Patent ID: 11940811
Assignee: SUZHOU RADIANT PHOTOVOLTAIC TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B  F  H  Y | IPC B  F  G  H

Claim 8:
9. The cleaning method as claimed in claim 7, wherein
the step of adjusting the position of the cleaning robot comprises:
calculating a deviation value of the position from a preset position in the real-time picture in a step of calculating the deviation value;
judging a deviation direction of the cleaning robot according to the deviation value in a step of judging the deviation direction;
judging whether a picture mark is located on a front surface or a back surface of the cleaning robot in a step of judging the picture mark;
in a step of controlling traveling,
if the cleaning robot deviated to left, and the picture mark is disposed on the front surface of the cleaning robot, the cleaning robot turns right at a second angle and moves backward by a second distance, and then turns left at the second angle, moves forward by a third distance, and travels to the second shuttle region;
if the cleaning robot deviated to left, and the picture mark is disposed on the back surface of the cleaning robot, the cleaning robot turns right at the second angle and moves forward by the second distance, and then turns left at the second angle, moves backwards by the third distance, and travels to the second shuttle region;
if the cleaning robot deviated to right, and the picture mark is disposed on the front surface of the cleaning robot, the cleaning robot turns left at the second angle and moves backward by the second distance, and then turns right at the second angle, moves forward by the third distance, and travels to the second shuttle region; and
if the cleaning robot deviated to right, and the picture mark is disposed on the back surface of the cleaning robot, the cleaning robot turns left at the second angle and moves forward by the second distance, and then turns right at the second angle, moves backward by the third distance, and travels to the second shuttle region; and
wherein, F is the second angle, G is the second distance, H is the third distance, and G is E/sinF, H is E/tanF.