Up-down moving type operation method and system of window cleaning robot

Abstract

The invention provides an up-down moving type operation method and system of a window cleaning robot. The method comprises the steps of obtaining a scene type of a to-be-cleaned surface where the window cleaning robot is currently located; according to the scene type, an up-down moving type operation mode of the window cleaning robot is called; wherein the window cleaning robot comprises at least two different operation modes, and the postures, corresponding to the operation modes, of the window cleaning robot are different. In order to overcome the defect that an existing window cleaning robot lacks flexibility and self-adaptability when treating different types of windows, the cleaning strategy is dynamically adjusted by obtaining the current running direction of the window cleaning robot and selecting different walking modes according to the ascending and descending processes, so that the window cleaning robot can better adapt to the different types of windows, and the cleaning efficiency is improved. The cleaning effect and efficiency of the window cleaning robot can be remarkably improved, meanwhile, energy consumption and safety risks are reduced, and the cleaning requirements of different types of windows are met.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to an up-and-down moving operation method and system of 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 household users, mainly used to clean windows and glass surfaces. The working principle of a household window cleaning machine is to clean the surface of the window by adsorbing it on the surface of the window and using a cleaning disc.

[0003] In the prior art, window cleaning robots usually adopt a fixed operation mode, and often lack flexibility and adaptability when handling different types of windows. Window cleaning robots can only operate according to a preset single mode and cannot dynamically adjust according to the actual type of surface to be cleaned, resulting in poor cleaning effect, low cleaning efficiency and potential safety hazards.

[0004] Application Contents

[0005] In view of this, the present application proposes a method and system for the up-and-down movement of a window cleaning robot to solve at least one of the above technical problems. The specific solution is as follows:

[0006] A method for moving up and down of a window cleaning robot, comprising:

[0007] Get the current running direction of the window cleaning robot;

[0008] When the window cleaning robot is moving in an upward direction, the window cleaning robot is controlled to move in a preset first type of walking mode; when the window cleaning robot is moving in a downward direction, the window cleaning robot is controlled to move in a preset second type of walking mode; wherein the first type of walking mode is different from or the same as the second type of walking mode.

[0009] In some specific embodiments, when the first type of walking manner is different from the second type of walking manner, the first type of walking manner adopts a twisting walking manner, and the second type of walking manner adopts a linear walking manner.

[0010] In some specific embodiments,

[0011] When the window cleaning robot is moving upward, the window cleaning robot overcomes the gravity of the body and uses the first power to drive the window cleaning robot to move in a twisting walking manner;

[0012] When the running direction of the window cleaning robot is downward, the window cleaning robot uses the gravity of the body and adopts the second power to drive the window cleaning robot to run in a straight line walking manner;

[0013] Wherein, a difference between the first power and the second power is within a preset range.

[0014] In some specific embodiments, a downward process and an upward process constitute a stroke set; the window cleaning robot cleans the surface to be cleaned according to the multiple stroke sets in sequence, and adjacent stroke sets are adjacent or at least partially overlapped.

[0015] In some embodiments, adjacent sets of strokes are switched at the top of the surface to be cleaned.

[0016] In some specific embodiments, within a set of passes, the travel paths of the downward process and the upward process at least partially overlap to perform overlapping cleaning, and to break up and remove the travel traces left by the travel process of the previous set of passes.

[0017] In some specific embodiments, within a stroke set, the window cleaning robot is controlled to first perform a downward process to push heavy stains to the bottom of the surface to be cleaned, and then perform an upward process to perform overlapping cleaning, and the travel trajectory and travel traces of the downward process are broken up and removed.

[0018] In some specific embodiments, the window cleaning robot controls a preset amount of liquid to spray;

[0019] In a stroke set, the window cleaning robot is controlled to first perform a downward process, and with the help of the body gravity of the window cleaning robot, the amount of liquid sprayed is increased, so that the window cleaning robot cleans according to a preset first humidity; during the upward process of the window cleaning robot, the amount of liquid sprayed is reduced, and the window cleaning robot cleans according to a preset second humidity to overcome the body gravity of the window cleaning robot.

[0020] In some specific embodiments, within a stroke set, the body running speed of the window cleaning robot during a downward movement is controlled to be lower than the body running speed during an upward movement.

[0021] A vertically movable operation system of a window cleaning robot, comprising:

[0022] A direction acquisition unit, used to acquire the current running direction of the window cleaning robot;

[0023] A mode selection unit is used to control the window cleaning robot to move in a preset first type of walking mode when the window cleaning robot is moving in an upward direction; and to control the window cleaning robot to move in a preset second type of walking mode when the window cleaning robot is moving in a downward direction; wherein the first type of walking mode is different from or the same as the second type of walking mode.

[0024] Beneficial effects:

[0025] In view of the lack of flexibility and adaptability of existing window cleaning robots when handling different types of windows, this application proposes a method and system for the up-and-down movement of a window cleaning robot. By obtaining the current running direction of the window cleaning robot and selecting different walking modes according to the up and down processes to dynamically adjust the cleaning strategy, the window cleaning robot can better adapt to different types of windows, significantly improve the cleaning effect and efficiency of the window cleaning robot, reduce energy consumption and safety risks, and meet the cleaning needs of different types of windows. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a flow chart of an operation method in an embodiment of the present application;

[0027] Figure 2 is a structural example diagram of the main body of the window cleaning robot in one embodiment of the present application;

[0028] Figure 3 It is a schematic diagram of the up-and-down movement in one embodiment of the present application;

[0029] Figure 4 It is a schematic diagram of left-right movement in one embodiment of the present application;

[0030] Figure 5 This is a schematic diagram of a combined mobile type in one embodiment of the present application;

[0031] Figure 6 is an example diagram of an offset movement trajectory in an embodiment of the present application;

[0032] Figure 7 This is a schematic diagram of linear walking in one embodiment of the present application;

[0033] Figure 8 This is a schematic diagram of twisting walking in an embodiment of the present application;

[0034] Fig. 9 This is a schematic diagram of a surface to be cleaned of a transversely extending frame in an embodiment of the present application;

[0035] Fig.10 It is a schematic diagram of a surface to be cleaned of a vertically extending frame in an embodiment of the present application;

[0036] Fig.11This is a flow chart of the up and down moving operation method in one embodiment of the present application;

[0037] Fig.12 is a schematic diagram of a trip set in one embodiment of the present application;

[0038] Fig.13 is a schematic diagram of multiple itinerary sets in one embodiment of the present application;

[0039] Fig.14 is a schematic diagram of walking traces in an embodiment of the present application;

[0040] Fig.15 It is a schematic diagram of the operating system module in one embodiment of the present application.

[0041] Figure numerals: 1-main body; 2-cleaning unit; 11-negative pressure device; A1-direction acquisition unit; A2-mode selection unit. DETAILED DESCRIPTION

[0042] 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.

[0043] This application discloses an operating method of a window cleaning robot. The specific process of the operating method is as shown in the attached manual. Figure 1 The specific plan is as follows:

[0044] 101. Obtain the scene type of the surface to be cleaned where the window cleaning robot is currently located;

[0045] 102. Calling the operation mode of the window cleaning robot according to the scene type, wherein the window cleaning robot includes at least two different operation modes, and each operation mode corresponds to a different posture of the window cleaning robot.

[0046] In this application, the window cleaning robot is an automated cleaning device used to clean windows and other vertical surfaces, equipped with various sensors and cleaning tools, which can efficiently complete cleaning tasks without human intervention.

[0047] 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 to realize the movement of the window cleaning robot. Specifically, the window cleaning robot needs to control the negative pressure of each cleaning unit 2 to be adsorbed 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 through 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, depending on specific needs. Among them, the following description takes a window cleaning machine with two cleaning units 2 as an example, and the instruction manual is attached. Figure 2 An exemplary diagram is given of a window cleaning robot having two cleaning units 2 .

[0048] In the present application, scene types include the shape, area, and environment of the surface to be cleaned. The operating mode mainly refers to the movement mode of the window cleaning robot. Different operating modes will directly affect the cleaning efficiency of the window cleaning robot. And the posture of the window cleaning robot corresponding to each operating mode is different. The posture of the window cleaning robot refers to its position and angle relative to the surface to be cleaned during the cleaning process. The window cleaning robot has different movements in different operating modes, including the offset angles of different cleaning units 2 relative to the surface to be cleaned each time it moves. For example, the posture of the window cleaning robot is different when it moves in an N shape and in a Z shape. Each operating mode is different not only in the moving path, but also in the posture. This can better adapt to different types of window surfaces and improve the cleaning effect.

[0049] Among them, the shapes of the surfaces to be cleaned include rectangles, circles, irregular shapes, etc. For surfaces to be cleaned of different shapes, different walking paths will result in different cleaning efficiencies of the window cleaning robot. The environment can be divided according to temperature, humidity, wind speed, floor height, etc., such as indoor environment and outdoor environment, high floor environment and low floor environment. Environmental factors such as temperature, humidity, wind speed, and floor height will directly affect the operation mode of the window cleaning robot. The operation mode is not only related to the cleaning effect of the window cleaning robot, but also to the safety and service life of the robot. When facing surfaces to be cleaned of different shapes and areas, different walking methods need to be selected according to needs.

[0050] In some embodiments, since the window cleaning robot is usually used to clean vertical surfaces, the operating modes of the present application include: up-and-down movement, left-and-right movement, and a combination of up-and-down movement and left-and-right movement. The up-and-down movement refers to the window cleaning robot moving in a vertical direction, which is suitable for high and narrow windows, such as the attached Figure 3For example, the window cleaning robot moves vertically upwards for cleaning, and after reaching the edge of the surface to be cleaned, it turns around and moves vertically downwards to clean the same area again, or rotates a specific angle and then moves vertically downwards to clean the adjacent area. The left-right movement type means that the window cleaning robot moves horizontally, which is suitable for short and wide windows, such as the following. Figure 4 For example, the window cleaning robot moves horizontally to the left for cleaning, and turns around after reaching the edge of the surface to be cleaned, and directly moves horizontally to the right to clean the same area again, or rotates a specific angle first and then moves horizontally to the right to clean the adjacent area. The combination of the up-and-down movement and the left-and-right movement (referred to as the combined movement) is to flexibly set the up-and-down movement and the left-and-right movement during the mobile cleaning process, adding left-and-right movement to the up-and-down movement process, and adding up-and-down movement to the left-and-right movement process, as shown in the attached figure. Figure 5 As shown in the attached Figure 5 In the process, the window cleaning robot first moves left and right, and then moves up and down. The combined mobile method is suitable for larger windows or windows of irregular shapes.

[0051] It should be noted that the up-down movement and left-right movement in this application are all overall movement trends, and do not require the window cleaning robot to move strictly in the vertical or horizontal direction. The up-down movement means that the overall movement trend of the window cleaning robot is from top to bottom or from bottom to top, not strictly moving downward in the vertical direction. The movement route of the window cleaning robot can also be diagonal walking, such as moving to the upper left corner, from the upper left corner to the lower right corner, etc., as shown in the attached Figure 6 As shown in the attached Figure 6 In the figure, the moving direction of the window cleaning robot is upward and slightly right, and the moving path is a diagonal line, but the main moving trend is from top to bottom, which belongs to the up-down moving type. In practical applications, the moving trajectory of the window cleaning robot can be adjusted by controlling the rotation of the mobile unit. Similarly, the left-right moving type means that the overall moving trend of the window cleaning robot is from left to right or from right to left, not strictly in the horizontal direction. The window cleaning robot can also move to the upper left or lower left.

[0052] The window cleaning robot usually has two cleaning units 2, and different forms of movement can be achieved through the operation of the cleaning units 2. In the present application, the walking mode of the window cleaning robot includes twisting walking and linear walking. In some embodiments, when the window cleaning robot is operated 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 twisting walking or linear walking, wherein the twisting walking includes the alternating movement of the two cleaning units 2 of the window cleaning robot; and the linear walking includes the rotation of both cleaning units 2 of the window cleaning robot.

[0053] 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 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. Figure 7 shown.

[0054] Regarding twisting walking: two cleaning units 2 operate alternately, cleaning unit a is negatively adsorbed on the surface to be cleaned, and the other cleaning unit b rotates a certain angle with cleaning unit a as the axis and then negatively adsorbs on the surface to be cleaned, and then cleaning unit a rotates a certain angle with cleaning unit b as the axis, and so on, the movement of the window cleaning robot is achieved through the alternating adsorption and alternating movement of cleaning units a and b, wherein the alternating adsorption of cleaning units a and b can refer to: when the cleaning unit with adsorption function is adsorbed on the surface to be cleaned, the cleaning unit with moving function completely releases the negative pressure adsorption, or the cleaning unit with moving function has less adsorption force than the cleaning unit with adsorption function. Twisting walking is shown in the attached figure. Figure 8 As shown. In the scheme where the two cleaning units 2 are operated alternately, the moving 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 moving trajectory can be obtained. When the two cleaning units 2 rotate alternately at different angles, a broken line moving trajectory can be obtained. Figure 8 The moving track in is a Z-shaped broken line. Since the cleaning units 2 run alternately, compared with the two cleaning units 2 rotating simultaneously in a straight line, the energy consumption of the window cleaning robot under twisting walking is lower. Moreover, for slightly uneven or textured surfaces, twisting walking can provide better cleaning effects.

[0055] In the present application, there are multiple classification standards for scene types, taking the classification based on the shape of the surface to be cleaned as an example: the scene types of the surface to be cleaned are divided into horizontal surfaces to be cleaned and vertical surfaces to be cleaned according to the shape. The window cleaning robot intelligently selects the appropriate operation mode according to the shape of the surface to be cleaned, and dynamically adjusts its posture to ensure the best cleaning effect. Exemplarily, if the robot's moving distance in the horizontal direction is much greater than the moving distance in the vertical direction, it is determined to be a "wide and short" scene type. If the robot's moving distance in the vertical direction is much greater than the moving distance in the horizontal direction, it is determined to be a "narrow and tall" scene type. If the moving distances in the two directions are close, it is determined to be a "rectangular" or "square" scene type.

[0056] In some embodiments, when it is determined that the scene type of the current surface to be cleaned is a horizontal surface to be cleaned, the window cleaning robot is controlled to operate in a left-right movement mode, or in a combination of the left-right movement mode and the up-and-down movement mode. The horizontal surface to be cleaned is a horizontal window, and the width of the window is greater than the height, which is suitable for left-right movement mode or a combined movement mode. The window cleaning robot can move from left to right or from right to left to cover the entire width with an N-shaped path. It is also possible to combine N-shaped and Z-shaped movements to use a complex path to cover the entire window surface. For example, an N-shaped movement is performed first, and then a Z-shaped movement is performed, or N-shaped and Z-shaped movements are performed alternately.

[0057] In some embodiments, when it is determined that the scene type of the current surface to be cleaned is a vertical surface to be cleaned, the window cleaning robot is controlled to operate in an up-and-down movement mode, or in a combination of the up-and-down movement mode and the left-and-right movement mode. The vertical surface to be cleaned is vertical glass, and the height of the window is greater than the width, which is suitable for an up-and-down movement mode or a combined movement mode. The robot can move from top to bottom or from bottom to top to cover the entire height in a Z-shaped path, or it can combine Z-shaped and N-shaped movements to use a complex path to cover the entire window surface. For example, a Z-shaped movement is performed first, and then an N-shaped movement is performed, or Z-shaped and N-shaped movements are performed alternately.

[0058] In actual applications, window cleaning robots usually move and clean row by row or column by column. When they reach the edge of the surface to be cleaned, they will change their direction of movement. After cleaning one row, they will clean the adjacent column. The number of changes in the direction of movement will directly affect the cleaning efficiency. The specific reason is that when the window cleaning robot turns, it needs to perform operations such as border recognition and angle conversion. The time taken for the turning process is longer than the time taken for the normal operation process. Therefore, the more times it turns, the lower the cleaning efficiency.

[0059] In some embodiments, obtaining the scene type of the surface to be cleaned where the window cleaning robot is currently located includes: the window cleaning robot runs a whole row and a whole column on the surface to be cleaned in any one of at least two different operating modes; determining the scene type of the current surface to be cleaned according to the parameters of running the whole row and the whole column. The window cleaning robot runs a whole row and a whole column on the surface to be cleaned so as to collect enough information to determine the scene type. In the selected mode, the robot first performs a complete horizontal or vertical movement and records the boundary information encountered during the operation (such as the width or height of the window). In some embodiments, if the selected operating mode is a combined mobile mode, the robot needs to change direction after completing a whole row operation and continue to run the whole column until the entire surface to be cleaned is covered to determine the length and width of the surface to be cleaned.

[0060] In the process of running the entire row and column, the parameters that the window cleaning robot needs to collect involve boundary information, moving speed, and working parameters. Boundary information: the boundary points encountered by the window cleaning robot during movement, which are used to determine the width and height of the window. Moving distance, the total distance traveled by the robot in a single movement. Moving speed: the average speed of the robot in a single movement. Working parameters of cleaning unit 2, such as rotation speed, negative pressure value, motor power, etc. The window cleaning robot can intelligently adjust its operating mode according to the above parameters to adapt to different scene types of the surface to be cleaned, thereby improving cleaning efficiency and quality.

[0061] Since the window cleaning robot uses negative pressure to adsorb on the surface to be cleaned, if the negative pressure in the confined space drops suddenly, it means that the cleaning unit 2 has a pressure relief, and there is a gap between it and the surface to be cleaned, and it is impossible to achieve a close fit. Based on this feature, it can be judged whether the cleaning unit 2 touches the unobstructed edge of the surface to be cleaned. When the window cleaning robot moves to the blocked edge, the cleaning unit 2 cannot continue to move. At this time, the power of the motor will change. By monitoring the speed and motor power information of the cleaning unit 2, it can be judged whether the window cleaning robot touches the blocked edge of the surface to be cleaned. The data collected by the window cleaning robot during the operation of the entire row and column can not only be used to identify the boundary of the surface to be cleaned, but also to determine whether there is an obstruction at the boundary of the surface to be cleaned. For the unobstructed edge, there may be a risk of falling. The window cleaning robot can choose a more stable operation mode, such as a larger adsorption power, a higher frequency data communication mode, etc., to ensure the safe operation of the window cleaning robot. In addition, environmental information such as temperature, humidity, and wind speed can be collected through sensors, and parameters such as the suction force of the suction cup and the rotation speed of the cleaning unit 2 can be pre-adjusted according to the environmental information to adapt to the current environmental conditions.

[0062] In view of the fact that the windows may have complex frame structures, the corresponding cleaning strategies are customized according to the distribution of the frame structures. In some embodiments, the scene types can also be classified according to the distribution of the frame of the surface to be cleaned. When there is a frame on the surface to be cleaned, the window cleaning robot can operate normally, and the blocking of the frame can protect the window cleaning robot from falling; but when there is no frame on the surface to be cleaned, the window cleaning robot is very likely to fall due to pressure relief. Specifically, when it is determined that the scene type of the current surface to be cleaned has a frame, the operating mode is selected according to the distribution of the frame. According to the distribution of the frame, the scene types are divided into surfaces to be cleaned with horizontally extending frames and surfaces to be cleaned with vertically extending frames.

[0063] In some embodiments, when it is determined that the scene type of the current surface to be cleaned is a surface to be cleaned with a horizontally extending frame, the window cleaning robot is controlled to operate in an up-and-down moving manner. The surface to be cleaned with a horizontally extending frame refers to a surface to be cleaned with a frame that is horizontally distributed, with frames on the top and bottom but not on the left and right, or with a frame that is too low to block the window cleaning robot. Fig. 9As shown. Because there are upper and lower frames to block the window cleaning robot, the window cleaning robot can sense when it reaches the frame, and will not leave the surface to be cleaned when turning around at the frame. The risk of falling due to pressure relief is low. It is safer for the window cleaning robot to choose the up and down moving operation mode.

[0064] In some embodiments, when it is determined that the scene type of the current surface to be cleaned is a surface to be cleaned with a vertically extending frame, the window cleaning robot is controlled to move left and right. The surface to be cleaned with a vertically extending frame refers to a surface with a vertically extending frame, where there are frames on the left and right, but no frames on the top and bottom, or the frames are too low to block the window cleaning robot. Fig.10 As shown. Since there are frames on the left and right sides, the window cleaning robot can be blocked. When the window cleaning robot reaches the frame, it can sense it, and when it turns around at the frame, it will not leave the surface to be cleaned. The risk of falling due to pressure relief is low. It is safer for the window cleaning robot to choose the left and right moving operation mode.

[0065] In some embodiments, when it is determined that the scene type of the current surface to be cleaned is a large-area surface to be cleaned, the window cleaning robot is controlled to operate in an up and down movement mode, or a combination of a left and right movement mode and an up and down movement mode.

[0066] In this embodiment, a large-area surface to be cleaned refers to a surface to be cleaned whose area is larger than a preset area, and whose vertical height is larger than a preset value. In this type of surface to be cleaned, since the area of ​​the surface to be cleaned is large, after the cleaning unit 2 wipes a part of the surface to be cleaned, the cleaning unit 2 contains more dirt. In the subsequent cleaning process, the cleaning effect will deteriorate, and the cleaning unit 2 needs to be replaced so that the window cleaning robot always maintains a good cleaning effect. In this embodiment, a downward movement type, or a combination of left-right movement type and up-and-down movement type is adopted. When the window cleaning robot is in the downward movement type, the window cleaning robot will move to an area lower than the surface to be cleaned. The area lower than the surface to be cleaned is closer to the user, and the user can conveniently replace the cleaning unit 2 of the window cleaning robot in this area.

[0067] For the up and down movement type, the appropriate walking mode can be selected according to the upward and downward processes to optimize the cleaning effect and power consumption according to different needs.

[0068] This application also proposes a method for the up-and-down movement of a window cleaning robot, the process of which is as shown in the attached Fig.11 As shown, the following steps are included:

[0069] 201. Obtain the current running direction of the window cleaning robot;

[0070] 202. When the window cleaning robot is moving upward, the window cleaning robot is controlled to move in a first type of walking manner; when the window cleaning robot is moving downward, the window cleaning robot is controlled to move in a second type of walking manner; wherein the first type of walking manner is different from or the same as the second type of walking manner.

[0071] For the up-and-down movement type, considering the influence of gravity on the window cleaning robot, a suitable walking mode is selected according to different running directions, while ensuring the cleaning effect, optimizing energy use, extending battery life, improving system stability and equipment life, and providing a better user experience. In some embodiments, the up-and-down movement type includes an upward process and a downward process; when the window cleaning robot operates according to the up-and-down movement type, the walking modes adopted by the window cleaning robot in the upward process and the downward process are different or the same. The walking mode includes linear walking and twisting walking. The upward process is the process in which the window cleaning robot moves from bottom to top, and the downward process is the process in which the window cleaning robot moves from top to bottom. The upward process and the downward process can adopt different walking modes, specifically including: the upward process adopts linear walking and the downward process adopts twisting walking; the upward process adopts twisting walking and the downward process adopts linear walking. The upward process and the downward process can adopt the same walking mode, specifically including: both the upward process and the downward process adopt linear walking, and both the upward process and the downward process adopt twisting walking.

[0072] In some embodiments, when the walking modes of the window cleaning robot during the upward process and the downward process are different, the window cleaning robot adopts a twisting walking mode during the upward process and a straight walking mode during the downward process, as shown in the attached Fig.12 and 13 As shown. When the window-cleaning robot is in twisting walking mode, the driving power of the motor is relatively low due to the alternating use of the cleaning units 2. During the upward process, gravity acts as a resistance, and the window-cleaning robot has to overcome gravity to move. The twisting walking mode can achieve the upward movement with lower power. During the downward process, gravity acts as an assist force. Under the action of gravity, the window-cleaning robot will be promoted to move downward. Compared with the power consumption during the upward process, the overall power of the window-cleaning robot will be significantly reduced during the downward process. In order to maintain the power of the window-cleaning robot within a preset range, when the window-cleaning robot adopts different walking modes during the upward process and the downward process, the window-cleaning robot adopts twisting walking mode during the upward process so that only one motor of the window-cleaning robot is working, and adopts linear walking mode during the downward process so that the two motors of the window-cleaning robot are working at the same time, as shown in the following figure. Fig.13As shown. The upward process uses twisting walking to overcome gravity with lower power. The downward process uses linear walking to use gravity to reduce the driving power of the motor. Choosing the right posture according to the upward and downward processes can not only improve cleaning efficiency, but also ensure that the power of the window cleaning robot is maintained within the preset range. Maintaining the power of the window cleaning robot within the preset range can reduce unnecessary energy consumption, thereby extending the battery life, and the stable power output helps to maintain stable cleaning performance, avoid unstable behavior caused by power fluctuations, and ensure that the entire surface is cleaned evenly.

[0073] Further, when the window cleaning robot is moving upward, the window cleaning robot overcomes the gravity of the fuselage and uses the first power to drive the window cleaning robot to walk in a twisting manner; when the window cleaning robot is moving downward, the window cleaning robot uses the gravity of the fuselage and uses the second power to drive the window cleaning robot to walk in a straight line; wherein the difference between the first power and the second power is within a preset range. Under the same conditions, the power for driving the window cleaning robot to walk in a twisting manner is less than the power for driving the window cleaning robot to walk in a straight line. In order to balance the power of the upward and downward movements as close as possible, the downward movement is set to walk in a straight line. By using the straight line movement, the driving power of the motor is reduced by the action of gravity, and the second power is made close to the first power by adjusting the working mode of the motor or increasing the mechanical load. The difference between the first power of the upward movement and the second power of the downward movement is kept within the preset range to achieve approximate equality of power. By keeping the difference between the first power and the second power of the downward movement within the preset range, a lower rated power can be selected when selecting devices such as adapters and circuit connecting wires to reduce the production cost of the window cleaning robot. The specific reason is that when two cleaning units are used to run simultaneously during the upward process, an adapter with a larger rated power is required compared to one cleaning unit. However, when two cleaning units run simultaneously during the downward process, the total output power is smaller, and the required adapter has a smaller rated power. Therefore, when one cleaning unit runs during the upward process and two cleaning units run during the downward process, an adapter with a smaller rated power can be selected to reduce the total cost of the window cleaning robot (the smaller the rated power of the adapter, the lower the cost).

[0074] In some embodiments, a down-going process and an up-going process are a trip set; the window cleaning robot cleans the surface to be cleaned according to the multiple trip sets in sequence, and adjacent trip sets are adjacent or at least partially overlapped. Fig.13As shown. The window cleaning robot will change its moving direction when it reaches the edge. For the up-and-down movement type, a downward process and an upward process are divided into a travel set. Among them, the upward process and the downward process can clean the same area or different areas. Each travel set represents a reciprocating motion process of the window cleaning robot, which will generate one or two cleaning areas. The cleaning areas generated by adjacent travel sets can be the same to achieve repeated cleaning of a cleaning area, which can be suitable for cleaning stubborn stains; the cleaning areas generated by adjacent travel sets can also be different to achieve cleaning of different cleaning areas and realize the expansion of the cleaning area in the spatial dimension.

[0075] In some embodiments, adjacent stroke sets are switched at the top of the surface to be cleaned, as shown in the attached Fig.13 As shown in the attached Fig.13 In the process, the travel set 1 and the travel set 2 are switched at the top area. A travel set is set to go down first and then up, that is, when the previous travel set ends, the window cleaning robot is at the top of the surface to be cleaned, and then the next travel set starts at the top of the surface to be cleaned. The down process is performed first to clean and transfer stains. In the previous travel set, the second half is the up process, and the stains have been mainly cleaned during the first half of the down process, resulting in less stains remaining during the up process. The adjacent travel set is switched at the top of the surface to be cleaned, which will not cause the main stains to accumulate on the top of the surface to be cleaned, and the small amount of remaining stains will also slowly move down under the action of gravity, thereby improving the cleaning effect of the top of the surface to be cleaned and avoiding too much stains from accumulating on the top of the surface to be cleaned. Once the adjacent travel sets are switched at the bottom of the surface to be cleaned, it means that each travel set first executes the up process and then the down process. During the up process, a large amount of stains will be accumulated on the top of the surface to be cleaned. A large amount of stains will move under the action of gravity and will be re-applied to the cleaned area, affecting the cleaning effect.

[0076] In some embodiments, within a set of travels, the travel paths of the down-going process and the up-going process at least partially overlap to perform overlapping cleaning, and to break up and remove the travel traces left by the previous travel process. The travel path is the cleaning area, and the travel paths of the up-going process and the down-going process at least partially overlap, so that the cleaning areas of the up-going process and the down-going process at least partially overlap. Fig.13 In the figure, there is a partial overlap between the downlink process ① and the uplink process ①, there is a partial overlap between the downlink process ② and the uplink process ①, and there is a partial overlap between the downlink process ② and the uplink process ②. When the cleaning unit 2 moves, it will produce moving traces on both sides. These moving traces are distributed around the cleaning unit 2. Fig.14As shown in the figure. There is partial overlap between the upward and downward processes, which can eliminate some of the travel traces. In addition, the coordination between adjacent travel sets can eliminate most of the travel traces. For example, the travel traces on both sides are generated during the downward process. Compared with the downward process, the upward process is to the right, and there is partial overlap between the upward process and the downward process. The right travel traces generated during the downward process can be dispersed to eliminate the travel traces.

[0077] In one stroke set, the window cleaning robot is controlled to first perform a downward process to push the heavy stains to the bottom of the surface to be cleaned, and then perform an upward process to perform overlapping cleaning, and the travel traces of the downward process are scattered and removed. In the up-and-down movement type, by first descending to push the heavy stains to the bottom of the window, the stains can be concentrated in one place, and the heavy stains can be pushed to the bottom at one time, avoiding repeated treatment of the same stain in multiple round trips, thereby improving the cleaning efficiency. Afterwards, overlapping cleaning is performed during the upward process to ensure uniform and thorough cleaning, especially for traces that may be left during the downward process or stains that are not completely removed. The upward process and the downward process can be made to overlap at least partially, on the one hand, the stains are cleaned, and on the other hand, the travel traces during the downward process are cleaned. In addition, during the upward process, the rotation directions of the two cleaning units 2 are opposite, which will drive the stains downward, but will not push the stains upward. The stains will move to the bottom of the surface to be cleaned under the action of gravity, thereby improving the cleaning effect. By first performing the downward process to push heavy stains to the bottom of the surface to be cleaned, and then performing the upward process to perform overlapping cleaning and remove the travel traces during the downward process, this solution can effectively handle heavy stains, improve cleaning results, optimize energy consumption, extend equipment life, and provide a better user experience. It not only improves the cleaning efficiency of the window cleaning robot, but also enhances the overall performance and reliability.

[0078] In some embodiments, the window cleaning robot controls a preset amount of liquid spraying for spraying. In a trip set, the window cleaning robot is controlled to first go down, and the gravity of the window cleaning robot is used to increase the amount of liquid spraying, so that the window cleaning robot cleans according to a preset first humidity. During the upward movement of the window cleaning robot, the gravity of the window cleaning robot reduces the amount of liquid spraying, so that the window cleaning robot cleans according to a preset second humidity. The liquid spraying amount is pre-set according to the degree of stains on the window surface and the cleaning requirements to ensure that the liquid spraying amount can meet the cleaning requirements at different stages during the entire cleaning process. Based on the liquid spraying amount, adjustments are made up and down to adapt to different stages of the trip set. Wherein, the first humidity is greater than the second humidity.

[0079] The initial cleaning and secondary cleaning of the entire window surface are completed in one stroke to achieve the best cleaning effect. During the downward process, the amount of liquid sprayed is increased so that the window cleaning robot cleans according to the preset first humidity. During the downward process, gravity helps to evenly distribute the liquid, and increasing the wetness can better soften heavy stains, making them easier to remove. By first descending to push the heavy stains to the bottom of the window, the stains can be concentrated in one place, which is convenient for subsequent more thorough cleaning. The amount of liquid sprayed is increased during the downward process by the water spraying device so that the window surface reaches the preset first humidity (for example, 70% humidity). During the upward process, the amount of liquid sprayed is reduced so that the window cleaning robot cleans according to the preset second humidity. During the upward process, due to the need to overcome gravity, the amount of liquid sprayed is reduced to avoid excessive moisture causing the cleaning unit 2 to slide or incomplete cleaning. The amount of liquid sprayed is reduced during the upward process by the water spraying device so that the window surface reaches the preset second humidity (for example, 50% humidity). During the downward process, the amount of liquid sprayed is increased to soften heavy stains, and high humidity cleaning helps soften stains and makes them easier to remove. By reducing the amount of liquid sprayed during the upward process, low-humidity cleaning helps to break up the traces during the downward process, ensure uniform and thorough cleaning, avoid excessive moisture causing the cleaning unit 2 to slide or incomplete cleaning, and improve cleaning efficiency. In practical applications, when the power of the water spraying device is the same, the amount of water sprayed by the spraying device is less during the upward process due to the influence of the gravity of the cleaning liquid, while the amount of water sprayed by the spraying device is more during the downward process due to the influence of the gravity of the cleaning liquid, which just meets the needs of the window cleaning robot for a smaller amount of liquid spray during the upward process and a larger amount of spray during the downward process. In this way, the output power of the spraying device does not need to be adjusted significantly, making the spraying process of the spraying device more stable, the spraying effect more precise, and saving energy consumption of the spraying device.

[0080] In some embodiments, within a stroke set, the running speed of the body of the window cleaning robot during the downward process is lower than the running speed of the body during the upward process. During the downward process, the slower speed can ensure that the cleaning unit 2 has enough time to contact the window surface for deep cleaning, especially for heavy stains. During the upward process, the faster speed can improve the cleaning efficiency. At the same time, since the preliminary deep cleaning has been carried out, the upward process is mainly to break up the traces of the downward process and perform secondary cleaning.

[0081] The present application also proposes an operating system for a window cleaning robot, which systematizes the operating method of the above-mentioned window cleaning robot. The modules of the operating system are shown in the attached figure. Fig.15 As shown, including:

[0082] A type acquisition unit, used to acquire the scene type of the surface to be cleaned where the window cleaning robot is currently located;

[0083] A mode selection unit is used to call the operating mode of the window cleaning robot according to the scene type, wherein the window cleaning robot includes at least two different operating modes, and the posture of the window cleaning robot corresponding to each operating mode is different.

[0084] The present application discloses a storage medium, wherein the computer-readable storage medium includes a control program of a window cleaning robot, and when the control program of the window cleaning robot is executed by a processor, the steps of the operation method of the window cleaning robot described above are implemented. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0085] In view of the lack of flexibility and adaptability of existing window cleaning robots when handling different types of windows, this application proposes an operation method and system for a window cleaning robot. By obtaining the scene type of the surface to be cleaned and calling the corresponding operation 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.

[0086] 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.

[0087] 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.

[0088] 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 moving up and down of a window cleaning robot, characterized in that: include: Get the current running direction of the window cleaning robot; When the window cleaning robot is moving in an upward direction, the window cleaning robot is controlled to move in a preset first type of walking mode; when the window cleaning robot is moving in a downward direction, the window cleaning robot is controlled to move in a preset second type of walking mode; wherein the first type of walking mode is different from or the same as the second type of walking mode.

2. The up-and-down moving operation method according to claim 1, characterized in that: When the first type of walking manner is different from the second type of walking manner, the first type of walking manner adopts a twisting walking manner, and the second type of walking manner adopts a linear walking manner.

3. The up-and-down moving operation method according to claim 1, characterized in that: When the window cleaning robot is moving upward, the window cleaning robot overcomes the gravity of the body and uses the first power to drive the window cleaning robot to move in a twisting walking manner; When the running direction of the window cleaning robot is downward, the window cleaning robot uses the gravity of the body and adopts the second power to drive the window cleaning robot to run in a straight line walking manner; Wherein, a difference between the first power and the second power is within a preset range.

4. The up-and-down moving operation method according to claim 1, characterized in that: One downward process and one upward process constitute one stroke set; the window cleaning robot cleans the surface to be cleaned according to the multiple stroke sets in sequence, and adjacent stroke sets are adjacent or at least partially overlapped.

5. The up-and-down moving operation method according to claim 4, characterized in that: Adjacent stroke sets are switched on top of the surface to be cleaned.

6. The up-and-down moving operation method according to claim 5, characterized in that: In one stroke set, the travel paths of the downward process and the upward process at least partially overlap to perform overlapping cleaning, and the travel traces left by the travel process of the previous stroke set are broken up and removed.

7. The up-and-down moving operation method according to claim 4, characterized in that: In one stroke set, the window cleaning robot is controlled to first perform a downward process to push heavy stains to the bottom of the surface to be cleaned, and then perform an upward process to perform overlapping cleaning, and the travel track and travel traces of the downward process are broken up and removed.

8. The up-and-down moving operation method according to claim 4, characterized in that: The window cleaning robot controls a preset amount of liquid spray for spraying; In a stroke set, the window cleaning robot is controlled to first perform a downward process, and with the help of the body gravity of the window cleaning robot, the amount of liquid sprayed is increased, so that the window cleaning robot cleans according to a preset first humidity; during the upward process of the window cleaning robot, the amount of liquid sprayed is reduced, and the window cleaning robot cleans according to a preset second humidity to overcome the body gravity of the window cleaning robot.

9. The up-and-down moving operation method according to claim 1, characterized in that: In a stroke set, the body running speed of the window cleaning robot during the downward process is controlled to be lower than the body running speed during the upward process.

10. A vertically movable operation system of a window cleaning robot, characterized in that: include: A direction acquisition unit, used to acquire the current running direction of the window cleaning robot; A mode selection unit is used to control the window cleaning robot to move in a preset first type of walking mode when the window cleaning robot is moving in an upward direction; and to control the window cleaning robot to move in a preset second type of walking mode when the window cleaning robot is moving in a downward direction; wherein the first type of walking mode is different from or the same as the second type of walking mode.

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