Window cleaning robot control method and chip

Abstract

The application discloses a window-cleaning robot control method and a chip. The method comprises the following steps: controlling the window-cleaning robot to execute a rotation-in-place process, and detecting whether the gyro angular velocity reaches a preset target angular velocity, and simultaneously starting to detect the timing; if the gyro angular velocity is detected to reach the preset target angular velocity, it is determined that the window-cleaning robot is not trapped; if the gyro angular velocity is not detected to reach the preset target angular velocity when the detection timing reaches a preset detection timing threshold, it is determined that the window-cleaning robot is trapped; when it is determined that the window-cleaning robot is trapped, the upper track structure and the lower track structure of the window-cleaning robot are controlled to run at a first speed and a second speed, respectively, in the same direction at different speeds, so that the window-cleaning robot moves in an arc shape to escape from the trap. The application effectively solves the problems of detection and escape from the trap of the window-cleaning robot limited by the window frame, and improves the trapped detection accuracy and the escape success rate of the window-cleaning robot.

Description

Technical Field

[0001] This application relates to the field of window cleaning robots, specifically to a control method and chip for a window cleaning robot. Background Technology

[0002] Currently, most window cleaning robots have a square shell with two sets of parallel tracks on the bottom. When moving on windows, these robots typically need to collide with the window frame to be detected as being restricted by it. However, collisions with the window frame can easily cause the robot to be pushed off the window, leading to it falling off. Furthermore, due to its tracked structure, when the tracks are parallel to and close to the window frame, the robot struggles to escape by moving backward, forward, or rotating. This difficulty in escaping can cause the robot to get stuck at the window frame, affecting its lifespan and impacting the user experience. Summary of the Invention

[0003] This application provides a control method and chip for a window cleaning robot, the specific technical solution of which is as follows:

[0004] A control method for a window cleaning robot, the window cleaning robot comprising an upper track structure and a lower track structure arranged in parallel, the control method specifically comprising: controlling the window cleaning robot to perform a stationary rotation process; controlling the window cleaning robot to detect whether the gyroscope angular velocity reaches a preset target angular velocity during the stationary rotation process, and simultaneously controlling the window cleaning robot to start a detection timing; if the window cleaning robot detects that the gyroscope angular velocity reaches the preset target angular velocity during the stationary rotation process, it is determined that the window cleaning robot is not trapped; if the window cleaning robot does not detect that the gyroscope angular velocity reaches the preset target angular velocity when the detection timing reaches a preset detection timing threshold, it is determined that the window cleaning robot is trapped; when it is determined that the window cleaning robot is trapped, controlling the upper track structure and the lower track structure of the window cleaning robot to run at a first speed and a second speed in the same direction at a differential speed, respectively, so that the window cleaning robot moves in an arc to escape the trap; wherein, the first speed is the product of the second speed and a preset speed coefficient; the preset speed coefficient is greater than 0 and less than 1.

[0005] Furthermore, the process of controlling the window cleaning robot to perform in-situ rotation specifically includes: obtaining the initial orientation angle of the window cleaning robot at its current position; controlling the upper track structure and the lower track structure of the window cleaning robot to run synchronously at the same linear speed in opposite directions, so that the window cleaning robot can rotate in-situ from the initial orientation angle clockwise to an orientation that differs from the initial orientation angle by 90° at its current position.

[0006] Furthermore, the window cleaning robot control method further includes, before controlling the upper and lower tracked structures of the window cleaning robot to perform reciprocating movements in the same direction at a first speed and a second speed, respectively: determining whether the side of the window cleaning robot that is trapped is the side where the upper tracked structure is located or the side where the lower tracked structure is located; when the side of the window cleaning robot that is trapped is the side where the upper tracked structure is located, configuring the speed of the lower tracked structure of the window cleaning robot to the first speed and configuring the speed of the upper tracked structure of the window cleaning robot to the second speed; when the side of the window cleaning robot that is trapped is the side where the lower tracked structure is located, configuring the speed of the upper tracked structure of the window cleaning robot to the first speed and configuring the speed of the lower tracked structure of the window cleaning robot to the second speed.

[0007] Furthermore, determining whether the trapped side of the window cleaning robot is the side where the upper track structure is located or the side where the lower track structure is located specifically includes: obtaining the current value corresponding to the upper track structure of the window cleaning robot, and simultaneously obtaining the current value corresponding to the lower track structure of the window cleaning robot; comparing the magnitudes of the current values ​​corresponding to the upper track structure and the lower track structure; if the current value corresponding to the upper track structure is greater than the current value corresponding to the lower track structure, then the trapped side of the window cleaning robot is determined to be the side where the upper track structure is located; if the current value corresponding to the lower track structure is greater than the current value corresponding to the upper track structure, then the trapped side of the window cleaning robot is determined to be the side where the lower track structure is located.

[0008] Furthermore, the window cleaning robot control method, before controlling the upper track structure and lower track of the window cleaning robot to perform differential speed operation in the same direction at a first speed and a second speed respectively, further includes: controlling the window cleaning robot to perform a safe distance maintenance process for the left and right sides of the window, so that the window cleaning robot maintains a safe distance from the left and right sides of the window; wherein, the process of controlling the window cleaning robot to perform the safe distance maintenance process for the left and right sides of the window specifically includes: controlling the window cleaning robot to move a first distance in a first direction, during the movement, controlling the window cleaning robot to perform edge detection in the first direction, controlling the window cleaning robot to stop moving in the first direction based on the edge detection result in the first direction, and recording the second distance actually moved by the window cleaning robot in the first direction; after the window cleaning robot stops moving in the first direction, controlling the window cleaning robot to move in the second direction. The third distance involves controlling the window cleaning robot to perform edge detection in the second direction during movement. Based on the edge detection result in the second direction, the robot is controlled to stop moving in that direction, and the actual distance moved in the second direction is recorded. The third distance is equal to the sum of the first and second distances. After the window cleaning robot stops moving in the second direction, it is controlled to move a fifth distance in either the first or second direction based on the edge detection result in the first direction, thus maintaining a safe distance between the window cleaning robot and the left and right edges of the window. The first and second directions are opposite directions. When the first direction is the direction of the left edge of the window, the second direction is the direction of the right edge of the window. When the first direction is the direction of the right edge of the window, the second direction is the direction of the left edge of the window.

[0009] Furthermore, the step of controlling the window cleaning robot to stop moving in the first direction based on the edge detection result in the first direction specifically includes: when the edge detection result in the first direction indicates that there is an edge in the first direction of the window cleaning robot, controlling the window cleaning robot to stop moving in the first direction; when the edge detection result in the first direction indicates that no edge is detected in the first direction of the window cleaning robot, controlling the window cleaning robot to continue moving in the first direction until the edge detection result in the first direction indicates that there is an edge in the first direction of the window cleaning robot or the actual moving distance of the window cleaning robot in the first direction reaches a first distance, controlling the window cleaning robot to stop moving in the first direction.

[0010] Furthermore, the step of controlling the window cleaning robot to stop moving in the second direction based on the edge detection result in the second direction specifically includes: when the edge detection result in the second direction indicates that there is an edge in the second direction of the window cleaning robot, controlling the window cleaning robot to stop moving in the second direction; when the edge detection result in the second direction indicates that no edge is detected in the second direction of the window cleaning robot, controlling the window cleaning robot to continue moving in the second direction until the edge detection result in the second direction indicates that there is an edge in the second direction of the window cleaning robot or the actual moving distance of the window cleaning robot in the second direction reaches a third distance, then controlling the window cleaning robot to stop moving in the second direction.

[0011] Furthermore, controlling the window cleaning robot to move a fifth distance in either the first or second direction based on the border detection result in the first direction specifically includes: when the border detection result in the first direction indicates that a border exists in the first direction, controlling the window cleaning robot to move a fifth distance in the first direction, wherein the fifth distance is configured to be equal to half of the fourth distance; when the border detection result in the first direction indicates that no border exists in the first direction, controlling the window cleaning robot to move a fifth distance in the second direction, wherein the fifth distance is configured to be equal to half of the first distance.

[0012] Furthermore, the upper and lower tracked structures of the window cleaning robot operate at a first speed and a second speed, respectively, in the same direction with a differential speed, enabling the window cleaning robot to move in an arc to escape obstacles. Specifically, this includes: calculating the arc-shaped movement radius of the tracked structure configured for the second speed based on the vertical distance between the upper and lower tracked structures; configuring a horizontal movement limit distance for the window cleaning robot based on the fifth distance; calculating the first central angle radian of the tracked structure configured for the first speed based on the arc-shaped movement radius and the horizontal movement limit distance; calculating the second central angle radian of the tracked structure configured for the second speed based on the arc-shaped movement radius and the horizontal movement limit distance; and calculating the relationship between the second central angle radian of the tracked structure configured for the second speed and the arc-shaped movement radius. The product of the radii is used as the sixth distance for the window cleaning robot to move in the first direction; the product of the first central angle radian of the track structure configured for the first speed and the arc-shaped movement radius of the track structure configured for the second speed is calculated as the seventh distance for the window cleaning robot to move in the second direction; the window cleaning robot is controlled to first move in an arc-shaped direction for the sixth distance, then controlled to move in an arc-shaped direction for the seventh distance, and then controlled to move in an arc-shaped direction for the sixth distance, thereby enabling the window cleaning robot to move in an arc-shaped manner to escape obstacles; wherein, configuring the horizontal movement limit distance of the window cleaning robot based on the fifth distance specifically includes: configuring the horizontal movement limit distance of the window cleaning robot to a distance value less than or equal to the fifth distance; wherein, the projection length of the sixth distance in the first direction is equal to half of the projection length of the seventh distance in the second direction.

[0013] Furthermore, the calculation of the arc-shaped movement radius of the track structure configured for the second speed based on the vertical distance between the upper and lower track structures specifically includes: using the vertical distance between the upper and lower track structures as the first dividend; using the difference between the value 1 and the preset speed coefficient as the first divisor; and calculating the quotient of the first dividend and the first divisor as equal to the arc-shaped movement radius of the track structure configured for the second speed.

[0014] Furthermore, the calculation of the first central angle radian of the track structure configured for the first speed based on the arcuate movement radius and the horizontal movement limit distance of the track structure configured for the second speed specifically includes: using the product of the horizontal movement limit distance and the value 2 as the second dividend, using the arcuate movement radius of the track structure configured for the second speed as the second divisor; and calculating the arcsine function value of the quotient of the second dividend and the second divisor as the first central angle radian of the track structure configured for the first speed.

[0015] Furthermore, the calculation of the second central angle radian of the track structure configured for the second speed based on the arcuate movement radius and the horizontal movement limit distance of the track structure configured for the second speed specifically includes: using the horizontal movement limit distance as the third dividend and the arcuate movement radius of the track structure configured for the second speed as the third divisor; calculating the arcsine function value of the quotient of the third dividend and the third divisor as the second central angle radian of the track structure configured for the second speed.

[0016] Furthermore, the window cleaning robot control method further includes: controlling the window cleaning robot to detect the presence of a window cliff edge using a cliff detection sensor when performing a stationary rotation process; when the cliff detection sensor detects the presence of a window cliff edge, controlling the window cleaning robot to stop rotating in place, determining that the window cleaning robot is trapped by the edge; determining the trapped side of the window cleaning robot based on the position of the cliff detection sensor on the window cleaning robot body; and performing an edge escape process for the window cleaning robot based on the trapped side of the window cleaning robot.

[0017] Furthermore, the step of executing the window cleaning robot's edge escape process based on the side where the window cleaning robot is trapped by the edge specifically includes: when a cliff detection sensor is installed on the side of the window cleaning robot body near the upper track structure, the window cleaning robot is controlled to record the current first orientation angle; the window cleaning robot is controlled to maintain the first orientation angle while the upper and lower track structures retreat a distance of eight at the same speed and in the same direction; a second orientation angle is calculated based on the initial orientation angle and the first orientation angle before the window cleaning robot performs the stationary rotation process; the window cleaning robot is controlled to rotate from the first orientation angle to the second orientation angle; the window cleaning robot is controlled to maintain the second orientation angle while the upper and lower track structures retreat a distance of nine at the same speed and in the same direction; the window cleaning robot is controlled to rotate from the second orientation angle to the first orientation angle; the window cleaning robot is controlled to maintain the first orientation angle while the upper and lower track structures retreat a distance of eight at the same speed and in the same direction. This allows the window cleaning robot to escape from the side edge of the upper track structure. When a cliff detection sensor is installed on the side of the window cleaning robot body near the lower track structure, it records the current first orientation angle. The window cleaning robot is then controlled to maintain the first orientation angle and move forward a distance of eight at the same speed and direction as the upper and lower track structures. Based on the initial orientation angle and the first orientation angle before the window cleaning robot performs the stationary rotation process, a second orientation angle is calculated. The window cleaning robot is then controlled to rotate from the first orientation angle to the second orientation angle. The window cleaning robot is then controlled to maintain the second orientation angle and move forward a distance of nine at the same speed and direction as the upper and lower track structures. The window cleaning robot is then controlled to rotate from the second orientation angle to the first orientation angle and maintain the first orientation angle and move forward a distance of eight at the same speed and direction as the upper and lower track structures. This allows the window cleaning robot to escape from the side edge of the lower track structure.

[0018] Furthermore, the calculation of the second orientation angle based on the initial orientation angle and the first orientation angle before the window cleaning robot performs the stationary rotation process specifically includes: recording the angle difference between the initial orientation angle and the first orientation angle before the window cleaning robot performs the stationary rotation process as the rotation angle; and calculating the sum of the initial orientation angle and the rotation angle before the window cleaning robot performs the stationary rotation process as the second orientation angle.

[0019] Furthermore, the eighth distance and the ninth distance are calculated based on the rotation angle and the horizontal movement limit distance. The specific calculation process includes: using the horizontal movement limit distance as the fourth dividend and the cosine function value of the rotation angle as the fourth divisor; calculating the quotient of the fourth dividend and the fourth divisor as the eighth distance; using the product of the horizontal movement limit distance and the value 2 as the fifth dividend and the cosine function value of the rotation angle as the fifth divisor; and calculating the quotient of the fifth dividend and the fifth divisor as the ninth distance.

[0020] This application also discloses a chip that stores a computer program inside, and the computer program stored inside the chip is executed by a processor to perform the window cleaning robot control method described above.

[0021] The window cleaning robot control method and chip described in this application determine the smoothness of the robot's rotation at its current position by detecting the angular velocity of the robot during its rotation in place and the duration for which the angular velocity fails to reach a preset target angular velocity. When the robot cannot rotate smoothly, it is considered trapped at its current position, thus optimizing the accuracy of the trapped robot detection. By configuring the upper and lower track structures of the window cleaning robot to move in an arc, the robot can escape the constraints of the window frame through small-amplitude arc movements, effectively solving the problem of the window cleaning robot being limited by the window frame, especially addressing the limitation when the robot's track structure is parallel to the window frame. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating the window cleaning robot control method according to one embodiment of this application.

[0023] Figure 2 This is a schematic diagram of the bottom structure of the window cleaning robot according to one embodiment of this application.

[0024] Figure 3 This is a schematic diagram of the trajectory of the window cleaning robot escaping from the frame according to one embodiment of this application.

[0025] Figure 4 This is a schematic diagram of the trajectory of the window cleaning robot escaping from the edge according to one embodiment of this application. Implementation

[0026] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are for illustrative purposes only and are not intended to limit the scope of this application.

[0027] This application provides a control method for a window cleaning robot, aiming to solve the problem that window cleaning robots with square track structures are easily pushed out of the window frame or have difficulty escaping. Figure 2 As shown, the outer shell of the window cleaning robot is square, and the square can be, but is not limited to, a square, a quadrilateral, a quadrilateral, etc. The bottom 1 of the window cleaning robot is provided with an upper track structure 2 and a lower track structure 3, which are arranged in parallel.

[0028] Specifically, such as Figure 1 As shown, the control method for the window cleaning robot specifically includes:

[0029] The system controls a window cleaning robot to perform a stationary rotation process. During this rotation, the robot checks if its gyroscope angular velocity reaches a preset target angular velocity and simultaneously begins timing the detection. If the robot detects that the gyroscope angular velocity reaches the preset target angular velocity during the rotation, it is determined that the robot is not trapped. If the robot fails to detect the gyroscope angular velocity reaching the preset target angular velocity even after the timing reaches a preset threshold, it is determined that the robot is trapped. The preset target angular velocity is based on the normal speed setting of the robot's rotary motor. The stationary rotation process ensures that the robot rotates while maintaining its original position, keeping the center point of the robot unchanged before and after the rotation. Because collisions between the window cleaning robot and the window frame can easily lead to the robot being pushed out of the window area, this embodiment detects whether the robot can smoothly turn at its current position by controlling its rotation in place and checking whether its angular velocity reaches a preset target angular velocity. This determines whether the robot is restricted by the window frame, achieving window frame detection without a strong collision, thus improving the safety and stability of the window cleaning robot's entrapment detection. This embodiment also detects the angular velocity of the robot during its rotation in place and the duration for which its angular velocity fails to reach the preset target angular velocity, using these two conditions to determine the smoothness of the robot's rotation at its current position. If the robot cannot rotate smoothly, it is considered entrapped at its current position, thus optimizing the accuracy of window cleaning robot entrapment detection.

[0030] When it is determined that the window cleaning robot is trapped, the upper and lower tracked structures of the robot are controlled to move at a first speed and a second speed in the same direction with different speeds, respectively, so that the window cleaning robot can move in an arc to escape. The first speed is the product of the second speed and a preset speed coefficient, which is greater than 0 and less than 1. Since in this application, when the window cleaning robot is trapped, at least one tracked structure in either the upper or lower tracked structure is close to the window frame, preventing the robot from escaping by rotation, this embodiment configures the upper and lower tracked structures to have different speeds. This allows the window cleaning robot to move in an arc based on the upper and lower tracked structures moving at different speeds in the same direction. This small-amplitude arc movement allows the window cleaning robot to escape the restriction of the window frame, effectively solving the problem of the window cleaning robot being limited by the window frame, especially addressing the limitation when the tracked structure of the window cleaning robot is parallel to the window frame.

[0031] In one implementation, controlling the window cleaning robot to perform a stationary rotation process specifically includes: obtaining the initial orientation angle of the window cleaning robot at its current position; controlling the upper and lower track structures of the window cleaning robot to move synchronously at the same linear speed but in opposite directions, so that the window cleaning robot rotates clockwise from its initial orientation angle to an orientation 90° different from the initial orientation angle. Specifically, controlling the upper and lower track structures to move in opposite directions at the same speed enables the window cleaning robot to achieve stationary rotation; the direction of the stationary rotation can be, but is not limited to, clockwise or counterclockwise rotation. Preferably, the stationary rotation angle of the window cleaning robot can be, but is not limited to, rotating to an orientation 90° different from the initial orientation angle, or to an orientation 30°, 60°, 120°, etc. This implementation limits the orientation of the window cleaning robot when it finally stops rotating in place, making the rotation angle of the window cleaning robot controllable, avoiding large-amplitude rotation that could cause the window cleaning robot to be forcefully pushed out by the window frame, thus ensuring the safety of stationary rotation.

[0032] In one implementation, the window cleaning robot control method further includes, before controlling the upper and lower track structures of the window cleaning robot to move at a first speed and a second speed in the same direction with differential speeds, the method further includes: determining whether the side of the window cleaning robot that is trapped is the side where the upper track structure is located or the side where the lower track structure is located; when the trapped side is the side where the window cleaning robot is located, configuring the speed of the lower track structure of the window cleaning robot to the first speed and configuring the speed of the upper track structure of the window cleaning robot to the second speed; when the trapped side is the side where the window cleaning robot is located, configuring the speed of the upper track structure of the window cleaning robot to the first speed and configuring the speed of the lower track structure of the window cleaning robot to the second speed. The trapped side of the window cleaning robot refers to the side of the upper and lower track structures that is closer to the window frame. This implementation, by determining the trapped side of the window cleaning robot and configuring the speeds of the upper and lower track structures according to the trapped side, enables the arc-shaped movement of the window cleaning robot to proceed in a direction away from the window frame.

[0033] In one implementation, determining whether the trapped side of the window cleaning robot is the side with the upper or lower track structure specifically includes: acquiring the current value corresponding to the upper track structure of the window cleaning robot, and simultaneously acquiring the current value corresponding to the lower track structure of the window cleaning robot; comparing the magnitudes of the current values ​​corresponding to the upper and lower track structures; if the current value corresponding to the upper track structure is greater than the current value corresponding to the lower track structure, then the trapped side of the window cleaning robot is determined to be the side with the upper track structure; if the current value corresponding to the lower track structure is greater than the current value corresponding to the upper track structure, then the trapped side of the window cleaning robot is determined to be the side with the lower track structure. The principle behind determining the trapped side of the window cleaning robot in this implementation is based on the fact that when the window cleaning robot is trapped, the track structure closer to the window frame experiences greater resistance during rotation and movement, resulting in a larger current corresponding to that track structure. Therefore, this implementation achieves accurate determination of the window frame direction where the window cleaning robot is trapped by detecting the magnitudes of the current values ​​corresponding to the upper and lower track structures at low cost.

[0034] As one implementation, the window cleaning robot control method further includes, before controlling the upper track structure and lower track of the window cleaning robot to run at a first speed and a second speed in the same direction with differential speed, controlling the window cleaning robot to execute a safe distance maintenance process for the left and right sides of the window, so that the window cleaning robot maintains a safe distance from the left and right sides of the window; wherein, the process of controlling the window cleaning robot to execute the safe distance maintenance process for the left and right sides of the window specifically includes:

[0035] The window cleaning robot is controlled to move a first distance in a first direction. During the movement, the robot performs frame detection in the first direction. Based on the frame detection result, the robot stops moving in the first direction, and the actual second distance moved in the first direction is recorded. Specifically, the frame detection can be, but is not limited to, using a frame collision detection device to detect the presence of the window frame, or using the upper and lower track movement structures of the robot to detect current jumps. A current jump indicates a collision between the robot and the window frame. The first distance is a value set based on the window size, the robot size, and a preset safe distance between the robot and the window frame, used to limit the safe distance that the robot needs to maintain between itself and the left and right window frames.

[0036] After the window cleaning robot stops moving in the first direction, it is controlled to move a third distance in the second direction. During the movement, the window cleaning robot performs edge detection in the second direction. Based on the edge detection result in the second direction, the window cleaning robot stops moving in the second direction and records the fourth distance actually moved in the second direction. The third distance is equal to the sum of the first and second distances. Specifically, this step limits the distance the window cleaning robot moves in the second direction to the third distance, and makes the third distance equal to the sum of the first and second distances. This allows the window cleaning robot to move a second distance in the second direction and return to its initial starting position, and then continue to move a first distance in the second direction. This is equivalent to the window cleaning robot moving a first distance in the second direction from its initial starting position. The window cleaning robot moves a first distance in the first and second directions respectively based on its initial starting position to detect whether there is a window edge within the first distance from its initial starting position.

[0037] After the window cleaning robot stops moving in the second direction, based on the frame detection results in the first direction, the robot is controlled to move a fifth distance in either the first or second direction. This ensures that the window cleaning robot maintains a safe distance from the left and right frames of the window. The first and second directions are opposite; when the first direction is the direction of the left frame, the second direction is the direction of the right frame, and vice versa. The fifth distance is used to control the window cleaning robot to maintain a safe distance from the window frames in both the first and second directions. This step, based on the frame detection results in the first direction, controls the robot's direction and distance of movement accordingly to ensure that the robot maintains a safe distance from both the frames in the first and second directions.

[0038] In one implementation, controlling the window cleaning robot to stop moving in the first direction based on the frame detection result in the first direction specifically includes: if the frame detection result in the first direction indicates that a frame exists in the first direction, then controlling the window cleaning robot to stop moving in the first direction; if the frame detection result in the first direction indicates that no frame is detected in the first direction, then controlling the window cleaning robot to continue moving in the first direction until the frame detection result in the first direction indicates that a frame exists in the first direction or the actual moving distance of the window cleaning robot in the first direction reaches a first distance, then controlling the window cleaning robot to stop moving in the first direction. This implementation defines two stopping trigger conditions for the window cleaning robot in the first direction: one is the detection of a window frame, and the other is the actual moving distance of the window cleaning robot in the first direction reaching a first distance. These two stopping trigger conditions ensure that the window cleaning robot's movement in the first direction will not trap it within the window frame's constraints, while also allowing for the detection of the presence of a frame within a first distance in the first direction, thereby ensuring that the window cleaning robot maintains a safe distance from the window frame in the first direction.

[0039] In one implementation, controlling the window cleaning robot to stop moving in the second direction based on the frame detection result in the second direction specifically includes: if the frame detection result in the second direction indicates that a frame exists in the second direction, then the window cleaning robot stops moving in the second direction; if the frame detection result in the second direction indicates that no frame is detected in the second direction, then the window cleaning robot continues to move in the second direction until the frame detection result in the second direction indicates that a frame exists in the second direction or the actual moving distance in the second direction reaches a third distance, at which point the window cleaning robot stops moving in the second direction. This implementation defines two stopping trigger conditions for the window cleaning robot in the second direction: one is the detection of a window frame during the robot's movement in the second direction, and the other is the actual moving distance reaching a third distance. These two stopping trigger conditions ensure that the robot's movement in the second direction will not trap it within the window frame's constraints, while also allowing for the detection of the frame within the third distance in the second direction, thus ensuring a safe distance between the window cleaning robot and the window frame in the second direction.

[0040] In one implementation, controlling the window cleaning robot to move a fifth distance in either the first or second direction based on the frame detection result in the first direction specifically includes: when the frame detection result in the first direction indicates the presence of a frame in the first direction, controlling the window cleaning robot to move a fifth distance in the first direction, wherein the fifth distance is configured to be equal to half of the fourth distance; when the frame detection result in the first direction indicates the absence of a frame in the first direction, controlling the window cleaning robot to move a fifth distance in the second direction, wherein the fifth distance is configured to be equal to half of the first distance. In this implementation, the movement direction of the window cleaning robot's fifth distance is switched based on the frame detection result during the movement of the window cleaning robot in the first direction, and the fifth distance is adjusted accordingly based on the movement direction of the window cleaning robot to ensure that the window cleaning robot effectively maintains a safe distance from both the window frame in the first direction and the window frame in the second direction.

[0041] In one implementation, the upper and lower tracks of the window cleaning robot operate at a first speed and a second speed, respectively, in the same direction at a differential speed, enabling the window cleaning robot to move in an arc to escape obstacles. Specifically, this includes: calculating the arc-shaped movement radius of the track structure configured for the second speed based on the vertical distance between the upper and lower track structures; configuring a horizontal movement limit distance for the window cleaning robot based on the fifth distance; calculating the first central angle radian of the track structure configured for the first speed based on the arc-shaped movement radius and the horizontal movement limit distance; calculating the second central angle radian of the track structure configured for the second speed based on the arc-shaped movement radius and the horizontal movement limit distance; calculating the second central angle radian of the track structure configured for the second speed; and calculating the arc-shaped movement radius of the track structure configured for the second speed. The product of the second central angle radian of the track structure's rotation and the arcuate movement radius of the track structure configured for the second speed is used as the sixth distance the window cleaning robot moves in the first direction; the product of the first central angle radian of the track structure configured for the first speed and the arcuate movement radius of the track structure configured for the second speed is calculated as the seventh distance the window cleaning robot moves in the second direction; the window cleaning robot is controlled to first move in an arcuate direction for the sixth distance, then controlled to move in an arcuate direction for the seventh distance, and then controlled to move in an arcuate direction for the sixth distance; wherein, configuring the horizontal movement limit distance of the window cleaning robot based on the fifth distance specifically includes: configuring the horizontal movement limit distance of the window cleaning robot to a distance value less than or equal to the fifth distance. It should be noted that the specific limitation of the horizontal movement distance can be set according to the user's requirements for the window cleaning robot to escape from obstacles. Generally, the larger the horizontal movement distance, the greater the horizontal movement distance and the larger the arc of the arc movement when the window cleaning robot escapes from obstacles, and the faster the escape speed will be. However, in order to prevent the window cleaning robot from exceeding the safe distance on the left or right side when performing the escape from obstacles due to the excessive horizontal movement distance, causing the window cleaning robot to collide with the left or right side frame and be pushed out, this embodiment limits the correction horizontal distance to less than or equal to the fifth distance to ensure that the window cleaning robot maintains a safe distance from the left and right side frames when escaping from obstacles.

[0042] Wherein, the projected length of the sixth distance in the first direction is equal to half the projected length of the seventh distance in the second direction. That is, during the arc-shaped movement of the window cleaning robot to escape from obstacles, the horizontal movement distance in the first direction is equal to half the horizontal movement distance in the second direction. This embodiment limits the ratio of the projected lengths of the sixth and seventh distances in the first or second direction, ensuring that the distance maintained by the window cleaning robot to the left and right sides of the window before and after escaping from obstacles is the same. This guarantees that the window cleaning robot maintains a safe distance from the left and right sides of the window before and after escaping from obstacles, avoiding the situation of being trapped again after escaping from obstacles, and minimizing the impact of the window cleaning robot on the path planning of the window cleaning work before and after escaping from obstacles.

[0043] In one implementation, the trapped side of the window cleaning robot is the side where the lower track structure of the window cleaning robot is located. In order to enable the window cleaning robot to get out of trouble, the lower track structure of the window cleaning robot is configured to a second speed, and the upper track structure of the window cleaning robot is configured to a first speed. The first speed is the product of the second speed and a preset speed coefficient. Figure 3 The diagram illustrates the trajectory of a window cleaning robot as it attempts to escape from a window frame when the side with the lower track structure is the side where the robot is trapped. In this embodiment, the first direction is left, and the second direction is right. Figure 3 As shown, the window cleaning robot is controlled to move six distances to the left in an arc, and this trajectory is as follows: Figure 3 As shown in D1, the sixth distance is projected horizontally as L4; then, the window cleaning robot is controlled to move a seventh distance to the right in an arc, and this trajectory is as follows. Figure 3 As shown in D2, the seventh distance is projected horizontally as twice the distance of L4; then the window cleaning robot is controlled to move in an arc along the first direction by a sixth distance, and this trajectory is as follows. Figure 3 As shown in D3, the arc shape allows the window cleaning robot to escape obstacles in a small arc. After escaping the obstacle in an arc, the window cleaning robot moves vertically upwards by a vertical distance L. edge The vertical distance L that moves in the vertical direction. edge The value is calculated by combining the arc-shaped travel radius of the track structure configured for the second speed with the horizontal travel limit distance.

[0044] In one implementation, the calculation of the arc-shaped movement radius of the track structure configured for the second speed based on the vertical distance between the upper and lower track structures specifically includes: using the vertical distance between the upper and lower track structures as the first dividend; using the difference between the value 1 and a preset speed coefficient as the first divisor; and calculating the quotient of the first dividend and the first divisor as equal to the arc-shaped movement radius of the track structure configured for the second speed. Since the vertical distance between the upper and lower track structures becomes a fixed value during the production of the window cleaning robot, the size of the arc-shaped movement radius of the track structure configured for the second speed can be adjusted through the preset speed coefficient. The preset speed coefficient characterizes the speed ratio configured between the upper and lower track structures. When the preset speed coefficient is closer to the value 1, the speed difference between the upper and lower track structures is smaller, the arc-shaped reciprocating movement radius of the window cleaning robot increases accordingly, and the movement amplitude of the window cleaning robot decreases accordingly. This implementation provides a method for calculating the arc-shaped movement radius, allowing the configuration adjustment of the arc-shaped movement radius of the window cleaning robot to be achieved through adjusting the preset speed coefficient.

[0045] As one implementation method, the calculation of the first central angle radian of the track structure configured for the first speed based on the arcuate movement radius and the horizontal movement limit distance of the track structure configured for the second speed specifically includes: using the product of the horizontal movement limit distance and the value 2 as the second dividend, using the arcuate movement radius of the track structure configured for the second speed as the second divisor; and calculating the arcsine function value of the quotient of the second dividend and the second divisor as the first central angle radian of the track structure configured for the first speed.

[0046] As one implementation method, the calculation of the second central angle radian of the track structure configured for the second speed based on the arcuate movement radius and the horizontal movement limit distance of the track structure configured for the second speed specifically includes: using the horizontal movement limit distance as the third dividend and the arcuate movement radius of the track structure configured for the second speed as the third divisor; calculating the arcsine function value of the quotient of the third dividend and the third divisor as the second central angle radian of the track structure configured for the second speed.

[0047] As one implementation, the window cleaning robot control method further includes: controlling the window cleaning robot to detect the presence of a window cliff edge using a cliff detection sensor while performing a stationary rotation process; when the cliff detection sensor detects the presence of a window cliff edge, controlling the window cleaning robot to stop rotating in place, determining that the window cleaning robot is trapped by the edge; determining the trapped side of the window cleaning robot based on the position of the cliff detection sensor on the robot's body; and performing an edge escape process based on the trapped side of the window cleaning robot. Specifically, as... Figure 2As shown, the bottom of the window cleaning robot can also be equipped with several cliff detection sensors 4. These sensors detect the window edges. Based on the position of the cliff detection sensors on the robot's body, the relative position of the window edge and the robot can be directly determined. This embodiment uses cliff detection sensors to assist the window cleaning robot in quickly determining the window edge position and executing corresponding edge escape procedures based on the presence of the window edge.

[0048] As one implementation method, the step of executing the window cleaning robot edge escape process based on the side where the window cleaning robot is trapped by the edge specifically includes: when a cliff detection sensor is set on the side of the window cleaning robot body near the upper track structure, the window cleaning robot is controlled to record the current first orientation angle, the window cleaning robot is controlled to maintain the first orientation angle and the upper and lower track structures retreat a distance of eight at the same speed and in the same direction, the second orientation angle is calculated based on the initial orientation angle and the first orientation angle before the window cleaning robot performs the stationary rotation process, the window cleaning robot is controlled to rotate from the first orientation angle to the second orientation angle, the window cleaning robot is controlled to maintain the second orientation angle and the upper and lower track structures retreat a distance of nine at the same speed and in the same direction, the window cleaning robot is controlled to rotate from the second orientation angle to the first orientation angle, the window cleaning robot is controlled to maintain the first orientation angle and the upper and lower track structures retreat a distance of eight at the same speed and in the same direction, so that the window cleaning robot achieves edge escape on the side of the upper track structure.

[0049] When a cliff detection sensor is installed on the side of the window cleaning robot near the lower track structure, indicating the presence of a cliff edge on the window, the robot records its current first orientation angle. It then maintains this first orientation angle and moves forward a distance of eight times with both the upper and lower track structures moving at the same speed and direction. Based on the initial orientation angle before the robot performs a stationary rotation and the first orientation angle, a second orientation angle is calculated. The robot then rotates from the first orientation angle to the second orientation angle, maintains the second orientation angle, and moves forward a distance of nine times with both the upper and lower track structures moving at the same speed and direction. Finally, the robot rotates from the second orientation angle to the first orientation angle, maintaining the first orientation angle and moving forward a distance of eight times with both the upper and lower track structures moving at the same speed and direction. This allows the robot to escape from the side edge of the lower track structure. Compared to existing escape methods, the edge escape process provided in this embodiment ensures that the robot maintains its original orientation and remains on the same central axis after escaping the edge obstacle, minimizing the impact of edge escape on the window cleaning operation.

[0050] As one implementation method, the calculation of the second orientation angle based on the initial orientation angle and the first orientation angle before the window cleaning robot performs the stationary rotation process specifically includes: recording the angle difference between the initial orientation angle and the first orientation angle before the window cleaning robot performs the stationary rotation process as the rotation angle; and calculating the sum of the initial orientation angle and the rotation angle before the window cleaning robot performs the stationary rotation process as the second orientation angle.

[0051] In one implementation, the eighth distance and the ninth distance are calculated based on the rotation angle and the horizontal movement limit distance. The specific calculation process includes: using the horizontal movement limit distance as the fourth dividend and the cosine function value of the rotation angle as the fourth divisor; calculating the quotient of the fourth dividend and the fourth divisor as the eighth distance; using the product of the horizontal movement limit distance and the value 2 as the fifth dividend and the cosine function value of the rotation angle as the fifth divisor; and calculating the quotient of the fifth dividend and the fifth divisor as the ninth distance.

[0052] As one implementation method Figure 4 The paper presents a trajectory diagram of a window cleaning robot performing a border escape process when a cliff detection sensor, which detects the presence of a window cliff edge, is installed on the side of the window cleaning robot body near the lower track structure.

[0053] The window cleaning robot is controlled to maintain the first orientation angle and move forward at the same speed and in the same direction for a distance of eight. This trajectory is as follows: Figure 4 As shown in D1', the second orientation angle is calculated based on the initial orientation angle and the first orientation angle before the window cleaning robot performs the in-situ rotation process. The window cleaning robot is then controlled to rotate from the first orientation angle to the second orientation angle, where the second orientation angle is... Figure 4 The α symbol is marked in the image. The window cleaning robot is controlled to maintain the second orientation angle and move forward at the same speed and in the same direction for the ninth distance. This trajectory is as follows: Figure 4 As shown in D2'; control the window cleaning robot to rotate from the second orientation angle to the first orientation angle, control the window cleaning robot to maintain the first orientation angle and control the upper and lower track structures to move forward at the same speed and in the same direction for a distance of eight. This trajectory is as follows: Figure 4 As shown in D3', this allows the window cleaning robot to escape from the side edges of the lower track structure. The distance between the window cleaning robot and the left and right side frames of the window remains unchanged before and after escaping, ensuring that the window cleaning robot is not restricted to the left and right sides of the window due to escaping from the upper and lower edges. Specifically, as shown... Figure 4 As shown, the projected distance L4 of the eighth distance in the horizontal direction is half of the projected distance of the ninth distance in the horizontal direction, that is, the sum of the two L4s of the projected distance of the ninth distance in the horizontal direction.

[0054] In one embodiment of this application, a chip is provided that stores a computer program. When the computer program stored in the chip is run by a processor, it executes the window cleaning robot control method as described in any previous embodiment.

[0055] Obviously, the above embodiments are only some embodiments of the present invention, and not all embodiments. The technical solutions of various embodiments can be combined with each other. If terms such as "first," "second," and "third" appear in the embodiments, they are for the purpose of distinguishing related features and should not be construed as indicating or implying their relative importance, order, or number of technical features.

[0056] Those skilled in the art will understand that all or part of the steps in the methods described above can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0057] It should be noted that any process or method description in the flowchart or otherwise described herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order described or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which the embodiments of the invention pertain.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a window cleaning robot, characterized in that, The window cleaning robot includes an upper track structure and a lower track structure, which are arranged in parallel. The control method for the window cleaning robot specifically includes: Control the window cleaning robot to perform a stationary rotation process; When the window cleaning robot is performing the stationary rotation process, the gyroscope angular velocity is checked to see if it has reached the preset target angular velocity. At the same time, the window cleaning robot is controlled to start the detection timing. If the window cleaning robot detects that the gyroscope angular velocity reaches the preset target angular velocity during the stationary rotation process, it is determined that the window cleaning robot is not trapped. If the window cleaning robot fails to detect that the gyroscope angular velocity has reached the preset target angular velocity when the detection timer reaches the preset detection timer threshold, then the window cleaning robot is determined to be trapped. Once it is determined that the window cleaning robot is stuck, the robot is controlled to maintain a safe distance between the left and right edges. Then, the upper and lower track structures of the window cleaning robot are controlled to run at a first speed and a second speed in the same direction at a differential speed, so that the window cleaning robot can move in an arc to get out of the predicament. Wherein, the first speed is the product of the second speed and a preset speed coefficient; the preset speed coefficient is greater than 0 and less than 1; Specifically, the process of controlling the window cleaning robot to maintain a safe distance between the left and right edges includes: Control the window cleaning robot to move a first distance in a first direction. During the movement, control the window cleaning robot to perform edge detection in the first direction. Based on the edge detection result in the first direction, control the window cleaning robot to stop moving in the first direction and record the second distance actually moved by the window cleaning robot in the first direction. After the window cleaning robot stops moving in the first direction, it is controlled to move a third distance in the second direction. During the movement, the window cleaning robot performs edge detection in the second direction. Based on the edge detection result in the second direction, the window cleaning robot stops moving in the second direction and records the fourth distance actually moved in the second direction. The third distance is equal to the sum of the first distance and the second distance. After the window cleaning robot stops moving in the second direction, if the detection result of the frame in the first direction is that there is a frame in the first direction, the window cleaning robot is controlled to move a fifth distance in the first direction. The fifth distance is configured to be equal to half of the fourth distance, so as to maintain a safe distance between the window cleaning robot and the left and right frames of the window. The first direction and the second direction are opposite directions. When the first direction is the direction of the left side of the window, the second direction is the direction of the right side of the window. When the first direction is the direction of the right side of the window, the second direction is the direction of the left side of the window.

2. The window cleaning robot control method according to claim 1, characterized in that, The process of controlling the window cleaning robot to perform a stationary rotation includes: Obtain the initial orientation angle of the window cleaning robot at its current position; The upper and lower track structures of the window cleaning robot are controlled to move synchronously at the same linear speed in opposite directions, so that the window cleaning robot can rotate in place from the initial orientation angle clockwise to an orientation that is 90° different from the initial orientation angle.

3. The window cleaning robot control method according to claim 2, characterized in that, The window cleaning robot control method further includes, before controlling the upper and lower track structures of the window cleaning robot to perform differential speed operation in the same direction at a first speed and a second speed respectively: Determine whether the side where the window cleaning robot is trapped is the side where the upper track structure is located or the side where the lower track structure is located. When the side where the window cleaning robot is trapped is the side where the upper track structure is located, the speed of the lower track structure of the window cleaning robot is configured as the first speed, and the speed of the upper track structure of the window cleaning robot is configured as the second speed. When the side where the window cleaning robot is trapped is the side where the lower track structure is located, the speed of the upper track structure of the window cleaning robot is configured as the first speed, and the speed of the lower track structure of the window cleaning robot is configured as the second speed.

4. The window cleaning robot control method according to claim 3, characterized in that, Determining whether the trapped side of the window cleaning robot is the side where the upper track structure is located or the side where the lower track structure is located specifically includes: Obtain the current value corresponding to the upper track structure of the window cleaning robot, and at the same time obtain the current value corresponding to the lower track structure of the window cleaning robot; Compare the current values ​​corresponding to the upper track structure and the lower track structure. If the current value corresponding to the upper track structure is greater than the current value corresponding to the lower track structure, then the side where the window cleaning robot is trapped is determined to be the side where the upper track structure is located. If the current value corresponding to the current track structure is greater than the current value corresponding to the upper track structure, then the side where the window cleaning robot is trapped is determined to be the side where the lower track structure is located.

5. The window cleaning robot control method according to claim 3, characterized in that, The step of controlling the window cleaning robot to stop moving in the first direction based on the edge detection result in the first direction specifically includes: If the detection result of the border in the first direction is that there is a border in the first direction of the window cleaning robot, then control the window cleaning robot to stop moving in the first direction; If the border detection result in the first direction is that no border is detected in the first direction of the window cleaning robot, then the window cleaning robot is controlled to continue moving in the first direction until the border detection result in the first direction is that there is a border in the first direction of the window cleaning robot or the actual moving distance of the window cleaning robot in the first direction reaches the first distance, then the window cleaning robot is controlled to stop moving in the first direction.

6. The window cleaning robot control method according to claim 5, characterized in that, The step of controlling the window cleaning robot to stop moving in the second direction based on the edge detection result in the second direction specifically includes: If the detection result of the border in the second direction indicates that there is a border in the second direction of the window cleaning robot, then control the window cleaning robot to stop moving in the second direction; If the border detection result in the second direction is that no border is detected in the second direction of the window cleaning robot, then the window cleaning robot is controlled to continue moving in the second direction until the border detection result in the second direction is that there is a border in the second direction of the window cleaning robot or the actual moving distance of the window cleaning robot in the second direction reaches the third distance, then the window cleaning robot is controlled to stop moving in the second direction.

7. The window cleaning robot control method according to claim 6, characterized in that, The upper and lower tracked structures of the window cleaning robot operate at a first speed and a second speed respectively, moving in the same direction at a differential speed, enabling the window cleaning robot to move in an arc to escape obstacles. Specifically, this includes: The arc-shaped travel radius of the track structure configured for the second speed is calculated based on the vertical distance between the upper and lower track structures. The horizontal movement distance of the window cleaning robot is limited based on the fifth distance configuration; The first central angle radian of the track structure configured for the first speed is calculated based on the arc-shaped movement radius and the horizontal movement limit distance of the track structure configured for the second speed. The second central angle radian of the track structure configured for the second speed is calculated based on the arc-shaped travel radius and the horizontal travel limit distance of the track structure configured for the second speed. The product of the second central angle radian of the track structure configured for the second speed and the arc-shaped movement radius of the track structure configured for the second speed is calculated as the sixth distance the window cleaning robot moves in the first direction; The product of the first central angle radian of the track structure configured at the first speed and the arc-shaped movement radius of the track structure configured at the second speed is calculated as the seventh distance the window cleaning robot moves in the second direction; The window cleaning robot is controlled to move in an arc for a distance of six in the first direction, then moved in an arc for a distance of seven in the second direction, and then moved in an arc for a distance of six in the first direction, thus enabling the window cleaning robot to move in an arc to escape from a difficult situation. Specifically, configuring the horizontal movement limit distance of the window cleaning robot based on the fifth distance includes: configuring the horizontal movement limit distance of the window cleaning robot to a distance value that is less than or equal to the fifth distance; Wherein, the projection length of the sixth distance in the first direction is equal to half the projection length of the seventh distance in the second direction.

8. The window cleaning robot control method according to claim 7, characterized in that, The calculation of the arc-shaped movement radius of the track structure configured for the second speed based on the vertical distance between the upper and lower track structures specifically includes: The vertical distance between the upper track structure and the lower track structure is used as the first divisor; Use the difference between the value 1 and the preset speed coefficient as the first divisor; The quotient of the first dividend and the first divisor is calculated to be equal to the arc-shaped travel radius of the track structure configured for the second speed.

9. The window cleaning robot control method according to claim 8, characterized in that, The calculation of the first central angle radian of the track structure configured for the first speed based on the arcuate movement radius and the horizontal movement limit distance of the track structure configured for the second speed specifically includes: using the product of the horizontal movement limit distance and the value 2 as the second dividend, and using the arcuate movement radius of the track structure configured for the second speed as the second divisor; calculating the arcsine function value of the quotient of the second dividend and the second divisor as the first central angle radian of the track structure configured for the first speed.

10. The window cleaning robot control method according to claim 9, characterized in that, The calculation of the second central angle radian of the track structure configured for the second speed based on the arcuate movement radius and the horizontal movement limit distance specifically includes: using the horizontal movement limit distance as the third dividend and the arcuate movement radius of the track structure configured for the second speed as the third divisor; and calculating the arcsine function value of the quotient of the third dividend and the third divisor as the second central angle radian of the track structure configured for the second speed.

11. The window cleaning robot control method according to claim 10, characterized in that, The window cleaning robot control method further includes: When controlling the window cleaning robot to perform the stationary rotation process, a cliff detection sensor is used to detect whether there is a cliff edge on the window; When the cliff detection sensor detects the presence of a cliff edge on the window, it controls the window cleaning robot to stop rotating in place, confirming that the window cleaning robot is trapped by the edge; The location of the cliff detection sensor, which detects the presence of a cliff edge on the window cleaning robot, determines the side on which the window cleaning robot is trapped. The window cleaning robot will perform an edge freeing process based on the side where it is stuck at the edge.

12. The window cleaning robot control method according to claim 11, characterized in that, The step of executing the window cleaning robot's edge freeing process based on the side where the window cleaning robot is stuck on the edge specifically includes: When a cliff detection sensor is installed on the side of the window cleaning robot near the upper track structure, indicating the presence of a cliff edge on the window, the robot is controlled to record the current first orientation angle. The robot is then controlled to maintain the first orientation angle while the upper and lower track structures retract at the same speed and in the same direction for an eighth distance. Based on the initial orientation angle and the first orientation angle before the robot performs the stationary rotation process, a second orientation angle is calculated. The robot is then controlled to rotate from the first orientation angle to the second orientation angle. The robot is controlled to maintain the second orientation angle while the upper and lower track structures retract at the same speed and in the same direction for a ninth distance. Finally, the robot is controlled to rotate from the second orientation angle to the first orientation angle while maintaining the first orientation angle while the upper and lower track structures retract at the same speed and in the same direction for an eighth distance, thus enabling the window cleaning robot to escape from the side edge of the upper track structure. When a cliff detection sensor is installed on the side of the window cleaning robot near the lower track structure, indicating the presence of a cliff edge on the window, the robot is controlled to record the current first orientation angle. The robot is then controlled to maintain the first orientation angle and move forward a distance of eight at the same speed and direction as the upper and lower track structures. Based on the initial orientation angle and the first orientation angle before the robot performs the stationary rotation, a second orientation angle is calculated. The robot is then controlled to rotate from the first orientation angle to the second orientation angle. It is then controlled to maintain the second orientation angle and move forward a distance of nine at the same speed and direction as the upper and lower track structures. Finally, the robot is controlled to rotate from the second orientation angle to the first orientation angle and maintain the first orientation angle and move forward a distance of eight at the same speed and direction as the upper and lower track structures, thus enabling the window cleaning robot to escape from the side edge of the lower track structure.

13. The window cleaning robot control method according to claim 12, characterized in that, The calculation of the second orientation angle based on the initial orientation angle and the first orientation angle before the window cleaning robot performs the in-situ rotation process specifically includes: The difference between the initial orientation angle and the first orientation angle before the window cleaning robot performs the in-situ rotation process is recorded as the rotation angle. The sum of the initial orientation angle and the rotation angle before the window cleaning robot performs the stationary rotation process is calculated as the second orientation angle.

14. The window cleaning robot control method according to claim 13, characterized in that, The eighth and ninth distances are calculated based on the rotation angle and the horizontal movement limit distance. The specific calculation process includes: The horizontal movement distance is used as the fourth dividend, and the cosine value of the rotation angle is used as the fourth divisor. The quotient of the fourth dividend and the fourth divisor is used as the eighth distance; The product of the horizontal movement limit distance and the value 2 is used as the fifth dividend, and the cosine function value of the rotation angle is used as the fifth divisor. Calculate the quotient of the fifth dividend and the fifth divisor as the ninth distance.

15. A chip internally storing a computer program, characterized in that, The computer program stored inside the chip is executed by the processor to perform the window cleaning robot control method as described in any one of claims 1 to 14.

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