Wiping robot operation method and wiping robot

Abstract

The embodiment of the invention provides a wiping robot operation method and a wiping robot, and the method comprises the steps: enabling the wiping robot to carry out first operation on a current operation plane according to a preset route, and defining a position when an abnormality occurs as an initial position under the condition that the abnormality occurs, defining a preset moving direction of the wiping robot advancing according to a preset route when the abnormity occurs as an initial direction; the wiping robot actively or passively breaks away from the current working face, and after the abnormity of the wiping robot is removed, the wiping robot returns to the current working face and moves on the current working face to return to the initial position so as to continue the first operation from the initial position to the initial direction, the attribute of the initial position comprises an air leakage position point in the current working plane. Through the wiping robot operation method and device, the problems of cleaning time waste and high energy consumption in a wiping robot operation method in related technologies are solved, and then the technical effects of improving the cleaning efficiency and reducing the energy consumption are achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robot technology, and specifically, to a wiping robot operation method and a wiping robot. Background Art

[0002] At present, wiping robots can be used to automatically wipe the surfaces of windows or similar objects. If an abnormality occurs during the operation of the wiping robot, it is easy to leave the working surface, or it will not leave the working surface but deviate from the original predetermined route. When the abnormality is resolved, the wiping robot will resume the full coverage operation on the working surface. In this way, the wiping robot will repeatedly wipe all the working areas before the abnormality occurs, which will not only waste cleaning time, but also consume more energy.

[0003] It can be seen that the wiping robot operation method in the related art has the problems of wasted cleaning time and high energy consumption. Summary of the invention

[0004] The embodiments of the present application provide a wiping robot operation method and a wiping robot to at least solve the technical problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art.

[0005] According to one aspect of an embodiment of the present application, a wiping robot operation method is provided, including: the wiping robot performs a first operation on a current working surface along a predetermined route, and in the event of an abnormality, defines the position when the abnormality occurs as an initial position, and defines a predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs as an initial direction; the wiping robot actively or passively separates from the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include a deflation position point within the current working surface.

[0006] Furthermore, after the abnormality of the wiping robot is resolved, after the user confirms the current working surface of the wiping robot, the wiping robot moves on the current working surface, and performs the first operation on the current working surface through the initial position according to the predetermined route, so as to continue the first operation from the initial position toward the initial direction.

[0007] Furthermore, the method also includes: the wiping robot does not leave the current working surface, and after the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction.

[0008] Furthermore, the anomaly is that the wiping robot deviates from the predetermined route on the current working surface when the battery power is lower than a predetermined value.

[0009] Furthermore, the abnormality is passively leaving the current working surface under external operation.

[0010] Furthermore, the abnormality is that the wiping robot itself encounters an obstacle and actively leaves the current working surface.

[0011] Furthermore, the current working surface includes an outer peripheral portion located at the edge, and the wiping robot includes an edge-along working mode for cleaning the outer peripheral portion and a global working mode for walking along the current working surface along the predetermined route to cover the current working surface; the working mode corresponding to the first operation is the global working mode.

[0012] Furthermore, the method also includes: when in the edge working mode, the wiping robot works along a predetermined route on the current working surface and an abnormality occurs until the abnormality is resolved, the wiping robot re-works along the edge of the current working surface for at least one week so that the wiping robot does not perform the above steps.

[0013] Furthermore, the wiping robot re-works along the edge of the current working surface for at least one week, including: the wiping robot moves to the position where the edge of the current working surface is closest to the wiping robot, and takes the moved position as the starting position, and re-works along the edge of the current working surface for at least one week; or, the wiping robot moves toward the edge of the current working surface along the direction of the wiping robot's head, and takes the moved position as the starting position, and re-works along the edge of the current working surface for at least one week; or, the wiping robot moves to a specified position on the edge of the current working surface, and takes the specified position as the starting position, and re-works along the edge of the current working surface for at least one week, wherein the specified position is the position specified for the edge working mode and the wiping robot starts to work.

[0014] Furthermore, the predetermined route is a Z-shaped route or an N-shaped route.

[0015] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided, including: the wiping robot performs a first operation on a current working surface according to a predetermined route, and in the event of an abnormality, defines the position when the abnormality occurs as an initial position, and defines a predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs as an initial direction; the wiping robot does not leave the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include a deflation position point within the current working surface.

[0016] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided, including: the wiping robot performs a first operation on a current working surface along a predetermined route, and in the event of a deviation, defines the position when the deviation occurs as an initial position, and defines a predetermined moving direction of the wiping robot along the predetermined route when the deviation occurs as an initial direction; the wiping robot does not leave the current working surface, and after the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include a deflation position point within the current working surface.

[0017] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided, including: the wiping robot performs a first operation on a current working surface according to a predetermined route, and when the wiping robot passively detaches from the current working surface under external operation, the position at the time of passive detachment is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when passively detached is defined as the initial direction; the wiping robot is re-located on the current working surface, and the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include a deflation position point within the current working surface.

[0018] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided, including: the wiping robot performs a first operation on a current working surface according to a predetermined route, and when the wiping robot itself fails and actively leaves the current working surface, the position at the time of active separation is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when actively leaving is defined as the initial direction; the wiping robot is re-located on the current working surface, and the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include a deflation position point within the current working surface.

[0019] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided, including: the wiping robot performs a first operation on a current working surface according to a predetermined route, and when the wiping robot completes cleaning of the first working area, defines the end position of the first working area as the initial position, and defines a predetermined moving direction of the wiping robot along the predetermined route at the initial position as the initial direction; the wiping robot is re-located to the current working surface, and the wiping robot moves on the current working surface to return to the initial position, so as to move from the initial position toward the initial direction and start a second operation, wherein the attributes of the initial position include a deflation position point within the current working surface.

[0020] According to another aspect of the embodiments of the present application, a wiping robot operation method is also provided, including: the wiping robot performs a first operation on a current working surface along a predetermined route, and in the event of an abnormality, defines the position when the abnormality occurs as the initial position, and defines a predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs as the initial direction; the wiping robot actively or passively separates from the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction.

[0021] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided, including: the wiping robot performs a first operation on a current working surface according to a predetermined route, and when the wiping robot completes cleaning of the first working area, defines the end position of the first working area as the initial position, and defines a predetermined moving direction of the wiping robot along the predetermined route at the initial position as the initial direction; the wiping robot is re-located to the current working surface, and the wiping robot moves on the current working surface to return to the initial position, so as to move from the initial position toward the initial direction and start performing a second operation.

[0022] According to another aspect of the embodiments of the present application, a wiping robot is also provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the method embodiments described above when executing the computer program.

[0023] The embodiments of the present application have the following beneficial effects:

[0024] 1. The wiping robot of the embodiment of the present application performs a first operation on the current working surface according to a predetermined route. In the event of an abnormality, the position when the abnormality occurs is defined as the initial position, where the initial position is the starting position for the wiping robot to continue working. If the wiping robot actively or passively detaches from the current working surface, after the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface, thereby continuing the first operation in the initial direction. After the wiping robot actively or passively detaches from the current working surface, it continues the original operation along the original route from the initial position when the defined abnormality occurs, without the need to restart cleaning the same working surface as a new working surface, thereby avoiding repeated cleaning of the working surface. The wiping robot cleans the area around the initial position both before and after the abnormality is resolved, thereby avoiding missed scans and improving the cleaning quality.

[0025] 2. The attributes of the initial position when an abnormality occurs defined by the wiping robot in the embodiment of the present application include the deflation position point within the current working surface, which can cover the abnormal situation caused by deflation of the wiping robot, and ensure that the position point that causes deflation of the wiping robot can be cleaned, thereby achieving the technical effect of reducing the waste of cleaning time and reducing energy consumption, thereby solving the problems of wasted cleaning time and high energy consumption in the operation method of the wiping robot in the related technology, thereby achieving the effect of improving cleaning efficiency and reducing energy consumption.

[0026] 3. After the abnormality is resolved, the moving direction of the wiping robot in the embodiment of the present application at the deflation position is the initial direction so that the wiping robot will not deviate from the predetermined route at the deflation position, thereby avoiding the situation of missing a sweep due to deviation from the predetermined route.

[0027] 4. The wiping robot of the embodiment of the present application performs a first operation according to a predetermined route, and when the wiping robot completes cleaning of the first operating area, it re-positions on the current operating surface, and the wiping robot moves on the current operating surface to return to the initial position, and moves from the initial position toward the initial direction and starts the second operation. In this way, the wiping robot can perform partitioned cleaning when cleaning a large area of ​​the wiping surface (such as glass), and during the partitioning process, there is no need to restart cleaning the same operating surface as a new operating surface, thereby avoiding repeated cleaning of the operating surface, and the wiping robot cleans the area around the initial position both before and after the abnormality is resolved, thereby avoiding missed cleaning and improving the cleaning quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a hardware structure block diagram of an optional wiping robot according to an embodiment of the present invention.

[0029] Figure 2 It is a flowchart of an optional wiping robot operation method according to an embodiment of the present invention.

[0030] Figure 3 It is a schematic diagram of an optional wiping robot operation method according to an embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of another optional wiping robot operation method according to an embodiment of the present invention.

[0032] Figure 5 It is a flowchart of another optional wiping robot operation method according to an embodiment of the present invention.

[0033] Figure 6 It is a flowchart of another optional wiping robot operation method according to an embodiment of the present invention.

[0034] Figure 7 It is a flowchart of another optional wiping robot operation method according to an embodiment of the present invention.

[0035] Figure 8 It is a flowchart of another optional wiping robot operation method according to an embodiment of the present invention.

[0036] Fig. 9 It is a flowchart of another optional wiping robot operation method according to an embodiment of the present invention.

[0037] Fig.10 It is a schematic diagram of another optional wiping robot operation method according to an embodiment of the present application.

[0038] Fig.11 It is a flowchart of another optional wiping robot operation method according to an embodiment of the present invention.

[0039] Fig.12 It is a flowchart of another optional wiping robot operation method according to an embodiment of the present invention.

[0040] Fig.13 It is a block diagram of a computer system structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] According to one aspect of the embodiments of the present application, a wiping robot operation method is provided. Optionally, the method embodiment provided in the embodiments of the present application can be executed in a wiping robot or a computing device for controlling the wiping robot. Taking the execution on the wiping robot as an example, Figure 1 1 is a hardware structure diagram of an optional wiping robot according to an embodiment of the present invention. Figure 1 As shown, the wiping robot may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned wiping robot may also include a transmission device 106 for communication function and an input and output device 108. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned wiping robot. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0044] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to a wiping robot operation method in an embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the wiping robot via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0045] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the wiping robot. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0046] In this embodiment, a wiping robot operation method running on the above-mentioned wiping robot is provided. Figure 2 is a flow chart of an optional wiping robot operation method according to an embodiment of the present invention, such as Figure 2 As shown, the process includes the following steps S202 and S204.

[0047] Step S202, the wiping robot performs the first operation on the current working surface according to the predetermined route. In the event of an abnormality, the position when the abnormality occurs is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as the initial direction.

[0048] Step S204, the wiping robot actively or passively leaves the current working surface. When the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

[0049] The wiping robot operation method in the embodiment of the present application can be applied to the field of intelligent devices, and can be applied to the scene where a wiping robot is used to wipe a designated work surface. The wiping robot is a kind of intelligent household appliance. It can firmly adhere to the work surface to be wiped by means of the vacuum pump or fan device at the bottom of itself, and then automatically detect the corner distance of the work surface to be wiped and plan the window wiping path with the help of certain artificial intelligence technology. The work surface to be wiped can be a window, a glass door or the surface of other objects. For the scene where the work surface to be wiped is a window or glass, the wiping robot is also called a window cleaning robot, an automatic window cleaning machine, a glass cleaning robot, an intelligent window cleaner, an intelligent window cleaner, etc.

[0050] During the operation of the wiping robot, the wiping robot may be separated from the current working surface. The separation from the current working surface may be actively carried out by the wiping robot. For example, the wiping robot encounters insufficient power in the working battery, safety battery or other energy storage components, which makes it unable to work normally and separates from the working surface. For example, the wiping robot encounters an obstacle and actively separates from the current working surface. Separation from the current working surface may also be caused by non-human factors. For example, when the wiping robot encounters an abnormal situation that requires human intervention (for example, failure to escape), it is necessary to take the machine down by a person, resolve the abnormality or replenish the power, and then restart the work. For the part that has been worked (wiped) before, it is considered secondary cleaning, which will waste cleaning time and consume more energy.

[0051] In order to at least partially solve the above technical problems, if the wiping robot interrupts its operation due to an abnormality and leaves the current working surface, the position when the abnormality occurs can be recorded as the initial position. When the abnormality of the wiping robot is resolved and the user confirms the current working surface of the wiping robot, the wiping robot moves on the current working surface and continues the first operation from the recorded initial position (i.e., the position when the abnormality occurs) toward the initial direction. In this way, secondary cleaning of the parts that have been worked on can be avoided, thereby avoiding the waste of cleaning time and reducing energy consumption.

[0052] The wiping robot can perform the first operation on the current work surface according to the preset route. The preset route is a pre-set wiping route of the wiping robot when wiping the current work surface. The preset route may be different for different work surfaces and different wiping requirements. In order to improve the comprehensiveness and cleanliness of wiping the current work surface, the preset route may be a Z-shaped route, or an N-shaped route. The Z-shaped route refers to the wiping robot moving back and forth in a shape similar to the English letter "Z" during the wiping process, that is, the wiping robot starts from one side and moves laterally to the other side, turns upward or downward and moves a certain distance, and then returns laterally, and repeats this process until all work surfaces that need to be wiped have been wiped, or the number of times the current work surface has been wiped reaches the set number of times, such as Figure 3 The N-shaped route means that the wiping robot moves in a shape similar to the English letter "N" during the wiping process, that is, the wiping robot moves vertically from one side to the other side, turns to the left or right and moves a certain distance, and then returns vertically, and repeats this process until all the work surfaces that need to be wiped have been wiped, or the number of times the current work surface has been wiped reaches the set number, such as Figure 3 shown.

[0053] When the wiping robot is performing the first operation on the current working surface according to the predetermined route, an abnormal situation may occur, causing it to be unable to continue the operation according to the predetermined route. At this time, the wiping may stop working, or work on the wrong route. If the wiping robot actively or passively leaves the current working surface, it can continue to work on the current working surface after the abnormality of the wiping robot is resolved. For example, during the operation of the window cleaning robot, if the working battery, safety battery or other energy storage element is low on power, but the work has not been completed at this time, the machine needs to replenish the power to continue working. After the power is replenished to meet the working conditions, it will continue to work.

[0054] Optionally, in this embodiment, the abnormality of the wiping robot may include an obstacle that occurs to the wiping robot itself and the robot actively leaves the current working surface, for example, the wiping robot fails to escape or has a hardware failure and leaves the current working surface under external operation. It may also include the situation where the wiping robot passively leaves the current working surface under external operation and causes an abnormality during normal operation, for example, the user removes the wiping robot for inspection or it is hit by other objects. As long as the wiping robot leaves the current working surface, it can be considered that the wiping robot has an abnormality.

[0055] There are two working modes to choose from when the abnormality is resolved: start from the beginning; start from where you just finished. Obviously, starting from the beginning will cause repeated cleaning, resulting in low cleaning efficiency and energy waste. Compared with starting from the beginning, continuing cleaning from where you finished last time can greatly improve cleaning efficiency and reduce energy consumption.

[0056] In order to be able to start work accurately from the place where the last cleaning ended, the position when the exception occurred can be defined as the initial position. Compared with the position where the wiping robot deviates from the current work surface or the position where the wiping robot interrupts work, defining the position when the exception occurs as the initial position can improve the accuracy of the wiping robot's work control.

[0057] Optionally, there may be multiple ways to define the position of the wiping robot when the abnormality occurs as the initial position, which may include but is not limited to one of the following: recording the coordinate position of the wiping robot when the abnormality occurs as the initial position, wherein the coordinate position of the wiping robot is a coordinate position in a specified coordinate system with two edges intersecting the current working surface as coordinate axes; determining the distance between the wiping robot and the starting edge when the abnormality occurs based on the number of path switches performed by the wiping robot from the start of work to the occurrence of the abnormality, and the width of each switching path, to obtain the target distance; and recording the determined target distance as the initial position.

[0058] For example, when the wiping robot is working, the coordinate position of the current work is recorded in real time. When a scenario that can trigger breakpoint resumption occurs (for example, low power / failure to escape), the position of the breakpoint can be recorded in the following two ways: Method 1, record the current coordinate point; Method 2, record the number of path switching times of the Z or N path. When the path is switched, calculate the width of each switching path. This distance is the distance from the starting edge. This distance can also be used as a reference distance when working again.

[0059] Optionally, in this embodiment, the attributes of the initial position include the deflation position point in the current working surface. The wiping robot can be adsorbed to the current working surface through the adsorption part. If it encounters a pothole or other different positions, the adsorption part may be deflated due to the gap between the adsorption part and the current working surface. If the adsorption part is deflated, the wiping robot may fall down under its own action and leave the current working surface. The attributes of the defined initial position include the deflation position point in the current working surface, which can cover the abnormal situation caused by deflation of the wiping robot, ensure that the position point that causes the wiping robot to deflate can be cleaned, and improve the comprehensiveness of the cleaning of the working surface.

[0060] After the abnormality of the wiping robot is resolved, after the user confirms the current working surface of the wiping robot, it can be determined that the wiping robot is currently located on the same working surface before the abnormality is resolved, so as to avoid the problem of inaccurate positioning caused by the wiping robot currently being located on a different working surface from that before the abnormality is resolved. At this time, the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction. The user's confirmation of the current working surface of the wiping robot can be: to continue wiping the current working surface. The user's confirmation of the current working surface of the wiping robot can indicate that the working surface currently wiped by the wiping robot is the same working surface as the working surface cleaned last time. In response to the user's confirmation of the current working surface of the wiping robot, the wiping robot can continue wiping the current working surface.

[0061] The predetermined moving direction of the wiping robot along the predetermined route when an abnormality occurs is defined as the initial direction. The predetermined moving direction is the moving direction that the wiping robot would move along the predetermined route if no abnormality occurred to the wiping robot. For example, before an abnormality occurs (for example, an obstacle occurs to the wiping robot itself or the wiping robot runs out of power, etc.), the predetermined route of the wiping robot is as follows: Figure 3 The second horizontal line from top to bottom in the Z-shaped route. Before an abnormality occurs (for example, an obstacle occurs to the wiping robot itself or the wiping robot is low on power, etc.), the moving direction of the wiping robot according to the predetermined route is, for example, along Figure 3 The second horizontal line from top to bottom in the Z-shaped route is to the right. Figure 3 Point A on the second horizontal line from top to bottom in the Z-shaped route. Then the predetermined moving direction of the wiping robot according to the predetermined route when the abnormality occurs is the predetermined moving direction of the wiping robot at point A to the right. That is, the predetermined moving direction has nothing to do with the actual direction of the wiping robot at point A, but is consistent with the moving direction of the wiping robot at point A according to the predetermined route. For example, the wiping robot has an abnormality of deviating downward at point A, while the predetermined moving direction of the wiping robot at point A is to the right.

[0062] In order to facilitate the user to know that the abnormality of the wiping robot has been resolved, the wiping robot can, after the abnormality is resolved, request the user to reconfirm the current working surface through a display prompt or a sound prompt to ensure that the working environment has not changed and the wiping robot can safely return to continue working. After the user confirms the current working surface, in response to the user's confirmation of the current working surface of the wiping robot, the wiping robot can move on the current working surface to continue the wiping robot's work on the current working surface from the initial position.

[0063] Optionally, in this embodiment, there are multiple ways for the user to confirm the current working surface of the wiping robot, including but not limited to at least one of the following:

[0064] There may be one or more ways for the user to confirm the current working surface of the wiping robot, including but not limited to at least one of the following:

[0065] The wiping robot may be provided with a designated button (either a physical button or a virtual button), which is specifically used to trigger a breakpoint resume wiping instruction. When the abnormality is resolved, the user may press the designated button, and the wiping robot may move on the current working surface in response to the triggering operation performed on the designated button, so as to continue wiping the robot on the current working surface from the initial position;

[0066] The wiping robot may have a built-in communication module (e.g., WiFi, Bluetooth, or a dedicated communication protocol) to receive a breakpoint-resume wiping instruction from a remote control component. When the abnormality is resolved, the wiping robot may respond to the user sending a breakpoint-resume wiping instruction using a remote control component bound to the wiping robot, and move on the current working surface to continue wiping the robot on the current working surface from the initial position. In this way, the user can control the wiping robot to return to the initial position and continue working at any position in the room.

[0067] The wiping robot can be bound to an intelligent terminal device (for example, a smart phone or a tablet computer). After the abnormality is resolved, the wiping robot can respond to the breakpoint resume wiping command sent by the user using the terminal device bound to the wiping robot, and move on the current working surface to continue wiping the robot on the current working surface from the initial position. In this way, the user can control the wiping robot to return to the initial position and continue working at any location in the room.

[0068] For example, for the method of recording the number of path switching times of a Z-shaped or N-shaped path, after the wiping robot starts working again, it converts the recorded breakpoint position into the distance from the top boundary and the left boundary, moves the machine to the point with the same distance (here is the breakpoint, that is, the defined initial position), and continues working until the work is completed.

[0069] Optionally, the wiping robot moves on the current working surface to return to the initial position, and continues to perform the first operation from the initial position toward the initial direction, which may include: the wiping robot moves on the current working surface to a certain position on the predetermined route, and continues to work from a certain position according to the predetermined route, the certain position is a position on the predetermined route that is located before the initial position in the opposite direction of the wiping robot's travel direction, and the distance between the initial position and the initial position is within a specified distance range, and the specified distance range is greater than or equal to one third of the vehicle body length and less than or equal to one vehicle body length. The initial position is, for example, Figure 3 Point A in the Z-shaped route. Then the certain position is, for example, Figure 3 Point B in the Z-shaped route. On the predetermined route, point B is located before point A in the opposite direction of the wiping robot's travel direction (i.e., to the left), and the distance between point B and point A is within the specified distance range. In this way, it can be ensured that the route to be continued to be cleaned overlaps with the route that has been cleaned to a certain extent, thereby ensuring the comprehensiveness of the cleaning of the working surface.

[0070] It should be noted that there are many ways for the wiping robot to continue to perform the first operation from the initial position to the initial direction. The initial position can be directly marked on the preset route, and the work can be continued according to the marked initial position and the direction of the preset route. For example, the initial position can be directly matched with the preset route, and the work can be continued according to the position on the preset route that matches the initial position and the direction of the preset route. There can also be other ways, which are not limited to this in the present embodiment.

[0071] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. In the event of an abnormality, the position when the abnormality occurs is defined as the initial position; the wiping robot actively or passively leaves the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface, which can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve cleaning efficiency and reduce energy consumption.

[0072] In an exemplary embodiment, the above method also includes: after the abnormality of the wiping robot is resolved, after the user confirms the current working surface of the wiping robot, the wiping robot moves on the current working surface, and performs the first operation on the current working surface through the initial position according to a predetermined route, so as to continue the first operation from the initial position toward the initial direction.

[0073] In this embodiment, after the abnormality is resolved, there may be a certain distance between the position where the wiping robot is relocated on the current working surface and the initial position. Therefore, the wiping robot may first move toward the initial position on the current working surface, thereby gradually approaching the initial position. When the wiping robot returns to the predetermined route, it returns to the position before the initial position, and performs the first operation on the current working surface from the returned position through the initial position according to the predetermined route.

[0074] Through this embodiment, by repeatedly cleaning a short path before the initial position, it can be ensured that all positions after the initial position can be cleaned. The problem of poor cleaning effect of the work surface near the abnormality caused by the abnormality of the wiping robot can also be avoided, thereby improving the comprehensiveness and reliability of the work surface cleaning.

[0075] In an exemplary embodiment, the method further includes: when the wiping robot has not left the current working surface, after the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction.

[0076] There may be many situations where the wiping robot has an abnormality. There may be a situation where the wiping robot has not left the current working surface and the abnormality is resolved. For example, the abnormality may be that the wiping robot runs abnormally and slides down on the current working surface, and the abnormality is automatically resolved by the wiping robot. For another example, the wiping robot is low on power and is directly charged or plugged in on the current working surface, so that the abnormality is resolved.

[0077] For different abnormal situations, the way to resolve the abnormality may be different. For the situation where the wiping robot has not left the current working surface and the abnormality is resolved, the wiping robot can automatically return to the predetermined route, pass the initial position and continue working according to the predetermined route. Here, the way for the wiping robot to return to the predetermined route can be: calculate the optimal path through the built-in navigation system and intelligent algorithm, and move to the initial position along the optimal path. After the wiping robot reaches the designated position on the predetermined path, it can continue to complete the work according to the predetermined route, so that it can pass the initial position and continue working according to the predetermined route. The designated position and the way the wiping robot moves to the designated position are similar to those in the aforementioned embodiment, and have been explained, so they will not be repeated here.

[0078] Optionally, there may be one or more abnormalities that can be resolved without the wiping robot leaving the current working surface, which may include: the wiping robot deviates from the predetermined route on the current working surface, and the reason for the deviation from the predetermined route may be: the wiping robot deviates from the predetermined route due to insufficient power supply when the power level is lower than a certain value, or the wiping robot deviates from the predetermined route due to encountering an obstacle or the need to avoid it. In the case where the wiping robot deviates from the predetermined route due to insufficient power supply, the abnormality can be resolved by charging or plugging in the wiping robot. If the wiping robot does not leave the current working surface and the abnormality is resolved, the wiping robot can automatically return to the predetermined route. Compared with other abnormal situations (for example, program running errors), the wiping robot can resolve the abnormality without leaving the current working surface, which can improve the convenience of abnormality resolution.

[0079] Optionally, the power value of the wiping robot when it deviates from the predetermined route on the current working surface can be a specified value. The specified value can be obtained based on an operation test of the wiping robot. It can be a critical power value for the wiping robot to operate stably on a working surface. If it is lower than the predetermined value, the wiping robot is at risk of deviating from the working surface on which it is located. The predetermined value can be 20%, 25% or other values. The predetermined values ​​corresponding to different wiping robots and different working surfaces can be different, which is not limited in this embodiment. When the power value of the wiping robot is lower than the specified value, the wiping robot can be controlled to move to the lowest point of the current working surface and wait for the abnormality to be resolved by plugging in or replacing the battery. After the abnormality is resolved, the wiping robot can automatically return to the predetermined route to continue working.

[0080] Through this embodiment, in the case where the wiping robot does not leave the current working surface and the abnormality is resolved, it can automatically return to the original route after the abnormality is resolved and continue working at the location where the abnormality occurred, which can improve cleaning efficiency and reduce energy consumption.

[0081] In an exemplary embodiment, the current working surface includes an outer peripheral portion located at the edge and an inner area located inside the outer peripheral portion. For example, the current working surface is a window. Figure 4 As shown in the figure, the oblique line part is the outermost part of the window glass, that is, the outer peripheral part located at the edge, which may be connected to the wall or the window frame; the blank part is the inner area of ​​the window glass, that is, the inner area located inside the outer peripheral part, which usually occupies most of the area of ​​the window glass. The shape and range of the outer peripheral part and the inner area can be set according to the wiping needs.

[0082] The working mode of the wiping robot may include one or more modes, including but not limited to: walking along a predetermined route on the current working surface to cover the global working mode of the current working surface. The working mode corresponding to the first operation may be a global working mode. Figure 4 As shown, the wiping robot walks on the current working surface according to a Z-shaped path to cover the outer peripheral part and the internal area of ​​the current working surface. This working mode is a global working mode. When an abnormality occurs in the global working mode, the wiping robot performs the above steps. That is, the wiping robot actively or passively leaves the current working surface. After the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction. Optionally, when the wiping robot does not leave the current working surface, after the abnormality of the wiping robot is resolved, the wiping robot automatically returns to the predetermined route, passes the initial position and continues to work according to the predetermined route. Optionally, the wiping robot walks along a Z-shaped path or an N-shaped route in the global working mode.

[0083] Through this embodiment, when an exception occurs when the wiping robot is in the global working mode, the location where the exception occurs is defined as the initial position, and the wiping robot continues to work on the current working surface after the exception is resolved, thereby ensuring the continuity and efficiency of the cleaning operation in the global working mode while reducing energy waste.

[0084] In an exemplary embodiment, considering that different parts of the current working surface have different degrees of dirtiness, in order to improve the flexibility of wiping the working surface, an edge working mode may be added on the basis of the global working mode, thereby improving the cleaning quality.

[0085] In order to ensure that the walking path of the wiping robot covers the entire internal area or partial internal area of ​​the current working surface, before the wiping robot works, the path can be reasonably planned according to the path planning algorithm, that is, a predetermined route can be planned, for example, a Z-shaped route or an N-shaped route.

[0086] Optionally, when the wiping robot is in the global working mode, the wiping robot can perceive the environment through sensors (for example, infrared sensors, cameras, etc.) and build a work area map, and perform path planning through intelligent algorithms to cover the entire area of ​​the current work surface. The wiping robot can move on the current work surface according to the planned predetermined path to complete the cleaning of the entire area.

[0087] In an exemplary embodiment, the current working surface includes an outer peripheral portion located at the edge and an inner area located inside the outer peripheral portion. The distinction between the outer peripheral portion and the inner area is similar to that in the aforementioned embodiment and will not be described in detail here. The working mode of the wiping robot may include, but is not limited to, an edge-to-edge working mode for cleaning the outer periphery. In the edge-to-edge working mode, the wiping robot usually needs to work along the edge of the current working surface for at least one week (usually multiple weeks). Considering that the wiping robot also needs to repeatedly clean at least part of the cleaned area when it moves to the position where the abnormality occurs, it is not very effective to improve the cleaning efficiency by starting work from the position where the abnormality occurs. Therefore, when the abnormality occurs in the edge-to-edge working mode, the wiping robot does not perform the above steps, for example, it does not perform: in the event of an abnormality, the position where the abnormality occurs is defined as the initial position; the wiping robot actively or passively leaves the current working surface. After the abnormality of the wiping robot is resolved, after the user confirms the current working surface of the wiping robot, the wiping robot moves on the current working surface to continue the wiping robot's work on the current working surface from the initial position, wherein the attribute of the initial position does not exclude the deflation position point in the current working surface.

[0088] Through this embodiment, when the wiping robot encounters an abnormal situation in the edge working mode, it does not continue the wiping work by starting from the position where the abnormality occurred, which can improve the convenience of controlling the wiping robot.

[0089] In an exemplary embodiment, the above method also includes: when in the edge working mode, the wiping robot works along a predetermined route on the current working surface and an abnormality occurs until the abnormality is resolved, the wiping robot re-works along the edge of the current working surface for at least one week so that the wiping robot does not perform the above steps.

[0090] When the wiping robot works in the edge mode, when the wiping robot works on the current working surface according to a predetermined route and an abnormality occurs and is resolved, it can work in a different way from the aforementioned embodiment. The working method adopted may be: the wiping robot works along the edge of the current working surface again for at least one week, so that the wiping robot does not perform the above steps.

[0091] Optionally, the manner in which the wiping robot re-works along the edge of the current working surface for at least one week may be related to the completed wiping work, for example, the wiping robot needs to work along the edge of the current working surface for a total of N weeks according to the predetermined route on the current working surface, and has worked along the edge of the current working surface for M weeks, then the wiping robot re-works along the edge of the current working surface for (NM) weeks, wherein N and M are both positive integers greater than or equal to 1. The manner in which the wiping robot re-works along the edge of the current working surface for at least one week may also be unrelated to the completed wiping work, for example, the wiping robot re-works along the predetermined route without considering the completed wiping work.

[0092] It should be noted that after the wiping robot has worked along the edge of the current work surface again for at least one week, the end position of the work can be the starting position of working along the edge of the current work surface again, or the end position of the predetermined route, or a specified position on the edge of the current work surface. In this embodiment, there is no limitation on the way of working along the edge of the current work surface again.

[0093] Through this embodiment, when in the edge working mode, the wiping robot will work along the edge of the current working surface again for at least one week from the occurrence of an abnormality to the resolution of the abnormality, thereby ensuring the convenience of wiping the edge area and avoiding incomplete local cleaning due to the abnormality.

[0094] In an exemplary embodiment, the wiping robot may have one or more starting positions for re-working along the edge of the current working surface, which may include but are not limited to one of the following: the position where the edge of the current working surface is closest to the wiping robot, the position where the head of the wiping robot is facing, and the designated position of the edge of the current working surface, where the designated position is the position where the wiping robot starts working for the edge-along working mode. Correspondingly, the wiping robot re-works along the edge of the current working surface for at least one week, including: the wiping robot moves to the position where the edge of the current working surface is closest to the wiping robot, and uses the position it moves to as the starting position, and re-works along the edge of the current working surface for at least one week; or, the wiping robot moves toward the edge of the current working surface along the direction of the head of the wiping robot, and uses the position it moves to as the starting position, and re-works along the edge of the current working surface for at least one week; or, the wiping robot moves to the designated position of the edge of the current working surface, and uses the designated position as the starting position, and re-works along the edge of the current working surface for at least one week.

[0095] The position where the edge of the current working surface is closest to the wiping robot can be determined by: the wiping robot rotates one circle with its current position as the center point, and the detection device on the wiping robot detects the distance from the wiping robot to the edge of the current working surface, thereby determining the position where the edge of the current working surface is closest to the wiping robot; or, for a square working surface, the wiping robot rotates with its current position as the center point, and the detection device on the wiping robot detects the vertical distance from the wiping robot to the four edges of the current working surface, thereby determining the position where the edge of the current working surface is closest to the wiping robot. Here, the working surface is usually set vertically to the ground, and the perpendicular direction to the four edges can be quickly determined based on the direction of the center of gravity.

[0096] In order to reduce the detection work of the wiping robot, after the abnormality of the wiping robot is resolved, the wiping robot can move directly along the direction of its head toward the edge of the current working surface, and use the reached edge position as the starting position to work again along the edge of the current working surface for at least one week.

[0097] In order to facilitate the removal of the wiping robot from the current working surface and ensure the cleanliness of the current working surface, the starting position and ending position of the wiping robot for wiping the current working surface can be specified (the two can be the same position or adjacent positions, that is, the number of cycles of the wiping robot wiping the current working surface can be non-integer to ensure the cleanliness near the starting position), and the designated position to which the wiping robot moves can be a designated starting position or a designated ending position. The designated position can be the lower left corner, lower right corner or a position on the lower edge of the current working surface. The wiping robot can move to the designated position on the edge of the current working surface, and use the designated position as the starting position to work along the edge of the current working surface again for at least one cycle.

[0098] It should be noted that in the edge working mode, when an exception occurs, there is no need to define the position when the exception occurs as the initial position, and regardless of whether the wiping robot leaves the current working surface, the wiping robot can work along the edge of the current working surface again for at least one week when the exception is resolved, without considering the position of the wiping robot when the exception occurs.

[0099] Through this embodiment, the wiping robot can be controlled by different strategies to work along the edge of the current working surface for at least one week again, which can ensure the quality of edge cleaning and improve the flexibility of wiping work execution.

[0100] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided. Optionally, the method embodiment provided in the embodiment of the present application can be executed in the wiping robot or a computing device for controlling the wiping robot, which has been described and will not be repeated here.

[0101] Taking the wiping robot operating method in this embodiment performed by the wiping robot as an example, Figure 5 is a flow chart of another optional wiping robot operation method according to an embodiment of the present application, such as Figure 5 As shown, the process includes the following steps S502 and S504.

[0102] Step S502, the wiping robot performs the first operation on the current working surface according to the predetermined route. In the event of an abnormality, the position when the abnormality occurs is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as the initial direction.

[0103] Step S504, the wiping robot does not leave the current working surface. After the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

[0104] The wiping robot operation method in the embodiment of the present application can be applied to the field of intelligent devices, and can be applied to the scenario of using a wiping robot to wipe a designated work surface. When the wiping robot performs the first operation on the current work surface according to the predetermined route, when an abnormality occurs, the initial position and initial direction can be defined in a manner similar to that in the aforementioned embodiment, which has been explained and will not be repeated here.

[0105] For the situation where the wiping robot has not left the current working surface, after the abnormality is resolved, the wiping robot can move on the current working surface in a manner similar to that in the aforementioned embodiment to return to the initial position, so as to continue the first operation from the initial position toward the initial direction. This has been explained and will not be repeated here.

[0106] It should be noted that the wiping robot operation method in this embodiment can be executed by the wiping robot, or by a background server, or by a terminal device bound to the wiping robot. In the absence of contradiction, the wiping robot operation method in this embodiment can be combined with the wiping robot operation method in the aforementioned embodiment.

[0107] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. In the event of an abnormality, the position when the abnormality occurs is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as the initial direction; the wiping robot does not leave the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position, and continues to perform the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface, which can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve the cleaning efficiency, and reduce energy consumption.

[0108] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided. Optionally, the method embodiment provided in the embodiment of the present application can be executed in the wiping robot or a computing device for controlling the wiping robot, which has been described and will not be repeated here.

[0109] Taking the wiping robot performing the wiping robot operation method in this embodiment as an example, Figure 6 is a flow chart of another optional wiping robot operation method according to an embodiment of the present application, such as Figure 6 As shown, the process includes the following steps S602 and S604.

[0110] Step S602, the wiping robot performs the first operation on the current working surface according to the predetermined route. In case of deviation, the position when the deviation occurs is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the deviation occurs is defined as the initial direction.

[0111] Step S604, the wiping robot does not leave the current working surface. After the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position, to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

[0112] The wiping robot operation method in the embodiment of the present application can be applied to the field of intelligent devices, and can be applied to the scenario of using a wiping robot to wipe a designated work surface. When the wiping robot deviates from the first operation on the current work surface according to the predetermined route, the initial position and initial direction can be defined in a manner similar to that in the aforementioned embodiment, which has been explained and will not be repeated here.

[0113] For the situation where the wiping robot has not left the current working surface, after the abnormality is resolved, the wiping robot can move on the current working surface in a manner similar to that in the aforementioned embodiment to return to the initial position, so as to continue the first operation from the initial position toward the initial direction. This has been explained and will not be repeated here.

[0114] It should be noted that the wiping robot operation method in this embodiment can be executed by the wiping robot, or by a background server, or by a terminal device bound to the wiping robot. In the absence of contradiction, the wiping robot operation method in this embodiment can be combined with the wiping robot operation method in the aforementioned embodiment.

[0115] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. In case of deviation, the position when the deviation occurs is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the deviation occurs is defined as the initial direction; the wiping robot does not leave the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position, and continues to perform the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface, which can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve the cleaning efficiency, and reduce energy consumption.

[0116] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided. Optionally, the method embodiment provided in the embodiment of the present application can be executed in the wiping robot or a computing device for controlling the wiping robot, which has been described and will not be repeated here.

[0117] Taking the wiping robot performing the wiping robot operation method in this embodiment as an example, Figure 7 is a flow chart of another optional wiping robot operation method according to an embodiment of the present application, such as Figure 7 As shown, the process includes the following steps S702 and S704.

[0118] Step S702, the wiping robot performs the first operation on the current working surface according to the predetermined route. When the wiping robot passively separates from the current working surface under external operation, the position at the time of passive separation is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when passively separating is defined as the initial direction.

[0119] Step S704, the wiping robot is relocated to the current working surface, and the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point in the current working surface.

[0120] The wiping robot operation method in the embodiment of the present application can be applied to the field of intelligent devices, and can be applied to the scene of using a wiping robot to wipe a designated work surface. During the process of the wiping robot performing the first operation on the current work surface according to the predetermined route, when the wiping robot is passively separated from the current work surface under external operation, the initial position and initial direction can be defined in a manner similar to that in the aforementioned embodiment, which has been explained and will not be repeated here.

[0121] After the wiping robot is located on the current working surface again, the wiping robot can move on the current working surface in a manner similar to that in the aforementioned embodiment to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, which has been explained and will not be repeated here.

[0122] It should be noted that the wiping robot operation method in this embodiment can be executed by the wiping robot, or by a background server, or by a terminal device bound to the wiping robot. In the absence of contradiction, the wiping robot operation method in this embodiment can be combined with the wiping robot operation method in the aforementioned embodiment.

[0123] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. When the wiping robot passively separates from the current working surface under external operation, the position at the time of passive separation is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when passively separating is defined as the initial direction; the wiping robot is re-located on the current working surface, and the wiping robot moves on the current working surface to return to the initial position, to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface, which can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve the cleaning efficiency, and reduce energy consumption.

[0124] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided. Optionally, the method embodiment provided in the embodiment of the present application can be executed in the wiping robot or a computing device for controlling the wiping robot, which has been described and will not be repeated here.

[0125] Taking the wiping robot operating method in this embodiment performed by the wiping robot as an example, Figure 8is a flow chart of another optional wiping robot operation method according to an embodiment of the present application, such as Figure 8 As shown, the process includes the following steps S802 and S804.

[0126] Step S802, the wiping robot performs the first operation on the current working surface according to the predetermined route. When the wiping robot itself fails and actively leaves the current working surface, the position at the time of active separation is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when actively leaving is defined as the initial direction.

[0127] Step S804, the wiping robot is relocated to the current working surface, and the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point in the current working surface.

[0128] The wiping robot operation method in the embodiment of the present application can be applied to the field of intelligent devices, and can be applied to the scenario of using a wiping robot to wipe a designated work surface. When the wiping robot performs the first operation on the current work surface according to the predetermined route, when the wiping robot itself fails and actively leaves the current work surface, the initial position and initial direction can be defined in a manner similar to that in the aforementioned embodiment, which has been explained and will not be repeated here.

[0129] After the wiping robot is located again on the current working surface, the wiping robot can move back to the initial position in a manner similar to that in the aforementioned embodiment, so as to move from the initial position toward the initial direction and start the first operation, which has been explained and will not be repeated here.

[0130] It should be noted that the wiping robot operation method in this embodiment can be executed by the wiping robot, or by a background server, or by a terminal device bound to the wiping robot. In the absence of contradiction, the wiping robot operation method in this embodiment can be combined with the wiping robot operation method in the aforementioned embodiment.

[0131] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. When the wiping robot itself fails and actively leaves the current working surface, the position at the time of active separation is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when actively separating is defined as the initial direction; the wiping robot is relocated to the current working surface, and the wiping robot moves on the current working surface to return to the initial position, to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface, which can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve the cleaning efficiency, and reduce energy consumption.

[0132] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided. Optionally, the method embodiment provided in the embodiment of the present application can be executed in the wiping robot or a computing device for controlling the wiping robot, which has been described and will not be repeated here.

[0133] Taking the wiping robot performing the wiping robot operation method in this embodiment as an example, Fig. 9 is a flow chart of another optional wiping robot operation method according to an embodiment of the present application, such as Fig. 9 As shown, the process includes the following steps S902 and S904.

[0134] Step S902, the wiping robot performs the first operation on the current working surface according to the predetermined route. When the wiping robot completes cleaning the first working area, the end position of the first working area is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route at the initial position is defined as the initial direction.

[0135] Step S904, the wiping robot is relocated to the current working surface, and moves on the current working surface to return to the initial position, so as to move from the initial position toward the initial direction and start the second operation, wherein the attributes of the initial position include the deflation position point in the current working surface.

[0136] The wiping robot operation method in the embodiment of the present application can be applied to the field of smart devices, and can be applied to the scenario of using a wiping robot to wipe a specified work surface. In one embodiment, the wiping robot performs a first operation on the current work surface according to a predetermined route. For example, Fig.10 As shown, the wiping robot performs the first operation on the current operation surface according to a Z-shaped route. Fig.10As shown, when the wiping robot moves to point D, the cleaning of the first operation area is completed. The end position of the first operation area, point D, is the initial position. The predetermined moving direction of the wiping robot at point D according to the predetermined route is to the right, so the initial direction is to the right.

[0137] After the wiping robot is located at the current working surface again, the wiping robot can move back to the initial position in a similar manner as in the above-mentioned embodiment, so as to move from the initial position toward the initial direction and start the second operation. Fig.10 As shown, the wiping robot is relocated to the current working surface, and the wiping robot moves to point E on the current working surface, and moves to the right from point E, so as to move from the initial position to the initial direction and start the second operation. The second operation and the first operation complete the cleaning of the current working surface together. That is, by dividing the current working surface into the first operation and the second operation, when the current working surface area is large, it can be cleaned in two operations, so that in the second operation, the rag used in the first operation can be removed and replaced with a clean rag, thereby improving the working effect.

[0138] It should be noted that the wiping robot operation method in this embodiment can be executed by the wiping robot, or by a background server, or by a terminal device bound to the wiping robot. In the absence of contradiction, the wiping robot operation method in this embodiment can be combined with the wiping robot operation method in the aforementioned embodiment.

[0139] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. When the wiping robot completes cleaning the first working area, the end position of the first working area is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route at the initial position is defined as the initial direction; the wiping robot is relocated to the current working surface, and the wiping robot moves on the current working surface to return to the initial position, and moves from the initial position toward the initial direction and starts the second operation, wherein the attributes of the initial position include the deflation position point within the current working surface, which can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve the cleaning efficiency, and reduce energy consumption.

[0140] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided. Optionally, the method embodiment provided in the embodiment of the present application can be executed in the wiping robot or a computing device for controlling the wiping robot, which has been described and will not be repeated here.

[0141] Taking the wiping robot operating method in this embodiment performed by the wiping robot as an example, Fig.11is a flow chart of another optional wiping robot operation method according to an embodiment of the present application, such as Fig.11 As shown, the process includes the following steps S1102 and S1104.

[0142] Step S1102, the wiping robot performs the first operation on the current working surface according to the predetermined route. In the event of an abnormality, the position when the abnormality occurs is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as the initial direction.

[0143] Step S1104, the wiping robot actively or passively leaves the current working surface. When the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction.

[0144] The wiping robot operation method in the embodiment of the present application can be applied to the field of intelligent devices, and can be applied to the scenario of using a wiping robot to wipe a designated work surface. When the wiping robot performs the first operation on the current work surface according to the predetermined route, when an abnormality occurs, the initial position and initial direction can be defined in a manner similar to that in the aforementioned embodiment, which has been explained and will not be repeated here.

[0145] The wiping robot actively or passively leaves the current working surface. After the abnormality of the wiping robot is resolved, when the wiping robot returns to the current working surface, the wiping robot can move in a manner similar to that in the aforementioned embodiment to return to the initial position, so as to continue the first operation from the initial position toward the initial direction. This has been explained and will not be repeated here.

[0146] It should be noted that the wiping robot operation method in this embodiment can be executed by the wiping robot, or by a background server, or by a terminal device bound to the wiping robot. In the absence of contradiction, the wiping robot operation method in this embodiment can be combined with the wiping robot operation method in the aforementioned embodiment.

[0147] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. In the event of an abnormality, the position when the abnormality occurs is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as the initial direction; the wiping robot actively or passively leaves the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, which can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve the cleaning efficiency and reduce energy consumption.

[0148] According to another aspect of the embodiment of the present application, a wiping robot operation method is also provided. Optionally, the method embodiment provided in the embodiment of the present application can be executed in the wiping robot or a computing device for controlling the wiping robot, which has been described and will not be repeated here.

[0149] Taking the wiping robot performing the wiping robot operation method in this embodiment as an example, Fig.12 is a flow chart of another optional wiping robot operation method according to an embodiment of the present application, such as Fig.12 As shown, the process includes the following steps S1202 and S1204.

[0150] Step S1202: The wiping robot performs the first operation on the current working surface according to a predetermined route. When the wiping robot completes cleaning the first working area, the end position of the first working area is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route at the initial position is defined as the initial direction.

[0151] Step S1204: the wiping robot is relocated to the current working surface, and moves on the current working surface to return to the initial position, and moves from the initial position toward the initial direction to start the second operation.

[0152] The wiping robot operation method in the embodiment of the present application can be applied to the field of intelligent devices, and can be applied to the scenario of using a wiping robot to wipe a designated work surface. When the wiping robot performs the first operation on the current work surface according to the predetermined route, when the wiping robot completes the cleaning of the first work area, the initial position and initial direction can be defined in a manner similar to that in the aforementioned embodiment, which has been explained and will not be repeated here.

[0153] After the wiping robot is re-located to the current working surface, the wiping robot can move back to the initial position in a manner similar to that in the aforementioned embodiment, and move from the initial position toward the initial direction and start the second operation, which has been explained and will not be repeated here.

[0154] It should be noted that the wiping robot operation method in this embodiment can be executed by the wiping robot, or by a background server, or by a terminal device bound to the wiping robot. In the absence of contradiction, the wiping robot operation method in this embodiment can be combined with the wiping robot operation method in the aforementioned embodiment.

[0155] Through the above steps, the wiping robot performs the first operation on the current working surface according to the predetermined route. When the wiping robot completes cleaning the first working area, the end position of the first working area is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route at the initial position is defined as the initial direction; the wiping robot is re-located to the current working surface, and the wiping robot moves on the current working surface to return to the initial position, and moves from the initial position toward the initial direction and starts the second operation. This can solve the problems of wasted cleaning time and high energy consumption in the wiping robot operation method in the related art, improve cleaning efficiency, and reduce energy consumption.

[0156] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0157] According to another aspect of the embodiments of the present application, a wiping robot is provided, which includes a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0158] In an exemplary embodiment, the wiping robot may further include a transmission device and an input-output device, wherein the transmission device is connected to the processor, and the input-output device is connected to the processor.

[0159] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0160] It should be noted that the wiping robot may also include other components for wiping the work surface, such as a power supply (which may be a power supply battery), a rag or other wiping piece, and an adsorbent for adsorbing the wiping robot to the work surface. The specific structure of the wiping robot is not limited in this embodiment.

[0161] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0162] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0163] According to another aspect of the embodiment of the present application, a computer program product is also provided, which includes a computer program / instruction, and the computer program / instruction contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1309, and / or installed from the removable medium 1311. When the computer program is executed by the central processing unit 1301, various functions provided by the embodiment of the present application are executed. The above-mentioned serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0164] Fig.13 The computer system structure block diagram of the electronic device used to implement the embodiment of the present application is schematically shown. Fig.13As shown, the computer system 1300 includes a central processing unit 1301 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 1302 (ROM) or the program loaded from the storage part 1308 to the random access memory 1303 (RAM). Various programs and data required for system operation are also stored in the random access memory 1303. The central processing unit 1301, the read-only memory 1302 and the random access memory 1303 are connected to each other through a bus 1304. The input / output interface 1305 (Input / Output interface, i.e., I / O interface) is also connected to the bus 1304.

[0165] The following components are connected to the input / output interface 1305: an input section 1306 including a keyboard, a mouse, etc.; an output section 1307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1308 including a hard disk, etc.; and a communication section 1309 including a network interface card such as a LAN card, a modem, etc. The communication section 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to the input / output interface 1305 as needed. A removable medium 1311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1310 as needed so that a computer program read therefrom is installed into the storage section 1308 as needed.

[0166] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1309, and / or installed from the removable medium 1311. When the computer program is executed by the central processor 1301, various functions defined in the system of the present application are executed.

[0167] It should be noted that Fig.13 The computer system 1300 of the electronic device (which may be the aforementioned electronic apparatus) shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0168] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0169] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current operation surface according to a predetermined route. In the event of an abnormality, the position at which the abnormality occurs is defined as an initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as an initial direction; The wiping robot actively or passively disengages from the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

2. The operation method according to claim 1, characterized in that: After the abnormality of the wiping robot is resolved, after the user confirms the current working surface of the wiping robot, the wiping robot moves on the current working surface, and performs the first operation on the current working surface through the initial position according to the predetermined route, so as to continue the first operation from the initial position toward the initial direction.

3. The operation method according to claim 1, characterized in that: The method further comprises: The wiping robot does not leave the current working surface. After the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction.

4. The operation method according to claim 3, characterized in that: The anomaly is that the wiping robot deviates from the predetermined route on the current working surface when the battery power is lower than a predetermined value.

5. The operation method according to claim 1, characterized in that: The abnormality is passively leaving the current working surface under external operation.

6. The operation method according to claim 1, characterized in that: The abnormality is that the wiping robot itself encounters an obstacle and actively leaves the current working surface.

7. The operation method according to claim 1, characterized in that: The current working surface includes an outer peripheral portion located at the edge, and the wiping robot includes an edge-along working mode for cleaning the outer peripheral portion and a global working mode for walking along the current working surface along the predetermined route to cover the current working surface; the working mode corresponding to the first operation is the global working mode.

8. The operation method according to claim 7, characterized in that: The method further comprises: When in the edge working mode, the wiping robot works along a predetermined route on the current working surface and when the exception occurs and until the exception is resolved, the wiping robot re-works along the edge of the current working surface for at least one week so that the wiping robot does not perform the above steps.

9. The operation method according to claim 8, characterized in that: The wiping robot works again along the edge of the current working surface for at least one week, including: The wiping robot moves to a position where the edge of the current working surface is closest to the wiping robot, and takes the moved position as the starting position, and re-works along the edge of the current working surface for at least one circle; or The wiping robot moves along the direction of the head of the wiping robot toward the edge of the current working surface, and takes the position moved to as the starting position, and works again along the edge of the current working surface for at least one circle; or, The wiping robot moves to a designated position on the edge of the current working surface, and takes the designated position as a starting position, and re-works along the edge of the current working surface for at least one circle, wherein the designated position is the position designated for the edge working mode and where the wiping robot starts to work.

10. The working method according to any one of claims 1 to 9, characterized in that: The predetermined route is a Z-shaped route or an N-shaped route.

11. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current operation surface according to a predetermined route. In the event of an abnormality, the position at which the abnormality occurs is defined as an initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as an initial direction; The wiping robot does not leave the current working surface. After the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

12. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current operation surface according to a predetermined route. In case of deviation, the position at the time of the deviation is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the deviation occurs is defined as the initial direction; The wiping robot does not leave the current working surface. After the abnormality of the wiping robot is resolved, the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

13. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current working surface according to a predetermined route. When the wiping robot is passively separated from the current working surface under external operation, the position at the time of passive separation is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when passively separated is defined as the initial direction; The wiping robot is relocated to the current working surface, and the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

14. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current working surface according to a predetermined route. When the wiping robot fails and actively leaves the current working surface, the position at the time of active departure is defined as the initial position, and the predetermined moving direction of the wiping robot along the predetermined route when actively leaving is defined as the initial direction; The wiping robot is relocated to the current working surface, and the wiping robot moves on the current working surface to return to the initial position to continue the first operation from the initial position toward the initial direction, wherein the attributes of the initial position include the deflation position point within the current working surface.

15. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current operation surface according to a predetermined route. When the wiping robot completes cleaning the first operation area, an end position of the first operation area is defined as an initial position, and a predetermined moving direction of the wiping robot according to the predetermined route at the initial position is defined as an initial direction; The wiping robot is relocated on the current working surface, and the wiping robot moves on the current working surface to return to the initial position, so as to move from the initial position toward the initial direction and start the second operation, wherein the attributes of the initial position include the deflation position point within the current working surface.

16. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current operation surface according to a predetermined route. In the event of an abnormality, the position at which the abnormality occurs is defined as an initial position, and the predetermined moving direction of the wiping robot along the predetermined route when the abnormality occurs is defined as an initial direction; The wiping robot actively or passively disengages from the current working surface, and when the abnormality of the wiping robot is resolved, the wiping robot returns to the current working surface and moves on the current working surface to return to the initial position, so as to continue the first operation from the initial position toward the initial direction.

17. A wiping robot operation method, characterized in that: include: The wiping robot performs a first operation on the current operation surface according to a predetermined route. When the wiping robot completes cleaning the first operation area, an end position of the first operation area is defined as an initial position, and a predetermined moving direction of the wiping robot according to the predetermined route at the initial position is defined as an initial direction; The wiping robot is relocated on the current working surface, and the wiping robot moves on the current working surface to return to the initial position, so as to move from the initial position toward the initial direction and start the second operation.

18. A wiping robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 17 are implemented.

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