Line feed method of window cleaning machine
By twisting the body position first and then straightening the body position when the window cleaning machine is changed, and covering the line breaking track during the right posture, the problem of residual scratches when the window cleaning machine is changed is solved, and the cleaning effect of the window cleaning machine is improved.
Patent Information
- Application Number
- CN202510395318.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-07-08
AI Technical Summary
Existing window wipers are prone to leave scratches on the glass surface when changing lines, affecting the cleaning effect.
By controlling the window wiper to twist the body when changing lines, then straighten the body during twisting, and cover the twisting trajectory of the line breaking during straightening the body to ensure that the wipe area covers the line breaking trajectory and avoid residues of scratches.
It effectively avoids the residual scratches during the window cleaning machine when changing lines and improves cleaning ability.
Smart Images
Figure CN120267169A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of cleaning equipment, and particularly to a window cleaning machine line change method. Background Art
[0002] With the development of technology and the improvement of living standards, people have higher and higher requirements for the quality of life, and intelligent and efficient window cleaning machines are increasingly favored by users. The working principle of the window cleaning machine is to adsorb on the glass surface through the adsorption component. During the walking process of the window cleaning machine, the cleaning component of the window cleaning machine cleans the glass surface.
[0003] Currently, when the window cleaning machine wipes the glass surface, it generally wipes horizontally to the left or horizontally to the right. Thus, when the window cleaning machine wipes to the left and right side frames of the glass surface, it needs to perform local line change. Since the outermost edge of the cleaning cloth at the front end of the running direction of the window cleaning machine is relatively dirty, when the window cleaning machine performs local line change, the local rotation action is likely to leave scratches on the glass window. Summary of the Invention
[0004] The main purpose of the present invention is to propose a window cleaning machine line change method, aiming to solve to a certain extent the problem that existing window cleaning machines are likely to leave scratches on the left and right frames of the glass surface during line change, so as to improve the cleaning ability of the window cleaning machine.
[0005] To achieve the above object, the present invention proposes a window cleaning machine line change method, and the line change method includes:
[0006] Controlling the window cleaning machine to run in a preset direction;
[0007] When the window cleaning machine runs to a preset position, controlling the window cleaning machine to perform a line change twist, and the forward end of the window cleaning machine twists a preset distance relative to the preset position;
[0008] Within the controllable range of the preset distance, controlling the window cleaning machine to straighten its body, wherein during the process of the window cleaning machine straightening its body, the wiping area of the window cleaning machine covers the line change twist trajectory of the window cleaning machine.
[0009] In some embodiments, after controlling the window cleaning machine to straighten its body, it further includes:
[0010] When the window cleaning machine straightens its body and runs to the edge of the surface to be cleaned, controlling the window cleaning machine to run in the reverse direction to complete the line change.
[0011] In some embodiments, the preset position is determined according to that the distance between the window cleaning machine and the edge of the surface to be cleaned is not less than the twist range of the window cleaning machine line change.
[0012] In some embodiments, the window cleaning machine running to the preset position includes:
[0013] When the window cleaning machine runs in a preset direction and recognizes the edge of the surface to be cleaned, control the window cleaning machine to run in the reverse direction to reach the preset position.
[0014] In some embodiments, the window cleaning machine includes a cleaning member for cleaning the surface to be cleaned. The cleaning member includes a first region and a second region. The first region is located at the edge of the window cleaning machine, and the second region is located inside the window cleaning machine relative to the first region.
[0015] During the process of the window cleaning machine straightening its posture, the second region covers the trajectory of the first region.
[0016] In some embodiments, the length of the first region is less than the length of the second region, so that the second region completely covers the trajectory of the first region.
[0017] In some embodiments, controlling the window cleaning machine to twist when changing rows, and the forward end of the window cleaning machine twists a preset distance relative to the preset position includes:
[0018] Controlling the window cleaning machine to rotate from an initial angle to a preset angle and then walk straight, or controlling the window cleaning machine to walk while rotating from the initial angle to the preset angle, or a combination of the two.
[0019] In some embodiments, controlling the window cleaning machine to rotate from an initial angle to a preset angle includes:
[0020] Controlling the window cleaning machine to rotate around the center of the window cleaning machine;
[0021] Or, controlling the window cleaning machine to rotate around a corner of the window cleaning machine.
[0022] In some embodiments, controlling the window cleaning machine to twist when changing rows, and the forward end of the window cleaning machine twists a preset distance relative to the preset position includes:
[0023] Controlling the window cleaning machine to twist 180 degrees to straighten its posture to complete changing rows;
[0024] Wherein, before and after changing rows, the up and down positions of the window cleaning machine are reversed.
[0025] In some embodiments, the window cleaning machine includes:
[0026] A walking member for controlling the window cleaning machine to walk;
[0027] A cleaning member disposed around the walking member, so that there is a cleaning member in front of the walking member in any running direction of the window cleaning machine.
[0028] The present invention also provides a line-changing device for a window cleaning machine, and the line-changing device for the window cleaning machine includes:
[0029] at least one processor; and,
[0030] a memory communicatively connected to the at least one processor; wherein,
[0031] the memory stores instructions executed by the at least one processor, and the instructions are executed by the at least one processor to perform the line-changing method for the window cleaning machine described in any one of the above.
[0032] When the window cleaning machine needs to change lines, the present invention first controls the window cleaning machine to twist its body, and then controls the window cleaning machine to straighten its body. During the process of straightening the body, the wiping area of the window cleaning machine covers the line-changing twisting track of the window cleaning machine; so that when the window cleaning machine changes lines, the wiping marks remaining due to twisting the body to change lines will also be covered when straightening the body, avoiding the problem of easy residual wiping marks when the window cleaning machine changes lines and improving the cleaning ability of the window cleaning machine. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] Figure 1 is a schematic flowchart of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0034] Figure 2 is another schematic flowchart of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0035] Figure 3 is a schematic scene diagram of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0036] Figure 4 is another schematic scene diagram of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0037] Figure 5 is another schematic scene diagram of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0038] Figure 6 is a schematic diagram of the first area and the second area of the window cleaning machine in an embodiment of the present invention;
[0039] Figure 7 is another schematic scene diagram of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0040] Figure 8 is another schematic scene diagram of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0041] Figure 9 is another schematic scene diagram of the line-changing method for the window cleaning machine in an embodiment of the present invention;
[0042] Figure 10This is a schematic structural diagram of the line-changing device of the window cleaning machine according to the embodiment of the present invention;
[0043] Figure 11 This is a scenario schematic diagram of the line-changing method of the window cleaning machine in the prior art.
[0044] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments
[0045] Next, the solutions in the embodiments of the present invention will be clearly and completely described with reference to 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present invention.
[0046] 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.
[0047] 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.
[0048] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of the technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of the technical solutions does not exist and is not within the scope of protection required by the present invention.
[0049] To achieve the above object, the present invention proposes a line-changing method for a window cleaning machine, and the line-changing method includes:
[0050] Step S110, controlling the window cleaning machine to run in a preset direction;
[0051] Step S120, when the window cleaning machine runs to a preset position, controlling the window cleaning machine to twist for line changing, and the forward end of the window cleaning machine twists a preset distance relative to the preset position;
[0052] Step S130, within the controllable range of a preset distance, control the window cleaning machine to straighten its body. During the process of the window cleaning machine straightening its body, the wiping area of the window cleaning machine covers the turning and twisting trajectory of the window cleaning machine.
[0053] In this embodiment, referring to Figure 1 and Figure 3 , the method for the window cleaning machine to change rows is applied to the window cleaning machine, and the window cleaning machine is used to clean the surface of the glass window. The method for the window cleaning machine to change rows can enable the window cleaning machine to change rows when cleaning the surface to be cleaned (where the surface to be cleaned can be the surface of the glass window), so that after the window cleaning machine cleans one row of the surface of the glass window, it can change to the next row for cleaning. Herein, the next row refers to the row to be cleaned. The preset distance can be positively correlated with the distance for the window cleaning machine to change rows. For example: the greater the distance for changing rows, the greater the preset distance. In this embodiment, the execution subject of the method steps is the control module for controlling the window cleaning machine; the control module can be built into the window cleaning machine or set outside the window cleaning machine.
[0054] It can be understood that when the window cleaning machine changes rows, the cleaning parts on the side of the forward end of the window cleaning machine are more severely contaminated (because the window cleaning machine runs in a preset direction, and the cleaning parts on the side of the forward end of the window cleaning machine first cover the area to be cleaned, causing the stains in the area to be cleaned to gradually accumulate on the cleaning parts on the side of the forward end). When changing rows and rotating, the local normal pressure of the cleaning parts increases and the local friction increases. At this time, the stains accumulated on the cleaning parts will be left on the surface of the glass window, thus forming scratch residues. Especially during the twisting process of the window cleaning machine, the displacement rates of different positions of the cleaning parts on the side of the forward end of the window cleaning machine are different and the local normal pressure is also different. Therefore, the stains accumulated on the cleaning parts are more likely to be left on the surface of the glass window, thus forming scratch residues. It can be understood that the scratch residues behind the twisting are more serious than those behind the straight-line walking. And the method of the present invention can perform secondary cleaning on the scratches left during the row-changing rotation, avoiding the problem of easy scratch residues when the window cleaning machine changes rows and improving the cleaning ability of the window cleaning machine.
[0055] Among them, referring to Figure 3 , Figure 3 , a, b, c, d, and e in Figure 3 are all the operating states of the window cleaning machine during the implementation of steps S110 - S130, which are briefly described as state a, state b, state c, state d, and state e below.
[0056] When using a window cleaning machine to clean the surface of a glass window, the control module can first control the window cleaning machine to run in a preset direction. Among them, the preset direction can be horizontally to the left or horizontally to the right on the surface of the glass window. The control module first controls the window cleaning machine to run in the preset direction so that the window cleaning machine cleans the surface of the glass window in the preset direction. As Figure 3 shown in state a, the window cleaning machine runs in the preset direction.
[0057] When controlling the window cleaning machine to run in the preset direction and the window cleaning machine runs to the preset position, the window cleaning machine can be controlled to change rows. Control the window cleaning machine to change rows in a twisting manner, and during the process of controlling the window cleaning machine to change rows in a twisting manner, the forward end of the window cleaning machine moves a preset distance relative to the preset position. As Figure 3 shown in state b, at this time, the position where the window cleaning machine is located is the preset position. Among them, as shown in state c, the window cleaning machine is changing rows and twisting.
[0058] Within the controllable range of the preset distance, control the window cleaning machine to straighten its body. It can be understood that when controlling the window cleaning machine to straighten its body, the forward end of the window cleaning machine cannot straighten a preset distance relative to the preset position. That is, prevent the window cleaning machine after straightening its body from returning to the position before twisting. As Figure 3 shown in state d, the window cleaning machine is straightening its body, as Figure 3 shown in state e, the window cleaning machine has straightened its body. Taking Figure 3 the direction in it as an example, at this time, the window cleaning machine in state e has moved down one row relative to the window cleaning machine in state b. By controlling the forward end of the window cleaning machine to twist a preset distance relative to the preset position and within the controllable range of the preset distance, control the window cleaning machine to straighten its body, it is possible to prevent the window cleaning machine after straightening its body from returning to the position before twisting. Since the process of the window cleaning machine straightening its body is carried out on the basis of the process of the window cleaning machine changing rows and twisting, and the process of the window cleaning machine straightening its body will cover the trajectory of changing rows and twisting. That is, during the process of the window cleaning machine straightening its body, the wiping area of the window cleaning machine covers the trajectory of the window cleaning machine changing rows and twisting.
[0059] In this embodiment, controlling the window cleaning machine to change rows and twist and controlling the window cleaning machine to straighten its body both include controlling the window cleaning machine to move forward, that is, controlling the window cleaning machine to change rows and twist and straighten its body are carried out during the process of the window cleaning machine moving forward, so that the window cleaning machine changes rows in a forward manner. In this way, the cleaning part located at the forward end of the window cleaning machine, even if there are residual scratches during the process of changing rows, will be covered again by the window cleaning machine during forward movement. That is, during the process of the window cleaning machine changing rows, the wiping area of the window cleaning machine covers the trajectory of the window cleaning machine changing rows and twisting.
[0060] In a preferred embodiment, during the process of controlling the window cleaning machine to turn and twist for changing rows, it may include controlling the window cleaning machine to straighten its posture. That is, during the process of controlling the window cleaning machine to twist, the posture of the window cleaning machine can be gradually twisted back to the initial posture (i.e., straighten the posture).
[0061] In this embodiment, controlling the window cleaning machine to change rows in a twisting manner can be: controlling the window cleaning machine to rotate clockwise by a certain angle first, and then controlling the window cleaning machine to rotate counterclockwise. And while controlling the window cleaning machine to rotate counterclockwise, it also controls the window cleaning machine to move forward, so that the window cleaning machine changes rows while twisting.
[0062] For example: The process of controlling the window cleaning machine to turn and twist for changing rows can be divided into two stages, namely the first stage and the second stage. In the first stage, control the window cleaning machine to twist from the initial posture to other postures; in the second stage, control the window cleaning machine to twist back from other postures to the initial posture (i.e., control the window cleaning machine to straighten its posture). At this time, referring to Figure 3 , the c state is the first stage, and both the d state and the e state are the second stage.
[0063] Since controlling the window cleaning machine to straighten its posture is in the second stage of the process of controlling the window cleaning machine to turn and twist for changing rows, controlling the window cleaning machine to straighten its posture needs to be carried out within a controllable range of a preset distance. Among them, the controllable range can be less than the preset distance.
[0064] Among them, during the process of controlling the window cleaning machine to straighten its posture, the relatively dirty cleaning part has always been in front of the window cleaning machine. Even if there are wiping marks left on the surface of the glass window during the process of the window cleaning machine straightening its posture, they will be wiped again by the clean cleaning part behind to clean the remaining wiping marks again. That is, during the process of the window cleaning machine straightening its posture, the wiping area of the window cleaning machine covers the turning and twisting track of the window cleaning machine for changing rows.
[0065] Through this embodiment, when the window cleaning machine needs to change rows, first control the window cleaning machine to twist its posture, and then control the window cleaning machine to straighten its posture. And during the process of straightening the posture, the wiping area of the window cleaning machine covers the turning and twisting track of the window cleaning machine for changing rows; so that when the window cleaning machine changes rows, the wiping marks left due to twisting the posture to change rows will also be covered when straightening the posture, avoiding the problem of easy residual wiping marks when the window cleaning machine changes rows and improving the cleaning ability of the window cleaning machine.
[0066] In some embodiments, after controlling the window cleaning machine to straighten its posture as described above, it further includes:
[0067] Step S140, after the window cleaning machine straightens its posture and runs to the edge of the surface to be cleaned, control the window cleaning machine to run in the reverse direction to complete changing rows.
[0068] In this embodiment, referring to Figure 2 and Figure 4, after the control module executes step S130, it will also control the window cleaning machine to run to the edge of the surface to be cleaned. After the control module controls the window cleaning machine to straighten its body, it needs to first control the window cleaning machine to run to the edge of the surface to be cleaned before controlling the window cleaning machine to run in the reverse direction to complete line feed, so as to control the window cleaning machine to clean the next line. Here, the reverse direction refers to the direction opposite to the preset direction.
[0069] Among them, referring to Figure 4 , Figure 4 , a, b, c, d, e, f, and g in it are all the operating states of the window cleaning machine during the implementation of steps S110 - S140, which are briefly described as state a, state b, state c, state d, state e, state f, and state g below. Figure 4 For illustrative purposes only, it does not limit the specific implementation process of steps S110 - S140. Among them, state a, state b, state c, state d, and state e correspond to steps S110 - S130, which is Figure 3 the same and will not be elaborated further. The following will describe state f and state g:
[0070] After the control module controls the window cleaning machine to straighten its body, it will also control the window cleaning machine to continue running in the preset direction so that the window cleaning machine runs to the edge of the surface to be cleaned. That is, in Figure 4 state f, the window cleaning machine runs to the edge of the surface to be cleaned.
[0071] After the window cleaning machine runs to the edge of the surface to be cleaned, it will control the window cleaning machine to run in the reverse direction (that is, control the window cleaning machine to run in the direction opposite to the preset direction) to complete line feed. That is, in Figure 4 state g, the window cleaning machine runs in the direction opposite to the preset direction to clean the next line.
[0072] Among them, it can be understood that: in state g, after the window cleaning machine is in state f, the window cleaning machine runs in the direction opposite to the preset direction and gradually runs to state g. The window cleaning machine in state g will continue to run in the direction opposite to the preset direction to run to the next preset position and then perform line feed.
[0073] In this embodiment, the window cleaning machine starts to perform line feed when it is not close to the edge of the surface to be cleaned, which is different from the prior art where the window cleaning machine performs line feed after contacting the edge of the surface to be cleaned. The prior art performs line feed by retreating, while this embodiment performs line feed by advancing. Referring to Figure 11 , Figure 11States a, b, c, d, and e in [the above description] are all the operating states of the window cleaning machine during the process of changing rows in the way of moving backward, which are hereinafter briefly described as state a, state b, state c, state d, and state e; the window cleaning machine runs from state a to contact the edge of the surface to be cleaned (state b), then starts to change rows, from state b to state c, then to state d, and finally to state e to complete the row change. When changing rows in the way of moving backward, the cleaning part that was previously on the forward end of the window cleaning machine will now be at the rear end of the window cleaning machine. In this way, the wiping marks remaining on the cleaning part cannot be wiped again. When changing rows in the way of moving forward, the cleaning part on the forward end of the window cleaning machine will still be at the front end of the window cleaning machine. Even if there are wiping marks remaining during the row change process, they will be wiped again by the window cleaning machine during forward movement.
[0074] It can be understood that the difference between the prior art and this solution is that in the prior art, the twisting for row change is only started after the window cleaning machine runs to the edge of the surface to be cleaned. That is, during the twisting row change process, the position where the pollution of the cleaning part of the window cleaning machine accumulates more seriously is at the very rear end in the running direction of the window cleaning machine. During this process of twisting and moving, it is most likely to leave cleaning marks, and the marks left are without a secondary wiping process; while in this application, the window cleaning machine runs to the edge of the surface to be cleaned after completing the twisting for row change. That is, the twisting is completed during the process of moving the window cleaning machine forward. The position where the pollution of the cleaning part of the window cleaning machine accumulates more seriously is at the very front end in the running direction of the window cleaning machine. The relatively clean part at the rear end in the running direction will perform secondary cleaning on the wiping marks at the front end, and then run to the edge of the surface to be cleaned and run in the reverse direction to complete the row change.
[0075] In some embodiments, the preset position is determined based on the window cleaning machine having a twisting range not less than the twisting for row change from the edge of the surface to be cleaned.
[0076] In this embodiment, the determination of the preset position requires that the window cleaning machine has a twisting range not less than the twisting for row change from the edge of the surface to be cleaned. That is, the distance between the preset position and the edge of the surface to be cleaned needs to satisfy a twisting range not less than the twisting for row change of the window cleaning machine. This enables the window cleaning machine to start twisting for row change from the preset position and be in the correct posture before or exactly when the window cleaning machine runs to the edge of the surface to be cleaned. Among them, the preset distance can be the distance between the preset position and the edge of the surface to be cleaned.
[0077] In some embodiments, the aforementioned window cleaning machine running to the preset position includes:
[0078] When the window cleaning machine runs in the preset direction and recognizes the edge of the surface to be cleaned, control the window cleaning machine to run in the reverse direction to run to the preset position.
[0079] In this embodiment, refer to Figure 5When the control module executes to control the window cleaning machine to run to the preset position, it controls the window cleaning machine to run to the edge of the surface to be cleaned and then run in the reverse direction to the preset position. The control module can first control the window cleaning machine to finish cleaning the current row to be cleaned, and then run back to the preset position in the reverse direction before starting to turn and twist to clean the next row (the row to be cleaned).
[0080] Among them, referring to Figure 5 , Figure 5 a, b1, and b2 in are all the operating states of the window cleaning machine during the process of the window cleaning machine running to the preset position, which are hereinafter briefly described as the a state, the b1 state, and the b2 state. Figure 5 It is only for schematic illustration and does not limit the specific implementation process.
[0081] Referring to Figure 5 , the window cleaning machine in the a state runs in the preset direction and will pass through the preset position for the first time. However, the window cleaning machine at this time will not immediately start to turn and twist, but continue to run in the preset direction until it reaches the edge of the surface to be cleaned (i.e., the b1 state). At this time, the control module can recognize the edge of the surface to be cleaned, thereby determining that the window cleaning machine has run to the edge of the surface to be cleaned. Then the control module controls the window cleaning machine to run in the reverse direction and return to the preset position again (i.e., the b2 state).
[0082] By controlling the window cleaning machine in this embodiment not to turn when passing through the preset position for the first time, but to run to the edge of the surface to be cleaned first and then run back to the preset position before starting to turn, the window cleaning machine can finish cleaning the current row to be cleaned before turning.
[0083] In some embodiments, the window cleaning machine includes a cleaning member for cleaning the surface to be cleaned. The cleaning member includes a first area and a second area. The first area is located at the edge of the window cleaning machine, and the second area is located inside the window cleaning machine relative to the first area;
[0084] During the process of the window cleaning machine straightening its posture, the second area covers the trajectory of the first area.
[0085] In this embodiment, referring to Figure 6 , the window cleaning machine includes a cleaning member. The cleaning member is arranged on the side of the window cleaning machine opposite to the surface to be cleaned, so that when the window cleaning machine adsorbs on the surface to be cleaned, the cleaning member can directly contact the surface to be cleaned, thereby cleaning the surface to be cleaned. As Figure 6 shown,[[]] Figure 6The schematic diagram shows the side of the window cleaning machine opposite to the surface to be cleaned. Among them, the cleaning part includes a first area and a second area. The first area is located at the edge of the window cleaning machine, and the second area is located inside the window cleaning machine relative to the first area. During the process of the window cleaning machine straightening its posture, the first area is at the front end of the operation of the window cleaning machine, and the second area is at the rear end of the first area; so that the running track of the first area will be covered by the running track of the second area.
[0086] For example: when the window cleaning machine runs in a preset direction to clean the surface to be cleaned, the stains on the surface to be cleaned are basically accumulated on the first area. During the process of the window cleaning machine straightening its posture, the first area is always at the front end of the operation of the window cleaning machine. Even the scratches left on the running track by the first area will be covered by the running track of the second area (that is, the second area will wipe the running track that the first area has passed again), avoiding the problem of easy scratch residue when the window cleaning machine changes rows, and improving the cleaning ability of the window cleaning machine.
[0087] In some embodiments, the length of the first area is less than the length of the second area, so that the second area completely covers the track of the first area.
[0088] In this embodiment, referring to Figure 6 , the length of the first area is less than the length of the second area, so that the running track generated by the operation of the first area will be smaller than the running track generated by the operation of the second area. In this way, during the process of the window cleaning machine straightening its posture, the running track generated by the operation of the first area will be completely covered by the running track generated by the operation of the second area, avoiding the problem that the scratches left on the running track by the first area cannot be completely wiped.
[0089] In some embodiments, when controlling the window cleaning machine to twist when changing rows, the front end of the window cleaning machine twists a preset distance relative to the preset position, including:
[0090] Controlling the window cleaning machine to rotate from the initial angle to the preset angle and then walk straight, or, controlling the window cleaning machine to walk while rotating from the initial angle to the preset angle, or a combination of the two.
[0091] In this embodiment, referring to Figure 7 , when the control module executes the control to twist the window cleaning machine when changing rows, there are various walking methods. Among them, the initial angle of the window cleaning machine can be defined according to the window cleaning machine running in a preset direction. When the window cleaning machine runs in a preset direction, the angle of the window cleaning machine is the initial angle. The preset angle can be determined according to the preset distance, and the preset distance can be positively correlated with the distance for the window cleaning machine to change rows.
[0092] When controlling the window cleaning machine to turn and twist during line change, there are multiple twisting methods. Method 1: First, control the window cleaning machine to rotate from the initial angle to the preset angle, and then control the window cleaning machine to move linearly. Method 2: Control the window cleaning machine to move while controlling the window cleaning machine to rotate from the initial angle to the preset angle. Method 3: Combine Method 1 and Method 2. For example: Divide the line change twist into multiple stages, and each stage can execute Method 1 or Method 2.
[0093] Among them, referring to Figure 7 , Figure 7 a, b, and c in are all the operating states of the window cleaning machine during the process of controlling the window cleaning machine to turn and twist during line change, which are hereinafter briefly described as the a state, the b state, and the c state. Figure 7 It is only for schematic illustration and does not limit the specific implementation process of controlling the window cleaning machine to turn and twist during line change.
[0094] Such as Figure 7 in Method 1, the a state is that the window cleaning machine is at the initial angle, the b state is that the window cleaning machine is at the preset angle, and the c state is that the window cleaning machine moves linearly. Such as Figure 7 in Method 2, the a state is that the window cleaning machine is at the initial angle, and the b state and the c state are that the window cleaning machine is controlled to move while controlling the window cleaning machine to rotate from the initial angle to the preset angle.
[0095] In a preferred embodiment, controlling the window cleaning machine to straighten its posture includes: controlling the window cleaning machine to rotate from the preset angle to the initial angle.
[0096] In this embodiment, referring to Figure 7 and Figure 8 , since when controlling the window cleaning machine to turn and twist during line change, the window cleaning machine is controlled to move. At this time, the window cleaning machine can be directly controlled to rotate from the preset angle to the initial angle without controlling the window cleaning machine to move again, that is, within the controllable range of the preset distance, control the window cleaning machine to straighten its posture.
[0097] Among them, referring to Figure 7 and Figure 8 , Figure 8 the a state, the b state, and the c state in are the same as the a state, the b state, and the c state in Figure 7 , and will not be elaborated here. Figure 8 The d state in is the operating state of the window cleaning machine during the process of controlling the window cleaning machine to straighten its posture. In Figure 8 , it is possible to directly control the window cleaning machine to rotate from the preset angle to the initial angle at the position where the window cleaning machine is located in the c state, so that the window cleaning machine can straighten its posture within the controllable range of the preset distance. Among them, the preset distance is the distance for the window cleaning machine to change lines.
[0098] In some embodiments, the aforementioned controlling the window cleaning machine to rotate from the initial angle to the preset angle includes:
[0099] Control the window cleaning machine to rotate around the center of the window cleaning machine;
[0100] Or, control the window cleaning machine to rotate around a corner of the window cleaning machine.
[0101] In this embodiment, when the control module controls the rotation of the window cleaning machine, it can control the window cleaning machine to rotate around the center of the window cleaning machine, that is, control the window cleaning machine to rotate in place. At this time, in order to prevent the window cleaning machine from still being in place after straightening its posture, it is necessary to control the window cleaning machine to walk a preset distance in a straight line. It can also be to control the window cleaning machine to rotate around a corner of the window cleaning machine. Controlling the window cleaning machine to rotate around a corner of the window cleaning machine can increase the range of the window cleaning machine's twisting when changing rows.
[0102] In some embodiments, when controlling the window cleaning machine to twist when changing rows, the front end of the window cleaning machine twists a preset distance relative to the preset position, including:
[0103] Control the window cleaning machine to twist 180 degrees to straighten the posture of the window cleaning machine to complete changing rows;
[0104] Among them, before and after changing rows, the up and down positions of the window cleaning machine are reversed.
[0105] In this embodiment, referring to Figure 9 , when the control module executes step S120, it can directly control the window cleaning machine to twist 180 degrees. So that the window cleaning machine performs a row change with the up and down positions reversed.
[0106] Among them, referring to Figure 9 , Figure 9 a, b, and c in are all the operating states of the window cleaning machine during the process of controlling the window cleaning machine to run in a preset direction and controlling the window cleaning machine to twist 180 degrees, which are briefly described as the a state, the b state, and the c state below. Figure 9 It is only for schematic illustration and does not limit the specific implementation process. The position where the window cleaning machine in the b state is located is the preset position.
[0107] Taking Figure 9 as an example, in Figure 9 the a state is that the window cleaning machine runs in a preset direction. When the window cleaning machine runs in a preset direction to the preset position (that is, the window cleaning machine runs to the b state in a preset direction), control the window cleaning machine to twist 180 degrees (at this time the window cleaning machine is in the c state). After the window cleaning machine twists 180 degrees, straighten the posture of the window cleaning machine to complete changing rows. At this time, the up and down positions of the window cleaning machine are reversed.
[0108] In some embodiments, the window cleaning machine includes:
[0109] A walking member for controlling the walking of the window cleaning machine;
[0110] A cleaning member is arranged around the walking member so that there is a cleaning member in front of the walking member in any running direction of the window cleaning machine.
[0111] In this embodiment, the window cleaning machine includes a walking member and a cleaning member. Among them, both the walking member and the cleaning member are arranged on the side of the window cleaning machine opposite to the surface to be cleaned, so that when the window cleaning machine adsorbs on the surface to be cleaned, both the walking member and the cleaning member can contact the surface to be cleaned. The walking member can enable the window cleaning machine to walk on the surface to be cleaned. Moreover, the cleaning member can also be arranged around the walking member, so that in any running direction of the window cleaning machine, there is a cleaning member in front of the walking member, so that when the window cleaning machine walks in any running direction, there is a cleaning member in front of the walking member to clean.
[0112] In the present invention, when the window cleaning machine needs to change rows, it first controls the window cleaning machine to twist its body, and then controls the window cleaning machine to straighten its body. Moreover, during the process of straightening its body, the wiping area of the window cleaning machine covers the row-changing twisting track of the window cleaning machine; so that when the window cleaning machine changes rows, the wiping marks remaining due to twisting the body to change rows will also be covered when the body is straightened, avoiding the problem of easy residual wiping marks when the window cleaning machine changes rows and improving the cleaning ability of the window cleaning machine.
[0113] The present invention also proposes a row-changing device for a window cleaning machine. Refer to Figure 10 , Figure 10 which is a schematic structural diagram of the row-changing device of the window cleaning machine in the hardware operating environment involved in the embodiment solution of the present invention.
[0114] The row-changing device of the window cleaning machine in the embodiment of the present invention can be a processor capable of running the control method of the window cleaning machine; there is at least one processor. As Figure 10 shown, the control device of the window cleaning machine can 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 communication between these components. The user interface 1003 can include a display screen (Display) and an input unit, such as a keyboard (Keyboard). Optionally, the user interface 1003 can also include a standard wired interface and a wireless interface. The network interface 1004 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 can also be a storage device independent of the aforementioned processor 1001.
[0115] Those skilled in the art can understand that Figure 10 the structural diagram of the row-changing device of the window cleaning machine shown in
[0116] does not constitute a limitation on the row-changing device of the window cleaning machine, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.Figure 10 As shown in Figure 10 , the memory 1005, which is a computer storage medium, may include an operating system, a network communication module, a user interface module, and a computer program.
[0117] In Figure 10 In the line-changing device of the window cleaning machine shown in Figure 10 , the network interface 1004 is mainly used to connect to the background server and communicate with the background server for data; the user interface 1003 is mainly used to connect to the client (user side) and communicate with the client for data; and the processor 1001 can 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 line-changing method of the window cleaning machine described above are implemented.
[0118] Based on the computer program proposed in the foregoing embodiments, the present invention also proposes a storage medium storing a computer program, and when the computer program is executed by a controller, the line-changing method of the window cleaning machine described in the foregoing embodiments is implemented.
[0119] The present invention also proposes a storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the line-changing method of the window cleaning machine according to any one of the above technical solutions are implemented.
[0120] 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 by 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 in the scope of protection of the present invention.
Claims
1. A line - breaking method for a window - cleaning machine, characterized in that, The described line-changing method includes: Controlling the window cleaning machine to run in a preset direction; When the window cleaning machine runs to a preset position, controlling the window cleaning machine to twist for line change, and the forward end of the window cleaning machine twists a preset distance relative to the preset position; Within the controllable range of the preset distance, controlling the window cleaning machine to straighten its body. During the process of the window cleaning machine straightening its body, the wiping area of the window cleaning machine covers the line-changing twisting trajectory of the window cleaning machine.
2. The window cleaning machine line break method according to claim 1, characterized in that After controlling the window cleaning machine to straighten its body, it further includes: After the window cleaning machine straightens its body and runs to the edge of the surface to be cleaned, controlling the window cleaning machine to run in the reverse direction to complete line change.
3. The window cleaning machine line break method according to claim 1, characterized in that The preset position is determined according to that the window cleaning machine and the edge of the surface to be cleaned have a twisting range not less than the line-changing twist of the window cleaning machine.
4. The line break method of the window cleaning machine according to claim 3, characterized in that, The window cleaning machine running to the preset position includes: When the window cleaning machine runs in a preset direction and recognizes the edge of the surface to be cleaned, controlling the window cleaning machine to run in the reverse direction to run to the preset position.
5. The window cleaning machine's line break method according to claim 1, characterized in that The window cleaning machine includes a cleaning member for cleaning the surface to be cleaned. The cleaning member includes a first area and a second area. The first area is located at the edge of the window cleaning machine, and the second area is located inside the window cleaning machine relative to the first area; During the process of the window cleaning machine straightening its body, the second area covers the trajectory of the first area.
6. The line wrapping method of the window cleaning machine according to claim 5, characterized in that The length of the first area is less than the length of the second area so that the second area completely covers the trajectory of the first area.
7. The line break method of the window cleaning machine according to claim 1, characterized in that Controlling the window cleaning machine to twist for line change, and the forward end of the window cleaning machine twists a preset distance relative to the preset position, includes: Controlling the window cleaning machine to rotate from an initial angle to a preset angle and then walk straight, or, controlling the window cleaning machine to walk while rotating from the initial angle to the preset angle, or a combination of the two.
8. The window cleaning machine's line feed method according to claim 7, characterized in that, Controlling the window cleaning machine to rotate from the initial angle to the preset angle includes: Controlling the window cleaning machine to rotate around the center of the window cleaning machine; Or, controlling the window cleaning machine to rotate around a corner of the window cleaning machine.
9. The window cleaning machine's line break method according to claim 1, characterized in that, Controlling the window cleaning machine to twist for line change, and the forward end of the window cleaning machine twists a preset distance relative to the preset position, includes: Controlling the window cleaning machine to twist 180 degrees to straighten its body to complete line change; Wherein, before and after line change, the up and down positions of the window cleaning machine are reversed.
10. The line break method of the window cleaning machine according to claim 1, characterized in that, The window cleaning machine includes: A walking member for controlling the window cleaning machine to walk; A cleaning member arranged around the walking member, so that in any running direction of the window cleaning machine, there is a cleaning member in front of the walking member.