Operation method of window cleaning robot

Abstract

The invention relates to the technical field of window-cleaning robots, and discloses an operation method of a window-cleaning robot for cleaning a to-be-cleaned surface, the window-cleaning robot comprises a main body, a first cleaning disc and a second cleaning disc, the first cleaning disc and the second cleaning disc can rotate relative to the main body, and a gap area is formed between the first cleaning disc and the second cleaning disc. The operation method of the window cleaning robot comprises the steps that one of a first cleaning disc and a second cleaning disc is triggered to operate towards a cleaned section of a preset cleaning area; wherein the to-be-cleaned surface comprises at least one preset cleaning area; after the cleaning disc running towards the cleaned section passes through at least one part of the gap area, the cleaning disc is triggered to return to run; and when the cleaning disc which returns to run runs to a preset position, the window cleaning robot is triggered to execute cleaning operation according to the advancing track. By adopting the operation mode of the window cleaning robot provided by the scheme, the wiping missing area is reduced, and the cleaning effect of the window cleaning robot is improved.

Description

Technical Field

[0001] This application relates to the technical field of window cleaning robots, and particularly to an operation method for a window cleaning robot. Background Art

[0002] With the continuous progress of technology and the increasing pursuit of quality of life by people, the public has put forward higher requirements for the intelligence and efficiency of household cleaning equipment. As a popular product in the field of household cleaning, window cleaning robots are more and more widely used. Among them, window cleaning robots equipped with two circular cleaning discs are favored by consumers due to their small appearance and flexible walking ability.

[0003] However, there are some unclean areas during the cleaning process of the window cleaning robot on the surface to be cleaned, which affects the cleaning effect. Therefore, improving the cleaning effect of the window cleaning robot has become an urgent technical problem to be solved. Summary of the Invention

[0004] In view of this, the embodiments of this application provide an operation method for a window cleaning robot, which can improve the cleaning effect of the window cleaning robot.

[0005] The embodiments of this application provide an operation method for a window cleaning robot, which is used to clean the surface to be cleaned. The window cleaning robot includes: a main body, a first cleaning disc and a second cleaning disc. The first cleaning disc and the second cleaning disc are rotatable relative to the main body, and a gap area is formed between the first cleaning disc and the second cleaning disc. The operation method of the window cleaning robot includes: triggering one of the first cleaning disc and the second cleaning disc to run towards the cleaned section of the preset cleaning area; wherein, the surface to be cleaned includes at least one preset cleaning area; after the cleaning disc running towards the cleaned section passes through at least a part of the gap area, triggering the cleaning disc to return; when the cleaning disc running back reaches the preset position, triggering the window cleaning robot to perform a cleaning operation according to the travel trajectory.

[0006] Adopting this solution, by triggering the first cleaning disc or the second cleaning disc to run towards the cleaned section of the preset cleaning area and then return after passing through the gap area, the problem of incomplete cleaning in the gap area is effectively solved. After the back-and-forth wiping is completed, the window cleaning robot performs a cleaning operation according to the travel trajectory, ensuring the coherence of the entire cleaning process and improving the cleaning effect of the window cleaning robot.

[0007] In a possible implementation, before triggering one of the first cleaning disk and the second cleaning disk to run towards the cleaned section of the preset cleaning area, the running method further includes: performing a line feed operation; the performing of the line feed operation includes: triggering the first cleaning disk and the main body of the window cleaning robot to rotate around the second cleaning disk, so that the first cleaning disk moves a preset distance towards the next preset cleaning area, where the first cleaning disk is the cleaning disk away from the next preset cleaning area, and the other cleaning disk is the second cleaning disk.

[0008] In this embodiment, a line feed operation is performed before triggering the cleaning disk to run towards the cleaned section. By rotating the first cleaning disk around the second cleaning disk to move a preset distance towards the next preset cleaning area, the cleaning path of the window cleaning robot is reasonably planned, effectively improving the cleaning efficiency and coverage.

[0009] In a possible implementation, the triggering one of the first cleaning disk and the second cleaning disk to run towards the cleaned section of the preset cleaning area includes: triggering the second cleaning disk and the main body of the window cleaning robot to rotate around the first cleaning disk, and during the rotation, the second cleaning disk passes through at least a part of the gap area.

[0010] In this embodiment, triggering the second cleaning disk and the main body of the window cleaning robot to rotate around the first cleaning disk enables the second cleaning disk to pass through at least a part of the gap area during the rotation, improving the cleaning intensity of the gap area, effectively making up for the cleaning deficiency of the traditional cleaning method in this area, and enhancing the overall cleaning quality.

[0011] In a possible implementation, the running method of the window cleaning robot further includes: when the window cleaning robot moves to the edge of the to-be-cleaned surface, triggering the line feed operation.

[0012] In this embodiment, triggering the line feed operation when the window cleaning robot moves to the edge of the to-be-cleaned surface can timely adjust the cleaning path to ensure the smooth progress of the cleaning work of the window cleaning robot in the edge area.

[0013] In a possible implementation, when the window cleaning robot moves to the edge of the to-be-cleaned surface, the gap area and the edge of the to-be-cleaned surface form a first missed cleaning area; the triggering the second cleaning disk and the main body of the window cleaning robot to rotate around the first cleaning disk includes: triggering the second cleaning disk to pass through at least a part of the first missed cleaning area.

[0014] In this embodiment, when the window cleaning robot moves to the edge of the to-be-cleaned surface, for the first missed cleaning area formed by the gap area and the edge, by triggering the second cleaning disk to pass through this area, the dirt in the first missed cleaning area can be effectively cleaned, significantly improving the cleaning effect of the edge area and avoiding dirt residue.

[0015] In a possible implementation, the execution of the line feed operation further includes: before triggering the first cleaning disk and the main body of the window cleaning robot to rotate around the second cleaning disk, triggering the window cleaning robot to move away from the edge of the surface to be cleaned to form a reserved space, and the reserved space is used for the second cleaning disk to enter to pass through at least a part of the first missed cleaning area.

[0016] In this embodiment, before executing the line feed operation, triggering the window cleaning robot to move away from the edge of the surface to be cleaned to form a reserved space creates favorable conditions for the second cleaning disk to enter and clean the first missed cleaning area, and further ensures the cleaning quality of the edge area.

[0017] In a possible implementation, during the process that the second cleaning disk and the main body of the window cleaning robot run around the first cleaning disk, when the edge of the second cleaning disk is closest to the edge of the surface to be cleaned, the edge of the second cleaning disk intersects, or is tangent to, or is always separated from the edge of the surface to be cleaned.

[0018] In this embodiment, when the second cleaning disk and the main body of the window cleaning robot run around the first cleaning disk, flexible adjustment is made according to the relative position between the second cleaning disk and the edge of the surface to be cleaned, ensuring that when the second cleaning disk approaches the edge of the surface to be cleaned, it can make up for cleaning the first missed cleaning area, and improves the cleaning effect.

[0019] In a possible implementation, the edge of the surface to be cleaned includes a first edge and a second edge, and the first edge and the second edge are oppositely arranged; during the process that the window cleaning robot moves from the first edge to the second edge, the window cleaning robot passes through at least a part of the first missed cleaning area; during the process that the window cleaning robot moves from the second edge to the first edge, the window cleaning robot passes through at least a part of the first missed cleaning area again.

[0020] In this embodiment, during the process that the window cleaning robot moves from the first edge to the second edge and from the second edge to the first edge, it passes through at least a part of the first missed cleaning area, effectively removing the dirt in the edge area, reducing the missed cleaning area, and improving the cleaning effect of the edge area.

[0021] In a possible implementation, after the second cleaning disk passes through at least a part of the first missed cleaning area and during the process of resuming operation, a second missed cleaning area is formed between the second cleaning disk and the first edge; during the process that the window cleaning robot moves from the second edge to the first edge, the window cleaning robot passes through at least a part of the second missed cleaning area.

[0022] In this embodiment, for the second missed cleaning area formed when the second cleaning disk resumes operation after passing through the first missed cleaning area, when the window cleaning robot passes through this area during the movement from the second edge to the first edge, it can clean the second missed cleaning area, improving the cleaning quality.

[0023] In a possible implementation, when the window cleaning robot moves from the first edge to the second edge, the preset distance for the window cleaning robot to move to the next preset cleaning area is the first distance; when the window cleaning robot moves from the second edge to the first edge, the preset distance for the window cleaning robot to move to the next preset cleaning area is the second distance; the sum of the first distance and the second distance is less than twice the radius of the cleaning disk.

[0024] During the round-trip movement of the window cleaning robot, the preset distance for the window cleaning robot to move to the next preset cleaning area is reasonably set, such that the sum of the first distance and the second distance is less than twice the radius of the cleaning disk, reducing the missed cleaning area, improving the cleaning efficiency, and optimizing the cleaning path. Description of the Drawings

[0025] Figure 1A is a schematic diagram of an operation trajectory of a window cleaning robot in the prior art;

[0026] Figure 1B is a schematic diagram of a relevant area in an embodiment of the present application;

[0027] Figure 1C is a schematic diagram of an operation trajectory of a window cleaning robot in an embodiment of the present application;

[0028] Figure 2A is a schematic flow chart of an operation method of a window cleaning robot provided in Embodiment 1 of the present application;

[0029] Figure 2B is a schematic flow chart of an operation method of a window cleaning robot provided in Embodiment 2 of the present application;

[0030] Figure 2C is a schematic flow chart of an operation method of a window cleaning robot provided in Embodiment 3 of the present application;

[0031] Figure 2D is a schematic flow chart of an operation method of a window cleaning robot provided in Embodiment 4 of the present application;

[0032] Figure 2E is a schematic flow chart of an operation method of a window cleaning robot provided in Embodiment 5 of the present application;

[0033] Figure 2F is a schematic flow chart of an operation method of a window cleaning robot provided in Embodiment 6 of the present application;

[0034] Figure 3A It is a schematic diagram of the operation process of the window cleaning robot provided in the third embodiment of the present application;

[0035] Figure 3B It is a schematic diagram of the operation process of the window cleaning robot provided in the fourth embodiment of the present application;

[0036] Figure 3C It is a schematic diagram of the operation method of the window cleaning robot provided in the fifth embodiment of the present application;

[0037] Figure 4A It is a schematic diagram of the operation trajectory of the window cleaning robot provided in the third embodiment of the present application;

[0038] Figure 4B It is a schematic diagram of relevant parameters during the operation of the window cleaning robot provided in the third embodiment of the present application;

[0039] Figure 4C It is a schematic diagram of the operation of the window cleaning robot when the line change distance is less than the radius of the cleaning disc in an embodiment of the present application;

[0040] Figure 4D It is a schematic diagram of the operation of the window cleaning robot when the line change distance is greater than or equal to the radius of the cleaning disc in an embodiment of the present application;

[0041] Figure 5A It is a schematic diagram of the structure of the window cleaning robot provided in an embodiment of the present application;

[0042] Figure 5B It is a schematic diagram of the mechanism of the window cleaning robot provided in another embodiment of the present application. Detailed implementation manners

[0043] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the implementation manners of the present application in detail with reference to the accompanying drawings.

[0044] It should be understood that the "multiple" mentioned in the present application refers to two or more. In the description of the present application, unless otherwise specified, " / " means "or", for example, A / B can represent A or B; the "and / or" herein is only a description of the association relationship of associated objects, indicating that three relationships can exist, for example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, for the convenience of clearly describing the technical solutions of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

[0045] The window cleaning robot solution provided by the embodiments of the present application has a wide range of application scenarios. Therefore, the solution provided by the embodiments of the present application is not limited to cleaning glass windows, but can also clean smooth surfaces to be cleaned such as ceramic walls, glass walls, and acrylic surfaces. For the convenience of description, the embodiments of the present application will be described by taking the cleaning of glass windows as an example.

[0046] A window cleaning robot generally includes: a main body and two cleaning discs, and the two cleaning discs are generally rotatable relative to the main body. The main body and one of the cleaning discs can rotate around the other cleaning disc, and an adsorption device (not shown in the drawings) is usually provided at the corresponding position of the cleaning disc to ensure that the window cleaning robot is safely adsorbed on the surface of the surface to be cleaned.

[0047] Currently, most window cleaning robots adopt a one-stop-and-one-move walking mode. When changing rows in the border area, the running track of the window cleaning robot when changing rows is usually as Figure 1A shown. Limited by the movement track and coverage range of the cleaning disc, the cleaning disc cannot completely cover the area to be wiped. As Figure 1A shown, near the border OO′ position, the rotation and movement of the cleaning disc cannot effectively reach some corners and edge areas, making these areas become missed wiping areas. For example, Figure 1A the area indicated by L1 in is the missed wiping area. Specifically, when the centers of the two cleaning discs of the window cleaning robot move to A and B respectively, the edges of the two cleaning discs touch the border OO′, triggering the generation of a row-changing instruction. In response to the row-changing instruction, the window cleaning robot moves in a direction away from the border (as shown by the clockwise arrow and the arrow to the right in the figure). For example, the center of the upper cleaning disc moves to the A1 position, and the corresponding lower cleaning disc swings to the right. Then, the window cleaning robot performs a cleaning operation according to the running track (such as moving left and right). This missed wiping phenomenon not only reduces the cleaning effect of the window cleaning robot, but also affects the overall cleaning quality.

[0048] In view of the problems existing in the above-mentioned prior art, the present application proposes an operation method for a window cleaning robot, aiming to improve the cleaning effect.

[0049] The operation method of the window cleaning robot proposed by the present application is used to clean the surface to be cleaned. The window cleaning robot includes: a main body, a first cleaning disc and a second cleaning disc. The first cleaning disc and the second cleaning disc are rotatable relative to the main body, and a gap area is formed between the first cleaning disc and the second cleaning disc. Specifically, the operation method of the window cleaning robot includes the following steps: triggering one of the first cleaning disc and the second cleaning disc to run towards the cleaned section of the preset cleaning area; wherein, the surface to be cleaned includes at least one preset cleaning area; after the cleaning disc running towards the cleaned section passes through at least a part of the gap area, triggering the cleaning disc to return; when the cleaning disc returning runs to the preset position, triggering the window cleaning robot to perform a cleaning operation according to the traveling track.

[0050] In some possible implementations, the window cleaning robot may include a camera, which can identify the cleaning condition of the area that has been moved (cleaned section). When the cleanliness is low or there is a missed cleaning, one of the first cleaning disk and the second cleaning disk is triggered to run towards the cleaned section of the preset cleaning area, so as to supplement the cleaning of the area with low cleanliness or the missed cleaning area.

[0051] In some possible implementations, before one of the first cleaning disk and the second cleaning disk is triggered to run towards the cleaned section of the preset cleaning area, the running method further includes: performing a line feed operation; performing the line feed operation may include: triggering the first cleaning disk and the main body of the window cleaning robot to rotate around the second cleaning disk, so that the first cleaning disk moves a preset distance towards the next preset cleaning area, where the first cleaning disk is the cleaning disk far from the next preset cleaning area, and the other cleaning disk is the second cleaning disk. When performing the line feed operation, there may also be a situation where the cleanliness of the area that has been moved is low or there is a missed cleaning. One of the first cleaning disk and the second cleaning disk is triggered to run towards the cleaned section of the preset cleaning area, so as to supplement the cleaning of the area with low cleanliness or the missed cleaning area. Before triggering the first cleaning disk and the main body of the window cleaning robot to rotate around the second cleaning disk, the posture of the window cleaning robot may be vertical or inclined, as long as it can control the first cleaning disk and the main body of the window cleaning robot to rotate around the second cleaning disk, so that the first cleaning disk moves a preset distance towards the next preset cleaning area.

[0052] In some possible implementations, when the window cleaning robot moves to the edge of the surface to be cleaned, the line feed operation is triggered to be executed.

[0053] It should be noted that the triggering condition for performing the line feed operation is not limited to running to the edge of the surface to be cleaned. In some possible implementations, the window cleaning robot may include a camera, which can identify the running environment of the window cleaning robot and trigger the execution of the line feed operation according to the specific environmental information.

[0054] Figure 1B It is a schematic diagram of a relevant area in an embodiment of the present application. The surface to be cleaned includes multiple preset cleaning areas. Figure 1B From the shown cleaning state, it can be seen that the current window cleaning robot has completed the cleaning of a part of the area. Of course, there are still some areas that have not been cleaned (such as Figure 1BThe area filled with diagonal lines), in this schematic diagram, the travel trajectory of the window cleaning robot includes: moving from left to the right edge from the upper left position, then moving to the next preset cleaning area, moving from right to left, then moving to the next preset movement, and then moving from left to right; the upper part is the preset cleaning area that has been cleaned, and the left and right areas of the current movement are the preset cleaning areas that are currently being cleaned. In this area, the current window cleaning robot moves from left to right. On the left side of the window cleaning robot is the cleaned section, and on the right side is the uncleaned section. In the current preset cleaning area, the travel trajectory of the window cleaning robot is shown by the arrow from left to right as moving to the right; the gap area is also schematically marked in the figure. It should be noted that Figure 1B It is only schematic, and the ranges of the cleaned area and the missed cleaning area that has not been cleaned are not completely accurate.

[0055] To reduce the missed cleaning area, one implementation method is as Figure 1C shown. The window cleaning robot wipes back and forth near the frame OO′, and the movement trajectory of the cleaning disc is adjusted near the frame OO′. In Figure 1C when the window cleaning robot moves to the frame OO′, the centers of the two cleaning discs move to M and N respectively, triggering the generation of a line feed instruction. In response to the line feed instruction, Figure 1C as shown, the center point of the upper cleaning disc of the window cleaning robot moves to M1, and the lower cleaning disc moves to N1. Then the center of the upper cleaning disc moves from M1 to M2. In some possible implementation methods, the upper and lower cleaning discs may move back and forth near the frame OO′ multiple times. Through such multiple back-and-forths, a part of the area in the original missed cleaning area L1 is wiped. For example Figure 1C the mesh area indicated by L′ in is the area that is supplemented and wiped by moving back and forth multiple times. It can be seen that Figure 1C the line feed cleaning method shown reduces the missed cleaning area and improves the cleaning effect.

[0056] It should be noted that Figure 1C the method of operating the window cleaning robot shown has the phenomenon that the cleaning disc frequently touches the frame, which affects the wiping efficiency. At the same time, it is easy to cause the adsorption component to release pressure, make the window cleaning robot lose balance, and there is a risk of falling. To overcome this shortcoming, this application provides multiple possible implementation methods such as Embodiment 1 to Embodiment 6, aiming to reduce the missed cleaning area, improve the cleaning efficiency and the safety of operation.

[0057] Embodiment 1

[0058] As Figure 2AAs shown, this embodiment will be specifically described in the case of performing a line break operation. This embodiment provides a method for operating a window cleaning robot for cleaning a surface to be cleaned. The window cleaning robot includes: a main body and two cleaning discs. The two cleaning discs are rotatable relative to the main body. The method for operating the window cleaning robot may include the following steps: S201 to S204.

[0059] Trigger the first cleaning disc and the main body of the window cleaning robot to rotate around the second cleaning disc, so that the first cleaning disc moves a preset distance towards the next preset cleaning area. Here, the first cleaning disc is the cleaning disc far from the next preset cleaning area, and the other cleaning disc is the second cleaning disc, including:

[0060] S201. When a line break instruction is received, trigger the window cleaning robot to move from the first position in the first direction to the second position.

[0061] Wherein, the first position is the position where the window cleaning robot is located when the line break instruction is received, and the first direction is the direction of the area to be cleaned relative to the first position. At the second position, both the first cleaning disc and the second cleaning disc of the window cleaning robot are far from the first position. The first cleaning disc is the cleaning disc close to the cleaned area (and also the cleaning disc far from the next preset cleaning area), and the other cleaning disc is the second cleaning disc.

[0062] Specifically, during the cleaning process of the window cleaning robot, when specific conditions are met, a line break instruction will be obtained. This specific condition may be that the window cleaning robot reaches the edge of the surface to be cleaned, or it may be triggered by an external manual input instruction, etc. The position where the window cleaning robot is located at this time is defined as the first position.

[0063] The first direction is determined according to the area to be cleaned relative to the first position. For example, if the area to be cleaned is on the right side of the current position, the first direction is to the right. The window cleaning robot moves in the first direction and reaches the second position. Specifically, it can be that the first cleaning disc and the main body of the window cleaning robot rotate around the second cleaning disc, so that the first cleaning disc moves a preset distance towards the next preset cleaning area, so that the window cleaning robot runs to the second position. At the second position, both cleaning discs are far from the first position, and it is clear that the first cleaning disc is close to the cleaned area, and the other is the second cleaning disc. The purpose of this step is to let the window cleaning robot move from the current cleaning row (i.e., the preset cleaning area) to the starting position of the next row (the next preset cleaning area), trigger the window cleaning robot to move away from the edge of the surface to be cleaned to form a reserved space for the second cleaning disc to enter to pass through at least a part of the missed cleaning area and prepare for subsequent cleaning.

[0064] Trigger one of the first cleaning disc and the second cleaning disc to run towards the cleaned section of the preset cleaning area, including:

[0065] S202. After the window cleaning robot moves to the second position, trigger the second cleaning disk and the main body of the window cleaning robot to rotate a first preset angle along a second direction around the first cleaning disk. During the rotation, the second cleaning disk passes through at least a part of the missed cleaning area; wherein, the second direction is the direction from the second position towards the first position, and the second direction is the clockwise direction or the counterclockwise direction.

[0066] It can be understood that after the window cleaning robot moves to the second position, the system triggers the second cleaning disk and the main body of the window cleaning robot to rotate around the first cleaning disk, so that the second cleaning disk runs towards the cleaned section of the preset cleaning area. The rotation direction (the second direction) is the direction from the second position towards the first position, and it can be the clockwise direction or the counterclockwise direction. During the rotation, the second cleaning disk will pass through at least a part of the missed cleaning area. This is because in the process of changing rows, the traditional method may leave some uncleaned areas. Through the rotation of the second cleaning disk, at least a part of these possible missed cleaning areas can be covered and cleaned, thereby improving the integrity of cleaning.

[0067] After the cleaning disk running towards the cleaned section passes through at least a part of the gap area, trigger the cleaning disk to resume running;

[0068] When the cleaning disk resuming running runs to the preset position, trigger the window cleaning robot to perform cleaning operations according to the travel trajectory, including:

[0069] S203. After the second cleaning disk and the main body of the window cleaning robot rotate a first preset angle along the second direction around the first cleaning disk, trigger the second cleaning disk and the main body to rotate a second preset angle along a third direction around the first cleaning disk to the third position. The third direction is the reverse direction of the second direction. At the third position, the first cleaning disk is closer to the cleaned area than the second cleaning disk.

[0070] It can be understood that after the second cleaning disk and the main body of the window cleaning robot have rotated a first preset angle along the second direction, trigger the rotation action again. At this time, the rotation direction becomes the third direction, and the third direction is the reverse direction of the second direction.

[0071] Due to the second cleaning disk and the main body rotating a second preset angle along the third direction around the first cleaning disk, finally reach the third position. At the third position, the first cleaning disk is closer to the cleaned area than the second cleaning disk. Such an operation is to adjust the two cleaning disks to the appropriate positions for efficient cleaning according to the planned travel trajectory subsequently, which is also beneficial to improving the cleaning efficiency.

[0072] S204. After the window cleaning robot moves to the third position, trigger the first cleaning disk and the second cleaning disk to perform cleaning operations on the to-be-cleaned surface according to the travel trajectory.

[0073] After the window cleaning robot moves to the third position, at this time both cleaning discs are in appropriate positions, and the system triggers the first cleaning disc and the second cleaning disc to perform cleaning operations on the surface to be cleaned according to a pre-set travel trajectory. The travel trajectory can be, for example, left-right direction, up-down direction, etc., that is, it can be a linear reciprocating type. It should be noted that the running trajectory can also be in various forms such as a spiral type. Through the collaborative work of the two cleaning discs, the cleaning task of the surface to be cleaned is completed, achieving effective cleaning of a large area.

[0074] In some possible implementation manners, when the cleaning discs move collaboratively, they can adopt ways such as twisting, translation, and walking. Among them, twisting is a common movement manner of the cleaning discs. When the two cleaning discs are in appropriate positions (such as after moving to the third position), the cleaning discs can perform small-amplitude twisting around their own centers or relative to the main body. For example, the cleaning discs can swing left and right by a certain angle like a pendulum. This twisting manner helps the cleaning discs better fit the fine unevenness of the surface to be cleaned and wipe the stains more effectively. Especially for some stubbornly attached stains, twisting can increase the contact and friction frequency between the cleaning discs and the stains, thereby improving the cleaning effect.

[0075] Translation means that the cleaning discs move in a straight line direction on the surface to be cleaned. According to the default travel trajectory, the cleaning discs can move left and right. For example, when cleaning a large flat glass surface, the cleaning discs move from the left side of the glass to the right side, and then move back from the right side to the left side, repeating this cycle. This left-right translation manner can evenly cover the surface to be cleaned, ensuring that the entire plane can be cleaned. At the same time, according to the operation instructions, the cleaning discs can also perform up-down translation. For example, when cleaning a long vertical glass surface, up-down translation can quickly clean a large vertical area. In addition, the cleaning discs can also translate along an inclined trajectory. For example, when cleaning some glass surfaces with special angles (such as the glass windows on a pitched roof), inclined translation can better adapt to the angle of the glass and achieve comprehensive cleaning.

[0076] Walking is similar to the overall movement manner of the window cleaning robot. During the cleaning process, the window cleaning robot can, like a person walking, achieve position changes through the combination of multiple actions. For example, the window cleaning robot can first "take a step forward" (that is, move forward a certain distance as a whole), then adjust the angle and position of the cleaning discs for cleaning, and then move forward again and clean, and so on. The walking manner allows the window cleaning robot to move flexibly on surfaces to be cleaned with different shapes and sizes. It can move and clean on the plane according to the default left-right "walking" path, or can also perform up-down "walking" or "walk" along an inclined path according to the operation instructions to adapt to different cleaning requirements, such as cleaning irregularly shaped glass or wall surfaces with angles.

[0077] By using the method provided in this embodiment, through specific line feed movement and cleaning disk rotation steps, during the line feed process of the window cleaning robot, the second cleaning disk passes through the missed cleaning area, effectively reducing the missed cleaning area and improving the cleaning effect of the window cleaning robot.

[0078] Embodiment 2

[0079] As Figure 2B shown, this embodiment provides a running method for a window cleaning robot for cleaning a surface to be cleaned. Among them, the window cleaning robot includes: a main body and two cleaning disks, and the two cleaning disks are rotatable relative to the main body. The running method of the window cleaning robot may include the following steps: S211 to S215.

[0080] S211. When the window cleaning robot moves to the edge of the surface to be cleaned, trigger the generation of a line feed instruction.

[0081] In specific implementation, detection devices such as distance sensors, pressure sensors, capacitive sensors, vision sensors, and ultrasonic sensors can be used to determine whether the window cleaning robot has moved to the edge of the surface to be cleaned.

[0082] In some possible implementation manners, a plurality of infrared distance sensors can be evenly installed at the edge part of the cleaning disk of the window cleaning robot. For example, a sensor is installed at a certain angle (such as 30 degrees) every other at the outer edge of the cleaning disk to omnidirectionally detect the distance between the edge of the cleaning disk and the frame OO'. Specifically, when the window cleaning robot approaches the frame OO', the distance sensor continuously emits infrared signals. When the edge of the cleaning disk gradually approaches the frame, the infrared signal is reflected back by the frame, and the time for the sensor to receive the reflected signal will shorten as the distance decreases. According to the time difference between the emitted and received signals and the propagation speed of the infrared signal in the air, calculate the distance between the edge of the cleaning disk and the frame. When the calculated distance is less than a preset threshold (such as 1 centimeter), it is determined that the edge of the cleaning disk has approached the frame. When the distance is zero, it is determined that the edge of the cleaning disk touches the frame OO'. At this time, the distance sensor transmits the signal to the control system of the window cleaning robot, triggering the generation of a line feed instruction.

[0083] In some possible implementation manners, a plurality of tiny pressure sensors can be embedded at the edge of the cleaning disk. The pressure sensors can be arranged at the rubber edge of the cleaning disk or other parts that may come into contact with the frame. These pressure sensors are sensitive enough to detect slight contact pressure. When the edge of the cleaning disk touches the frame OO' during the movement of the window cleaning robot, the frame will apply pressure to the edge of the cleaning disk, and the pressure sensors detect the pressure change. When the pressure reaches a preset trigger threshold (for example, 0.5 Newton), the pressure sensors convert the pressure signal into an electrical signal and transmit it to the control system of the window cleaning robot. After receiving the signal, the control system determines that the edge of the cleaning disk has touched the frame OO', and then triggers the generation of a line feed instruction.

[0084] In some possible implementation manners, one or more vision sensors, such as cameras, can be installed on the window cleaning robot so that it can capture the contact area between the edge of the cleaning disk and the frame OO'. The camera can be installed above or on the side of the cleaning disk to ensure a clear view to observe the situation of the edge of the cleaning disk. The vision sensor continuously captures images of the edge of the cleaning disk and transmits the image information to the control system of the window cleaning robot. The control system uses image recognition algorithms to analyze the positional relationship between the edge of the cleaning disk and the frame OO' in the image. When it is detected that the gap between the edge of the cleaning disk and the frame OO' disappears or there is an overlapping part between the edge of the cleaning disk and the frame OO', it is determined that the edge of the cleaning disk has touched the frame OO', thereby triggering the generation of a line feed instruction.

[0085] In some possible implementation manners, ultrasonic sensors can be installed around the edge of the cleaning disk, similar to the installation method of distance sensors, and evenly distributed around the edge of the cleaning disk for omnidirectional detection. The ultrasonic sensors emit ultrasonic signals. When the cleaning disk approaches the frame OO', the ultrasonic waves are reflected back by the frame. The sensors calculate the distance between the edge of the cleaning disk and the frame by measuring the time difference between the emission and reception of the ultrasonic waves. When the distance is less than the set threshold, it is determined that the edge of the cleaning disk has touched the frame OO', and the sensors transmit the signal to the control system to trigger the corresponding instruction. Similar to how bats use ultrasonic waves to detect the surrounding environment, the window cleaning robot can use the ultrasonic sensors to emit and receive ultrasonic waves to "sense" the distance of surrounding objects, thereby determining whether the cleaning disk has touched the frame OO'.

[0086] It should be noted that steps S212 - S215 in this embodiment are similar to steps S201 - S204 in Embodiment 1. For the specific implementation and description of relevant technical features, reference can be made to the description of the relevant steps in Embodiment 1, which will not be elaborated here.

[0087] In this embodiment, the triggering conditions of the line feed instruction are defined. The line feed instruction is triggered and generated when the window cleaning robot moves to the edge of the surface to be cleaned. This is beneficial to making the cleaning process of the window cleaning robot more automated and intelligent, avoiding unnecessary repeated wiping, and improving the cleaning efficiency.

[0088] In determining the way for the window cleaning robot to move to the edge of the surface to be cleaned, multiple sensor technologies can be adopted, providing a strong guarantee for accurately triggering and generating the line feed instruction. Taking the distance sensor as an example, multiple infrared distance sensors evenly installed on the edge of the cleaning disk can accurately capture the state of the cleaning disk approaching and touching the frame by detecting the change in the distance from the frame, pre-judging in advance and triggering the instruction in a timely manner, avoiding the situation of incomplete cleaning caused by misjudgment of the distance. The sensitive detection of the contact pressure on the edge of the cleaning disk by the pressure sensor also improves the accuracy of instruction triggering, enabling the window cleaning robot to operate stably in a complex frame environment.

[0089] Embodiment III

[0090] As Figure 2C shown, this embodiment provides an operation method for a window cleaning robot for cleaning the surface to be cleaned. Among them, the window cleaning robot includes: a main body and two cleaning disks, and the two cleaning disks are rotatable relative to the main body. This embodiment can be described in combination with Figure 3A , Figure 4A and Figure 4B . Specifically, the operation method of the window cleaning robot may include the following steps: S221 to S225.

[0091] S221. When the window cleaning robot moves to the edge of the surface to be cleaned, trigger and generate a line feed instruction.

[0092] As Figure 3A , Figure 4A , Figure 4B shown, when the window cleaning robot moves to the edge of the surface to be cleaned (such as the frame OO′), trigger and generate a line feed instruction. This position is the first position, and at this time, the centers of the two cleaning disks are located at A and B respectively.

[0093] S222. When receiving the line feed instruction, trigger the window cleaning robot to translate a preset distance from the first position towards the area to be cleaned. The first cleaning disk close to the area that has been cleaned and the main body of the window cleaning robot rotate a preset angle α around the second cleaning disk in the direction away from the edge of the surface to be cleaned, and the window cleaning robot moves to the second position.

[0094] As Figure 4A , Figure 4B shown, the preset distance can be X1. As Figure 4B shown, when receiving the line feed instruction, trigger the window cleaning robot to move from the first position towards the area to be cleaned (in Figure 3AIn the illustrated embodiment, the area to be cleaned can refer to translating a preset distance X to the right), moving the first cleaning disk and the main body of the window cleaning robot close to the cleaned area to rotate a preset angle α around the second cleaning disk in the direction away from the edge of the surface to be cleaned, and moving the window cleaning robot to the second position, where α is less than 180°. When the window cleaning robot moves to the second position, the centers of the two cleaning disks are located at A2 and B1 respectively.

[0095] S223. After the window cleaning robot moves to the second position, trigger the second cleaning disk and the main body of the window cleaning robot to rotate a first preset angle around the first cleaning disk in the second direction. During the rotation, the second cleaning disk passes through at least a part of the missed cleaning area. Wherein, the second direction is the direction from the second position towards the first position, and the second direction is the clockwise direction or the counterclockwise direction.

[0096] As Figure 4B shown, the first preset angle can be Figure 4B the angle α1 in Figure 3A shown, and the second direction is the clockwise direction. The center of the second cleaning disk moves from B1, successively passing through the tangent point B2 and the point B3. The second cleaning disk passes through at least a part of the missed cleaning area as Figure 4A the meshed area indicated by L0 in

[0097] S224. After the second cleaning disk and the main body of the window cleaning robot rotate a first preset angle around the first cleaning disk in the second direction, trigger the second cleaning disk and the main body to rotate a second preset angle around the first cleaning disk in the third direction to the third position. The third direction is the reverse direction of the second direction. At the third position, the first cleaning disk is closer to the cleaned area than the second cleaning disk.

[0098] As Figure 3A shown, after rotating the second preset angle, the second cleaning disk can move to the vertical position shown in (a4-1) (the center position moves to B4-1), or move to the nearly vertical position shown in (a4-2) (the center position moves to B4-2), or move to the position exceeding the vertical shown in (a4-3) (the center position moves to B4-3).

[0099] S225. After the window cleaning robot moves to the third position, trigger the first cleaning disk and the second cleaning disk to perform a cleaning operation on the surface to be cleaned according to the travel track.

[0100] As Figure 4AAs shown, after the window cleaning robot moves to the right side of the surface to be cleaned, it performs operations similar to those when the window cleaning robot moves to the left side of the surface to be cleaned. When it moves to the right edge PP' of the surface to be cleaned, a line break instruction is generated. The window cleaning robot translates a preset distance X1 to the left from the current position, the first cleaning disc near the cleaned area and the main body of the window cleaning robot rotate a preset angle α around the second cleaning disc in the direction away from the edge of the surface to be cleaned, and the window cleaning robot moves to the second position. After the window cleaning robot moves to the second position, the second cleaning disc and the main body of the window cleaning robot rotate a first preset angle around the first cleaning disc in the second direction. During the rotation, the second cleaning disc passes through at least a part of the missed cleaning area. Here, the second direction is the direction from the second position towards the first position, and the second direction is the counterclockwise direction. After the second cleaning disc and the main body of the window cleaning robot rotate a first preset angle around the first cleaning disc in the second direction, the second cleaning disc and the main body rotate a second preset angle around the first cleaning disc in the third direction to the third position. The third direction is the reverse direction of the second direction, which is the clockwise direction. After the window cleaning robot moves to the third position, the first cleaning disc and the second cleaning disc perform a cleaning operation on the surface to be cleaned according to the travel track.

[0101] As Figure 4A shown, each time after a line break, the first cleaning disc moves a distance of X2 in the vertical direction. Specifically, when the first cleaning disc moves from the left side (the first edge) to the right side (the second edge) of the surface to be cleaned, the distance (the first distance) that the first cleaning disc moves in the vertical direction is X2. Then when the first cleaning disc moves from the right side (the second edge) to the left side (the first edge) again, the distance (the second distance) that the first cleaning disc moves in the vertical direction is also X2. After the above-mentioned movements, the distance that the first cleaning disc moves in the vertical direction (the sum of the first distance and the second distance) is 2*X2. It can be understood that in order to improve the cleaning efficiency, 2*X2 < 2r, where r is the radius of the cleaning disc. As Figure 4B shown, X1 = X - Xsinα, where X is the length value corresponding to the diameter of the cleaning disc.

[0102] Figure 4C Schematically shows the operation diagram of the window cleaning robot when the distance of each line break is less than the radius of the cleaning disc (i.e., X2 < r). The window cleaning robot moves within the area with the frame 1 (the first edge) and the frame 2 (the second edge) as the left and right boundaries. The central positions of the first cleaning disc and the second cleaning disc move in the following order: (J, H) -> (J1, H1) -> (J2, H2) -> (J3, H3) -> (J4, H4). From Figure 4C it can be seen that on the left side, there are missed cleaning areas L5 (the first missed cleaning area) and L6 (the second missed cleaning area). During the movement of the window cleaning robot, at least a part of the missed cleaning areas L5 (the first missed cleaning area) and L6 (the second missed cleaning area) will be re-cleaned.

[0103] Figure 4D It shows a schematic diagram of the window cleaning robot running when the distance between each line break is greater than the radius of the cleaning disk (i.e., X2 > r). The window cleaning robot moves within the area with border 1 and border 2 as the left and right boundaries. The central positions of the first cleaning disk and the second cleaning disk move in the following order (P, Q) --> (P1, Q1) --> (P2, Q2) --> (P3, Q3) --> (P4, Q4). From Figure 4D it can be seen that on the left side, there are missed cleaning areas L7 (the first missed cleaning area) and L8 (the second missed cleaning area). During the movement of the window cleaning robot, the missed cleaning area L7 (the first missed cleaning area) cannot be re-cleaned. It can be understood that X2 = r is similar.

[0104] Adopting this embodiment has many significant beneficial effects. In terms of improving the cleaning effect, the tangent design enables the second cleaning disk to cover the area near the border to the greatest extent during rotation, which is conducive to reducing the missed cleaning area. Especially, the cleaning effect at the border is significantly improved, enhancing the cleaning integrity of the window cleaning robot for the entire surface to be cleaned. From the perspective of safety, since the window cleaning robot does not need to collide with the edge of the surface to be cleaned multiple times to adjust its position for cleaning, the risk of equipment pressure relief caused by collision is greatly reduced. For a window cleaning robot that works by relying on negative pressure adsorption on the surface to be cleaned (such as window glass), pressure relief may cause the equipment to fall from a height, leading to safety accidents. The operation method of this embodiment reduces unnecessary collisions by optimizing the movement and turning logic, providing strong guarantee for the safe operation of the window cleaning robot and making users feel more at ease during use. At the same time, this also indirectly improves the stability and durability of the equipment, reduces component wear caused by frequent collisions, extends the service life of the window cleaning robot, and reduces the maintenance cost.

[0105] Embodiment 4

[0106] As Figure 2D shown, this embodiment provides an operation method for a window cleaning robot to clean the surface to be cleaned. Among them, the window cleaning robot includes: a main body and two cleaning disks, and the two cleaning disks are rotatable relative to the main body. This embodiment can be described in combination with Figure 3B this. Specifically, the operation method of the window cleaning robot may include the following steps: S231 to S235.

[0107] S231. When the window cleaning robot moves to the edge of the surface to be cleaned, a line break instruction is triggered and generated.

[0108] As Figure 3B shown, when the window cleaning robot moves to the edge of the surface to be cleaned (border OO'), a line break instruction is triggered and generated. This position is the first position, and at this time, the centers of the two cleaning disks are located at A and B respectively.

[0109] S232. When a line feed instruction is received, trigger the window cleaning robot to translate a preset distance from the first position towards the area to be cleaned. The first cleaning disc close to the cleaned area and the main body of the window cleaning robot rotate a preset angle around the second cleaning disc in the direction away from the edge of the surface to be cleaned, and the window cleaning robot moves to the second position.

[0110] As Figure 3B shown, when a line feed instruction is received, trigger the centers of the two cleaning discs of the window cleaning robot to translate a preset distance from the first positions (A, B) towards the area to be cleaned (in the Figure 3B embodiment shown, towards the area to be cleaned can refer to towards the right) to C1, D1. The first cleaning disc close to the cleaned area and the main body of the window cleaning robot rotate a preset angle α around the second cleaning disc in the direction away from the edge of the surface to be cleaned, and the window cleaning robot moves to the second position (the center of the first cleaning disc moves to C2). Among them, α is less than 180°. When the window cleaning robot moves to the second position, the centers of the two cleaning discs are respectively located at C2, D1.

[0111] S233. After the window cleaning robot moves to the second position, trigger the second cleaning disc and the main body of the window cleaning robot to rotate a first preset angle around the first cleaning disc along the second direction. During the rotation, the second cleaning disc passes through at least a part of the missed cleaning area. During the process of the second cleaning disc and the main body of the window cleaning robot rotating a first preset angle around the first cleaning disc along the second direction, the edge of the second cleaning disc is always separated from the edge of the surface to be cleaned. Among them, the second direction is the direction from the second position towards the first position, and the second direction is the clockwise direction or the counterclockwise direction.

[0112] The process of the second cleaning disc and the main body of the window cleaning robot rotating a first preset angle around the first cleaning disc along the second direction corresponds to Figure 3B the moving process shown in (b3) in. The center of the first cleaning disc is located at C2, and the center of the second cleaning disc moves in the clockwise direction from D1, passes through D2 and moves to D3.

[0113] S234. After the second cleaning disc and the main body of the window cleaning robot rotate a first preset angle around the first cleaning disc along the second direction, trigger the second cleaning disc and the main body to rotate a second preset angle around the first cleaning disc along the third direction to the third position. The third direction is the reverse direction of the second direction. At the third position, the first cleaning disc is closer to the cleaned area than the second cleaning disc.

[0114] As Figure 3BAs shown, after rotating by the second preset angle, the second cleaning disk can move to the vertical position shown in (b4-1) (the center position moves to D4-1), or move to the nearly vertical position shown in (b4-2) (the center position moves to D4-2), or move to the position exceeding the vertical shown in (b4-3) (the center position moves to D4-3).

[0115] S235. After the window cleaning robot moves to the third position, trigger the first cleaning disk and the second cleaning disk to perform a cleaning operation on the surface to be cleaned according to the traveling trajectory.

[0116] With this embodiment, in terms of the operating logic of the cleaning disk, the separated design avoids the collision of the cleaning disk with the edge of the surface to be cleaned during rotation. This feature plays a good protective role for both the cleaning disk and the surface to be cleaned, reducing the risk of damage caused by collision, such as wear of the cleaning disk or scratching of the surface to be cleaned. From the perspective of safety, since the window cleaning robot does not need to collide with the edge of the surface to be cleaned multiple times to adjust its position during operation, for a window cleaning robot that relies on negative pressure adsorption to work on the surface to be cleaned (such as a glass surface), it greatly reduces the potential risk of pressure relief caused by collision. Once the window cleaning robot experiences pressure relief, it is very likely to fall from a height, causing equipment damage and even endangering the safety of surrounding personnel. This embodiment effectively avoids such risks through the designed operating trajectory, allowing users to use it with confidence. From the perspective of equipment operation stability and efficiency, this solution reduces collisions, not only improving safety, but also enabling the cleaning disk to efficiently perform cleaning operations at a relatively safe and stable distance. It avoids short pauses or position offsets caused by collisions, thereby improving the cleaning efficiency. At the same time, it reduces the loss of equipment components caused by frequent collisions, extends the overall service life of the window cleaning robot, reduces the frequency of equipment maintenance and replacement, and brings a more durable and reliable cleaning experience to users.

[0117] Embodiment Five

[0118] As Figure 2E shown, this embodiment provides an operating method for a window cleaning robot for cleaning a surface to be cleaned, where the window cleaning robot includes: a main body and two cleaning disks, and the two cleaning disks are rotatable relative to the main body. This embodiment can be described in combination with Figure 3C . Specifically, the operating method of the window cleaning robot may include the following steps: S241 to S245.

[0119] S241. When the window cleaning robot moves to the edge of the surface to be cleaned, trigger the generation of a line feed instruction.

[0120] As Figure 3CAs shown, when the window cleaning robot moves to the edge (frame OO') of the surface to be cleaned, a line feed command is triggered. This position is the first position, and at this time, the centers of the two cleaning disks are located at A and B respectively.

[0121] S242. When the line feed command is received, trigger the window cleaning robot to translate a preset distance from the first position towards the area to be cleaned. The first cleaning disk close to the cleaned area and the main body of the window cleaning robot rotate around the second cleaning disk by a preset angle in the direction away from the edge of the surface to be cleaned, and the window cleaning robot moves to the second position.

[0122] As Figure 3C shown, when the line feed command is received, trigger the centers of the two cleaning disks of the window cleaning robot to translate a preset distance from the first position (A, B) towards the area to be cleaned (in the Figure 3C embodiment shown, towards the area to be cleaned can refer to towards the right) to E1 and F1, and the first cleaning disk close to the cleaned area and the main body of the window cleaning robot rotate around the second cleaning disk by a preset angle α in the direction away from the edge of the surface to be cleaned, and the window cleaning robot moves to the second position (the center point of the first cleaning disk moves to E2), where α is less than 180°. When the window cleaning robot moves to the second position, the centers of the two cleaning disks are located at E2 and F1 respectively.

[0123] S243. After the window cleaning robot moves to the second position, trigger the second cleaning disk and the main body of the window cleaning robot to rotate around the first cleaning disk by a first preset angle in the second direction. When the edge of the second cleaning disk is closest to the edge of the surface to be cleaned, the moving direction of the second cleaning disk intersects with the edge of the surface to be cleaned; the first preset angle is the rotation angle value corresponding to the intersection point where the second cleaning disk and the main body of the window cleaning robot rotate around the first cleaning disk in the second direction until they intersect.

[0124] The process of the second cleaning disk and the main body of the window cleaning robot rotating around the first cleaning disk by a first preset angle in the second direction corresponds to Figure 3C the moving process shown in (c3) in

[0125] S244. After the second cleaning disk and the main body of the window cleaning robot rotate around the first cleaning disk by a first preset angle in the second direction, trigger the second cleaning disk and the main body to rotate around the first cleaning disk by a second preset angle in the third direction to the third position. The third direction is the opposite direction of the second direction. At the third position, the first cleaning disk is closer to the cleaned area than the second cleaning disk.

[0126] As Figure 3CAs shown, after rotating by the second preset angle, the second cleaning disk can move to the vertical position shown in (c4-1) (the center position moves to F3-1), or move to the nearly vertical position shown in (c4-2) (the center position moves to F3-2), or move to the position beyond vertical shown in (c4-3) (the center position moves to F3-3).

[0127] S245. After the window cleaning robot moves to the third position, trigger the first cleaning disk and the second cleaning disk to perform a cleaning operation on the surface to be cleaned according to the travel trajectory.

[0128] It can be understood that when the frame is lower than the surface to be cleaned, when the cleaning disk moves near the frame, the cleaning disk may stop after crossing the frame.

[0129] Adopting this embodiment, in terms of cleaning effect, when the window cleaning robot runs to the edge of the surface to be cleaned, the design of the second cleaning disk intersecting with the edge of the surface to be cleaned enables the second cleaning disk to accurately cover some areas that are easily missed under normal circumstances during the movement process. This is beneficial to reducing the missed cleaning areas and significantly improving the overall cleaning effect.

[0130] Embodiment Six

[0131] As Figure 2F shown, this embodiment provides a running method for a window cleaning robot for cleaning a surface to be cleaned, where the window cleaning robot includes: a main body and two cleaning disks, and the two cleaning disks are rotatable relative to the main body. This embodiment can be described in combination with Figure 3C This is described. Specifically, the running method of the window cleaning robot may include the following steps: S251 to S255.

[0132] It should be noted that steps S251 to S252 in this embodiment are similar to steps S241 to S242 in Embodiment Five. For the specific implementation and description of related technical features, reference can be made to the description of the related steps in Embodiment One, and details will not be repeated here.

[0133] S253. After the window cleaning robot moves to the second position, trigger the second cleaning disk and the main body of the window cleaning robot to rotate around the first cleaning disk by a first preset angle in a second direction. When the second cleaning disk and the main body of the window cleaning robot rotate around the first cleaning disk in the second direction, if not controlled, when the second cleaning disk is closest to the edge of the surface to be cleaned, the moving direction of the second cleaning disk intersects with the edge. At the intersection, the angle of rotation of the second cleaning disk and the main body of the window cleaning robot around the first cleaning disk in the second direction is a third preset angle; the first preset angle is less than the third preset angle.

[0134] The second cleaning disk and the main body of the window cleaning robot rotate around the first cleaning disk in the second direction. Without control, the center of the second cleaning disk moves from F1 in the clockwise direction to F2. Since the first preset angle is less than the third preset angle, it can be ensured that the cleaning disk does not touch the edge of the surface to be cleaned. The angle by which the first preset angle is less than the third preset angle can be preset as needed. For example, it is feasible that the first preset angle is less than the third preset angle by 3 degrees, etc.

[0135] S254. After the second cleaning disk and the main body of the window cleaning robot rotate around the first cleaning disk in the second direction by the first preset angle, trigger the second cleaning disk and the main body to rotate around the first cleaning disk in the third direction by the second preset angle to the third position. The third direction is the reverse direction of the second direction. At the third position, the first cleaning disk is closer to the cleaned area than the second cleaning disk.

[0136] Such as Figure 3C shown, after rotating the second preset angle, the second cleaning disk can move to the vertical position shown in (c4-1) (the center position moves to F3-1), or can move to the nearly vertical position shown in (c4-2) (the center position moves to F3-2), or can also move to the position exceeding the vertical shown in (c4-3) (the center position moves to F3-3).

[0137] S255. After the window cleaning robot moves to the third position, trigger the first cleaning disk and the second cleaning disk to perform a cleaning operation on the surface to be cleaned according to the travel track.

[0138] Adopting this embodiment, in terms of cleaning effect, by controlling the rotation angle of the second cleaning disk to make the first preset angle less than the third preset angle, it is possible to cover as many missed cleaning areas as possible on the premise of ensuring not touching the edge of the surface to be cleaned. This design improves the cleaning coverage rate of the glass surface and reduces the cleaning dead corners. From the perspective of safety, it avoids the collision between the cleaning disk and the edge of the surface to be cleaned, directly reducing the risk of equipment failure caused by collision. For a window cleaning robot, it works by relying on negative pressure adsorption on the glass surface, and collision with the edge is extremely likely to cause the equipment to relieve pressure. Once the pressure is relieved, the window cleaning robot may fall from a height, causing equipment damage and even posing a safety threat to the surrounding personnel. The operation method of this embodiment avoids this kind of collision situation through angle control, improving the safety of the window cleaning robot during operation. In terms of stability, by reducing the collision between the cleaning disk and the edge, the equipment can maintain a stable posture during operation. It will not shake or displace due to frequent collision impacts, ensuring the coherence and stability of the cleaning operation. This not only helps to improve the cleaning efficiency, but also reduces the wear of equipment parts caused by collision, extends the service life of the window cleaning robot, and reduces the user's usage cost. This embodiment provides an efficient, stable and durable cleaning solution for users.

[0139] As Figure 5A shown, an embodiment of the present application provides a window cleaning robot 500, and the window cleaning robot 500 includes: a main body 501, two cleaning disks 503, 504, and a control module 502; wherein, the two cleaning disks 503, 504 are rotatable relative to the main body 501. The control module 502 is configured to execute the operation method of the window cleaning robot described in any of the foregoing method embodiments.

[0140] As Figure 5B shown, an embodiment of the present application provides a window cleaning robot 510, and the window cleaning robot 510 includes: a main body 511, two cleaning disks 513, 514, a control module 512, and a detection module 515; wherein, the two cleaning disks 513, 514 are rotatable relative to the main body 511. The detection module 515 is configured to detect whether the window cleaning robot moves to the edge of the surface to be cleaned; the control module 512 is configured to generate a line feed instruction when the detection module 515 detects that the window cleaning robot moves to the edge of the surface to be cleaned. The control module 512 is further configured to execute the operation method of the window cleaning robot described in any of the foregoing method embodiments.

[0141] The embodiment of the present application further provides a computer-readable storage medium, including computer instructions, when the computer instructions run on an electronic device, enabling the electronic device to execute the operation method of the window cleaning robot provided in any of the foregoing method embodiments.

[0142] The embodiment of the present application further provides a computer program product, and the computer program product includes: computer program code, when the computer program code runs, implementing the operation method of the window cleaning robot provided in any of the foregoing method embodiments.

[0143] The embodiment of the present application further provides a chip, and the chip includes a processor and a communication interface. The communication interface is configured to receive a signal and transmit the signal to the processor, and the processor processes the signal and executes the operation method of the window cleaning robot provided in any of the foregoing method embodiments.

[0144] It can be understood that the beneficial effects that the above window cleaning robot, computer-readable storage medium, computer program product, and chip can achieve can refer to the beneficial effects described in the foregoing method embodiments, and will not be elaborated herein.

[0145] In the embodiments provided by the present application, it should be understood that the operation method of the window cleaning robot, chip, storage medium, computer program product, etc. disclosed can be implemented in other ways. The embodiments of the operation method of the window cleaning robot, window cleaning robot, chip, storage medium, and computer program product described above are only illustrative.

[0146] Based on such understanding, to implement all or part of the processes in the above-described embodiment methods of this application, it can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented.

[0147] In the above description, for the purpose of illustration rather than limitation, specific details such as specific structures and technologies are presented to thoroughly understand the embodiments of this application. However, those skilled in the art should clearly understand that other embodiments can also implement this application without these specific details. In other cases, the detailed descriptions of well-known circuits and methods are omitted to avoid unnecessary details from interfering with the description of this application.

[0148] It should be understood that when used in the specification and appended claims of this application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0149] The references to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that specific features, structures, or characteristics described in conjunction with that embodiment are included in one or more embodiments of this application. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way. The order of steps of the method embodiments involved in this application is not fixed and can be changed according to specific circumstances.

[0150] The above-described embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

Claims

1. A running method of a window cleaning robot for cleaning a surface to be cleaned, the window cleaning robot comprising: A main body, a first cleaning disc and a second cleaning disc, wherein the first cleaning disc and the second cleaning disc are rotatable relative to the main body, and a gap region is formed between the first cleaning disc and the second cleaning disc. The method for operating the window cleaning robot is characterized in that it includes: Triggering one of the first cleaning disc and the second cleaning disc to run towards the cleaned section of a preset cleaning area; wherein, the surface to be cleaned includes at least one preset cleaning area; After the cleaning disc running towards the cleaned section passes through at least a part of the gap region, triggering this cleaning disc to return; When the cleaning disc in the return run reaches a preset position, triggering the window cleaning robot to perform a cleaning operation according to a travel trajectory.

2. The operating method of the window cleaning robot according to claim 1, characterized in that Before triggering one of the first cleaning disc and the second cleaning disc to run towards the cleaned section of a preset cleaning area, the operating method further includes: Performing a line feed operation; The performing of the line feed operation includes: triggering the first cleaning disc and the main body of the window cleaning robot to rotate around the second cleaning disc, so that the first cleaning disc moves a preset distance towards the next preset cleaning area, wherein the first cleaning disc is the cleaning disc far from the next preset cleaning area, and the other cleaning disc is the second cleaning disc.

3. The operating method of the window cleaning robot according to claim 2, characterized in that, The triggering one of the first cleaning disc and the second cleaning disc to run towards the cleaned section of a preset cleaning area includes: Triggering the second cleaning disc and the main body of the window cleaning robot to rotate around the first cleaning disc, and during the rotation, the second cleaning disc passes through at least a part of the gap region.

4. The operating method of the window cleaning robot according to claim 2, wherein The method for operating the window cleaning robot further includes: When the window cleaning robot moves to the edge of the surface to be cleaned, triggering the performing of the line feed operation.

5. The operating method of the window cleaning robot according to claim 3, wherein When the window cleaning robot moves to the edge of the surface to be cleaned, a first missed cleaning area is formed between the gap region and the edge of the surface to be cleaned; The triggering the second cleaning disc and the main body of the window cleaning robot to rotate around the first cleaning disc includes: Triggering the second cleaning disc to pass through at least a part of the first missed cleaning area.

6. The operating method of the window cleaning robot according to claim 5, characterized in that, The performing of the line feed operation further includes: Before triggering the first cleaning disc and the main body of the window cleaning robot to rotate around the second cleaning disc, Triggering the window cleaning robot to move away from the edge of the surface to be cleaned to form a reserved space, and the reserved space is for the second cleaning disc to enter to pass through at least a part of the first missed cleaning area.

7. The operating method of the window cleaning robot according to claim 5, characterized in that, During the process of the second cleaning disc and the main body of the window cleaning robot running around the first cleaning disc, when the second cleaning disc is closest to the edge of the surface to be cleaned, the edge of the second cleaning disc intersects, or is tangent to, or is always separated from the edge of the surface to be cleaned.

8. The operating method of the window cleaning robot according to claim 5, wherein The edge of the surface to be cleaned includes a first edge and a second edge, and the first edge and the second edge are oppositely arranged; During the process of the window cleaning robot moving from the first edge to the second edge, the window cleaning robot passes through at least a part of the first missed cleaning area; During the process of the window cleaning robot moving from the second edge to the first edge, the window cleaning robot passes through at least a part of the first missed cleaning area again.

9. The operating method of the window cleaning robot according to claim 5, wherein, After the second cleaning disk passes through at least a part of the first missed cleaning area, during the process of resuming operation, a second missed cleaning area is formed between the second cleaning disk and the first edge; During the process of the window cleaning robot moving from the second edge to the first edge, the window cleaning robot passes through at least a part of the second missed cleaning area.

10. The operating method of the window cleaning robot according to claim 8, wherein When the window cleaning robot moves from the first edge to the second edge, the preset distance for the window cleaning robot to move to the next preset cleaning area is a first distance; When the window cleaning robot moves from the second edge to the first edge, the preset distance for the window cleaning robot to move to the next preset cleaning area is a second distance; The sum of the first distance and the second distance is less than twice the radius of the cleaning disk.

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