Cleaning equipment control method based on multi-source perception and related equipment

Abstract

The invention relates to a cleaning equipment control method based on multi-source perception and related equipment. The method comprises the steps that when curtain wall cleaning equipment executes a curtain wall cleaning instruction, sensing information of the curtain wall cleaning equipment is acquired; the inclination state of the equipment body is obtained according to the distance information in the sensing information, and the distance information and the wind power information of the current period serve as deviation correction distance information and deviation correction wind power information respectively; when the inclination state indicates that the distances between the two sides of the equipment body and the curtain wall are both larger than a set value, a wall attaching control instruction is obtained according to the deviation correction distance information; the wall attaching control instruction is used for controlling each fan to start; when the inclination state indicates that only the distance between one side of the equipment body and the curtain wall is larger than a set value, a deviation rectification control instruction is obtained according to the deviation rectification distance information and the deviation rectification wind power information, and the deviation rectification control instruction is used for controlling one or more draught fans to be started. And the stability and safety of cleaning operation are ensured through a multi-source sensing technology.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment control, and in particular, to a cleaning equipment control method and related equipment based on multi-source perception. Background Art

[0002] High-altitude curtain wall cleaning operations mainly rely on manual labor, which has problems such as potential safety hazards and low efficiency. To solve this problem, some curtain wall cleaning robots have emerged on the market. Considering that robots are prone to being affected by wind during high-altitude operations, resulting in the body tilting or leaving the wall surface, and they cannot maintain a state of being parallel and close to the wall surface, there are potential safety hazards.

[0003] In related technologies, to solve the problem that curtain wall cleaning robots are prone to being affected by wind during high-altitude operations, resulting in the body tilting or leaving the wall surface, taking the patent with the application number CN201922218817.7 as an example, a edge rectification mechanism for a curtain wall cleaning robot is disclosed, which includes a rectification rod, a push-pull component, and a sensor. The first end of the rectification rod is hinged to the first connection component, and the second end of the rectification rod is connected to the second connection component. The push-pull component is fixedly installed on the body, and the movable end of the push-pull component is connected to the second end of the rectification rod. The push-pull component pushes and pulls the rectification rod under the control of the sensor, and the second connection component slides under the drive of the rectification rod. It can only perform rectification when the edge of the cleaning robot touches the window frame. That is to say, when the cleaning equipment executes the curtain wall cleaning instruction to clean the curtain wall, the stability and safety of the operation cannot be better guaranteed.

[0004] Therefore, there is an urgent need for a cleaning equipment control method and related equipment based on multi-source perception to solve the above technical problems. Summary of the Invention

[0005] The present application provides a cleaning equipment control method and related equipment based on multi-source perception, which is used to solve the problem that the stability and safety of the operation cannot be well guaranteed when the cleaning equipment executes the curtain wall cleaning instruction to clean the curtain wall in related technologies.

[0006] To achieve the above object, the present application is implemented through the following technical solutions:

[0007] The present application provides a cleaning equipment control method based on multi-source perception. The cleaning equipment is a curtain wall cleaning equipment, and the curtain wall cleaning equipment includes an equipment body. The curtain wall cleaning equipment further includes:

[0008] a distance sensing module, a wind speed sensing module, and a fan module. The fan module includes a plurality of fans respectively arranged on both sides of the central axis of the equipment body. The method includes:

[0009] When the curtain wall cleaning device executes the curtain wall cleaning instruction, obtain the sensing information of the curtain wall cleaning device, where the sensing information includes a plurality of distance information obtained by using the distance sensing module according to a preset period, and a plurality of wind force information obtained by using the wind speed sensing module;

[0010] Obtain the inclination state of the device body according to the distance information in the sensing information, and respectively use the distance information and wind force information of the current period as the deviation correction distance information and the deviation correction wind force information;

[0011] When the inclination state indicates that the distances between both sides of the device body and the curtain wall are greater than the set value, obtain the wall attachment control instruction according to the deviation correction distance information; the wall attachment control instruction is used to control the start of each of the fans;

[0012] When the inclination state indicates that only one side of the device body is at a distance greater than the set value from the curtain wall, obtain the deviation correction control instruction according to the deviation correction distance information and the deviation correction wind force information, and the deviation correction control instruction is used to control the start of one or more of the fans.

[0013] In one embodiment, the side with a distance greater than the set value from the curtain wall is used as the adjustment side, and the other side is used as the reference side; the obtaining of the deviation correction control instruction according to the deviation correction distance information and the deviation correction wind force information includes:

[0014] S1. Obtain a first control instruction according to the deviation correction distance information and the deviation correction wind force information, where the first control instruction is used to control the operation of the fan on the adjustment side to provide a deviation correction thrust for the adjustment side of the device body towards the curtain wall;

[0015] S2. When the distance between the adjustment side of the device body and the curtain wall shrinks, obtain a second control instruction according to the deviation correction distance information and the deviation correction wind force information, where the second control instruction is used to control the operation of the fan on the reference side to provide an inertial cancellation thrust for the reference side of the device body away from the curtain wall; the value of the inertial cancellation thrust is less than the value of the deviation correction thrust.

[0016] In one embodiment, when the distance between the adjustment side of the device body and the curtain wall does not shrink in the current period, update the deviation correction distance information and the deviation correction wind force information by using the distance information and wind force information collected in the next period, and execute S1 by using the updated deviation correction distance information and deviation correction wind force information.

[0017] In one embodiment, when the inclination state indicates that only one side of the device body is at a distance greater than the set value from the curtain wall, before S1, it further includes:

[0018] Determine whether the distance difference between the adjustment side and the reference side of the equipment body and the curtain wall is less than the corresponding threshold according to the deviation correction distance information;

[0019] When it is not less than the corresponding threshold, execute S1; otherwise, re-obtain the inclination state of the equipment body according to the distance information in the sensing information.

[0020] In one embodiment, the obtaining the first control instruction according to the deviation correction distance information and the deviation correction wind force information includes:

[0021] Obtain the corresponding relationship between the wind force information and the wind speed influence coefficient;

[0022] According to the corresponding relationship, obtain the wind speed influence coefficient corresponding to the deviation correction wind force information and use it as the deviation correction wind speed influence coefficient;

[0023] According to the distance difference between the adjustment side and the reference side of the equipment body and the curtain wall and the corresponding threshold, and the deviation correction wind speed influence coefficient, obtain the deviation correction thrust value; obtain the first control instruction according to the deviation correction thrust value.

[0024] In one embodiment, the obtaining the second control instruction according to the deviation correction distance information and the deviation correction wind force information includes:

[0025] According to the rate of change of the distance difference corresponding to the adjustment side and the reference side of the equipment body, and the deviation correction wind speed influence coefficient, obtain the inertia cancellation thrust value; obtain the second control instruction according to the inertia cancellation thrust value.

[0026] This application also provides an electronic device, which includes one or more processors and a memory; one or more programs are stored in the memory and are configured to be executed by the one or more processors to perform any of the above methods.

[0027] This application also provides a cleaning system, which includes the above-mentioned electronic device, and also includes a curtain wall cleaning device. The curtain wall cleaning device includes an equipment body, a distance sensing module, a wind speed sensing module arranged on the equipment body, and a fan module. The fan module includes a plurality of fans respectively arranged on both sides of the central axis of the equipment body; the electronic device is used to control the operation of the fan module.

[0028] In one embodiment, the fan module includes a first fan, a second fan, a third fan, and a fourth fan, and the first fan to the fourth fan are respectively arranged in the four corner areas of the equipment body.

[0029] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in any one of the above are implemented.

[0030] Through multi-source perception technology, the present application obtains the distance information and wind force information between the device body and the curtain wall in real time, so as to realize the control of the distance between the device body and the curtain wall, and ensure the stability and safety of the cleaning operation. It has the following beneficial effects: by monitoring the distance and wind force information in real time, the attitude of the device body can be adjusted in time to prevent tilting or leaving the wall surface caused by the influence of wind force, and improve the safety of high-altitude operations; through multi-source perception and subsequent fan control, the device body can maintain a state of being parallel and close to the wall surface, ensuring the continuity and efficiency of the cleaning operation, and improving the overall cleaning efficiency; due to reducing the fluctuation of the distance between the device body and the curtain wall, the stability of the operation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present application will be further described below with reference to the drawings and embodiments.

[0032] Figure 1 and Figure 2 shows a schematic structural diagram of a cleaning device provided by the present application.

[0033] Figure 3 shows a schematic flow diagram of a cleaning device control method provided by the present application.

[0034] Figure 4 shows a schematic flow diagram of a method for obtaining a deviation correction control instruction provided by the present application.

[0035] Figure 5 shows a schematic flow diagram of a method for obtaining a first control instruction provided by the present application.

[0036] Figure 6 shows a schematic structural diagram of an electronic device provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0037] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure content of the present invention more thorough and comprehensive.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0039] First, the cleaning device involved in the technical solution of this application will be described. Refer to Figure 1 and Figure 2 , the cleaning device includes a device body 20. On one side of the device body 20 facing the curtain wall, there are a roller brush 24 and an obstacle-crossing wheel 23, and guide wheels 21 arranged at both ends of the device body 20. The cleaning device further includes a plurality of air blowers 22, a distance sensing module, and a wind speed sensing module. The plurality of air blowers 22 are evenly distributed along the central axis side of the device body 20. The distance sensing module may include a plurality of ultrasonic distance sensors, which are arranged on the side of the device body 20 facing the curtain wall. Refer to Figure 1 and may be respectively arranged at the middle positions between two air blowers 22 in the same column. The wind speed sensing module may include a cup anemometer or a propeller anemometer and may be arranged at one end of the device body 20 close to the lifting device 30.

[0040] A water tank and a water pipe are provided inside the device body 20. One end of the water pipe is connected to the water tank, and a nozzle is provided at the other end of the water pipe. A water pump may be provided in the middle of the water pipe for pumping the water in the water tank and flushing the curtain wall. When the cleaning device executes the curtain wall cleaning instruction (using the lifting device 30), it moves upward, and the roller brush 24 and the water pump are started to spray water to clean the curtain wall. When encountering an obstacle, the guide wheel 21 first contacts the convex obstacle on the glass curtain wall, and the whole cleaning device is pulled upward by the traction force of the top hoisting structure. At this time, the guide wheel 21 rotates to drive the device body 20 to climb over the obstacle, effectively avoiding the possibility that the device body 20 gets stuck at the obstacle (such as the window sill).

[0041] This application provides a cleaning device control method and related devices based on multi-source perception, which can improve the stability and safety of the operation through multi-source perception technology when using the above cleaning device to execute the curtain wall cleaning instruction to clean the curtain wall. The method will be described first below, and then the devices and the like will be described.

[0042] Method embodiment.

[0043] Refer to Figure 3 , Figure 3 which shows a schematic flow chart of a cleaning device control method provided by an embodiment of this application. The cleaning device control method based on multi-source perception includes:

[0044] S101. When the curtain wall cleaning device executes the curtain wall cleaning instruction, obtain the sensing information of the curtain wall cleaning device. The sensing information includes a plurality of distance information obtained by using the distance sensing module according to a preset period, and a plurality of wind force information obtained by using the wind speed sensing module;

[0045] The distance information is a plurality of distance information between the device body and the curtain wall obtained by the distance sensing module according to a preset period, and is used to judge the inclination state of the device body. The wind force information is the wind force information obtained by the wind speed sensing module, and is used to evaluate the influence of the wind force on the device body.

[0046] As an example, for instance, the values of a plurality of sensor data (distance data or wind speed data) obtained within a period (such as 2 minutes, 3 minutes, etc.) and the corresponding time data of the acquisition period are used as the distance information or the wind force information.

[0047] S102. Obtain the inclination state of the device body according to the distance information in the sensing information, and respectively use the distance information and the wind force information of the current period as the deviation correction distance information and the deviation correction wind force information;

[0048] Specifically, this step is used to judge whether the distances between both sides of the device body and the curtain wall are both greater than the set value, or only one side is greater than the set value. The distance information and the wind force information of the current period are respectively used as the deviation correction distance information and the deviation correction wind force information for generating subsequent control instructions.

[0049] S103. When the inclination state indicates that the distances between both sides of the device body and the curtain wall are both greater than the set value, obtain the wall - attaching control instruction according to the deviation correction distance information; the wall - attaching control instruction is used to control each of the fans to start;

[0050] When the inclination state indicates that the distances between both sides of the device body and the curtain wall are both greater than the set value, generate a wall - attaching control instruction to control each fan to start, so that the device body is close to the curtain wall.

[0051] S104. When the inclination state indicates that only one side of the device body is greater than the set value from the curtain wall, obtain the deviation correction control instruction according to the deviation correction distance information and the deviation correction wind force information, and the deviation correction control instruction is used to control one or more of the fans to start.

[0052] Different from the previous step (S103), when the inclination state indicates that only one side of the device body is greater than the set value from the curtain wall, a deviation correction control instruction can be generated to control one or more fans to start to adjust the inclination state of the device body.

[0053] In the solution of this application, distance information and wind force information between the device body and the curtain wall are obtained in real time through multi-source sensing technology, so as to control the distance between the device body and the curtain wall, ensuring the stability and safety of the cleaning operation. It has the following beneficial effects: By monitoring the distance and wind force information in real time, the attitude of the device body can be adjusted in time to prevent tilting or leaving the wall surface caused by the influence of wind force, improving the safety of high-altitude operations; Through multi-source sensing and subsequent fan control, the device body can maintain a state of being parallel and close to the wall surface, ensuring the continuity and efficiency of the cleaning operation and improving the overall cleaning efficiency; Since the fluctuation of the distance between the device body and the curtain wall is reduced, the stability of the operation is improved.

[0054] See Figure 4 , Figure 4 which shows a schematic flow chart of obtaining a deviation correction control instruction provided by this application.

[0055] In some embodiments, the side with a distance from the curtain wall greater than the set value is taken as the adjustment side, and the other side is taken as the reference side; The obtaining of the deviation correction control instruction according to the deviation correction distance information and the deviation correction wind force information includes:

[0056] S201, obtaining a first control instruction according to the deviation correction distance information and the deviation correction wind force information, where the first control instruction is used to control the operation of the fan on the adjustment side to provide a deviation correction thrust for the adjustment side of the device body to face the curtain wall;

[0057] S202, when the distance between the adjustment side of the device body and the curtain wall shrinks, obtaining a second control instruction according to the deviation correction distance information and the deviation correction wind force information, where the second control instruction is used to control the operation of the fan on the reference side to provide an inertial cancellation thrust for the reference side of the device body to move away from the curtain wall; The value of the inertial cancellation thrust is less than the value of the deviation correction thrust.

[0058] That is to say, when only one side of the device body has a distance from the curtain wall greater than the set value (such as 3 cm, 5 cm, 10 cm), this side is taken as the adjustment side, and the other side is taken as the reference side. A first control instruction can be obtained according to the deviation correction distance information and the deviation correction wind force information, which is used to control the operation of the fan on the adjustment side to provide a deviation correction thrust towards the curtain wall. Next, when the distance between the adjustment side and the curtain wall shrinks, a second control instruction is obtained according to the deviation correction distance information and the deviation correction wind force information, which is used to control the operation of the fan on the reference side to provide an inertial cancellation thrust away from the curtain wall. The value of the inertial cancellation thrust is less than the value of the deviation correction thrust, which is used to offset the inertia of the device body and prevent overshoot. In this embodiment, the first control instruction and the second control instruction are used as the deviation correction control instruction.

[0059] Thus, when the distance between the adjustment side and the curtain wall is greater than the set value, a first control command is generated based on the deviation correction distance information and the deviation correction wind force information to control the operation of the fan on the adjustment side, providing a deviation correction thrust towards the curtain wall, thereby effectively correcting the tilt state of the equipment body and restoring it to the equilibrium position; when the distance between the adjustment side and the curtain wall shrinks, a second control command is generated based on the deviation correction distance information and the deviation correction wind force information to control the operation of the fan on the reference side (in the opposite direction), providing an inertia cancellation thrust away from the curtain wall. Since the value of the inertia cancellation thrust is less than that of the deviation correction thrust, it can effectively cancel the inertia of the equipment body and prevent it from approaching the curtain wall excessively due to inertia, thus avoiding the collision or overshoot phenomenon between the equipment body and the curtain wall, and further improving the stability of the equipment; under different wind force conditions and curtain wall distance situations, the operation of the fan can be flexibly adjusted to provide appropriate deviation correction thrust and inertia cancellation thrust, enabling the equipment to operate stably under complex environmental conditions (high-rise building curtain wall cleaning), enhancing the safety and reliability of the equipment.

[0060] In some embodiments, when the distance between the adjustment side of the equipment body and the curtain wall does not shrink within the current cycle, the deviation correction distance information and the deviation correction wind force information are updated using the distance information and the wind force information collected in the next cycle, and S201 is executed using the updated deviation correction distance information and the deviation correction wind force information.

[0061] It can be considered that when the distance between the adjustment side of the equipment body and the curtain wall does not shrink as expected, the distance information between the equipment body and the curtain wall and the wind force information are respectively collected using the distance sensing module and the wind speed sensing module within the current cycle. According to the collected distance information, it is judged whether the distance between the adjustment side of the equipment body and the curtain wall shrinks. If the distance between the adjustment side and the curtain wall does not shrink within the current cycle, new distance information and wind force information are collected in the next cycle. Then, the deviation correction distance information and the deviation correction wind force information are updated using the distance information and the wind force information collected in the next cycle. In this case, S201 is executed using the updated deviation correction distance information and the deviation correction wind force information, that is, a first control command is generated to control the operation of the fan on the adjustment side to provide a deviation correction thrust towards the curtain wall.

[0062] Thus, if the distance between the adjustment side and the curtain wall does not shrink within the current cycle, the deviation correction information is updated in a timely manner and S201 is re-executed, which can avoid the lag of the control command and ensure that the equipment body can quickly respond to environmental changes. By updating the deviation correction distance information and the deviation correction wind force information in each cycle, it is ensured that the control command is generated based on the latest sensed data, thereby improving the control accuracy and response speed. By continuously updating the deviation correction information and executing the control command, it is ensured that the equipment body always maintains an appropriate distance from the curtain wall during the cleaning operation, improving the continuity and efficiency of the cleaning operation.

[0063] In some embodiments, when the tilt state indicates that the distance between only one side of the device body and the curtain wall is greater than a set value, before S201, it further includes:

[0064] Judging whether the distance difference between the adjustment side and the reference side of the device body and the curtain wall is less than the corresponding threshold according to the deviation correction distance information;

[0065] When it is not less than the corresponding threshold, execute S201; otherwise, obtain the tilt state of the device body again according to the distance information in the perception information.

[0066] In this embodiment, according to the acquired distance information, the tilt state of the device body can be judged to determine whether the distance between only one side and the curtain wall is greater than the set value. Before executing step S201 (acquiring the first control instruction), judge whether the distance difference between the adjustment side and the reference side of the device body and the curtain wall is less than the corresponding threshold according to the deviation correction distance information. The threshold is preset according to the design and operation requirements of the cleaning device to determine whether a deviation correction action needs to be performed, and it is, for example, 5 cm, 8 cm or 10 cm. If the distance difference is not less than the corresponding threshold, generate a first control instruction to control the operation of the fan on the adjustment side to provide a deviation correction thrust.

[0067] Thus, by calculating the distance difference between the adjustment side and the reference side and comparing it with the threshold, it can be more accurately judged whether the device body needs deviation correction, avoiding unnecessary operations. Only when the distance difference exceeds the threshold is the deviation correction operation performed, which can reduce the unnecessary operation of the fan, thereby saving energy. By precisely controlling the deviation correction timing, the stability of the device body can be better maintained, avoiding instability caused by excessive deviation correction.

[0068] See Figure 5 , Figure 5 which shows a schematic flow chart of obtaining a first control instruction provided by the present application.

[0069] In some embodiments, the obtaining of the first control instruction according to the deviation correction distance information and the deviation correction wind force information includes:

[0070] S301, obtaining the corresponding relationship between the wind force information and the wind speed influence coefficient;

[0071] S302, according to the corresponding relationship, obtaining the wind speed influence coefficient corresponding to the deviation correction wind force information and using it as the deviation correction wind speed influence coefficient;

[0072] S303, obtaining a deviation correction thrust value according to the distance difference between the adjustment side and the reference side of the device body and the curtain wall and the corresponding threshold, and the deviation correction wind speed influence coefficient; obtaining the first control instruction according to the deviation correction thrust value.

[0073] In this embodiment, by comprehensively considering the wind force information and the wind speed influence coefficient, the required deviation correction thrust value is accurately calculated, and a control command is generated accordingly. In specific applications, a correspondence table or function between the wind force information and the wind speed influence coefficient is established in advance, and this correspondence table or function describes the influence degree of the wind speed on the deviation correction thrust under different wind force conditions (or within intervals).

[0074] According to the currently collected deviation correction wind force information, the corresponding wind speed influence coefficient is obtained from the correspondence, and it is used as the deviation correction wind speed influence coefficient. Then, in combination with the distance difference between the adjustment side and the reference side of the equipment body and the corresponding threshold value with respect to the curtain wall, as well as the deviation correction wind speed influence coefficient, the required deviation correction thrust value is calculated. According to the calculated deviation correction thrust value, a first control command is generated. The first control command is used to control the operation of the fan on the adjustment side to provide a deviation correction thrust towards the curtain wall.

[0075] Thus, by considering the influence of the wind force on the deviation correction thrust, the required deviation correction thrust value can be calculated more accurately, thereby improving the accuracy of the deviation correction control. Further, by accurately calculating the deviation correction thrust value, excessive or insufficient deviation correction actions can be avoided, thereby optimizing energy use; accurate deviation correction control helps the equipment body maintain the best distance from the curtain wall, thereby improving the cleaning efficiency and quality.

[0076] In some embodiments, the obtaining of the second control command according to the deviation correction distance information and the deviation correction wind force information includes:

[0077] Obtaining an inertia cancellation thrust value according to the rate of change of the distance difference corresponding to the adjustment side and the reference side of the equipment body, and the deviation correction wind speed influence coefficient; obtaining the second control command according to the inertia cancellation thrust value.

[0078] In this embodiment, when the curtain wall cleaning equipment is performing a cleaning operation, if the distance between the adjustment side of the equipment body and the curtain wall begins to decrease, a second control command needs to be generated to control the fan on the reference side to provide an inertia cancellation thrust to prevent the equipment body from approaching the curtain wall excessively due to inertia.

[0079] Thus, by considering the rate of change of the distance difference and the wind speed influence coefficient, the required inertia cancellation thrust value can be calculated more accurately and timely, thereby improving the accuracy and timeliness of the deviation correction. By providing an appropriate inertia cancellation thrust, it is possible to effectively prevent the equipment body from approaching the curtain wall excessively due to inertia, enhancing the stability and safety of the equipment. In summary, by comprehensively considering the rate of change of the distance difference and the wind speed influence coefficient to accurately calculate the required inertia cancellation thrust value and generating a control command accordingly, the deviation correction accuracy and safety of the curtain wall cleaning equipment during high-altitude operations are improved.

[0080] As an example, a cleaning device control method based on multi-source perception is provided. The cleaning device is a curtain wall cleaning device, and the curtain wall cleaning device includes a device body. The curtain wall cleaning device further includes:

[0081] a distance sensing module, a wind speed sensing module, and a fan module. The fan module includes a plurality of fans respectively arranged on both sides of the central axis of the device body; the side with a distance from the curtain wall greater than a set value is used as the adjustment side, and the other side is used as the reference side.

[0082] The cleaning device control method based on multi-source perception includes:

[0083] When the curtain wall cleaning device executes a curtain wall cleaning instruction, obtain the perception information of the curtain wall cleaning device. The perception information includes a plurality of distance information obtained by using the distance sensing module according to a preset period, and a plurality of wind force information obtained by using the wind speed sensing module;

[0084] Obtain the inclination state of the device body according to the distance information in the perception information, and respectively use the distance information and wind force information of the current period as the deviation correction distance information and the deviation correction wind force information;

[0085] When the inclination state indicates that the distances between both sides of the device body and the curtain wall are greater than the set value, obtain a wall attachment control instruction according to the deviation correction distance information; the wall attachment control instruction is used to control the start of each of the fans;

[0086] When the inclination state indicates that only one side of the device body has a distance from the curtain wall greater than the set value, execute steps S0 to S3.

[0087] S0, judge whether the distance difference between the adjustment side and the reference side of the device body and the curtain wall is less than the corresponding threshold according to the deviation correction distance information; when it is not less than the corresponding threshold, execute S1; otherwise, re-obtain the inclination state of the device body according to the distance information in the perception information.

[0088] S1, obtain the corresponding relationship between the wind force information and the wind speed influence coefficient; according to the corresponding relationship, obtain the wind speed influence coefficient corresponding to the deviation correction wind force information and use it as the deviation correction wind speed influence coefficient; according to the distance difference between the adjustment side and the reference side of the device body and the curtain wall and the corresponding threshold, and the deviation correction wind speed influence coefficient, obtain a deviation correction thrust value; obtain the first control instruction according to the deviation correction thrust value. The first control instruction is used to control the operation of the fans on the adjustment side to provide a deviation correction thrust for the adjustment side of the device body towards the curtain wall.

[0089] As a reference, the distances of both sides (the adjustment side and the reference side) from the curtain wall are as follows: the distance on the left side is L, and the distance on the right side is R. The absolute value of the difference in distances between the two sides is Δ = |L - R|. The ambient wind speed is V; the threshold is T, and the fan is started when Δ > T. k is a pre-set system gain constant, such as 0.8, 1.2, etc., which is used for users to adjust the influence of the ambient wind speed on the output thrust according to experience.

[0090] Considering that when the difference in distances on both sides of the fuselage exceeds the threshold, the larger the excess part of the difference, the greater the thrust required for correction. When Δ > T, the corresponding correction start formula is: Fcorr = k·V·(△ - T).

[0091] Among them, Fcorr represents the thrust of the fan for correction. This method incorporates the ambient wind speed V into the control process to ensure that the fan can output a corresponding larger thrust in the case of strong wind.

[0092] S2. When the distance between the adjustment side of the equipment body and the curtain wall shrinks, according to the rate of change of the distance difference corresponding to the adjustment side and the reference side of the equipment body, and the correction wind speed influence coefficient, obtain the inertial cancellation thrust value; obtain the second control instruction according to the inertial cancellation thrust value, and the second control instruction is used to control the operation of the fan on the reference side to provide an inertial cancellation thrust for the reference side of the equipment body to move away from the curtain wall; the value of the inertial cancellation thrust is less than the value of the correction thrust, and the correction control instruction includes the above first control instruction and the second control instruction, which is used to control one or more of the fans to start.

[0093] As a reference, during the correction process (S1), when it is detected that the difference in distances between the two sides starts to decrease (i.e., ), it is necessary to increase the counter-thrust to offset the inertia and prevent overshoot. When , the corresponding inertial cancellation formula is:

[0094] Among them, is the rate of change of the distance difference. When it is negative, it indicates that the difference is decreasing. Prev and Pcorr are in opposite directions to offset inertia and achieve a smooth transition. Similarly, the ambient wind speed and the gain jointly adjust the magnitude of the output force. Through the above method, the balance adjustment of the left and right distances of the fuselage (equipment body) can be achieved.

[0095] In specific applications, according to the calculated thrust and / or counter-thrust, obtain the corresponding PWM signal, and control the operation of the fan by setting the duty cycle, etc. It is also possible to set the voltage magnitude of the corresponding fan according to the calculated thrust and / or counter-thrust (the voltage magnitude is proportional to the thrust magnitude), and it can be considered that the greater the thrust, the higher the voltage.

[0096] S3. When the distance between the adjustment side of the device body and the curtain wall does not decrease during the current cycle, update the deviation correction distance information and the deviation correction wind force information using the distance information and the wind force information collected in the next cycle, and execute S1 using the updated deviation correction distance information and the deviation correction wind force information.

[0097] Device embodiment.

[0098] This embodiment provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor is configured to implement the steps of the method described in any one of the method embodiments when executing the computer program.

[0099] See Figure 6 , Figure 6 shows a schematic structural diagram of an electronic device provided by the present application.

[0100] The electronic device may, for example, include at least one memory 11, at least one processor 12, and a bus 13 connecting different platform systems.

[0101] The memory 11 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 111 and / or a cache memory 112, and may further include a read-only memory (ROM) 113.

[0102] Among them, the memory 11 also stores a computer program, and the computer program can be executed by the processor 12, so that the processor 12 implements the steps of the above-mentioned any method.

[0103] The memory 11 may further include a utility 114 having at least one program module 115. Such program modules 115 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0104] Correspondingly, the processor 12 can execute the above-mentioned computer program and can also execute the utility 114.

[0105] The processor 12 may employ one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0106] The bus 13 may represent one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any bus architecture with multiple bus architectures.

[0107] The electronic device can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a Bluetooth device, etc., and can also communicate with one or more devices capable of interacting with the electronic device, and / or communicate with any device (such as a router, a modem, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication can be carried out through the input / output interface 15. Moreover, the electronic device can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 16. The network adapter 16 can communicate with other modules of the electronic device through the bus 13. It should be understood that although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device in practical applications, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, etc.

[0108] System embodiments.

[0109] An embodiment of the present application provides a cleaning system, which includes the electronic device described in the device embodiment, and also includes a curtain wall cleaning device. The curtain wall cleaning device includes a device body, a distance sensing module, a wind speed sensing module provided on the device body, and a fan module. The fan module includes a plurality of fans respectively provided on both sides of the central axis of the device body; the electronic device is used to control the operation of the fan module.

[0110] The fan module includes a first fan, a second fan, a third fan, and a fourth fan. The first fan to the fourth fan are respectively provided in four corner regions of the device body.

[0111] Computer-readable storage medium embodiments.

[0112] An embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the steps of any of the above-mentioned methods are implemented.

[0113] A computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has a storage space for program code that executes any of the method steps in the above-described method. This program code may be read out from or written into one or more computer program products. The program code may be compressed in a suitable form, for example.

[0114] The technical features of the above-described embodiments may be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0115] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A cleaning equipment control method based on multi-source perception, wherein the cleaning equipment is a curtain wall cleaning equipment, and the curtain wall cleaning equipment includes an equipment body, characterized in that: The curtain wall cleaning equipment also includes: A distance sensor module, a wind speed sensor module and a fan module, wherein the fan module comprises a plurality of fans respectively arranged on both sides of the central axis of the device body; the method comprises: When the curtain wall cleaning device executes the curtain wall cleaning instruction, the perception information of the curtain wall cleaning device is obtained, and the perception information includes a plurality of distance information obtained by the distance sensing module according to a preset period, and a plurality of wind force information obtained by the wind speed sensing module; Acquire the tilt state of the device body according to the distance information in the sensing information, and use the distance information and wind force information of the current cycle as deviation correction distance information and deviation correction wind force information respectively; When the tilt state indicates that the distances between the two sides of the device body and the curtain wall are greater than a set value, a wall-sticking control instruction is obtained according to the deviation correction distance information; the wall-sticking control instruction is used to control the start-up of each of the fans; When the tilt state indicates that only one side of the device body is at a distance greater than a set value from the curtain wall, a correction control instruction is obtained according to the correction distance information and the correction wind force information, and the correction control instruction is used to control the start-up of one or more fans.

2. The cleaning equipment control method according to claim 1, characterized in that: The side whose distance from the curtain wall is greater than the set value is used as the adjustment side, and the other side is used as the reference side; the obtaining of the correction control instruction according to the correction distance information and the correction wind force information includes: S1, acquiring a first control instruction according to the correction distance information and the correction wind force information, wherein the first control instruction is used to control the operation of the fan on the adjustment side to provide a correction thrust force on the adjustment side of the device body toward the curtain wall; S2, when the distance between the adjustment side of the equipment body and the curtain wall is reduced, a second control instruction is obtained according to the correction distance information and the correction wind force information, and the second control instruction is used to control the operation of the fan on the reference side to provide an inertia offsetting thrust to the reference side of the equipment body away from the curtain wall; the value of the inertia offsetting thrust is less than the value of the correction thrust.

3. The cleaning equipment control method according to claim 2, characterized in that: When the distance between the adjustment side of the equipment body and the curtain wall is not reduced in the current cycle, the correction distance information and the correction wind force information are updated using the distance information and the correction wind force information collected in the next cycle, and S1 is executed using the updated correction distance information and the correction wind force information.

4. The cleaning equipment control method according to claim 2, characterized in that: When the tilt state indicates that the distance between only one side of the device body and the curtain wall is greater than a set value, before S1, the method further includes: Determine whether the distance difference between the adjustment side and the reference side of the device body and the curtain wall is less than a corresponding threshold value according to the deviation correction distance information; When it is not less than the corresponding threshold, execute S1; otherwise, obtain the tilt state of the device body again according to the distance information in the perception information.

5. The cleaning equipment control method according to claim 2, characterized in that: The obtaining of the first control instruction according to the deviation correction distance information and the deviation correction wind force information includes: Obtain the corresponding relationship between wind force information and wind speed influence coefficient; According to the corresponding relationship, a wind speed influence coefficient corresponding to the deviation correction wind force information is obtained and used as the deviation correction wind speed influence coefficient; According to the distance difference between the adjustment side and the reference side of the equipment body and the curtain wall and the corresponding threshold value, and the correction wind speed influence coefficient, the correction thrust value is obtained; and the first control instruction is obtained according to the correction thrust value.

6. The cleaning equipment control method according to claim 5, characterized in that: The obtaining of the second control instruction according to the deviation correction distance information and the deviation correction wind force information includes: According to the distance difference change rate corresponding to the adjustment side and the reference side of the equipment body and the correction wind speed influence coefficient, the inertia offset thrust value is obtained; and according to the inertia offset thrust value, the second control instruction is obtained.

7. An electronic device, characterized in that: The electronic device includes one or more processors and a memory; one or more programs are stored in the memory and are configured so that the one or more processors execute the method according to any one of claims 1 to 6.

8. A cleaning system, characterized in that: The electronic device comprises the electronic device as described in claim 7, and also comprises a curtain wall cleaning device, wherein the curtain wall cleaning device comprises a device body, a distance sensor module, a wind speed sensor module, and a fan module arranged on the device body, and the fan module comprises a plurality of fans respectively arranged on both sides of the central axis of the device body; the electronic device is used to control the operation of the fan module.

9. The cleaning system according to claim 8, characterized in that: The fan module includes a first fan, a second fan, a third fan and a fourth fan, and the first fan to the fourth fan are respectively arranged in four corner areas of the equipment body.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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