, when the building glass reaches a specific lattice glass, however, a route for traveling along the edge of the lattice glass for cleaning is created, and when the edge cleaning is completed, the interior of the lattice glass is cleaned in sequence, the order means that when the cleaning vehicle runs to the cleaned area, the direction is automatically adjusted to clean the unwashed latticed glass part until the latticed glass is cleaned, and particularly, the cleaning vehicle does not necessarily run along the edge of the latticed glass.
Step S30, controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route
The cleaning vehicle is driven, sprayed with cleaning liquid and cleaned based on an automatic driving and cleaning route, wherein the cleaning vehicle can be stopped to run when the cleaning liquid is sprayed, the cleaning vehicle can be sprayed once when the area of the glass formed by the building glass is in a spraying range, and then the cleaning operation is carried out, when the area of the glass formed by the building glass is not in the spraying range, the cleaning vehicle is sprayed first and then cleaned, or the spraying and cleaning are carried out synchronously, the cleaning vehicle runs at a preset speed in the processes of spraying the cleaning liquid and cleaning, wherein when the cleaning vehicle is used for cleaning each glass, the preset residence time of the automatic glass cleaning machine is different, if the preset residence time of a small area is 3min, the preset residence time of a large area is 10min, and after the preset residence time is exceeded, the automatic glass cleaning machine is shifted to another glass or another area to carry out the next cleaning operation And (6) washing action.
In the embodiment, when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned; acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data; and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route. Because adsorb on architectural glass through wasing the car, automatic generation washs architectural glass's route and washs architectural glass, and not artificially wash, can not cause human resource's waste, and danger coefficient is low, and is efficient.
Further, on the basis of the first embodiment of the automated driving glass cleaning method of the present invention, there is provided a second embodiment of the automated driving glass cleaning method, in which, referring to fig. 2, the step S20 includes:
step S31, obtaining surface structure data of the building outer wall glass to be cleaned, and obtaining arrangement data of each lattice glass based on the surface structure data, wherein each lattice glass forms the building outer wall glass; step S32, a cleaning route in which the cleaning vehicle automatically drives through and cleans the lattice glasses row by row or column by column in sequence is generated based on the arrangement data of the respective lattice glasses.
The method comprises the steps of obtaining surface structure data of building glass to be cleaned, obtaining arrangement data of each lattice glass based on the surface structure data, generating a cleaning route for a cleaning vehicle to automatically drive and clean the lattice glass row by row or column by column in sequence based on the arrangement data of each lattice glass, obtaining edge line data of the single lattice glass when the cleaning vehicle automatically drives and passes through the single glass, generating the cleaning vehicle to automatically drive and clean the lattice glass clockwise or anticlockwise along the edge line direction of the lattice glass in sequence, avoiding repeated driving and cleaning based on cleaning work records, and gradually driving and cleaning the interior of the lattice glass along the edge line direction until the single lattice glass is completely driven and cleaned.
In the embodiment, by acquiring surface structure data of the building outer wall glass to be cleaned, arrangement data of each lattice-shaped glass is acquired based on the surface structure data, and each lattice-shaped glass constitutes the building outer wall glass; and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass. Different cleaning routes can be generated according to different structural glass, so that the cleaning requirements of different buildings are met.
Further, on the basis of the first embodiment of the automated driving glass cleaning method of the present invention, there is provided a third embodiment of the present invention, in which the automated driving glass cleaning method further comprises:
and in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
In the process that the cleaning vehicle performs cleaning operation on the outer wall glass according to the cleaning route, automatic driving cleaning work records such as a driving route, cleaning time and a cleaning area are generated, the driving route, the cleaning time and the cleaning area are correspondingly stored to prevent repeated cleaning, and in addition, the automatic driving cleaning work records are generated to be used for follow-up inquiry and check, such as checking the cleaning efficiency of the cleaning vehicle, ensuring when to perform maintenance according to the records and the like.
In the embodiment, in the process of cleaning operation of the cleaning vehicle on the outer wall glass according to the cleaning route, the cleaning work record of automatic driving and cleaning is generated in real time, and the cleaning work record is stored for subsequent inquiry. This embodiment is owing to in time generate autopilot and wash work record and save, therefore can supply to acquire the work efficiency who washs the car according to ground, avoids repeated washing to and carry out the maintenance adjustment who washs the car according to this cleaning efficiency, with the architectural glass of more high-efficient washing.
Further, on the basis of the first embodiment of the automated driving glass cleaning method of the present invention, there is provided a fourth embodiment of the automated driving glass cleaning method, in which the automated driving glass cleaning method further comprises:
the step of generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column in sequence based on the arrangement data of each lattice glass comprises the following steps:
acquiring a first sub-route of the cleaning vehicle for automatically driving and cleaning the latticed glass row by row or column by column in sequence based on the arrangement data of each latticed glass;
acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record;
and communicating the first sub-route with the second sub-routes of the grid-shaped glasses to generate a cleaning route for automatically driving the cleaning vehicle to pass through and clean the grid-shaped glasses.
And acquiring a first sub-route for the cleaning vehicle to automatically drive through and clean the latticed glass row by row or column by column based on the arrangement data of each latticed glass, for example, firstly cleaning the first row of the building glass outer wall, and then sequentially cleaning the second row of the building glass outer wall. The second sub-route may be a cleaning route of a single lattice glass, such as a cleaning route based on any one of the edge line directions of the single lattice glass to and fro and avoid repeated driving through or cleaning the architectural glass, and the second sub-route communicates the first sub-route with each of the lattice glasses to generate a cleaning route for the cleaning vehicle to automatically drive through and clean the lattice glasses. A specific cleaning route is shown in fig. 4.
In the present embodiment, by acquiring the arrangement data based on each lattice glass, the first sub-route in which the cleaning vehicle automatically drives through and cleans the lattice glass row by row or column by column in sequence; acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record; and communicating the first sub-route with the second sub-routes of the grid-shaped glasses to generate a cleaning route for automatically driving the cleaning vehicle to pass through and clean the grid-shaped glasses. Therefore, the building glass outer wall can be efficiently cleaned.
Further, in a fifth embodiment of the automated glass cleaning method according to the present invention, in addition to the first embodiment, the cleaning cart includes a nozzle, a cleaning brush, the nozzle sprays a cleaning solution, the cleaning brush rotates to clean the lattice glass, and the step of controlling the cleaning cart to perform the cleaning operation on the outer wall glass according to the cleaning route includes:
and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
When the area of the lattice glass is within the preset range, for example, when the area of the glass is 3m2, the cleaning solution can be sprayed to any position of the lattice glass at one time, so the cleaning solution is sprayed at one time without being carried out for multiple times, after the cleaning solution is sprayed, the cleaning brush is controlled on the outer wall glass according to the cleaning route to rotate and clean the lattice glass, and the rotation speed and the rotation direction of the cleaning brush can be adjusted.
In this embodiment, the step of controlling the cleaning vehicle to perform the cleaning operation on the outer wall glass according to the cleaning route includes: and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass. Because the cleaning liquid is sprayed firstly and then the cleaning is carried out, but not synchronously carried out, the waste of time and energy caused by repeated spraying is avoided.
Referring to fig. 3, fig. 3 is a schematic device structure diagram of a hardware operating environment related to the method according to the embodiment of the present invention.
The automatic driving glass cleaning device of the embodiment of the invention can be a PC, and can also be terminal equipment such as a smart phone, a tablet personal computer, an electronic book reader, an MP3 (Moving Picture Experts Group Audio Layer III, dynamic video Experts compression standard Audio Layer 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, dynamic video Experts compression standard Audio Layer 3) player, a portable computer and the like.
As shown in fig. 3, the automatic drive washer glass apparatus may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used for realizing connection communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the automatic drive glass cleaning device may further include a user interface, a network interface, a camera, RF (radio frequency) circuitry, sensors, audio circuitry, a WiFi module, and the like. The user interface may comprise a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
Those skilled in the art will appreciate that the configuration of the automatic drive washer glass unit shown in fig. 3 does not constitute a limitation of the automatic drive washer glass unit and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 3, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, and an automated driving washing glass processing program. The operating system is a program that manages and controls the hardware and software resources of the automatic drive washer glass unit, supporting the operation of the automatic drive washer glass handler as well as other software and/or programs. The network communication module is used to enable communication between the various components within the memory 1005, as well as with other hardware and software within the automatic drive washer glass apparatus.
In the automated driving glass apparatus shown in fig. 3, processor 1001 is configured to execute an automated driving glass processing program stored in memory 1005, implementing the steps of:
when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;
when an instruction for cleaning the outer wall of the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building glass to be cleaned, wherein a control module is arranged in the cleaning vehicle and can control the cleaning vehicle to be adsorbed on the building glass, the cleaning vehicle runs, cleaning liquid is sprayed, the running direction is adjusted, the outer wall of the building glass is cleaned and the like, the specific process can be that a cleaner triggers and sends a series of instructions such as adsorption, cleaning liquid spraying or cleaning and the like to the cleaning vehicle control module through a remote controller or a start button, the control module controls the cleaning vehicle to execute corresponding operations after acquiring and receiving corresponding different instructions, in addition, the cleaning vehicle is connected with a preset number of water pipes with preset length according to actual requirements, the water pipes transport corresponding cleaning liquid, and when the use of cleaning liquid in the cleaning vehicle is finished or is lower than the preset value, an instruction for replenishing the cleaning liquid is triggered, to trigger the corresponding engine to start so as to execute the operation of replenishing the cleaning liquid, and in addition, the bottom of the cleaning vehicle is provided with a cleaning brush, the control module can control the cleaning brush to brush the glass according to a preset rotating speed and a rotating direction, particularly, the rotating direction can be adjusted, and one or more cameras which can shoot the panoramic angle or the partial angle of the architectural glass are arranged on the cleaning vehicle.
Acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data;
because one or more cameras are arranged on the cleaning vehicle, the cameras can capture the panoramic angle or partial angle surface structure data of the architectural glass, so that the structure of the architectural glass to be cleaned can be obtained, the structure of the glass to be cleaned mainly refers to the structure of each block of the building to be cleaned to form glass, the structure of each block of the glass to be cleaned can be the same or can be changed in order or disorder, the specific embodiment is used for explaining that the architectural glass can be formed by rectangular glass with the same size or irregularly-shaped glass with the distributed areas from large to small, a route for automatically driving and cleaning the architectural glass by the cleaning vehicle is generated based on the structure of the architectural glass to be cleaned, and the cleaning vehicle can obtain the whole structure and the structure of the architectural glass according to the cameras before cleaning the architectural glass because the shapes and the structures of the corresponding glass to be formed can be different and the areas can also be different, comprehensively calculating to obtain an optimal route for cleaning the architectural glass, wherein the optimal route is the route which consumes the least time or has the shortest running distance of the cleaning vehicle in each route, for example, when the building glass is made of lattice glass composed of rectangles, the cleaning vehicle can be a route for cleaning the glass in sequence according to the corresponding row sequence or the row sequence of the glass, time waste caused by messy driving is avoided, when the building glass reaches a specific lattice glass, however, a route for traveling along the edge of the lattice glass for cleaning is created, and when the edge cleaning is completed, the interior of the lattice glass is cleaned in sequence, the order means that when the cleaning vehicle runs to the cleaned area, the direction is automatically adjusted to clean the unwashed latticed glass part until the latticed glass is cleaned, and particularly, the cleaning vehicle does not necessarily run along the edge of the latticed glass.
And controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route.
Should wash the car and go based on autopilot and washing route, spray the washing liquid, the cleaning operation, wherein, wash the car when spraying the washing liquid, the washing car can pause and go, if the corresponding glass area of constituteing of architectural glass when spraying the within range, can once only spray when wasing this constitution glass, wash the operation again, when not spraying the within range, the washing car sprays at the in-process of going first, the washing is carried out to the back, or spray and wash and go on in step, spraying washing liquid and cleaning process, the washing car is all to go with predetermineeing the speed.
In the embodiment, when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned; acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data; and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route. Because adsorb on architectural glass through wasing the car, automatic generation washs architectural glass's route and washs architectural glass, and not artificially wash, can not cause human resource's waste, and danger coefficient is low, and is efficient.
Further, on the basis of the first embodiment of the automatic driving glass cleaning device, a second embodiment of the automatic driving glass cleaning device is provided, in the second embodiment, the step of acquiring surface structure data of the building outer wall glass to be cleaned, and the step of generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data comprises:
acquiring surface structure data of building outer wall glass to be cleaned, and acquiring arrangement data of each lattice-shaped glass based on the surface structure data, wherein each lattice-shaped glass forms the building outer wall glass;
and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass.
The method comprises the steps of obtaining surface structure data of building glass to be cleaned, obtaining arrangement data of each lattice glass based on the surface structure data, generating a cleaning route for a cleaning vehicle to automatically drive and clean the lattice glass row by row or column by column in sequence based on the arrangement data of each lattice glass, obtaining edge line data of the single lattice glass when the cleaning vehicle automatically drives and passes through the single glass, generating the cleaning vehicle to automatically drive and clean the lattice glass clockwise or anticlockwise along the edge line direction of the lattice glass in sequence, avoiding repeated driving and cleaning based on cleaning work records, and gradually driving and cleaning the interior of the lattice glass along the edge line direction until the single lattice glass is completely driven and cleaned.
In the embodiment, by acquiring surface structure data of the building outer wall glass to be cleaned, arrangement data of each lattice-shaped glass is acquired based on the surface structure data, and each lattice-shaped glass constitutes the building outer wall glass; and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass. Different cleaning routes can be generated according to different structural glass, so that the cleaning requirements of different buildings are met.
Further, in a third embodiment of the automatic drive washer glass unit according to the first embodiment of the present invention, the automatic drive washer glass unit processing program further realizes the steps of:
and in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
And in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
In the process that the cleaning vehicle performs cleaning operation on the outer wall glass according to the cleaning route, automatic driving cleaning work records such as a driving route, cleaning time and a cleaning area are generated, the driving route, the cleaning time and the cleaning area are correspondingly stored to prevent repeated cleaning, and in addition, the automatic driving cleaning work records are generated to be used for follow-up inquiry and check, such as checking the cleaning efficiency of the cleaning vehicle, ensuring when to perform maintenance according to the records and the like.
In the embodiment, in the process of cleaning operation of the cleaning vehicle on the outer wall glass according to the cleaning route, the cleaning work record of automatic driving and cleaning is generated in real time, and the cleaning work record is stored for subsequent inquiry. This embodiment is owing to in time generate autopilot and wash work record and save, therefore can supply to acquire the work efficiency who washs the car according to ground, avoids repeated washing to and carry out the maintenance adjustment who washs the car according to this cleaning efficiency, with the architectural glass of more high-efficient washing.
Further, in a fourth embodiment of the automatic glass cleaning device according to the first embodiment of the present invention, the step of generating a cleaning route for automatically driving a cleaning vehicle to pass through and clean the lattice glasses row by row or column by column in sequence based on the arrangement data of the respective lattice glasses includes:
acquiring a first sub-route of the cleaning vehicle for automatically driving and cleaning the latticed glass row by row or column by column in sequence based on the arrangement data of each latticed glass;
acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record;
communicating the first sub-route with the second sub-routes of the respective lattice glasses to generate a cleaning route for the cleaning vehicle to automatically drive through and clean the lattice glasses;
the cleaning vehicle comprises a nozzle and a cleaning brush, the nozzle sprays cleaning liquid, the cleaning brush rotationally cleans the latticed glass, and the step of controlling the cleaning vehicle to clean the outer wall glass according to the cleaning route comprises the following steps:
and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
And acquiring a first sub-route for the cleaning vehicle to automatically drive through and clean the latticed glass row by row or column by column based on the arrangement data of each latticed glass, for example, firstly cleaning the first row of the building glass outer wall, and then sequentially cleaning the second row of the building glass outer wall. The second sub-route may be a cleaning route of a single lattice glass, such as a cleaning route based on any one of the edge line directions of the single lattice glass to and fro and avoid repeated driving through or cleaning the architectural glass, and the second sub-route communicates the first sub-route with each of the lattice glasses to generate a cleaning route for the cleaning vehicle to automatically drive through and clean the lattice glasses. A specific cleaning route is shown in fig. 4.
When the area of the lattice glass is within the preset range, for example, when the area of the glass is 3m2, the cleaning solution can be sprayed to any position of the lattice glass at one time, so the cleaning solution is sprayed at one time without being carried out for multiple times, after the cleaning solution is sprayed, the cleaning brush is controlled on the outer wall glass according to the cleaning route to rotate and clean the lattice glass, and the rotation speed and the rotation direction of the cleaning brush can be adjusted.
In the present embodiment, by acquiring the arrangement data based on each lattice glass, the first sub route in which the cleaning vehicle automatically drives through and cleans the lattice glass row by row or column by column in sequence; acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record; and communicating the first sub-route with the second sub-routes of the grid-shaped glasses to generate a cleaning route for automatically driving the cleaning vehicle to pass through and clean the grid-shaped glasses. Therefore, the building glass outer wall can be efficiently cleaned. And the cleaning vehicle comprises a nozzle and a cleaning brush, the nozzle sprays cleaning liquid, the cleaning brush rotationally cleans the latticed glass, and the step of controlling the cleaning vehicle to clean the outer wall glass according to the cleaning route comprises the following steps: and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass. Because the cleaning liquid is sprayed firstly and then the cleaning is carried out, but not synchronously carried out, the waste of time and energy caused by repeated spraying is avoided.
The present invention provides a computer readable storage medium storing one or more programs, the one or more programs further executable by one or more processors for:
when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;
acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data;
and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route.
Further, the step of acquiring surface structure data of the building outer wall glass to be cleaned and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data comprises the following steps:
acquiring surface structure data of building outer wall glass to be cleaned, and acquiring arrangement data of each lattice-shaped glass based on the surface structure data, wherein each lattice-shaped glass forms the building outer wall glass;
and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass.
Further, the automatic driving glass cleaning method further comprises the following steps:
and in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
Further, the step of generating a washing route for automatically driving the washing vehicle to pass through and wash the lattice glass row by row or column by column in sequence based on the arrangement data of the respective lattice glasses includes:
acquiring a first sub-route of the cleaning vehicle for automatically driving and cleaning the latticed glass row by row or column by column in sequence based on the arrangement data of each latticed glass;
acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record;
and communicating the first sub-route with the second sub-routes of the grid-shaped glasses to generate a cleaning route for automatically driving the cleaning vehicle to pass through and clean the grid-shaped glasses.
Further, the cleaning vehicle comprises a nozzle and a cleaning brush, the nozzle sprays cleaning liquid, the cleaning brush rotates to clean the lattice glass, and the step of controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route comprises the following steps:
and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (19)
- An automatic driving glass cleaning method, characterized in that the automatic driving glass cleaning method comprises:when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data;and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route.
- The automatic driving glass cleaning method according to claim 1, wherein the step of obtaining surface structure data of the building outer wall glass to be cleaned and generating a cleaning route for the cleaning vehicle to automatically drive and clean the outer wall glass based on the surface structure data comprises the following steps:acquiring surface structure data of building outer wall glass to be cleaned, and acquiring arrangement data of each lattice-shaped glass based on the surface structure data, wherein each lattice-shaped glass forms the building outer wall glass;and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass.
- The automated glass cleaning method of claim 2, wherein the cleaning vehicle includes a nozzle, a cleaning brush, the nozzle spraying cleaning solution, the cleaning brush rotating to clean the glass grid, and the step of controlling the cleaning vehicle to perform the cleaning operation on the outer wall glass according to the cleaning route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- The automated driver glass cleaning method of claim 1, further comprising:and in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
- The automated glass cleaning method of claim 4, wherein the cleaning vehicle includes a nozzle, a cleaning brush, the nozzle spraying cleaning solution, the cleaning brush rotating to clean the grid glass, and the step of controlling the cleaning vehicle to perform the cleaning operation on the exterior glass according to the cleaning route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- The automated glass washing method for driver's ride of claim 4, wherein the step of generating a washing route for the washing vehicle to automatically drive through and wash the lattice glass row by row or column by column in sequence based on the arrangement data of each lattice glass comprises:acquiring a first sub-route of the cleaning vehicle for automatically driving and cleaning the latticed glass row by row or column by column in sequence based on the arrangement data of each latticed glass;acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record;and communicating the first sub-route with the second sub-routes of the grid-shaped glasses to generate a cleaning route for automatically driving the cleaning vehicle to pass through and clean the grid-shaped glasses.
- The automated glass cleaning method of claim 6, wherein the cleaning vehicle includes a nozzle, a cleaning brush, the nozzle spraying cleaning solution, the cleaning brush rotating to clean the grid glass, and the step of controlling the cleaning vehicle to perform the cleaning operation on the exterior glass according to the cleaning route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- The automated glass cleaning method of claim 1, wherein the cleaning vehicle includes a nozzle, a cleaning brush, the nozzle spraying cleaning solution, the cleaning brush rotating to clean the glass grid, the controlling the cleaning vehicle to perform the cleaning operation on the outer wall glass according to the cleaning route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- An automatic drive glass cleaning device, characterized in that, the automatic drive glass cleaning device includes: a memory, a processor, a communication bus, and an automatic drive washer glass handler stored on the memory,the communication bus is used for realizing communication connection between the processor and the memory;the processor is used for executing the automatic driving washing glass processing program to realize the following steps:when an instruction for cleaning the building glass is detected, the cleaning vehicle is controlled to be adsorbed on the building outer wall glass to be cleaned;acquiring surface structure data of building outer wall glass to be cleaned, and generating a cleaning route for automatically driving and cleaning the cleaning vehicle on the outer wall glass based on the surface structure data;and controlling the cleaning vehicle to perform cleaning operation on the outer wall glass according to the cleaning route.
- The automatic driving glass cleaning device according to claim 9, wherein the step of obtaining surface structure data of the building outer wall glass to be cleaned and generating a cleaning route for the cleaning vehicle to automatically drive and clean the outer wall glass based on the surface structure data comprises:acquiring surface structure data of building outer wall glass to be cleaned, and acquiring arrangement data of each lattice-shaped glass based on the surface structure data, wherein each lattice-shaped glass forms the building outer wall glass;and generating a cleaning route for automatically driving the cleaning vehicle to pass through and clean the lattice glass row by row or column by column based on the arrangement data of each lattice glass.
- The automated glass washing apparatus of claim 10, wherein the wash cart includes a nozzle, a washing brush, the nozzle spraying washing liquid, the washing brush rotating to wash the glass grid, the controlling the wash cart to perform the washing operation on the exterior glass according to the washing route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- The automated driver's washer glass apparatus of claim 9, wherein the automated driver's washer glass processing program further implements the steps of:and in the process of cleaning the outer wall glass by the cleaning vehicle according to the cleaning route, generating a cleaning work record of automatic driving and cleaning in real time, and storing the cleaning work record for subsequent inquiry.
- The automated glass washing apparatus of claim 12, wherein the wash cart includes a nozzle, a washing brush, the nozzle spraying washing liquid, the washing brush rotating to wash the glass grid, the controlling the wash cart to perform the washing operation on the exterior glass according to the washing route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- The automated glass washing apparatus according to claim 12, wherein the step of generating a washing route for the washing vehicle to automatically drive through and wash the lattice glasses row by row or column by column in sequence based on the arrangement data of the respective lattice glasses comprises:acquiring a first sub-route of the cleaning vehicle for automatically driving and cleaning the latticed glass row by row or column by column in sequence based on the arrangement data of each latticed glass;acquiring a second sub-route of the cleaning vehicle which gradually approaches from the outer edge of the latticed glass to the center and avoids repeated driving and cleaning based on a cleaning work record;and communicating the first sub-route with the second sub-routes of the grid-shaped glasses to generate a cleaning route for automatically driving the cleaning vehicle to pass through and clean the grid-shaped glasses.
- The automated glass washing apparatus of claim 14, wherein the wash cart includes a nozzle, a washing brush, the nozzle spraying washing liquid, the washing brush rotating to wash the glass grid, the step of controlling the wash cart to perform a washing operation on the exterior glass according to the washing route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- The automated glass washing apparatus of claim 9, wherein the wash cart includes a nozzle, a washing brush, the nozzle spraying washing liquid, the washing brush rotating to wash the glass grid, the controlling the wash cart to perform the washing operation on the exterior glass according to the washing route includes:and when the area of the latticed glass is within the preset range, controlling a corresponding nozzle of the cleaning vehicle to firstly spray cleaning liquid to the latticed glass at one time, and then controlling the cleaning brush to rotate on the outer wall glass according to the cleaning route to brush the latticed glass.
- A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon an automatic driver's washing glass processing program which, when executed by a processor, implements the steps of the automatic driver's washing glass method according to claim 1.
- A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon an automatic driver's washing glass processing program which, when executed by a processor, implements the steps of the automatic driver's washing glass method according to claim 2.
- A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon an automatic driver's washing glass processing program which, when executed by a processor, implements the steps of the automatic driver's washing glass method according to claim 3.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081831 WO2018195767A1 (en) | 2017-04-25 | 2017-04-25 | Glass cleaning method and device based on automated driving, and computer readable storage medium |
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| Publication Number | Publication Date |
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| CN110418594A true CN110418594A (en) | 2019-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780088278.0A Pending CN110418594A (en) | 2017-04-25 | 2017-04-25 | Automatic Pilot cleans glass process, device and computer readable storage medium |
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| CN (1) | CN110418594A (en) |
| WO (1) | WO2018195767A1 (en) |
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| WO2018195767A1 (en) | 2018-11-01 |
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