CN118106286A - Control method and system of curved glass cleaning equipment - Google Patents
Control method and system of curved glass cleaning equipment Download PDFInfo
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- CN118106286A CN118106286A CN202410439617.7A CN202410439617A CN118106286A CN 118106286 A CN118106286 A CN 118106286A CN 202410439617 A CN202410439617 A CN 202410439617A CN 118106286 A CN118106286 A CN 118106286A
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- 239000011521 glass Substances 0.000 title claims abstract description 249
- 238000004140 cleaning Methods 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000004506 ultrasonic cleaning Methods 0.000 claims abstract description 241
- 230000001276 controlling effect Effects 0.000 claims description 14
- 230000004075 alteration Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 claims description 10
- 239000002689 soil Substances 0.000 claims description 9
- 238000011109 contamination Methods 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000011835 investigation Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 description 13
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000002596 correlated effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
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- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a control method and a control system of curved glass cleaning equipment, which define a dirt grade according to a dirt coefficient and the curved surface rate of an ultrasonic cleaning area; determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region; defining an inclination angle of the curved glass according to the curved glass image; determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range; the method comprises the steps of collecting the cleaning change rate of curved glass, dynamically adjusting ultrasonic cleaning logic based on the cleaning change rate of the curved glass, at the moment, determining a dirt coefficient based on an ultrasonic cleaning area so as to be convenient for fixing the dirt coefficient, further combining the dirt coefficient and the curved surface rate of the ultrasonic cleaning area so as to be convenient for defining the dirt level according to the dirt coefficient and the curved surface rate of the ultrasonic cleaning area, introducing the dirt level, realizing the control of the dirt level, further realizing targeted ultrasonic cleaning, and simultaneously adapting to the curved surface of the curved glass.
Description
Technical Field
The invention relates to the technical field of curved glass cleaning equipment, in particular to a control method and a control system of curved glass cleaning equipment.
Background
Along with development of science and technology, curved surface glass cleaning equipment is used as industrial equipment to clean curved surface glass, in curved surface glass cleaning equipment, a plurality of curved surface glass pass through the position that the ultrasonic wave was located in proper order so as to be washd by supersonic generator, in prior art, supersonic generator is to curved surface glass output default ultrasonic impact force, and washs curved surface glass through this ultrasonic impact force, however, the dirty condition that every curved surface glass corresponds is inconsistent, has the subregion of a plurality of different dirty grades, leads to curved surface glass's ultrasonic cleaning not comprehensive enough.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a control method and a control system for curved glass cleaning equipment.
In order to solve the technical problems, the embodiment of the invention provides a control method of curved glass cleaning equipment, which is applied to the curved glass cleaning equipment;
The control method of the curved glass cleaning equipment comprises the following steps:
Acquiring a curved glass image, and defining an ultrasonic cleaning area according to the curved glass image;
Determining a fouling factor based on the ultrasonically cleaned region;
Defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area;
Determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region;
Defining an inclination angle of the curved glass according to the curved glass image;
determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range;
and collecting the cleaning change rate of the curved glass, and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
Optionally, the acquiring the curved glass image and defining the ultrasonic cleaning area according to the curved glass image includes:
regulating and controlling the relative position of the camera and the curved glass, and defining the shooting direction of the camera;
Shooting the curved glass along the shooting direction of the camera, and acquiring a curved glass image;
image recognition is carried out on the curved glass image, and the surface and the frame of the curved glass are determined;
Defining a cleaning part of the curved glass based on the surface and the frame of the curved glass;
An ultrasonic cleaning region is defined according to the plurality of cleaning sites.
Optionally, the determining the fouling coefficient based on the ultrasonic cleaning area includes:
A grid-fixed ultrasonic cleaning area;
performing area investigation on the ultrasonic cleaning area, and defining a chromatic aberration area;
extracting color difference characteristics according to the color difference area;
The chromatic aberration characteristics are checked to define dirt characteristics and positions of the dirt characteristics;
dividing a dirty region according to the dirty characteristics and the positions of the dirty characteristics;
dividing a plurality of subareas with different chromatic aberration in a dirty area, and defining dirty coefficients of the subareas;
A soil coefficient is determined based on the soil coefficients of the plurality of sub-regions and the coefficient model.
Optionally, the defining the dirt level according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area includes:
A grid-fixed ultrasonic cleaning area;
Performing attitude test based on the ultrasonic cleaning area, and collecting the camber rate of the ultrasonic cleaning area;
correlating the camber rate of the ultrasonic cleaning area with the dirt coefficient;
The dirt grade is defined according to the curvature rate, dirt coefficient and grade table of the ultrasonic cleaning area.
Optionally, the determining the ultrasonic cleaning range based on the dirt level and the dirt area of the ultrasonic cleaning area includes:
A dirty region is fixed in a grid based on the ultrasonic cleaning region;
Scanning the area according to the dirty area, and defining the dirty area of the ultrasonic cleaning area;
the coverage area is defined based on the dirty area of the ultrasonic cleaning region and the camber rate of the ultrasonic cleaning region.
Optionally, the determining the ultrasonic cleaning range based on the dirt level and the dirt area of the ultrasonic cleaning area further includes:
correlating the dirt level with the coverage area;
defining a spread range based on the dirt level and the coverage area;
the ultrasonic cleaning range is defined based on the dirty region and the out-spread range.
Optionally, the defining the inclination angle of the curved glass according to the curved glass image includes:
A fixed-grid curved glass image;
defining middle characteristics and edge characteristics of the curved glass according to the curved glass image;
constructing an inclination model based on the middle feature and the edge feature;
and (5) performing inclination measurement according to the inclination model, and defining the inclination angle of the curved glass.
Optionally, the determining the ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range includes:
collecting the inclination angle of curved glass;
correlating the inclination angle of the curved glass with the ultrasonic cleaning range;
if the inclination angle of the curved glass is larger than the preset inclination angle, acquiring the inclination direction of the curved glass;
Defining a change step chart according to the inclination direction of the curved glass and the inclination angle of the curved glass;
collecting dirt grade of each step part in the change step chart;
ultrasonic cleaning logic is determined based on the soil level of each step portion.
Optionally, the collecting the cleaning change rate of the curved glass and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass includes:
defining each step part in the change step diagram;
carrying out dirt dynamic detection on each step part in the change step graph, and recording the change of dirt coefficients of the step parts;
Defining a cleaning change rate of the curved glass according to the change of the dirt coefficient of the step part;
And adjusting ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
In addition, the embodiment of the invention also provides a control system of the curved glass cleaning equipment, which comprises:
the acquisition module is used for acquiring a curved glass image and defining an ultrasonic cleaning area according to the curved glass image;
a fouling factor module for determining a fouling factor based on the ultrasonic cleaning zone;
the dirt grade module is used for defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area;
The ultrasonic cleaning range module is used for determining an ultrasonic cleaning range based on the dirt grade and the dirt area of the ultrasonic cleaning area;
The inclination angle module is used for defining the inclination angle of the curved glass according to the curved glass image;
The ultrasonic cleaning logic module is used for determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range;
the adjusting module is used for collecting the cleaning change rate of the curved glass and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
In the embodiment of the invention, a curved glass image is obtained by the method in the embodiment of the invention, and an ultrasonic cleaning area is defined according to the curved glass image; determining a fouling factor based on the ultrasonically cleaned region; defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area; determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region; defining an inclination angle of the curved glass according to the curved glass image; determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range; the method comprises the steps of collecting the cleaning change rate of curved glass, dynamically adjusting ultrasonic cleaning logic based on the cleaning change rate of the curved glass, at the moment, determining a pollution coefficient based on an ultrasonic cleaning area so as to be convenient for fixing the pollution coefficient, further combining the pollution coefficient and the curved surface rate of the ultrasonic cleaning area so as to be convenient for defining the pollution level according to the pollution coefficient and the curved surface rate of the ultrasonic cleaning area, introducing the pollution level, realizing the control of the pollution level, further realizing targeted ultrasonic cleaning, simultaneously determining an ultrasonic cleaning range based on the pollution level and the dirty area of the ultrasonic cleaning area, further controlling the ultrasonic cleaning range, ensuring the ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range, adapting to the curved surface property of the curved glass, and more comprehensively cleaning the curved glass by adopting the corresponding ultrasonic cleaning logic.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a control method of a curved glass cleaning apparatus in an embodiment of the present invention;
FIG. 2 is a schematic flow chart of S11 in a control method of a curved glass cleaning apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of S12 in the control method of the curved glass cleaning apparatus in the embodiment of the invention;
FIG. 4 is a schematic flow chart of S13 in the control method of the curved glass cleaning apparatus in the embodiment of the invention;
FIG. 5 is a schematic flow chart of S14 in the control method of the curved glass cleaning apparatus in the embodiment of the invention;
FIG. 6 is a schematic flow chart of S15 in the control method of the curved glass cleaning apparatus in the embodiment of the invention;
FIG. 7 is a schematic flow chart of S16 in the control method of the curved glass cleaning apparatus in the embodiment of the invention;
FIG. 8 is a schematic flow chart of S17 in the control method of the curved glass cleaning apparatus in the embodiment of the invention;
FIG. 9 is a schematic structural diagram of a control system of a curved glass cleaning apparatus in accordance with an embodiment of the present invention;
Fig. 10 is a hardware diagram of an electronic device, according to an example embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to fig. 1 to 10, a control method of a curved glass cleaning apparatus is applied to the curved glass cleaning apparatus; the control method of the curved glass cleaning equipment comprises the following steps:
step S11: acquiring a curved glass image, and defining an ultrasonic cleaning area according to the curved glass image;
step S12: determining a fouling factor based on the ultrasonically cleaned region;
step S13: defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area;
Step S14: determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region;
Step S15: defining an inclination angle of the curved glass according to the curved glass image;
step S16: determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range;
step S17: and collecting the cleaning change rate of the curved glass, and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
In the embodiment of the invention, a curved glass image is obtained by the method in the embodiment of the invention, and an ultrasonic cleaning area is defined according to the curved glass image; determining a fouling factor based on the ultrasonically cleaned region; defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area; determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region; defining an inclination angle of the curved glass according to the curved glass image; determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range; the method comprises the steps of collecting the cleaning change rate of curved glass, dynamically adjusting ultrasonic cleaning logic based on the cleaning change rate of the curved glass, at the moment, determining a pollution coefficient based on an ultrasonic cleaning area so as to be convenient for fixing the pollution coefficient, further combining the pollution coefficient and the curved surface rate of the ultrasonic cleaning area so as to be convenient for defining the pollution level according to the pollution coefficient and the curved surface rate of the ultrasonic cleaning area, introducing the pollution level, realizing the control of the pollution level, further realizing targeted ultrasonic cleaning, simultaneously determining an ultrasonic cleaning range based on the pollution level and the dirty area of the ultrasonic cleaning area, further controlling the ultrasonic cleaning range, ensuring the ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range, adapting to the curved surface property of the curved glass, and more comprehensively cleaning the curved glass by adopting the corresponding ultrasonic cleaning logic.
In step S11, a curved glass image is obtained, and an ultrasonic cleaning area is defined according to the curved glass image;
In the embodiment of the application, the curved glass image is acquired so as to be further processed according to the curved glass image, so that the ultrasonic cleaning area is defined based on the curved glass image, and the ultrasonic cleaning area is controlled, so that the subsequent processing is ensured.
In the implementation process of the invention, the specific steps can be as follows:
s111: regulating and controlling the relative position of the camera and the curved glass, and defining the shooting direction of the camera;
S112: shooting the curved glass along the shooting direction of the camera, and acquiring a curved glass image;
S113: image recognition is carried out on the curved glass image, and the surface and the frame of the curved glass are determined;
s114: defining a cleaning part of the curved glass based on the surface and the frame of the curved glass;
S115: an ultrasonic cleaning region is defined according to the plurality of cleaning sites.
In the embodiment of the application, the relative position of the camera and the curved glass is defined so as to conveniently regulate and control the relative position of the camera and the curved glass, thereby defining the shooting direction of the camera, ensuring that the shooting direction of the camera faces the curved glass, shooting the curved glass along the shooting direction of the camera at the moment, acquiring the curved glass image, and ensuring the subsequent processing of the curved glass image.
At the moment, the curved glass image is introduced so as to facilitate image recognition of the curved glass image, so that the surface and the frame of the curved glass are determined based on the image recognition of the curved glass image, the surface and the frame of the curved glass are subjected to characteristic processing, the cleaning position of the curved glass is defined based on the surface and the frame of the curved glass, the cleaning position of the curved glass is defined, further the cleaning position of the curved glass is subjected to subsequent processing, and meanwhile, a plurality of cleaning positions are introduced so as to facilitate correlation of the cleaning positions, an ultrasonic cleaning area is defined according to the cleaning positions, and the ultrasonic cleaning area is ensured.
In step S12, a contamination coefficient is determined based on the ultrasonic cleaning region;
In an embodiment of the application, an ultrasonic cleaning area is introduced, and the ultrasonic cleaning area is subjected to further area processing, so that the pollution coefficient is determined based on the ultrasonic cleaning area, and the pollution coefficient is determined and controlled for the ultrasonic cleaning area.
In the implementation process of the invention, the specific steps can be as follows:
s121: a grid-fixed ultrasonic cleaning area;
s122: performing area investigation on the ultrasonic cleaning area, and defining a chromatic aberration area;
s123: extracting color difference characteristics according to the color difference area;
S124: the chromatic aberration characteristics are checked to define dirt characteristics and positions of the dirt characteristics;
S125: dividing a dirty region according to the dirty characteristics and the positions of the dirty characteristics;
S126: dividing a plurality of subareas with different chromatic aberration in a dirty area, and defining dirty coefficients of the subareas;
s127: a soil coefficient is determined based on the soil coefficients of the plurality of sub-regions and the coefficient model.
In the embodiment of the application, the area is checked in the fixed-grid ultrasonic cleaning area, so that the color difference part is conveniently defined, the color difference area is ensured, the customizing treatment is conveniently carried out on the color difference area, and the whole treatment on the ultrasonic cleaning area is avoided.
Therefore, the color difference features are extracted according to the color difference regions so as to define the color difference features, the color difference features are further processed so as to facilitate the investigation of the color difference features, the positions of the dirty features and the dirty features are defined, and the positions of the dirty features and the dirty features are introduced, so that the dirty regions are divided according to the positions of the dirty features and the dirty features, and the dirty regions are controlled conveniently.
Meanwhile, in a dirty area, dividing a plurality of subareas with different chromatic aberration, and defining dirty coefficients of the subareas; the pollution coefficient is determined based on the pollution coefficients of the plurality of subareas and the coefficient model, the influence of the pollution coefficients of the subareas is fully considered, the management and control of the pollution coefficients of the subareas are ensured, and the pollution coefficients are determined based on the pollution coefficients of the plurality of subareas and the coefficient model.
In step S13, a contamination level is defined according to the contamination coefficient and the curvature rate of the ultrasonic cleaning area;
In the embodiment of the application, the pollution coefficient and the curvature rate of the ultrasonic cleaning area are introduced so as to correlate the pollution coefficient and the curvature rate of the ultrasonic cleaning area, thereby defining the pollution level according to the pollution coefficient and the curvature rate of the ultrasonic cleaning area and further carrying out subsequent treatment through the pollution level.
In the implementation process of the invention, the specific steps can be as follows:
s131: a grid-fixed ultrasonic cleaning area;
S132: performing attitude test based on the ultrasonic cleaning area, and collecting the camber rate of the ultrasonic cleaning area;
S133: correlating the camber rate of the ultrasonic cleaning area with the dirt coefficient;
S134: the dirt grade is defined according to the curvature rate, dirt coefficient and grade table of the ultrasonic cleaning area.
In the embodiment of the application, the ultrasonic cleaning area is controlled so as to conveniently freeze the ultrasonic cleaning area, at the moment, the ultrasonic cleaning area is introduced, and the attitude test is performed based on the ultrasonic cleaning area, so that the curvature rate is output under the attitude test of the ultrasonic cleaning area, the collection of the curvature rate of the ultrasonic cleaning area is realized, and the accuracy of the curvature rate of the ultrasonic cleaning area is ensured.
Further, the curvature rate and the pollution coefficient of the ultrasonic cleaning area are correlated, so that the curvature rate and the pollution coefficient of the ultrasonic cleaning area are conveniently controlled, the curvature rate and the pollution coefficient of the ultrasonic cleaning area are combined, at the moment, the curvature rate and the pollution coefficient of the ultrasonic cleaning area are compared with the grade table, and the pollution grade is conveniently defined according to the curvature rate, the pollution coefficient and the grade table of the ultrasonic cleaning area, so that the pollution grade is determined, and the control of the pollution grade is realized.
S14: determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region;
In the embodiment of the application, the dirt grade and the dirt area of the ultrasonic cleaning area are introduced, and the dirt grade and the dirt area of the ultrasonic cleaning area are associated, so that the ultrasonic cleaning range is determined based on the dirt grade and the dirt area of the ultrasonic cleaning area, the ultrasonic cleaning range is further defined, the ultrasonic cleaning range is ensured, the curved glass is conveniently and specifically cleaned based on the ultrasonic cleaning range, and the cleaning efficiency of the curved glass is improved.
In the implementation process of the invention, the specific steps can be as follows:
S141: a dirty region is fixed in a grid based on the ultrasonic cleaning region;
S142: scanning the area according to the dirty area, and defining the dirty area of the ultrasonic cleaning area;
s143: defining a coverage area based on a dirty area of the ultrasonic cleaning area and a curvature rate of the ultrasonic cleaning area;
In the embodiment of the application, in the ultrasonic cleaning area, the ultrasonic cleaning area is divided into areas, so that the dirty area is fixed on the basis of the ultrasonic cleaning area, and the dirty area is scanned for facilitating the deep analysis of the dirty area, so that the dirty area of the ultrasonic cleaning area is defined. At this time, the dirty area of the ultrasonic cleaning region and the curvature of the ultrasonic cleaning region are correlated, and the curved surface characteristics of the curved glass are sufficiently considered, so that the coverage area is defined based on the dirty area of the ultrasonic cleaning region and the curvature of the ultrasonic cleaning region.
S144: correlating the dirt level with the coverage area;
S145: defining a spread range based on the dirt level and the coverage area;
S146: defining an ultrasonic cleaning range based on the dirty region and the out-spread range;
At this time, the dirt grade and the coverage area are associated, and the dirt grade and the coverage area are fully considered so as to define the expansion range based on the dirt grade and the coverage area, thereby defining the expansion range, further defining the ultrasonic cleaning range based on the dirt area and the expansion range, ensuring the accuracy of the ultrasonic cleaning range and considering the influence of the dirt grade and the coverage area.
S15: defining an inclination angle of the curved glass according to the curved glass image;
in the implementation process of the invention, the specific steps can be as follows:
s151: a fixed-grid curved glass image;
s152: defining middle characteristics and edge characteristics of the curved glass according to the curved glass image;
s153: constructing an inclination model based on the middle feature and the edge feature;
s154: and (5) performing inclination measurement according to the inclination model, and defining the inclination angle of the curved glass.
In the embodiment of the application, the image processing is carried out on the curved glass image, so that the middle characteristic and the edge characteristic of the curved glass are defined according to the curved glass image, at the moment, the middle characteristic and the edge characteristic of the curved glass are introduced, so that an inclination model is constructed based on the middle characteristic and the edge characteristic, the inclination model is controlled, so that inclination measurement is carried out according to the inclination model, the inclination angle of the curved glass is defined, the cleaning position of the curved glass from the middle to the edge is fully considered, and meanwhile, the subsequent cleaning treatment is carried out based on the inclination angle of the curved glass.
S16: determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range;
in the implementation process of the invention, the specific steps can be as follows:
s161: collecting the inclination angle of curved glass;
s162: correlating the inclination angle of the curved glass with the ultrasonic cleaning range;
S163: if the inclination angle of the curved glass is larger than the preset inclination angle, acquiring the inclination direction of the curved glass;
s164: defining a change step chart according to the inclination direction of the curved glass and the inclination angle of the curved glass;
s165: collecting dirt grade of each step part in the change step chart;
s166: ultrasonic cleaning logic is determined based on the soil level of each step portion.
In the embodiment of the application, the inclination angle of the curved glass is collected, and the subsequent processing is performed based on the inclination angle of the curved glass so as to correlate the inclination angle of the curved glass with the ultrasonic cleaning range, thereby controlling the inclination angle of the curved glass and the ultrasonic cleaning range.
Meanwhile, if the inclination angle of the curved glass is larger than the preset inclination angle, the inclination direction of the curved glass is collected so as to facilitate control based on the inclination direction of the curved glass, so that a change step chart is defined according to the inclination direction of the curved glass and the inclination angle of the curved glass, and at the moment, the change step chart records the dirt grade in each gradient.
Thus, the dirt level of each step part in the change step chart is collected; and determining ultrasonic cleaning logic based on the dirt level of each step part, determining an ultrasonic cleaning range based on the dirt level and the dirt area of the ultrasonic cleaning area, further controlling the ultrasonic cleaning range, ensuring the determination of the ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range, adapting to the curvedness of the curved glass, more comprehensively cleaning the curved glass by ultrasonic waves, and adopting the corresponding ultrasonic cleaning logic.
S17: collecting the cleaning change rate of the curved glass, and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass;
in the implementation process of the invention, the specific steps can be as follows:
s171: defining each step part in the change step diagram;
S172: carrying out dirt dynamic detection on each step part in the change step graph, and recording the change of dirt coefficients of the step parts;
s173: defining a cleaning change rate of the curved glass according to the change of the dirt coefficient of the step part;
S174: and adjusting ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
In the embodiment of the application, the change step diagram is fixed in a grid so as to conveniently control the change step diagram, at the moment, each step part in the change step diagram is defined, and the control is performed based on each step part, so that the dirt dynamic detection is performed on each step part in the change step diagram, and the change of the dirt coefficient of the step part is recorded.
At this time, the change of the dirt coefficient of the step part is recorded so as to define the change of the dirt coefficient of the step part, thereby defining the cleaning change rate of the curved glass based on the change of the dirt coefficient so as to introduce the cleaning change rate of the curved glass, further realizing the dynamic change of the ultrasonic cleaning logic based on the cleaning change rate of the curved glass and adjusting the ultrasonic cleaning logic, monitoring the cleaning condition of the curved glass in real time, avoiding the cleaning by adopting a single logic, and further ensuring the cleaning effect of the curved glass.
In the embodiment of the application, a curved glass image is obtained, and an ultrasonic cleaning area is defined according to the curved glass image; determining a fouling factor based on the ultrasonically cleaned region; defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area; determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region; defining an inclination angle of the curved glass according to the curved glass image; determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range; the method comprises the steps of collecting the cleaning change rate of curved glass, dynamically adjusting ultrasonic cleaning logic based on the cleaning change rate of the curved glass, at the moment, determining a pollution coefficient based on an ultrasonic cleaning area so as to be convenient for fixing the pollution coefficient, further combining the pollution coefficient and the curved surface rate of the ultrasonic cleaning area so as to be convenient for defining the pollution level according to the pollution coefficient and the curved surface rate of the ultrasonic cleaning area, introducing the pollution level, realizing the control of the pollution level, further realizing targeted ultrasonic cleaning, simultaneously determining an ultrasonic cleaning range based on the pollution level and the dirty area of the ultrasonic cleaning area, further controlling the ultrasonic cleaning range, ensuring the ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range, adapting to the curved surface property of the curved glass, and more comprehensively cleaning the curved glass by adopting the corresponding ultrasonic cleaning logic.
Examples
Referring to fig. 9, fig. 9 is a schematic structural diagram of a control system of a curved glass cleaning apparatus according to an embodiment of the invention.
As shown in fig. 9, a control system of a curved glass cleaning apparatus, the control system of the curved glass cleaning apparatus comprising:
An acquisition module 21, configured to acquire a curved glass image, and define an ultrasonic cleaning area according to the curved glass image;
A fouling factor module 22 for determining a fouling factor based on the ultrasonically cleaned area;
a contamination level module 23 for defining a contamination level according to the contamination coefficient and the curvature rate of the ultrasonic cleaning area;
An ultrasonic cleaning range module 24 for determining an ultrasonic cleaning range based on the dirt level and the dirt area of the ultrasonic cleaning region;
a tilt angle module 25 for defining a tilt angle of the curved glass from the curved glass image;
An ultrasonic cleaning logic module 26 for determining an ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range;
And the adjusting module 27 is used for collecting the cleaning change rate of the curved glass and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
Examples
Referring to fig. 10, an electronic device 40 according to this embodiment of the present invention is described below with reference to fig. 10. The electronic device 40 shown in fig. 10 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 10, the electronic device 40 is in the form of a general purpose computing device. Components of electronic device 40 may include, but are not limited to: the at least one processing unit 41, the at least one memory unit 42, a bus 43 connecting the different system components, including the memory unit 42 and the processing unit 41.
Wherein the storage unit stores program code that is executable by the processing unit 41 such that the processing unit 41 performs the steps according to various exemplary embodiments of the present invention described in the above-described "example methods" section of the present specification.
The memory unit 42 may include readable media in the form of volatile memory units, such as Random Access Memory (RAM) 421 and/or cache memory 422, and may further include Read Only Memory (ROM) 423.
The storage unit 42 may also include a program/utility 424 having a set (at least one) of program modules 425, such program modules 425 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The bus 43 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
Electronic device 40 may also communicate with one or more external devices (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 40, and/or any device (e.g., router, modem, etc.) that enables electronic device 40 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 44. Also, electronic device 40 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, via network adapter 45. As shown in fig. 10, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be appreciated that although not shown in fig. 10, other hardware and/or software modules may be used in connection with electronic device 40, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup planning systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program to instruct related hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: read Only Memory (ROM), random access Memory (RAM, randomAccess Memory), magnetic disk or optical disk, and the like. And which stores computer program instructions which, when executed by a computer, cause the computer to perform a method according to the above.
In addition, the control method and system of the curved glass cleaning device provided by the embodiment of the present invention are described in detail, and specific examples should be adopted to illustrate the principles and embodiments of the present invention, and the description of the above examples is only used to help understand the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A control method of curved glass cleaning equipment is characterized by being applied to the curved glass cleaning equipment;
The control method of the curved glass cleaning equipment comprises the following steps:
Acquiring a curved glass image, and defining an ultrasonic cleaning area according to the curved glass image;
Determining a fouling factor based on the ultrasonically cleaned region;
Defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area;
Determining an ultrasonic cleaning range based on the dirt level and a dirt area of the ultrasonic cleaning region;
Defining an inclination angle of the curved glass according to the curved glass image;
determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range;
and collecting the cleaning change rate of the curved glass, and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
2. The method of controlling a curved glass cleaning apparatus according to claim 1, wherein the acquiring the curved glass image and defining the ultrasonic cleaning area based on the curved glass image comprises:
regulating and controlling the relative position of the camera and the curved glass, and defining the shooting direction of the camera;
Shooting the curved glass along the shooting direction of the camera, and acquiring a curved glass image;
image recognition is carried out on the curved glass image, and the surface and the frame of the curved glass are determined;
Defining a cleaning part of the curved glass based on the surface and the frame of the curved glass;
An ultrasonic cleaning region is defined according to the plurality of cleaning sites.
3. The method of controlling a curved glass cleaning apparatus according to claim 2, wherein the determining the fouling factor based on the ultrasonic cleaning area comprises:
A grid-fixed ultrasonic cleaning area;
performing area investigation on the ultrasonic cleaning area, and defining a chromatic aberration area;
extracting color difference characteristics according to the color difference area;
The chromatic aberration characteristics are checked to define dirt characteristics and positions of the dirt characteristics;
dividing a dirty region according to the dirty characteristics and the positions of the dirty characteristics;
dividing a plurality of subareas with different chromatic aberration in a dirty area, and defining dirty coefficients of the subareas;
A soil coefficient is determined based on the soil coefficients of the plurality of sub-regions and the coefficient model.
4. A control method of a curved glass cleaning apparatus according to claim 3, wherein said defining the level of contamination according to the contamination factor and the curvature ratio of the ultrasonic cleaning area comprises:
A grid-fixed ultrasonic cleaning area;
Performing attitude test based on the ultrasonic cleaning area, and collecting the camber rate of the ultrasonic cleaning area;
correlating the camber rate of the ultrasonic cleaning area with the dirt coefficient;
The dirt grade is defined according to the curvature rate, dirt coefficient and grade table of the ultrasonic cleaning area.
5. The method of controlling a curved glass cleaning apparatus according to claim 4, wherein the determining the ultrasonic cleaning range based on the dirt level and the dirt area of the ultrasonic cleaning region comprises:
A dirty region is fixed in a grid based on the ultrasonic cleaning region;
Scanning the area according to the dirty area, and defining the dirty area of the ultrasonic cleaning area;
the coverage area is defined based on the dirty area of the ultrasonic cleaning region and the camber rate of the ultrasonic cleaning region.
6. The method of controlling a curved glass cleaning apparatus according to claim 5, wherein the determining the ultrasonic cleaning range based on the dirt level and the dirt area of the ultrasonic cleaning region further comprises:
correlating the dirt level with the coverage area;
defining a spread range based on the dirt level and the coverage area;
the ultrasonic cleaning range is defined based on the dirty region and the out-spread range.
7. The method of controlling a curved glass cleaning apparatus according to claim 6, wherein the defining the inclination angle of the curved glass based on the curved glass image comprises:
A fixed-grid curved glass image;
defining middle characteristics and edge characteristics of the curved glass according to the curved glass image;
constructing an inclination model based on the middle feature and the edge feature;
and (5) performing inclination measurement according to the inclination model, and defining the inclination angle of the curved glass.
8. The method of controlling a curved glass cleaning apparatus according to claim 7, wherein the determining the ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range comprises:
collecting the inclination angle of curved glass;
correlating the inclination angle of the curved glass with the ultrasonic cleaning range;
if the inclination angle of the curved glass is larger than the preset inclination angle, acquiring the inclination direction of the curved glass;
Defining a change step chart according to the inclination direction of the curved glass and the inclination angle of the curved glass;
collecting dirt grade of each step part in the change step chart;
ultrasonic cleaning logic is determined based on the soil level of each step portion.
9. The method of claim 8, wherein the collecting the cleaning rate of change of the curved glass and dynamically adjusting the ultrasonic cleaning logic based on the cleaning rate of change of the curved glass comprises:
defining each step part in the change step diagram;
carrying out dirt dynamic detection on each step part in the change step graph, and recording the change of dirt coefficients of the step parts;
Defining a cleaning change rate of the curved glass according to the change of the dirt coefficient of the step part;
And adjusting ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
10. A control system of a curved glass cleaning apparatus, characterized in that the control system of a curved glass cleaning apparatus is applied to the control method of a curved glass cleaning apparatus according to any one of claims 1 to 9, the control system of a curved glass cleaning apparatus comprising:
the acquisition module is used for acquiring a curved glass image and defining an ultrasonic cleaning area according to the curved glass image;
a fouling factor module for determining a fouling factor based on the ultrasonic cleaning zone;
the dirt grade module is used for defining a dirt grade according to the dirt coefficient and the curvature rate of the ultrasonic cleaning area;
The ultrasonic cleaning range module is used for determining an ultrasonic cleaning range based on the dirt grade and the dirt area of the ultrasonic cleaning area;
The inclination angle module is used for defining the inclination angle of the curved glass according to the curved glass image;
The ultrasonic cleaning logic module is used for determining ultrasonic cleaning logic based on the inclination angle of the curved glass and the ultrasonic cleaning range;
the adjusting module is used for collecting the cleaning change rate of the curved glass and dynamically adjusting the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.
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