A window cleaning robot escape method and chip

Abstract

This application discloses a method and chip for a window cleaning robot to escape from obstacles. The window cleaning robot includes an upper track structure and a lower track structure, which are arranged in parallel. The method for the window cleaning robot to escape from obstacles specifically includes: controlling the upper and lower track structures of the window cleaning robot to move in the same direction at a first speed and a second speed, respectively, with a differential speed, so that the window cleaning robot can move in an arc to escape from obstacles; 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. This application optimizes the escape effect by moving the track structure of the window cleaning robot away from the window edge by a small amount through arc movement.

Description

Technical Field

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

[0002] Window cleaning robots are robots that attach to window glass using a vacuum device and employ intelligent control algorithms to clean windows intelligently. Since window cleaning robots are mostly used for cleaning high-rise or outdoor windows, their ability to securely attach to the window glass significantly impacts their safety. Currently, window cleaning robots are constrained by window frames. When attempting to detach from the window frame, they are easily pushed off, leading to a loss of secure attachment. This is especially true for robots with square tracked structures. When the tracked structure is parallel to the window frame and too close, the robot cannot escape by rotating its body. Conventional methods of escaping using forward or backward movement often result in the tracked structure still struggling to break free from the frame's confinement. Summary of the Invention

[0003] This application provides a method and chip for a window cleaning robot to escape from obstacles, and the specific technical solution is as follows:

[0004] A method for a window cleaning robot to escape from obstacles, the window cleaning robot comprising an upper track structure and a lower track structure arranged in parallel, the method specifically comprising: controlling the upper track structure and the lower track structure of the window cleaning robot to move in the same direction at a first speed and a second speed respectively, thereby enabling the window cleaning robot to move in an arc to escape from obstacles; 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; wherein, the distance between the window cleaning robot and the left and right side frames of the window remains unchanged before and after the arc-shaped movement to escape from obstacles.

[0005] Furthermore, the window cleaning robot escape method further includes, before controlling the upper and lower tracked structures of the window cleaning robot to run at a first speed and a second speed respectively in the same direction at a differential speed, the method further includes: determining whether the trapped side of the window cleaning robot is the side where the upper tracked structure is located or the side where the lower tracked structure is located; when the trapped side of the window cleaning robot 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 trapped side of the window cleaning robot 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.

[0006] 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.

[0007] Furthermore, the window cleaning robot's escape method, 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, further includes: 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: 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 a second distance in the second direction. The three distances are as follows: During 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 the fourth distance actually 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, based on the edge detection result in the first direction, the window cleaning robot moves a fifth distance in either the first or second direction to maintain 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.

[0008] 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.

[0009] Furthermore, the upper and lower tracks of the window cleaning robot operate at a first speed and a second speed, respectively, in the same direction with differential speeds, 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; and calculating the second central angle radian of the track structure configured for the second speed. The product of the central angle radian and the arc-shaped movement radius of the track structure configured for the second speed 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 the window cleaning robot is controlled to move in an arc-shaped direction for the seventh distance, and then the window cleaning robot is controlled to move in an arc-shaped direction for the sixth distance, thereby realizing the window cleaning robot's arc-shaped movement to escape obstacles; wherein, the configuration of 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] Furthermore, 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, so that the distance between the window cleaning robot and the left and right side frames of the window remains unchanged before and after the arc-shaped movement to escape.

[0014] 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 escape method described above.

[0015] The window cleaning robot escape method and chip described in this application enable the window cleaning robot to move in an arc by configuring the upper and lower track structures to move in the same direction with differential speed. By moving in a small arc, the track structure of the window cleaning robot moves away from the window frame, effectively solving the problem of the window cleaning robot being restricted by the window frame, especially the restriction situation when the track structure of the window cleaning robot is parallel to the window frame. Attached Figure Description

[0016] Figure 1 This is a bottom schematic diagram of a window cleaning robot according to one embodiment of this application.

[0017] Figure 2 This is a flowchart illustrating a method for a window cleaning robot to escape from a difficult situation, according to one embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the trajectory of the window cleaning robot escaping from a difficult situation according to one embodiment of this application. Implementation

[0019] 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.

[0020] This application provides a method for a window cleaning robot to escape from obstacles, aiming to solve the problem that current square-shaped tracked window cleaning robots, when trapped at the window frame, may be pushed out of the frame by rotating to escape, resulting in poor stability and safety when adhering to the window. Specifically, as... Figure 1As shown, the window cleaning robot described in this application refers to a window cleaning robot with a square or quadrilateral body shape. 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. Preferably, the bottom of the window cleaning robot may also be provided with a cliff detection sensor 4, which is used to detect the edges of some frameless windows, preventing the window cleaning robot from moving to the edge position due to the lack of window frame obstruction and thus detaching from the window.

[0021] Specifically, such as Figure 2 As shown, the method for the window cleaning robot to escape from obstacles specifically includes: controlling the upper and lower tracked structures of the window cleaning robot 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 from obstacles; 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; wherein, the distance between the window cleaning robot and the left and right side frames of the window remains unchanged before and after the arc-shaped movement to escape from obstacles. The same-direction differential speed refers to the upper and lower tracked structures rotating in the same direction but at different speeds. This embodiment, by configuring the upper and lower tracked structures with the same-direction differential speed, enables the window cleaning robot to move in an arc. Through small-arc circular movement, the tracked structure of the window cleaning robot moves away from the window edge, effectively solving the problem of the window cleaning robot being limited by the window frame, especially specifically addressing the limitation situation when the tracked structure of the window cleaning robot is parallel to the window frame. By ensuring that the distance between the window cleaning robot and the left and right side frames of the window remains constant before and after the robot performs an arc-shaped movement to escape, the problem of the robot getting stuck on the left and right side frames of the window when escaping from the upper and lower window frames is effectively avoided.

[0022] In one embodiment, the window cleaning robot escape method further includes, before controlling the upper and lower tracks 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 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; when the trapped side is the side where the upper track structure 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 lower track structure 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 of the window cleaning robot that is closer to the window frame. This embodiment, by determining the trapped side of the window cleaning robot and configuring the track structure on the trapped side to a larger second speed, enables the arc-shaped movement of the window cleaning robot to move away from the window frame, thus achieving arc-shaped movement and escape from the window cleaning robot.

[0023] 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.

[0024] As one implementation method, the window cleaning robot's escape 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:

[0025] 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 in the first direction, the robot stops moving in the first direction, and a second distance actually moved in the first direction is recorded. The first distance is a distance value set based on the window size, the window cleaning robot size, and a preset safe distance between the window cleaning robot and the window frame, used to limit the safe distance that the window cleaning robot needs to maintain with the left and right window frames. The frame detection mentioned in this step is used to detect whether the window frame exists. The frame detection method can be, but is not limited to, based on collision sensors on the window cleaning robot body, or based on whether the current corresponding to the upper and lower track structures changes during the movement of the window cleaning robot to detect whether the window cleaning robot collides with the window frame. Accordingly, when the window cleaning robot collides with the window frame, the frame detection result indicates that a window frame exists. Specifically, controlling the window cleaning robot to stop moving in the first direction based on the edge detection result in the first direction includes: if the edge detection result in the first direction indicates that there is an edge in the first direction of the window cleaning robot, then controlling the window cleaning robot to stop moving in the first direction; if the edge detection result in the first direction indicates that no edge is detected in the first direction of the window cleaning robot, then 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, then controlling the window cleaning robot to stop moving in the first direction.

[0026] 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 border detection in the second direction. Based on the border 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 the initial 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 the initial position. The window cleaning robot moves a first distance in the first and second directions respectively based on the initial position to detect whether there are borders on the left and right sides within the first distance. Specifically, controlling the window cleaning robot to stop moving in the second direction based on the edge detection result in the second direction includes: if the edge detection result in the second direction indicates that there is an edge in the second direction of the window cleaning robot, then controlling the window cleaning robot to stop moving in the second direction; if the edge detection result in the second direction indicates that no edge is detected in the second direction of the window cleaning robot, then 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.

[0027] After the robot stops moving in the second direction, based on the frame detection results in the first direction, the window cleaning robot is controlled to move a fifth distance in either the first or second direction to maintain a safe distance between the window cleaning robot and 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 determined based on the actual distance the window cleaning robot moves in both the first and second directions, and is used to control the window cleaning robot to maintain a safe distance from the left and right frames. This embodiment controls the window cleaning robot's movement direction and distance based on the frame detection results in the first direction to ensure that the window cleaning robot maintains a safe distance from the left and right frames.

[0028] In one implementation, controlling the window cleaning robot to move a fifth distance in either the first or second direction based on the edge detection result in the first direction specifically includes: when the edge detection result in the first direction indicates the presence of an edge in that 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 edge detection result in the first direction indicates the absence of an edge in that 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 fifth distance of the window cleaning robot is switched based on the edge 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 maintains a safe distance from the side edge in the first and second directions.

[0029] 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; and calculating the rotation angle radian of the track structure configured for the second speed based on the arc-shaped movement radius and the horizontal movement limit distance. The second central angle radian is calculated; 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 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 arc-shaped movement radius of the track structure configured for the second speed is used as the seventh distance the window cleaning robot moves in the second direction; the window cleaning robot is controlled to first move in an arc-shaped direction for the sixth distance, then the window cleaning robot is controlled to move in an arc-shaped direction for the seventh distance, and then the window cleaning robot is controlled to move in an arc-shaped direction for the sixth distance, so as to realize that the window cleaning robot moves in an arc-shaped direction with a point outside its body as the center to get out of trouble.

[0030] Specifically, configuring the horizontal movement limit distance of the window cleaning robot based on the fifth distance includes setting the horizontal movement limit distance of the window cleaning robot to be less than or equal to the fifth distance. It should be noted that the specific limit of the horizontal movement limit distance can be set according to the user's requirements for the window cleaning robot's ability to escape obstacles. Generally, a larger horizontal movement limit distance results in a larger horizontal movement distance and a larger arc during the window cleaning robot's escape, leading to a faster escape speed. However, to prevent the window cleaning robot from exceeding the safe distance on the left or right side during escape due to an excessively large horizontal movement limit distance, causing it to collide with or be pushed out of the left or right side frame, this embodiment limits the corrected horizontal distance to be 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 during escape.

[0031] 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.

[0032] 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.

[0033] In one implementation, calculating the second central angle radian of the track structure rotating at the second speed based on the arcuate travel radius and the horizontal travel limit distance of the track structure configured for the second speed specifically includes: using the horizontal travel limit distance as the third dividend and the arcuate travel 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 rotating at the second speed. In this implementation, the first central angle radian of the track structure rotating at a linear velocity of the first speed is configured to be twice the second central angle radian of the track structure rotating at a linear velocity of the second speed.

[0034] In one implementation, 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 to escape the obstacle, the horizontal movement distance in the first direction is equal to half the horizontal movement distance in the second direction. This ensures that the distance between the window cleaning robot's position after escaping the obstacle and the left and right side frames of the window is the same as its position before escaping. This implementation ensures that the window cleaning robot maintains a safe distance from the window's side frames after escaping, avoiding the problem of getting trapped while escaping and minimizing the impact of positional changes during escaping on the window cleaning operation.

[0035] 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.

[0036] This application also provides a chip that stores a computer program internally. When the computer program stored internally in the chip is run by a processor, it executes the window cleaning robot escape method as described in any of the preceding embodiments.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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 method for a window cleaning robot to escape from a difficult situation, characterized in that, The window cleaning robot includes an upper track structure and a lower track structure, which are arranged parallel to each other. The method for the window cleaning robot to escape obstacles specifically includes: The upper and lower track structures of the window cleaning robot are controlled to move at a first speed and a second speed in the same direction at different speeds, 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 first speed is the product of the second speed and the preset speed coefficient; the preset speed coefficient is greater than 0 and less than 1.

2. The method for the window cleaning robot to escape from obstacles according to claim 1, characterized in that, The method for the window cleaning robot to escape from obstacles 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 at different speeds, the following: 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.

3. The method for the window cleaning robot to escape from obstacles according to claim 2, 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.

4. The method for the window cleaning robot to escape from obstacles according to claim 3, characterized in that, The method for the window cleaning robot to escape obstacles 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: 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, it is controlled to move a fifth distance in either the first or second direction based on the frame detection results in the first direction, 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.

5. The method for the window cleaning robot to escape from obstacles according to claim 4, characterized in that, The step of controlling the window cleaning robot to move a fifth distance in either the first or second direction based on the edge detection result in the first direction specifically includes: When the detection result of the border in the first direction is that there is a border 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. If the detection result of the border in the first direction is that there is no border in the first direction, then control the window cleaning robot to move a fifth distance in the second direction. The fifth distance is configured to be equal to half of the first distance.

6. The method for the window cleaning robot to escape from obstacles according to claim 5, 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.

7. The method for the window cleaning robot to escape from obstacles according to claim 5, 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.

8. The method for the window cleaning robot to escape from obstacles according to claim 7, 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.

9. The method for the window cleaning robot to escape from obstacles according to claim 8, characterized in that, 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, so that the distance between the window cleaning robot and the left and right side frames of the window remains unchanged before and after the arc-shaped movement to escape.

10. 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 escape method as described in any one of claims 1 to 9.

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