Control method, control system, device and readable storage medium for cleaning device

Abstract

The present application discloses a control method, control system, device and readable storage medium for a cleaning device. The cleaning device includes a device body and a brush body. The brush body is located at one end of the device body and has a preset width. When the device body moves toward one end, the brush body cleans the area of the preset width. The method includes: obtaining the detection result of the area to be cleaned; determining the cleaning path according to the detection result; the cleaning path includes at least a straight path and a turning path, the straight path includes a single-line segment and a double-line segment, and the end of the single-line segment is connected to the head end of the double-line segment and the head end of the turning path; controlling the cleaning device to perform a cleaning operation on the area to be cleaned according to the cleaning path; wherein, when the cleaning device reaches the end of the single-line segment, the cleaning device is controlled to move from the head end of the double-line segment to the end of the double-line segment, and then retract from the end of the double-line segment to the head end of the double-line segment, and then turn along the turning path. The above method can improve the coverage of the cleaning path in the area to be cleaned.

Description

Technical Field

[0001] The present application relates to the field of cleaning control, and in particular to a control method, control system, device and readable storage medium for a cleaning device. Background Art

[0002] With the rapid development of new energy technologies and industries, solar photovoltaic power generation has become widely used, including large-scale ground-mounted photovoltaic power plants and distributed rooftop photovoltaic power plants. However, due to the complex and diverse environments in which solar photovoltaic modules are used for power generation, their surfaces are easily obscured by dust and debris, which seriously affects their power generation efficiency and lifespan. Therefore, regular maintenance activities such as cleaning and inspection of the solar photovoltaic module surfaces are necessary.

[0003] Currently, the main maintenance method is manual operation with handheld cleaning tools, which is inefficient and dangerous. Another maintenance method is to use photovoltaic intelligent cleaning robots, which operate fully automatically on solar photovoltaic panels to clean and inspect their surfaces. Summary of the Invention

[0004] The present application mainly provides a control method, a control system, a device and a readable storage medium for a cleaning device, which solves the problem in the prior art of incomplete cleaning caused by incomplete coverage of the cleaning path.

[0005] To solve the above technical problems, the first aspect of the present application provides a control method for a cleaning device, wherein the cleaning device includes a device body and a brush body, the brush body is located at one end of the device body and has a preset width, and when the device body moves toward the one end, the brush body cleans the area of the preset width, and the method includes: obtaining the detection result of the area to be cleaned; determining a cleaning path based on the detection result; wherein the cleaning path includes at least a straight path and a turning path, the straight path includes a single-line segment and a double-line segment, and the end of the single-line segment is connected to the head end of the double-line segment and the head end of the turning path; controlling the cleaning device to clean the area to be cleaned according to the cleaning path; wherein, when the cleaning device reaches the end of the single-line segment, the cleaning device is controlled to move from the head end of the double-line segment to the end of the double-line segment, and then retreat from the end of the double-line segment to the head end of the double-line segment, and then turn along the turning path.

[0006] In order to solve the above technical problems, the second aspect of the present application provides a cleaning control system, which includes an acquisition device, a host computer and a cleaning device; wherein the acquisition device is used to detect the area to be cleaned, obtain the detection results, and send the detection results to the host computer; the host computer is used to control the cleaning device to perform cleaning operations on the area to be cleaned according to the method provided in the first aspect above; the cleaning device includes a device body and a brush body, the brush body is located at one end of the device body and has a preset width, and when the device body moves toward the one end, the brush body cleans the area of the preset width.

[0007] In order to solve the above technical problems, the third aspect of this application provides a cleaning control device, which includes a processor and a memory coupled to each other; a computer program is stored in the memory, and the processor is used to execute the computer program to implement the method steps provided in the first aspect above.

[0008] In order to solve the above technical problems, the third aspect of the present application provides a computer-readable storage medium, which stores program data. When the program data is executed by a processor, the method steps provided in the first aspect are implemented.

[0009] The beneficial effects of the present application are: different from the prior art, the present application includes: obtaining the detection results of the area to be cleaned; determining the cleaning path according to the detection results; wherein, the cleaning path includes at least a straight path and a turning path, and the straight path includes a single-line segment and a double-line segment, and the end of the single-line segment is connected to the head end of the double-line segment and the head end of the turning path; controlling the cleaning device to clean the area to be cleaned according to the cleaning path; wherein, when the cleaning device reaches the end of the single-line segment, the cleaning device is controlled to move from the head end of the double-line segment to the end of the double-line segment, and then retreat from the end of the double-line segment to the head end of the double-line segment, and then turn along the turning path. The cleaning device used in this method includes a device body and a brush body, and the brush body is located at one end of the device body and has a preset width. When the device body moves toward the one end, the brush body cleans the area of the preset width. The above method can make the brush body of the cleaning device clean the edge of the area to be cleaned when it moves forward in the reciprocating section, making the cleaning more thorough. When it retreats and turns along the reciprocating section, there is room between the cleaning device and the edge of the area to be cleaned to prevent scratching, making the movement of the cleaning device more controllable and reducing mechanical damage during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] Figure 1 This is a schematic structural diagram of an embodiment of the cleaning device of the present application;

[0012] Figure 2 This is a schematic flow chart of an embodiment of a control method for a cleaning device of the present application;

[0013] Figure 3 This is a schematic flow chart of an embodiment of step S11 of the present application;

[0014] Figure 4 This is a schematic plan view of an embodiment of the area to be cleaned of the present application;

[0015] Figure 5 This is a schematic flow chart of an embodiment of step S12 of the present application;

[0016] Figure 6 It is a plan view of another embodiment of the area to be cleaned of the present application;

[0017] Figure 7 This is a schematic flow chart of an embodiment of step S23 of the present application;

[0018] Figure 8 This is a schematic flow chart of an embodiment of step S25 of the present application;

[0019] Figure 9 It is a plan view of another embodiment of the area to be cleaned of the present application;

[0020] Figure 10 This is a schematic flow chart of another embodiment of step S12 of the present application;

[0021] Figure 11 It is a plan view of another embodiment of the area to be cleaned of the present application;

[0022] Figure 12 This is a plan view of another embodiment of the area to be cleaned of the present application;

[0023] Figure 13 This is a schematic structural diagram of an embodiment of the cleaning control system of the present application;

[0024] Figure 14 This is a schematic structural diagram of an embodiment of the cleaning control device of the present application;

[0025] Figure 15This is a schematic structural block diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0027] The terms "first" and "second" in this application are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0028] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor do they constitute independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] Generally speaking, in order to prevent the cleaning robot from touching the edge of the photovoltaic solar panel area during cruising, it is necessary to maintain a distance between the cleaning robot and the edge. This causes the cleaning robot to not move to the right position at the edge of the area, and the cleaning is not thorough, leaving dead corners.

[0030] After extensive research, researchers have developed a control method for a cleaning device, enabling it to clean the entire solar panel. It's worth noting that while this control method is based on an improved version of a photovoltaic solar panel cleaning device, it can be applied not only to cleaning photovoltaic panels but also to surfaces with regular shapes and few or no obstacles.

[0031] See also Figure 1 , Figure 1This is a schematic diagram of the structure of one embodiment of the cleaning device of the present application. Cleaning device 1000 includes a device body 1001 and a brush body 1002. Brush body 1002 is located at one end of device body 1001 and has a preset width Y. When device body 1001 moves toward the end where brush body 1002 is located, brush body 1002 cleans an area of preset width Y.

[0032] The cleaning device 1000 is provided with an automatic walking mechanism, which can automatically walk according to a preset path under control, and use a brush body to clean the area to be cleaned.

[0033] See also Figure 2 , Figure 2 This is a flow chart of an embodiment of the control method of the cleaning device of the present application. It should be noted that if there is substantially the same result, this embodiment does not Figure 2 The process sequence shown is limited. This embodiment includes the following steps:

[0034] Step S11: Obtain the detection result of the area to be cleaned.

[0035] Among them, the area to be cleaned in this embodiment takes the surface of a solar photovoltaic panel as an example. Generally speaking, a solar photovoltaic panel is a regular rectangular shape. During one cleaning process, a single photovoltaic panel or multiple photovoltaic panels can be cleaned. The area to be cleaned can be the surface of a photovoltaic panel, or the surfaces of multiple photovoltaic panels can be spliced together.

[0036] In this embodiment, the position information of the area to be cleaned can be collected by a collection device, wherein the detection result may include, for example, the shape of the area to be cleaned and the length of each side of the outer edge of the area to be cleaned.

[0037] See also Figure 3 , Figure 3 This is a flowchart of an embodiment of step S11 of the present application. It should be noted that if there is substantially the same result, this embodiment does not necessarily Figure 3 The process sequence shown is limited. This embodiment includes the following steps:

[0038] Step S111: obtaining the vertex coordinates of the area to be cleaned.

[0039] In this embodiment, the vertices refer to the vertices of the regular areas constituting the area to be cleaned.

[0040] A position acquisition device may be provided at each vertex of the area to be cleaned to acquire coordinate information of each vertex.

[0041] Step S112: determining the shape of the area to be cleaned and the length information of each side of the outer edge of the area to be cleaned based on the vertex coordinates.

[0042] Given vertex information, the vertices of the outer edge can be connected to form an outer contour. This outer contour encloses a closed area, which is the area to be cleaned. The shape of the area to be cleaned can be determined from the shape of the outer contour. The length of each side of the area to be cleaned can be determined from the coordinates of each vertex and the shape of the area to be cleaned.

[0043] In this embodiment, it is only necessary to set a position acquisition device at each vertex of the area to be cleaned to collect the coordinate information of each vertex. By calculation, the shape and size information of the area to be cleaned can be obtained. The method is simple and the calculation amount is small.

[0044] See also Figure 4 , Figure 4 Schematic diagram of the structure of an embodiment of the area to be cleaned of the present application. According to step S111, the coordinates of the six vertices of the area to be cleaned are obtained, namely A1, A2, A3, A4, A5 and A6. The outer edge contour of the area to be cleaned can be determined based on these six vertex coordinates.

[0045] Step S12: Determine the cleaning path according to the detection result.

[0046] This step determines the cleaning path based on the shape, size and other detection results of the area to be cleaned.

[0047] The cleaning path includes at least a straight path and a turning path. The straight path includes a single-line segment and a double-line segment. The end of the single-line segment is connected to the beginning of the double-line segment and the beginning of the turning path.

[0048] It can be understood that the cleaning device can only move in one direction on the single-line section, can move forward or backward on the double-line section, and can perform a turning operation on the turning section.

[0049] See also Figure 5 , Figure 5 This is a flowchart of an embodiment of step S12 of the present application. It should be noted that if there is substantially the same result, this embodiment does not necessarily Figure 5 The process sequence shown is limited. This embodiment includes the following steps:

[0050] Step S21: dividing the area to be cleaned into a finite number of rectangular areas according to the shape of the area to be cleaned.

[0051] According to the outline shape of the area to be cleaned, it can be determined which rectangular areas the area to be cleaned consists of. The area to be cleaned is divided into a finite number of rectangular areas, which facilitates planning the cleaning path according to regular rectangular shapes. Among them, the rectangular areas obtained by dividing the area to be cleaned are as few as possible, for example, Figure 4 The area to be cleaned shown can be divided into at least two rectangular areas, namely, rectangular area I and rectangular area II according to the dotted lines.

[0052] Step S22: In response to the area to be cleaned comprising a rectangular area, determining the first and second edges of the rectangular area, the path spacing distances between adjacent straight paths, and the first edge spacing distances between the straight paths and the first edges.

[0053] Among them, the first type of edge is parallel to the straight path, and the second type of edge is perpendicular to the first type of edge.

[0054] by Figure 6 Taking the area to be cleaned as shown as an example, B1B2 and B3B4 can be determined as type 1 edges, and B1B3 and B2B4 as type 2 edges. When planning the path, multiple straight paths are set in the area to be cleaned parallel to the type 1 edges, and adjacent straight paths are connected by turning paths.

[0055] Among them, the path spacing distance between adjacent straight paths, that is, the distance between two adjacent paths, is Figure 6 It can be expressed as BM5 in ; the first edge separation distance describes the minimum distance between a straight path close to a type of edge and a type of edge, Figure 6 It can be represented as BM1 and BM2, where BM1 and BM2 can be the same or different.

[0056] In a specific implementation scenario, the path detection distance and the first edge separation distance may be set in advance, for example, according to parameters such as the width of the device body 1001 and the width of the brush body 1002 .

[0057] If it is determined in this step that the area to be cleaned includes only one rectangular area, it means that the planning of the cleaning path for the entire cleaning area can be completed by only performing path planning on the rectangular area.

[0058] Step S23: determining a straight path according to the path interval distance and the first edge interval distance.

[0059] After determining that the straight path is parallel to a type of edge, and determining a first edge distance between the straight path and the type of edge and a path spacing distance between adjacent straight paths, each straight path can be determined.

[0060] See also Figure 7 , Figure 7 This is a flowchart of an embodiment of step S23 of the present application. It should be noted that if there is substantially the same result, this embodiment does not Figure 7 The process sequence shown is limited. This embodiment includes the following steps:

[0061] Step S231 : determining the actual spacing distance between adjacent straight paths according to the path spacing distance, the first edge spacing distance, and the lengths of the second type of edges of the rectangular area.

[0062] The lengths of type I edges and type II edges can be calculated based on the vertex coordinates. For example, the length of B1B2 can be calculated based on the coordinates of vertices B1 and B2, the length of B3B4 can be calculated based on the coordinates of vertices B3 and B4, the length of B1B3 can be calculated based on the coordinates of vertices B1 and B3, and the length of B2B4 can be calculated based on the coordinates of vertices B2 and B4.

[0063] Specifically, the actual spacing distance between adjacent rows is determined according to the following steps: the difference between the length of the second edge and the first edge spacing distance is divided by the path spacing distance to obtain the initial row value; the initial row value is rounded up to obtain the actual number of rows; the difference between the length of the second edge and the first edge spacing distance is divided by the actual number of rows to obtain the actual spacing distance. That is, the number of rows in a straight path can be expressed as The actual separation distance can be expressed as Among them, “ROUNDUP()” means rounding up, ROW means the actual number of rows in the straight path, RW means the actual interval distance, and W means the length of the second type edge.

[0064] Step S232: Determine each straight path according to the first edge spacing distance and the actual spacing distance.

[0065] In this step, two straight paths close to a type of edge may be first determined according to the first edge spacing distance, and then other straight paths between the two straight paths may be determined according to the actual spacing distance.

[0066] In this embodiment, the difference between the length of the second type of edge and the first edge spacing distance is divided by the path spacing distance and rounded up to obtain the actual number of rows of straight paths, and then further obtain the actual spacing distance between adjacent straight paths. This can determine the appropriate number of rows and the actual spacing distance between adjacent straight paths, and the distribution of straight paths is more reasonable.

[0067] In another embodiment, two straight paths close to two first-class edges can be directly determined based on the determined first edge spacing distance, and one of the straight paths can be used as a reference to sequentially determine the straight paths in the two straight paths based on the path spacing distance. Figure 6 In the case shown, the straight paths s1 and s2 close to the two first-class edges B1B2 and B3B4 can be determined first according to the first edge spacing distances BM1 and BM2, and then the straight paths s3 and s4 can be determined in sequence between the straight paths s1 and s2 according to the path spacing distance BM5.

[0068] Step S24: Determine the single-line segment, the starting point of the single-line segment, the double-line segment, and the starting point of the double-line segment of each straight path.

[0069] Among them, the movement order of the cleaning device can be determined based on the single-line segment and the multiple-line segment, which is the order in which the cleaning device moves along each straight path in sequence. For example, on s1, the cleaning device moves from right to left to the end of the path, and retreats a preset distance, and moves to s3 through the turning path. The cleaning device moves from left to right along s3 to the end of the path, and retreats a preset distance, and moves to s4 through the turning path, on each straight path.

[0070] In this step, the first starting point P1 and the first end point P2 of each straight path can be first determined, wherein the first starting point P1 and the first end point P2 of the straight path are defined as: when the cleaning device is working, it moves in the direction from the first starting point P1 to the first end point P2; then the preset distance from the first starting point P1 on the straight path is determined as the second starting point P3, and it can be determined that the straight path is between the first starting point P1 and the second starting point P3 as a single-line segment, and between the second starting point P3 and the first end point P2 as a multiple-line segment, the first starting point P1 is the starting point of the single-line segment, and the second starting point P3 is the starting point of the multiple-line segment.

[0071] It should be noted that the "left" and "right" here are only descriptions of the orientation based on the current viewing angle of the accompanying drawings, and do not indicate or imply that the cleaning device and the area to be cleaned must have a specific orientation or positional relationship during the implementation process. Therefore, it cannot be understood as a limitation on this application.

[0072] Step S25: determining a turning path between adjacent straight paths according to the starting points of the double-travel segments and the starting points of the single-travel segments of the adjacent straight paths.

[0073] The turning path is connected between the starting point of the double-line segment of the upper straight path and the starting point of the single-line segment of the lower straight path. The cleaning device can turn from the upper straight path to the lower straight path along the turning path.

[0074] See also Figure 8 , Figure 8 This is a flowchart of an embodiment of step S25 of the present application. It should be noted that if there is substantially the same result, this embodiment does not Figure 8 The process sequence shown is limited. This embodiment includes the following steps:

[0075] Step S251: determining a first turning segment, wherein the angle between the first turning segment and the multi-track segment is a first angle, and the distance between the end point of the first turning segment and the second type of edge is a second edge distance.

[0076] Please continue reading Figure 6 , determine a first turning section P3P4 that forms a first angle α with the double-running section P3P2. The first angle α can be any angle within the range of 30° to 60°, such as 30°, 45°, 60°, etc.

[0077] It can be understood that the second edge distance refers to the distance between the endpoint of the first curve segment and the adjacent second-class edge. For example, for P4, its adjacent second-class edge is B1B3, and for P6, its adjacent second-class edge is B2B4. The second edge distances corresponding to the second-class edges can be the same or different. For example, the second edge distance between P4 and B1B3 is BM3, and the second edge distance between P6 and B2B4 is BM4.

[0078] Step S252: Determine a second turning segment, where the starting point of the second turning segment coincides with the end point of the first turning segment, and the end point of the second turning segment coincides with the starting point of the next straight path.

[0079] The second turning section at least includes a path section parallel to the second type of edge. On the path section parallel to the second type of edge, the cleaning device can move along the second type of edge, thereby reducing blind spots in edge cleaning and making the area to be cleaned more thoroughly.

[0080] In one embodiment, see Figure 6 , P4 is the end point of the first turning section, P5 is the starting point of the next straight path, and P4 and P5 are directly connected to form the second turning section. The second turning section is parallel to the second type of edge.

[0081] The cleaning device of this embodiment moves along P1 to P2, then retreats from P2 to P3, turns along P3-P4-P5, and enters the next straight path s3. The cleaning device also moves in a similar manner on the next straight section s3, which will not be described in detail here.

[0082] In another embodiment, see Figure 9 , P4 is the end point of the first turning section, P5 is the starting point of the next straight path s3, the second turning section includes the first section P4P7, the second section P7P5, and the extension section P7P8 of the first section, the first section P4P7 is parallel to the second-class edge, the starting point of the first section coincides with the end point P4 of the first turning section, the starting point of the second section coincides with the end point P7 of the first section, the end point of the second section coincides with the starting point P5 of the next straight path s3, and the extension section P7P8 extends from the end point P7 of the first section P4P7 in the direction of the next straight path s3.

[0083] In this embodiment, the cleaning device moves along P1 to P2, then retreats from P2 to P3, then moves along P3-P4-P7-P8 to P8, then retreats from P8 to P7, and enters the next straight section s3 along P7-P5. It also moves in a similar manner in the next straight section s3, which will not be elaborated here.

[0084] See also Figure 10 , Figure 10This is a flowchart of another embodiment of step S12 of the present application. It should be noted that if there is substantially the same result, this embodiment does not necessarily Figure 10 The process sequence shown is limited. This embodiment includes the following steps:

[0085] Step S41: In response to the area to be cleaned including at least two rectangular areas, determining a cleaning order of the at least two rectangular areas.

[0086] See also Figure 11 , Figure 11 This is a schematic diagram of the structure of another embodiment of the area to be cleaned of the present application. The area to be cleaned in this embodiment includes two rectangular areas, namely rectangle C1C2C4C3 (i.e., area III) and rectangle C3C5C7C6 (i.e., area IV). Since the area to be cleaned in this embodiment only includes two rectangular areas, the cleaning order can be III-IV or IV-III. Among them, the cleaning order determines the order in which the cleaning device enters each rectangular area. The cleaning device enters each rectangular area in the cleaning order or in reverse order and performs cleaning operations on each rectangular area.

[0087] Step S42: Determine the first-class edges and the second-class edges of each rectangular area according to the cleaning order.

[0088] The cleaning sequence determines the first and last rectangular areas that the cleaning device enters, and the cleaning start point and cleaning end point are determined in the first and last rectangular areas in the cleaning sequence, respectively.

[0089] The first and second type edges of the rectangle determine the direction of the straight path in the rectangular area. For each rectangular area, the edge connected to the next rectangular area in the cleaning sequence and its opposite edge can be regarded as the first type edge, and the other two edges as the second type edges.

[0090] Step S43: determining a cleaning path for each rectangular area based on the first-class edge, the second-class edge, the path spacing distance, and the first edge spacing distance.

[0091] In this step, the cleaning path of each rectangular area can be determined according to steps S23 to S25, which will not be repeated here.

[0092] Before this step, it is also possible to determine whether each rectangular area meets the preset size based on the first-class edge and the second-class edge of each rectangular area. For rectangular areas that meet the preset size, the cleaning path of each rectangular area is determined according to this step; for rectangular areas that do not meet the preset size, the cleaning path is not determined according to the method of this step, but a walking path is determined. In one embodiment, for rectangular areas that do not meet the preset size, a line perpendicular to the first-class edge is drawn in the rectangular area, and the center line is used as the walking path. For example, see Figure 12 A schematic diagram of the area to be cleaned includes two rectangular areas D1D2D4D3 and D8D9D11D10 that do not meet the preset size requirements, and a rectangular area D5D6D8D7 that meets the preset size requirements. A cleaning path is determined in the rectangular area D5D6D8D7, and center lines BP5BP6 and BP9BP10 are respectively determined in the rectangular areas D1D2D4D3 and D8D9D11D10 as walking paths to connect the other rectangular areas.

[0093] Determine whether each rectangular area meets the preset size, for example, whether the length of the first type of edge meets the first length requirement, whether the second type of edge meets the second length requirement, or determine whether the preset size is met based on whether the area of the rectangular area exceeds a preset area threshold.

[0094] For example, the preset size can be set according to the size of the connecting bridge. Specifically, if you want to clean multiple photovoltaic panels at a time, you may use a connecting bridge. The connecting bridge is used to connect two independent cleaning areas into one. The cleaning device can pass through the connecting bridge and enter another cleaning area, thereby achieving one-time cleaning of multiple photovoltaic panels. On the connecting bridge, the cleaning brush stops running and only moves without cleaning.

[0095] Step S44: forming a transfer path between the end point of the cleaning path of the previous rectangular area and the starting point of the cleaning path of the next rectangular area according to the cleaning sequence.

[0096] The previous rectangular area and the next rectangular area are adjacent rectangular areas in the cleaning sequence. When the cleaning device performs a cleaning operation on a plurality of consecutive rectangular areas, it enters the next rectangular area after cleaning the previous rectangular area.

[0097] The starting point and end point of the rectangular area cleaning path are the starting point and end point of the cleaning path of the rectangular area. When the cleaning device starts from the starting point of the cleaning path and moves along the cleaning path to the end point of the cleaning path, it can cover the rectangular area and complete the cleaning of the rectangular area.

[0098] A curved path, a straight line path or a broken line path may be formed between the end point of the cleaning path of the previous rectangular area and the starting point of the cleaning path of the next rectangular area.

[0099] Specifically, see Figure 11 , with rectangular area III as the previous rectangular area, rectangular area IV as the next rectangular area, the starting point of the cleaning path in rectangular area III is Q1, the end point of the cleaning path is BP1, and the starting point of the cleaning path in rectangular area IV is BP4. In one embodiment, a transfer point BP2 and BP3 are determined in the previous rectangular area and the next rectangular area respectively, the two transfer points are connected, and the end points of the cleaning paths of the corresponding rectangular areas are connected with the transfer points in the rectangular areas, that is, BP1 is connected to BP2, and BP3 is connected to BP4 to form a broken line path. In another embodiment, it is also possible to directly determine that the line between BP1 and BP4 (i.e., the dotted line in the figure) is the transfer path after determining that the preset width range of the line between BP1 and BP4 falls within the area to be cleaned.

[0100] During the cleaning operation, the cleaning device starts at Q1 and moves along t1, s5, t2, s6, t3, s7, t4, s8, and t5 to BP1. It then moves from BP1 to BP4 along the transfer path. Finally, it continues the cleaning operation by moving along s9, s10, s11, and s12 according to the cleaning path of rectangular area IV. t1, t2, t3, t4, and t5 represent turning sections.

[0101] Step S13: controlling the cleaning device to perform a cleaning operation on the area to be cleaned according to the cleaning path.

[0102] When the cleaning device reaches the end of the single-line segment, it is controlled to move from the head end of the double-line segment to the end of the double-line segment, and then retreat from the end of the double-line segment to the head end of the double-line segment, and then turn along the turning path.

[0103] Different from the existing technology, the cleaning device control method provided in this solution plans a path with a double-travel section. In the double-travel section, the cleaning device adopts a strategy of advancing first and retreating to turn. After retreating, there is room between the cleaning device and the edge of the area to be cleaned, so as to prevent the parts of the cleaning device from scratching the edge of the area to be cleaned during turning, causing difficulty in turning or unnecessary damage to the device. It can also eliminate the sanitary dead corners formed by turning, and clean the area to be cleaned more thoroughly.

[0104] See also Figure 13 , Figure 13 The figure is a schematic block diagram of an embodiment of a cleaning control system of the present application. The cleaning control system 100 includes a data acquisition device 110, a host computer 120, and a cleaning device 130. The data acquisition device 110 is used to detect the area to be cleaned, obtain detection results, and transmit the detection results to the host computer 120. The host computer 120 is used to control the cleaning device 130 to clean the area to be cleaned.

[0105] The host computer 120 and the collection device 110 are equipped with a communication module, so that the collection device 110 can establish a communication connection with the host computer 120 to send the detection results of the area to be cleaned to the host computer for processing. The host computer 120 can also communicate with the cleaning device 130 to issue path information and control commands to control the operation of the cleaning device 130.

[0106] The cleaning device 130 is Figure 1 For the purpose of illustration, please refer to the description in the above embodiment for the specific structure, which will not be repeated here.

[0107] The area to be cleaned is, for example, a single solar photovoltaic panel or is composed of multiple solar photovoltaic panels.

[0108] For the specific methods of executing each step of each processing, please refer to the description of each step of the control method embodiment of the cleaning device of the present application above, which will not be repeated here.

[0109] See also Figure 14 , Figure 14 The cleaning control device 200 includes a processor 210 and a memory 220 coupled to each other. The memory 220 stores a computer program. The processor 210 is used to execute the computer program to implement the control method of the cleaning device described in the above embodiments.

[0110] For the description of each step of the processing execution, please refer to the description of each step of the embodiment of the control method of the cleaning device of the present application, which will not be repeated here.

[0111] The memory 220 can be used to store program data and modules. The processor 210 executes various functional applications and data processing by running the program data and modules stored in the memory 220. The memory 220 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a coordinate data processing function, a cleaning path planning function, etc.); the data storage area may store data created according to the use of the cleaning control device 200 (such as coordinate data, path data, detection results of the area to be cleaned, etc.). In addition, the memory 220 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory 220 may also include a memory controller to provide the processor 210 with access to the memory 220.

[0112] In each embodiment of the present application, the disclosed method and device can be implemented in other ways. For example, the various embodiments of the cleaning control device 200 described above are merely schematic. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0113] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this embodiment.

[0114] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, or all or part of the technical solution, can be embodied in the form of a software product, and the computer software product can be stored in a storage medium.

[0116] See Figure 15 , Figure 15 This is a schematic structural block diagram of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 300 stores program data 310. When the program data 310 is executed, the steps of each embodiment of the control method of the cleaning device as described above are implemented.

[0117] For the description of each step of the processing execution, please refer to the description of each step of the embodiment of the control method of the cleaning device of the present application, which will not be repeated here.

[0118] The computer-readable storage medium 300 may be any medium that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0119] The above description is merely an embodiment of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device includes a device body and a brush body, wherein the brush body is located at one end of the device body and has a preset width. When the device body moves toward the one end, the brush body cleans an area of the preset width. The method includes: Obtaining the test results of the area to be cleaned; Determining a cleaning path based on the detection results; wherein the cleaning path includes at least a straight path and a turning path, the straight path includes a single-line segment and a double-line segment, the turning path includes a first turning segment and a second turning segment, the double-line segment forms a first angle with the first turning segment, the first angle ranging from 30° to 60°, the second turning segment is perpendicular to the straight path, and the end of the single-line segment is connected to the beginning of the double-line segment and the beginning of the first turning segment; The cleaning device is controlled to perform a cleaning operation on the area to be cleaned according to the cleaning path; wherein, when the cleaning device reaches the end of the single-line segment, the cleaning device is controlled to move from the head end of the double-line segment to the end of the double-line segment, and then retreat from the end of the double-line segment to the head end of the double-line segment, and then move from the head end of the double-line segment to the end of the first turning segment, and then move from the end of the first turning segment to the end of the second turning segment, until it reaches the next straight path, and the end of the second turning segment is connected to the head end of the next straight path.

2. The method according to claim 1, characterized in that Obtaining the detection result of the area to be cleaned, including: The shape of the area to be cleaned and the length information of each side of the outer edge of the area to be cleaned are obtained.

3. The method according to claim 2, characterized in that The obtaining of the shape of the area to be cleaned and the length information of each side includes: Obtaining vertex coordinates of the area to be cleaned; The shape of the area to be cleaned and the length information of each side of the outer edge of the area to be cleaned are determined based on the vertex coordinates.

4. The method according to claim 2, characterized in that Determining a cleaning path according to the detection result includes: Dividing the area to be cleaned into a finite number of rectangular areas according to the shape of the area to be cleaned; In response to the area to be cleaned including only one rectangular area, determining a first-class edge and a second-class edge of the rectangular area, a path spacing distance between adjacent straight paths, and a first edge spacing distance between the straight path and the first-class edge; wherein the first-class edge is parallel to the straight path, and the second-class edge is perpendicular to the first-class edge; determining the straight path according to the path spacing distance and the first edge spacing distance; Determining a single-line segment, a starting point of the single-line segment, a double-line segment, and a starting point of the double-line segment of each straight path; The turning path between the adjacent straight paths is determined according to the starting points of the double-travel segments and the starting points of the single-travel segments of the adjacent straight paths.

5. The method according to claim 4, characterized in that The determining the straight path according to the path spacing distance and the first edge spacing distance includes: determining an actual spacing distance between adjacent straight paths according to the path spacing distance, the first edge spacing distance, and the lengths of the second type of edges of the rectangular area; Each straight path is determined according to the first edge separation distance and the actual separation distance.

6. The method according to claim 5, characterized in that The determining, based on the path spacing distance, the first edge spacing distance, and the lengths of the second type of edges of the rectangular area, of the actual spacing distance between adjacent straight paths includes: Obtaining an initial row value by dividing the difference between the length of the second type of edge and the first edge interval by the path interval; Rounding up the initial row value to obtain the actual row number; The actual spacing distance is obtained by dividing the difference between the length of the second type of edge and the first edge spacing distance by the actual number of rows.

7. The method according to claim 4, characterized in that The step of determining the turning path between each of the adjacent straight paths according to the starting points of the double-travel segments and the starting points of the single-travel segments of the adjacent straight paths includes: Determine a first turning section, where the angle between the first turning section and the multi-track section is a first angle, and the distance between an end point of the first turning section and the second-type edge is a second edge distance; A second turning segment is determined, where a starting point of the second turning segment coincides with an end point of the first turning segment, and an end point of the second turning segment coincides with a starting point of a next straight path.

8. The method according to claim 7, characterized in that The second turning segment includes a first segment, a second segment, and an extension of the first segment, the starting point of the first segment coincides with the end point of the first turning segment, the starting point of the second segment coincides with the end point of the first segment, and the end point of the second segment coincides with the starting point of the next straight path; The first segment is parallel to the second type of edge.

9. The method according to claim 7, characterized in that The second turning section is parallel to the second type of edge.

10. The method according to claim 4, characterized in that The method further comprises: In response to the area to be cleaned including at least two rectangular areas, determining a cleaning order of the at least two rectangular areas; Determine the first-class edge and the second-class edge of each rectangular area according to the cleaning order; Determining a cleaning path for each of the rectangular areas based on the first-class edges, the second-class edges, the path spacing distance, and the first edge spacing distance; According to the cleaning sequence, a transfer path is formed between the end point of the cleaning path of the previous rectangular area and the starting point of the cleaning path of the next rectangular area.

11. The method according to claim 10, characterized in that Before determining the cleaning path of each rectangular area based on the first-class edge, the second-class edge, the path spacing distance, and the first edge spacing distance, the method includes: Based on the first-class edge and the second-class edge of the rectangular area, determining whether each of the rectangular areas meets a preset size; For rectangular areas meeting the preset size, determining a cleaning path for each rectangular area based on the first-class edge, the second-class edge, the path spacing distance, and the first edge spacing distance; A walking path is determined for the rectangular area that does not meet the preset size.

12. A cleaning control system, characterized in that: The cleaning control system includes a collection device, a host computer and a cleaning device; wherein, The acquisition device is used to detect the area to be cleaned to obtain a detection result, and send the detection result to the host computer; The host computer is used to control the cleaning device to perform a cleaning operation on the area to be cleaned according to the method according to any one of claims 1 to 11; The cleaning device includes a device body and a brush body. The brush body is located at one end of the device body and has a preset width. When the device body moves toward the one end, the brush body cleans an area with the preset width.

13. A cleaning control device, characterized in that: The control device includes a processor and a memory coupled to each other; a computer program is stored in the memory, and the processor is configured to execute the computer program to implement the steps of the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores program data, and when the program data is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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