Walking control method

Abstract

The application discloses a walking control method, a cleaning machine comprises a machine body and two cleaning units arranged side by side at both ends of the machine body, and the cleaning machine further comprises a negative pressure device for providing negative pressure to adsorb the cleaning machine on a surface to be cleaned; the walking control method comprises the following steps: controlling the two cleaning units to operate simultaneously to drive the machine body to move; when the moving state of the machine body is abnormal, identifying the abnormal state type of the machine body; and adjusting the operating state of the cleaning unit according to the abnormal state type of the machine body to restore the moving state of the machine body to normal. The technical scheme of the application avoids the situation that a large number of missed wiping areas appear, and effectively improves the overall cleaning effect on the surface to be cleaned.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a walking control method. Background Technology

[0002] With the development of science and technology and the improvement of people's living standards, cleaning equipment is increasingly favored by users. In particular, the emergence of cleaning machines for smooth surfaces such as doors, windows, and floors has effectively solved the problem of inconvenience for users when cleaning these surfaces. Currently, there are two types of circular window cleaning machines on the market: one-wheeled (alternating swing) and two-wheeled (parallel) linear movement. Since the one-wheeled movement is relatively slower and less efficient, the two-wheeled linear movement is usually adopted to improve the efficiency of wiping glass.

[0003] However, due to the differences in the areas of the surfaces to be cleaned that the two ends of the window cleaning machine come into contact with (such as different levels of dirt and different types of stains), the smoothness varies. Therefore, when the window cleaning machine travels in a straight line with two wheels, the actual walking speed at the two ends of the machine is prone to be inconsistent. This causes the window cleaning machine to be unable to maintain a straight walking trajectory, resulting in a deviation in the walking trajectory and causing many areas to be missed, thus affecting the cleaning effect. Summary of the Invention

[0004] This invention provides a walking control method, which aims to effectively maintain the straight-line walking trajectory of the dual wheels of the window cleaning machine, reduce missed areas, and improve the overall cleaning effect on the surface to be cleaned.

[0005] To achieve the above objectives, the present invention proposes a walking control method applied to a cleaning machine. The cleaning machine includes a body and two cleaning units arranged side-by-side at both ends of the body. The cleaning machine also includes a negative pressure device, which provides negative pressure to adhere the cleaning machine to the surface to be cleaned. The walking control method includes:

[0006] Control the two cleaning units to operate simultaneously to propel the machine body forward;

[0007] When the aircraft's movement is abnormal, identify the type of abnormal state of the aircraft;

[0008] Adjust the operating state of the cleaning unit according to the type of abnormal state of the machine body, so as to restore the normal movement state of the machine body.

[0009] In some embodiments, the abnormal types of the fuselage include at least one of the attitude abnormal type where the fuselage angle is greater than a preset angle and the speed abnormal type where the fuselage speed is less than a preset speed.

[0010] The step of adjusting the operating state of the cleaning unit according to the abnormal state type of the machine body includes: performing a first-level adjustment of the operating state of the machine body according to the abnormal state type of the machine body;

[0011] If the primary adjustment fails to restore the operating state of the machine body to normal, the operating state of the cleaning unit is adjusted in a secondary manner, wherein the secondary adjustment includes adjusting the negative pressure of the negative pressure device.

[0012] In some embodiments, the abnormal state types of the fuselage include: an attitude abnormality type where the fuselage angle is greater than a preset angle;

[0013] Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body includes:

[0014] When the abnormal state type of the fuselage is the attitude abnormality type, the operating state of the fuselage is adjusted in a first-level manner so that the fuselage angle is less than or equal to the preset angle; wherein, the first-level adjustment includes adjusting the operating state of the cleaning unit at the lagging end, and / or adjusting the operating state of the cleaning unit at the leading end;

[0015] If the movement of the machine body does not return to normal after the first-level adjustment of the operating status of the cleaning unit, the abnormality type of the cleaning unit at the lagging end is identified.

[0016] The operating status of the cleaning unit is adjusted in two stages according to the abnormality type of the cleaning unit, so that the body angle is less than or equal to the preset angle; wherein, the two-stage adjustment includes adjusting the negative pressure value of the negative pressure device.

[0017] In some embodiments, the abnormality type of the cleaning unit includes a first abnormality type, wherein the first abnormality type includes: the rotation speed of the cleaning unit is greater than a given rotation speed;

[0018] Adjusting the negative pressure value of the negative pressure device according to the abnormality type of the cleaning unit includes:

[0019] When the abnormality type of the cleaning unit is the first abnormality type, the negative pressure value of the negative pressure device is increased.

[0020] In some embodiments, the abnormality type of the cleaning unit includes a second abnormality type, wherein the second abnormality type includes: the rotation speed of the cleaning unit is continuously less than a preset rotation speed for a second preset duration;

[0021] Adjusting the negative pressure value of the negative pressure device according to the abnormality type of the cleaning unit includes:

[0022] When the abnormality type of the cleaning unit is the second abnormality type, the negative pressure value of the negative pressure device is reduced.

[0023] In some embodiments, the abnormal state type of the fuselage includes: a speed abnormality type where the fuselage travel speed is less than a preset travel speed;

[0024] Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body includes:

[0025] When the abnormal state type of the machine body is the speed abnormality type, the operating state of the machine body is adjusted at the first level, which includes adjusting the operating state of the two cleaning units at the same time.

[0026] If the movement of the machine body does not return to normal after the first-level adjustment of the operating status of the cleaning unit, the abnormality type of the two cleaning units is identified.

[0027] The operating status of the cleaning units is adjusted in a secondary manner according to the abnormality type of the two cleaning units, so as to restore the machine body travel speed to normal. The secondary adjustment includes adjusting the negative pressure value of the negative pressure device.

[0028] In some embodiments, the abnormal state types of the fuselage include: an attitude abnormality type where the fuselage angle is greater than a preset angle and a speed abnormality type where the fuselage speed is less than a preset speed.

[0029] Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body includes:

[0030] When the abnormal state type of the fuselage is the attitude abnormality type and the speed abnormality type, the operating state of the fuselage is adjusted in the first stage. The first stage adjustment includes adjusting the operating state of the two cleaning units at the same time, and the adjustment degree of the lagging end is greater than the adjustment degree of the leading end.

[0031] If the machine's movement does not return to normal after a primary adjustment to the cleaning unit's operating status,

[0032] Identify the abnormality type of the cleaning unit at the lagging end, and perform secondary adjustment of the operating status of the cleaning unit according to the abnormality type of the cleaning unit so that the body attitude returns to normal.

[0033] Identify the abnormality types of the two cleaning units, and adjust the operating status of the cleaning units in a secondary manner according to the abnormality types of the cleaning units, so as to restore the machine speed to normal.

[0034] The secondary adjustment includes adjusting the negative pressure of the negative pressure device.

[0035] In some embodiments, secondary adjustment of the operating status of the cleaning units based on the anomaly types of the two cleaning units includes:

[0036] When the anomaly type of one cleaning unit is the first anomaly type and the anomaly type of another cleaning unit is the second anomaly type, the negative pressure device is controlled to alternately increase and decrease the negative pressure.

[0037] In some embodiments, secondary adjustment of the operating status of the cleaning units based on the anomaly types of the two cleaning units includes:

[0038] When the anomaly type of one cleaning unit is the first anomaly type and the anomaly type of another cleaning unit is the second anomaly type, identify the degree of influence of the first anomaly type and the second anomaly type on the speed of the fuselage, respectively.

[0039] When the impact of the first anomaly type on the fuselage speed is greater than the impact of the second anomaly type on the fuselage speed, the negative pressure value of the negative pressure device is increased;

[0040] When the impact of the first anomaly type on the fuselage speed is less than the impact of the second anomaly type on the fuselage speed, the negative pressure value of the negative pressure device is reduced.

[0041] In some embodiments, there are two negative pressure devices, and each of the two negative pressure devices corresponds to one of the two cleaning units;

[0042] Adjusting the operating state of the cleaning unit according to the abnormal state type of the machine body includes: identifying the abnormal type of the cleaning unit, and adjusting the negative pressure value of the corresponding negative pressure device according to the abnormal type of the cleaning unit.

[0043] In some embodiments, the walking control method further includes:

[0044] Identify the rotational speeds of the two cleaning units;

[0045] When both cleaning units are of the first abnormal type, the actual travel distance of the cleaning machine is determined based on the difference between the actual rotation speed of the cleaning unit and the given rotation speed.

[0046] When at least one cleaning unit is not of the first abnormal type, the actual travel distance of the cleaning machine is determined based on the rotation speed of the cleaning unit whose rotation speed is not greater than the given rotation speed.

[0047] In some embodiments, the fuselage is provided with an attitude sensor for detecting the attitude of the fuselage;

[0048] And / or, the machine body is provided with a speed sensor for each of the cleaning units to detect the actual rotation speed of the cleaning unit.

[0049] In some embodiments, the cleaning unit includes a walking disc and a cleaning disc, wherein the walking disc and the cleaning disc are separately configured or integrated, and the walking disc and the cleaning disc are used together for cleaning and walking; or, the walking disc is used for walking, and the cleaning disc is used for cleaning.

[0050] In some embodiments, the cleaning machine is a window cleaning machine.

[0051] The technical solution of the walking control method of the present invention monitors or periodically detects the walking status of the machine body in real time when the cleaning machine moves in a mode where two cleaning units operate simultaneously. When an abnormality is detected in the walking status of the machine body, the type of abnormality is identified, and the operating status of the cleaning units is adjusted according to the type of abnormality, so that the walking status of the machine body is restored to normal. In this way, it is ensured that the cleaning machine can maintain stable operation with both ends moving in a straight line side by side, avoiding the occurrence of a large number of missed areas and effectively improving the overall cleaning effect of the surface to be cleaned. Attached Figure Description

[0052] Figure 1 This is a flowchart illustrating the first embodiment of the walking control method of the present invention;

[0053] Figure 1a This is a diagram showing the position of the cleaning machine when it is in an abnormal traveling state compared to when it is in a normal traveling state.

[0054] Figure 2 This is a flowchart illustrating the second embodiment of the walking control method of the present invention;

[0055] Figure 3 This is a flowchart illustrating the third embodiment of the walking control method of the present invention;

[0056] Figure 4 This is a flowchart illustrating the fourth embodiment of the walking control method of the present invention;

[0057] Figure 5 This is a flowchart illustrating the fifth embodiment of the walking control method of the present invention;

[0058] Figure 6 This is a flowchart illustrating the sixth embodiment of the walking control method of the present invention;

[0059] Figure 7 This is a flowchart illustrating the seventh embodiment of the walking control method of the present invention;

[0060] Figure 8 This is a flowchart illustrating the eighth embodiment of the walking control method of the present invention;

[0061] Figure 9 This is a flowchart illustrating the ninth embodiment of the walking control method of the present invention;

[0062] Figure 10 This is a flowchart illustrating the tenth embodiment of the walking control method of the present invention;

[0063] Figure 11 This is a flowchart illustrating the eleventh embodiment of the walking control method of the present invention;

[0064] Figure 12 This is a schematic diagram of the structure of an electronic device in the hardware operating environment involved in the embodiments of the present invention;

[0065] Figure 13 This is a top view of the cleaning machine in one embodiment of the present invention;

[0066] Figure 14 This is a three-dimensional structural diagram of a cleaning machine according to another embodiment of the present invention;

[0067] Figure 15 for Figure 14 A partial structural diagram of the cleaning machine in the embodiment;

[0068] Figure 16 for Figure 15 Exploded view of a portion of the cleaning machine in the embodiment;

[0069] Figure 17 This is a schematic diagram of the fuselage operating state in one embodiment of the walking control method of the present invention;

[0070] Figure 18 This is a schematic diagram of the fuselage operating state in another embodiment of the walking control method of the present invention. Detailed Implementation

[0071] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0072] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0073] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0074] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0075] This invention proposes a walking control method for use in cleaning machines. (Reference) Figure 13 The cleaning machine includes a body 300 and two cleaning units 12 arranged side-by-side at both ends of the body 300. The cleaning machine also includes a negative pressure device, which provides negative pressure to adhere the cleaning machine to the surface to be cleaned. The surface to be cleaned can be a smooth surface such as window / door glass, floor, or wall surface, for example, a tile surface, a wood surface, or a metal surface. The cleaning machine of this invention can be a window cleaning machine, wall cleaning machine, ceiling cleaning machine, floor cleaning machine, etc. In embodiments of this invention, the terminal for implementing the walking control method can be an electronic device, which can be the controller of the cleaning machine, or a computing device such as a PC, tablet computer, or server.

[0076] like Figure 1 As shown, Figure 1 This is a flowchart illustrating the first embodiment of the walking control method of the present invention.

[0077] In this embodiment, the walking control method includes:

[0078] Step S10: Control the two cleaning units to operate simultaneously to propel the machine body forward;

[0079] In step S10, controlling the two cleaning units to operate simultaneously can be achieved by: controlling the two cleaning units to operate at the same given rotation speed, that is, the electronic device controls the drive devices of the two cleaning units to operate at the same power. Under normal circumstances, the two cleaning units will move at the same rotation speed, keeping the two ends of the machine body moving side by side. Alternatively, the two cleaning units can be controlled to operate at a given rotation speed that is basically the same, allowing for a certain amount of error between the given rotation speeds of the two cleaning units. This amount of error will not have a significant impact on the normal movement of the cleaning machine body. Alternatively, the two cleaning units can be controlled to operate at different given rotation speeds, that is, the electronic device controls the drive devices of the two cleaning units to operate at different power levels. As long as the two cleaning units can be controlled to operate simultaneously, no specific limitation is made here. In addition, if the friction coefficients of the two cleaning units are different, such as one cleaning unit having a larger friction coefficient (i.e., the frictional resistance between the cleaning unit and the surface to be cleaned will be relatively large) and the other cleaning unit having a smaller friction coefficient (i.e., the frictional resistance between the cleaning unit and the surface to be cleaned will be relatively small), then step S10, which controls the two cleaning units to run simultaneously, can also be: first, determine the given rotation speed corresponding to each of the two cleaning units based on the difference in the friction coefficients of the two cleaning units, and then control the two cleaning units to run at their respective given rotation speeds, so that the speed at which the two cleaning units drive the two ends of the machine body to move is basically the same.

[0080] Step S20: When the aircraft's flight status is abnormal, identify the type of abnormal status of the aircraft.

[0081] In this embodiment, abnormal machine movement status can include: 1. Abnormal machine posture during movement, such as the machine tilting at an excessive angle (e.g., exceeding a preset angle); 2. Abnormal machine speed during movement, such as excessively slow speed (e.g., below a preset speed); 3. Abnormal machine posture and abnormal machine speed simultaneously, etc. During the operation of the cleaning machine, the electronic equipment monitors or periodically detects the machine's movement status in real time (e.g., every 0.5 seconds). The electronic equipment can determine whether the machine's movement status is abnormal based on data from corresponding sensors on the machine. For example, if the electronic equipment determines that the data from one or more sensors differs from the corresponding baseline data (sensor data under normal machine movement status) by more than a preset amount (e.g., exceeding 5%), it determines that the machine's movement status is abnormal. At this time, the electronic equipment identifies the type of abnormal machine status to determine the specific type of abnormal machine status. The electronic devices identify abnormal states of the device body in various ways. For example, they might determine the device's attitude (i.e., angle) based on gyroscope data, or determine the actual rotation speed of the cleaning unit or the device's travel speed based on speed sensor data. The device angle X refers to the angle between the device's axis L and the baseline J (refer to...). Figure 1a The baseline J is the fuselage axis L when the fuselage is in a specific state (such as a vertical state).

[0082] In some embodiments, the electronic device monitors the machine's movement status in real time and periodically, and these two methods can be switchable. The user can choose to switch according to their needs, or the electronic device can automatically control the switching. For example, in applications where high accuracy in the straight-line movement of the cleaning machine is required, the user can choose to switch to real-time monitoring of the machine's movement status to immediately detect and adjust any abnormalities, thus ensuring the accuracy of the machine's straight-line movement. In applications where high accuracy in the straight-line movement of the cleaning machine is not required, the user can choose to switch to periodic monitoring of the machine's movement status to reduce the frequency of detection, decrease the data processing load on the electronic device, and extend its service life. For example, the cleaning machine can determine the type of surface to be cleaned (e.g., slippery, non-slip, normal friction resistance, abnormal friction). Based on this, it can automatically select the appropriate cleaning method. For instance, if the electronic equipment determines the surface is non-slip with normal friction, it automatically switches to periodically monitoring the machine's movement. If it determines the surface is slippery or has abnormal friction, it automatically switches to real-time monitoring. This ensures the cleaning machine's linear movement accuracy while reasonably reducing the data processing load on the electronic equipment. Determining the type of surface can be achieved by acquiring (e.g., periodically acquiring) images of the surface (e.g., photographs) and analyzing them, or by using sensors to detect the friction coefficient and smoothness of the surface and determining the type based on the sensor results.

[0083] Step S30: Adjust the operating status of the cleaning unit according to the type of abnormal status of the machine body so that the machine body's movement status returns to normal.

[0084] After identifying the abnormal state type of the device body, the electronic equipment adjusts the operating state of the cleaning unit according to the identified abnormal state type. This adjustment can be done by adjusting the operating state of a single cleaning unit, two cleaning units independently, or simultaneously. Adjusting the operating state of the cleaning unit can include: adjusting the given rotation speed of the cleaning unit, adjusting the negative pressure of the negative pressure device, and adjusting the friction coefficient of the cleaning unit. For example, the friction coefficient of the cleaning unit can be adjusted by having controllable retractable contact elements (such as rubber pillars, one or more) on the cleaning unit. By adjusting the number of rubber pillars contacting the surface to be cleaned or the pressure of the rubber pillars on the surface to be cleaned, the friction between the cleaning unit and the surface to be cleaned is changed, thereby changing the operating state of the cleaning unit. The specific adjustment scheme adopted by the electronic equipment can be determined based on further analysis, or one scheme can be randomly selected for adjustment, or the various schemes mentioned above can be applied sequentially according to the user-set priority. After the electronic device controls and adjusts the operating status of the cleaning unit, the machine's movement status returns to normal. It should be noted that when the abnormal status type of the machine is abnormal posture, the machine's movement status returns to normal when the machine angle is less than the preset angle; when the abnormal status type of the machine is abnormal speed, the machine's movement status returns to normal when the machine's movement speed is not less than the preset speed.

[0085] The technical solution of the walking control method in this embodiment monitors or periodically detects the walking status of the machine body when the cleaning machine moves in a mode where two cleaning units operate simultaneously. When an abnormality is detected in the walking status of the machine body, the type of abnormality is identified, and the operating status of the cleaning units is adjusted according to the type of abnormality, so that the walking status of the machine body is restored to normal. In this way, it is ensured that the cleaning machine can maintain stable operation with both ends moving in a straight line side by side, avoiding the occurrence of a large number of missed areas and effectively improving the overall cleaning effect of the surface to be cleaned.

[0086] In some embodiments, the abnormal types of the fuselage include at least one of the attitude abnormal type where the fuselage angle is greater than a preset angle and the speed abnormal type where the fuselage speed is less than a preset speed.

[0087] Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body, the specific steps include:

[0088] The machine's operating status is adjusted based on the type of abnormality. The machine's operating status includes the normal state and the abnormal state. The normal state is the state when the cleaning machine is running normally. The abnormal state is when the angle of the cleaning machine is greater than the preset angle or the speed of the machine is less than the preset speed.

[0089] After identifying the type of abnormal state of the device, the electronic device will adjust its operating status accordingly.

[0090] Primary adjustment refers to direct adjustment of the cleaning unit, such as directly changing the given rotation speed of the cleaning unit. Primary adjustment can be achieved by adjusting the operating state of a single cleaning unit, adjusting the operating states of two cleaning units independently, or adjusting the operating states of two cleaning units simultaneously. When adjusting the operating states of two cleaning units simultaneously, the degree of adjustment can be the same or different. In this embodiment, adjusting the operating state of the cleaning unit can be achieved by adjusting the given rotation speed of the cleaning unit, such as increasing the given speed of one cleaning unit while keeping the given speed of the other unchanged, decreasing the given speed of one cleaning unit while keeping the given speed of the other unchanged, increasing the given speed of one cleaning unit while decreasing the given speed of the other, increasing the given speed of both cleaning units simultaneously, or decreasing the given speed of both cleaning units simultaneously, etc. When adjusting the given speed of the cleaning units simultaneously, the degree of adjustment of the two cleaning units can be the same or different (here, the degree of adjustment refers to the magnitude of the change in the given rotation speed of the cleaning unit). The specific method for adjusting the given speed and degree of adjustment of the cleaning units is determined based on the identified machine abnormality type. After a first-level adjustment, the lagging cleaning unit can catch up with the leading cleaning unit, so that the machine's operating status returns to normal. After the machine's operating status returns to normal, it can continue to operate at the current given rotation speed of the cleaning unit, or the given rotation speeds of the two cleaning units can be adjusted to the same or basically the same given rotation speed.

[0091] If the primary adjustment fails to restore the machine's operating status to normal, the operating status of the cleaning unit is adjusted in a secondary manner, which includes adjusting the negative pressure of the negative pressure device.

[0092] After initiating the first-level adjustment for a period of time, if the machine's operating state does not return to normal after a preset time (e.g., 3 seconds), it indicates that the effect of the first-level adjustment is not significant. To prevent the machine's operating state from remaining in an abnormal state, further adjustment is required. At this time, the second-level adjustment is initiated. The second-level adjustment is to adjust the friction between the cleaning unit and the surface to be cleaned. This can be done by changing the negative pressure of the negative pressure device, adjusting the friction coefficient of the cleaning unit, or using multiple adjustment methods together. In this embodiment, the second-level adjustment can be to adjust the negative pressure value of the negative pressure device, such as increasing the negative pressure of the negative pressure device, decreasing the negative pressure of the negative pressure device, or alternately increasing and decreasing the negative pressure of the negative pressure device.

[0093] This application employs a two-stage adjustment method for the cleaning machine. First, a primary adjustment changes the actual rotational speed of the cleaning unit. If speed adjustment fails to restore the machine to normal operation, a secondary adjustment is performed to change the negative pressure of the negative pressure device, thereby altering the force exerted by the cleaning unit on the surface to be cleaned. This process changes the operating state of the cleaning unit. The primary adjustment directly regulates the speed of the cleaning unit to change its operating state, while the secondary adjustment indirectly regulates the force exerted by the cleaning unit on the surface to be cleaned, thus changing its operating state.

[0094] like Figure 2 and Figure 17 As shown, Figure 2 This is a flowchart illustrating the second embodiment of the walking control method of the present invention.

[0095] In this embodiment, the abnormal state types of the fuselage include: attitude abnormality type where the fuselage angle is greater than a preset angle; if the fuselage angle is greater than the preset angle (e.g., 5°, 8° or 10°, etc.), it means that the fuselage axis deviates too much from the baseline (i.e., the current attitude of the fuselage is too different from the initial standard attitude), exceeding the preset allowable offset range, and is therefore identified as an abnormal fuselage travel state.

[0096] In this embodiment, step S30 above, adjusting the operating state of the cleaning unit according to the type of abnormal state of the machine body, includes:

[0097] Step S31: When the abnormal state type of the fuselage includes the attitude abnormality type, the operating state of the fuselage is adjusted in a first-level manner so that the fuselage angle is less than or equal to the preset angle; wherein, the first-level adjustment includes adjusting the operating state of the cleaning unit at the lagging end and / or adjusting the operating state of the cleaning unit at the leading end.

[0098] When the electronic device identifies abnormal states of the fuselage, including attitude abnormalities (i.e., fuselage angle greater than a preset angle), it will individually adjust the lagging end of the fuselage (see reference). Figure 1a The operating status of that cleaning unit, or adjusting the leading end of the machine body separately (see reference). Figure 1a The operating status of the cleaning unit at the lagging end can be adjusted, or the operating status of both the cleaning unit at the lagging end and the cleaning unit at the leading end can be adjusted. After adjusting the operating status of the cleaning units using the above method, the flight path of the aircraft is restored to a normal flight path, and the aircraft angle is restored to the allowable angle range (i.e., less than or equal to the preset angle). After the aircraft angle is restored to a normal state, it can continue to travel with the current negative pressure, or the negative pressure of the negative pressure device can be adjusted back to the initial negative pressure.

[0099] For example, such as Figure 17As shown, initially, the cleaning machine is in state I, and the machine body is operating normally. When the machine body moves to state II, the electronic equipment detects an abnormal body posture. At this time, the operating state of the cleaning unit is adjusted firstly, such as increasing the given rotation speed of cleaning unit B, increasing the travel speed of cleaning unit B, and cleaning unit B catches up with cleaning unit A, so that the machine body returns to normal state III (b). The first-level adjustment of the operating state of the cleaning unit can also be to decrease the given rotation speed of cleaning unit A, decrease the travel speed of cleaning unit A, and cleaning unit B catches up with cleaning unit A, so that the machine body returns to normal state III (a).

[0100] like Figure 3 and Figure 18 As shown, Figure 3 This is a flowchart illustrating the third embodiment of the walking control method of the present invention.

[0101] This embodiment can be based on the solution of the second embodiment. In the solution of the second embodiment, when an abnormal fuselage attitude is detected, the reasons for the abnormal fuselage attitude include: 1. Both cleaning units are in normal state (normal state means that the actual rotation speed of the cleaning unit is the same as the given rotation speed), but the given rotation speed of the lagging end is less than the given rotation speed of the leading end; 2. The cleaning unit at the leading end is in normal state, and the cleaning unit at the lagging end is in abnormal state (abnormal state of the cleaning unit means that the actual rotation speed of the cleaning unit does not match the given rotation speed, and the cleaning unit at the lagging end cannot move at the normal linear speed). If the reason for the abnormal fuselage attitude is 1. Both cleaning units are in normal state (normal state means that the actual rotation speed of the cleaning unit is the same as the given rotation speed), but the given rotation speed of the lagging end is less than the given rotation speed of the leading end, the fuselage attitude can be restored to normal by changing the given rotation speed of the cleaning units to match the given rotation speeds of the two cleaning units. The reason for the abnormal fuselage attitude is 2: the cleaning unit at the leading end is in a normal state, while the cleaning unit at the lagging end is in an abnormal state (an abnormal state of the cleaning unit means that the actual rotation speed of the cleaning unit does not match the given rotation speed, and the cleaning unit at the lagging end cannot move at the normal linear speed). If the given rotation speed of the lagging end cleaning unit is increased, the actual rotation speed of the cleaning unit still cannot match the given rotation speed. Therefore, the fuselage may not be able to return to normal operation and further adjustments are required. Therefore, the walking control method also includes:

[0102] Step S40: After adjusting the operating status of the cleaning unit for a first preset time, if the movement status of the machine body does not return to normal, identify the abnormal type of the lagging cleaning unit.

[0103] Step S50: Adjust the operating status of the cleaning unit in a secondary manner according to the abnormality type of the cleaning unit, so that the body angle is less than or equal to the preset angle; wherein, the secondary adjustment includes adjusting the negative pressure value of the negative pressure device.

[0104] The electronic device has a timing module that starts timing when the operating state of the cleaning unit is adjusted in step S30. If the movement of the machine body does not return to normal after the adjustment of the operating state of the cleaning unit has lasted for a first preset time (e.g., the timing reaches 3 seconds), it indicates that the scheme of adjusting the operating state of the cleaning unit adopted in step S30 may not be effective or have an insignificant effect on restoring the movement state of the machine body. For example, in this embodiment, adjusting the operating state of the cleaning unit may be adjusting the given rotation speed of the cleaning unit. If the movement of the machine body does not return to normal after the adjustment of the operating state of the cleaning unit has lasted for a first preset time (e.g., the timing reaches 3 seconds), it indicates that the adjustment effect of changing the given rotation speed of the cleaning unit is not significant. In order to prevent the machine body from being in an abnormal movement state for too long, the electronic device further initiates a secondary adjustment. The specific adjustment method includes identifying the abnormal type of the lagging cleaning unit and adjusting the negative pressure value of the negative pressure device according to the identified abnormal type of the cleaning unit.

[0105] Abnormal operating conditions of the cleaning unit typically include slippage, excessive frictional resistance, and so on. For example, abnormal types of cleaning unit malfunctions may include: 1. The rotational speed of the cleaning unit is greater than the given rotational speed (i.e., the cleaning unit slips); 2. The rotational speed of the cleaning unit is continuously less than the given rotational speed for a certain period of time (i.e., the resistance to the rotation of the cleaning unit is too great). The given rotational speed can be the given rotational speed currently applied to the cleaning unit by the drive device, or it can be a reference rotational speed range corresponding to the given rotational speed, such as given rotational speed ±W, where W is the allowable error.

[0106] In cases where the machine's movement is abnormal due to slippage of the cleaning unit or excessive frictional resistance from the surface to be cleaned, if the adjustment of the cleaning unit's operating state in step S30 only involves adjusting its given rotation speed, it is likely to have no effect or only a minor effect on restoring the machine's movement. This embodiment, however, identifies the type of abnormality in the cleaning unit and adjusts the negative pressure value of the negative pressure device accordingly. This effectively improves the problem of slippage or excessive friction in the cleaning unit. Specifically, increasing the negative pressure value increases the friction between the cleaning unit and the surface to be cleaned, reducing or completely eliminating slippage; conversely, decreasing the negative pressure value reduces the friction between the cleaning unit and the surface to be cleaned, improving or eliminating excessive friction and thus effectively restoring the machine to its normal movement state quickly.

[0107] In some embodiments, the cause of abnormal attitude of the machine body may be slippage at the lagging end or excessive frictional resistance on the surface to be cleaned. By analyzing the abnormal type of the cleaning unit (such as the cleaning unit at the lagging end), if it is determined that the rotation speed of the cleaning unit at the lagging end is greater than a given rotation speed, i.e., the cause of lagging at the lagging end is slippage, one or more of the following adjustment schemes can be adopted: increasing the negative pressure of the negative pressure device, increasing the friction coefficient of the cleaning unit at the lagging end, so that the effective rotation speed of the cleaning unit at the lagging end after overcoming slippage is greater than the effective rotation speed of the leading end. This allows the lagging end to catch up with the leading end, thus restoring the fuselage angle to normal (i.e., less than or equal to the preset angle). If the rotational speed of the cleaning unit at the lagging end remains below the given rotational speed for a certain period, indicating that the lagging is due to excessive frictional resistance on the surface to be cleaned, one or more of the following adjustment schemes can be used: increasing the given rotational speed of the cleaning unit at the lagging end, decreasing the negative pressure of the negative pressure device, or decreasing the friction coefficient of the cleaning unit at the lagging end, so that its effective rotational speed after overcoming frictional resistance is greater than the effective rotational speed of the leading end, thereby allowing the lagging end to catch up with the leading end and restoring the fuselage angle to normal. Of course, after the fuselage's travel status returns to normal, adjustments can be made to the running status of the lagging end to maintain basic synchronization with the other end of the fuselage.

[0108] For example, such as Figure 18 Initially, the cleaning machine is in state ①, and the machine body is operating normally. When the machine body moves to state ②, the electronic equipment detects an abnormal posture of the machine body. At this time, the operating state of the cleaning unit is adjusted in the first stage, such as increasing the given rotation speed of cleaning unit B. However, after a period of time (such as after 3 seconds) of the first stage adjustment, the machine body moves to state ③, and the machine body is still in an abnormal posture state. At this time, the second stage adjustment is initiated to determine the abnormal state of the lagging cleaning unit. The actual rotation speed of the lagging cleaning unit is identified and compared with the given rotation speed of the lagging cleaning unit. If the actual rotation speed of the lagging cleaning unit is found to be greater than the given rotation speed of the lagging cleaning unit, it indicates that the abnormal type of the lagging cleaning unit is slippage. At this time, by increasing the negative pressure of the negative pressure device, the friction between the lagging cleaning unit and the surface to be cleaned can be increased, so that the lagging cleaning unit returns to normal, and then the operating state of the machine body returns to the normal state ④.

[0109] like Figure 4 As shown, Figure 4 This is a flowchart illustrating the fourth embodiment of the walking control method of the present invention.

[0110] This embodiment can be based on the solution of the third embodiment. In this embodiment, the abnormality type of the cleaning unit includes a first abnormality type, wherein the first abnormality type includes: the rotation speed of the cleaning unit is greater than a given rotation speed, that is, the cleaning unit is slipping; in this embodiment, the above step S50 includes:

[0111] Step S51: When the abnormality type of the cleaning unit is the first abnormality type, increase the negative pressure value of the negative pressure device.

[0112] When the electronic device determines that the cleaning unit is rotating at a speed greater than the given speed, it indicates that the cleaning unit is slipping. At this time, the electronic device controls the negative pressure device to increase the negative pressure value, so that the squeezing force between the cleaning unit and the surface to be cleaned is increased, thereby increasing the friction between the cleaning unit and the surface to be cleaned, improving or eliminating the slipping of the cleaning unit, and allowing the machine to quickly return to normal.

[0113] like Figure 5 As shown, Figure 5 This is a flowchart illustrating the fifth embodiment of the walking control method of the present invention.

[0114] This embodiment can be based on the solution of the third or fourth embodiment. In this embodiment, the abnormality type of the cleaning unit includes a second abnormality type, wherein the second abnormality type includes: the rotation speed of the cleaning unit is less than the preset rotation speed, that is, the cleaning unit is subjected to excessive frictional resistance from the surface to be cleaned; in this embodiment, the above step S50 includes:

[0115] Step S52: When the abnormality type of the cleaning unit is the second abnormality type, reduce the negative pressure value of the negative pressure device.

[0116] When the electronic device determines that the cleaning unit is rotating at a speed lower than the given speed, it indicates that the cleaning unit is experiencing excessive friction. In this case, the electronic device controls the negative pressure device to reduce the negative pressure value, thereby reducing the squeezing force between the cleaning unit and the surface to be cleaned. This reduces the friction between the cleaning unit and the surface to be cleaned, improves or eliminates the excessive friction experienced by the cleaning unit, and allows the machine to quickly return to normal.

[0117] like Figure 6 As shown, Figure 6 This is a flowchart illustrating the sixth embodiment of the walking control method of the present invention.

[0118] This embodiment can be based on the scheme of any of the above embodiments. In this embodiment, the abnormal state types of the machine body include: the abnormal speed type where the machine body travels at a speed less than a preset travel speed; when the machine body is in a normal traveling state, the traveling speed of the machine body is equal to the linear speed of the cleaning unit, which can be calculated from the rotation speed of the cleaning unit. Therefore, the preset travel speed can be a reference travel speed range or a reference travel speed value corresponding to the given rotation speed currently applied to the cleaning unit by the driving device.

[0119] In this embodiment, adjusting the operating state of the cleaning unit according to the type of abnormal state of the machine body includes:

[0120] When the abnormal state of the machine body is of the speed abnormality type, the operating state of the machine body is adjusted at the first level, which includes adjusting the operating state of the two cleaning units at the same time.

[0121] When the electronic device detects an abnormal machine speed, it indicates that the linear speed of both cleaning units is relatively low. The reasons for the slow machine speed at this time include: 1. Both cleaning units are in normal condition, but the given rotation speed of both cleaning units is relatively low, which cannot meet the machine's preset travel speed; 2. Both cleaning units are in abnormal condition, and the actual rotation speed of both cleaning units cannot match the given rotation speed of the cleaning units.

[0122] The first-level adjustment method includes simultaneously increasing the given rotation speed of the cleaning unit. If both cleaning units are functioning normally, adjusting the given rotation speed of both cleaning units simultaneously can restore the machine's travel speed to normal. If both cleaning units are in an abnormal state, adjusting the given rotation speed of both cleaning units simultaneously may not restore the machine's travel speed to normal, and further adjustments are required.

[0123] Therefore, in this embodiment, step S30 includes:

[0124] Step S32: After the first-level adjustment of the operating status of the cleaning unit, if the movement status of the machine body does not return to normal, identify the abnormality type of the two cleaning units.

[0125] Step S33: Based on the abnormality type of the two cleaning units, perform secondary adjustment on the operating status of the cleaning units to restore the machine's traveling speed to normal. The secondary adjustment includes adjusting the negative pressure value of the negative pressure device.

[0126] When the electronic device identifies an abnormal state type of the body, including a speed abnormality (i.e., the body's travel speed is less than the preset travel speed), it indicates that both ends of the body are moving slowly, meaning both cleaning units are abnormal. In this case, the abnormality type of the cleaning unit is further identified. The abnormality type of the cleaning unit can include a first abnormality type and a second abnormality type. The first abnormality type includes the cleaning unit's rotational speed being greater than the given rotational speed (i.e., the cleaning unit is slipping), and the second abnormality type includes the cleaning unit's rotational speed being less than the given rotational speed (i.e., the resistance to the cleaning unit's rotation is too great). After determining the abnormality type of the cleaning unit, the negative pressure of the negative pressure device is adjusted according to the abnormality type. For example, if both cleaning units are in the first abnormality type (i.e., both cleaning units are slipping), the negative pressure value of the control device is increased. If both cleaning units are in the second abnormality type (i.e., the frictional resistance experienced by both cleaning units is too great), the negative pressure value of the control device is decreased. Furthermore, if the two cleaning units are in the first and second abnormality types respectively, further analysis can be used to determine the adjustment scheme for the negative pressure value of the control device.

[0127] like Figure 7 As shown, Figure 7 This is a flowchart illustrating the seventh embodiment of the walking control method of the present invention.

[0128] This embodiment can be based on the solution of the sixth embodiment. In this embodiment, adjusting the negative pressure of the negative pressure device according to the abnormality type of each cleaning unit in step S33 above includes:

[0129] In step S331, when the abnormality type of one cleaning unit is the first abnormality type and the abnormality type of another cleaning unit is the second abnormality type, the negative pressure device is controlled to alternately increase and decrease the negative pressure.

[0130] When the electronic device determines that the two cleaning units have different abnormality types (i.e., the two cleaning units are of the first abnormality type and the second abnormality type, respectively), that is, one cleaning unit is in a slipping state and the other cleaning unit is in a state of excessive frictional resistance, the electronic device controls the negative pressure device to alternately increase and decrease the negative pressure, so that the cleaning units at both ends of the machine body are alternately adjusted in their operating state, that is, alternately restored to normal operation. By controlling a high frequency of alternation, the machine body is alternately adjusted so that the machine body can quickly return to normal operation.

[0131] like Figure 8 As shown, Figure 8 This is a flowchart illustrating the eighth embodiment of the walking control method of the present invention.

[0132] This embodiment can be based on the solution of the sixth embodiment. In this embodiment, adjusting the negative pressure of the negative pressure device according to the abnormality type of each cleaning unit in step S33 above includes:

[0133] Step S332: When the anomaly type of one cleaning unit is the first anomaly type and the anomaly type of another cleaning unit is the second anomaly type, identify the degree of influence of the first anomaly type and the second anomaly type on the fuselage speed respectively.

[0134] Since the effective rotational speed of the cleaning unit (the rotational speed at which the fuselage moves) has a fixed conversion relationship with the fuselage speed, the degree of influence of the first type of anomaly on the fuselage speed can be expressed as a percentage of the given rotational speed, which is the difference between the actual rotational speed of the cleaning unit of the first type of anomaly. Similarly, the degree of influence of the second type of anomaly on the fuselage speed can also be expressed as a percentage of the given rotational speed, which is the difference between the actual rotational speed of the cleaning unit of the second type of anomaly and the given rotational speed.

[0135] Step S333: When the impact of the first anomaly type on the fuselage speed is greater than the impact of the second anomaly type on the fuselage speed, increase the negative pressure value of the negative pressure device.

[0136] Step S334: When the impact of the first abnormality type on the fuselage speed is less than the impact of the second abnormality type on the fuselage speed, reduce the negative pressure value of the negative pressure device.

[0137] After determining the degree of impact of the first and second anomaly types on the fuselage speed, their relative magnitudes are compared. If the impact of the first anomaly type on the fuselage speed is greater than that of the second anomaly type, it indicates that the cleaning unit of the first anomaly type has a greater impact on the slow fuselage speed, meaning the speed reduction caused by slippage is more severe. In this case, the negative pressure value of the negative pressure device is increased to improve the slipping cleaning unit, allowing the cleaning unit of the first anomaly type to return to normal, thereby restoring the fuselage speed to some extent. If the impact of the second anomaly type on the fuselage speed is greater than that of the first anomaly type, it indicates that the cleaning unit of the second anomaly type has a greater impact on the slow fuselage speed, meaning the speed reduction caused by excessive frictional resistance is more severe. In this case, the negative pressure value of the negative pressure device is decreased to reduce frictional resistance, allowing the cleaning unit of the second anomaly type to return to normal, thereby restoring the fuselage speed to some extent.

[0138] Of course, after adjusting the negative pressure value of the negative pressure device as described above, if the machine body is in an abnormal state where the machine body angle is greater than the preset angle, it can be adjusted and processed according to the aforementioned embodiment.

[0139] like Figure 9 As shown, Figure 9 This is a flowchart illustrating the ninth embodiment of the walking control method of the present invention.

[0140] This embodiment can be based on the solution of any of the embodiments in the sixth to eighth embodiments above. In this embodiment, after step S33, the walking control method further includes:

[0141] Step S34: If the body angle is greater than the preset angle, adjust the operating state of the cleaning unit at the lagging end, and / or adjust the operating state of the cleaning unit at the leading end, so that the body angle is less than or equal to the preset angle.

[0142] After the electronic device completes the adjustment process in step S33, if it determines that the body angle is greater than the preset angle, indicating an abnormal body posture, the electronic device will then adjust the lagging end of the body separately (see reference). Figure 1a The operating status of that cleaning unit, or adjusting the leading end of the machine body separately (see reference). Figure 1a The operating state of the cleaning unit can be adjusted, either by adjusting the operating state of the lagging cleaning unit or the leading cleaning unit. Adjusting the operating state of the cleaning units may include adjusting the given rotational speed of the cleaning unit and / or adjusting the friction coefficient of the cleaning unit. After adjusting the operating state of the cleaning units using the above methods, the machine's travel state is restored to normal, and the machine's angle is restored to the allowable angle range (i.e., less than or equal to the preset angle).

[0143] In some embodiments, when the fuselage anomaly type is both attitude anomaly type and speed anomaly type;

[0144] Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body includes:

[0145] Identify the anomaly type of the cleaning unit at the lagging end;

[0146] Adjust the negative pressure value of the negative pressure device according to the abnormality type of the lagging end cleaning unit, so as to adjust the operating state of the cleaning unit and restore the machine body angle to normal.

[0147] Identify the anomaly types in the two cleaning units;

[0148] Adjust the negative pressure value of the negative pressure device according to the abnormality type of the two cleaning units to regulate the operating status of the cleaning units and restore the machine's operating speed to normal.

[0149] In this embodiment, when both abnormal fuselage attitude and abnormal speed exist simultaneously, both cleaning units are abnormal. The abnormal situations include: 1. The two cleaning units have the same abnormal type (both cleaning units slip or both cleaning units have excessive frictional resistance); 2. The two cleaning units have different abnormal types (one cleaning unit slips, and the other has excessive frictional resistance), and the abnormality of the lagging end is higher (the difference between the actual rotation speed of the lagging end cleaning unit and the given rotation speed of the lagging end is relatively large), while the abnormality of the leading end cleaning unit is lower (the difference between the actual rotation speed of the leading end cleaning unit and the actual rotation speed of the leading end cleaning unit is relatively small).

[0150] Adjust the negative pressure value of the negative pressure device according to the abnormality type of the lagging cleaning unit to regulate the operating state of the cleaning unit. Adjust the negative pressure of the negative pressure device according to the abnormality type of the two cleaning units. Specifically, the abnormality of the machine body's posture can be adjusted first and then the abnormality of speed can be adjusted, or the abnormality of speed can be adjusted first and then the abnormality of posture. For example, if the abnormality of posture is adjusted first, the negative pressure of the negative pressure device is adjusted according to the abnormality type of the lagging cleaning unit. If the abnormality type of the lagging cleaning unit is slippage, the negative pressure of the negative pressure device is increased so that the lagging cleaning unit catches up with the leading cleaning unit. After the machine body posture returns to normal, the machine body speed abnormality is adjusted according to the adjustment method of the speed abnormality type (the adjustment method of the speed abnormality type is referred to in Embodiments 6, 7 and 8).

[0151] like Figure 10 As shown, Figure 10 This is a flowchart illustrating the tenth embodiment of the walking control method of the present invention.

[0152] In this embodiment, the machine body is equipped with two negative pressure devices, which correspond one-to-one with two cleaning units. Each negative pressure device provides negative pressure to its respective cleaning unit.

[0153] In this embodiment, adjusting the operating state of the cleaning unit according to the type of abnormal state of the machine body includes:

[0154] Step S35: Identify the abnormality type of the cleaning unit, and adjust the negative pressure value of the corresponding negative pressure device according to the abnormality type of the cleaning unit.

[0155] After the electronic device identifies the abnormality type of the cleaning unit, if only one cleaning unit is abnormal, it adjusts the negative pressure value of the negative pressure device corresponding to that cleaning unit according to the abnormality type (e.g., the first abnormality type or the second abnormality type). If the cleaning unit is of the first abnormality type, the negative pressure value of the corresponding negative pressure device is increased; if the cleaning unit is of the second abnormality type, the negative pressure value of the corresponding negative pressure device is decreased. If both cleaning units are abnormal, the negative pressure values ​​of the corresponding negative pressure devices for each of the two cleaning units are adjusted according to their respective abnormality types. If both cleaning units are of the first or second abnormality type, the negative pressure values ​​of the corresponding negative pressure devices for both cleaning units are either decreased or increased. If one cleaning unit (denoted as the first cleaning unit) is of the first abnormality type and the other cleaning unit (denoted as the second cleaning unit) is of the second abnormality type, the negative pressure value of the negative pressure device corresponding to the first cleaning unit is decreased, and the negative pressure value of the negative pressure device corresponding to the second cleaning unit is increased.

[0156] Of course, in this embodiment, the step of adjusting the operating state of the cleaning unit according to the abnormal state type of the machine body may also include other processing steps performed before step S35, such as the scheme of step S31 or the scheme of step S32 in the aforementioned embodiment.

[0157] In the foregoing embodiments, the electronic device may identify the abnormality type of the cleaning unit as follows: 1. By comparing the actual rotation speed of the cleaning unit with the given rotation speed corresponding to the given rotation speed, the abnormality type of the cleaning unit is determined to be either the first abnormality type or the second abnormality type based on the comparison result; 2. By monitoring the change in the drive current of the driving device of the cleaning unit, if the drive current decreases, it indicates that the cleaning unit is slipping, which is the first abnormality type; if the drive current increases, it indicates that the resistance encountered by the cleaning unit is too great, which is the second abnormality type.

[0158] like Figure 11 As shown, Figure 11 This is a flowchart illustrating the eleventh embodiment of the walking control method of the present invention.

[0159] This embodiment can be based on the solution of any of the above embodiments. In this embodiment, the walking control method further includes:

[0160] Step S60: When it is determined that both cleaning units are in a slipping state, the travel distance of the cleaning machine is determined based on the difference between the actual rotation speed of the cleaning unit and the given rotation speed.

[0161] Step S70: When it is determined that at least one cleaning unit is not in a slipping state, the travel distance of the cleaning machine is determined based on the actual rotation speed of the non-slipping cleaning unit.

[0162] During the movement of the cleaning machine, the electronic equipment monitors the status of the two cleaning units in real time to determine whether the two cleaning units are slipping. For example, it can monitor the changes in the drive current of the driving device of the cleaning unit, or monitor the relationship between the actual rotation speed of the cleaning unit and the given rotation speed corresponding to the given rotation speed to determine whether the cleaning unit is slipping.

[0163] When it is determined that one or both of the two cleaning units are not slipping, that is, one or both cleaning units are in normal or second abnormal state, the travel distance of the cleaning machine is determined directly based on the actual rotation speed of the non-slipping cleaning unit.

[0164] When both cleaning units are determined to be slipping, their actual rotational speeds will both exceed their respective given rotational speeds due to slippage. In this case, calculating the cleaning machine's travel distance based on the actual rotational speed of the cleaning units will result in a significant discrepancy from the actual travel distance, rendering the calculation unusable. In this embodiment, when the electronic device determines that both cleaning units are slipping, it determines the cleaning machine's travel distance based on the difference between the actual rotational speed of the cleaning units and the given rotational speed. Optionally, this method can be achieved by storing a pre-trained effective rotational speed determination model in the electronic device. In the slipping state, the actual rotational speed and given rotational speed of the cleaning units are input into this model to obtain the effective rotational speed at which the cleaning units drive the cleaning machine. The travel distance of the cleaning machine is then calculated based on this effective rotational speed. The effective rotation speed determination model is trained using a large number of data sets under slippage conditions as training samples. Each data set includes the given rotation speed of the cleaning unit, the actual rotation speed, and the actual distance traveled by the cleaning machine per unit time. The model was successfully validated using a large number of data sets under slippage conditions as validation samples.

[0165] The technical solution of this embodiment adopts a corresponding method for determining the travel distance according to the state of the two cleaning units of the cleaning machine (two slipping or at least one not slipping). The distance traveled by the cleaning machine can be accurately determined in each state stage of the cleaning unit. The travel distance of the cleaning machine in the whole operation process can be obtained by accumulating the travel distance of each state stage. This enables the cleaning machine to accurately return to the initial point or other specified points. In addition, the cleaning machine can also construct a map of the surface to be cleaned based on the travel distance.

[0166] In the above embodiments, the cleaning machine is equipped with an attitude sensor, such as a gyroscope, for detecting the machine's posture; and a speed sensor, such as a Hall sensor, is provided for each cleaning unit to detect the actual rotation speed of the cleaning unit.

[0167] In some embodiments, the cleaning unit includes a walking disc and a cleaning disc fitted on the walking disc. A drive device (motor) drives the walking disc to rotate, and the rotation of the walking disc causes the cleaning disc to rotate.

[0168] The present invention also proposes an electronic device, see reference. Figure 12 , Figure 12 This is a schematic diagram of the structure of an electronic device in the hardware operating environment involved in the embodiments of the present invention.

[0169] The electronic device in this embodiment of the invention can be a control board, desktop computer, laptop, handheld computer, server, or other computing device. Figure 12 As shown, the electronic device may include: a processor 1001 (e.g., CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit, such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0170] Those skilled in the art will understand that Figure 12 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0171] like Figure 12 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and computer programs.

[0172] exist Figure 12In the electronic device shown, the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the user interface 1003 is mainly used to connect to the client (user terminal) and communicate with the client; and the processor 1001 can be used to call the computer program stored in the memory 1005. When the computer program is called and executed by the processor 1001, it implements the steps of the walking control method described above.

[0173] Based on the computer program proposed in the foregoing embodiments, the present invention also proposes a storage medium storing a computer program, which, when executed by a controller, implements the walking control method described in the foregoing embodiments.

[0174] See Figure 13 The present invention also proposes a cleaning machine, including a body 300, a negative pressure device 700, two cleaning units 12 arranged side by side at both ends of the body 300, and the aforementioned electronic equipment. The electronic equipment is communicatively connected to the body 300. The electronic equipment can be installed on the body 300 or can be separately installed from the body 300.

[0175] See Figures 14 to 16 In this embodiment, the cleaning machine also includes a body and a negative pressure device 700. The cleaning unit includes a cleaning disc 201 and a traveling disc 401. The traveling disc 401 is disposed on the body 300 and is used to drive the cleaning machine to move. The cleaning disc 201 is installed at the bottom of the body 300 and is used to clean the surface to be cleaned. A cavity is formed inside the cleaning disc 201. The negative pressure device 700 is connected to the cavity and is used to provide negative pressure to the cavity so that the cleaning machine can adhere to the surface to be cleaned.

[0176] In this embodiment, the walking mechanism includes a walking disc 401, which is housed within a cavity. The walking disc 401 and the cleaning disc 201 are nested together. By driving the walking disc 401 to move, the machine body 300 and the cleaning disc 201 are moved. The nesting of the cleaning disc 201 and the walking disc 401 allows the cleaning disc 201 to provide auxiliary support for the walking disc 401, preventing the walking disc 401 from slipping when wet, thus ensuring stable movement of the walking disc 401. Preferably, a cleaning cloth can be fitted onto the cleaning disc 201 in this embodiment. After cleaning is completed, or when the cleaning cloth has accumulated a lot of dirt, the cleaning cloth on the cleaning disc 201 can be replaced, making it convenient to use.

[0177] In this embodiment, a single negative pressure device 700 is used as an example. This device is connected to each cavity, providing negative pressure to each cavity so that the traveling disc 401 and the cleaning disc 201 adhere to the surface to be cleaned during operation. The negative pressure device 700 can be a fan, air pump, or vacuum pump, etc. Of course, in other embodiments, there can be two negative pressure devices 700, each connected to a corresponding cavity of the two cleaning discs 201, providing negative pressure to its respective cavity.

[0178] Furthermore, an airflow channel can be formed within the body 300, and a negative pressure device 700 can be correspondingly installed on the body 300. The negative pressure device 700 is connected to the airflow channel, which is connected to the cavity of the cleaning tray 201. When the cleaning machine is in use, a sealed space connected to the negative pressure device 700 is formed between the airflow channel, the cavity, and the surface to be cleaned. This allows the negative pressure device 700 to generate negative pressure within the airflow channel, enabling the cleaning machine to adhere to the surface to be cleaned. It can be understood that a pressure difference exists between the airflow channel and the external air pressure, which generates negative pressure within the airflow channel. When the cleaning machine is working, this negative pressure allows for adhesion and fixation.

[0179] like Figure 15 and Figure 16 As shown, specifically, the housing 300 has an internal intermediate shell 310, and the airflow channel includes an intermediate channel 311 formed within the intermediate shell 310. The negative pressure device 700 may include a cover 710, a drive member 720, and a fan blade 730. A receiving cavity 711 is formed within the cover 710, and the receiving cavity 711 is connected to the intermediate channel 311; that is, the receiving cavity 711 of the cover 710 forms part of the airflow channel. The drive member 720 and the fan blade 730 are both located within the receiving cavity 711. The drive member 720 is connected to the fan blade 730 and is used to drive the fan blade 730 to rotate, thereby generating negative pressure within the airflow channel. The drive member 720 is mounted on the intermediate shell 310 via a mounting bracket 740. Since the drive member 720 is located within the receiving cavity, the heat generated during operation can be carried away by the airflow in the receiving cavity 711, thus achieving heat dissipation. Preferably, the cover 710 is generally cylindrical, and the drive member 720 is a motor.

[0180] The drive structure 321 and circuit board 322 inside the body 300 constitute the heating element 320. The heating element 320 is connected to the intermediate housing 310. The drive structure 321 is, for example, a motor installed inside the intermediate housing 310. When the cleaning machine is working, the heating element 320 generates heat, which can be dissipated through the airflow in the intermediate channel 311. Specifically, the intermediate housing 310 includes a heat dissipation part and a heat conduction part. The heat dissipation part is installed in the intermediate channel 311 to carry away the heat from the heat dissipation part through the airflow in the intermediate channel 311. The heat conduction part is connected to the heating element 320 inside the body 300 to conduct the heat to the heat dissipation part.

[0181] The drive structure 321 drives the transmission structure 331 inside the machine body 300. The transmission structure 331 is connected to the cleaning disc 201 and the traveling disc 401 respectively, so as to independently drive the traveling disc 401 and the cleaning disc 201. The cleaning machine drives the transmission structure 331 through the drive structure 321, so that the transmission structure 331 drives the traveling disc 401 to rotate, thereby controlling the movement of the cleaning machine on the surface to be cleaned; and drives the transmission structure 331 through the drive structure 321 to rotate the two cleaning discs 201, so that the cleaning components installed on the cleaning discs 201 clean the surface to be cleaned.

[0182] In some embodiments, the cleaning disc 201 proposed in this embodiment is rotatably mounted on the body 300. In some embodiments, at least one of the two traveling discs 401 proposed in this embodiment is tilted, and the tilt angle is adjustable.

[0183] In this embodiment, the central axis of the traveling disc 401 is inclined relative to the central axis of the machine body 300, so that when the cleaning machine is operating, the traveling disc 401 has a high-friction area and a low-friction area in contact with the surface to be cleaned. The frictional force between the high-friction area and the surface to be cleaned is greater than the frictional force between the low-friction area and the surface to be cleaned, so that the traveling disc 401 can drive the machine body 300 forward during rotation, allowing the cleaning machine to reach different positions on the surface to be cleaned for cleaning. When the two ends of the cleaning machine move synchronously, the two traveling discs 401 of the cleaning machine are symmetrically inclined, so that the two traveling discs 401 jointly drive the cleaning machine forward.

[0184] In some embodiments, the central axis of the walking disc 401 is tilted at an angle of 0 to 30 degrees relative to the central axis of the machine body 300. For example, the central axis of the walking disc 401 is tilted at an angle of 5 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, or 30 degrees relative to the central axis of the cleaning machine body, and this angle is adjustable.

[0185] In some embodiments, the cleaning machine described above is a window cleaning machine.

[0186] The electronic device, cleaning machine, and storage medium of the present invention can all implement the steps of the above-described walking control method, and therefore have at least all the beneficial effects brought about by the technical solutions of the above-described walking control method embodiments, which will not be elaborated here.

[0187] The above are only some or preferred embodiments of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention's specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A walking control method applied to a cleaning machine, the cleaning machine comprising a body and two cleaning units arranged side-by-side at both ends of the body, the cleaning machine further comprising a negative pressure device for providing negative pressure to adhere the cleaning machine to the surface to be cleaned, characterized in that, The walking control method includes: Control the two cleaning units to operate simultaneously to propel the machine body forward; When the aircraft's movement is abnormal, identify the type of abnormal state of the aircraft; Adjust the operating state of the cleaning unit according to the type of abnormal state of the machine body so that the traveling state of the machine body can be restored to normal. The abnormal state types of the fuselage include at least one of the following: attitude abnormality type where the fuselage angle is greater than a preset angle and speed abnormality type where the fuselage speed is less than a preset speed; Adjusting the operating state of the cleaning unit according to the type of abnormal state of the machine body includes: The operating status of the cleaning unit is adjusted at the first level according to the abnormal state type of the machine body. The first level adjustment is a direct speed adjustment of the cleaning unit. If the first-level adjustment fails to restore the machine body's travel state to normal, the operating state of the cleaning unit is adjusted in a second-level manner, wherein the second-level adjustment includes adjusting the negative pressure of the negative pressure device; The secondary adjustment of the operating state of the cleaning unit includes: identifying the abnormality type of the cleaning unit, which includes a first abnormality type and a second abnormality type. The first abnormality type includes: the rotation speed of the cleaning unit is greater than a given rotation speed; the second abnormality type includes: the rotation speed of the cleaning unit is less than a preset rotation speed. When the abnormality type of the cleaning unit is the first abnormality type, the negative pressure value of the negative pressure device is increased; when the abnormality type of the cleaning unit is the second abnormality type, the negative pressure value of the negative pressure device is decreased.

2. The walking control method according to claim 1, characterized in that, The abnormal state types of the fuselage include: attitude abnormality type where the fuselage angle is greater than a preset angle; Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body includes: When the abnormal state type of the fuselage is the attitude abnormality type, the operating state of the cleaning unit is adjusted in a first-level manner so that the fuselage angle is less than or equal to the preset angle; wherein, the first-level adjustment includes adjusting the operating state of the cleaning unit at the lagging end, and / or adjusting the operating state of the cleaning unit at the leading end. If the movement of the machine body does not return to normal after the first-level adjustment of the operating status of the cleaning unit, the abnormality type of the cleaning unit at the lagging end is identified. The operating status of the cleaning unit is adjusted in two stages according to the abnormality type of the cleaning unit, so that the body angle is less than or equal to the preset angle; wherein, the two-stage adjustment includes adjusting the negative pressure value of the negative pressure device.

3. The walking control method according to claim 2, characterized in that, The abnormality type of the cleaning unit includes a first abnormality type, wherein the first abnormality type includes: the rotation speed of the cleaning unit is greater than a given rotation speed; The secondary adjustment of the operating status of the cleaning unit based on the abnormality type of the cleaning unit includes: when the abnormality type of the cleaning unit is the first abnormality type, increasing the negative pressure value of the negative pressure device.

4. The walking control method according to claim 2, characterized in that, The abnormality type of the cleaning unit includes a second abnormality type, wherein the second abnormality type includes: the rotation speed of the cleaning unit is less than the preset rotation speed; The secondary adjustment of the operating status of the cleaning unit based on the abnormality type of the cleaning unit includes: when the abnormality type of the cleaning unit is the second abnormality type, reducing the negative pressure value of the negative pressure device.

5. The walking control method according to claim 1, characterized in that, The abnormal status types of the fuselage include: speed abnormality type where the fuselage travel speed is less than the preset travel speed; Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body includes: When the abnormal state type of the machine body is the speed abnormality type, the operating state of the cleaning unit is adjusted at the first level, which includes adjusting the operating state of two cleaning units at the same time. If the movement of the machine body does not return to normal after the first-level adjustment of the operating status of the cleaning unit, the abnormality type of the two cleaning units is identified. The operating status of the cleaning units is adjusted in a secondary manner according to the abnormality type of the two cleaning units, so as to restore the machine body travel speed to normal. The secondary adjustment includes adjusting the negative pressure value of the negative pressure device.

6. The walking control method according to claim 1, characterized in that, The abnormal state types of the fuselage include: attitude abnormality type where the fuselage angle is greater than a preset angle and speed abnormality type where the fuselage speed is less than a preset speed; Adjusting the operating status of the cleaning unit according to the type of abnormal condition of the machine body includes: When the abnormal state type of the fuselage is the attitude abnormality type and the speed abnormality type, the operating state of the cleaning unit is adjusted in the first stage. The first stage adjustment includes adjusting the operating state of two cleaning units at the same time, and the adjustment degree of the lagging end is greater than the adjustment degree of the leading end. If the machine's movement does not return to normal after a primary adjustment to the cleaning unit's operating status, Identify the abnormality type of the cleaning unit at the lagging end, and perform secondary adjustment of the operating status of the cleaning unit according to the abnormality type of the cleaning unit so that the body attitude returns to normal. Identify the abnormality types of the two cleaning units, and adjust the operating status of the cleaning units in a secondary manner according to the abnormality types of the cleaning units, so as to restore the machine speed to normal. The secondary adjustment includes adjusting the negative pressure of the negative pressure device.

7. The walking control method according to claim 5, characterized in that, The secondary adjustment of the operating status of the cleaning units based on the abnormality types of the two cleaning units includes: When the anomaly type of one cleaning unit is the first anomaly type and the anomaly type of another cleaning unit is the second anomaly type, the negative pressure device is controlled to alternately increase and decrease the negative pressure.

8. The walking control method according to claim 7, characterized in that, The secondary adjustment of the operating status of the cleaning units based on the abnormality types of the two cleaning units includes: When the anomaly type of one cleaning unit is the first anomaly type and the anomaly type of another cleaning unit is the second anomaly type, identify the degree of influence of the first anomaly type and the second anomaly type on the speed of the fuselage, respectively. When the impact of the first anomaly type on the fuselage speed is greater than the impact of the second anomaly type on the fuselage speed, the negative pressure value of the negative pressure device is increased; When the impact of the first anomaly type on the fuselage speed is less than the impact of the second anomaly type on the fuselage speed, the negative pressure value of the negative pressure device is reduced.

9. The walking control method according to claim 1, characterized in that, There are two negative pressure devices, and each of the two negative pressure devices corresponds to one of the two cleaning units. Adjusting the operating state of the cleaning unit according to the abnormal state type of the machine body includes: identifying the abnormal type of the cleaning unit, and adjusting the negative pressure value of the corresponding negative pressure device according to the abnormal type of the cleaning unit.

10. The walking control method according to claim 1, characterized in that, The walking control method further includes: Identify the rotational speeds of the two cleaning units; When both cleaning units are of the first abnormal type, the actual travel distance of the cleaning machine is determined based on the difference between the actual rotation speed of the cleaning unit and the given rotation speed. When at least one cleaning unit is not of the first abnormal type, the actual travel distance of the cleaning machine is determined based on the rotation speed of the cleaning unit whose rotation speed is not greater than the given rotation speed.

11. The walking control method according to claim 1, characterized in that, The fuselage is equipped with an attitude sensor for detecting the fuselage attitude; And / or, the machine body is provided with a speed sensor for each of the cleaning units to detect the actual rotation speed of the cleaning unit.

12. The walking control method according to claim 1, characterized in that, The cleaning unit includes a walking disc and a cleaning disc, which can be separate from or integrated with the cleaning disc. The walking disc and the cleaning disc are used together for cleaning and walking; or, the walking disc is used for walking and the cleaning disc is used for cleaning.

13. The walking control method according to claim 1, characterized in that, The cleaning machine mentioned is a window cleaning machine.

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