Starting method of window cleaning robot

Abstract

The invention provides a starting method of a window cleaning robot, and the starting method comprises the steps that the window cleaning robot is controlled to run a preset distance towards at least one of a first preset direction and a second preset direction so as to test the current environment, and the first preset direction is different from the second preset direction; identifying the type of the current environment according to a tentative result; and controlling the initial operation mode of the window cleaning robot according to the type of the current environment. According to the scheme, before the window cleaning robot executes the cleaning task, the surrounding environment of the robot is comprehensively detected through dual probing in two directions, and it is ensured that the robot can find potential dangers in time. The robot is ensured to more accurately judge the environment condition and avoid misjudgment by continuously performing multiple times of probing. And in addition, the window cleaning robot can quickly and safely break away from a dangerous area after discovering abnormity.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a method for starting a window cleaning robot. Background Art

[0002] With the development of science and technology and the improvement of living standards, people have higher and higher requirements for the quality of life, and intelligent and efficient window cleaning robots are becoming more and more popular among users. A household window cleaning machine is a cleaning tool specially designed for home users, mainly used to clean windows and glass surfaces. The working principle of a household window cleaning machine is to use a cleaning disc to clean the surface of the window by adsorbing it on the surface of the window. Existing window cleaning robots usually use fixed cleaning paths and simple obstacle avoidance mechanisms, which are difficult to adapt to complex environmental changes. For example, when the robot is in an edge area such as the four corners of a window before cleaning, if the position of the edge cannot be identified in time and corresponding measures cannot be taken, the window cleaning machine may directly touch the edge of the window, causing pressure relief, which in turn leads to the failure of the cleaning task or even the fall of the equipment. Summary of the invention

[0003] In view of this, the present application proposes a method for starting a window cleaning robot to solve at least one of the above technical problems. The specific solution is as follows:

[0004] A method for starting a window cleaning robot, the method comprising:

[0005] The window cleaning robot is controlled to run a preset distance in at least one of a first preset direction and a second preset direction to probe a current environment, wherein the first preset direction and the second preset direction are different; the type of the current environment is identified according to the probe result; and the initial operation mode of the window cleaning robot is controlled according to the type of the current environment.

[0006] In some specific embodiments, the startup method further includes: when the current environment is a normal environment, controlling the window cleaning robot to walk according to a preset control method;

[0007] Alternatively, when the current environment is a preset trapped environment, the window cleaning robot is controlled to escape from the preset trapped environment.

[0008] In some specific embodiments, controlling the window cleaning robot to run a preset distance in at least one of a first preset direction and a second preset direction to explore the current environment includes:

[0009] The window cleaning robot performs a first trial by running a preset distance in one of a first preset direction and a second preset direction; when the result of the first trial is normal, the current environment is identified as a normal environment, and the window cleaning robot is controlled to walk according to a preset control method.

[0010] In some specific embodiments, the startup method further includes:

[0011] The window cleaning robot is controlled to run a preset distance in one of a first preset direction and a second preset direction for a first exploration; when the result of the first exploration is an abnormal state, the window cleaning robot is controlled to run a preset distance in the other of the first preset direction and the second preset direction for a second exploration; when the result of the second exploration is an abnormal state, the current environment is identified as a preset trapped environment; and the window cleaning robot is controlled to escape from the preset trapped environment.

[0012] In some specific embodiments, the window cleaning robot includes two cleaning units, at least one of the two cleaning units rotates to drive the window cleaning robot to move and clean; the trial method includes:

[0013] One of the cleaning units does not move, and the other cleaning unit moves in two directions, so that the window cleaning robot runs at least a preset distance in a first preset direction and a second preset direction to explore the current environment.

[0014] In some specific embodiments, the window cleaning robot is controlled to run preset distances in a first preset direction and a second preset direction respectively, including: after the window cleaning robot first runs a first preset distance from an initial position along the first preset direction, the window cleaning robot is controlled to reset to the initial position along the second preset direction, and continue to run a second preset distance.

[0015] In some specific embodiments, controlling the window cleaning robot to escape from the preset trapped environment includes: after the window cleaning robot runs a preset escape distance in the direction of escaping from the preset trapped environment, controlling the window cleaning robot to perform an escape confirmation test, and the escape confirmation test includes: controlling the window cleaning robot to run a preset distance in at least one of a first preset direction and a second preset direction respectively; when the result of at least one test is a normal environment, confirming that the window cleaning robot has escaped from the trapped environment.

[0016] In some specific embodiments, escaping from the trapped environment includes: when the window cleaning robot is in a preset trapped environment, identifying the body posture of the window cleaning robot; identifying the specific position pattern of the current environment in which the window cleaning robot is located according to the body posture of the window cleaning robot; and according to the specific position pattern, controlling the window cleaning robot to adopt a corresponding escape path to escape.

[0017] In some specific embodiments, when the result of the trial is a normal environment, the window cleaning robot is controlled to run from the posture at the end of the trial to the initial state of the preset control method.

[0018] In some specific embodiments, the startup method further includes: controlling the second preset direction of the trial process to be a trend direction toward which the window cleaning robot walks according to a preset control method;

[0019] When the result of the test is a normal environment, the window cleaning robot is controlled to run from the posture at the end of the test to the initial state of the preset control mode.

[0020] In some specific embodiments, the window cleaning robot includes two cleaning units, at least one of the two cleaning units rotates to drive the window cleaning robot to move and clean; the starting method also includes: when the trial result is a normal environment, determining the cleaning unit that moves first among the two cleaning units; the cleaning unit that moves first finds the rotation direction according to the trend direction of the window cleaning robot walking according to a preset control method to shorten the initial movement time.

[0021] Beneficial effects: The present invention provides a method for starting a window cleaning robot and a system for starting the robot. Before performing a cleaning task, the robot is fully tested for the environment around the robot through dual probing in two directions to ensure that the robot can detect potential dangers in a timely manner. Before identifying a trapped environment and leaving the trapped environment, multiple probings are performed continuously until no abnormality can be identified in at least one of the first preset direction and the second preset direction. The multi-directional detection mechanism improves the accuracy of identifying the trapped environment and avoids misjudgment. The current position is determined according to the running direction of the window cleaning robot and the body posture of the trapped environment, and the abnormal loop is separated according to the current position, ensuring that the robot quickly and safely leaves the dangerous area after the abnormality is found. When the result of the probing is a normal environment, the window cleaning robot is controlled to run from the posture at the end of the probing to the initial state of the preset control mode, ensuring that the robot can smoothly transition to the formal cleaning task and improve the cleaning efficiency. The second preset direction of the control probing process is the trend direction of the window cleaning robot walking according to the preset control mode, which further improves the pertinence and effectiveness of the probing. By introducing technical means such as multi-directional exploration, continuous multiple explorations, precise positioning and detachment, initial state recovery, cleaning unit optimization and negative pressure adsorption mechanism, the safety and cleaning efficiency of the window cleaning robot have been significantly improved, enabling the window cleaning robot to complete cleaning tasks stably and efficiently in complex and changeable environments, thereby improving user experience and satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is a flowchart of the startup method in this application;

[0024] Figure 2 is a structural example diagram of the main body of the window cleaning robot in this application;

[0025] Figure 3 is a schematic diagram of the walking trial in this application;

[0026] Figure 4 It is a schematic diagram of the rotation trial in this application;

[0027] Figure 5 The first preset direction in this application is a schematic diagram of counterclockwise;

[0028] Figure 6 The second preset direction in this application is a clockwise diagram;

[0029] Figure 7 This is a comparative diagram of abnormal and non-abnormal identification in this application;

[0030] Figure 8 It is a schematic diagram of the first preset direction and the second preset direction in this application;

[0031] Fig. 9 It is a distribution diagram of the trapped environment when the window cleaning machine in this application rotates counterclockwise;

[0032] Fig.10 It is a distribution diagram of the trapped environment when the window cleaning machine in this application rotates counterclockwise;

[0033] Fig.11 This is an example diagram of the window cleaning machine in the present application being in the lower left corner for probing and disengaging;

[0034] Fig.12 It is a schematic diagram of the startup system module in this application.

[0035] Figure numerals: 1-main body; 2-cleaning unit; 11-negative pressure device; A1-probing unit; A2-first walking unit; A3-second walking unit. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] Hereinafter, various embodiments disclosed in the present application will be described more fully. The present application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed in the present application to the specific embodiments disclosed herein, but the present application should be understood to cover all adjustments, equivalents and / or alternatives falling within the spirit and scope of the various embodiments disclosed in the present application.

[0038] The present application discloses a method for starting a window cleaning robot. The specific process of the method is as follows: Figure 1 The specific plan is as follows:

[0039] A method for starting a window cleaning robot comprises the following steps:

[0040] 101. Control the window cleaning robot to run a preset distance in at least one of a first preset direction and a second preset direction to test the current environment, wherein the first preset direction and the second preset direction are different;

[0041] 102. Identify the type of the current environment according to the probing result;

[0042] 103. Control the initial operation mode of the window cleaning robot according to the type of the current environment.

[0043] The preset distance may be arbitrarily set according to actual conditions, and the preset distances for running in the first preset direction and the second preset direction may be the same or different.

[0044] In this application, the window cleaning robot will pre-set the operating mode before performing the cleaning task, that is, how to perform the window cleaning task, the moving path, the operating parameters, etc. The operating mode is the mode and parameters of the window cleaning robot. In this application, before performing the cleaning task, the environment will be tested first, and then the appropriate operating mode will be selected according to the test results. The preset control mode is the operating mode of the window cleaning robot when performing the cleaning task.

[0045] In some embodiments, the starting method further includes: when the current environment is a normal environment, controlling the window cleaning robot to walk according to a preset control method; or, when the current environment is a preset trapped environment, controlling the window cleaning robot to escape from the preset trapped environment. The present application defines two types of environments, namely a normal environment and a trapped environment. A normal environment means that the window cleaning robot can safely perform cleaning tasks in this environment. A trapped environment means that there are potential dangers, such as the edge of a window, and the window cleaning robot needs to move carefully in this environment.

[0046] The solution of this application enables the window cleaning robot to complete cleaning tasks more safely and efficiently, ensuring that the window cleaning robot can work in a safe environment and avoid falling or other dangerous situations due to obstacles or edges. Even if the window cleaning robot is at the four corners of the window when it starts, it can intelligently identify its position on the window, realize intelligent escape of the device, reduce the risk of falling, and improve safety.

[0047] In the prior art, after the window cleaning robot is placed on the surface to be cleaned, it generally starts cleaning according to a predetermined program, such as first controlling the window cleaning robot to run from an initial posture to a preset cleaning posture and then starting to clean the surface to be cleaned. In the process of running from the initial posture to the preset cleaning posture, if the initial position of the window cleaning robot is at the edge or corner of the surface to be cleaned, the window cleaning robot will run onto the glass adhesive strip during the posture change, causing air leakage, thereby increasing the risk of the window cleaning machine falling, or being blocked by the edge of the surface to be cleaned, unable to execute the predetermined program, causing the window cleaning robot to get stuck in a corner or frame. Especially in a relatively complex environment such as a corner, the window cleaning robot is prone to misjudgment during the initial operation, resulting in program errors and the like.

[0048] In this application, after receiving the instruction to start work, the first thing to do is to determine the relative position of the window cleaning robot on the window, and confirm the position information through certain tentative actions. The robot will first move a certain distance in two preset directions (such as the up and down directions perpendicular to the wall) to detect whether there are potential dangers in the surrounding environment, such as the edge of the window, protruding obstacles, etc. If no abnormalities are found during the trial process, it is considered that the current environment is normal and suitable for the robot to perform cleaning operations. When the robot detects a trapped environment during the trial stage, the robot will take measures to avoid entering or continuing to stay in such a trapped environment. For users, this means less intervention and higher trust, and they can rest assured that the robot can complete the cleaning task independently.

[0049] In the present application, the window cleaning robot is an automated cleaning device for cleaning windows and other vertical surfaces. It is equipped with various sensors and cleaning tools, and can efficiently complete cleaning tasks without human intervention. The window cleaning robot includes a main body 1 and a plurality of cleaning units 2. A negative pressure device 3 is provided in the main body 1. The main body 1 drives the cleaning units 2 to rotate, thereby realizing the movement of the window cleaning robot. Specifically, the window cleaning robot needs to control the negative pressure adsorption of each cleaning unit 2 to the surface to be cleaned. In addition, an air path for negative pressure circulation is pre-set in each cleaning unit 2. The air path is designed based on the internal structure of the cleaning unit 2. The negative pressure is pumped into each air path by the pressure regulating device in the main unit so that the cleaning unit 2 is adsorbed to the surface to be cleaned under the action of air pressure. It should be noted that each air path can be designed independently or interconnected, and can be designed according to specific needs. Among them, the following takes a window cleaning machine with two cleaning units 2 as an example for explanation, and the instruction manual is attached. Figure 2 An exemplary diagram is given of a window cleaning robot having two cleaning units 2 .

[0050] In some embodiments, the window cleaning robot includes two cleaning units, at least one of which rotates to drive the window cleaning robot to move and clean; the probing method includes: one cleaning unit does not move, and the other cleaning unit moves in two directions, so that the window cleaning robot respectively moves in at least one preset distance in a first preset direction and a second preset direction to probe the current environment. This probing method is embodied in that one cleaning unit drives the other cleaning unit to rotate, and the first preset direction and the second preset direction are represented as a clockwise direction and a counterclockwise direction.

[0051] Specifically, in the present application, the probing scheme of the window cleaning machine includes three methods: walking probing, rotating probing and combined probing. The walking probing is to control the two cleaning units 2 of the window cleaning machine to move simultaneously, so that the window cleaning machine as a whole is displaced. Figure 3 This method is mainly used to detect whether there are obstacles or edges ahead. It can cover a large detection range and is suitable for preliminary detection in open areas. In practical applications, walking test is suitable for large-scale environmental assessment before starting cleaning to ensure that the robot will not suddenly encounter unexpected edges or obstacles. The rotation test is to control one cleaning unit 2 of the window cleaning robot to be adsorbed on the surface to be cleaned, while driving another cleaning unit 2 to rotate around the cleaning unit 2, so that the window cleaning robot produces a rotational displacement. Figure 4As shown. This method is mainly used to detect the situation on both sides of the robot, and can detect the position of edges and obstacles more accurately, especially when the robot is close to the edge. In practical applications, rotation heuristics are suitable for situations where the robot is close to the edge or needs to be carefully detected, to ensure that the robot does not fall due to being too close to the edge. Combined heuristics refers to the combination of walking heuristics and rotation heuristics, which can achieve a more comprehensive environmental assessment through different sequences (walking first and then turning, turning first and then walking, and doing it at the same time). Combined heuristics include walking heuristics first and then turning heuristics, or turning heuristics first and then walking heuristics, or walking heuristics and turning heuristics at the same time. Combined heuristics combines the advantages of walking heuristics and rotation heuristics, which can not only quickly cover a large area, but also accurately detect the local environment, improve the accuracy and safety of detection, and are suitable for detection in complex environments, especially when the robot needs to flexibly adjust its position under a variety of different conditions.

[0052] In practical applications, appropriate probing methods or combinations can be selected according to different environments and task requirements. For example, before starting cleaning, you can first conduct a large-scale walking test to confirm that the general environment is safe, and then use a rotation test near the edge or obstacle. In order to achieve effective probing, the window cleaning robot can be equipped with a variety of sensors, such as infrared sensors, ultrasonic sensors, cameras, etc. These sensors can provide real-time data feedback to help the robot make accurate judgments.

[0053] In some embodiments, the window cleaning robot is controlled to run a preset distance in at least one of a first preset direction and a second preset direction to test the current environment, including: the window cleaning robot runs a preset distance in one of the first preset direction and the second preset direction to perform a first test; when the result of the first test is normal, the current environment is identified as a normal environment, and the window cleaning robot is controlled to walk according to a preset control method. The test in the first preset direction is defined as the first test. When the result of the first test is normal, it proves that the current environment is normal at least in the first preset direction, and there may be an abnormality or normality in the second preset direction. Since the first preset direction has been determined to be normal, the window cleaning robot can perform the cleaning task according to the previous operation mode.

[0054] Furthermore, the startup method further includes: controlling the window cleaning robot to run a preset distance in one of the first preset direction and the second preset direction for a first trial; when the result of the first trial is an abnormal state, controlling the window cleaning robot to run a preset distance in the other of the first preset direction and the second preset direction for a second trial; when the result of the second trial is an abnormal state, identifying the current environment as a preset trapped environment; and controlling the window cleaning robot to escape from the preset trapped environment. If the result of the first trial is an abnormal state, it proves that there is a potential danger in the first preset direction of the window cleaning robot, and there will be risks if it continues to run according to the previously preset control method, so a second trial is required, and the second trial is carried out in the second preset direction. If the first trial is in the second preset direction, when the result of the first trial is an abnormal state, it is necessary to conduct a second trial in the first preset direction. When the results of both trials are abnormal, it proves that the window cleaning robot is unsafe in both the first preset direction and the second preset direction, and cannot run according to the previously preset control method. At this time, it is determined that the window cleaning robot is in a trapped environment, and the trapped environment means that the window cleaning robot cannot run according to the preset control method in both the first preset direction and the second preset direction, and the current environment is relatively dangerous, so it is necessary to escape from the current environment. For example, the window cleaning robot is located at the lower left corner of the window, with edges on the left and below, and needs to get away from the corner as quickly as possible.

[0055] The first preset direction and the second preset direction are preset, and may be two directions preset by the manufacturer in advance, or may be preset by the user for different usage scenarios, or may be determined according to the preset running direction of the window cleaning robot under normal conditions. For example, the first preset direction may be preset to be horizontal to the left, and the second preset direction may be preset to be vertically downward, so as to test whether the window cleaning robot is at the lower left corner of the surface to be cleaned, and thereby test the specific position of the window cleaning machine on the window and the specific information of the distance from the frame. In addition, as shown in the attached Figure 5 and 6 As shown, the first preset direction can also be preset as counterclockwise, and the second preset direction can be preset as clockwise. By controlling the left cleaning unit 2 to be adsorbed on the window and driving the right cleaning unit 2 to rotate, exploration in two directions, horizontally to the left and vertically downward, can be achieved.

[0056] Furthermore, regarding the number of trials, one or more trials can be performed to avoid misjudgment of the machine. In a relatively simple environment, such as a flat and obstacle-free window surface, one trial is usually sufficient to explore the environment, reduce unnecessary trial actions, and speed up the startup of the cleaning work. In a complex or changeable environment, such as a window with multiple edges, obstacles or irregular surfaces, multiple trials can provide more detailed information, a more comprehensive understanding of the environment, and reduce the possibility of misjudgment, while better identifying and avoiding dangerous areas to ensure the safety of the robot. However, multiple trials will increase the startup time and affect the overall cleaning efficiency. In actual applications, the number of trials can be flexibly adjusted as needed to ensure that the window cleaning robot can efficiently complete the cleaning task under the premise of safety. This intelligent trial strategy not only improves the robot's adaptability, but also improves the user experience.

[0057] If no abnormality is found during the trial process, it is considered that the current environment is normal and suitable for the robot to perform cleaning operations. At this time, the window cleaning robot will start cleaning work according to the pre-set path or mode. The walking mode of the window cleaning machine when performing normal cleaning tasks, such as "N"-shaped walking, "Z"-shaped walking, straight-line walking, etc., is usually pre-set before performing the cleaning task. In this application, the operating mode includes one or more of "N"-shaped walking, "Z"-shaped walking, and straight-line walking. When the robot detects a trapped environment during the trial stage, such as being close to the edge of the window, encountering obstacles, or the surface is not suitable for cleaning. The robot will take measures to avoid entering or continuing to stay in this trapped environment. This may mean that the robot will stop moving, adjust its position, or return to a known safe area to replan the path.

[0058] In some embodiments, after the window cleaning robot leaves the trapped environment, it walks according to a preset control method to ensure that the robot can continue to complete the cleaning task safely and efficiently. If the test result shows that the current environment is a trapped environment, take corresponding measures to leave the trapped environment according to the type of abnormality. After the robot leaves the trapped environment, it will test the environment again to ensure that the new location is safe. After confirming that the environment is safe, the robot is controlled to walk and clean according to the preset control method.

[0059] In some embodiments, before the trapped environment is identified and the robot escapes from the trapped environment, the startup method further includes: performing multiple attempts continuously until no abnormality is identified in at least one of the first preset direction and the second preset direction. Multiple attempts are performed to verify whether the robot escapes from the trapped environment, thereby achieving multiple verifications of the environment and ensuring that the robot's judgment of the environment is reliable.

[0060] After the window cleaning robot recognizes the trapped environment, it needs to take measures to escape from the trapped environment. There is a period of time before completely escaping from the trapped environment. In addition, escaping from the trapped environment requires certain procedural steps. After recognizing the trapped environment, multiple attempts are made continuously, and the interval time and distance of each attempt can be adjusted according to the actual situation. After each attempt, the environmental information is updated according to the feedback data of the window cleaning robot in the first preset direction and the second preset direction, and the abnormal position and type are recorded. When the abnormality cannot be identified in at least one of the first preset direction and the second preset direction, it is proved that the window cleaning robot is safe in at least one of the first preset direction and the second preset direction. When the abnormality cannot be identified in at least one of the first preset direction and the second preset direction, the window cleaning robot can be completely freed from the abnormality in the first preset direction and the second preset direction by adjusting the trial strategy. When the abnormality cannot be identified in both the first preset direction and the second preset direction, it is proved that the window cleaning robot has escaped from the trapped environment. Multiple trial actions can ensure that the robot is indeed in a safe position after escaping from the trapped environment, avoiding dangerous situations such as falling and collision caused by misjudgment.

[0061] In some embodiments, controlling the window cleaning robot to run a preset distance in a first preset direction and a second preset direction respectively specifically includes: after the window cleaning robot first runs a first preset distance from an initial position along the first preset direction, controlling the window cleaning robot to reset to the initial position along the second preset direction, and continuing to run the second preset distance. The first preset distance and the second preset distance may be the same or different. In the present application, it is not required that the first preset distance and the second preset distance are equal, that is, it is not required that the probing amplitude along the first preset direction is the same as the probing amplitude along the second preset direction.

[0062] Furthermore, the first preset distance and the second preset distance need to meet certain conditions, that is, after the window cleaning robot moves from the initial position along the first preset direction, it can return to the initial position along the second preset direction. The direction and distance need to ensure that the robot does not deviate too far from the initial position during the movement, and can accurately return to the initial position. In practical applications, the scheme of this embodiment is more targeted at the rotation trial scheme. For example, the window cleaning robot controls the cleaning unit 2 on the left to rotate clockwise around the cleaning unit 2 on the right to rotate at an angle A, at which time the overall displacement of the window cleaning robot is offset; then control the cleaning unit 2 on the left to rotate counterclockwise around the cleaning unit 2 on the right to rotate at an angle A, return to the initial position, and then rotate counterclockwise at an angle A, so that the window cleaning robot 2*A angle trial can be realized.

[0063] In some embodiments, the identification of the trapped environment includes: identifying at least one abnormality in the first preset direction and identifying at least one abnormality in the second preset direction. Figure 7In the above, the window cleaning robot has touched the edge of the window in the upper probe, which will cause pressure relief, which means that the probe in this direction has identified an abnormality. However, the lower probe will not cause pressure relief, so the lower environment is a normal environment. In addition, in order to ensure that the window cleaning robot can accurately identify the trapped environment and make multiple probes when necessary to verify whether it has escaped from the trapped environment, abnormality detection can be performed in the first preset direction and the second preset direction respectively. Specifically, if at least one abnormality is identified in the first preset direction and at least one abnormality is identified in the second preset direction, it can be confirmed that the current environment is a trapped environment. For example, if an edge is detected when the upward movement probe is used, and an edge is detected when the left movement probe is used, it is confirmed to be a trapped environment. If no abnormality is identified in either the first preset direction or the second preset direction, the current environment is confirmed to be a normal environment.

[0064] In some embodiments, controlling the window cleaning robot to escape from a preset trapped environment specifically includes: after the window cleaning robot runs a preset escape distance in the direction of escaping from the preset trapped environment, controlling the window cleaning robot to perform an escape confirmation test, and the escape confirmation test includes: controlling the window cleaning robot to run a preset distance in at least one of the first preset direction and the second preset direction respectively; when at least one of the test results is a normal environment, confirming that the window cleaning robot has escaped from the trapped environment. When the window cleaning robot is in a trapped environment, it is necessary to escape as soon as possible. The way to escape is to move in a certain direction, which is not the first preset direction and the second preset direction. The window cleaning robot is in a trapped environment, which means that there is danger in the first preset direction and the second preset direction. The window cleaning robot can move in the opposite direction of the two directions or in a direction that deviates from a partial angle to escape from the abnormal environment. When the window cleaning robot moves a certain distance in a safe direction, it is necessary to determine whether the current environment is safe. Since there is danger in the first preset direction and the second preset direction, it can be tested in the first preset direction or the second preset direction. Once there is no abnormality in one direction, it means that the trapped environment has been escaped, and one of them can be selected to run according to the preset control method.

[0065] In the present application, the first preset distance and the second preset distance may be the same or different. Figure 8 In the example, the first preset distance is greater than the second preset distance. After the window cleaning robot moves from the initial position to the first preset direction by the first preset distance, it tests whether the first position is abnormal, and then moves to the second preset direction. It first returns to the initial position, and then moves from the initial position to the second preset distance to reach the second position, and then detects an obstacle. It is thus determined that there is an abnormality in the second position. The first preset direction and the second preset direction are opposite in direction, and the window cleaning robot can directly return to the initial position and detect other positions to avoid repeated adjustment of the moving direction of the window cleaning robot.

[0066] In some embodiments, when the window cleaning robot is in a preset trapped environment, the body posture of the window cleaning robot is identified; the specific position pattern of the current environment of the window cleaning robot is identified according to the body posture of the window cleaning robot; and according to the specific position pattern, the window cleaning robot is controlled to use a corresponding escape path to escape. The inclination angle, rotation angle and other information of the robot are obtained through a posture sensor (such as a gyroscope, accelerometer, etc.) to determine the body posture of the window cleaning robot. According to the body posture of the window cleaning robot, the specific position pattern of the current environment of the window cleaning robot is identified. For example, the robot may be trapped in the corner, edge or between obstacles of the window. According to the specific position pattern, the window cleaning robot is controlled to use a corresponding escape path to escape. For example, if the robot is trapped in a corner, a specific turning path can be used; if it is trapped at an edge, a path moving inward can be used. Specific position patterns include corners, single-side edges, opposite side edges, etc. A corner means that there is danger in both directions of an acute angle, a single-side edge means that there is danger on one side, and a double-side edge means that there is danger on both sides facing each other. Among them, the corners in the specific position style refer to the specific corner positions of the window cleaning robot on the surface to be cleaned, such as the upper left corner, the lower left corner, the upper right corner and the lower right corner.

[0067] Specifically, the current position of the window cleaning robot is determined according to the running direction of the window cleaning robot and the body posture of the trapped environment; and the trapped environment is escaped according to the current position. During the movement of the window cleaning robot, the robot's motion path can be gradually constructed by recording the direction and distance of each movement. For example, the robot moves 10 cm upward from the initial position (0,0), and the position changes to (0,10); then moves 10 cm downward, and the position returns to (0,0). The current direction of travel of the robot can be determined by detecting the environment in front through sensors (such as infrared sensors and ultrasonic sensors). For example, if the robot detects an obstacle in front, it can be determined that it is moving in a specific direction. Body posture sensors (such as gyroscopes, accelerometers, and magnetometers) can provide information such as the robot's tilt angle and rotation angle. This information is crucial for determining the robot's precise position in space. Through the data of the posture sensor, combined with the running direction of the window cleaning robot, the position and posture of the window cleaning robot relative to the initial position can be determined. Only by understanding the current position and posture of the window cleaning robot can its movement be better controlled and a suitable strategy can be selected to escape from the trapped environment. For example, a safe escape path is planned based on the current position and posture. For example, if the robot detects an edge in front of it, it can calculate the distance it needs to move inward based on its current position to get away from the edge. By precisely controlling the movement of the robot, it can be ensured that it escapes from the trapped environment along the predetermined path. For example, if the edge position is (0,10), the robot can move 10 cm to the left and the new position is (-10,0).

[0068] Among them, Fig. 9 The following figure shows the obstacles that the window cleaning robot can explore by rotating counterclockwise. Fig.10 The following figure shows the obstacles that the window cleaning robot can explore by rotating in a clockwise direction. Fig. 9 and attached Fig.10 In the figure, reference 1 represents the first cleaning unit, reference 2 represents the second cleaning unit, and the second cleaning unit is adsorbed on the surface to be cleaned and drives the first cleaning unit to rotate, thereby realizing the rotation test. The relative position of the first cleaning unit and the second cleaning unit can be used to determine the body posture of the window cleaning robot. For example, in the attached Fig. 9 In the case that the running direction of the window cleaning robot is determined to be counterclockwise, when the first cleaning unit is located at the upper left of the second cleaning unit, when an abnormality is detected under this body posture, it can be determined that the abnormality is located on the left side of the window cleaning robot; when the first cleaning unit is located at the lower left of the second cleaning unit, when an abnormality is detected, it can be determined that the abnormality is located on the lower side of the window cleaning robot; when the first cleaning unit is located at the upper right of the second cleaning unit, when an abnormality is detected, it can be determined that the abnormality is located on the upper side of the window cleaning robot; when the first cleaning unit is located at the lower right of the second cleaning unit, when an abnormality is detected, it can be determined that the abnormality is located on the right side of the window cleaning robot. Similarly, in the attached Fig.10 In the example, the area where the trapped environment is located can also be determined based on the moving direction and current posture of the window cleaning robot. Moreover, the position information of the window cleaning robot on the surface to be cleaned can be determined based on the results of the clockwise and counterclockwise tests. If an abnormality is detected on the left and top, it can be determined that the window cleaning robot is located in the upper left corner of the surface to be cleaned, indicating that the upper left direction of the surface to be cleaned is a dangerous area that is prone to getting stuck, falling, etc. The window cleaning robot can be controlled to move to the lower right to stay away from the dangerous area and escape from the trapped environment.

[0069] In some embodiments, the shortest escape path is planned based on the current position to reduce unnecessary movement and improve the efficiency of escaping from the trapped environment. For example, if the robot detects an obstacle ahead, it can choose the nearest detour path. In addition, according to real-time environmental changes, the path is dynamically adjusted to ensure that the robot can adapt to different environmental conditions. For example, if the robot detects a new edge during movement, the path can be adjusted in time to ensure safety.

[0070] In some embodiments, when the result of the trial is a normal environment, the window cleaning robot is controlled to run from the posture at the end of the trial to the initial state of the preset control mode. When the result of the trial is a normal environment, it proves that the surrounding environment of the window cleaning robot is safe at this time, and the window cleaning robot can perform the cleaning task according to the previously preset control mode. After confirming that the environment is a normal environment, the window cleaning robot can directly run accurately from the posture at the end of the trial to the initial state of the preset control mode without returning to the initial position before the trial, thereby reducing the interference of the trial action on the subsequent cleaning work, improving the cleaning efficiency and operation efficiency of the robot, and ensuring the smooth progress of the cleaning task.

[0071] Further, in some embodiments, the startup method further includes: controlling the second preset direction of the trial process to be the trend direction of the window cleaning robot walking according to the preset control mode; when the trial result is a normal environment, controlling the window cleaning robot to run from the posture at the end of the trial to the initial state of the preset control mode. The moving direction of the window cleaning robot when performing the cleaning task is preset, and when the trial action does not test out an abnormality, the moving direction of the cleaning task can be directly set to the second preset direction. For example, the window cleaning robot performs cleaning processing upward from the lower left of the glass. Before performing the cleaning processing task, it is necessary to test the surrounding environment, set the first preset direction to move horizontally to the left, and the window cleaning robot first tests the left side and determines that the left side is in a safe position. Then it is also safe to move upward along the current position. Therefore, after testing that the left area is a safe environment, the second preset direction can be directly set to the initial vertical upward direction, so that the window cleaning robot can directly perform the cleaning task in the vertical upward direction after testing that the left area is a safe area, without having to reset to the initial position, which can reduce the execution action of the window cleaning robot and ensure that the window cleaning robot cleans in a safe area.

[0072] In some embodiments, the window cleaning robot includes two cleaning units, at least one of which rotates to drive the window cleaning robot to move and clean; the startup method also includes: when the test result is a normal environment, determining the cleaning unit that moves first among the two cleaning units; the cleaning unit that moves first finds the rotation direction according to the movement direction of the window cleaning robot to shorten the initial movement time. In order to ensure that the window cleaning robot can quickly and efficiently enter the initial state of the preset control mode when the test result is a normal environment, the cleaning unit that moves first among the two cleaning units can be determined, and the rotation direction can be found according to the movement direction of the window cleaning robot to shorten the initial movement time. This solution is aimed at window cleaning robots that move in N-shaped and Z-shaped shapes. For window cleaning robots that move in these two moving modes, the two cleaning units 2 will move alternately, and one cleaning unit 2 is adsorbed and fixed on the surface to be cleaned, and drives the other cleaning unit 2 to rotate, so as to realize the mobile cleaning of the window cleaning robot. Among them, the cleaning unit that moves first needs to determine the rotation direction, which can be clockwise or counterclockwise. This application sets it to be determined according to the preset control mode of the window cleaning robot. For example, a window cleaning robot needs to move vertically upwards for cleaning. Before cleaning, the window cleaning robot first rotates 120° counterclockwise to test whether there is any abnormality on the left side. If there is no abnormality, the window cleaning robot does not need to rotate 120° clockwise to reset to the initial position. It can directly rotate 60° counterclockwise to complete the U-turn, or rotate and move in an overall upward shape along the current posture.

[0073] In some embodiments, a negative pressure chamber is provided on the cleaning unit, and the window cleaning robot further comprises: a negative pressure device 11, which is connected to the negative pressure chamber and is used to pump negative pressure into the negative pressure chamber so that the window cleaning robot is adsorbed on the surface to be cleaned; the starting method comprises: judging the result of the test according to the change of the negative pressure value in the negative pressure chamber. Since the window cleaning robot is adsorbed on the surface to be cleaned by negative pressure, if the negative pressure in the enclosed space suddenly decreases, it indicates that the cleaning unit 2 is depressurized, and there is a gap between it and the surface to be cleaned, and a close fit cannot be achieved. Based on this characteristic, it can be judged whether the cleaning unit 2 touches the unobstructed edge of the surface to be cleaned or moves onto the protrusion. In addition, the test result can also be judged by monitoring the motor information of the window cleaning robot. When the window cleaning robot moves to the obstructed edge, the cleaning unit 2 cannot continue to move. At this time, the power of the motor will change. By monitoring the rotation speed and motor power information of the cleaning unit 2, it can be judged whether the window cleaning robot touches the obstructed edge of the surface to be cleaned.

[0074] In some embodiments, the window cleaning robot is preset with two operating modes, namely, escape mode and normal mode; the operating mode is selected according to the number of times the edge is probed, specifically including: selecting the escape mode when the number of times the edge is probed is two; selecting the normal mode when the number of times the edge is probed is less than two. The number of times the edge is probed twice proves that the window cleaning robot has abnormalities in both directions, which means that the window cleaning robot is most likely located at the corner of the window. If no intervention is made, the safety of the window cleaning robot may be affected. When the number of times the edge is probed is 1 or 0, it proves that the window cleaning robot is in a safe state in most directions and only needs to avoid the direction of the edge to operate safely.

[0075] In some embodiments, the window cleaning robot is controlled to rotate in a preset angle in the clockwise direction and the counterclockwise direction to probe the edge of the surface to be cleaned; if the window cleaning robot probes the edge of the surface to be cleaned in both directions, it is determined that the window cleaning robot is not in a safe environment. Specifically, the window cleaning robot includes a host and a first cleaning unit and a second cleaning unit arranged on the host; the first cleaning unit is controlled to rotate around the second cleaning unit to probe the edge of the surface to be cleaned. When the first cleaning unit probes the edge of the surface to be cleaned, the position information of the window cleaning robot relative to the edge of the surface to be cleaned is determined according to the posture of the window cleaning robot. Afterwards, the second cleaning unit is controlled to rotate around the first cleaning unit according to the position information, so that the window cleaning robot runs to a safe environment. If the window cleaning robot detects the edge of the surface to be cleaned in both the clockwise direction and the counterclockwise direction, it means that the robot is in a relatively narrow or dangerous area, and it is determined that the robot is not in a safe environment. If the edge is detected in only one direction, it means that the robot may be close to the edge, but is still in a safe environment. If the first cleaning unit detects the edge, the edge position and the current posture of the robot are recorded. According to the posture of the window cleaning robot (such as tilt angle, rotation angle, etc.), the position information of the robot relative to the edge of the surface to be cleaned is determined. According to the position information, a safe path is planned so that the robot can leave the dangerous area and enter the safe area.

[0076] In some embodiments, the first preset direction is determined according to the relative positions of the first cleaning unit and the second cleaning unit; when the first cleaning unit is located at the upper right or lower left of the second cleaning unit, the first preset direction is clockwise; when the first cleaning unit is located at the upper left or lower right of the second cleaning unit, the first preset direction is counterclockwise. The window cleaning robot usually has two cleaning units 2, and different forms of movement are achieved through the operation of the cleaning units 2. In the present application, the walking modes of the window cleaning robot include twisting walking and linear walking. In some embodiments, when the window cleaning robot operates in either an up-and-down moving mode or a left-and-right moving mode, the walking mode of the window cleaning robot can adopt either a twisting walking mode or a linear walking mode, wherein the twisting walking mode includes alternating movements of the two cleaning units 2 of the window cleaning robot; the linear walking mode includes the rotation of both cleaning units 2 of the window cleaning robot.

[0077] Regarding linear walking: when the two cleaning units 2 rotate synchronously in opposite directions, the window cleaning robot can move as a whole, and the moving path depends on the rotation speed and rotation direction of the cleaning units 2. In this solution, the two cleaning units 2 are simultaneously adsorbed on the surface to be cleaned, and the cleaning process is more uniform and stable, which reduces unnecessary vibration and shaking, and improves cleaning efficiency and stability.

[0078] Regarding twisting walking: two cleaning units 2 are operated alternately, the first cleaning unit is negatively adsorbed on the surface to be cleaned, the other second cleaning unit rotates a specific angle with the first cleaning unit as the axis and then negatively adsorbs on the surface to be cleaned, and then the first cleaning unit is rotated a specific angle with the second cleaning unit as the axis, and so on, the movement of the window cleaning robot is achieved through the alternating adsorption and alternating movement of the first cleaning unit and the second cleaning unit, wherein the alternating adsorption of the first cleaning unit and the second cleaning unit can refer to: when the cleaning unit 2 with adsorption function is adsorbed on the surface to be cleaned, the cleaning unit 2 with moving function completely releases the negative pressure adsorption, or the cleaning unit 2 with moving function has less adsorption force than the cleaning unit 2 with adsorption function. In the scheme where the two cleaning units 2 are operated alternately, the movement trajectory of the window cleaning robot depends on the rotation angle of the cleaning unit 2, which can be either a straight line or a broken line. When the two cleaning units 2 rotate alternately at the same angle, a straight line movement trajectory can be obtained. When the two cleaning units 2 rotate alternately at different angles, a broken line movement trajectory can be obtained. Since the cleaning units 2 run alternately, the energy consumption of the window cleaning robot under twisting walking is lower than that of two cleaning units 2 rotating simultaneously when walking in a straight line. In addition, twisting walking can provide better cleaning effect for slightly uneven or textured surfaces.

[0079] Regarding the window cleaning robot's exploration mode and escape mode. Fig.11In the example, the window cleaning robot is located in the lower left corner of the window. In step 1, the first cleaning unit of the window cleaning robot is fixedly adsorbed on the surface to be cleaned, and drives the second cleaning unit to rotate counterclockwise, moves from the initial position to the trial position 1, and detects the trapped environment at the trial position 1. In step 2, the first cleaning unit of the window cleaning robot is fixedly adsorbed on the surface to be cleaned, and drives the second cleaning unit to rotate clockwise, moves from the trial position 1 to the trial position 2, and detects the trapped environment at the trial position 2. Exemplarily, regarding the exploration of the window cleaning robot in the lower left corner, it specifically includes: the first cleaning unit drives the second cleaning unit to rotate counterclockwise at a slow speed to explore the edge, and when encountering a state such as leakage and jamming, the device confirms that the second cleaning unit touches the left frame in combination with the position angle of the fuselage. Then, it can return to the starting position or change direction for exploration, and the first cleaning unit drives the second cleaning unit to rotate clockwise at a slow speed to explore the edge. When encountering a state such as leakage and jamming again, the device confirms that the second cleaning unit wheel touches the lower frame in combination with the position angle of the fuselage. Finally, the window cleaning robot is locked in the position of the lower left corner. After the trapped environment is detected, it is necessary to escape from the trapped environment. Specifically in step 3, the escape action 1 is performed first, and the window cleaning robot controls the second cleaning unit to be fixedly adsorbed on the surface to be cleaned, driving the first cleaning unit to rotate clockwise, and moving from the trial position 2 to the escape position 1. After that, the escape action 2 is performed in step 4, and the first cleaning unit is controlled to be fixedly adsorbed on the surface to be cleaned, driving the second cleaning unit to rotate counterclockwise, and reaching the escape position 2 from the escape position 1. The escape position 2 is far away from the edge relative to the initial position, and the escape edge is successfully escaped at this time. Exemplarily, regarding the escape of the window cleaning robot in the lower left corner, it specifically includes: the second cleaning unit drives the first cleaning unit to rotate clockwise at a certain angle at a slow speed, reaches the escape position 1, and is away from the left frame. Then, the first cleaning unit drives the second cleaning unit to rotate counterclockwise at a certain angle at a slow speed, so that the fuselage is away from the lower frame, and the window cleaning robot is completed in the lower left corner.

[0080] The present application also proposes a window cleaning robot start-up system, which systematizes the above-mentioned window cleaning robot start-up method. The module diagram of the start-up system is shown in the attached figure. Fig.12 As shown, including:

[0081] A probing unit A1 controls the window cleaning robot to run a preset distance in at least one of a first preset direction and a second preset direction to probe the current environment, wherein the first preset direction and the second preset direction are different;

[0082] The first walking unit A2 identifies the type of the current environment according to the detection result;

[0083] The second walking unit A3 controls the initial operation mode of the window cleaning robot according to the type of the current environment.

[0084] This application proposes a method for starting a window cleaning robot to address the shortcomings of existing window cleaning robots in terms of their lack of flexibility and adaptability when handling different types of windows. By obtaining the scene type of the surface to be cleaned and calling the corresponding operating mode, the cleaning strategy is dynamically adjusted in combination with different walking methods, so as to better adapt to different types of windows, which can significantly improve the cleaning effect and efficiency of the window cleaning robot, while reducing energy consumption and safety risks, and meeting the cleaning needs of different types of windows.

[0085] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0086] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0087] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for starting a window cleaning robot, characterized in that: The startup method comprises: Controlling the window cleaning robot to run a preset distance in at least one of a first preset direction and a second preset direction to test the current environment, wherein the first preset direction and the second preset direction are different; Identify the type of the current environment according to the probing result; The initial operation mode of the window cleaning robot is controlled according to the type of the current environment.

2. The startup method according to claim 1, characterized in that: The startup method also includes: When the current environment is a normal environment, controlling the window cleaning robot to walk according to a preset control method; Alternatively, when the current environment is a preset trapped environment, the window cleaning robot is controlled to escape from the preset trapped environment.

3. The startup method according to claim 1, characterized in that: Controlling the window cleaning robot to run a preset distance in at least one of a first preset direction and a second preset direction to explore the current environment includes: The window cleaning robot performs a first trial by running a preset distance in one of the first preset direction and the second preset direction; When the result of the first trial is a normal state, the current environment is identified as a normal environment, and the window cleaning robot is controlled to walk according to a preset control method.

4. The startup method according to claim 1, characterized in that: The startup method also includes: Controlling the window cleaning robot to run a preset distance in one of a first preset direction and a second preset direction to perform a first exploration; When the result of the first test is an abnormal state, the window cleaning robot is controlled to run a preset distance in the first preset direction and the second preset direction for a second test; When the second test result is an abnormal state, identifying the current environment as a preset trapped environment; The window cleaning robot is controlled to escape from a preset trapped environment.

5. The startup method according to claim 1, characterized in that: The window cleaning robot comprises two cleaning units, at least one of which rotates to drive the window cleaning robot to move and clean; the trial method comprises: One of the cleaning units does not move, and the other cleaning unit moves in two directions, so that the window cleaning robot runs at least a preset distance in a first preset direction and a second preset direction to explore the current environment.

6. The startup method according to claim 1, characterized in that: Controlling the window cleaning robot to run a preset distance in a first preset direction and a second preset direction respectively includes: After the window cleaning robot first runs a first preset distance from an initial position along a first preset direction, the window cleaning robot is controlled to reset to the initial position along a second preset direction and continue to run a second preset distance.

7. The startup method according to claim 2, characterized in that: The controlling the window cleaning robot to escape from the preset trapped environment comprises: After the window cleaning robot runs a preset distance in a direction of escaping from a preset trapped environment, controlling the window cleaning robot to perform an escape confirmation test, wherein the escape confirmation test includes: controlling the window cleaning robot to run a preset distance in at least one of a first preset direction and a second preset direction respectively; When the result of at least one test is a normal environment, it is confirmed that the window cleaning robot has escaped from the trapped environment.

8. The startup method according to claim 1, characterized in that: When the window cleaning robot is in a preset trapped environment, identifying a body posture of the window cleaning robot; Identifying a specific position pattern of a current environment in which the window cleaning robot is located according to a body posture of the window cleaning robot; According to the specific position pattern, the window cleaning robot is controlled to adopt a corresponding disengagement path for disengagement.

9. The startup method according to claim 1, characterized in that: When the result of the test is a normal environment, the window cleaning robot is controlled to run from the posture at the end of the test to the initial state of the preset control mode.

10. The startup method according to claim 1, characterized in that: The startup method also includes: The second preset direction for controlling the probing process is a trend direction for the window cleaning robot to walk in accordance with a preset control method; When the result of the test is a normal environment, the window cleaning robot is controlled to run from the posture at the end of the test to the initial state of the preset control mode.

11. The startup method according to claim 1, characterized in that: The window cleaning robot comprises two cleaning units, at least one of the two cleaning units rotates to drive the window cleaning robot to move and clean; The startup method also includes: When the trial result is a normal environment, determining the cleaning unit to be moved first among the two cleaning units; The cleaning unit that moves first finds the rotation direction according to the trend direction of the window cleaning robot walking according to the preset control method, so as to shorten the initial movement time.

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