Control method, device, equipment and readable storage medium of surface cleaning robot

Abstract

Embodiments of the present application provide a control method, device and equipment of a surface cleaning robot and a readable storage medium. During the travel of the surface cleaning robot, if a leakage obstacle is encountered which causes the suction cavity to leak, the speed of the fan is increased to try to increase the negative pressure of the suction cavity. Then, when the negative pressure value of the suction cavity is higher than a preset negative pressure value, the surface cleaning robot re-plans a path to avoid the leakage obstacle and travels according to the re-planned path to continue cleaning the work surface. With this scheme, when the surface cleaning robot travels onto a leakage obstacle such as a mechanical baffle which cannot be detected, causing the suction cavity to leak, the speed of the fan is increased to restore the negative pressure of the suction cavity, and then the leakage obstacle is avoided to continue cleaning the work surface, thereby reducing the frequency of the surface cleaning robot alarming due to low negative pressure, and enabling the surface cleaning robot to complete the cleaning task as much as possible.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a control method, apparatus, device, and readable storage medium for a surface cleaning robot. Background Technology

[0002] A window cleaning robot is an intelligent window cleaning appliance that must adhere firmly to the glass surface during operation. To achieve this, a fan is installed inside the window cleaning robot. The fan draws air between the adsorption surface and the working surface to form an adsorption chamber. The air pressure inside the adsorption chamber is lower than atmospheric pressure, creating a negative pressure that adheres the window cleaning robot to the glass surface.

[0003] However, if the suction chamber leaks air, the window cleaning robot risks falling if it continues to move. Therefore, the robot stops working and sounds an alarm to prevent a fall that would prevent the cleaning task from being completed. Summary of the Invention

[0004] This application provides a control method, device, equipment, and readable storage medium for a surface cleaning robot. When the adsorption chamber leaks air, the fan speed is increased to restore the vacuum level of the adsorption chamber, thereby improving the safety of the surface cleaning robot while ensuring that the surface cleaning robot completes the cleaning task as much as possible.

[0005] In a first aspect, embodiments of this application provide a control method for a surface cleaning robot, including:

[0006] As the surface cleaning robot moves along the first direction, the fan of the surface cleaning robot is controlled to run at a second speed, which is greater than or equal to the first speed. The first speed is the speed of the fan when the surface cleaning robot is attached to the working surface and is in a stationary state.

[0007] In response to an air leakage event, the rotational speed of the fan is increased. The air leakage event refers to the event that triggers air leakage in the adsorption chamber after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot.

[0008] Avoid the leaking obstruction as you proceed.

[0009] Secondly, embodiments of this application provide a control method for a surface cleaning robot, including:

[0010] As the surface cleaning robot moves along the first direction, the fan of the surface cleaning robot is controlled to run at a second speed, which is greater than or equal to the first speed. The first speed is the speed of the fan when the surface cleaning robot is attached to the working surface and is in a stationary state.

[0011] In response to an air leakage event, the fan of the surface cleaning robot is controlled to run at a second speed, and the surface cleaning robot is controlled to move in a second direction, which is opposite to the first direction. The air leakage event refers to the event that the adsorption chamber leaks after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot.

[0012] Thirdly, embodiments of this application provide a control device integrated on a surface cleaning robot, the control device comprising:

[0013] The control module is used to control the fan of the surface cleaning robot to run at a second speed during the process of the surface cleaning robot moving in a first direction. The second speed is greater than or equal to the first speed, which is the speed of the fan when the surface cleaning robot is adsorbed on the working surface and is in a stationary state.

[0014] The processing module is used to increase the speed of the fan in response to an air leakage event. The air leakage event refers to the event that triggers the air leakage in the adsorption chamber after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to enable the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot.

[0015] The travel module is used to avoid the leaking obstacle while traveling.

[0016] Fourthly, embodiments of this application provide a control device integrated on a surface cleaning robot, the control device comprising:

[0017] The control module is used to control the fan of the surface cleaning robot to run at a second speed during the process of the surface cleaning robot moving in a first direction, and to control the surface cleaning robot to move in a second direction, wherein the second speed is greater than or equal to the first speed, and the first speed is the speed of the fan when the surface cleaning robot is adsorbed on the working surface and is in a stationary state;

[0018] The processing module is used to control the surface cleaning robot to move in a second direction in response to an air leakage event. The second direction is opposite to the first direction. The air leakage event refers to the event that triggers air leakage in the adsorption chamber after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot.

[0019] Fifthly, embodiments of this application provide a surface cleaning robot, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it causes the surface cleaning robot to implement the method described in the first aspect or various possible implementations of the first aspect; or, when the processor executes the computer program, it causes the surface cleaning robot to implement the method described in the second aspect or various possible implementations of the second aspect.

[0020] In a sixth aspect, embodiments of this application provide a non-volatile computer-readable storage medium storing computer instructions, which, when executed by a processor, are used to implement the method described in the first aspect or various possible implementations of the first aspect; or, when executed by a processor, the computer instructions are used to implement the method described in the second aspect or various possible implementations of the second aspect.

[0021] In a seventh aspect, embodiments of this application provide a computer program product comprising a computing program, wherein when the computer program is executed by a processor, it implements the method described in the first aspect or various possible implementations of the first aspect; or, when the computer program is executed by a processor, it implements the method described in the second aspect or various possible implementations of the second aspect.

[0022] The control method, apparatus, device, and readable storage medium for a surface cleaning robot provided in this application embodiment involve a surface cleaning robot having its adsorption surface adhered to a working surface to form a cavity. A fan draws gas from this cavity to create a negative pressure, thus adsorbing the surface cleaning robot onto the working surface. During the robot's movement, if it encounters a leaking obstacle that causes air leakage in the adsorption cavity, the fan speed is increased to increase the negative pressure in the adsorption cavity. Subsequently, when the negative pressure in the adsorption cavity exceeds a preset negative pressure, the surface cleaning robot replans its path to avoid the leaking obstacle and continues cleaning the working surface along the replanned path. Using this approach, when the surface cleaning robot encounters an undetectable leaking obstacle such as a mechanical impact plate, causing air leakage in the adsorption cavity, the fan speed is increased to restore the negative pressure in the adsorption cavity, allowing the robot to avoid the leaking obstacle and continue cleaning the working surface. This reduces the frequency of low negative pressure alarms and allows the surface cleaning robot to complete its cleaning task as efficiently as possible. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1A This is a perspective view of the surface cleaning robot provided in the embodiments of this application;

[0025] Figure 1B This is a bottom schematic diagram of the surface cleaning robot provided in the embodiments of this application;

[0026] Figure 2 This is a flowchart of the control method for the surface cleaning robot provided in the embodiments of this application;

[0027] Figure 3 This is a schematic diagram of a scenario for the control method of the surface cleaning robot provided in an embodiment of this application;

[0028] Figure 4 This is another scenario illustration of the control method for the surface cleaning robot provided in the embodiments of this application;

[0029] Figure 5 This is another scenario diagram illustrating the control method for the surface cleaning robot provided in the embodiments of this application;

[0030] Figure 6 This is another scenario diagram illustrating the control method for the surface cleaning robot provided in the embodiments of this application;

[0031] Figure 7 This is a schematic diagram of the bow-shaped cleaning mode in the control method of the surface cleaning robot provided in the embodiments of this application;

[0032] Figure 8A This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application;

[0033] Figure 8B This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application;

[0034] Figure 8C This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application;

[0035] Figure 8D This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application;

[0036] Figure 9 This is another flowchart of the control method for the surface cleaning robot provided in the embodiments of this application;

[0037] Figure 10 This is another scenario diagram illustrating the control method for the surface cleaning robot provided in the embodiments of this application;

[0038] Figure 11This is another scenario diagram illustrating the control method for the surface cleaning robot provided in the embodiments of this application;

[0039] Figure 12 This is another scenario diagram illustrating the control method for the surface cleaning robot provided in the embodiments of this application;

[0040] Figure 13 This is another scenario illustration of the surface cleaning robot provided in the embodiments of this application;

[0041] Figure 14 This is another scenario illustration of the surface cleaning robot provided in the embodiments of this application;

[0042] Figure 15 A schematic diagram of a control device provided in an embodiment of this application;

[0043] Figure 16 This is a schematic diagram of the structure of a surface cleaning robot provided in an embodiment of this application. Detailed Implementation

[0044] A window cleaning robot is an intelligent device that can move autonomously on glass. It adheres to the glass surface by using negative pressure generated by a fan, and moves autonomously on the glass surface via a track installed at the bottom, thus completing the cleaning.

[0045] However, the obstacle recognition sensors in window cleaning robots have blind spots. For example, the mechanical bumper can only detect obstacles of a certain thickness and cannot detect low obstacles. When encountering a low obstacle that the mechanical bumper cannot detect, the window cleaning robot will not avoid it but will move directly forward, causing a gap between the suction surface and the working surface. Outside air enters the suction chamber, reducing the negative pressure value inside. At this point, the window cleaning robot stops working and sounds an alarm, reminding the user to remove the window cleaning robot to prevent it from falling, thus preventing the window cleaning robot from completing the cleaning task.

[0046] Based on this, the present application provides a control method, device, equipment and readable storage medium for a surface cleaning robot. When the adsorption chamber leaks air, the fan speed is increased to restore the vacuum of the adsorption chamber. This reduces the frequency of alarms caused by low negative pressure of the surface cleaning robot, while allowing the surface cleaning robot to adhere to the working surface for as long as possible. This achieves the purpose of completing the cleaning task while improving the safety of the surface cleaning robot.

[0047] The surface cleaning robot provided in this application can be a window cleaning robot, a solar panel cleaning robot, etc., which can be adsorbed onto various surfaces, such as windows, walls, and solar panels, by the negative pressure generated by the adsorption chamber. Below, taking a window cleaning robot as an example, the surface cleaning robot of this application will be described in detail.

[0048] Figure 1A This is a perspective view of the surface cleaning robot provided in the embodiments of this application. Figure 1B This is a bottom schematic diagram of the surface cleaning robot provided in this application embodiment. Please refer to... Figure 1A and Figure 1B The surface cleaning robot provided in this embodiment includes a shell 11 and a body 12, with the shell 11 fitting onto the body 12. The shell 11 is equipped with a handle 111, a switch 112, a safety rope mounting hole 114, a power cord mounting hole 115, a voice output port 116, and a water inlet 117. A mechanical bumper 113 is also provided on the side of the shell 11. The handle 111 allows the user to easily "grab" the surface cleaning robot; the switch 112 is used to start or stop the robot; and the mechanical bumper 113 works with infrared sensors and radar to detect obstacles. The safety rope mounting hole 114 is used to install a safety rope, which the user can secure to a railing, table, or chair to prevent the robot from accidentally falling. The power cord mounting hole 115 is used to connect an adapter to power the robot. The water inlet 117 is used to inject water or cleaning fluid. As an optional implementation, a single power cord can be used to provide both power and a safety rope.

[0049] The bottom surface of the machine body 12 is closed, for example, in the shape of a square, and is also called the adsorption surface, used to adhere to the working surface. The bottom of the machine body 12 is equipped with drive wheels 121, a fan 122, guide wheels 123, a power switch 124, a cleaning cloth 125, etc. The drive wheels 121 adopt a track design, and sensors can be mounted on the guide wheels 123 to detect obstacles or surface information at corresponding locations.

[0050] As an optional implementation, the surface cleaning robot also includes a fixing device 13, a safety rope 14, and other components for preventing falls.

[0051] During operation, the user connects the surface cleaning robot to the fixing device 13 via the safety rope 14, presses or toggles the power switch 124 to power on the surface cleaning robot, then places the robot on the work surface, ensuring its bottom surface is parallel to the work surface, and presses switch 112 to activate the fan 122. The fan 122 then rotates to draw air from the suction chamber formed between the suction surface and the work surface. The air pressure inside the suction chamber is lower than atmospheric pressure, creating a negative pressure that adheres the window cleaning robot to the glass. Simultaneously, the drive wheels 121 drive the surface cleaning robot forward or backward. By controlling the differential speed of the two drive wheels, the robot can be controlled to perform steering and other operations. Alternatively, a guide structure can be used to control the robot's direction of travel. During the robot's movement, a cloth 125 wipes the work surface. Optionally, a dust scraper (not shown in the figure) can also be installed on the bottom of the surface cleaning robot.

[0052] Please refer to Figure 1B The bottom surface of the surface cleaning robot is shown in the dotted box in the figure; this bottom surface is also called the adsorption surface. Part of the adsorption surface adheres to the working surface to form a cavity. Gas within this cavity is drawn in by the fan 122, creating negative pressure and thus forming an adsorption chamber to adhere the surface cleaning robot to the working surface. The term "partial adsorption surface" refers to the recessed portion of the adsorption surface.

[0053] Those skilled in the art will understand that Figure 1A and Figure 1B The surface cleaning robot structure shown is not intended to limit the scope of the invention. The surface cleaning robot may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts.

[0054] Below, based on Figure 1A and Figure 1B The description below provides a detailed explanation of the control method for the surface cleaning robot described in the embodiments of this application. For example, please refer to... Figure 2 .

[0055] Figure 2 This is a flowchart of a control method for a surface cleaning robot provided in an embodiment of this application. The executing entity in this embodiment is a surface cleaning robot, and this embodiment includes:

[0056] 201. During the process of the surface cleaning robot moving in the first direction, the fan of the surface cleaning robot is controlled to run at a second speed, the second speed being greater than or equal to the first speed, the first speed being the speed of the fan when the surface cleaning robot is adsorbed on the working surface and in a stationary state.

[0057] In this embodiment, the fan, also known as a negative pressure fan, is used to draw gas from the adsorption chamber to create negative pressure, so as to adsorb the surface cleaning robot onto the working surface.

[0058] Generally, the higher the fan speed, the greater the negative pressure, meaning a higher vacuum and negative pressure value in the adsorption chamber. For example, the fan has four speed ranges: a first speed, a second speed, a third speed, and a fourth speed. The first speed is the fan speed when the surface cleaning robot is adsorbed on the work surface and stationary; the second speed is the fan speed when the surface cleaning robot is moving on the work surface; the third speed is the fan speed when a leak occurs, and this speed is often higher to quickly restore the vacuum in the adsorption chamber; the fourth speed is the fan's maximum speed. The order is: First speed ≤ Second speed ≤ Third speed ≤ Fourth speed.

[0059] In this embodiment, unless otherwise specified, the first direction refers to the direction in which the surface cleaning robot is currently moving normally. For example, if the user attaches the surface cleaning robot to its initial position and the robot moves vertically upward to detect the top border, then the first direction is the vertically upward direction. As another example, if the surface cleaning robot detects the top border and then moves horizontally to the left to detect the left border, then the first direction is the horizontally to the left. Furthermore, if the surface cleaning robot traverses the work surface in a bow-shaped pattern and is currently moving towards the right border, then the first direction is the horizontally to the right.

[0060] During normal travel, the fan operates at the second speed to generate the negative pressure required for travel on the working surface.

[0061] 202. In response to an air leakage event, increase the speed of the fan.

[0062] The air leakage event refers to the event that triggers air leakage in the adsorption chamber after the surface cleaning robot moves onto an air leakage obstacle.

[0063] Typically, surface cleaning robots are equipped with mechanical bumpers, radar, infrared sensors, and other sensors to identify obstacles. During movement, if an obstacle is detected, it avoids it; otherwise, it continues forward. However, these obstacle detection sensors can only identify obstacles taller than a preset height, but cannot detect low obstacles below the preset height, grooves on the working surface, etc. These low obstacles and grooves that the obstacle detection sensors cannot detect are referred to as air leakage obstacles. The preset height is determined based on the sensor's performance, for example, 2 millimeters (mm), and is not limited in this embodiment.

[0064] When a surface cleaning robot encounters an air leak obstacle while moving, the obstacle lies between the adsorption surface and the working surface. This situation will be referred to as the surface cleaning robot riding on an air leak obstacle. Please refer to [link / reference needed]. Figure 1B Part of the leaking obstacle 15 is located between the working surface and the adsorption surface, while another part is located on the working surface, meaning the surface cleaning robot is riding on the leaking obstacle. At this point, the adsorption surface and the working surface are no longer in contact but have a gap. External gas enters the adsorption chamber through the gap, causing a decrease in the vacuum level inside the adsorption chamber, i.e., a decrease in negative pressure.

[0065] When an air leak occurs, the surface cleaning robot increases the fan speed in an attempt to increase the negative pressure in the adsorption chamber.

[0066] 203. Avoid the air leakage obstacles as you proceed.

[0067] When an air leak occurs, the surface cleaning robot increases the speed of the fan and replans its path to avoid the air leak obstacle in order to continue cleaning the work surface or perform other tasks such as returning, alerting, or idling.

[0068] The control method for a surface cleaning robot provided in this application involves controlling the robot's fan to operate at a second rotation speed while the robot is moving along a first direction. When an air leak occurs, the fan speed is increased to draw gas from the adsorption chamber with greater suction force, thereby attempting to increase the vacuum level of the adsorption chamber. The robot then replans its path to avoid the leaking obstacle and continues cleaning the work surface along the replanned path. This approach, by increasing the fan speed to restore the vacuum level of the adsorption chamber when it leaks, reduces the frequency of low negative pressure alarms and allows the robot to remain adsorbed on the work surface for as long as possible, thus improving the robot's safety while completing the cleaning task.

[0069] The control method of the surface cleaning robot in the event of an air leak is described in detail below.

[0070] Method A: After an air leak occurs, the robot stops moving and increases the fan speed to the third speed. Once the negative pressure is restored, it moves in the opposite direction to avoid obstacles.

[0071] For example, if a surface cleaning robot detects an air leak in its adsorption chamber, it assumes it is riding on a leaking obstacle and immediately stops moving. Another example is the surface cleaning robot monitoring the negative pressure in its adsorption chamber. If the negative pressure is greater than or equal to a preset safe negative pressure, it assumes the robot is not riding on a leaking obstacle and continues moving and working; if the negative pressure is less than the safe negative pressure, it assumes the robot is riding on a leaking obstacle and is at risk of falling, so it stops moving. The surface cleaning robot can detect the negative pressure in its adsorption chamber using an internal barometer or similar device.

[0072] Negative pressure, also known as negative pressure value, is positively correlated with vacuum level. That is, the higher the negative pressure, the higher the vacuum level of the adsorption chamber; conversely, the lower the negative pressure, the lower the vacuum level. Therefore, surface cleaning robots can also determine whether they are riding on a leaky obstacle by detecting the vacuum level. For example, when the vacuum level is greater than or equal to a preset vacuum level, the surface cleaning robot is considered not riding on a leaky obstacle; when the vacuum level is less than the preset vacuum level, the surface cleaning robot is considered to be riding on a leaky obstacle.

[0073] In Method A, if the surface cleaning robot confirms an air leak, it immediately stops moving and adjusts the fan speed to the third speed to restore negative pressure. It also detects the negative pressure value in the adsorption chamber. If the negative pressure value meets the preset conditions, it controls the surface cleaning robot to move along the second direction to avoid the air leak obstacle. The second direction is opposite to the first direction.

[0074] By increasing the fan speed and monitoring the negative pressure value, the fan speed can be roughly matched with the negative pressure value required by the robot, avoiding additional energy consumption. When the robot is battery-powered, this improves the robot's battery life and gives users more time to eliminate potential safety risks.

[0075] Option B: After an air leak occurs, the robot stops moving and increases the fan speed to the fourth speed. Once the negative pressure is restored, it moves in the opposite direction to avoid obstacles.

[0076] The difference between method A and method B is that, in method B, if an air leak occurs, the robot immediately stops moving and adjusts the fan speed to the fourth speed, which is the maximum speed. Directly adjusting the fan speed to the maximum speed further improves the robot's safety in the event of an air leak. As an optional implementation, the robot's power supply type is determined. If the robot is powered by mains electricity, the fan is directly set to the maximum speed, i.e., the fourth speed.

[0077] By adopting the above two schemes, when an air leakage occurs, the robot stops moving and the fan speed is adjusted to the third or fourth speed to restore the negative pressure in the adsorption chamber as soon as possible. This achieves the goal of completing the cleaning task as much as possible while improving the safety of the surface cleaning robot.

[0078] As an optional implementation, when an air leak occurs, the surface cleaning robot determines its power supply method. When the surface cleaning robot is powered by mains electricity, it stops moving and the fan operates at a fourth rotation speed. Afterward, it proceeds to avoid the leaking obstacle once the negative pressure is restored. In other words, for a mains-powered surface cleaning robot, when an air leak occurs, method B described above is used to restore the negative pressure and avoid the leaking obstacle. Using this approach, for a mains-powered surface cleaning robot, directly increasing the rotation speed to the fourth rotation speed facilitates the fastest possible restoration of the negative pressure in the adsorption chamber.

[0079] Although the above-described method B is used by the mains-powered surface cleaning robot to restore negative pressure and avoid the leaking obstacle when an air leak occurs, this application embodiment is not limited. When an air leak occurs, the mains-powered surface cleaning robot can also use method A, method C, method D, etc.

[0080] The surface cleaning robot uses a barometer to detect negative pressure. If the negative pressure is lower than the preset negative pressure, it remains stationary. If the negative pressure is greater than or equal to the preset negative pressure, it moves in a second direction to avoid leaking obstacles.

[0081] Understandably, the surface cleaning robot can immediately adjust the fan speed to the third or fourth speed after detecting an air leak, or it can increase the fan speed after the robot stops. This approach, by detecting the negative pressure in the adsorption chamber and resuming movement only when the negative pressure is restored, improves the safety of the surface cleaning robot.

[0082] Since the negative pressure required by the robot during movement is greater than that in its stationary state, when an air leak occurs, the robot should be stopped first, and then the speed of the negative pressure motor should be increased to ensure that the robot can firmly adhere to the air and improve the efficiency of negative pressure recovery. If the fan speed is increased directly without stopping when an air leak is detected, the efficiency of negative pressure recovery will be slightly lower.

[0083] In both methods A and B, to reduce the risk of the surface cleaning robot falling when it encounters low obstacles during its movement, a "stop first, then pressurize, and check the negative pressure value" approach is adopted. The robot will only move in the second direction when the negative pressure value is greater than or equal to the preset negative pressure value.

[0084] However, for battery-powered surface cleaning robots, if the negative pressure is consistently insufficient, the robot will remain stationary, and the fan speed will be relatively high, leading to rapid battery depletion and the robot falling. To prevent this, in the event of an air leak, the negative pressure can be restored as quickly as possible using methods C and D.

[0085] Method C: After an air leak occurs, proceed in the second direction and simultaneously increase the fan speed to the third speed.

[0086] In this method, if an air leak occurs, the surface cleaning robot is controlled to move in a second direction to avoid the leaking obstacle. Simultaneously, the fan speed is increased from a second speed to a third speed. This approach reduces energy waste.

[0087] Method D: After an air leak occurs, move in the second direction while increasing the fan speed to the fourth speed.

[0088] In this method, if an air leak occurs, the surface cleaning robot is controlled to move in the second direction to avoid the leaking obstacle. Simultaneously, the fan speed is increased from the second speed to the fourth speed. This approach maximizes the probability of stable adsorption by the robot.

[0089] The first and second directions mentioned above are opposite. The first and second directions can be on the same straight line or not, i.e., they are offset. When the first and second directions are on the same straight line, the travel trajectory of the first direction coincides with the travel trajectory of the second direction. In the event of an air leak, since the travel position before the leak occurred must have been on a normal working surface, allowing the robot to successfully adhere, the robot will be able to retreat from the leaking obstacle to a safe position.

[0090] When the first direction and the second direction are not on the same straight line, once an air leakage event occurs, the surface cleaning robot will probe downwards (including directly downwards or diagonally downwards) and then move along the second direction to avoid the air leakage obstacle, ensuring that the movement trajectory in the second direction does not overlap with the movement trajectory in the first direction, thereby improving cleaning efficiency.

[0091] Optionally, after successfully detecting the top frame, the surface cleaning robot first detects the left frame and then the right frame. If it encounters an air leak obstacle while moving to the left in the first direction, it moves in the second direction, which is opposite to the first direction and on the same straight line. If it encounters an air leak obstacle while moving to the right in the first direction, it moves in the second direction, which is towards the left frame and is not on the same straight line as the first direction. If it detects the top frame and successfully detects both the left and right frames, and encounters an air leak obstacle while cleaning in a certain cleaning mode, it moves in the second direction, which is opposite to the first direction before encountering the air leak obstacle and is not on the same straight line.

[0092] Because the location, shape, and thickness of leaking obstacles vary considerably in reality, the robot cannot guarantee successful restoration of negative pressure in all situations when encountering one. Schemes C and D are employed: upon a leak, the robot immediately retreats away from the leaking obstacle, and the fan speed is adjusted to the third or fourth speed to restore negative pressure in the adsorption chamber as quickly as possible. Since the robot's initial travel position was within a normal working surface, allowing for successful adsorption, and its retreat from the leaking obstacle ensures a safe return, schemes C and D further enhance the safety of the surface cleaning robot.

[0093] Optionally, in the above embodiments, the air-leaking obstacle is an object with a height lower than a preset height, where the preset height is the lowest height of the obstacle that the mechanical impact plate of the surface cleaning robot can detect; or, the air-leaking obstacle is a groove on the working surface.

[0094] In this embodiment, any object that can trigger air leakage in the adsorption chamber and cannot be detected by the obstacle recognition sensor is referred to as an air leakage obstacle. Air leakage obstacles mainly include two types: one is a low obstacle, i.e., an object with a height lower than a preset height, such as 2 mm or 3 mm, which is not limited in this embodiment; the other is a groove, for example, a groove is chiseled into the working surface, with a depth of, for example, 2 mm or 3 mm, and a width of, for example, 2 mm or 1 mm.

[0095] Using this approach, when obstacles or grooves below the preset height cause air leakage in the adsorption chamber, the surface cleaning robot increases the fan speed to attempt to restore negative pressure, thus achieving coverage of various scenarios.

[0096] Typically, the work surface is a rectangular piece of glass. When cleaning is required, the user places the surface cleaning robot on the work surface, ensuring its bottom surface is in contact with and parallel to the surface. After turning on the power and pressing the switch, the fan starts working to draw air from the adsorption chamber. After a period of time, for example, after 2 seconds, the air pressure inside the adsorption chamber becomes lower than the external air pressure, creating a negative pressure that causes the surface cleaning robot to adhere to the work surface. The surface cleaning robot then moves upwards to detect the top edge. After detecting the top edge, the robot moves along its upper edge to detect the left and right edges. Once the left and right edges are detected, the surface cleaning robot continues cleaning the work surface according to the set cleaning mode.

[0097] Below, taking a rectangular glass working surface as an example, we will explain in detail the scenarios in which the surface cleaning robot encounters air leakage obstacles when detecting the top edge, when detecting the left and right edges, and when cleaning the working surface in the set cleaning mode.

[0098] First, an air leak was encountered during the detection of the upper frame.

[0099] If the surface cleaning robot encounters an air leakage obstacle, such as a mechanical impact plate, that the sensor cannot identify when detecting the upper frame, as one implementation method, it stops moving and increases the fan speed. When the negative pressure value of the adsorption chamber is higher than the preset negative pressure value, it retreats a preset distance and then detects the left and right frames again. After that, it cleans the working surface according to the set cleaning mode.

[0100] Figure 3 This is a schematic diagram of a scenario illustrating the control method for a surface cleaning robot provided in an embodiment of this application. Please refer to... Figure 3 The working surface is a rectangular glass panel, and the diagonally filled area represents an air leakage obstacle. This air leakage obstacle is an object with a height lower than a preset height, which is the lowest height of obstacles that the surface cleaning robot's mechanical impact plate or similar device can detect. Air leakage obstacles may include, for example, frames used to secure the glass, and their height is typically quite low.

[0101] Please refer to Figure 3 The pick-up position of the surface cleaning robot is shown by the dotted line in the figure. When the negative pressure in the adsorption chamber is greater than the preset negative pressure, the user releases the surface cleaning robot, which then adheres to the work surface. Afterward, the surface cleaning robot autonomously moves upward under the action of its drive wheels to detect the upper frame, and its trajectory is shown as trajectory ① in the figure.

[0102] If the top border is a border whose height is greater than the preset height, that is... Figure 3 If there are no air leakage obstacles, after the mechanical impact plate of the surface cleaning robot touches the upper frame, the impact plate signal triggers the surface cleaning robot to retreat a first distance and then adjust to a horizontal posture along the rear edge.

[0103] When the surface cleaning robot encounters an air-leaking obstacle, the adsorption chamber leaks. At this time, the robot detects the negative pressure or vacuum level of the adsorption chamber. When the negative pressure in the adsorption chamber falls below the safe negative pressure, the robot stops moving and increases the fan speed, drawing air from the chamber more forcefully to increase the negative pressure. Once the negative pressure in the adsorption chamber exceeds the preset negative pressure, the robot retreats, following trajectory ② in the figure. This is understandable. Figure 3 Trajectory ① and Trajectory ② are staggered to clearly illustrate them; in reality, Trajectory ① and Trajectory ② overlap or partially overlap. During the detection of the upper frame, the surface cleaning robot travels along Trajectory ① in the first direction and along Trajectory ② in the second direction.

[0104] After retreating a preset distance, the surface cleaning robot rotates to a horizontal position. This preset distance is sufficient to ensure the robot rotates from a vertical to a horizontal position and leaves the leaking obstacle; the preset distance is greater than the first distance mentioned above. Afterward, the surface cleaning robot moves horizontally to detect the left and right borders. For example, the surface cleaning robot moves horizontally to the left to detect the left border, and its trajectory is shown in trajectory ③ in the figure.

[0105] After detecting the left border, the surface cleaning robot retreats to detect the right border, and the retreating trajectory is shown as trajectory ④ in the figure. In this embodiment, the process of rotating the surface cleaning robot to a horizontal position, moving forward to detect the left border, and then retreating to detect the right border is referred to as the top edge. Similarly, it can be understood that... Figure 3 Trajectories ③ and ④ are staggered to clearly illustrate them; in reality, trajectories ③ and ④ overlap or partially overlap. The advantage of overlapping trajectories ③ and ④ is to avoid missing any cleaning steps.

[0106] Once the surface cleaning robot detects the left and right borders, it proceeds according to the set cleaning mode to continue cleaning the work surface. Figure 3 The diagram illustrates the movement trajectory of the surface cleaning robot when the cleaning mode is set to "Z" shaped cleaning.

[0107] Figure 3 In the original embodiment, after the surface cleaning robot rotates to a horizontal position, it first detects the left frame and then the right frame. However, this embodiment is not limited to this; for example, after the surface cleaning robot rotates to a horizontal position, it may also detect the right frame first and then the left frame.

[0108] Using this approach, if the surface cleaning robot encounters an air-leaking obstacle while detecting the top edge, causing air leakage in the adsorption chamber, the fan speed is increased to restore the negative pressure in the adsorption chamber, and the robot retreats a preset distance before detecting the left and right edges again. This prevents the surface cleaning robot from stopping work due to air leakage in the adsorption chamber while detecting the top edge, allowing the surface cleaning robot to complete the cleaning task as much as possible.

[0109] Secondly, describe the situation where air leakage obstacles are encountered when detecting the left or right frame.

[0110] If the surface cleaning robot successfully detects the top frame and encounters an air leakage obstacle while detecting the left frame, it stops moving and increases the fan speed to restore the negative pressure in the adsorption chamber. When the negative pressure in the adsorption chamber is higher than the preset negative pressure value, the surface cleaning robot moves downwards and then to the right to detect the right frame. The direction for detecting the left frame is the first direction, and the direction for detecting the right frame is the second direction. The first and second directions are opposite and not on the same straight line, i.e., they are offset from each other.

[0111] Figure 4This is another schematic diagram illustrating the control method for the surface cleaning robot provided in this application embodiment. Please refer to... Figure 4 The working surface is a rectangular glass panel, and the diagonally filled area represents an air leakage obstacle. This air leakage obstacle is an object with a height lower than the preset height. Examples of air leakage obstacles include adhesive hooks.

[0112] Please refer to Figure 4 The initial position of the surface cleaning robot is shown by the dotted line in the figure. When the negative pressure in the adsorption chamber is greater than the preset negative pressure, the user releases the surface cleaning robot, which then adheres to the work surface. Afterward, the surface cleaning robot autonomously moves upward under the action of its drive wheels to detect the upper frame, and its trajectory is shown as trajectory ① in the figure.

[0113] After successfully detecting the top edge, the surface cleaning robot adjusts to a horizontal position. Then, it moves to the left to detect the left edge, with the primary direction being, for example, horizontal to the left. The trajectory is shown in trajectory ② of the diagram. During the detection of the left edge, the surface cleaning robot encounters an air-leaking obstacle, causing air leakage in the adsorption chamber. At this point, the surface cleaning robot checks the negative pressure or vacuum level of the adsorption chamber. When the negative pressure value of the adsorption chamber falls below the safe negative pressure value, the surface cleaning robot stops moving and increases the fan speed, drawing air from the adsorption chamber more forcefully to increase the negative pressure. Once the negative pressure value of the adsorption chamber exceeds the preset negative pressure value, the surface cleaning robot probes downwards.

[0114] In one method, downward detection involves detecting diagonally downwards, with the detection trajectory as follows: Figure 4 The trajectory is shown in trajectories ③ and ④. Afterwards, the surface cleaning robot moves horizontally to the right to detect the right frame. The second direction is also horizontal to the right, and the trajectory is shown in trajectories ④. Trajectories ③ and ④ are not on the same straight line. Based on this detection, the surface cleaning robot's horizontal leftward trajectory ② and detection trajectory ③ form an acute angle. Clearly, the surface cleaning robot's horizontal leftward trajectory ② and horizontal rightward trajectory ④ are not on the same straight line.

[0115] In another approach, downward detection means probing directly downwards, and the trajectory ② of the surface cleaning robot moving horizontally to the left is perpendicular to the detection trajectory.

[0116] After the surface cleaning robot completes its downward probe, it continues to move backward or forward to probe the right frame, depending on the direction it was in when it finished its downward probe. Once the right frame is detected, it proceeds according to the set cleaning mode to continue cleaning the work surface. Figure 4 The diagram illustrates the movement trajectory of the surface cleaning robot when the cleaning mode is set to "Z" shaped cleaning.

[0117] Figure 4The first description describes a scenario where a surface cleaning robot encounters an air leak obstacle while moving along the left edge after successfully detecting the top and left edges. The following section provides a detailed explanation of the scenario where the surface cleaning robot encounters an air leak obstacle while detecting the right edge after successfully detecting the top and left edges.

[0118] Figure 5 This is another scenario illustration of the control method for the surface cleaning robot provided in this application embodiment. Please refer to... Figure 5 After successfully detecting the top border, the surface cleaning robot adjusts to a horizontal orientation. Then, it moves horizontally to the left along the top border, for example, in a horizontal leftward direction. The trajectory is shown as trajectory ② in the figure. After successfully detecting the left border, the surface cleaning robot moves horizontally to the upper right border to detect the right border, and its backward trajectory is shown as trajectory ③ in the figure. It is understandable that... Figure 5 Trajectory ② and trajectory ③ are staggered to clearly illustrate them. In reality, trajectory ② and trajectory ③ overlap or partially overlap.

[0119] During its horizontal movement to the right, the surface cleaning robot encounters an obstacle causing air leakage in the adsorption chamber. At this point, the robot detects the negative pressure or vacuum level of the adsorption chamber. When the negative pressure falls below a safe level, the robot stops moving and increases the fan speed, drawing air from the chamber more forcefully to increase the negative pressure. Once the negative pressure exceeds a preset level, the robot probes downwards. The downward probe process is described above. Figure 4 The description will not be repeated here.

[0120] Using this approach, when the surface cleaning robot successfully detects the top edge and moves along the edge in the first direction, if it encounters an air leakage obstacle, it increases the fan speed to restore the negative pressure in the adsorption chamber, then moves downward to detect and then proceeds in the second direction. This avoids the surface cleaning robot stopping its work due to air leakage in the adsorption chamber when detecting the left and right edges, allowing the surface cleaning robot to complete the cleaning task as much as possible.

[0121] Optionally, in the above embodiments, if the air leakage obstacle is encountered by the surface cleaning robot during the detection of the upper frame, or if the air leakage obstacle is encountered by the surface cleaning robot when it detects the left or right frame after successfully detecting the upper frame, then after the surface cleaning robot completes the cleaning of the working surface, it returns to the target position, which is located at the lower left or lower right corner of the working surface.

[0122] For example, Figures 3-5In the scenario shown, the surface cleaning robots have not yet completed cleaning the top edge. Therefore, after cleaning the work surface, the surface cleaning robots do not know their initial position. This can lead to situations where the surface cleaning robots "get lost" on the work surface, cannot finish their work in time, and trigger alarms. The "picking position" refers to either the initial position where the surface cleaning robot initially adheres to the work surface or the position near the edge where the user places the robot.

[0123] In this embodiment, after the surface cleaning robot finishes cleaning the work surface without completing the top edge, the robot returns to the target position, which is either the lower left or lower right corner of the work surface. For example, the target position is the lower right corner. Figure 3 In the middle, the surface cleaning robot is located in the lower right corner after cleaning the work surface. Figure 4 and Figure 5 In the middle, the surface cleaning robot is located in the lower left corner after cleaning the work surface.

[0124] With this approach, if the surface cleaning robot does not complete the cleaning of the upper edge, it will return to the target position after cleaning the working surface. This avoids the situation where the surface cleaning robot does not know its initial position and cannot return to the initial position, thus "getting lost" in the working surface, thereby improving the cleaning efficiency of the surface cleaning robot.

[0125] Finally, the description covers the situation where air leakage obstacles were encountered during cleaning of the work surface after successfully detecting the top and left and right edges.

[0126] If the air leakage obstacle is encountered by the surface cleaning robot after it has successfully detected the upper frame and completed the upper edge cleaning, and is running on the working surface according to the set cleaning mode, then when the negative pressure value of the adsorption chamber is higher than the preset negative pressure value, the surface cleaning robot is controlled to probe downwards and continue to move according to the set cleaning mode to continue cleaning the work.

[0127] Figure 6 This is another scenario illustration of the control method for the surface cleaning robot provided in this application embodiment. Please refer to... Figure 6 The working surface is a rectangular glass surface. There are two air leakage obstacles on the working surface: air leakage obstacle A is an object with a height lower than the preset height; air leakage obstacle B is a groove, that is, a gap.

[0128] Please refer to Figure 6 The initial position of the surface cleaning robot is shown by the dotted line in the figure. When the negative pressure in the adsorption chamber is greater than the preset negative pressure, the user releases the surface cleaning robot, which then adheres to the work surface. Afterward, the surface cleaning robot autonomously moves upward under the action of its drive wheels to detect the upper frame, and its trajectory is shown as trajectory ① in the figure.

[0129] After successfully detecting the top edge, the surface cleaning robot adjusted to a horizontal position. Figure 6 The diagram on the right shows the surface cleaning robot in a horizontal position. The robot then moves horizontally to the upper left to detect the left border, following trajectory ② in the diagram. After successfully detecting the left border, the robot retreats to detect the right border, following trajectory ③ in the diagram. Once the right border is successfully detected, the robot continues cleaning the work surface according to the pre-defined cleaning mode. Figure 6 The diagram illustrates the movement trajectory of the surface cleaning robot when the cleaning mode is set to "Z" shaped cleaning.

[0130] In this embodiment, the surface cleaning robot successfully detected the top, left, and right borders, indicating that it had successfully completed the top edge cleaning. After successfully completing the top edge cleaning, the surface cleaning robot continued cleaning the work surface according to a pre-defined cleaning pattern, for example, by performing a "Z"-shaped cleaning motion in the middle of the work surface. The surface cleaning robot encountered an air leakage obstacle, causing air leakage in the adsorption chamber. At this time, the surface cleaning robot detected the negative pressure or vacuum level of the adsorption chamber. When the negative pressure level of the adsorption chamber was lower than the safe negative pressure level, the surface cleaning robot stopped moving and increased the fan speed, drawing air from the adsorption chamber more forcefully to increase the negative pressure. After the negative pressure level of the adsorption chamber exceeded the preset negative pressure level, the surface cleaning robot probed downwards, its trajectory shown as trajectory ④ in the figure. Then, the surface cleaning robot moved to the left, its trajectory shown as trajectory ⑤ in the figure.

[0131] Similarly, the surface cleaning robot encounters an air-leaking obstacle (B), causing air leakage in the adsorption chamber. When the negative pressure in the adsorption chamber falls below the safe negative pressure value, the surface cleaning robot stops moving and increases the fan speed. The fan draws air from the adsorption chamber more forcefully to increase the negative pressure value. Once the negative pressure in the adsorption chamber exceeds the preset negative pressure value, the surface cleaning robot probes downwards, its trajectory shown as trajectory ⑥ in the figure. Afterwards, the surface cleaning robot moves to the right, its trajectory shown as trajectory ⑦ in the figure. For details on the downward probe method, please refer to the above. Figure 4 The description will not be repeated here.

[0132] Using this approach, if the surface cleaning robot encounters an air leakage obstacle while cleaning the working surface after successfully completing the upper edge, causing the adsorption chamber to leak, the fan speed is increased to restore the negative pressure value of the adsorption chamber before probing downwards. After that, the cleaning of the working surface continues, preventing the surface cleaning robot from stopping due to air leakage in the adsorption chamber and enabling the surface cleaning robot to complete the cleaning task as much as possible.

[0133] Optionally, in the above embodiments, when the surface cleaning robot finishes cleaning the work surface, it returns to the pick-up position, which is either the initial position where the surface cleaning robot was initially attached to the work surface or a position close to the edge where the user placed the surface cleaning robot.

[0134] Figure 6 In the embodiment, the surface cleaning robot successfully completed the cleaning of the upper edge. Therefore, after the surface cleaning robot completed the cleaning of the entire working surface, it was able to know the initial position. That is, the surface cleaning robot was able to determine the initial position of adhering to the working surface and moving upward to detect the position of the upper edge.

[0135] Using this method, if the surface cleaning robot successfully completes the cleaning of the upper edge, it returns to the pick-up position after cleaning the work surface. The pick-up position is either the initial position or close to the initial position. This allows users to easily and promptly remove the surface cleaning robot, thus providing convenience.

[0136] Optionally, in the above embodiments, the set cleaning mode includes any one of the following modes: bow-shaped, "Z"-shaped, "N"-shaped, square-shaped, and arc-shaped cleaning modes.

[0137] The above Figures 3-6 In the embodiments, the cleaning mode is set as "Z" shaped cleaning as an example to describe the embodiments of this application in detail. However, the embodiments of this application are not limited to this, and in other feasible implementations, the cleaning mode can also be bow-shaped, N-shaped, square-shaped, or arc-shaped, etc.

[0138] Figure 7 This is a schematic diagram of the bow-shaped cleaning mode in the control method of the surface cleaning robot provided in this application embodiment. Please refer to... Figure 7 When the surface cleaning robot encounters an air-leaking obstacle while probing the right side frame, causing air leakage in the adsorption chamber, it increases the fan speed to restore the negative pressure value of the adsorption chamber and then probes downward. After that, the surface cleaning robot cleans the working surface in a bow-shaped pattern.

[0139] Using this approach, the surface cleaning robot can clean the work surface in any set cleaning mode, offering high flexibility.

[0140] It should be noted that, although the above Figures 3-7 In the embodiments, the descriptions all illustrate the process of restoring negative pressure by first stopping surface cleaning, then pressurizing, and then detecting after an air leak occurs, i.e., using method A or method B as examples. However, the embodiments of this application are not limited. In other feasible implementations, when an air leak occurs, the surface cleaning robot can also restore the negative pressure value and avoid obstacles through method C or method D.

[0141] Optionally, in the above embodiments, when the adsorption chamber leaks air, the surface cleaning robot detects the negative pressure or vacuum level of the adsorption chamber. If the negative pressure is lower than the safe negative pressure value, the fan speed is increased to attempt to restore the negative pressure. After a period of time, such as after 3 seconds, if the negative pressure in the adsorption chamber is higher than the preset negative pressure value, the surface cleaning robot replans its path to avoid the leaking obstacle. Then, the surface cleaning robot proceeds along the replanned path to continue cleaning the work surface. After a period of time, if the negative pressure in the adsorption chamber is lower than the preset negative pressure value, there is a risk of the surface cleaning robot falling if it is forced to operate. Therefore, the surface cleaning robot stops working and issues an alarm signal via voice, light, etc., to prompt the user to remove the surface cleaning robot.

[0142] Optionally, the surface cleaning robot may also respond to a cleaning end signal by returning to a pick-up position, which is either the initial position where the surface cleaning robot was initially attached to the work surface or a position near the edge where the user placed the surface cleaning robot.

[0143] In this embodiment, regardless of whether the surface cleaning robot has completed cleaning along the edge, it will return to the retrieval position after receiving a cleaning completion signal. For example, if the surface cleaning robot has finished cleaning the work surface, it will return to the retrieval position; or if the surface cleaning robot has cleaned half of the work surface, and the user sends a cleaning completion signal via an APP, it will return to the retrieval position.

[0144] With this approach, the surface cleaning robot returns to the retrieval position after receiving the cleaning completion signal, preventing the robot from stopping in a position out of the user's reach. This allows the user to retrieve the surface cleaning robot in a timely manner, thereby improving the safety of the surface cleaning robot.

[0145] Optionally, in the above embodiments, after the surface cleaning robot starts moving vertically upwards or downwards from the pick-up position, it moves horizontally to the left or right to probe the edge. This is to prevent... Figures 3-5In this embodiment, the surface cleaning robot is unable to return to the retrieval position due to incomplete completion of the upper edge. The surface cleaning robot determines multiple displacements, including each displacement generated by the horizontal back-and-forth movement of the robot within a target time period. The starting point of the target time period is the time when the surface cleaning robot adjusts to a horizontal traveling posture after detecting the upper edge, and the ending point is the time when an edge-detection event occurs. At least one air leakage event occurs within the target time period. After vertically probing the upper or lower edge from the initial position, the surface cleaning robot then horizontally probing the left or right edge. Then, the surface cleaning robot determines a first type of displacement and a second type of displacement from the multiple displacements. The first type of displacement and the second type of displacement are two types of displacements with opposite directions in the horizontal back-and-forth movement. Afterwards, when a cleaning end signal is received, the surface cleaning robot responds to the cleaning end signal and, based on the first type of displacement and the second type of displacement, controls the surface cleaning robot to return from the endpoint position to the retrieval position. The endpoint position is the position of the surface cleaning robot when it receives the cleaning end signal.

[0146] For example, during the process of a surface cleaning robot detecting the left or right frame along its upper edge, multiple air leakage events may occur before the left or right frame is detected. The surface cleaning robot records each displacement of its back-and-forth motion within a target time period, that is, from the point when the surface cleaning robot adjusts to a horizontal traveling posture after detecting the upper frame until the point when the edge detection event occurs. The surface cleaning robot records each displacement within this time period and determines the distance between the initial position and the left frame, or the position between the initial position and the right frame, based on these displacements. Moreover, when the surface cleaning robot detects the upper frame from its initial position, it can determine the displacement between the initial position and the upper frame.

[0147] In this way, the surface cleaning robot can determine its initial position's x-coordinate (i.e., the first horizontal distance) and y-coordinate (i.e., the first vertical distance) within the work surface. The x-coordinate is the distance from the initial position to the left or right border, and the y-coordinate is the distance from the initial position to the top border. Upon receiving a cleaning completion signal, regardless of its current location on the work surface, the surface cleaning robot can return to its pick-up position. This pick-up position can be the same as the initial position, or it can be positioned closer to the user's placement border based on the initial position. For example, if the surface cleaning robot is located in the lower left corner at the end of cleaning, assuming the initial position's x-coordinate is the distance from the initial position to the left border, then the robot will move horizontally to the right from the left border a first horizontal distance, then vertically upwards until it detects the top border. Afterwards, it will move vertically downwards a first vertical distance to reach the pick-up position, i.e., the initial position. For example, if the user places the surface cleaning robot in an initial position closer to the right and top edges of the surface, the robot will return to a pick-up position closer to the right and / or top edges of the work surface than its initial position. When the pick-up position is close to both the right and top edges of the work surface, the robot can return to the top right corner of the work surface.

[0148] This approach determines the retrieval position based on the foldback displacement from the top edge to the successfully detected frame, ensuring high accuracy and allowing the surface cleaning robot to return to the retrieval position even if it has not completed the top edge detection. This facilitates timely removal of the surface cleaning robot and improves its safety.

[0149] Optionally, in the above embodiments, when the endpoint is located on the right side frame of the working surface and the edge detection event detects the right side frame, the surface cleaning robot is controlled to move horizontally to the left a first horizontal distance, then the surface cleaning robot is controlled to detect the top frame and then move vertically downwards a first vertical distance; when the endpoint is located on the left side frame of the working surface and the edge detection event detects the right side frame, the surface cleaning robot is controlled to move horizontally to the right to the right side frame, then the surface cleaning robot is controlled to move horizontally to the left a first horizontal distance, then the surface cleaning robot is controlled to detect the top frame and then move vertically downwards a first vertical distance. Wherein, the first horizontal distance is the difference between the sum of the first type of displacement and the sum of the second type of displacement, and the first vertical distance is the displacement of the surface cleaning robot from the picking position vertically upwards to the top frame.

[0150] For example, during the process of the surface cleaning robot detecting the left or right edge of the surface, it may encounter multiple air leakage events before detecting the left or right edge. The edge detected first may be either the right or left edge. Moreover, the endpoint, that is, the position of the surface cleaning robot when it receives the cleaning end signal, may be the lower left or lower right corner of the working surface, or any position. The following describes this in detail using several specific embodiments.

[0151] Figure 8A This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application. Please refer to... Figure 8A The pick-up position is shown by the dotted line in the diagram. The surface cleaning robot starts from this position and moves vertically upwards to detect the top frame, as shown by trajectory ①. After successfully detecting the top frame, the surface cleaning robot records the first vertical distance, which is the length of trajectory ①. Simultaneously, the surface cleaning robot rotates to a horizontal position and moves horizontally to the left to detect the left frame. After traveling a certain distance, an air leak event occurs, i.e., it encounters a low obstacle, as shown by trajectory ②. Afterwards, the surface cleaning robot detects downwards and then moves horizontally to the right until it detects the right frame; the trajectory for this horizontal movement to the right is shown by trajectory ③. Assuming the length of trajectory ② is x2, the length of trajectory ③ is x3, and the length of trajectory ① is y1 (the first vertical distance), then the distance between the pick-up position and the right frame is x3 - x2 (the first horizontal distance), and the distance between the pick-up position and the top frame is y1 (the first vertical distance). If the upper right corner of the work surface is taken as the origin, then the coordinates of the pick-up position are (x3 - x2, y1).

[0152] When the endpoint is located on the right side frame of the working surface, such as the lower right corner, the surface cleaning robot recognizes the cleaning end signal, moves to the left by a first horizontal distance x3-x2, then moves vertically upward until it detects the upper frame. After that, it moves vertically downward by y1 to return to the pick-up position. In this embodiment, the pick-up position is the initial position.

[0153] Figure 8B This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application. Compared to Figure 8A , Figure 8BIn the process, two air leakage events occurred, meaning the surface cleaning robot encountered two low obstacles, namely low obstacle A and low obstacle B. Low obstacle A was the first low obstacle encountered. From the moment the robot detected the top border and adjusted to a horizontal walking posture until it detected the left border, the horizontal displacement to the left included trajectories ② and ④, and the horizontal displacement to the right included trajectories ③. Assuming the lengths of trajectories ②, ③, ④, and ① are x2, x3, x4, and y1 respectively, the distance between the picking position and the left border is x4 + x2 - x3 (the first horizontal distance), and the distance between the picking position and the top border is y1 (the first vertical distance). If the top left corner of the work surface is taken as the origin, the coordinates of the picking position are (x4 + x2 - x3, y1).

[0154] When the endpoint is located on the right side frame of the work surface, such as the lower right corner, the surface cleaning robot recognizes the cleaning end signal, moves to the left to the left frame, moves to the right for the first horizontal distance x4+x2-x3, moves vertically upward until it detects the upper frame, and then moves vertically downward y1 to return to the pick-up position.

[0155] Figure 8C This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application. Compared to Figure 8A , Figure 8C In the process, three air leakage events occurred, meaning the surface cleaning robot encountered low obstacles three times: low obstacle A, low obstacle B, and low obstacle C. Low obstacle A was the first low obstacle encountered. From the moment the robot detected the top border and adjusted to a horizontal walking posture until it detected the left border, the horizontal displacement to the left included trajectories ② and ④, and the horizontal displacement to the right included trajectories ③ and ⑤. Assuming the lengths of trajectories ②, ③, ④, ⑤, and ① are x2, x3, x4, x5, and y1 respectively, the distance between the picking position and the right border is x5 + x3 - x4 - x2 (first horizontal distance), and the distance between the picking position and the top border is y1 (first vertical distance). If the upper right corner of the work surface is taken as the origin, the coordinates of the picking position are (x5 + x3 - x4 - x2, y1).

[0156] When the endpoint is located on the right side frame of the work surface, such as the lower right corner, the surface cleaning robot recognizes the cleaning end signal, moves to the left by a first horizontal distance x5+x3-x4-x2, then moves vertically upward until it detects the upper frame, and then moves vertically downward by y1 to return to the pick-up position.

[0157] Figure 8D This is a schematic diagram of a control method for a surface cleaning robot provided in an embodiment of this application. Compared to Figure 8CAfter the surface cleaning robot detects the right frame, it probes downwards and then moves horizontally to the left to detect the left frame. Upon detecting the left frame, the horizontal displacement to the left includes trajectories ②, ④, and ⑥, and the horizontal displacement to the right includes trajectories ③ and ⑤. Assuming the lengths of trajectories ②, ③, ④, ⑤, ⑥, and ① are x2, x3, x4, x5, x6, and y1 respectively, the distance between the picking position and the left frame is x6 + x4 + x2 - x5 - x3 (first horizontal distance), and the distance between the picking position and the top frame is y1 (first vertical distance). If the top left corner of the work surface is taken as the origin, the coordinates of the picking position are (x5 + x3 - x4 - x2, y1).

[0158] This application also provides a control method for a surface cleaning robot. In this method, while the surface cleaning robot is moving along a first direction, the fan of the surface cleaning robot is controlled to operate at a second rotational speed, the second rotational speed being greater than or equal to the first rotational speed, which is the rotational speed of the fan when the surface cleaning robot is adsorbed onto the working surface and is stationary. Subsequently, in response to a leakage event, the surface cleaning robot controls its fan to operate at the second rotational speed and controls the surface cleaning robot to move in a second direction, opposite to the first direction. The leakage event refers to an event where the surface cleaning robot travels onto a leaking obstacle, triggering a leak in the adsorption chamber. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot.

[0159] In this solution, the surface cleaning robot detects the top and left / right edges. After successfully detecting the top and left / right edges, it cleans according to a preset cleaning mode. If it encounters an air leak obstacle, it moves in a second direction, which is opposite to the first direction (the direction of movement before encountering the air leak obstacle). The first and second directions can be on the same straight line or on different straight lines. Moving in the second direction is also called reversing. During this movement, the surface cleaning robot controls the fan speed to a second rotation speed.

[0160] Using this approach, when the surface cleaning robot encounters an air leak obstacle while moving in the first direction, the fan speed is controlled to the second speed and the robot reverses, thus ensuring the safety of the surface cleaning robot.

[0161] The above mainly describes the control method for a surface cleaning robot when it encounters an air leak obstacle. Below, we will explain in detail the control method for a surface cleaning robot when it is restricted by ropes.

[0162] Please refer to Figure 1A and Figure 1BTo prevent the surface cleaning robot from falling from a height, a safety rope mounting hole 114 is provided on the robot's shell 11. An indoor fixing device 13, or other fixing devices such as fences, tables, and chairs, is installed to connect the surface cleaning robot to the fixing device 13 via the safety rope 14, which helps ensure the robot's safety. Optionally, when the surface cleaning robot is powered by an external power source, a power cord mounting hole 115 is also provided on the shell 11 to connect the robot to the external power source, allowing the external power source to supply power to the robot.

[0163] However, while the length of the rope is usually fixed, the width and height of the working surface often vary in different scenarios. When the surface cleaning robot is restricted by the rope—that is, when the surface cleaning robot is connected to the fixing device 13 via the safety rope 14 and / or connected to an external power source via a power cord—if the length of the rope is less than the width of the working surface, rope jamming can easily occur. For example, if the fixing device 13 is located near the left frame, 0.5 meters away from the left frame, and the horizontal distance between the left and right frames is 5 meters, and the length of the safety rope 14 is 3 meters, then after the surface cleaning robot travels horizontally to the right for 2.5 meters from the left frame, the safety rope 14 will tighten, causing the surface cleaning robot to enter a rope jamming state.

[0164] A traditional approach is to pause the current cleaning task when the surface cleaning robot gets stuck, and prompt the user to remove the robot via voice, light effects, or an application (APP), thus abandoning the cleaning task.

[0165] Another approach is to use voice prompts, lighting effects, or an app to guide users to use the remote control to complete the cleaning tasks. Clearly, both of these methods require human intervention and lack true intelligence.

[0166] To avoid manual intervention when the surface cleaning robot is stuck on the line, this application also provides a control method for the surface cleaning robot. For example, please refer to... Figure 9 , Figure 9 This is another flowchart of the control method for the surface cleaning robot provided in this application embodiment. This embodiment includes:

[0167] 901. Control the surface cleaning robot to move in a third direction under the restriction of the rope.

[0168] The rope is either a safety rope or a power cord for the surface cleaning robot, with one end fixed and the other end connected to the surface cleaning robot.

[0169] 902. When the surface cleaning robot reaches its furthest position under the restraint of the rope, control the surface cleaning robot to probe downwards and then move in the fourth direction.

[0170] Wherein, the third direction is opposite to the fourth direction, and the angle formed by the trajectory of the surface cleaning robot traveling in the third direction and the downward detection trajectory is at most a right angle.

[0171] In steps 901 and 902 above, the third direction can be any of the directions upward, downward, leftward, or rightward, and the fourth direction is the opposite of the third direction. That is, if the surface cleaning robot gets stuck on the line while moving upward, downward, leftward, rightward, or backward in any direction, it will probe downward. The trajectory of the downward probe forms an angle with the trajectory corresponding to the third direction, with a maximum angle of 90 degrees. For details on the downward probe method, please refer to the above. Figure 4 The description of the embodiments will not be repeated here.

[0172] If the surface cleaning robot fails to reach the furthest position due to the rope's constraint, it continues to move in a third direction.

[0173] With this approach, when the surface cleaning robot gets stuck in a third direction while moving under the constraint of the rope, it can probe downwards and then move in a fourth direction. This allows the surface cleaning robot to complete the cleaning task as much as possible without human intervention, thereby improving the cleaning quality.

[0174] Optionally, in the above embodiments, the surface cleaning robot can flexibly determine whether it is currently stuck in a rope state, that is, whether it is in a state where it is being pulled by a rope and cannot continue to move in a third direction.

[0175] In one approach, as the surface cleaning robot travels towards the third direction, it is determined whether the robot's posture changes from a first posture to a second posture. When the robot's posture changes from the first posture to the second posture, it is determined that the robot has reached the furthest position limited by the rope. If the robot maintains the first posture, it is considered that it has not reached the furthest position.

[0176] For example, a surface cleaning robot is equipped with pose sensors. When the robot is not tethered by a rope, it is in a first posture. Once the robot becomes tethered and cannot move in a third direction, it switches to a second posture. Therefore, the surface cleaning robot can determine whether it has reached the furthest position, i.e., whether it is currently stuck on the rope, by recognizing its current posture.

[0177] Using this method, the surface cleaning robot can determine whether it is stuck in a wire state by detecting its posture. The method is simple and highly accurate.

[0178] In another approach, as the surface cleaning robot travels in the third direction, it is determined whether the drive current of the robot's drive wheels is greater than a preset current. When the drive current is greater than the preset current, the surface cleaning robot is determined to have reached the furthest position limited by the rope. When the drive current is less than or equal to the preset current, it is considered that the furthest position has not yet been reached.

[0179] For example, a current sensor is installed inside the surface cleaning robot to detect the drive current of the drive wheels. Generally, when the surface cleaning robot is not held by the safety rope, the drive current is less than or equal to a preset current. Once the surface cleaning robot is held by the safety rope and enters the line-clamping state, the drive current exceeds the preset current. Therefore, the surface cleaning robot can determine whether it has reached the farthest position, i.e., whether it is currently in the line-clamping state, by detecting the drive current.

[0180] Using this method, the surface cleaning robot can determine whether it is stuck in a wire state by detecting the drive current. The method is simple and highly accurate.

[0181] Figure 10 This is another scenario illustration of the control method for the surface cleaning robot provided in this application embodiment. Please refer to... Figure 10 The working surface is rectangular, and the surface cleaning robot is located on the working surface. The dotted line represents the safety rope, and the dashed arc represents the farthest position that the surface cleaning robot can reach.

[0182] Figure 10 In this context, the surface cleaning robot's range of motion, restricted by a safety rope, is limited to the left side of the work surface. When the surface cleaning robot moves from left to right, the third direction is considered rightward, and the fourth direction is considered leftward. The control method for the surface cleaning robot includes the following steps:

[0183] Step 1: After the surface cleaning robot moves from left to right to its furthest position, it is pulled by the safety rope and cannot continue to move to the right.

[0184] Step 2: The surface cleaning robot detects that it is stuck in the wire based on the drive current or pose.

[0185] Step 3: After probing downwards, the surface cleaning robot moves in the fourth direction.

[0186] After the surface cleaning robot detects the left frame, it moves downwards and then in a third direction, repeating steps 1 to 3 to complete the cleaning of the working surface.

[0187] Figure 11 This is another scenario illustration of the control method for the surface cleaning robot provided in this application embodiment. In this embodiment, the activity range of the surface cleaning robot, restricted by the safety rope, is the middle area of ​​the working surface.

[0188] When the surface cleaning robot moves and cleans from left to right, the third direction is considered right and the fourth direction is considered left. When the surface cleaning robot moves and cleans from right to left, the third direction is considered left and the fourth direction is considered right. The control method for the surface cleaning robot includes the following steps:

[0189] Step 1: After the surface cleaning robot moves from left to right to its furthest position, it is pulled by the safety rope and cannot continue to move to the left.

[0190] Step 2: The surface cleaning robot detects that it is stuck in the wire based on the drive current or pose.

[0191] Step 3: After probing downwards, the surface cleaning robot moves in the fourth direction.

[0192] Step 4: After the surface cleaning robot moves from right to left to its furthest position, it is pulled by the safety rope and cannot continue to move to the left.

[0193] Step 5: The surface cleaning robot detects that it is stuck in the wire based on the drive current or pose.

[0194] Step 6: After probing downwards, the surface cleaning robot moves in the fourth direction.

[0195] Each time the surface cleaning robot reaches the furthest position, it probes downwards and then moves in the fourth direction, repeating steps 1 to 6 to complete the cleaning of the working surface.

[0196] Figure 12 This is another scenario illustration of the control method for the surface cleaning robot provided in this application embodiment. In this embodiment, the activity range of the surface cleaning robot, restricted by the safety rope, is the right-hand portion of the working surface. When the surface cleaning robot moves and cleans from right to left, the third direction is leftward, and the fourth direction is rightward. The control method for the surface cleaning robot includes the following steps:

[0197] Step 1: After the surface cleaning robot moves from right to left to its furthest position, it is pulled by the safety rope and cannot continue to move to the right.

[0198] Step 2: The surface cleaning robot detects that it is stuck in the wire based on the drive current or pose.

[0199] Step 3: After probing downwards, the surface cleaning robot moves in the fourth direction.

[0200] After the surface cleaning robot detects the right frame, it moves downwards and then in a third direction, repeating steps 1 to 3 to complete the cleaning of the work surface.

[0201] The above Figures 10-12 In the illustrated embodiment, the process of the surface cleaning robot detecting the top and left and right edges is not described.

[0202] The control method of the surface cleaning robot described above will be explained in detail below in conjunction with specific application scenarios.

[0203] Application Scenario 1:

[0204] Figure 13 This is another scenario illustration of the surface cleaning robot provided in this application embodiment. Please refer to... Figure 13 The surface cleaning robot cleans the outdoor work surface. Its initial position is shown as the dotted line in the diagram. When the negative pressure in the suction chamber exceeds a preset value, the user releases the robot, which then adheres to the work surface. The robot then autonomously moves upwards under the influence of its drive wheels to detect the top edge. After successfully detecting the top edge, it adjusts to a horizontal position. Next, it moves along the edge in a first direction, for example, horizontally to the left. After successfully detecting the left edge, it moves along the edge in a second direction to detect the right edge, which is to the right.

[0205] After moving from left to right to its furthest point, the surface cleaning robot was caught by the safety rope and could no longer move to the right. The robot detected that it was stuck on the rope based on its drive current or pose. Afterward, the robot probed to the lower left and then moved to the left. Upon detecting the left edge, it probed to the lower right and then moved to the right.

[0206] When the surface cleaning robot is cleaning the work surface according to the set working mode, it encounters an air leakage obstacle while moving to the right, causing air leakage in the adsorption chamber. At this time, the surface cleaning robot detects the negative pressure or vacuum level of the adsorption chamber. When the negative pressure of the adsorption chamber falls below the safe negative pressure value, the surface cleaning robot stops moving and increases the speed of the fan, which draws air from the adsorption chamber more forcefully to increase the negative pressure. After the negative pressure of the adsorption chamber exceeds the preset negative pressure value, the surface cleaning robot probes to the lower left and then moves to the left to continue cleaning the work surface.

[0207] After cleaning the work surface under the constraint of the rope, the surface cleaning robot returns to the pick-up position because it has successfully detected the upper frame. In this scenario, the pick-up position is the robot's initial position.

[0208] Application Scenario 2:

[0209] Figure 14 This is another scenario illustration of the surface cleaning robot provided in this application embodiment. Please refer to... Figure 14 The initial position of the surface cleaning robot is shown by the dotted line in the diagram. When the negative pressure in the suction chamber exceeds the preset negative pressure value, the user releases the robot, which then adheres to the work surface. The robot then autonomously moves upwards under the influence of its drive wheels to probe the upper frame. Due to the short rope and the high work surface, the robot reaches its furthest point before reaching the upper frame and is pulled by the safety rope, preventing further upward movement. The robot detects this "stuck" state based on its drive current or pose. Afterwards, it retreats a preset distance and adjusts to a horizontal position.

[0210] Next, the surface cleaning robot moves along the edge in a first direction, for example, horizontally to the left. After moving from right to left to its furthest position, the surface cleaning robot is pulled by the safety rope and cannot continue moving to the left. The surface cleaning robot detects that it is stuck on the rope based on the drive current or its pose. Then, the surface cleaning robot probes to the lower right and moves to the right.

[0211] The surface cleaning robot traveled from left to right to its furthest point before being pulled by the safety rope, preventing it from moving further to the right. The robot detected that it was stuck on the rope based on its drive current or pose. Afterward, the robot probed downwards to the left and then moved to the left.

[0212] When the surface cleaning robot is cleaning the work surface according to the set working mode, it encounters an air leakage obstacle while moving to the left, causing air leakage in the adsorption chamber. At this time, the surface cleaning robot detects the negative pressure or vacuum level of the adsorption chamber. When the negative pressure value of the adsorption chamber is lower than the safe negative pressure value, the surface cleaning robot stops moving and increases the speed of the fan, and the fan draws air from the adsorption chamber more forcefully to increase the negative pressure in the adsorption chamber. After the negative pressure value of the adsorption chamber is higher than the preset negative pressure value, the surface cleaning robot detects to the right and then moves to the right to continue cleaning the work surface.

[0213] After cleaning the work surface under the constraint of the rope, the surface cleaning robot returns to the lower left or lower right corner of the target area. The target area is the region enclosed by the border formed at the farthest position and the lower border of the work surface, as shown by the dashed arc in the figure.

[0214] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0215] Figure 15This is a schematic diagram of a control device provided in an embodiment of this application. The control device 1500 is integrated on a surface cleaning robot and includes a control module 151, a processing module 152, and a travel module 153.

[0216] Control module 151 is used to control the fan of the surface cleaning robot to run at a second speed during the process of the surface cleaning robot moving in a first direction. The second speed is greater than or equal to the first speed, and the first speed is the speed of the fan when the surface cleaning robot is adsorbed on the working surface and is in a stationary state.

[0217] The processing module 152 is used to increase the speed of the fan in response to an air leakage event. The air leakage event refers to the event that the adsorption chamber leaks after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot.

[0218] The travel module 153 is used to travel around the leaking obstacle.

[0219] In one feasible implementation, the processing module 152 is configured to control the fan to operate at a third speed or a fourth speed in response to an air leakage event, wherein the third speed is greater than the second speed and less than the fourth speed, and the fourth speed is the maximum speed of the fan.

[0220] In one feasible implementation, the travel module 153 is used to control the surface cleaning robot to travel along a second direction to avoid the air leakage obstacle, the second direction being opposite to the first direction.

[0221] In one feasible implementation, the processing module 152 is used to control the surface cleaning robot to stop moving in response to an air leakage event; and to control the fan to operate at a third speed or a fourth speed, wherein the third speed is greater than the second speed and less than the fourth speed, and the fourth speed is the maximum speed of the fan.

[0222] In one feasible implementation, the processing module 152 is further configured to detect the negative pressure value of the adsorption chamber;

[0223] The travel module 153 is used to control the surface cleaning robot to travel in a second direction to avoid the air leakage obstacle when the negative pressure value of the adsorption chamber is higher than the preset negative pressure value. The second direction is opposite to the first direction.

[0224] In one feasible implementation, the processing module 152 is used to determine the power supply mode of the surface cleaning robot in response to an air leakage event; when the power supply mode is AC mains power, control the surface cleaning robot to stop moving; and control the fan to run at a fourth speed, the fourth speed being the maximum speed of the fan.

[0225] In one feasible implementation, the processing module 152 is further configured to control the surface cleaning robot to return to the pick-up position in response to a cleaning end signal. The pick-up position is either the initial position where the surface cleaning robot is initially attached to the working surface or a position close to the edge where the user places the surface cleaning robot.

[0226] In one feasible implementation, the processing module 152 is used to determine multiple displacements, including each displacement generated by the horizontal back-and-forth movement of the surface cleaning robot within a target time period. The starting point of the target time period is the time when the surface cleaning robot adjusts to a horizontal traveling posture after detecting the upper edge, and the ending point of the target time period is the time when an edge-detection event occurs. At least one air leakage event occurs within the target time period. After the surface cleaning robot starts from the picking position and moves vertically to detect the upper or lower edge, it moves horizontally to detect the left or right edge. From the multiple displacements, a first type of displacement and a second type of displacement are determined. The first type of displacement and the second type of displacement are two types of displacements with opposite directions in the horizontal back-and-forth movement. In response to a cleaning end signal, based on the first type of displacement and the second type of displacement, the surface cleaning robot is controlled to return from the end position to the picking position. The end position is the position of the surface cleaning robot when it receives the cleaning end signal.

[0227] In one feasible implementation, the processing module 152, in response to a cleaning end signal, controls the surface cleaning robot to return from the endpoint position to the pick-up position based on the first type of displacement and the second type of displacement. When the endpoint position is located on the right side frame of the working surface and the edge detection event detects the right side frame, the processing module 152 controls the surface cleaning robot to move horizontally to the left by a first horizontal distance, and then controls the surface cleaning robot to detect the top frame before moving vertically downwards by a first vertical distance. The first horizontal distance is the difference between the sum of the first type of displacement and the sum of the second type of displacement, and the first vertical distance is the displacement of the surface cleaning robot from the pick-up position to the top frame detected vertically upwards.

[0228] In one feasible implementation, the air-leaking obstacle is an object with a height lower than a preset height, where the preset height is the lowest height of an obstacle that the obstacle detection sensor of the surface cleaning robot can identify; or, the air-leaking obstacle is a groove on the working surface.

[0229] In one feasible implementation, the control module 151 is further configured to control the surface cleaning robot to travel in a third direction under the constraint of a rope, wherein the rope is a safety rope or power cord of the surface cleaning robot, one end of the rope is fixed, and the other end is connected to the surface cleaning robot; when the surface cleaning robot reaches the farthest position under the constraint of the rope, the control module controls the surface cleaning robot to probe downward and then travel in a fourth direction, wherein the third direction is opposite to the fourth direction, and the angle formed by the trajectory of the surface cleaning robot traveling in the third direction and the trajectory of the downward probe is at most a right angle.

[0230] In one feasible implementation, the processing module 152 is further configured to determine whether the posture of the surface cleaning robot changes from a first posture to a second posture during the process of the surface cleaning robot moving towards the third direction; when the posture of the surface cleaning robot changes from the first posture to the second posture, determine that the surface cleaning robot has reached the farthest position limited by the rope.

[0231] In one feasible implementation, the processing module 152 is further configured to determine whether the driving current of the drive wheel of the surface cleaning robot is greater than a preset current during the process of the surface cleaning robot moving in the third direction; when the driving current of the drive wheel is greater than the preset current, determine that the surface cleaning robot has reached the farthest position limited by the rope.

[0232] In one feasible implementation, the control module 151 is further configured to control the fan of the surface cleaning robot to run at a second rotation speed during the process of the surface cleaning robot moving along the first direction. The second rotation speed is greater than or equal to the first rotation speed, and the first rotation speed is the rotation speed of the fan when the surface cleaning robot is adsorbed on the working surface and is in a stationary state.

[0233] The processing module 152 is further configured to respond to an air leakage event by controlling the fan of the surface cleaning robot to run at a second rotation speed and controlling the surface cleaning robot to move in a second direction, which is opposite to the first direction. The air leakage event refers to the event that triggers air leakage in the adsorption chamber after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot.

[0234] The control device provided in this application embodiment can execute the actions of the surface cleaning robot in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0235] Figure 16This is a schematic diagram of the structure of a surface cleaning robot provided in an embodiment of this application. Figure 16 As shown, the surface cleaning robot 1600 includes:

[0236] Processor 161 and memory 162;

[0237] The memory 162 stores computer instructions;

[0238] The processor 161 executes the computer instructions stored in the memory 162, causing the processor 161 to perform the control method implemented by the surface cleaning robot described above.

[0239] The specific implementation process of processor 161 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0240] Optionally, the surface cleaning robot 1600 also includes a communication component 163. The processor 161, memory 162, and communication component 163 can be connected via a bus 164.

[0241] This application also provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, are used to implement the control method implemented by the surface cleaning robot described above.

[0242] This application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the control method implemented by the surface cleaning robot described above.

[0243] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0244] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method for a surface cleaning robot, characterized in that, include: As the surface cleaning robot moves along the first direction, the fan of the surface cleaning robot is controlled to run at a second speed, which is greater than or equal to the first speed. The first speed is the speed of the fan when the surface cleaning robot is attached to the working surface and is in a stationary state. In response to an air leakage event, the rotational speed of the fan is increased. The air leakage event refers to the event that triggers air leakage in the adsorption chamber after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot. Avoid the leaking obstacles while proceeding; In response to a cleaning end signal, the surface cleaning robot is controlled to return to the pick-up position, which is either the initial position where the surface cleaning robot is initially attached to the work surface or the position near the edge where the user places the surface cleaning robot. The step of controlling the surface cleaning robot to return to the pick-up position in response to a cleaning end signal includes: determining multiple displacements; From the multiple displacements, a first type of displacement and a second type of displacement are determined. The first type of displacement and the second type of displacement are two types of displacements with opposite directions in the horizontal reversal motion. In response to a cleaning end signal, the surface cleaning robot is controlled to return from the endpoint position to the pick-up position based on the first type of displacement and the second type of displacement. The endpoint position is the position where the surface cleaning robot is when it receives the cleaning end signal.

2. The method according to claim 1, characterized in that, The step of increasing the fan speed in response to an air leak event includes: controlling the fan to operate at a third speed or a fourth speed in response to an air leak event, wherein the third speed is greater than the second speed and less than the fourth speed, and the fourth speed is the maximum speed of the fan.

3. The method according to claim 2, characterized in that, The step of avoiding the air leakage obstacle includes: controlling the surface cleaning robot to move in a second direction to avoid the air leakage obstacle, the second direction being opposite to the first direction.

4. The method according to claim 1, characterized in that, The step of increasing the fan speed in response to an air leak event includes: controlling the surface cleaning robot to stop moving in response to an air leak event; The fan is controlled to operate at a third speed or a fourth speed, wherein the third speed is greater than the second speed and less than the fourth speed, and the fourth speed is the maximum speed of the fan.

5. The method according to claim 4, characterized in that, The process of avoiding the air leakage obstacle includes: detecting the negative pressure value of the adsorption chamber; When the negative pressure value of the adsorption chamber is higher than the preset negative pressure value, the surface cleaning robot is controlled to move in a second direction to avoid the air leakage obstacle. The second direction is opposite to the first direction.

6. The method according to claim 1, characterized in that, The step of increasing the fan speed in response to an air leak event includes: determining the power supply mode of the surface cleaning robot in response to an air leak event; When the power supply is AC mains power, the fan is controlled to run at the fourth speed, which is the maximum speed of the fan.

7. The method according to any one of claims 1 to 6, characterized in that, The multiple displacements include each displacement generated by the horizontal turning motion of the surface cleaning robot within the target time period. The starting point of the target time period is the time when the surface cleaning robot adjusts to a horizontal traveling posture after detecting the upper edge. The ending point of the target time period is the time when the edge detection event occurs. At least one air leakage event occurs within the target time period. After the surface cleaning robot starts from the initial position and travels vertically to detect the upper or lower edge, it travels horizontally to detect the left or right edge.

8. The method according to any one of claims 1 to 6, characterized in that, The step of responding to the cleaning end signal and controlling the surface cleaning robot to return from the endpoint position to the pick-up position according to the first type of displacement and the second type of displacement includes: when the endpoint position is located at the right side frame of the working surface and the edge detection event detects the right side frame, controlling the surface cleaning robot to move horizontally to the left for a first horizontal distance, and then controlling the surface cleaning robot to move vertically downward for a first vertical distance after detecting the top frame. Wherein, the first horizontal distance is the difference between the sum of the first type of displacement and the sum of the second type of displacement, and the first vertical distance is the displacement of the surface cleaning robot from the initial position to the upper frame.

9. The method according to any one of claims 1 to 6, characterized in that, The air-leaking obstacle is an object with a height lower than a preset height, which is the lowest height of an obstacle that the obstacle detection sensor of the surface cleaning robot can detect; or, The air leakage obstacle is a groove on the working surface.

10. The method according to any one of claims 1 to 6, characterized in that, Also includes: The surface cleaning robot is controlled to move in a third direction under the restriction of a rope, which is either a safety rope or a power cord for the surface cleaning robot. One end of the rope is fixed and the other end is connected to the surface cleaning robot. When the surface cleaning robot reaches its furthest position under the restraint of the rope, it is controlled to probe downwards and then move in the fourth direction. The third direction is opposite to the fourth direction. The angle formed between the trajectory of the surface cleaning robot moving in the third direction and the trajectory of the downward probe is at most a right angle.

11. The method according to claim 10, characterized in that, Before controlling the surface cleaning robot to probe downwards and move in the fourth direction after reaching the farthest position under the rope restriction, the method further includes: determining whether the posture of the surface cleaning robot changes from the first posture to the second posture during the movement of the surface cleaning robot in the third direction. When the surface cleaning robot changes its posture from the first posture to the second posture, the farthest position that the surface cleaning robot has reached under the rope limit is determined.

12. The method according to claim 10, characterized in that, Before controlling the surface cleaning robot to move downwards and then in the fourth direction after reaching the farthest position under the rope restriction, the method further includes: determining whether the drive current of the drive wheel of the surface cleaning robot is greater than a preset current during the process of the surface cleaning robot moving in the third direction. When the driving current of the drive wheel is greater than the preset current, the surface cleaning robot is determined to have reached the farthest position limited by the rope.

13. A control method for a surface cleaning robot, characterized in that, As the surface cleaning robot moves along the first direction, the fan of the surface cleaning robot is controlled to run at a second speed, which is greater than or equal to the first speed. The first speed is the speed of the fan when the surface cleaning robot is attached to the working surface and is in a stationary state. In response to an air leakage event, the fan of the surface cleaning robot is controlled to run at a second speed, and the surface cleaning robot is controlled to move in a second direction, which is opposite to the first direction. The air leakage event refers to the event that the adsorption chamber leaks after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to allow the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot. Avoid the leaking obstacles while proceeding; In response to a cleaning end signal, the surface cleaning robot is controlled to return to the pick-up position, which is either the initial position where the surface cleaning robot is initially attached to the work surface or the position near the edge where the user places the surface cleaning robot. The step of controlling the surface cleaning robot to return to the pick-up position in response to a cleaning end signal includes: determining multiple displacements; From the multiple displacements, a first type of displacement and a second type of displacement are determined. The first type of displacement and the second type of displacement are two types of displacements with opposite directions in the horizontal reversal motion. In response to a cleaning end signal, the surface cleaning robot is controlled to return from the endpoint position to the pick-up position based on the first type of displacement and the second type of displacement. The endpoint position is the position where the surface cleaning robot is when it receives the cleaning end signal.

14. A control device, characterized in that, The control device is integrated on the surface cleaning robot. The device includes a control module for controlling the fan of the surface cleaning robot to run at a second speed during the process of the surface cleaning robot moving in a first direction. The second speed is greater than or equal to the first speed, and the first speed is the speed of the fan when the surface cleaning robot is adsorbed on the working surface and is in a stationary state. The processing module is used to increase the speed of the fan in response to an air leakage event. The air leakage event refers to the event that triggers the air leakage in the adsorption chamber after the surface cleaning robot moves onto an air leakage obstacle. The adsorption chamber is a cavity used to enable the fan to draw gas between the adsorption surface and the working surface of the surface cleaning robot. The travel module is used to avoid the leaking obstacle while traveling; The processing module is also used to respond to the cleaning end signal and control the surface cleaning robot to return to the pick-up position, which is the initial position where the surface cleaning robot is initially attached to the working surface or the position near the edge where the user places the surface cleaning robot. The processing module is used to determine multiple displacements, and from the multiple displacements, to determine a first type of displacement and a second type of displacement, wherein the first type of displacement and the second type of displacement are two types of displacements with opposite directions in the horizontal reversal motion; In response to the cleaning end signal, the processing module controls the surface cleaning robot to return from the endpoint position to the pick-up position based on the first type of displacement and the second type of displacement. The endpoint position is the position where the surface cleaning robot is when it receives the cleaning end signal.

15. A surface cleaning robot, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it causes the surface cleaning robot to perform the method as described in any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 13.

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