Control method and system for a curved glass cleaning apparatus

Abstract

The application discloses a kind of control method and system of curved surface glass cleaning equipment, according to dirt coefficient and the curvature of ultrasonic cleaning area definition dirt grade;Determine the ultrasonic cleaning range based on dirt grade and the dirt area of ultrasonic cleaning area;According to the tilt angle of curved surface glass definition curved surface glass;Determine the ultrasonic cleaning logic based on the tilt angle of curved surface glass and ultrasonic cleaning range;The cleaning rate of acquisition curved surface glass, and based on the cleaning rate of curved surface glass dynamic adjustment ultrasonic cleaning logic, at this time, based on ultrasonic cleaning area determines dirt coefficient, to fix dirt coefficient, to further combine dirt coefficient and the curvature of ultrasonic cleaning area, to define dirt grade according to dirt coefficient and the curvature of ultrasonic cleaning area, introduce dirt grade, realize the control of dirt grade, to realize targeted ultrasonic cleaning, while adapting to the curvature of curved surface glass.

Description

Technical Field

[0001] This invention relates to the technical field of curved glass cleaning equipment, and more particularly to a control method and system for curved glass cleaning equipment. Background Technology

[0002] With the development of technology, curved glass cleaning equipment has become an industrial tool for cleaning curved glass. In this equipment, multiple curved glass surfaces pass sequentially through the location of the ultrasonic wave to be cleaned by the ultrasonic generator. In existing technology, the ultrasonic generator outputs a preset ultrasonic impact force to the curved glass, and the glass is cleaned by this ultrasonic impact force. However, the level of dirt on each curved glass surface is inconsistent, with multiple sub-areas of different dirt levels, resulting in incomplete ultrasonic cleaning of the curved glass. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a control method and system for curved glass cleaning equipment. It determines the dirt coefficient based on the ultrasonic cleaning area to fix the dirt coefficient, and further combines the dirt coefficient with the curvature of the ultrasonic cleaning area to define the dirt level according to the dirt coefficient and the curvature of the ultrasonic cleaning area. The introduction of dirt levels enables control over the dirt level, thereby achieving targeted ultrasonic cleaning. Simultaneously, the ultrasonic cleaning range is determined based on the dirt level and the dirt area of ​​the ultrasonic cleaning area, further controlling the ultrasonic cleaning range. This ensures that the ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range, adapting to the curvature of the curved glass and providing more comprehensive ultrasonic cleaning of the curved glass. A corresponding ultrasonic cleaning logic is also employed.

[0004] To address the aforementioned technical problems, this invention provides a control method for a curved glass cleaning device, applicable to curved glass cleaning devices.

[0005] The control method for the curved glass cleaning equipment includes:

[0006] Acquire images of the curved glass surface and define the ultrasonic cleaning area based on the images of the curved glass surface;

[0007] Determine the dirt coefficient based on the ultrasonic cleaning area;

[0008] The level of dirtiness is defined based on the dirtiness coefficient and the curvature of the ultrasonic cleaning area.

[0009] The ultrasonic cleaning range is determined based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning zone.

[0010] Define the tilt angle of the curved glass based on the curved glass image;

[0011] The ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range.

[0012] The cleaning change rate of curved glass is collected, and the ultrasonic cleaning logic is dynamically adjusted based on the cleaning change rate of curved glass.

[0013] Optionally, acquiring the curved glass image and defining the ultrasonic cleaning area based on the curved glass image includes:

[0014] Adjust the relative position of the camera and the curved glass, and define the camera's shooting direction;

[0015] The curved glass is photographed along the shooting direction of the camera, and an image of the curved glass is obtained;

[0016] Image recognition is performed on curved glass images to determine the surface and frame of the curved glass;

[0017] The cleaning area of ​​the curved glass is defined based on the surface and frame of the curved glass;

[0018] The ultrasonic cleaning area is defined based on multiple cleaning areas.

[0019] Optionally, determining the dirt coefficient based on the ultrasonic cleaning area includes:

[0020] Freeze the ultrasonic cleaning area;

[0021] Conduct a thorough inspection of the ultrasonic cleaning area and define areas with color differences.

[0022] Extract color difference features based on color difference regions;

[0023] Investigate color difference features to define dirt features and their locations;

[0024] Dirty areas are divided according to the characteristics of the dirt and the location of the dirt.

[0025] In a dirty area, divide it into multiple sub-regions with different color differences, and define the dirt coefficient of each sub-region;

[0026] The dirt coefficient is determined based on the dirt coefficient of multiple sub-regions and the coefficient model.

[0027] Optionally, defining the dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area includes:

[0028] Freeze the ultrasonic cleaning area;

[0029] Attitude tests were performed on the ultrasonic cleaning area, and the curvature of the ultrasonic cleaning area was collected.

[0030] The surface curvature and dirt coefficient of the ultrasonic cleaning area are correlated;

[0031] The dirt level is defined based on the curvature of the ultrasonic cleaning area, the dirt coefficient, and a grading table.

[0032] Optionally, determining the ultrasonic cleaning range based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning area includes:

[0033] Based on ultrasonic cleaning, the dirty area is fixed;

[0034] Perform area scanning based on the dirty areas and define the dirty area of ​​the ultrasonic cleaning zone;

[0035] The coverage area is defined based on the area of ​​dirt in the ultrasonic cleaning zone and the curvature of the ultrasonic cleaning zone.

[0036] Optionally, determining the ultrasonic cleaning range based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning area further includes:

[0037] Correlate the level of dirtiness with the area covered;

[0038] The outer expansion range is defined based on the level of dirtiness and the coverage area;

[0039] The ultrasonic cleaning range is defined based on the dirty area and the surrounding area.

[0040] Optionally, defining the tilt angle of the curved glass based on the curved glass image includes:

[0041] Freeze-frame image of curved glass;

[0042] Define the central and edge features of the curved glass based on the curved glass image;

[0043] A tilt model is constructed based on central and edge features;

[0044] The slope is calculated based on the tilt model, and the tilt angle of the curved glass is defined.

[0045] Optionally, the ultrasonic cleaning logic determined based on the tilt angle of the curved glass and the ultrasonic cleaning range includes:

[0046] Collect the tilt angle of the curved glass;

[0047] The tilt angle of the curved glass is correlated with the ultrasonic cleaning range;

[0048] If the tilt angle of the curved glass is greater than the preset tilt angle, then the tilt direction of the curved glass is collected.

[0049] The variation ladder diagram is defined based on the tilt direction and tilt angle of the curved glass;

[0050] Collect the dirt level of each step in the change step diagram;

[0051] The ultrasonic cleaning logic is determined based on the level of dirt in each stage.

[0052] Optionally, the step of 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:

[0053] Define each step in the changing step diagram;

[0054] Dynamic detection of dirt and grime is performed on each step of the changing step diagram, and the changes in the dirt and grime coefficient of each step are recorded.

[0055] The cleaning variation rate of curved glass is defined based on the change in the dirt coefficient of the stepped section;

[0056] Based on the cleaning change rate of curved glass and the adjustment of ultrasonic cleaning logic.

[0057] In addition, embodiments of the present invention also provide a control system for a curved glass cleaning device, the control system of which includes:

[0058] The acquisition module is used to acquire images of curved glass and define ultrasonic cleaning areas based on the images of curved glass.

[0059] The dirt coefficient module is used to determine the dirt coefficient based on the ultrasonic cleaning area;

[0060] The dirt level module is used to define the dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area.

[0061] The ultrasonic cleaning range module is used to determine the ultrasonic cleaning range based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning area.

[0062] The tilt angle module is used to define the tilt angle of the curved glass based on the curved glass image;

[0063] An ultrasonic cleaning logic module is used to determine the ultrasonic cleaning logic based on the tilt angle of the curved glass and the ultrasonic cleaning range.

[0064] The adjustment module is used to collect the cleaning change rate of the curved glass and dynamically adjust the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.

[0065] In this embodiment of the invention, the method involves acquiring a curved glass image and defining an ultrasonic cleaning area based on the image; determining a contamination coefficient based on the ultrasonic cleaning area; defining a contamination level based on the contamination coefficient and the curvature of the ultrasonic cleaning area; determining an ultrasonic cleaning range based on the contamination level and the contamination area of ​​the ultrasonic cleaning area; defining the tilt angle of the curved glass based on the curved glass image; determining ultrasonic cleaning logic based on the tilt angle of the curved glass and the ultrasonic cleaning range; 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. At this point, the contamination coefficient is determined based on the ultrasonic cleaning area. A dirt coefficient is used to determine the dirt level, which is then combined with the curvature of the ultrasonic cleaning area. This allows for the definition of a dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area, enabling targeted ultrasonic cleaning. Simultaneously, the ultrasonic cleaning range is determined based on the dirt level and the dirt area of ​​the ultrasonic cleaning area, further controlling the ultrasonic cleaning range. This ensures that the ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range, adapting to the curvature of the glass and providing more comprehensive ultrasonic cleaning. A corresponding ultrasonic cleaning logic is also employed. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 This is a flowchart illustrating the control method of the curved glass cleaning equipment in an embodiment of the present invention;

[0068] Figure 2 This is a schematic flowchart of S11 in the control method of the curved glass cleaning equipment in this embodiment of the invention;

[0069] Figure 3 This is a schematic flowchart of S12 in the control method of the curved glass cleaning equipment in an embodiment of the present invention;

[0070] Figure 4 This is a schematic flowchart of S13 in the control method of the curved glass cleaning equipment in this embodiment of the invention.

[0071] Figure 5 This is a schematic flowchart of S14 in the control method of the curved glass cleaning equipment in an embodiment of the present invention;

[0072] Figure 6 This is a schematic flowchart of S15 in the control method of the curved glass cleaning equipment in this embodiment of the invention.

[0073] Figure 7 This is a schematic flowchart of S16 in the control method of the curved glass cleaning equipment in this embodiment of the invention.

[0074] Figure 8 This is a schematic flowchart of S17 in the control method of the curved glass cleaning equipment in this embodiment of the invention.

[0075] Figure 9 This is a schematic diagram of the structural composition of the control system of the curved glass cleaning equipment in an embodiment of the present invention;

[0076] Figure 10 This is a hardware diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0077] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0078] Example

[0079] Please see Figures 1 to 10 A control method for a curved glass cleaning device, applied to the curved glass cleaning device; the control method for the curved glass cleaning device includes:

[0080] Step S11: Obtain an image of the curved glass and define the ultrasonic cleaning area based on the image of the curved glass;

[0081] Step S12: Determine the dirt coefficient based on the ultrasonic cleaning area;

[0082] Step S13: Define the dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area;

[0083] Step S14: Determine the ultrasonic cleaning range based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning zone.

[0084] Step S15: Define the tilt angle of the curved glass based on the curved glass image;

[0085] Step S16: Determine the ultrasonic cleaning logic based on the tilt angle of the curved glass and the ultrasonic cleaning range.

[0086] Step S17: Collect the cleaning change rate of the curved glass and dynamically adjust the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.

[0087] In this embodiment of the invention, the method involves acquiring a curved glass image and defining an ultrasonic cleaning area based on the image; determining a contamination coefficient based on the ultrasonic cleaning area; defining a contamination level based on the contamination coefficient and the curvature of the ultrasonic cleaning area; determining an ultrasonic cleaning range based on the contamination level and the contamination area of ​​the ultrasonic cleaning area; defining the tilt angle of the curved glass based on the curved glass image; determining ultrasonic cleaning logic based on the tilt angle of the curved glass and the ultrasonic cleaning range; 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. At this point, the contamination coefficient is determined based on the ultrasonic cleaning area. A dirt coefficient is used to determine the dirt level, which is then combined with the curvature of the ultrasonic cleaning area. This allows for the definition of a dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area, enabling targeted ultrasonic cleaning. Simultaneously, the ultrasonic cleaning range is determined based on the dirt level and the dirt area of ​​the ultrasonic cleaning area, further controlling the ultrasonic cleaning range. This ensures that the ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range, adapting to the curvature of the glass and providing more comprehensive ultrasonic cleaning. A corresponding ultrasonic cleaning logic is also employed.

[0088] In step S11, an image of the curved glass is acquired, and an ultrasonic cleaning area is defined based on the image of the curved glass.

[0089] In the embodiments of this application, a curved glass image is acquired to facilitate further processing based on the curved glass image, thereby defining an ultrasonic cleaning area based on the curved glass image, and then controlling the ultrasonic cleaning area to ensure subsequent processing.

[0090] In the specific implementation of this invention, the specific steps can be as follows:

[0091] S111: Adjust the relative position of the camera and the curved glass, and define the camera's shooting direction;

[0092] S112: Take a picture of the curved glass along the shooting direction of the camera and acquire an image of the curved glass;

[0093] S113: Perform image recognition on curved glass images and determine the surface and frame of the curved glass;

[0094] S114: Define the cleaning area of ​​curved glass based on the surface and frame of the curved glass;

[0095] S115: Define ultrasonic cleaning zones based on multiple cleaning areas.

[0096] In the embodiments of this application, the relative position of the camera and the curved glass is defined so as to adjust the relative position of the camera and the curved glass, thereby defining the shooting direction of the camera and ensuring that the shooting direction of the camera is towards the curved glass. At this time, the curved glass is photographed along the shooting direction of the camera, and the curved glass image is obtained, ensuring the subsequent processing of the curved glass image.

[0097] At this point, a curved glass image is introduced to facilitate image recognition. Based on this image recognition, the surface and frame of the curved glass are determined, allowing for feature processing. This, in turn, defines the cleaning areas of the curved glass, clarifying these areas for subsequent processing. Furthermore, multiple cleaning areas are introduced to link them together, defining the ultrasonic cleaning zone based on these areas and ensuring the coverage of the ultrasonic cleaning area.

[0098] In step S12, the dirt coefficient is determined based on the ultrasonic cleaning area;

[0099] In the embodiments of this application, an ultrasonic cleaning area is introduced, and the ultrasonic cleaning area is further processed to determine the dirt coefficient based on the ultrasonic cleaning area, and then the dirt coefficient of the ultrasonic cleaning area is determined and controlled.

[0100] In the specific implementation of this invention, the specific steps can be as follows:

[0101] S121: Fixed ultrasonic cleaning area;

[0102] S122: Conduct a regional inspection of the ultrasonic cleaning area and define the color difference area;

[0103] S123: Extract color difference features based on color difference regions;

[0104] S124: Investigate color difference features to define dirt features and their locations;

[0105] S125: Dirty areas are defined based on the characteristics of dirt and the location of the dirt characteristics;

[0106] S126: In a dirty area, divide it into multiple sub-regions with different color differences, and define the dirt coefficient of the sub-regions;

[0107] S127: Determine the dirt coefficient based on the dirt coefficient of multiple sub-regions and the coefficient model.

[0108] In the embodiments of this application, the ultrasonic cleaning area is fixed, and a regional inspection is performed on the ultrasonic cleaning area to define the color difference part, thereby defining the color difference area and ensuring that the color difference area is customized for the color difference area, avoiding the need to process the entire ultrasonic cleaning area.

[0109] Therefore, color difference features are extracted based on the color difference area to define the color difference features, and then further processed based on the color difference features to facilitate the investigation of the color difference features, in order to define the dirt features and the location of the dirt features. The introduction of dirt features and the location of the dirt features allows for the division of dirt areas based on the dirt features and the location of the dirt features, so as to facilitate the control of each dirt area.

[0110] Meanwhile, within a dirty area, multiple sub-regions with different color differences are divided, and the dirt coefficient of each sub-region is defined. The dirt coefficient is determined based on the dirt coefficients of multiple sub-regions and the coefficient model, taking full account of the impact of the dirt coefficients of the sub-regions, ensuring the control of the dirt coefficients of the sub-regions, and then determining the dirt coefficient based on the dirt coefficients of multiple sub-regions and the coefficient model.

[0111] In step S13, the dirt level is defined based on the dirt coefficient and the curvature of the ultrasonic cleaning area;

[0112] In the embodiments of this application, a dirt coefficient and the surface curvature of the ultrasonic cleaning area are introduced to correlate the dirt coefficient and the surface curvature of the ultrasonic cleaning area, thereby defining the dirt level based on the dirt coefficient and the surface curvature of the ultrasonic cleaning area, and then performing subsequent processing based on the dirt level.

[0113] In the specific implementation of this invention, the specific steps can be as follows:

[0114] S131: Fixed ultrasonic cleaning area;

[0115] S132: Perform attitude testing based on the ultrasonic cleaning area and collect the curvature of the ultrasonic cleaning area.

[0116] S133: Correlate the surface curvature and dirt coefficient of the ultrasonic cleaning area;

[0117] S134: Define the dirt level based on the curvature of the ultrasonic cleaning area, the dirt coefficient, and the level table.

[0118] In the embodiments of this application, the ultrasonic cleaning area is controlled to fix the ultrasonic cleaning area. At this time, the ultrasonic cleaning area is introduced, and the attitude test is performed based on the ultrasonic cleaning area. The curvature of the ultrasonic cleaning area is output under the attitude test, thereby realizing the acquisition of the curvature of the ultrasonic cleaning area and ensuring the accuracy of the curvature of the ultrasonic cleaning area.

[0119] Furthermore, the surface curvature and dirt coefficient of the ultrasonic cleaning area are correlated to facilitate the control of these two parameters. This involves combining the surface curvature and dirt coefficient of the ultrasonic cleaning area with a grading table. By comparing these parameters through corresponding mapping relationships, a dirt grade can be defined based on the surface curvature, dirt coefficient, and grading table, thus determining the dirt grade and achieving control over the dirt level.

[0120] S14: Determine the ultrasonic cleaning range based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning zone.

[0121] In the embodiments of this application, a dirt level and a dirt area of ​​the ultrasonic cleaning area are introduced, and the dirt level and the dirt area of ​​the ultrasonic cleaning area are correlated. The ultrasonic cleaning range is determined based on the dirt level and the dirt area of ​​the ultrasonic cleaning area, and the ultrasonic cleaning range is defined to ensure the ultrasonic cleaning range, so as to carry out targeted cleaning of curved glass based on the ultrasonic cleaning range, thereby improving the cleaning efficiency of curved glass.

[0122] In the specific implementation of this invention, the specific steps can be as follows:

[0123] S141: Based on ultrasonic cleaning, the dirty area is fixed;

[0124] S142: Perform area scanning based on the dirty area and define the dirty area of ​​the ultrasonic cleaning area;

[0125] S143: Define the coverage area based on the dirt area and the curvature of the ultrasonic cleaning area.

[0126] In the embodiments of this application, the ultrasonic cleaning area is divided into regions to define the contaminated areas. These contaminated areas are then scanned to facilitate depth analysis, thereby defining the contaminated area of ​​the ultrasonic cleaning area. Furthermore, the contaminated area and the curvature of the ultrasonic cleaning area are correlated, taking into full account the curved characteristics of the glass, thus defining the coverage area based on both the contaminated area and the curvature of the ultrasonic cleaning area.

[0127] S144: Correlate the level of dirtiness with the area covered;

[0128] S145: Define the expansion range based on the level of dirtiness and the coverage area;

[0129] S146: Define the ultrasonic cleaning range based on the dirty area and the surrounding area;

[0130] At this point, the dirt level and the coverage area are correlated, and the dirt level and the coverage area are fully considered so that the outer range can be defined based on the dirt level and the coverage area. Thus, the ultrasonic cleaning range is defined based on the dirt area and the outer range, which ensures the accuracy of the ultrasonic cleaning range and takes into account the influence of dirt level and coverage area.

[0131] S15: Define the tilt angle of the curved glass based on the curved glass image;

[0132] In the specific implementation of this invention, the specific steps can be as follows:

[0133] S151: Still image on curved glass;

[0134] S152: Define the central and edge features of the curved glass based on the curved glass image;

[0135] S153: Construct a tilt model based on central and edge features;

[0136] S154: Calculate the slope based on the tilt model and define the tilt angle of the curved glass.

[0137] In the embodiments of this application, a frozen curved glass image is processed to define the central and edge features of the curved glass based on the image. At this time, the central and edge features of the curved glass are introduced to construct a tilt model based on the central and edge features. The tilt model is then controlled to calculate the slope and define the tilt angle of the curved glass, fully considering the cleaning position of the curved glass from the center to the edge. Simultaneously, subsequent cleaning processing is performed based on the tilt angle of the curved glass.

[0138] S16: Determine the ultrasonic cleaning logic based on the tilt angle of the curved glass and the ultrasonic cleaning range.

[0139] In the specific implementation of this invention, the specific steps can be as follows:

[0140] S161: Collect the tilt angle of the curved glass;

[0141] S162: Correlate the tilt angle of the curved glass with the ultrasonic cleaning range;

[0142] S163: If the tilt angle of the curved glass is greater than the preset tilt angle, then collect the tilt direction of the curved glass.

[0143] S164: Define the variation step diagram based on the tilt direction and tilt angle of the curved glass;

[0144] S165: Collect the dirt level of each step in the changing step diagram;

[0145] S166: Determine the ultrasonic cleaning logic based on the level of dirt in each step.

[0146] In the embodiments of this application, the tilt angle of the curved glass is collected, and subsequent processing is performed based on the tilt angle of the curved glass to associate the tilt angle of the curved glass with the ultrasonic cleaning range, thereby controlling the tilt angle of the curved glass and the ultrasonic cleaning range.

[0147] Meanwhile, if the tilt angle of the curved glass is greater than the preset tilt angle, the tilt direction of the curved glass is collected so that it can be controlled based on the tilt direction of the curved glass. Thus, a change gradient diagram is defined according to the tilt direction and tilt angle of the curved glass. At this time, the change gradient diagram records the level of dirt in each gradient.

[0148] Therefore, the dirt level of each step in the gradient diagram is collected; the ultrasonic cleaning logic is determined based on the dirt level of each step; at this time, the ultrasonic cleaning range is determined based on the dirt level and the dirt area of ​​the ultrasonic cleaning area, further controlling the ultrasonic cleaning range, ensuring that the ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range, adapting to the curvature of the curved glass, and performing ultrasonic cleaning on the curved glass more comprehensively, and adopting the corresponding ultrasonic cleaning logic.

[0149] S17: Collect the cleaning change rate of the curved glass and dynamically adjust the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.

[0150] In the specific implementation of this invention, the specific steps can be as follows:

[0151] S171: Define each step in the changing step diagram;

[0152] S172: Perform dynamic detection of dirt and grime on each step in the changing step diagram, and record the changes in the dirt and grime coefficient of each step.

[0153] S173: Define the cleaning variation rate of curved glass based on the change in the dirt coefficient of the stepped section;

[0154] S174: Cleaning variation rate based on curved glass and adjustment of ultrasonic cleaning logic.

[0155] In the embodiments of this application, a fixed-step change diagram is used to facilitate control over the change diagram. At this time, each step in the change diagram is defined, and control is performed based on each step. This allows for dynamic detection of dirt in each step in the change diagram and recording of the changes in the dirt coefficient of the step.

[0156] At this point, the change in the dirt coefficient of the step section is recorded to define the change in the dirt coefficient of the step section. Based on the change in the dirt coefficient, the cleaning change rate of the curved glass is defined to introduce the cleaning change rate of the curved glass. Then, based on the cleaning change rate of the curved glass and the adjustment of the ultrasonic cleaning logic, the dynamic change of the ultrasonic cleaning logic is realized, and the cleaning status of the curved glass is monitored in real time. This avoids using a single logic for cleaning, thereby ensuring the cleaning effect of the curved glass.

[0157] In the embodiments of this application, an image of curved glass is acquired, and an ultrasonic cleaning area is defined based on the image; a dirt coefficient is determined based on the ultrasonic cleaning area; a dirt level is defined based on the dirt coefficient and the curvature of the ultrasonic cleaning area; an ultrasonic cleaning range is determined based on the dirt level and the dirt area of ​​the ultrasonic cleaning area; the tilt angle of the curved glass is defined based on the image; ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range; the cleaning change rate of the curved glass is collected, and the ultrasonic cleaning logic is dynamically adjusted based on the cleaning change rate of the curved glass. At this time, the dirt coefficient is determined based on the ultrasonic cleaning area so that... By fixing the dirt coefficient, the dirt coefficient and the curvature of the ultrasonic cleaning area are further combined to define the dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area. The introduction of dirt levels enables control over the dirt level and achieves targeted ultrasonic cleaning. At the same time, the ultrasonic cleaning range is determined based on the dirt level and the dirt area of ​​the ultrasonic cleaning area, further controlling the ultrasonic cleaning range. This ensures that the ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range, adapting to the curvature of the curved glass and performing more comprehensive ultrasonic cleaning on the curved glass. A corresponding ultrasonic cleaning logic is adopted.

[0158] Example

[0159] Please see Figure 9 , Figure 9 This is a schematic diagram of the structural composition of the control system of the curved glass cleaning equipment in an embodiment of the present invention.

[0160] like Figure 9 As shown, a control system for a curved glass cleaning device includes:

[0161] The acquisition module 21 is used to acquire images of curved glass and define ultrasonic cleaning areas based on the images of curved glass.

[0162] Dirt coefficient module 22 is used to determine the dirt coefficient based on the ultrasonic cleaning area;

[0163] Dirt level module 23 is used to define the dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area;

[0164] Ultrasonic cleaning range module 24 is used to determine the ultrasonic cleaning range based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning area.

[0165] Tilt angle module 25 is used to define the tilt angle of the curved glass based on the curved glass image;

[0166] Ultrasonic cleaning logic module 26 is used to determine ultrasonic cleaning logic based on the tilt angle of the curved glass and the ultrasonic cleaning range.

[0167] The adjustment module 27 is used to collect the cleaning change rate of the curved glass and dynamically adjust the ultrasonic cleaning logic based on the cleaning change rate of the curved glass.

[0168] Example

[0169] Please see Figure 10 See below for reference. Figure 10 To describe an electronic device 40 according to this embodiment of the present invention. Figure 10 The electronic device 40 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0170] like Figure 10 As shown, the electronic device 40 is manifested in the form of a general-purpose computing device. The components of the electronic device 40 may include, but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including storage unit 42 and processing unit 41).

[0171] The storage unit stores program code, which can be executed by the processing unit 41 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0172] Storage unit 42 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 421 and / or cache memory 422, and may further include a read-only memory (ROM) 423.

[0173] Storage unit 42 may also include a program / utility 424 having a set (at least one) program module 425, such program module 425 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0174] Bus 43 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the multiple bus structures.

[0175] Electronic device 40 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 40, and / or with any device that enables electronic device 40 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed through input / output (I / O) interface 44. Furthermore, electronic device 40 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 45. Figure 10 As shown, network adapter 45 communicates with other modules of electronic device 40 via bus 43. It should be understood that, although... Figure 10 As not shown, other hardware and / or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0176] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0177] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. Furthermore, it stores computer program instructions, which, when executed by a computer, cause the computer to perform the methods described above.

[0178] Furthermore, the control method and system of the curved glass cleaning equipment provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for a curved glass cleaning device, characterized in that, Applications in curved glass cleaning equipment; The control method for the curved glass cleaning equipment includes: Acquire images of the curved glass surface and define the ultrasonic cleaning area based on the images of the curved glass surface; Determine the dirt coefficient based on the ultrasonic cleaning area; The level of dirtiness is defined based on the dirtiness coefficient and the curvature of the ultrasonic cleaning area. The ultrasonic cleaning range is determined based on the level of dirt and the area of ​​dirt in the ultrasonic cleaning area. This determination includes: defining the dirt area based on the ultrasonic cleaning area; performing area scanning based on the dirt area and defining the dirt area of ​​the ultrasonic cleaning area; and defining the coverage area based on the dirt area and the curvature of the ultrasonic cleaning area. Define the tilt angle of the curved glass based on the curved glass image; The ultrasonic cleaning logic is determined based on the tilt angle of the curved glass and the ultrasonic cleaning range. The cleaning change rate of curved glass is collected, and the ultrasonic cleaning logic is dynamically adjusted based on the cleaning change rate of curved glass. The method of determining the ultrasonic cleaning range based on the dirt level and the dirt area of ​​the ultrasonic cleaning area further includes: associating the dirt level with the coverage area; defining the outer extension range based on the dirt level and the coverage area; and defining the ultrasonic cleaning range based on the dirt area and the outer extension range.

2. The control method for the curved glass cleaning equipment according to claim 1, characterized in that, The process of acquiring an image of the curved glass and defining an ultrasonic cleaning area based on the curved glass image includes: Adjust the relative position of the camera and the curved glass, and define the camera's shooting direction; The curved glass is photographed along the shooting direction of the camera, and an image of the curved glass is obtained; Image recognition is performed on curved glass images to determine the surface and frame of the curved glass; The cleaning area of ​​the curved glass is defined based on the surface and frame of the curved glass; The ultrasonic cleaning area is defined based on multiple cleaning areas.

3. The control method for the curved glass cleaning equipment according to claim 2, characterized in that, The determination of the dirt coefficient based on the ultrasonic cleaning area includes: Freeze the ultrasonic cleaning area; Conduct a thorough inspection of the ultrasonic cleaning area and define areas with color differences. Extract color difference features based on color difference regions; Investigate color difference features to define dirt features and their locations; Dirty areas are divided according to the characteristics of the dirt and the location of the dirt. In a dirty area, divide it into multiple sub-regions with different color differences, and define the dirt coefficient of each sub-region; The dirt coefficient is determined based on the dirt coefficient of multiple sub-regions and the coefficient model.

4. The control method for the curved glass cleaning equipment according to claim 3, characterized in that, The definition of dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area includes: Freeze the ultrasonic cleaning area; Attitude tests were performed on the ultrasonic cleaning area, and the curvature of the ultrasonic cleaning area was collected. The surface curvature and dirt coefficient of the ultrasonic cleaning area are correlated; The dirt level is defined based on the curvature of the ultrasonic cleaning area, the dirt coefficient, and a grading table.

5. The control method for the curved glass cleaning equipment according to claim 1, characterized in that, Defining the tilt angle of the curved glass based on the curved glass image includes: Freeze-frame image of curved glass; Define the central and edge features of the curved glass based on the curved glass image; A tilt model is constructed based on central and edge features; The slope is calculated based on the tilt model, and the tilt angle of the curved glass is defined.

6. The control method for the curved glass cleaning equipment according to claim 5, characterized in that, The ultrasonic cleaning logic, determined based on the tilt angle of the curved glass and the ultrasonic cleaning range, includes: Collect the tilt angle of the curved glass; The tilt angle of the curved glass is correlated with the ultrasonic cleaning range; If the tilt angle of the curved glass is greater than the preset tilt angle, then the tilt direction of the curved glass is collected. The variation ladder diagram is defined based on the tilt direction and tilt angle of the curved glass; Collect the dirt level of each step in the change step diagram; The ultrasonic cleaning logic is determined based on the level of dirt in each stage.

7. The control method for the curved glass cleaning equipment according to claim 6, characterized in that, The method of 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: Define each step in the changing step diagram; Dynamic detection of dirt and grime is performed on each step of the changing step diagram, and the changes in the dirt and grime coefficient of each step are recorded. The cleaning variation rate of curved glass is defined based on the change in the dirt coefficient of the stepped section; Based on the cleaning change rate of curved glass and the adjustment of ultrasonic cleaning logic.

8. A control system for a curved glass cleaning device, characterized in that, The control system of the curved glass cleaning equipment is applied to the control method of the curved glass cleaning equipment as described in any one of claims 1 to 7, and the control system of the curved glass cleaning equipment includes: The acquisition module is used to acquire images of curved glass and define ultrasonic cleaning areas based on the images of curved glass. The dirt coefficient module is used to determine the dirt coefficient based on the ultrasonic cleaning area; The dirt level module is used to define the dirt level based on the dirt coefficient and the curvature of the ultrasonic cleaning area. An ultrasonic cleaning range module is used to determine the ultrasonic cleaning range based on the dirt level and the dirt area of ​​the ultrasonic cleaning area. Determining the ultrasonic cleaning range based on the dirt level and the dirt area of ​​the ultrasonic cleaning area includes: defining the dirt area based on the ultrasonic cleaning area; performing area scanning based on the dirt area and defining the dirt area of ​​the ultrasonic cleaning area; and defining the coverage area based on the dirt area and the curvature of the ultrasonic cleaning area. The tilt angle module is used to define the tilt angle of the curved glass based on the curved glass image; An ultrasonic cleaning logic module is used to determine the ultrasonic cleaning logic based on the tilt angle of the curved glass and the ultrasonic cleaning range. The adjustment module is used to collect the cleaning change rate of the curved glass and dynamically adjust the ultrasonic cleaning logic based on the cleaning change rate of the curved glass. The method of determining the ultrasonic cleaning range based on the dirt level and the dirt area of ​​the ultrasonic cleaning area further includes: associating the dirt level with the coverage area; defining the outer extension range based on the dirt level and the coverage area; and defining the ultrasonic cleaning range based on the dirt area and the outer extension range.

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