A cleaning path control method and device for a window cleaning machine

Abstract

This application discloses a cleaning path control method and device for a window cleaning machine, applicable to a window cleaning machine equipped with a gyroscope. The method comprises the following steps: in response to a planned path instruction, obtaining the current angle of the gyroscope and the wheel direction information of the window cleaning machine's drive wheels; based on the current angle, obtaining the direction area information corresponding to the current angle from a matching database within the window cleaning machine, wherein the matching database is constructed from the angle range corresponding to the current angle and the direction area information corresponding to the angle range; and based on the obtained current angle, direction area information, and wheel direction information, controlling the window cleaning machine to move along a preset planned path. This method solves the complexity and low accuracy issues associated with traditional angle conversion methods, enabling the window cleaning machine to perform cleaning operations accurately and stably.

Description

Technical Field

[0001] The present application relates to the technical field of window cleaning machines, and in particular to a method and device for controlling a cleaning path of a window cleaning machine. Background Art

[0002] Window cleaning machines are intelligent tools used to clean the windows and exterior walls of buildings and structures. With the continuous advancement of technology, their application is becoming increasingly widespread. Currently, window cleaning machines typically control their cleaning path by converting the angle values ​​obtained by a gyroscope sensor. However, because the gyroscope's angles at different locations on a vertical plane are not strictly 0° to 360°, the same angle values ​​can exist in different directions, and both positive and negative angle values ​​can exist within the same plane. This complicates and reduces accuracy in angle conversion. This can lead to repeated cleaning or missed cleaning. This is especially true for spray-cleaning machines. Repeated cleaning can result in excessive spray volume, posing a risk of the machine slipping and falling. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a cleaning path control method for a window cleaning machine, which can solve the problems of complexity and low accuracy caused by traditional conversion of angle values, so that the window cleaning machine can perform cleaning operations accurately and stably.

[0004] To achieve the above technical objectives, this application provides the following steps:

[0005] In response to the planned path instruction, obtaining the current angle of the gyroscope and the wheel direction information of the driving wheel of the window cleaning machine;

[0006] According to the current angle, obtaining direction area information corresponding to the current angle from a matching database in the window cleaning machine, wherein the matching database is established by an angle range corresponding to the current angle and the direction area information corresponding to the angle range;

[0007] Based on the acquired current angle, the direction area information and the wheel direction information, the window cleaning machine is controlled to move along a preset planned path.

[0008] Furthermore, the acquiring, based on the current angle, the direction area information corresponding to the current angle from the matching database in the window cleaning machine specifically includes:

[0009] According to the current angle, matching the angle range including an angle value equal to the current angle;

[0010] According to the matched angle range, the direction area information corresponding to the matched angle range is acquired.

[0011] Furthermore, before obtaining the current angle of the gyroscope and the wheel direction information of the driving wheel of the window cleaning machine in response to the planned path instruction, the method further includes:

[0012] Determine whether the window cleaning machine has the matching database. If so, execute the subsequent steps. If not, establish the matching database.

[0013] Furthermore, the establishing of the matching database specifically includes:

[0014] respectively obtaining the angle of the gyroscope when the window cleaning machine is located at a preset reference axis;

[0015] According to the acquired angle, acquiring the angle range based on a first preset correspondence between the angle and the angle range;

[0016] acquiring the direction area information according to the angle range and based on a second preset correspondence between the angle range and the direction area information;

[0017] The matching database is established according to the angle range and the direction area information.

[0018] Furthermore, before determining whether the window cleaning machine has the matching database, the method further includes:

[0019] Initialize the window cleaning machine.

[0020] A cleaning path control device for a window cleaning machine, comprising:

[0021] an acquisition unit, configured to acquire, in response to a planned path instruction, a current angle of the gyroscope and wheel direction information of a driving wheel of the window cleaning machine;

[0022] a matching unit, configured to obtain, based on the current angle, direction area information corresponding to the current angle from a matching database within the window cleaning machine;

[0023] A control unit is used to control the window cleaning machine to move along a preset planned path based on the acquired current angle, the direction area information and the wheel direction information.

[0024] Furthermore, the matching unit includes a first matching subunit and a second matching subunit;

[0025] The first matching subunit is configured to match the angle range including an angle value equal to the current angle according to the current angle;

[0026] The second matching subunit is configured to obtain the direction area information corresponding to the matched angle range according to the matched angle range.

[0027] Furthermore, it also includes:

[0028] The judging unit is configured to judge whether the window cleaning machine has the matching database, and if so, to execute subsequent steps; if not, to establish the matching database.

[0029] Furthermore, the establishing of the matching database specifically includes:

[0030] respectively obtaining the angle of the gyroscope when the window cleaning machine is located at a preset reference axis;

[0031] According to the acquired angle, acquiring the angle range based on a first preset correspondence between the angle and the angle range;

[0032] acquiring the direction area information according to the angle range and based on a second preset correspondence between the angle range and the direction area information;

[0033] The matching database is established according to the angle range and the direction area information.

[0034] Furthermore, it also includes:

[0035] An initialization unit is used to initialize the window cleaning machine.

[0036] It can be seen from the above technical solutions that the present application provides a window cleaning machine cleaning path control method, which first obtains the current angle of the gyroscope and the wheel direction information of the driving wheel of the window cleaning machine, and then obtains the direction area information corresponding to the current angle from the matching database in the window cleaning machine based on the obtained current angle, and then obtains the direction area information of the current window cleaning machine. The angle range and the direction area information corresponding to the angle range are used to establish a matching database, and then the current angle is directly matched to obtain the direction area information of the current window cleaning machine. The calculation is simple and the result is accurate; then, based on the obtained current angle, direction area information and wheel direction information, the window cleaning machine is controlled to accurately move along the preset planned path, so that the window cleaning machine can perform cleaning operations stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0038] Figure 1 This is a flow chart of a first embodiment of a cleaning path control method for a window cleaning machine provided in this application;

[0039] Figure 2 This is a flow chart of a second embodiment of a cleaning path control method for a window cleaning machine provided in this application;

[0040] Figure 3 This is a schematic diagram of an application example of a first divided angle range of a window cleaning machine cleaning path control method provided in this application;

[0041] Figure 4 This is a schematic diagram of an application example of a second divided angle range of a window cleaning machine cleaning path control method provided in this application;

[0042] Figure 5 This is a schematic diagram of an application example of a third divided angle range of a window cleaning machine cleaning path control method provided in this application;

[0043] Figure 6 This is an initial schematic diagram of a window cleaning machine executing an N-type preset planning path in a window cleaning machine cleaning path control method provided in this application;

[0044] Figure 7 This is a schematic diagram of a window cleaning machine after executing the first path segment of an N-type preset planning path in a window cleaning machine cleaning path control method provided in this application;

[0045] Figure 8 This is a schematic diagram of a window cleaning machine after executing the second path segment of an N-type preset planning path in a window cleaning machine cleaning path control method provided in this application;

[0046] Figure 9 This is a flow chart of Example 1 of a cleaning path control device for a window cleaning machine provided in this application;

[0047] Figure 10 This is a flow chart of the second embodiment of a cleaning path control device for a window cleaning machine provided in this application;

[0048] In the figure: 100, window cleaning machine; 1, control unit; 2, acquisition unit; 3, matching unit; 31, first matching subunit; 32, second matching subunit; 4, initialization unit; 5, judgment unit; 6, restart unit. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions of the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present application, not all of them. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the embodiments of the present application.

[0050] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0051] In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, replaceable connections, or integral connections. They can also refer to mechanical connections or electrical connections. They can also refer to direct connections or indirect connections through an intermediate medium. They can also refer to internal connections between two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0052] An embodiment of the present application discloses a cleaning path control method for a window cleaning machine, which is applied to a window cleaning machine equipped with the gyroscope.

[0053] See also Figure 1 An embodiment of a window cleaning machine cleaning path control method provided in an embodiment of the present application includes the following steps:

[0054] S1. In response to a planned path instruction, the current angle of the gyroscope and the direction information of the drive wheels of the window cleaning machine 100 are obtained. It should be noted that the planned path instruction may be sent to the window cleaning machine 100 by a smart terminal such as a mobile phone or tablet. The planned path instruction may include a preset planned path, i.e., a pre-set planned path. The direction information may include the current rotation angle of the drive wheels, etc., to determine the current steering state of the drive wheels.

[0055] S2, according to the current angle, obtain the direction area information corresponding to the current angle from the matching database in the window cleaning machine 100, wherein the matching database is established by the divided angle range and the direction area information corresponding to the angle range; it should be noted that, if Figures 3 to 5As shown, the angle range of 0° to 360° is first divided into multiple angle ranges, and corresponding directional zone information is established for each angle range. The angle ranges and directional zone information are then used to establish a matching database. Specifically, the angle values ​​are partitioned and classified, and then the corresponding directional zone information is quickly matched based on the current angle to determine the directional zone of the current window cleaning machine 100, specifically the directional zone of the current window cleaning machine 100 head.

[0056] S3: Based on the acquired current angle, directional zone information, and wheel direction information, the window cleaning machine 100 is controlled to move along the pre-planned path. It should be noted that once the current directional zone of the window cleaning machine 100 is determined and compared with the target directional zone in the pre-planned path, the machine's 100 head can be quickly determined to adjust to the target directional zone. The wheel direction information can determine the current steering state of the drive wheels, allowing calculation and determination of how to control the drive wheels to adjust the window cleaning machine 100 to the target directional zone. During the adjustment process, the current angle can be compared with the preset angle of the pre-planned path. When the acquired current angle is equal to the preset angle, it can be determined that the window cleaning machine 100 is aligned with the cleaning path, and the window cleaning machine 100 is controlled to move along the pre-planned path.

[0057] It can be seen from the above technical solutions that the present application provides a window cleaning machine cleaning path control method, which first obtains the current angle of the gyroscope and the wheel direction information of the driving wheel of the window cleaning machine 100, and then obtains the direction area information corresponding to the current angle from the matching database in the window cleaning machine 100 based on the obtained current angle, and then obtains the direction area information of the current window cleaning machine 100, and uses the angle range and the direction area information corresponding to the angle range to establish a matching database, and then directly matches the current angle to obtain the direction area information of the current window cleaning machine 100, which is simple to calculate and accurate in results; and then, based on the obtained current angle, direction area information and wheel direction information, controls the window cleaning machine 100 to accurately move along the preset planned path, so that the window cleaning machine 100 can perform cleaning operations stably.

[0058] The above is the first embodiment of a method for controlling a cleaning path of a window cleaning machine provided by the embodiment of the present application. The following is the second embodiment of a method for controlling a cleaning path of a window cleaning machine provided by the embodiment of the present application. For details, please refer to Figures 2 to 8 .

[0059] The steps include:

[0060] S10, initialize the window cleaning machine 100; it should be noted that the initialization operation on the system of the window cleaning machine 100 can clear and organize the planned path and other data left over from the previous operation, so as to avoid data interference from interfering with the subsequent execution of path planning instructions. The initialization can be completed when the window cleaning machine 100 is turned on, and there is no specific limitation.

[0061] S20, determine whether there is a matching database in the window cleaning machine 100. If so, execute the subsequent steps. It should be noted that after completing the initialization, you can first determine whether there is a matching database in the window cleaning machine 100. If there is a matching database, continue to execute the subsequent steps.

[0062] S21, if not, then establish a matching database; it should be noted that if there is no matching database, then it is necessary to re-establish the matching database. The specific process of establishing the matching database can be as follows:

[0063] First, the angle of the gyroscope of the window cleaning machine 100 when it is in the preset reference axis is obtained respectively; wherein the preset reference axis can be as follows Figure 2 The four axes shown, namely the leftward, rightward, upward, and downward axes, may be perpendicular to each other, thereby constructing a planar coordinate system with the initial point of the window cleaning machine 100 as the origin. The specific process for obtaining angles may be, for example, to obtain the gyroscope angle a when the head of the window cleaning machine 100 is facing upward and in the upward direction; to obtain the gyroscope angle c when the head of the window cleaning machine 100 is facing downward and in the downward direction; to obtain the gyroscope angle b when the head of the window cleaning machine 100 is facing leftward and in the leftward direction; and to obtain the gyroscope angle d when the head of the window cleaning machine 100 is facing rightward and in the rightward direction.

[0064] According to the acquired angle, the angle range is acquired based on the first preset correspondence between the angle and the angle range; after the angle a, angle b, angle c and angle d corresponding to each preset reference axis are acquired, they can be stored in a storage module such as a flash as reference angle data; then, based on these reference angle data, the angle range is acquired based on the first preset correspondence between the angle and the angle range, that is, the angle range is divided. The first preset correspondence can be established based on historical experimental data, and there is no specific limitation. For example, Figure 2 、 Figure 3 as well as Figure 4As shown, the divided angle ranges can be (a+d) / 2~(a+b) / 2 angle range, (a+b) / 2~(b+c) / 2 angle range, (b+c) / 2~(c+d) / 2 angle range, (c+d) / 2~(a+b) / 2 angle range, d~b angle range, b~d angle range, a~c angle range, c~a angle range; specifically, taking a being 90°, b being 180°, c being 270°, and d being 0° as an example, the divided angle ranges are 45°~135°, 135°~225°, 225°~315°, 315°~45°, 90°~270°, 270°~90°, 0°~180°, and 180°~0°. Of course, there can also be angle range combinations of other division situations, which are not specifically limited.

[0065] Directional region information is obtained based on the angle range and a second preset correspondence between the angle range and the directional region information. The second preset correspondence may be established based on the directional region division corresponding to the angle range division and a preset reference axis. For example, when the angle range is divided into four, the corresponding directional regions are also divided into four. The directional region corresponding to the angle range can be determined based on the preset reference axis within the angle range.

[0066] Establish a matching database based on the divided angle range and direction area information. Figures 2 to 4 As shown, the established matching database can be, for example, the following table:

[0067]

[0068]

[0069] From the above table, we can see the correspondence between the direction area and the angle orientation; among them, there is a partial overlap between the angle range 1-5 and the angle range 5-8, so that an intersection angle range will be generated between the angle areas, thereby further refining the angle range, and the current angle falling within the intersection angle range can be combined with the direction area associated with the intersection range to further determine the current direction area. Taking the above angle ranges 1-8 as 45°~135°, 135°~225°, 225°~315°, 315°~45°, 90°~270°, 270°~90°, 0°~180°, and 180°~0° as an example, when the current angle obtained is 150°, then in terms of angle matching, it not only falls within the angle range of 135°~225° and the angle range of 90°~270°, but also falls within the angle range of 0°~180°, that is, the three direction area information corresponding to the left direction, the upper half area, and the left half area can be compared according to the target direction area in the preset planning path, and then one of the direction area information is determined for application. The specific determination rules can be appropriately changed according to actual needs without restriction.

[0070] S22, restart the window cleaning machine 100; in addition, after the matching database is built, the system of the window cleaning machine 100 can be restarted and step S10 can be re-executed, without any specific limitation.

[0071] S30, in response to the planning path instruction, obtain the current angle of the gyroscope and the wheel direction information of the driving wheel of the window cleaning machine 100; it should be noted that this step is the same as step S1 in the above embodiment 1, and will not be described in detail.

[0072] S40, according to the current angle, obtain the direction area information corresponding to the current angle from the matching database in the window cleaning machine 100; It should be noted that the matching process can be, for example, as follows:

[0073] First, based on the current angle, an angle range containing an angle value equal to the current angle is matched; then, based on the matched angle range, the direction area information corresponding to the matched angle range is obtained. For details, please refer to the matching application example of the current angle being 50° in step S21 above, and no further details will be given.

[0074] S50: Based on the acquired current angle, direction area information, and wheel direction information, the window cleaning machine 100 is controlled to move along a preset planned path. It should be noted that the control of the window cleaning machine 100 based on the current angle, direction area information, and wheel direction information may be, for example, as follows:

[0075] Taking the preset planned path as an N-type path f as an example, the first path segment f1 of the N-type path f coincides with the upward axial direction.

[0076] like Figure 6 As shown, initially, after obtaining the current angle and matching it with the matching database, the direction area where the current head of the window cleaning machine 100 is located can be known. Assume that the head of the window cleaning machine 100 is in the left direction or the left axis or the left half area, and the starting point of the known preset planning path is in the upward axis or the upper half area or the upward direction; at this time, it can be quickly obtained in which direction the window cleaning machine 100 should be adjusted. If the initial direction area information determined by the window cleaning machine 100 is the left direction, then it can be determined that the window cleaning machine 100 should be adjusted from the left direction to the upward direction. Since the left direction and the upward direction are both range-type directions, calibration is still required during the adjustment process. The current angle needs to be compared with the preset angle corresponding to the first path segment f1 of the preset planning path. When the current angle is adjusted to be equal to the preset angle, it can be determined that the adjustment is in place. Similarly, if the initial directional zone information determined by the window cleaning machine 100 is the left half, then it can be determined that the window cleaning machine 100 should be adjusted from the left half to the upper half. During the adjustment process, the current angle is compared with the preset angle. When the current angle and the preset angle are equal, it can be determined that the adjustment is in place. If the initial directional zone information determined by the window cleaning machine 100 is the left axial direction, then it can be determined that the window cleaning machine 100 should be adjusted from the left axial direction to the upper axial direction. Similarly, during the adjustment process, the current angle is compared with the preset angle. When the current angle and the preset angle are equal, it can be determined that the adjustment is in place. After the adjustment is in place, the window cleaning machine 100 can now travel the preset distance along the first path segment f1 of the preset planned path.

[0077] like Figure 7 As shown in the figure, when the window cleaning machine 100 reaches the inflection point between the first path segment f1 and the second path segment f2, the window cleaning machine 100 needs to be adjusted again. Similarly, the current angle can be obtained again, and the direction area information of the current head of the window cleaning machine 100 can be matched. Then, the direction area information can be compared with the direction area information corresponding to the second path segment f2 to determine the direction in which the window cleaning machine 100 should be adjusted at the inflection point. Figure 7 For example, the adjustment of the window cleaning machine 100 at the inflection point can be from the upward axial direction to the downward axial direction, or from the upward direction to the downward direction, or from the upper half area to the lower half area; similarly, when the current angle is adjusted to be equal to the preset angle corresponding to the second path segment f2, it can be judged that the adjustment is in place, and then the preset distance is walked along the second path segment f2.

[0078] like Figure 8As shown, when the window cleaning machine 100 reaches the inflection point between the second path segment f2 and the third path segment f3, it needs to adjust again. Similarly, the current angle can be obtained again, and the direction area information of the current head of the window cleaning machine 100 can be matched. Then, the direction area information can be compared with the direction area information corresponding to the third path segment f3 to determine the direction in which the window cleaning machine 100 should be adjusted at the inflection point. Figure 8 For example, the adjustment of the window cleaning machine 100 at the inflection point can be from the downward axial direction to the upward axial direction, or from the downward direction to the upward direction, or from the lower half area to the upper half area; similarly, when the current angle is adjusted to be equal to the preset angle corresponding to the second path segment f2, it can be judged that the adjustment is in place, and then the preset distance is walked along the third path segment f3.

[0079] It should be noted that the above is only a specific application example of the present application, and other types of preset planning paths may also be used, and there is no specific limitation.

[0080] An embodiment of the present application discloses a cleaning path control device for a window cleaning machine, which is applied to a window cleaning machine 100 equipped with a gyroscope.

[0081] See also Figure 9 , an embodiment of a window cleaning machine cleaning path control device provided in an embodiment of the present application includes:

[0082] An acquisition unit is used to obtain the current angle of the gyroscope and the wheel direction information of the driving wheel of the window cleaning machine 100 in response to the planned path instruction; a matching unit is used to obtain the direction area information corresponding to the current angle from the matching database within the window cleaning machine 100 according to the current angle; a control unit is used to control the driving of the driving wheel based on the obtained direction area information and wheel direction information until the current angle is equal to the preset angle; the control unit is also used to control the window cleaning machine 100 to move along the preset planned path.

[0083] The above is the first embodiment of a cleaning path control device for a window cleaning machine provided by the embodiment of the present application. The following is the second embodiment of a cleaning path control device for a window cleaning machine provided by the embodiment of the present application. For details, please refer to Figure 10 .

[0084] A window cleaning machine cleaning path control device includes an acquisition unit 2, which is used to respond to a planned path instruction to obtain the current angle of the gyroscope and the wheel direction information of the driving wheels of the window cleaning machine 100; a matching unit 3, which is used to obtain the direction area information corresponding to the current angle from the matching database in the window cleaning machine 100 according to the current angle; a control unit 1, which is used to control the driving of the driving wheels based on the acquired direction area information and wheel direction information until the current angle is equal to a preset angle; the control unit 1 is also used to control the window cleaning machine 100 to move along a preset planned path.

[0085] Furthermore, the matching unit 3 includes a first matching subunit 31 and a second matching subunit 32; the first matching subunit 31 is used to match an angle range containing an angle value equal to the current angle based on the current angle; the second matching subunit 32 is used to obtain direction area information corresponding to the matching angle range based on the matched angle range.

[0086] Furthermore, it also includes: a judgment unit 5, which is used to judge whether there is a matching database in the window cleaning machine 100. If so, the subsequent steps are executed; if not, a matching database is established.

[0087] Furthermore, establishing a matching database specifically includes: obtaining the angle of the gyroscope when the window cleaning machine 100 is in a preset reference axis; obtaining the angle range based on the obtained angle based on a first preset correspondence between the angle and the angle range; obtaining the direction area information based on the angle range based on a second preset correspondence between the angle range and the direction area information; and establishing a matching database based on the angle range and the direction area information.

[0088] Furthermore, it also includes: an initialization unit 4 for initializing the window cleaning machine 100; and may also include a restart unit 6 for restarting the window cleaning machine 100.

[0089] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the power grid network, devices and units to be installed described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another power grid network to be installed, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0091] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0092] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0094] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning path control method for a window cleaning machine, applied to a window cleaning machine equipped with a gyroscope, characterized in that: The steps include: Initializing the window cleaning machine; determining whether the window cleaning machine has a matching database; if so, executing subsequent steps; if not, establishing a matching database, wherein establishing the matching database specifically comprises: obtaining angles of the gyroscope when the window cleaning machine is located at a preset reference axis; obtaining an angle range based on the obtained angles and a first preset correspondence between the angle and the angle range; obtaining direction area information based on the angle range and a second preset correspondence between the angle range and the direction area information; and establishing the matching database based on the angle range and the direction area information. In response to the planned path instruction, obtaining the current angle of the gyroscope and the wheel direction information of the driving wheel of the window cleaning machine; According to the current angle, obtaining direction area information corresponding to the current angle from a matching database within the window cleaning machine, specifically: according to the current angle, matching the angle range that includes an angle value equal to the current angle; according to the matched angle range, obtaining the direction area information corresponding to the matched angle range, wherein the matching database is established by the angle range corresponding to the current angle and the direction area information corresponding to the angle range; Based on the acquired current angle, the direction area information and the wheel direction information, the window cleaning machine is controlled to move along a preset planned path.

2. A window cleaning machine cleaning path control device, used to implement the window cleaning machine cleaning path control method according to claim 1, characterized in that: include: an initialization unit, configured to initialize the window cleaning machine; a determination unit configured to determine whether a matching database is present in the window cleaning machine, and if so, to execute subsequent steps; if not, to establish a matching database, wherein establishing the matching database specifically comprises: obtaining angles of the gyroscope when the window cleaning machine is located at a preset reference axis; obtaining an angle range based on the obtained angles and a first preset correspondence between the angle and the angle range; obtaining directional area information based on the angle range and a second preset correspondence between the angle range and the directional area information; and establishing the matching database based on the angle range and the directional area information. an acquisition unit, configured to acquire, in response to a planned path instruction, a current angle of the gyroscope and wheel direction information of a driving wheel of the window cleaning machine; a matching unit, configured to obtain, based on the current angle, direction area information corresponding to the current angle from a matching database within the window cleaning machine; a control unit, configured to control the window cleaning machine to move along a preset planned path based on the acquired current angle, the direction area information, and the wheel direction information; Among them, the matching unit includes a first matching sub-unit and a second matching sub-unit; the first matching sub-unit is used to match the angle range containing an angle value equal to the current angle according to the current angle; the second matching sub-unit is used to obtain the direction area information corresponding to the matched angle range based on the matched angle range.

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