CN113909207A - Ultrasonic cleaning method and system for glass manufacturing - Google Patents
Ultrasonic cleaning method and system for glass manufacturing Download PDFInfo
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- CN113909207A CN113909207A CN202111019677.6A CN202111019677A CN113909207A CN 113909207 A CN113909207 A CN 113909207A CN 202111019677 A CN202111019677 A CN 202111019677A CN 113909207 A CN113909207 A CN 113909207A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/12—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration by sonic or ultrasonic vibrations
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Abstract
The invention discloses an ultrasonic cleaning system, in particular to an ultrasonic cleaning method and system for glass manufacturing, belonging to the field of glass manufacturing; the invention establishes network map models of different glasses; selecting a network map model under the scene from a database according to different working occasions, wherein the network map model is only required to be established once when being started every time, so that the network map model can be closed when the result works; secondly, establishing communication connection; the ultrasonic cleaning device establishes communication connection with the terminal base station, the total base station and the district base station by taking the ultrasonic cleaning device as a center; carrying out automatic positioning; performing three-point positioning according to the distances between the ultrasonic cleaning device and the terminal base station and between the total base station and the district base station, so as to obtain the specific position of the ultrasonic cleaning device at the moment; finally, receiving a working instruction and carrying out working driving; and according to the position of the ultrasonic cleaning device, carrying out a work instruction issued by the base station of the receiving area.
Description
Technical Field
The invention discloses a positioning system of an ultrasonic cleaning device, in particular relates to an ultrasonic cleaning method and system for glass manufacturing, and belongs to the field of ultrasonic cleaning devices.
Background
Glass is mainly used in the fields of architecture, automotive and photovoltaic as an industrial product that is widely used. However, the development of glass manufacturing enterprises is not optimistic, such as the implementation of "five nations", the regulation policy of buildings and cities is tight, the material cost, the labor cost, the logistics cost and the cost of channel expansion are further increased, and greater pressure is brought to the glass manufacturing enterprises, so that the cost is increased but the sale price is difficult to increase. In addition, the national energy conservation and emission reduction force is further increased, and the environmental protection cost of glass manufacturing enterprises is increased. Therefore, how to improve the competitiveness of the enterprise and how to maintain the competitive advantage of the enterprise become important factors influencing the development of the enterprise. Reducing financial costs, and accurately integrating financial cost information has become one of the important factors in determining the competitive strength of enterprises. At present, the variety of products is increasingly abundant, the product structure is increasingly complex, the products are produced according to the order requirement, and the production period is shorter and shorter. The traditional mass, standardized production model is gradually replaced by a diversified, non-standard production model. There are indications that traditional manufacturing cost methods have become increasingly inadequate to accommodate the development of today's businesses and society.
In the prior art, glass needs to be cleaned after being manufactured, so that the smoothness of the glass is ensured; meanwhile, in the prior art, only rough surface cleaning is carried out, and some fine impurities cannot be really removed; resulting in a decrease in strength of the glass during use.
Disclosure of Invention
The purpose of the invention is as follows: an ultrasonic cleaning method and system for glass manufacturing are provided to solve the above problems.
The technical scheme is as follows: an ultrasonic cleaning method for glass manufacturing, comprising:
establishing a network map model; selecting a lower network map model of the scene from a database according to different working occasions, wherein the network map model is established only once when being started every time, so that the network map model is closed when the result works;
establishing communication connection; the ultrasonic cleaning device is respectively in communication connection with the terminal base station, the main base station and the district base station;
carrying out automatic positioning; performing three-point positioning according to the distances between the ultrasonic cleaning device and the terminal base station and between the total base station and the district base station, so as to obtain the specific position of the ultrasonic cleaning device at the moment;
receiving a working instruction and carrying out working driving; and according to the position of the ultrasonic cleaning device, carrying out a work instruction issued by the base station of the receiving area.
An ultrasonic cleaning device positioning system comprising:
the communication unit is used for establishing communication connection between the ultrasonic cleaning device and the base station and transmitting working data;
the main control unit is used for processing data and sending control instructions;
a drive unit for driving the ultrasonic cleaning device;
and the error reporting unit is used for performing work feedback and error recording.
Has the advantages that: according to the invention, when the ultrasonic cleaning device is started, the communication channel is established between the ultrasonic cleaning device and the base station, so that the position of the ultrasonic cleaning device at the moment can be obtained, meanwhile, when the ultrasonic cleaning device works normally, the working path is firstly calculated, the optimal path is selected, meanwhile, during running, the peripheral obstacles are detected through ultrasonic waves, the obstacle distance is calculated, so that the safety of work can be effectively ensured, and meanwhile, when the work is finished, the next impurity can be cleaned according to the obstacle position.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a schematic view of the automatic positioning of the present invention.
Fig. 3 is a schematic diagram of the obstacle avoidance operation of the present invention.
Fig. 4 is a flowchart of the obstacle avoidance operation of the present invention.
Fig. 5 is a flow chart of an obstacle avoidance module of the present invention.
Detailed Description
An ultrasonic cleaning method for glass manufacturing, comprising:
establishing a network map model; selecting a lower network map model of the scene from a database according to different working occasions, wherein the network map model is established only once when being started every time, so that the network map model is closed when the result works;
establishing communication connection; the ultrasonic cleaning device is respectively in communication connection with the terminal base station, the main base station and the district base station;
carrying out automatic positioning; performing three-point positioning according to the distances between the ultrasonic cleaning device and the terminal base station and between the total base station and the district base station, so as to obtain the specific position of the ultrasonic cleaning device at the moment;
receiving a working instruction and carrying out working driving; according to the position of the ultrasonic cleaning device, a work instruction issued by a base station in a receiving area is carried out
According to the method, when the network map model is built, the current position map model is extracted according to the database, when the ultrasonic cleaning device builds the network map model for the first time, the three-dimensional objects and the incidence relation of the three-dimensional objects in the whole scene are converted into nodes and edges in a dual space, after conversion, the whole building information becomes a relation structure in which the nodes are connected at the edges, and the relation structure is simplified, so that the map model in the scene is obtained.
In one embodiment, because map models under different scenes are different and have large differences, when a network map model is established, a plane map is required to be established firstly, building components in the same region are screened according to working region information, and if the working region is of a one-layer structure and an independent region structure, the next step is carried out, namely, the geometric information plane of the building components in the working region is subjected to two-dimensional transformation and projected on the working region plane; then extracting geometric data of the inner wall of the building in the working area, and taking the geometric data as the outer boundary of the map; secondly, classifying all nodes of the geometric information plane, and taking the nodes of the working area as main information nodes and the terrain information nodes as structural nodes; connecting the main information nodes by using a solid line, and connecting the structural nodes by using a dotted line to form a basic map model;
specifically, the basic map module can generate node data with huge volume, and data redundancy is easy to form; therefore, the nodes are complicated, the overlapping degree is high, the work loading time is too long, and the data storage is increased, so that the node selection processing is required to be carried out through a computer technology, and the nodes are simplified;
firstly, flattening all nodes, removing overlapped nodes, reserving only one point, and further connecting adjacent nodes to form a flattened (top view) map model;
secondly, the working area is three-dimensionally arranged, after a plane map is completed, a node network in the model needs to be expanded to multiple layers, and a cleaning map needs to be established; according to the method, a glass top layer is used as an end point node of a single-layer plane map, longitudinal building layer association is established according to the number of layers, the top layer is used as a shelf layer transition element to abstract the top layer into nodes, and the nodes are connected with one another to form a topological relation from horizontal to vertical of a map model in a warehouse;
more specifically, the network map model is formed by merging the planarization of the terrain and the three-dimensional formation of the working area, the moving range of the ultrasonic cleaning device is limited due to the simplification of the map, and the working area is limited according to the difference of the ultrasonic cleaning device, so that the ultrasonic cleaning device can be effectively prevented from going to the area outside the map, and errors can be generated.
In one embodiment, the establishing of the communication connection is performed, a communication unit is arranged in the ultrasonic cleaning device, the communication unit sequentially establishes communication channels with the terminal base station, the total base station and the area base station, distance and position calculation is performed according to the communication channels, further, distances at three positions are respectively used as radii to make circles, and the intersection point of the three circles is the specific position of the ultrasonic cleaning device;
specifically, the communication unit in the ultrasonic cleaning device can establish communication channels with a terminal base station, a master base station and a district base station, and can establish connection with other base stations or workbenches, so that the ultrasonic cleaning device can be connected with a plurality of devices, but does not mean that the ultrasonic cleaning device can simultaneously execute a plurality of commands, and the specific commands need to be issued through the district base station, so that the commands are sequentially executed according to the sequence and the importance degree of the commands;
more specifically, when the ultrasonic cleaning device establishes communication channels with the terminal base station and the total base station and the district base station, the terminal base station, the total base station and the district base station can also establish communication with each other, but the terminal base station can access and control the authority of the total base station, the district base station and the ultrasonic cleaning device, but the total base station and the district base station can only access the authority under the total base station and the district base station, when the command is issued, the terminal base station can directly or arbitrarily issue the command to the total base station, the district base station and the ultrasonic cleaning device, and meanwhile, the command can be sequentially and orderly issued according to the program.
In one embodiment, four positions of the ultrasonic cleaning device, the terminal base station, the total base station and the area base station are established on a plane coordinate axis, and four positions can be obtained as follows: (x, y), (x)1，y1)、(x2，y2)、(x3，y3) (ii) a Further, it can be found that:
wherein (x, y) represents a coordinate axis position of the ultrasonic cleaning apparatus; (x)1，y1) Representing the coordinate axis position of the terminal base station; (x)2，y2) Coordinate axis positions representing the total base station; (x)3，y3) Representing the coordinate axis position of the cell site;
the distance between the terminal base station and the ultrasonic cleaning device is represented;
the distance between the total base station and the ultrasonic cleaning device is shown;
indicating the distance between the area base station and the ultrasonic cleaning device;
specifically, the positions of the ultrasonic cleaning device, the terminal base station, the total base station and the area base station are changed in real time during operation, so that when positioning is needed, the position needs to be recalculated through the communication unit.
In one embodiment, the receiving work order comprises a normal work order, a stop work order and other orders;
the normal working instruction is issued to a master base station of each warehouse through a terminal base station, the master base station of each warehouse distributes sub-base stations of areas of each warehouse according to instruction information, and then the area base stations send the working instruction and the working information to the ultrasonic cleaning device so as to drive the ultrasonic cleaning device to work;
the work stopping instruction only needs the district base station to perform timing trigger according to preset work time, and then when the work stopping time is reached, the district base station directly issues the work stopping instruction to the ultrasonic cleaning device, and the ultrasonic cleaning device receives the instruction to perform homing work;
other work refers to special work and unexpected work in the work, and this work order can only be sent to ultrasonic cleaning device through warehouse master base station to carry out work.
In a further embodiment, when the normal work instruction is executed, the received driving program is barrier-free path planning information, and when the driving program works, the detection devices on the four corners of the ultrasonic cleaning device can detect the predicted barriers caused by front, back, left and right in real time;
specifically, before a normal working instruction is executed, a mouth model program is initialized, a starting point and a target point are carried out, node information between the two points is extracted, connection between the working program and a database is established, the node information in the database is read, and the distance between the nodes is calculated; when the program is executed, the program firstly judges whether the input departure point exists in the database, if the task information is input correctly, the program calculates the shortest distance from the departure point to the target point by using an algorithm, and sequentially connects the nodes with the shortest distance to form path information and transmits the path information to the driving program for working;
more specifically, when the ultrasonic cleaning device receives a working command, the ultrasonic cleaning device gradually expands towards the outer layer by taking a starting point as a center, the shortest distance to each node is obtained until the ultrasonic cleaning device expands to a target point, the starting point is set as A, and the end point is set as B; a node set a may be obtained1And U1；
Initializing set A in the above1And U1Set A of1Indicating the shortest path node, U, already found1Indicating that no shortest path node is found; wherein, the distance between two nodes represents the weight, if the two nodes are connected, the weight is the length of the edge connecting the two points, if the two points are not connected, the weight between the two points is infinite;
sequentially mixing A with1Calculating the weight of all nodes in the node to obtain the minimum weight C, and judging U1If the C does not exist in the solution, the next step is carried out, otherwise, the C is deleted and the next step is carried out;
judging whether C is matched with the end point B, if so, determining that the C is the optimal path, otherwise, checking the C value; continuously traversing the nodes in the end point B by taking the C as an intermediate node, calculating the distance from the starting point A to the nodes in the end point B through the C node, and comparing the distance with the distance from the starting point A to the nodes not passing through the C node; if the distance passing through the C node is shorter than the distance not passing through the C node, the shortest distance is the new shortest distance, the node is the new intermediate node, and the node is added into the set A1And making a judgment on U1And whether the set is an empty set or not indicates that the shortest path from the starting point to the end point is not found if the set is the empty set, and matching is performed if the set is not the empty set.
In one embodiment, the stop instruction only needs the zone base station to perform timing triggering according to the preset working time, and when the stop time is reached, the zone base station directly issues the stop instruction to the ultrasonic cleaning device, and the ultrasonic cleaning device receives the instruction to perform homing work.
In a further embodiment, the stop instruction is that when the working time is over, the ultrasonic cleaning device performs current position positioning at the end of the working task, selects a path according to a preset end point, and drives the ultrasonic cleaning device to a specified point to end working;
specifically, when the ultrasonic cleaning device is driven to an end point at a low speed, the ultrasonic cleaning device obtains environmental information and pose information of the cleaning device in real time through a sensor, detects the information of the end point through the sensor and judges whether the end point meets the requirement of stopping the cleaning device; if the detected end location meets the requirement of the minimum parking space required for placing the cleaning device, an optimal path is planned for the cleaning device according to the detection result; then, controlling the cleaning device to automatically reset according to a preset path by controlling the steering wheel rotation angle and the speed of the cleaning device;
more specifically, because of the differences in the cleaning devices and the differences in the parking positions, the current position needs to be surveyed before the cleaning devices are placed, and then different homing modes are selected.
In one embodiment, when the ultrasonic cleaning device works, the obstacle avoidance module on the ultrasonic cleaning device works on the sound wave sensor, and then the external environment condition is detected by reflecting sound waves, so that the obstacle avoidance function can be achieved;
specifically, the acoustic wave sensor emits an ultrasonic wave of a fixed frequency. In the process of propagation, the sound waves are reflected after encountering obstacles. The frequency of the emitted ultrasonic wave is the same as that of the reflected ultrasonic wave. Therefore, the ultrasonic sensor can distinguish the reflected ultrasonic wave from acoustic signals of other frequencies in the environment, so as to capture the echo signal.
More specifically, the sound wave has loss in the transmission and reflection processes, and the amplitude change degree is inversely proportional to the detection distance; the farther away the obstruction, the lower the reflected acoustic energy; when the distance is large to a certain degree, the reflected sound wave signal is very weak and cannot be detected, and the sound wave ranging module reaches the upper limit of the measurement threshold; at present, the upper limit of a measurement threshold value based on an ultrasonic ranging module is generally 3-10 meters, and for a given sound wave sensor probe, the upper limit of the threshold value is mainly determined by transmitting power; the larger the acoustic emission energy, the higher the amplitude, and the further the detection distance.
In one embodiment, a specific workflow of the ultrasonic cleaning device is given below:
the remote control module firstly needs a user to select the ultrasonic cleaning device, inputs the destination point coordinate to which the ultrasonic cleaning device is required to be controlled to move in the link, and then selects to confirm the movement; if the movement is normal, ending; if the movement is wrong, quickly locking the point where the ultrasonic cleaning device is located and the point positions on the map around the ultrasonic cleaning device; if the locking fails, repeating the locking operation until the locking is successful; if the locking is successful, issuing a fault offline instruction to the cleaning device, and offline the cleaning device;
firstly, selecting an ultrasonic cleaning device by a district base station, and inputting the ultrasonic cleaning device as an input destination; then the system calls a moving function in the remote control class to generate an object of an instruction class and automatically initiates a user task; the system needs to call methods in the instruction service class to acquire the current state of the ultrasonic cleaning device, because only the ultrasonic cleaning device in the preparation state can execute tasks; if the ultrasonic cleaning device is not ready, an error is reported and the process is finished; if the ultrasonic cleaning device is in a ready state, the system calls an instruction distribution method of instruction service classes to distribute tasks to the ultrasonic cleaning device; and after the ultrasonic cleaning device finishes the task, the system calls a completion instruction method of the instruction service class to inform that the task is completed.
An ultrasonic cleaning device positioning system, comprising:
the communication unit is used for establishing communication connection between the ultrasonic cleaning device and the base station and transmitting working data;
the main control unit is used for processing data and sending control instructions;
a drive unit for driving the ultrasonic cleaning device;
and the error reporting unit is used for performing work feedback and error recording.
In one embodiment, the driving unit includes: the obstacle avoidance module is characterized in that at least four ultrasonic sensors are arranged on the ultrasonic cleaning device and used for transmitting ultrasonic waves to the periphery of the ultrasonic cleaning device, and the range of the sound waves is 90 degrees; meanwhile, the obstacle avoidance module is provided with a sound wave receiver for receiving the reflected ultrasonic waves;
specifically, the key point in the acoustic ranging is to precisely measure echo signals generated by an acoustic sensor, the accuracy of the echo signal measurement directly determines the data precision of the ultrasonic ranging system, a programmable logic device is selected as a main control device, a singlechip and a peripheral circuit thereof are matched to precisely detect the echo signals generated by the ultrasonic sensor, and the data are sent to an upper computer to wait for the next processing;
more specifically, the single chip microcomputer firstly generates a trigger pulse signal larger than 10 microseconds to be used as a trigger signal for the sound wave sensor arranged on the ultrasonic cleaning device, the sound wave sensor sends out ultrasonic waves after receiving the trigger signal, the ultrasonic waves return when meeting an obstacle, and then the sound wave sensor converts the trigger pulse signal into high level to be sent to the programmable logic device when receiving an echo signal, the programmable logic device detects the length of the echo signal, sends the obtained data to the single chip microcomputer for processing, and finally sends the processed data to the main control computer through a serial port communication mode to wait for the next processing;
when the echo high level is sent back by the acoustic wave sensor, the frequency is divided by an external frequency divider of the counter which is simultaneously sent to the input end of the counter in the programmable logic device, small pulses with the period of 16 mu s are generated, the number of the small pulses is recorded when the counter receives the small pulses, when the echo high level is finished, the input end of the counter is put low, the counter stops counting the number of the small pulses, and the single chip microcomputer sequentially reads the data in each counter; when reading data, the single chip microcomputer reads the low eight bits and the high four bits of the first counter firstly, then reads the low eight bits and the high four bits of the second counter, and so on until the data of the counters are read.
According to the content, after the system is powered on, the single chip generates a trigger pulse larger than 10 mu s to the acoustic wave sensor, after the trigger pulse signal is received, the interior of the acoustic wave sensor module sends out a pulse with a period of 40HZ, the echo signal is detected, and when the echo signal is detected, a high level is generated; the crystal oscillator at the periphery of the programmable logic device generates small pulses with the period of 16 mu s through frequency division, and at the moment, a counter in the programmable logic device records the number of the small pulses at the same time. When the echo high level finishes, the counter stops counting, transmits the count value to the singlechip, and the singlechip calculates the time length of the echo high level, namely:
L＝Z*16μs
S＝L*R/2
l represents the echo signal time length;
z represents the number of small pulse signals (the number of records of the counter);
s represents the obstacle distance;
r represents the transmission speed of the sound wave, and is 340m/s in a common case;
in the above, the industrial personal computer receives the data and then displays the distance measured by each ultrasonic probe through programming calculation of VB software.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (10)
1. An ultrasonic cleaning method for glass manufacturing, comprising:
establishing a network map model; selecting a lower network map model of the scene from a database according to different working occasions, wherein the network map model is established only once when being started every time, so that the network map model is closed when the result works;
establishing communication connection; the ultrasonic cleaning device is respectively in communication connection with the terminal base station, the main base station and the district base station;
carrying out automatic positioning; performing three-point positioning according to the distances between the ultrasonic cleaning device and the terminal base station and between the total base station and the district base station, so as to obtain the specific position of the ultrasonic cleaning device at the moment;
receiving a working instruction and carrying out working driving; and according to the position of the ultrasonic cleaning device, carrying out a work instruction issued by the base station of the receiving area.
2. The ultrasonic cleaning method for glass manufacturing according to claim 1, wherein the current position map model is extracted from the database when the network map model is built, and when the ultrasonic cleaning apparatus first builds the network map model, the three-dimensional object and the association relationship thereof in the entire scene are converted into nodes and edges in a dual space, and after the conversion, the entire building information becomes a node-edge connection relationship structure, and the relationship structure is simplified, thereby obtaining the map model in the scene.
3. The ultrasonic cleaning method for glass manufacturing according to claim 1, wherein the communication connection is established, a communication unit is provided in the ultrasonic cleaning apparatus, the communication unit sequentially establishes communication channels with the terminal base station, the master base station and the district base station, and performs distance position calculation according to the communication channels, and further makes circles with radii at three positions, and the intersection point of the three circles is the specific position of the ultrasonic cleaning apparatus.
4. The ultrasonic cleaning method for glass manufacturing according to claim 3, wherein four positions of the ultrasonic cleaning device, the terminal base station, the total base station and the area base station are established on one plane coordinate axis, and four positions are obtained: (x, y), (x)1，y1)、(x2，y2)、(x3，y3) (ii) a Further, it can be found that:
wherein (x, y) represents a coordinate axis position of the ultrasonic cleaning apparatus; (x)1，y1) Representing the coordinate axis position of the terminal base station; (x)2，y2) Coordinate axis positions representing the total base station; (x)3，y3) Representing the coordinate axis position of the cell site;
the distance between the terminal base station and the ultrasonic cleaning device is represented;
the distance between the total base station and the ultrasonic cleaning device is shown;
indicating the distance between the area base station and the ultrasonic cleaning device.
5. The ultrasonic cleaning method for glass manufacturing according to claim 1, wherein the received operation command includes a normal operation command, a stop operation command, and other commands;
the normal working instruction is issued to a master base station of each warehouse through a terminal base station, the master base station of each warehouse distributes sub-base stations of areas of each warehouse according to instruction information, and then the area base stations send the working instruction and the working information to the ultrasonic cleaning device so as to drive the ultrasonic cleaning device to work;
the work stopping instruction only needs the district base station to perform timing trigger according to preset work time, and then when the work stopping time is reached, the district base station directly issues the work stopping instruction to the ultrasonic cleaning device, and the ultrasonic cleaning device receives the instruction to perform homing work;
other work refers to special work and unexpected work in the work, and this work order can only be sent to ultrasonic cleaning device through warehouse master base station to carry out work.
6. The ultrasonic cleaning method for glass manufacturing according to claim 5, wherein before the normal operation command is executed, the mouth model program is initialized, then a start point and a target point are performed, node information between the two points is extracted, a connection between the operation program and the database is established, the node information in the database is read, and the distance between the nodes is calculated; when the program is executed, the program firstly judges whether the input departure point exists in the database, if the task information is input correctly, the program calculates the shortest distance from the departure point to the target point by using an algorithm, and sequentially connects the nodes with the shortest distance to form path information and transmits the path information to the driving program for working.
7. The ultrasonic cleaning method for glass manufacturing according to claim 6, wherein the driver received is clear path planning information when a normal operation command is executed, and the detection devices at the four corners of the ultrasonic cleaning device detect predicted obstacles in real time in front of, behind, left of, and right of the ultrasonic cleaning device when the ultrasonic cleaning device is operated.
8. The ultrasonic cleaning method and system for glass manufacturing according to claim 5, wherein the stop command is that when the operation time is over, the ultrasonic cleaning apparatus performs the current position positioning at the end of the operation task, performs the route selection according to the preset homing location, and drives to the specified location to end the operation.
9. An ultrasonic cleaning system for glass manufacturing, comprising:
the communication unit is used for establishing communication connection between the ultrasonic cleaning device and the base station and transmitting working data;
the main control unit is used for processing data and sending control instructions;
a drive unit for driving the ultrasonic cleaning device;
and the error reporting unit is used for performing work feedback and error recording.
10. The ultrasonic cleaning device positioning system of claim 9, wherein the drive unit comprises: the obstacle avoidance module is characterized in that at least four ultrasonic sensors are arranged on the ultrasonic cleaning device and used for transmitting ultrasonic waves to the periphery of the ultrasonic cleaning device, and the range of the sound waves is 90 degrees; and meanwhile, the obstacle avoidance module is provided with a sound wave receiver for receiving the reflected ultrasonic waves.
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| CN107456163A (en) * | 2017-09-06 | 2017-12-12 | 太仓埃特奥数据科技有限公司 | A kind of unmanned supermarket's health automation clean method |
| CN112739583A (en) * | 2020-02-17 | 2021-04-30 | 华为技术有限公司 | Window cleaning method, window cleaning device and vehicle |
| CN112965494A (en) * | 2021-02-09 | 2021-06-15 | 武汉理工大学 | Control system and method for pure electric automatic driving special vehicle in fixed area |
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