Operation method and operation path of window cleaning robot

Abstract

The invention discloses an operation method and an operation path of a window cleaning robot. The method comprises the following steps: acquiring size data of a to-be-cleaned surface; determining a central area and an edge area of the to-be-cleaned surface according to the size data of the to-be-cleaned surface and self-wiping data of the window wiping robot; and controlling the window cleaning robot to clean the central area and the edge area in at least two different cleaning modes. The to-be-cleaned face can be divided into the center area and the edge area, the window cleaning robot can adopt different cleaning modes for the center area and the edge area, the window cleaning robot can clean the edge area in a unified mode, the problem that the window cleaning robot misses cleaning when cleaning the edge area is avoided, and the cleaning efficiency is improved. And the cleaning efficiency of the window cleaning robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly relates to an operation method and an operation path of a window cleaning robot. Background Art

[0002] With the development of technology and the improvement of living standards, people's requirements for the quality of life are getting higher and higher, and intelligent and efficient window cleaning robots are becoming more and more popular among users. The window cleaning robot is mainly used to clean a surface to be cleaned, and the surface to be cleaned can be the surfaces of windows and doors made of glass. The working principle of the window cleaning robot is to adsorb on the glass surface through an adsorption component, and during the walking process of the window cleaning robot, the cleaning component of the window cleaning robot cleans the surface to be cleaned.

[0003] However, the cleaning path of the window cleaning robot usually cleans the entire surface to be cleaned row by row, and the running speed needs to be reduced every time it approaches the edge of the surface to be cleaned to ensure safety, resulting in low cleaning efficiency of the window cleaning robot. Summary of the Invention

[0004] The main object of the present invention is to provide an operation method and an operation path of a window cleaning robot, aiming to solve the problem of low cleaning efficiency of the existing window cleaning robot.

[0005] To achieve the above object, the present invention provides an operation method of a window cleaning robot, and the operation method includes:

[0006] Obtain size data of the surface to be cleaned;

[0007] Determine the central area and the edge area of the surface to be cleaned according to the size data of the surface to be cleaned and the self-wiping data of the window cleaning robot;

[0008] Control the window cleaning robot to clean the central area and the edge area in at least two different cleaning modes.

[0009] In some embodiments, the obtaining of the size data of the surface to be cleaned includes:

[0010] Control the window cleaning robot to move along at least two borders of the surface to be cleaned, and record the movement data;

[0011] Obtain the size data of the surface to be cleaned according to the movement data of at least two borders.

[0012] In some embodiments, the surface to be cleaned is rectangular or quasi-rectangular, and includes a first edge, a second edge, a third edge, and a fourth edge connected in sequence. The obtaining of the size data of the surface to be cleaned includes:

[0013] Control the window cleaning robot to move along a first preset direction to the first edge;

[0014] Control the window cleaning robot to run along the first edge, the second edge and the third edge in sequence to the fourth edge;

[0015] Obtain the size data of the surface to be cleaned according to the movement data of the second edge and the third edge.

[0016] In some embodiments, controlling the window cleaning robot to clean the central area and the edge area in at least two different cleaning modes, including:

[0017] Control the window cleaning robot to clean the edge area of the surface to be cleaned in a first cleaning mode, and control the window cleaning robot to clean the central area of the surface to be cleaned in a second cleaning mode;

[0018] Wherein, the cleaning efficiency of the second cleaning mode is greater than that of the first cleaning mode.

[0019] In some embodiments, when the window cleaning robot starts to clean the central area of the surface to be cleaned in the second cleaning mode, control the window cleaning robot to be located in the upper edge area of the central area.

[0020] In some embodiments, the cleaning mode includes: the walking mode of the window cleaning robot;

[0021] The window cleaning robot includes two cleaning units, and the walking mode includes: a first walking mode in which the two cleaning units walk simultaneously, and a second walking mode in which the two cleaning units walk alternately;

[0022] Wherein, the walking speed of the first walking mode is greater than that of the second walking mode.

[0023] In some embodiments, the second walking mode includes: making the extending direction trend of the body of the window cleaning robot consistent or substantially consistent with the direction to be advanced by the window cleaning robot, and controlling any one of the cleaning units to perform a swing-out and a swing-back.

[0024] In some embodiments, the second walking mode includes: making the extending direction trend of the body of the window cleaning robot inconsistent with the direction to be advanced by the window cleaning robot, and controlling any one of the cleaning units to swing along the trend of the direction to be advanced.

[0025] In some embodiments, the cleaning mode includes: the line-changing mode of the window cleaning robot;

[0026] When the window cleaning robot runs to the boundary position of the central area, control the window cleaning robot to change lines;

[0027] Wherein, the window cleaning robot does not contact the edge of the surface to be cleaned during the line-changing process.

[0028] In some embodiments, the window cleaning robot includes two cleaning units, and controlling the window cleaning robot to change rows includes:

[0029] Controlling one cleaning unit to rotate a preset angle around the other cleaning unit, so that the window cleaning robot rotates from the initial posture to the preset posture, and then controlling the other cleaning unit to rotate, so that the window cleaning robot returns from the preset posture to the initial posture;

[0030] Wherein, the preset angle is greater than 90 degrees.

[0031] The present invention also provides an operation path of a window cleaning robot, which is used to adsorb on a surface to be cleaned and perform mobile cleaning on the surface to be cleaned. The operation path includes:

[0032] The first path includes continuously cleaning at least three edges of the surface to be cleaned.

[0033] In some embodiments, the operation path further includes: a second path, and the second path forms a closed cleaning with the first path for the surface to be cleaned at least.

[0034] In the embodiments of the present invention, the surface to be cleaned is divided into a central area and an edge area, and the window cleaning robot is controlled to adopt different cleaning modes for the central area and the edge area. The window cleaning robot can adopt more suitable cleaning modes for the edge area and the central area, improving the cleaning efficiency of the window cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic flow chart of the operation method of the window cleaning robot in the embodiments of the present invention;

[0036] Figure 2 It is another schematic flow chart of the operation method of the window cleaning robot in the embodiments of the present invention;

[0037] Figure 3 It is another schematic flow chart of the operation method of the window cleaning robot in the embodiments of the present invention;

[0038] Figure 4 It is a schematic scene diagram of the operation method of the window cleaning robot in the embodiments of the present invention;

[0039] Figure 5 It is another schematic scene diagram of the operation method of the window cleaning robot in the embodiments of the present invention;

[0040] Figure 6 It is another schematic scene diagram of the operation method of the window cleaning robot in the embodiments of the present invention;

[0041] Figure 7 It is another schematic scene diagram of the operation method of the window cleaning robot in the embodiments of the present invention;

[0042] Figure 8 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0043] Figure 9 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0044] Figure 10 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0045] Figure 11 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0046] Figure 12 Schematic diagram of the structure of the window cleaning robot involved in the embodiment solution of the present invention.

[0047] The realization of the purpose, functional characteristics and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0048] Next, the solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0049] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0050] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0051] In addition, the descriptions involving "first", "second", etc. in the present invention are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the fact that those skilled in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0052] To achieve the above object, the present invention proposes an operation method for a window cleaning robot. The operation method includes:

[0053] Step S110, obtaining the size data of the surface to be cleaned;

[0054] Step S120, determining the central area and the edge area of the surface to be cleaned according to the size data of the surface to be cleaned and the self-wiping data of the window cleaning robot;

[0055] Step S130, controlling the window cleaning robot to clean the central area and the edge area in at least two different cleaning modes.

[0056] In this embodiment, referring to Figure 1 and Figure 4 , the operation method of the window cleaning robot is applied to the window cleaning robot, and the window cleaning robot is used to clean the surface to be cleaned. Among them, the surface to be cleaned may be the surface of a glass window. The operation method of the window cleaning robot can divide the surface to be cleaned into a central area and an edge area when the window cleaning robot cleans the surface to be cleaned, so that the window cleaning robot can adopt different cleaning modes for the central area and the edge area, enabling the window cleaning robot to clean the edge area uniformly, avoiding the problem of missed cleaning when the window cleaning robot cleans the edge area, and improving the cleaning efficiency of the window cleaning robot. In this embodiment, the execution subject of each method step is a control module that controls the operation of the window cleaning robot; the control module can be built into the window cleaning robot or set outside the window cleaning robot.

[0057] It is understandable that when a window cleaning robot is needed to clean a surface to be cleaned, the window cleaning robot needs to be placed on the surface to be cleaned first. Among them, the window cleaning robot can be placed on the surface to be cleaned by adsorption. When the window cleaning robot is placed on the surface to be cleaned, the window cleaning robot will occupy a certain area on the surface to be cleaned. When the window cleaning robot does not move, this area is the range that the window cleaning robot can clean at one time, which can be defined as the first cleaning area. When the control module controls the window cleaning robot to walk, it can determine the walking distance of the window cleaning robot. Thus, after the control module determines the walking distance of the window cleaning robot, the total cleaning area of the window cleaning robot for this distance can be determined according to the distance and the first cleaning area.

[0058] Among them, the size data of the window cleaning robot itself will be pre-configured in the control module, and the control module can determine the first cleaning area of the window cleaning robot according to the size data of the window cleaning robot itself.

[0059] Among them, referring to Figure 4 , Figure 4 the number of window cleaning robots in is one, only for showing the states of the window cleaning robots on each side, and multiple are drawn. The shape of the window cleaning robot can also be square, and Figure 4 it is only for illustrative purposes and does not limit the specific shape of the window cleaning robot and the specific walking mode of the window cleaning robot.

[0060] When a window cleaning robot is needed to clean a surface to be cleaned, the control module will first obtain the size data of the surface to be cleaned. The control module can determine the distance that the window cleaning robot walks around the edge of the surface to be cleaned by controlling the window cleaning robot to walk around the edge of the surface to be cleaned, and then determine the size data of the surface to be cleaned according to the distance.

[0061] In a preferred embodiment, the window cleaning robot can be provided with a communication module, and the communication module can communicate with the user terminal. When the user knows the size data of the surface to be cleaned, the user can send the size data of the surface to be cleaned to the window cleaning robot through the user terminal. At this time, the control module can receive the size data of the surface to be cleaned through the communication module.

[0062] After determining the size data of the surface to be cleaned, the control module can also determine the self-wiping data of the window cleaning robot according to the size data and walking mode of the window cleaning robot itself, so as to determine the central area and edge area of the surface to be cleaned according to the size data of the surface to be cleaned and the self-wiping data of the window cleaning robot.

[0063] For example: First, the first cleaning area can be determined according to the size data of the window cleaning robot itself. Then, according to the size data of the surface to be cleaned and the walking mode, the distance that the window cleaning robot walks around the edge of the surface to be cleaned can be determined. Finally, the total cleaning area that the window cleaning robot walks around the edge of the surface to be cleaned can be determined based on the first cleaning area and the distance. The total cleaning area that the window cleaning robot walks around the edge of the surface to be cleaned can be determined as the edge area, and the area obtained by removing the edge area from the surface to be cleaned can be determined as the central area. Among them, even if the size data of the window cleaning robot itself remains unchanged while the walking mode changes, the edge area will change, thereby causing the central area to also change. In addition, it is also possible to directly control the window cleaning robot to walk around the edge of the surface to be cleaned once, and then determine the area passed by during one round of walking as the edge area. Among them, when the surface to be cleaned is symmetric, it is also possible to only control the window cleaning robot to walk around a part of the edge of the surface to be cleaned, and then determine the area that the window cleaning robot can pass by during one round of walking according to the symmetry property.

[0064] After the control module divides the surface to be cleaned into a central area and an edge area, it can control the window cleaning robot to clean the central area and the edge area in at least two different cleaning modes. The control module cleans the central area and the edge area through different cleaning modes, so that the control module can control the window cleaning robot to uniformly clean the central area and can control the window cleaning robot to uniformly clean the edge area. This avoids the cleaning path of the traditional window cleaning robot, which is to clean the entire surface to be cleaned row by row (i.e., continuous cleaning of the edge area - central area - edge area without interruption), thereby avoiding the situation of missed cleaning when cleaning the edge area. In addition, when the window cleaning robot cleans the edge area of the surface to be cleaned, since the window cleaning machine is prone to ride on the rubber strip of the glass frame, or when there is no frame blocking the glass, the window cleaning machine is prone to pressure relief and air leakage, resulting in the window cleaning robot falling. Therefore, when the window cleaning robot walks on the edge (glass edge) of the surface to be cleaned, it requires a safer walking mode, such as reducing the running speed of the window cleaning robot, increasing the recognition frequency of the edge, etc. This is not conducive to improving the wiping efficiency of the window cleaning machine. Therefore, in the prior art's continuous cleaning mode of edge area - central area - edge area without interruption, the window cleaning robot needs to control the running speed and the detection frequency of the edge.

[0065] In this embodiment, the surface to be cleaned can be divided into a central area and an edge area, so that the window cleaning robot can adopt different cleaning modes for the central area and the edge area, enabling the window cleaning robot to uniformly clean the edge area, avoiding the problem of missed cleaning when the window cleaning robot cleans the edge area, and improving the cleaning efficiency of the window cleaning robot.

[0066] In some embodiments, the aforementioned obtaining the size data of the surface to be cleaned includes:

[0067] Step S140: Control the window cleaning robot to move along at least two borders of the surface to be cleaned, and record the movement data;

[0068] Step S141: Obtain the dimension data of the surface to be cleaned according to the movement data of at least two borders.

[0069] In this embodiment, referring to Figure 2 and Figure 5 , when the control module executes step S110, it can determine the dimension data of the surface to be cleaned by controlling the window cleaning robot to move along the border of the surface to be cleaned. When the surface to be cleaned is rectangular, at this time, two adjacent borders of the surface to be cleaned can be defined, one is defined as the length of the surface to be cleaned, and the other is defined as the width of the surface to be cleaned. And when the initial position of the window cleaning robot is located at one end of the border of the surface to be cleaned, control the window cleaning robot to move from one end of this border to the other end; then control the window cleaning robot to move from one end of the border adjacent to this border to the other end, so as to determine the length and width of the surface to be cleaned, and then determine the dimension data of the surface to be cleaned according to the length and width of the surface to be cleaned.

[0070] Among them, referring to Figure 5 , for the purpose of illustration in the Figure 5 direction, in Figure 5 , the initial position of the window cleaning robot is located at the right end of the lower border of the surface to be cleaned. At this time, the window cleaning robot can be directly controlled to move from the right end of the lower border to the left end of the lower border, so as to obtain the movement data of the lower border. When the window cleaning robot is located at the left end of the lower border, at this time, it can also be regarded as the window cleaning robot being located at the lower end of the left border. Then control the window cleaning robot to move from the lower end of the left border to the upper end of the left border, so as to obtain the movement data of the left border. According to the movement data of the lower border, the length of the lower border can be obtained. According to the movement data of the left border, the width of the left border can be obtained. At this time, the dimension data of the surface to be cleaned can be determined according to the length of the lower border and the width of the left border.

[0071] In a preferred embodiment, the surface to be cleaned can also be circular. At this time, the dimension data of the surface to be cleaned can be obtained according to the movement data of one border. Of course, the surface to be cleaned can also be other shapes. If it is a triangle, trapezoid, pentagon, hexagon, etc., the dimension data of the surface to be cleaned can be obtained according to the movement data of at least two borders.

[0072] In some embodiments, the surface to be cleaned is rectangular or quasi-rectangular, including a first edge, a second edge, a third edge, and a fourth edge connected in sequence. The foregoing obtaining the dimension data of the surface to be cleaned includes:

[0073] Step S150: Control the window cleaning robot to move along a first preset direction to the first edge;

[0074] Step S151: Control the window cleaning robot to run along the first edge, the second edge, and the third edge in sequence to the fourth edge.

[0075] Step S152: Obtain the size data of the surface to be cleaned according to the movement data of the second edge and the third edge.

[0076] In this embodiment, referring to Figure 3 、 Figure 5 and Figure 6 , when the control module executes step S110, it can determine the size data of the surface to be cleaned by controlling the window cleaning robot to move along the border of the surface to be cleaned. When the surface to be cleaned is rectangular or quasi-rectangular, at this time, two adjacent borders of the surface to be cleaned can be defined, one defined as the length of the surface to be cleaned, and the other defined as the width of the surface to be cleaned. The surface to be cleaned may include a first edge, a second edge, a third edge, and a fourth edge connected in sequence. In this embodiment, the initial position of the window cleaning robot can be any position on the surface to be cleaned. Among them, the first preset direction can point to the first edge. When the control module controls the window cleaning robot to move along the first preset direction, it will move in the direction of the first edge, so as to move to the first edge.

[0077] Among them, the control module can also first control the window cleaning robot to move on the surface to be cleaned along the first preset direction, and determine the first edge as the edge of the surface to be cleaned that the window cleaning robot touches for the first time.

[0078] After controlling the window cleaning robot to move to the first edge, the window cleaning robot can be controlled to run along the first edge, the second edge, and the third edge in sequence to the fourth edge. For example: control the window cleaning robot to move on the first edge in the direction of the second edge to move to the second edge; then control the window cleaning robot to move on the second edge in the direction of the third edge to move to the third edge; finally control the window cleaning robot to move on the third edge in the direction of the fourth edge to move to the fourth edge. At this time, when the window cleaning robot moves on the second edge and the third edge, it moves from one end of the edge to the other end. That is, the movement data of the window cleaning robot moving on the second edge and the third edge can determine the width of the second edge and the length of the third edge.

[0079] After the movement data of the window cleaning robot moving on the second edge and the third edge, the size data of the surface to be cleaned can be obtained according to the movement data of the second edge and the third edge. For example: according to the movement data of the window cleaning robot moving on the second edge and the third edge, the width of the second edge and the length of the third edge can be determined, and then the size data of the surface to be cleaned can be determined according to the width of the second edge and the length of the third edge.

[0080] In some embodiments, the foregoing window cleaning robot cleans the central area and the edge area in at least two different cleaning modes, including:

[0081] Controlling the window cleaning robot to clean the edge area of the surface to be cleaned in a first cleaning mode, and controlling the window cleaning robot to clean the central area of the surface to be cleaned in a second cleaning mode;

[0082] Wherein, the cleaning efficiency of the second cleaning mode is greater than that of the first cleaning mode.

[0083] In this embodiment, referring to Figure 7 , when the control module executes step S130, it cleans the central area and the edge area in two different cleaning modes respectively. Among them, Figure 7 This is only for illustration of this embodiment and does not limit the specific implementation process of this embodiment. Referring to Figure 7 , the second cleaning mode can be linear cleaning, and the first cleaning mode can be curvilinear cleaning. Since the central area of the surface to be cleaned is generally cleaner than the edge area of the surface to be cleaned, and the risk of falling in the edge area is greater. Therefore, when controlling the window cleaning robot to clean the central area of the surface to be cleaned, a cleaning mode with higher efficiency can be used to quickly clean the central area. That is, when controlling the window cleaning robot to clean the central area, the window cleaning robot can be controlled to start the second cleaning mode (linear cleaning) to clean the central area. And when controlling the window cleaning robot to clean the edge area of the surface to be cleaned, a more meticulous cleaning mode can be adopted to improve the cleanliness and safety of the edge area. That is, when controlling the window cleaning robot to clean the edge area, the window cleaning robot can be controlled to start the first cleaning mode (curvilinear cleaning) to clean the edge area. Curvilinear cleaning can control the window cleaning robot to swing, so that the window cleaning robot can clean the edge area in a more meticulous cleaning mode to improve the cleanliness of the edge area.

[0084] This embodiment improves the cleaning efficiency by adopting a cleaning mode with higher efficiency when cleaning the central area; and adopts a more meticulous cleaning mode when cleaning the edge area to improve the cleanliness of the edge area, and avoids the problem of missed cleaning when the window cleaning robot cleans the edge area, thereby improving the cleaning efficiency of the window cleaning robot.

[0085] In some embodiments, when the window cleaning robot starts to clean the central area of the surface to be cleaned in the second cleaning mode, the window cleaning robot is controlled to be located in the upper edge area of the central area.

[0086] In this embodiment, referring to Figure 7When the control module cleans the edge area of the surface to be cleaned in the first cleaning mode, the end position is the starting position for the window cleaning robot to start cleaning the central area of the surface to be cleaned in the second cleaning mode, that is, the starting position for the window cleaning robot to start cleaning the central area of the surface to be cleaned in the second cleaning mode is the upper edge area of the central area, so that when the window cleaning robot cleans the central area, it cleans the central area from top to bottom.

[0087] Because when controlling the window cleaning robot to move upward, it needs to overcome gravity, while when moving downward, it does not need to overcome gravity (gravity acts as a beneficial force and can increase the running speed). That is, when controlling the window cleaning robot to clean the central area, first control the window cleaning robot to move to the upper edge area of the central area, so that when the window cleaning robot cleans the central area, it cleans the central area from top to bottom, further improving the cleaning efficiency of the central area.

[0088] In some embodiments, the aforementioned cleaning mode includes: the walking mode of the window cleaning robot;

[0089] The window cleaning robot includes two cleaning units, and the walking mode includes: a first walking mode in which the two cleaning units walk simultaneously, and a second walking mode in which the two cleaning units walk alternately;

[0090] Among them, the walking speed of the first walking mode is greater than that of the second walking mode.

[0091] In this embodiment, referring to Figure 8 , the cleaning mode can be the walking mode of the window cleaning robot. The window cleaning robot can include two cleaning units, and both cleaning units can move independently. The walking mode can include two ways. The first walking mode: control the two cleaning units to walk simultaneously. For example, control the two cleaning units to walk in the same direction at the same time, referring to Figure 8 for the walking of the window cleaning robot in the central area. The second walking mode: control the two cleaning units to walk alternately. For example, first control one cleaning unit to walk, and then control the other cleaning unit to walk, referring to Figure 8 for the walking of the window cleaning robot in the edge area.

[0092] In some embodiments, the aforementioned second walking mode includes: making the extension direction trend of the body of the window cleaning robot consistent or substantially consistent with the direction in which the window cleaning robot is to move forward, and controlling any one of the cleaning units to perform a swing-out and a swing-back.

[0093] In this embodiment, referring to Figure 8 , Figure 8The walking of the window cleaning robot in the edge area. When the central connection line of the two cleaning units is parallel or substantially parallel to the direction to be advanced, the extending direction trend of the body of the window cleaning robot is consistent or substantially consistent with the direction to be advanced by the window cleaning robot. When the extending direction trend of the body of the window cleaning robot is consistent or substantially consistent with the direction to be advanced by the window cleaning robot, control any one of the cleaning units to swing out and swing back. When the window cleaning robot walks in the edge area, the window cleaning robot can touch the central area.

[0094] Among them, the two cleaning units include a first cleaning unit and a second cleaning unit. In a preferred embodiment, controlling any one of the cleaning units to swing out and swing back includes: controlling the second cleaning unit to swing around the first cleaning unit, and controlling the first cleaning unit to swing around the second cleaning unit; controlling the second cleaning unit to swing back around the first cleaning unit, and controlling the first cleaning unit to swing back around the second cleaning unit.

[0095] In this embodiment, referring to Figure 8 , when the window cleaning robot walks in the edge area, the positions of the first cleaning unit are represented by the labels A1, A2, and A3; the positions of the second cleaning unit are represented by the labels B1, B2, and B3. Among them, the same label indicates that the positions where the cleaning units are located are the same position. The control module first controls the second cleaning unit to swing around the first cleaning unit (that is, controls the second cleaning unit to swing from B1 to B2 around the first cleaning unit), and then controls the first cleaning unit to swing around the second cleaning unit (that is, controls the first cleaning unit to swing from A1 to A2 around the second cleaning unit); then controls the second cleaning unit to swing back around the first cleaning unit (that is, controls the second cleaning unit to swing from B2 to B3 around the first cleaning unit), and then controls the first cleaning unit to swing back around the second cleaning unit (that is, controls the first cleaning unit to swing from A2 to A3 around the second cleaning unit).

[0096] In some embodiments, the aforementioned second walking mode includes: making the extending direction trend of the body of the window cleaning robot inconsistent with the direction to be advanced by the window cleaning robot, and controlling any one of the cleaning units to swing along the trend of the direction to be advanced.

[0097] In this embodiment, referring to Figure 9 , Figure 9 the walking of the window cleaning robot in the edge area. When the central connection line of the two cleaning units is perpendicular or substantially perpendicular to the direction to be advanced, the extending direction trend of the body of the window cleaning robot is inconsistent with the direction to be advanced by the window cleaning robot. When the extending direction trend of the body of the window cleaning robot is inconsistent with the direction to be advanced by the window cleaning robot, control any one of the cleaning units to swing along the trend of the direction to be advanced.

[0098] In a preferred embodiment, controlling any cleaning unit to swing along the trend of the forward direction to be traveled includes: controlling the swing angle of the cleaning unit close to the edge of the surface to be cleaned to be smaller than the swing angle of the cleaning unit away from the edge of the surface to be cleaned.

[0099] In this embodiment, referring to Figure 9 , when the control module controls the window cleaning robot to walk in the edge area and the trend of the extension direction of the body of the window cleaning robot is inconsistent with the forward direction to be traveled by the window cleaning robot, it controls the swing angles of the two cleaning units to be different. And it controls the swing angle of the cleaning unit close to the edge to be smaller than the swing angle of the cleaning unit away from the edge. Wherein, the swing angle here refers to the angle at which the cleaning unit swings when the connection line between the centers of the two cleaning units is perpendicular to the edge of the surface to be cleaned. Among them, the cleaning unit away from the edge of the surface to be cleaned is the first cleaning unit, and the cleaning unit close to the edge of the surface to be cleaned is the second cleaning unit.

[0100] The control module first controls the first cleaning unit to swing in the forward direction to be traveled. At this time, the swing angle of the first cleaning unit when the connection line between the centers of the two cleaning units is perpendicular to the edge of the surface to be cleaned is α; the control module then controls the second cleaning unit to swing in the forward direction to be traveled. At this time, the swing angle of the second cleaning unit when the connection line between the centers of the two cleaning units is perpendicular to the edge of the surface to be cleaned is β. Wherein, it is controlled that the swing angle of the cleaning unit close to the edge of the surface to be cleaned is smaller than the swing angle of the cleaning unit away from the edge of the surface to be cleaned, that is, β is smaller than α. In this way, during the operation of the window cleaning robot, it will get closer and closer to the edge of the surface to be cleaned; at the same time, when the angles of α and β are both small, the situation of missed wiping can be reduced as much as possible, thereby improving the cleaning coverage rate.

[0101] In some embodiments, the foregoing cleaning mode includes: the line-changing mode of the window cleaning robot;

[0102] When the window cleaning robot runs to the boundary position of the central area, control the window cleaning robot to change lines;

[0103] Among them, during the line-changing process, the window cleaning robot does not contact the edge of the surface to be cleaned.

[0104] In this embodiment, referring to Figure 10 , when controlling the window cleaning robot to run to the boundary position of the central area, it is necessary to control the window cleaning robot to change lines to clean the next line. Among them, referring to Figure 10 , controlling the window cleaning robot to change lines can be to control the window cleaning robot to translate downward to the next line.

[0105] Specifically, in the prior art, during the process of the window cleaning robot changing rows, the window cleaning machine needs to probe the edge of the surface to be cleaned to prevent riding on the rubber strip at the edge of the surface to be cleaned or relieving pressure at the edge of the borderless surface to be cleaned, which may cause the window cleaning machine to fall. Therefore, in the prior art, an efficient row-changing method cannot be adopted during the row-changing process, and slow probing is required, which is not conducive to improving the cleaning efficiency. In the present application, during the process of changing rows in the central cleaning area, the edge area provides a sufficient safety area for the row-changing process. The row-changing action of the window cleaning robot will not touch the edge of the surface to be cleaned, and there is no need to worry about falling. Therefore, an efficient row-changing method can be adopted, thus improving the cleaning efficiency.

[0106] In some embodiments, the window cleaning robot includes two cleaning units. The control of the window cleaning robot to change rows includes:

[0107] Controlling one cleaning unit to rotate a preset angle around the other cleaning unit, so that the window cleaning robot rotates from the initial posture to the preset posture, and then controlling the other cleaning unit to rotate, so that the window cleaning robot returns from the preset posture to the initial posture;

[0108] Wherein, the preset angle is greater than 90 degrees.

[0109] In this embodiment, referring to Figure 11 , the window cleaning robot may include two cleaning units. When controlling the window cleaning robot to change rows, it may be to control one cleaning unit to rotate a preset angle around the other cleaning unit, so that the window cleaning robot rotates from the initial posture to the preset posture, and then controlling the other cleaning unit to rotate, so that the window cleaning robot returns from the preset posture to the initial posture. Wherein, referring to Figure 11 , controlling the window cleaning robot to change rows may be to control one cleaning unit to rotate a preset angle around the other cleaning unit, and then controlling the other cleaning unit to rotate back a preset angle around one cleaning unit, so that the window cleaning robot changes to the next row. Wherein, the preset angle is greater than 90 degrees.

[0110] Wherein, referring to Figure 11 , in this embodiment, after controlling one cleaning unit to rotate a preset angle around the other cleaning unit and then controlling the other cleaning unit to rotate back a preset angle around one cleaning unit, it is also necessary to control the window cleaning robot to move left to the boundary position of the central area to complete the row change. When changing rows, the adjacent two rows may have an overlapping area or may not have an overlapping area.

[0111] The present invention can divide the surface to be cleaned into a central area and an edge area, so that the window cleaning robot can adopt different cleaning modes for the central area and the edge area, enabling the window cleaning robot to uniformly clean the edge area, avoiding the problem of missed cleaning when the window cleaning robot cleans the edge area, and improving the cleaning efficiency of the window cleaning robot.

[0112] The present invention also provides an operation path of a window cleaning robot. The window cleaning robot is used to adsorb on a surface to be cleaned and perform mobile cleaning on the surface to be cleaned. The operation path includes:

[0113] A first path, including continuously cleaning at least three edges of the surface to be cleaned.

[0114] In this embodiment, referring to Figure 4 and Figure 6 , the window cleaning robot can adsorb on the surface to be cleaned and perform mobile cleaning on the surface to be cleaned. The operation path of the window cleaning robot can be the path passed by the window cleaning robot when it performs mobile cleaning on the surface to be cleaned. The operation path may include a first path. The first path is that the window cleaning robot continuously cleans at least three edges of the surface to be cleaned. Among them, referring to Figure 6 , cleaning at least three edges of the surface to be cleaned may be the first edge, the second edge, and the third edge.

[0115] Among them, the control module can also first control the window cleaning robot to move to the first edge. After controlling the window cleaning robot to move to the first edge, the window cleaning robot can be controlled to run along the first edge, the second edge, and the third edge in sequence; so as to clean the first edge, the second edge, and the third edge.

[0116] When the control module controls the window cleaning robot to clean the second edge and the third edge, the window cleaning robot can move from one end of the second edge to the other end and from one end of the third edge to the other end; so as to completely clean the second edge and the third edge. At this time, the control module can obtain the movement data of the window cleaning robot moving on the second edge and the third edge, and thus obtain the size data of the surface to be cleaned according to the movement data of the second edge and the third edge. This embodiment can realize the step of obtaining the size data of the surface to be cleaned in the above operation method of the window cleaning robot while cleaning at least three edges of the surface to be cleaned.

[0117] And after the control module controls the window cleaning robot to completely clean the second edge and the third edge, the control module can also determine the cleaning area of the window cleaning robot on the second edge and the third edge, and thus determine the cleaning area of the window cleaning robot on the first edge and the fourth edge, and then determine the central area and the edge area of the surface to be cleaned according to the size data of the surface to be cleaned. This embodiment can realize the step of determining the central area and the edge area of the surface to be cleaned according to the size data of the surface to be cleaned and the self-wiping data of the window cleaning robot in the above operation method of the window cleaning robot while cleaning at least three edges of the surface to be cleaned.

[0118] Among them, at least three edges of the surface to be cleaned may also be the first edge, the fourth edge, and the third edge. When the control module determines the central area and the edge area of the surface to be cleaned only by cleaning the first edge, the second edge, and the third edge, there is still a part of the edge area that has not been cleaned. At this time, the control module can control the window cleaning robot to perform a step of continuously cleaning at least three edges of the surface to be cleaned. At this time, at least three edges of the surface to be cleaned are the first edge, the fourth edge, and the third edge. To clean the uncleaned part in the edge area.

[0119] In this embodiment, cleaning at least three edges of the surface to be cleaned can be performed in the first cleaning mode. For example, in curve cleaning, the window cleaning robot can be controlled to swing, so that the window cleaning robot can clean the edge area in a more meticulous cleaning mode to improve the cleaning degree of the edge area. Moreover, the second walking mode in which two cleaning units walk alternately can be adopted to improve the safety level of walking in the edge area. Of course, when adopting the second walking mode, among the three edges, different swinging rules can also be selected according to the relationship between the extending direction trend of the body of the window cleaning robot and the direction in which the window cleaning robot is to move forward. Specifically, when walking in the up-down direction, make the extending direction trend of the body of the window cleaning robot consistent or basically consistent with the direction in which the window cleaning robot is to move forward, and control any one of the cleaning units to swing out and swing back; when walking left and right, make the extending direction trend of the body of the window cleaning robot inconsistent with the direction in which the window cleaning robot is to move forward, and control any one of the cleaning units to swing along the trend of the direction in which it is to move forward. More specifically, when controlling any one of the cleaning units to swing along the trend of the direction in which it is to move forward, the swinging angle of the cleaning unit close to the edge can also be controlled to be smaller than that of the cleaning unit far away, so that the window cleaning robot can reduce the situation of missed wiping as much as possible, thereby improving the cleaning coverage rate.

[0120] In some embodiments, the running path further includes: a second path, and the second path at least forms a closed cleaning of the surface to be cleaned with the first path.

[0121] In this embodiment, the first path can be used to clean the edge area of the surface to be cleaned, and the second path can at least form a closed cleaning of the surface to be cleaned with the first path. That is, the second path can clean the central area. This embodiment can implement the step of controlling the window cleaning robot to clean the central area of the surface to be cleaned in the above-mentioned running method of the window cleaning robot. The control module realizes a closed cleaning of the surface to be cleaned by executing the first path and the second path.

[0122] In this embodiment, when the window cleaning robot cleans along the second path, it can adopt the second cleaning mode, such as linear cleaning, to clean the central area. Moreover, it can adopt the second walking mode to control the two cleaning units to walk simultaneously, so as to improve the cleaning efficiency of the central area. Also, during the line change process, the window cleaning robot can be controlled to change lines by controlling one cleaning unit to rotate a preset angle around the other cleaning unit, and then controlling the other cleaning unit to rotate a preset angle around one cleaning unit, so that the window cleaning robot changes to the next line, where the preset angle is greater than 90 degrees to improve the line change efficiency of the window cleaning robot.

[0123] In this application, first, at least three edges are cleaned along the first path, and then the remaining area is cleaned along the second path. The second path can be to first clean the remaining edges of the surface to be cleaned, and then clean the central area, or first clean the central area and then clean the remaining edges; or, the window cleaning robot can first clean along the second path (it can clean one or more edges of the surface to be cleaned), and then clean at least three edges of the surface to be cleaned along the first path.

[0124] After the first path finishes cleaning at least three edges and walks along the second path, the window cleaning robot no longer identifies, contacts, and cleans the edges of the surface to be cleaned that have been cleaned, reducing the identification time and cleaning time of the edges of the surface to be cleaned, and having high cleaning efficiency. That is, when walking along the second path, it only needs to identify and clean the edges of the surface to be cleaned that have not been cleaned in the first path. The cleaning of at least three edges along the first path realizes the centralized cleaning of the edge area, and the second path realizes the centralized cleaning of the central area, with high cleaning efficiency.

[0125] The present invention also proposes a window cleaning robot. Refer to Figure 12 , Figure 12 which is a schematic structural diagram of the window cleaning robot in the hardware operating environment related to the embodiment solution of the present invention.

[0126] The window cleaning robot according to the embodiment of the present invention can be a processor capable of running the operating method of the window cleaning robot; there is at least one processor. Such as Figure 12As shown in the figure, the window cleaning robot may include: a processor 1001 (such as a CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit, such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0127] Those skilled in the art can understand that Figure 12 the structure of the window cleaning robot shown in the figure does not constitute a limitation on the window cleaning robot, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0128] As Figure 12 shown, the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a computer program.

[0129] In Figure 12 the window cleaning robot shown in the figure, the network interface 1004 is mainly used to connect to the background server and perform data communication with the background server; the user interface 1003 is mainly used to connect to the client (user side) and perform data communication with the client; and the processor 1001 may be used to call the computer program stored in the memory 1005, and when the computer program is called and executed by the processor 1001, the steps of the above-mentioned operation method of the window cleaning robot are realized.

[0130] Based on the computer program proposed in the foregoing embodiments, the present invention also proposes a storage medium, which stores a computer program, and when the computer program is executed by a controller, the operation method of the window cleaning robot recorded in the foregoing embodiments is realized.

[0131] The present invention also proposes a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the operation method of the window cleaning robot in any one of the above technical solutions are realized.

[0132] The above are only partial or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. Any equivalent structural transformation made using the content of the specification and drawings of the present invention under the overall concept of the present invention, or any direct / indirect application in other related technical fields, is included within the scope of protection of the present invention.

Claims

1. A method for operating a window cleaning robot, characterized in that: Obtaining dimension data of the surface to be cleaned; Determine the central area and the edge area of ​​the surface to be cleaned according to the size data of the surface to be cleaned and the self-wiping data of the window cleaning robot; The window cleaning robot is controlled to clean the central area and the edge area in at least two different cleaning modes.

2. The operating method of the window cleaning robot according to claim 1, characterized in that: The step of obtaining the size data of the surface to be cleaned includes: Controlling the window cleaning robot to move along at least two frames of the surface to be cleaned, and recording movement data; The size data of the surface to be cleaned is obtained according to the movement data of at least two frames.

3. The operating method of the window cleaning robot according to claim 2, characterized in that: The surface to be cleaned is a rectangle or a quasi-rectangle, including a first edge, a second edge, a third edge and a fourth edge connected in sequence, and the step of obtaining the size data of the surface to be cleaned includes: Controlling the window cleaning robot to move to a first edge along a first preset direction; Controlling the window cleaning robot to move along the first edge, the second edge and the third edge in sequence to the fourth edge; The size data of the surface to be cleaned is acquired according to the movement data of the second edge and the third edge.

4. The operating method of the window cleaning robot according to claim 1, characterized in that: The controlling the window cleaning robot to clean the central area and the edge area in at least two different cleaning modes comprises: Controlling the window cleaning robot to clean the edge area of ​​the surface to be cleaned in a first cleaning mode, and controlling the window cleaning robot to clean the central area of ​​the surface to be cleaned in a second cleaning mode; Wherein, the cleaning efficiency of the second cleaning mode is greater than the cleaning efficiency of the first cleaning mode.

5. The operating method of the window cleaning robot according to claim 4, characterized in that: When the window-cleaning robot starts to clean the central area of ​​the surface to be cleaned in the second cleaning mode, the window-cleaning robot is controlled to be located in the upper edge area of ​​the central area.

6. The operating method of the window cleaning robot according to claim 1, characterized in that: The cleaning modes include: the walking mode of the window cleaning robot; The window cleaning robot comprises two cleaning units, and the walking modes comprise: a first walking mode in which the two cleaning units walk simultaneously, and a second walking mode in which the two cleaning units walk alternately; Wherein, the walking speed of the first walking mode is greater than the walking speed of the second walking mode.

7. The operating method of the window cleaning robot according to claim 6, characterized in that: The second walking mode includes: making the extension direction of the window cleaning robot's body consistent or substantially consistent with the direction in which the window cleaning robot is to move forward, and controlling any cleaning unit to swing out and swing back.

8. The operating method of the window cleaning robot according to claim 6, characterized in that: The second walking mode includes: making the extension direction of the window cleaning robot's body inconsistent with the direction in which the window cleaning robot is to move, and controlling any cleaning unit to swing along the trend of the direction in which the window cleaning robot is to move.

9. The operating method of the window cleaning robot according to claim 1, characterized in that: The cleaning modes include: a line-changing mode of the window-cleaning robot; When the window cleaning robot moves to the boundary position of the central area, controlling the window cleaning robot to change lines; Wherein, during the line-changing process, the window-cleaning robot does not contact the edge of the surface to be cleaned.

10. The operating method of the window cleaning robot according to claim 9, characterized in that: The window cleaning robot comprises two cleaning units, and controlling the window cleaning robot to change lines comprises: Control one cleaning unit to rotate around another cleaning unit by a preset angle, so that the window cleaning robot rotates from an initial posture to a preset posture, and then control the other cleaning unit to rotate, so that the window cleaning robot returns from the preset posture to the initial posture; Wherein, the preset angle is greater than 90 degrees.

11. A running path of a window cleaning robot, characterized in that: The window cleaning robot is used to be adsorbed on the surface to be cleaned and move to clean the surface to be cleaned, and the running path includes: The first path includes: continuously cleaning at least three edges of the surface to be cleaned.

12. The running path of the window cleaning robot according to claim 11, characterized in that: The running path further includes: a second path, wherein the second path at least forms a closed cleaning with the first path for the surface to be cleaned.

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