Operation method of window cleaning robot

Abstract

The invention discloses an operation method of a window cleaning robot, the window cleaning robot comprises two cleaning units, and the method comprises the following steps: setting a swing rule of the two cleaning units under a corresponding relation between the extension direction trend of a machine body of the window cleaning robot and the advancing direction of the window cleaning robot; the to-be-advanced direction of the window cleaning robot is obtained; and the swing rule of the two cleaning units is controlled according to the trend of the to-be-advanced direction and the extension direction of the robot body of the window-cleaning robot. The swinging rule of the two cleaning units of the window-cleaning robot can be adjusted according to the extension direction trend of the robot body of the window-cleaning robot and the advancing direction of the window-cleaning robot, and therefore 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 for 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. Window cleaning robots are mainly used to clean the surfaces of windows and doors made of glass. The working principle of a 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 glass surface.

[0003] At present, the two mainstream window cleaning robots on the market are square window cleaning robots and circular window cleaning robots. Among them, the circular window cleaning robot has the characteristics of being small and having flexible and variable walking, and is loved by people. However, the wiping path of the circular window cleaning robot is usually wiping row by row, and the wiping method is fixed, and the wiping method of the circular window cleaning robot cannot be dynamically adjusted, resulting in low cleaning efficiency of the circular window cleaning robot. Summary of the Invention

[0004] The main purpose of the present invention is to propose an operation method for a window cleaning robot, aiming to solve the problem that the existing window cleaning robot cannot dynamically adjust the wiping method and has low cleaning efficiency.

[0005] To achieve the above object, the present invention proposes an operation method for a window cleaning robot, the window cleaning robot includes two cleaning units, and the operation method includes:

[0006] Setting the swinging rules of the two cleaning units under the corresponding relationship between the extending direction trend of the body of the window cleaning robot and the advancing direction of the window cleaning robot;

[0007] Obtaining the direction to be advanced by the window cleaning robot;

[0008] Controlling the swinging rules of the two cleaning units according to the direction to be advanced and the extending direction trend of the body of the window cleaning robot.

[0009] In some embodiments, the controlling the swinging rules of the two cleaning units according to the direction to be advanced and the extending direction trend of the body of the window cleaning robot includes:

[0010] When the extending direction trend of the body of the window cleaning robot is the same as or basically the same as the direction to be advanced by the window cleaning robot, controlling any one of the cleaning units to swing out and swing back.

[0011] In some embodiments, controlling the swinging rules of the two cleaning units according to the trend of the to-be-forward direction and the body extension direction of the window cleaning robot includes:

[0012] When the trend of the body extension direction of the window cleaning robot is inconsistent with the to-be-forward direction of the window cleaning robot, controlling any one of the cleaning units to swing along the trend of the to-be-forward direction.

[0013] In some embodiments, the two cleaning units are a first cleaning unit and a second cleaning unit respectively; when the trend of the body extension direction of the window cleaning robot is consistent or substantially consistent with the to-be-forward direction of the window cleaning robot, controlling any one of the cleaning units to perform a swing-out and a swing-back includes:

[0014] Controlling the second cleaning unit to swing around the first cleaning unit;

[0015] Controlling the first cleaning unit to swing around the second cleaning unit;

[0016] Controlling the second cleaning unit to swing back around the first cleaning unit;

[0017] Controlling the first cleaning unit to swing back around the second cleaning unit.

[0018] In some embodiments, the operation method further includes: when the window cleaning robot runs along the edge of the to-be-cleaned surface, controlling the second cleaning unit to swing back around the first cleaning unit to the edge of the to-be-cleaned surface, and controlling the first cleaning unit to swing back around the second cleaning unit to the edge of the to-be-cleaned surface.

[0019] In some embodiments, the operation method further includes: when the window cleaning robot runs along the edge of the to-be-cleaned surface and the trend of the body extension direction of the window cleaning robot is inconsistent with the to-be-forward direction of the window cleaning robot, controlling the swinging angle of the cleaning unit close to the edge of the to-be-cleaned surface to be smaller than the swinging angle of the cleaning unit far from the edge of the to-be-cleaned surface.

[0020] In some embodiments, controlling the two cleaning units to rotate simultaneously, and when the cleaning unit close to the edge of the to-be-cleaned surface is squeezed, moving the cleaning unit far from the edge of the to-be-cleaned surface.

[0021] In some embodiments, the two cleaning units are a first cleaning unit and a second cleaning unit respectively. Adjusting the trend of the body extension direction of the window cleaning robot, so that the first cleaning unit is always located above the second cleaning unit in any forward direction.

[0022] In some embodiments, the trend of the body extension direction of the window cleaning robot is adjusted so that the window cleaning robot cleans the central area and the edge area of the surface to be cleaned according to different swinging rules;

[0023] Among them, the cleaning efficiency of cleaning the central area of the surface to be cleaned is greater than the cleaning efficiency of cleaning the edge area of the surface to be cleaned.

[0024] In some embodiments, the trend of the body extension direction of the window cleaning robot is made consistent with the forward direction of the window cleaning robot to clean the edge area of the surface to be cleaned.

[0025] The present invention also provides an operation method for a window cleaning robot. The window cleaning robot includes two cleaning units. The operation method includes:

[0026] Controlling the two cleaning units to alternately swing out and alternately swing back.

[0027] The present invention also provides an operation method for a window cleaning robot. The window cleaning robot includes two cleaning units. The operation method includes:

[0028] Controlling the window cleaning robot to walk along the edge of the surface to be cleaned, and controlling the swinging angle of the cleaning unit close to the edge of the surface to be cleaned to be smaller than the swinging angle of the cleaning unit far from the edge of the surface to be cleaned.

[0029] The present invention can adjust the swinging rules of the two cleaning units of the window cleaning robot according to the trend of the body extension direction of the window cleaning robot and the forward direction of the window cleaning robot, and can dynamically adjust the wiping method of the window cleaning robot, thereby improving the cleaning efficiency of the window cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic flow chart of the operation method of the window cleaning robot in an embodiment of the present invention;

[0031] Figure 2 It is another schematic flow chart of the operation method of the window cleaning robot in an embodiment of the present invention;

[0032] Figure 3 It is a schematic scene diagram of the operation method of the window cleaning robot in an embodiment of the present invention;

[0033] Figure 4 It is another schematic scene diagram of the operation method of the window cleaning robot in an embodiment of the present invention;

[0034] Figure 5 It is another schematic scene diagram of the operation method of the window cleaning robot in an embodiment of the present invention;

[0035] Figure 6 It is another schematic scene diagram of the operation method of the window cleaning robot in an embodiment of the present invention;

[0036] Figure 7 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0037] Figure 8 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0038] Figure 9 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0039] Figure 10 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0040] Figure 11 Another schematic diagram of the operation method of the window cleaning robot in the embodiment of the present invention;

[0041] Figure 12 Schematic diagram of the structure of the operation device of the window cleaning robot involved in the embodiment solution of the present invention.

[0042] 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. Detailed implementation manners

[0043] 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] 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.

[0045] 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.

[0046] 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. Additionally, 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 results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] To achieve the above object, the present invention provides an operation method for a window cleaning robot. The window cleaning robot includes two cleaning units, and the operation method includes:

[0048] Step S110: Set the swinging rules of the two cleaning units under the corresponding relationship between the body extension direction trend of the window cleaning robot and the advancing direction of the window cleaning robot.

[0049] Step S120: Obtain the direction to be advanced by the window cleaning robot.

[0050] Step S130: Control the swinging rules of the two cleaning units according to the direction to be advanced and the body extension direction trend of the window cleaning robot.

[0051] In this embodiment, referring to Figure 1 and Figure 3 , 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, where the surface to be cleaned may be the surface of a glass window. The operation method of the window cleaning robot can enable the window cleaning robot to dynamically adjust the swinging rules of the two cleaning units according to the direction to be advanced and the body extension direction trend of the window cleaning robot when cleaning the surface to be cleaned. The window cleaning robot can use appropriate swinging rules to clean the surface to be cleaned, thereby 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.

[0052] It can be understood that the window cleaning robot includes two cleaning units, and the body extension direction trend of the window cleaning robot can be determined according to the connection line of the center points of the two cleaning units. In this embodiment, the connection line of the center points of the two cleaning units is parallel to or on the same straight line as the body extension direction trend of the window cleaning robot. The direction to be advanced is the direction that the window cleaning robot is about to advance.

[0053] Among them, referring to Figure 3 , Figure 3 The shown scene schematic diagram is a schematic diagram of the swinging rules. Figure 3It contains two swinging rules, named according to the directions in Figure 3 The left one is the schematic diagram of the first swinging rule, and the right one is the schematic diagram of the second swinging rule. Among them, Figure 3 State 1, State 2, and State 3 in Figure 3 are the states of the window cleaning robot at different times during operation according to the swinging rules. Labels A1, A2, and A3 are used to represent the positions of one cleaning unit; labels B1, B2, and B3 are used to represent the positions of another cleaning unit. Among them, the same label indicates that the positions of the cleaning units are the same position. For example: as shown in the schematic diagram of the first swinging rule in Figure 3 , A2 and B2 in State 1 and A2 and B2 in State 2 represent the same position of the cleaning unit.

[0054] The control module first needs to set the swinging rules of the two cleaning units under the corresponding relationship between the body extension direction trend of the window cleaning robot and the forward direction of the window cleaning robot. Among them, these swinging rules can be pre-set in the control module by the host computer before the control module leaves the factory; or they can be dynamically set by the control module according to the instructions received from the user terminal. For example: the control module can have a communication function, and the control module can communicate with the user terminal to receive the instructions from the user terminal.

[0055] Among them, referring to Figure 3 , the swinging rules of the two cleaning units under the corresponding relationship between the body extension direction trend of the window cleaning robot and the forward direction of the window cleaning robot can be the swinging rules shown in Figure 3 . Among them, the swinging rules shown in Figure 3 do not limit the swinging rules of the two cleaning units under the corresponding relationship between the body extension direction trend of the window cleaning robot and the forward direction of the window cleaning robot, and are only for schematic illustration. There can also be other swinging rules. For example: the swinging rules obtained by mirror symmetry of the schematic diagram of the first swinging rule in Figure 3 , the swinging rules obtained by mirror symmetry of the schematic diagram of the second swinging rule in Figure 3 , etc.

[0056] After the control module sets the swinging rules of the two cleaning units under the corresponding relationship between the body extension direction trend of the window cleaning robot and the forward direction of the window cleaning robot, it can start to obtain the direction to be advanced by the window cleaning robot. Among them, the direction to be advanced by the window cleaning robot can be obtained according to the instructions from the user terminal. For example: when the user wants the window cleaning robot to run upward, the user can send an instruction to control the window cleaning robot to run upward to the control module through the user terminal. When the control module receives this instruction, it can determine that the window cleaning robot is about to run upward. At this time, the control module can determine the direction to be advanced by the window cleaning robot.

[0057] Among them, a gyroscope may be provided in the window cleaning robot, and the control module may determine the trend of the body extension direction of the window cleaning robot according to the gyroscope.

[0058] After the control module determines the to-be-forward direction of the window cleaning robot and the trend of the body extension direction of the window cleaning robot, it can match the corresponding swinging rule according to the to-be-forward direction of the window cleaning robot and the trend of the body extension direction of the window cleaning robot, so as to control the window cleaning robot to clean the to-be-cleaned surface according to the swinging rule.

[0059] For example: Refer to Figure 3 , when the trend of the body extension direction of the window cleaning robot is consistent with the to-be-forward direction of the window cleaning robot (the line connecting the centers of the two cleaning units is parallel to the to-be-forward direction of the window cleaning robot), the swinging rule shown in the schematic diagram of the first swinging rule can be used. When the trend of the body extension direction of the window cleaning robot is not consistent with the to-be-forward direction of the window cleaning robot (the line connecting the centers of the two cleaning units is perpendicular to the to-be-forward direction of the window cleaning robot), the swinging rule shown in the schematic diagram of the second swinging rule can be used.

[0060] In this embodiment, the swinging rules of the two cleaning units of the window cleaning robot can be adjusted according to the trend of the body extension direction of the window cleaning robot and the forward direction of the window cleaning robot, and the wiping method of the window cleaning robot can be dynamically adjusted, so as to improve the cleaning efficiency of the window cleaning robot.

[0061] In some embodiments, the foregoing controlling the swinging rules of the two cleaning units according to the to-be-forward direction and the trend of the body extension direction of the window cleaning robot includes:

[0062] When the trend of the body extension direction of the window cleaning robot is consistent or substantially consistent with the to-be-forward direction of the window cleaning robot, control any one of the cleaning units to perform a swing-out and a swing-back.

[0063] In this embodiment, refer to Figure 4 , when the control module executes step S130, it may control any one of the cleaning units to perform a swing-out and a swing-back. When the trend of the body extension direction of the window cleaning robot is consistent or substantially consistent with the to-be-forward direction of the window cleaning robot (as shown in Figure 4 , the line connecting the centers of the two cleaning units is parallel or substantially parallel to the to-be-forward direction of the window cleaning robot), the control module controls any one of the cleaning units to perform a swing-out and a swing-back.

[0064] Among them, refer to Figure 4 , for the direction in Figure 4 to explain, Figure 4The swinging rules when the trend of the body extension direction of the window cleaning robot is the same as or basically the same as the direction the window cleaning robot is to move forward. Among them, when the trend of the body extension direction of the window cleaning robot is the same as or basically the same as the direction the window cleaning robot is to move forward, there can be two swinging rules. As Figure 4 The two swinging rules on the left and right. These two swinging rules can be in a mirror symmetry relationship. Use labels A1, A2, and A3 to represent the positions of one cleaning unit; use labels B1, B2, and B3 to represent the positions of another cleaning unit. Among them, the same label indicates that the positions where the cleaning units are located are the same position.

[0065] Refer to Figure 4 , when the positions of the two cleaning units are at A1 and B1, define the current cleaning row with the width of the window cleaning robot from left to right. The width from left to right of the current cleaning row is the same as the width of the window cleaning robot from left to right. Controlling any one of the cleaning units to swing out and swing back can be: first control the two cleaning units to swing out so that both cleaning units swing out a part of the current cleaning row. Then control the two cleaning units to swing back so that both cleaning units swing back to the current cleaning row. At this time, the two cleaning units move a certain distance in the current cleaning row in the direction to move forward. As Figure 4 As shown in, in state one, the positions of the two cleaning units move from A1 and B1 to A2 and B2; in state two, the positions of the two cleaning units move from A2 and B2 to A3 and B3. It can be combined to see: the positions of the two cleaning units move from A1 and B1 to A3 and B3. For example: A2 and B2 move a distance in the direction to move forward relative to A1 and B1, and A3 and B3 also move a distance in the direction to move forward relative to A2 and B2, that is, A3 and B3 move the sum of these two distances in the direction to move forward relative to A1 and B1.

[0066] In some embodiments, the aforementioned swinging rules for controlling the two cleaning units according to the direction to move forward and the trend of the body extension direction of the window cleaning robot include:

[0067] When the trend of the body extension direction of the window cleaning robot is not the same as the direction the window cleaning robot is to move forward, control any one of the cleaning units to swing along the trend of the direction to move forward.

[0068] In this embodiment, refer to Figure 5 , when the control module executes step S130, it can be to control any one of the cleaning units to swing along the trend of the direction to move forward. When the trend of the body extension direction of the window cleaning robot is not the same as the direction the window cleaning robot is to move forward (as Figure 5 shown in, the line connecting the centers of the two cleaning units is perpendicular to the direction the window cleaning robot is to move forward), control any one of the cleaning units to swing along the trend of the direction to move forward.

[0069] Among them, refer toFigure 5 , described in the direction of Figure 5 , is the swinging rule when the extending direction trend of the window cleaning robot body is inconsistent with the direction the window cleaning robot is to move forward. Among them, when the extending direction trend of the window cleaning robot body is inconsistent with the direction the window cleaning robot is to move forward, there can be two swinging rules. As Figure 5 shown in the upper and lower swinging rules in Figure 5 , and these two swinging rules can be in a mirror symmetry relationship. Use labels A1, A2, and A3 to represent the positions where a cleaning unit is located; use labels B1 and B2 to represent the positions where another cleaning unit is located. Among them, the same label indicates that the positions where the cleaning units are located are the same position.

[0070] Refer to Figure 5 , when the positions of the two cleaning units are at A1 and B1, define the current cleaning row with the width of the window cleaning robot up and down. The width up and down of the current cleaning row is the same as the width of the window cleaning robot up and down. Controlling either cleaning unit to swing along the direction trend to move forward can be: first control one cleaning unit to swing along the direction trend to move forward. Then control the other cleaning unit to swing along the direction trend to move forward (wherein, during the process of these two cleaning units swinging along the direction trend to move forward, neither of the two cleaning units leaves the current cleaning row). At this time, the two cleaning units move in the current cleaning row in the direction to move forward. As Figure 5 shown, in state one, the position of one cleaning unit moves from A1 to A2; in state two, the position of the other cleaning unit moves from B1 to B2; in state three, the position of one cleaning unit moves from A2 to A3.

[0071] In some embodiments, the two cleaning units are respectively the first cleaning unit and the second cleaning unit; when the extending direction trend of the window cleaning robot body is the same as or basically the same as the direction the window cleaning robot is to move forward, controlling either cleaning unit to perform a swing-out and a swing-back includes:

[0072] Step S140, controlling the second cleaning unit to swing around the first cleaning unit;

[0073] Step S141, controlling the first cleaning unit to swing around the second cleaning unit;

[0074] Step S142, controlling the second cleaning unit to swing back around the first cleaning unit;

[0075] Step S143, controlling the first cleaning unit to swing back around the second cleaning unit.

[0076] In this embodiment, refer to Figure 2 and Figure 6 , the two cleaning units can be respectively the first cleaning unit and the second cleaning unit. Refer to Figure 6, the positions where the first cleaning unit is located are represented by reference numerals A1, A2, and A3; the positions where the second cleaning unit is located are represented by reference numerals B1, B2, and B3. Among them, the same reference numeral indicates that the positions where the cleaning units are located are the same position. State 1 corresponds to step S140, State 2 corresponds to step S141, State 3 corresponds to step S142, and State 4 corresponds to step S143.

[0077] Referring to Figure 6 , the control module first controls the second cleaning unit to swing around the first cleaning unit (i.e., 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 (i.e., 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 (i.e., 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 (i.e., controls the first cleaning unit to swing from A2 to A3 around the second cleaning unit).

[0078] In some embodiments, the aforementioned operation method further includes: when the window cleaning robot runs along the edge of the surface to be cleaned, controlling the second cleaning unit to swing back around the first cleaning unit to the edge of the surface to be cleaned, and controlling the first cleaning unit to swing back around the second cleaning unit to the edge of the surface to be cleaned.

[0079] In this embodiment, referring to Figure 7 , when the control module controls the window cleaning robot to run along the edge of the surface to be cleaned and when the trend of the extending direction of the body of the window cleaning robot is consistent with the direction in which the window cleaning robot is to move forward, the control module will control the window cleaning robot to stick to the edge of the surface to be cleaned, that is, control the second cleaning unit to swing back around the first cleaning unit to the edge of the surface to be cleaned, and control the first cleaning unit to swing back around the second cleaning unit to the edge of the surface to be cleaned.

[0080] Referring to Figure 7 , the positions where the first cleaning unit is located are represented by reference numerals A1 and A2; the positions where the second cleaning unit is located are represented by reference numerals B1 and B2. Among them, the same reference numeral indicates that the positions where the cleaning units are located are the same position. When the control module controls the window cleaning robot to run along the edge of the surface to be cleaned, if the window cleaning robot does not run sticking to the edge of the surface to be cleaned, the control module will control the second cleaning unit to swing back around the first cleaning unit to the edge of the surface to be cleaned (i.e., control the second cleaning unit to swing from B1 to B2 around the first cleaning unit), and control the first cleaning unit to swing back around the second cleaning unit to the edge of the surface to be cleaned (i.e., control the first cleaning unit to swing from A1 to A2 around the second cleaning unit), so that the window cleaning robot runs sticking to the edge of the surface to be cleaned, thus preventing the edge of the surface to be cleaned from not being cleaned and improving the cleaning coverage rate of the window cleaning robot.

[0081] Among them, the window cleaning robot may further be provided with a ranging module, and the control module may determine the distance between the window cleaning robot and the edge of the surface to be cleaned according to the ranging module, so as to determine whether the window cleaning robot runs along the edge of the surface to be cleaned.

[0082] In some embodiments, the foregoing operation method further includes: when the window cleaning robot runs along the edge of the surface to be cleaned, and when the trend of the extending direction of the body of the window cleaning robot is inconsistent with the direction in which the window cleaning robot is to move forward, 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 far from the edge of the surface to be cleaned.

[0083] In this embodiment, referring to Figure 8 , when the control module controls the window cleaning robot to run along the edge of the surface to be cleaned, and when the trend of the extending direction of the body of the window cleaning robot is inconsistent with the direction in which the window cleaning robot is to move forward, the control module controls the swing angles of the two cleaning units to be different. And control the swing angle of the cleaning unit close to the edge to be smaller than the swing angle of the cleaning unit far from the edge. Among them, the swing angle here refers to the swing angle when the cleaning unit swings relative to the connection line of the centers of the two cleaning units perpendicular to the edge of the surface to be cleaned. Among them, the cleaning unit far 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.

[0084] Referring to Figure 8 , the positions where the first cleaning unit is located are represented by reference numerals A1 and A2; the positions where the second cleaning unit is located are represented by reference numerals B1 and B2. Among them, the same reference numeral indicates that the positions where the cleaning units are located are the same position.

[0085] When controlling the window cleaning robot to run along the edge of the surface to be cleaned, and when the trend of the extending direction of the body of the window cleaning robot is inconsistent with the direction in which the window cleaning robot is to move forward (that is, the connection line of the centers of the two cleaning units is perpendicular to the direction in which the window cleaning robot is to move forward), the control module first controls the first cleaning unit to swing in the direction of forward movement, so that the first cleaning unit swings from A1 to A2. At this time, the swing angle of the first cleaning unit relative to the connection line of the centers of the two cleaning units 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 direction of forward movement, so that the second cleaning unit swings from B1 to B2. At this time, the swing angle of the second cleaning unit relative to the connection line of the centers of the two cleaning units perpendicular to the edge of the surface to be cleaned is β. Among them, control 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 far from the edge of the surface to be cleaned, that is, β is less than α. In this way, it will make the window cleaning robot get closer and closer to the edge of the surface to be cleaned during the running process; at the same time, when the angles of α and β are both relatively small, the situation of missed wiping can be reduced as much as possible, thereby improving the cleaning coverage rate.

[0086] In some embodiments, the two cleaning units are controlled to rotate simultaneously, and when the cleaning unit near the edge of the surface to be cleaned is squeezed, the cleaning unit far from the edge of the surface to be cleaned is moved.

[0087] In this embodiment, referring to Figure 8 , when the window cleaning robot runs along the edge of the surface to be cleaned and the trend of the body extension direction of the window cleaning robot is inconsistent with the direction it is about to move forward, controlling the swing angle of the cleaning unit near the edge of the surface to be cleaned to be smaller than that of the cleaning unit far from the edge of the surface to be cleaned will cause the window cleaning robot to get closer and closer to the edge of the surface to be cleaned during operation. At this time, the control module can control the two cleaning units to rotate simultaneously, and when the cleaning unit near the edge of the surface to be cleaned is squeezed, the cleaning unit far from the edge of the surface to be cleaned is moved. That is, when the window cleaning robot gets closer and closer to the edge of the surface to be cleaned, the two cleaning units will also get closer and closer to the edge of the surface to be cleaned. At this time, the cleaning unit near the edge of the surface to be cleaned will take the lead in approaching the edge of the surface to be cleaned. After the cleaning unit near the edge of the surface to be cleaned approaches the edge of the surface to be cleaned and continues to operate like this, the cleaning unit near the edge of the surface to be cleaned will be squeezed by the edge of the surface to be cleaned, and the driving force required for the cleaning unit near the edge of the surface to be cleaned to continue moving increases, which is greater than the driving force for the cleaning unit far from the edge of the surface to be cleaned to continue moving. At this time, only the cleaning unit far from the edge of the surface to be cleaned can be controlled to move, thereby preventing the window cleaning machine from riding on obstacles such as the rubber strip at the edge of the surface to be cleaned and reducing the risk of the window cleaning robot falling.

[0088] In some embodiments, the two cleaning units are respectively a first cleaning unit and a second cleaning unit. The trend of the body extension direction of the window cleaning robot is adjusted so that the first cleaning unit is always located above the second cleaning unit in any forward direction.

[0089] In this embodiment, referring to Figure 9 , the two cleaning units of the window cleaning robot can be respectively a first cleaning unit and a second cleaning unit. Among them, in Figure 9 , A represents the first cleaning unit and B represents the second cleaning unit. When the control module controls the window cleaning robot to run on the surface to be cleaned, it will adjust the trend of the body extension direction of the window cleaning robot so that the first cleaning unit is always located above the second cleaning unit in any forward direction. As shown by direction one, direction two, direction three and direction four in Figure 9 , the first cleaning unit is always located above the second cleaning unit. This can facilitate the window cleaning robot to overcome the influence of gravity and reduce the risk of the window cleaning robot falling.

[0090] In a preferred embodiment, the control module can obtain the size data of the surface to be cleaned; and 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.

[0091] In this embodiment, the control module can control the window cleaning robot to walk around the edge of the surface to be cleaned, and then determine the distance that the window cleaning robot walks around the edge of the surface to be cleaned, so as to determine the size data of the surface to be cleaned according to the distance.

[0092] After determining the size data of the surface to be cleaned, the control module can also determine the self-cleaning 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-cleaning data of the window cleaning robot.

[0093] 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, and finally, the total cleaning area that the window cleaning robot walks around the edge of the surface to be cleaned can be determined according to 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 and the walking mode changes, the edge area will also change, thus causing the central area to 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 circle 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, so as to determine the area that the window cleaning robot can pass by during one circle of walking according to the symmetry property.

[0094] It can be understood that 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 distance that the window cleaning robot walks. In this way, after the control module determines the distance that the window cleaning robot walks, the total cleaning area of the window cleaning robot in this distance can be determined according to the distance and the first cleaning area.

[0095] In some embodiments, adjust the trend of the body extension direction of the window cleaning robot so that the window cleaning robot cleans the central area and the edge area of the surface to be cleaned according to different swinging rules;

[0096] Among them, the cleaning efficiency of cleaning the central area of the surface to be cleaned is greater than the cleaning efficiency of cleaning the edge area of the surface to be cleaned.

[0097] In this embodiment, refer to Figure 10 andFigure 11 , the control module can adjust the trend of the body extension direction of the window cleaning robot, so that the window cleaning robot cleans the central area and the edge area of the surface to be cleaned according to different swinging rules. Among them, the swinging rule can also be that the two cleaning units move forward in the same direction (the direction to be advanced). For example: Figure 11 As shown, the control module can control the two cleaning units to move forward in the same direction at the same time to clean the central area. And the control module can control any one of the cleaning units to swing out and swing back to clean the edge area. Since the window cleaning robot can clean in a straight line when cleaning the central area, and does not need to cross the edge area when cleaning the central area (that is, when cleaning the central area, the window cleaning robot does not need to run to other areas; while when cleaning the edge area, the window cleaning robot needs to run to other areas). That is, the cleaning efficiency of the central area of the surface to be cleaned is greater than the cleaning efficiency of the edge area of the surface to be cleaned.

[0098] In some embodiments, the trend of the body extension direction of the window cleaning robot is made consistent with the direction to be advanced by the window cleaning robot to clean the edge area of the surface to be cleaned.

[0099] In this embodiment, referring to Figure 10 and Figure 11 , when the window cleaning robot cleans the edge area of the surface to be cleaned, the control module needs to first make the trend of the body extension direction of the window cleaning robot consistent with the direction to be advanced by the window cleaning robot. Among them, when the window cleaning robot cleans the edge area, it can step into the central area.

[0100] The present invention can adjust the swinging rules of the two cleaning units of the window cleaning robot according to the trend of the body extension direction of the window cleaning robot and the advancing direction of the window cleaning robot, and can dynamically adjust the wiping method of the window cleaning robot, thereby improving the cleaning efficiency of the window cleaning robot.

[0101] The present invention also proposes an operation method of a window cleaning robot. The window cleaning robot includes two cleaning units. The operation method includes:

[0102] Controlling the two cleaning units to swing out and swing back alternately.

[0103] In this embodiment, referring to Figure 4 and Figure 6 , the operation method of the window cleaning robot can be that the control module controls the two cleaning units of the window cleaning robot to swing out and swing back alternately. That is, first control one cleaning unit to swing out, and then control the other cleaning unit to swing out; then control one cleaning unit to swing back, and then control the other cleaning unit to swing back.

[0104] Referring to Figure 6, the positions where the first cleaning unit is located are represented by reference numerals A1, A2, and A3; the positions where the second cleaning unit is located are represented by reference numerals B1, B2, and B3. Among them, the same reference numeral 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 (i.e., 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 (i.e., 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 (i.e., 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 (i.e., controls the first cleaning unit to swing from A2 to A3 around the second cleaning unit).

[0105] This embodiment can correspond to the aforementioned swinging rule (when the trend of the body extension direction of the window cleaning robot is the same as or basically the same as the direction in which the window cleaning robot is to move forward, control any cleaning unit to perform a swing-out and a swing-back). This embodiment is used to implement the corresponding swinging rule in the above-mentioned operation method when the trend of the body extension direction of the window cleaning robot is the same as or basically the same as the direction in which the window cleaning robot is to move forward.

[0106] The present invention also proposes an operation method for a window cleaning robot. The window cleaning robot includes two cleaning units. The operation method includes:

[0107] Control the window cleaning robot to walk along the edge of the surface to be cleaned, and control 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 far from the edge of the surface to be cleaned.

[0108] In this embodiment, referring to Figure 5 and Figure 8 , the operation method of the window cleaning robot can be that the control module controls the window cleaning robot to walk along the edge of the surface to be cleaned, and controls 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 far from the edge of the surface to be cleaned.

[0109] Referring to Figure 8, the positions where the first cleaning unit is located are represented by reference numerals A1 and A2; the positions where the second cleaning unit is located are represented by reference numerals B1 and B2. Among them, the same reference numeral indicates that the positions where the cleaning units are located are the same position. When the control module controls the window cleaning robot to run along the edge of the surface to be cleaned, and when the trend of the body extension direction of the window cleaning robot is inconsistent with the direction in which the window cleaning robot is to move forward (that is, the line connecting the centers of the two cleaning units is perpendicular to the direction in which the window cleaning robot is to move forward), the control module first controls the first cleaning unit to swing in the direction of the forward movement, so that the first cleaning unit swings from A1 to A2. At this time, the angle at which the first cleaning unit swings relative to the line connecting the centers of the two cleaning units when it 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 direction of the forward movement, so that the second cleaning unit swings from B1 to B2. At this time, the angle at which the second cleaning unit swings relative to the line connecting the centers of the two cleaning units when it is perpendicular to the edge of the surface to be cleaned is β. Among them, the control module controls the swing angle of the cleaning unit closer to the edge of the surface to be cleaned to be smaller than the swing angle of the cleaning unit farther from the edge of the surface to be cleaned, that is, β is less 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.

[0110] This embodiment can correspond to the aforementioned swing rule (when the trend of the body extension direction of the window cleaning robot is inconsistent with the direction in which the window cleaning robot is to move forward, controlling any one of the cleaning units to swing along the trend of the forward movement direction). This embodiment is used to implement the corresponding swing rule in the above-mentioned operation method when the trend of the body extension direction of the window cleaning robot is inconsistent with the direction in which the window cleaning robot is to move forward.

[0111] The present invention also proposes an operating device for a window cleaning robot. Refer to Figure 12 , Figure 12 is a schematic structural diagram of the operating device of the window cleaning robot in the hardware operating environment involved in the embodiment solution of the present invention.

[0112] The operating device of the window cleaning robot in 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. As Figure 12As shown in the figure, the operating device of 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.

[0113] Those skilled in the art can understand that Figure 12 the structure of the operating device of the window cleaning robot shown in the figure does not limit the operating device of the window cleaning robot, and may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0114] As Figure 12 shown in the figure, 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.

[0115] In Figure 12 the operating device of 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. When the computer program is called and executed by the processor 1001, the steps of the above-mentioned operating method of the window cleaning robot are implemented.

[0116] Based on the computer program proposed in the foregoing embodiments, the present invention also proposes a storage medium. The storage medium stores a computer program, and when the computer program is executed by a controller, the operating method of the window cleaning robot recorded in the foregoing embodiments is implemented.

[0117] The present invention also proposes a storage medium. A computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the operating method of the window cleaning robot in any one of the above technical solutions are implemented.

[0118] 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 running method of a window cleaning robot, the window cleaning robot comprising two cleaning units, characterized in that, The running method includes: Setting the swinging rules of two cleaning units under the corresponding relationship between the body extension direction trend of the window cleaning robot and the forward direction of the window cleaning robot; Obtaining the to-be-forward direction of the window cleaning robot; Controlling the swinging rules of the two cleaning units according to the to-be-forward direction and the body extension direction trend of the window cleaning robot.

2. The operating method of the window cleaning robot according to claim 1, wherein The controlling the swinging rules of the two cleaning units according to the to-be-forward direction and the body extension direction trend of the window cleaning robot includes: When the body extension direction trend of the window cleaning robot is consistent or substantially consistent with the to-be-forward direction of the window cleaning robot, controlling any one of the cleaning units to swing out and swing back.

3. The operating method of the window cleaning robot according to claim 1, characterized in that, The controlling the swinging rules of the two cleaning units according to the to-be-forward direction and the body extension direction trend of the window cleaning robot includes: When the body extension direction trend of the window cleaning robot is inconsistent with the to-be-forward direction of the window cleaning robot, controlling any one of the cleaning units to swing along the to-be-forward direction trend.

4. The operating method of the window cleaning robot according to claim 2, characterized in that, The two cleaning units are respectively a first cleaning unit and a second cleaning unit; when the body extension direction trend of the window cleaning robot is consistent or substantially consistent with the to-be-forward direction of the window cleaning robot, 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; 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; Controlling the first cleaning unit to swing back around the second cleaning unit.

5. The operating method of the window cleaning robot according to claim 4, characterized in that, The running method further includes: when the window cleaning robot runs along the edge of the to-be-cleaned surface, controlling the second cleaning unit to swing back around the first cleaning unit to the edge of the to-be-cleaned surface, and controlling the first cleaning unit to swing back around the second cleaning unit to the edge of the to-be-cleaned surface.

6. The operating method of the window cleaning robot according to claim 1, characterized in that The running method further includes: when the window cleaning robot runs along the edge of the to-be-cleaned surface and the body extension direction trend of the window cleaning robot is inconsistent with the to-be-forward direction of the window cleaning robot, controlling the swinging angle of the cleaning unit close to the edge of the to-be-cleaned surface to be smaller than that of the cleaning unit far from the edge of the to-be-cleaned surface.

7. The operating method of the window cleaning robot according to claim 6, characterized in that, Controlling the two cleaning units to rotate simultaneously, and moving the cleaning unit far from the edge of the to-be-cleaned surface when the cleaning unit close to the edge of the to-be-cleaned surface is squeezed.

8. The operating method of the window cleaning robot according to claim 1, characterized in that The two cleaning units are respectively a first cleaning unit and a second cleaning unit. Adjusting the body extension direction trend of the window cleaning robot, so that the first cleaning unit is always located above the second cleaning unit in any forward direction.

9. The operating method of the window cleaning robot according to claim 1, characterized in that, Adjusting the body extension direction trend of the window cleaning robot, so that the window cleaning robot cleans the central area and the edge area of the to-be-cleaned surface with different swinging rules; Wherein, the cleaning efficiency of cleaning the central area of the to-be-cleaned surface is greater than that of cleaning the edge area of the to-be-cleaned surface.

10. The operating method of the window cleaning robot according to claim 9, characterized in that, Making the body extension direction trend of the window cleaning robot consistent with the to-be-forward direction of the window cleaning robot to clean the edge area of the to-be-cleaned surface.

11. A running method for a window cleaning robot, the window cleaning robot comprising two cleaning units, characterized in that, The running method includes: Controlling the two cleaning units to swing out alternately and swing back alternately.

12. A running method of a window cleaning robot, the window cleaning robot comprising two cleaning units, characterized in that, The running method includes: Control the window cleaning robot to walk along the edge of the surface to be cleaned, and control the swing angle of the cleaning unit close to the edge of the surface to be cleaned to be smaller than that of the cleaning unit far from the edge of the surface to be cleaned.

Images