Control method for cleaning robot

Abstract

The invention provides a control method for a cleaning robot, and relates to the technical field of cleaning robot control. The cleaning robot comprises a main body, an edge cleaning assembly and a crawler belt, the main body is adsorbed to a to-be-cleaned face, the crawler belt is arranged on the main body and enables the cleaning robot to advance on the to-be-cleaned face, the edge cleaning assembly is rotationally arranged on the main body and located on the cleaning edge of the cleaning robot, and the to-be-cleaned face is provided with a target boundary; the control method comprises the steps that when the cleaning robot executes an edge cleaning task, the cleaning edge of the cleaning robot is attached to a target boundary, and the edge cleaning assembly arranged on the cleaning edge advances along the target boundary and rotates to clean the target boundary. According to the technical scheme, the cleaning effect of the cleaning robot on the boundary corners of the to-be-cleaned face can be effectively improved, particularly, the seriously-dirty positions of the edges and corners of the glass surface can be efficiently cleaned, and the cleaning efficiency can be effectively guaranteed while the cleaning effect is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of cleaning robot control, in particular, to a control method for a cleaning robot. BACKGROUND

[0002] With the development of science and technology, cleaning robots have been widely applied to vertical or inclined surfaces to be cleaned such as glass curtain walls and windows. The cleaning robots usually rely on negative pressure to be adsorbed on the glass surface, and realize autonomous travel through the built-in driving structure, so as to complete the cleaning task. In order to improve the cleaning efficiency, some cleaning robots are also equipped with cleaning mechanisms such as a rolling brush, a cleaning cloth, and a water spraying assembly, which can realize the preliminary cleaning of pollutants and the wiping of stains on the glass surface. However, in the specific use process, the cleaning robots in the related solutions often pay more attention to the effective coverage and path planning of large-area glass regions, and the cleaning of the edge and corner regions of the glass is relatively weak.

[0003] Specifically, since the edge region of the glass usually contacts or has a certain height step with the window frame structure, the traditional cleaning robot is easy to deviate due to inaccurate path control when approaching the edge, resulting in a blind area between the cleaning region and the boundary. At the same time, in the cleaning process, the pollutants on the glass surface are easy to be pushed to the glass edge by the cleaning components and accumulated, which further aggravates the problem of pollutant residue in the corner region. Especially when facing the regions with intersecting boundaries and large angle changes, the cleaning efficiency and cleaning quality are difficult to guarantee. Therefore, how to effectively improve the cleaning coverage ability and cleaning effect of the edge and corner regions of the surface to be cleaned without affecting the cleaning efficiency of the cleaning robot has become a technical difficulty to be solved in the current cleaning robot design.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the embodiments of the present disclosure is to provide a control method for a cleaning robot, which can effectively improve the cleaning coverage ability and cleaning effect of the edge and corner regions of the surface to be cleaned without affecting the cleaning efficiency of the cleaning robot.

[0006] According to a first aspect of the embodiments of the present disclosure, a control method for a cleaning robot is provided. The cleaning robot comprises a main body, an edge cleaning assembly and a track. The main body is adsorbed to a surface to be cleaned. The track is arranged on the main body and enables the cleaning robot to travel on the surface to be cleaned. The edge cleaning assembly is rotatably arranged on the main body and located at a cleaning edge of the cleaning robot. The surface to be cleaned has a target boundary. The control method comprises: when the cleaning robot performs an edge cleaning task, the cleaning edge of the cleaning robot is attached to the target boundary, and the edge cleaning assembly arranged at the cleaning edge travels along the target boundary and rotates to clean the target boundary.

[0007] In one aspect, by arranging the edge cleaning assembly on the cleaning robot, and when performing the edge cleaning task, the cleaning edge is attached to the target boundary of the surface to be cleaned, and the edge cleaning assembly is driven to travel along the target boundary and rotate, so that the cleaning edge is in contact with the target boundary. During the travel process, the robot path will continue to be guided by the relative position of the cleaning edge and the boundary, which can avoid the deviation caused by the inaccurate path control of the traditional path control, thereby effectively avoiding the blind area between the cleaning trajectory and the boundary. In another aspect, during the edge cleaning process, the edge cleaning assembly arranged at the cleaning edge travels and rotates to clean, and cooperates with the attachment relationship between the cleaning edge and the boundary, which can introduce a rotating shearing action with rich direction changes in the boundary area. During the rotation of the edge cleaning assembly, the mechanical shearing force generated can act on the pollutants at the edge of the glass from multiple directions, making it easier for the pollutants to detach from the surface to be cleaned. At the same time, since the edge cleaning assembly continuously runs along the boundary, it can also guide the pollutants accumulated on the boundary to the cleaning range of the cleaning robot without diffusion, thereby reducing the possibility of pollutant accumulation and effectively improving the cleaning effect of the edge and corner regions of the surface to be cleaned. In yet another aspect, the attachment control of the cleaning edge of the cleaning robot and the target boundary, combined with the rotation of the edge cleaning assembly, can achieve close attachment cleaning of the target boundary by the cleaning robot without relying on simple path presetting. In the case of complex boundary structure and local height difference, the cleaning edge can avoid deviating or missing the effective cleaning range too early, improve the boundary integrity of the cleaning coverage, and the attachment control of the cleaning edge can effectively shorten the path length of the cleaning robot when turning at the corner, improve the turning efficiency, and thus ensure the cleaning efficiency of the surface to be cleaned.

[0008] In some example embodiments of the present disclosure, based on the foregoing scheme, the target boundary includes a first boundary and a second boundary that are adjacent and intersect; when the cleaning robot performs the edge cleaning task on the first boundary and the second boundary in sequence, the cleaning robot passes through the A position and the B position in sequence from the cleaning end position of the first boundary to the cleaning initial position of the second boundary; wherein the cleaning robot at the A position has a spacing with the first boundary and the second boundary respectively; the B position is farther away from the first boundary than the A position; the cleaning edge of the cleaning robot at the B position forms an included angle with the second boundary, and the first end of the cleaning edge is in contact with the second boundary, and the second end of the cleaning edge has a spacing with the second boundary; and the advancing direction of the cleaning robot at the B position is towards the first boundary.

[0009] By setting the A position and the B position, a structured transition trajectory from the first boundary to the second boundary is constructed, which can enable the track driving system to change the advancing direction of the cleaning robot in a gradual manner, avoiding problems such as track slipping, adsorption force decreasing or path deviation caused by too small turning radius or angle mutation, and improving the stability and controllability of path control. Meanwhile, with the help of the turning space buffer at the A position and the single-end contact at the B position, the cleaning edge posture can be dynamically adjusted during the gradual turning process, so that the cleaning edge is gradually aligned with the second boundary, laying a directional foundation for subsequent edge cleaning. Since the B position is set to have the first end of the cleaning edge in contact with the second boundary and the second end in an intermediate state with a certain spacing, the cleaning robot can start the rotating cleaning action at the B position and establish the boundary contact point in advance, thereby shortening the path distance and motion time required from turning to completely edge cleaning. Compared with the free turning mechanism without intermediate point planning, the faster posture adjustment and shorter invalid displacement path can improve the cleaning efficiency at the boundary, and thus improve the boundary coverage rate and overall cleaning efficiency of the cleaning surface. Meanwhile, the settings of the A position and the B position provide a fault-tolerant path and scalability for the cleaning robot when facing boundary corners of different angles (such as acute angles, obtuse angles, non-standard angles), and by adjusting the relative position relationship between the A and B points, the cleaning robot can be flexibly adapted to geometric boundary structures formed by different building components, thereby expanding the cleaning ability of the cleaning robot for complex curtain wall corners, joints and other special boundaries, and enhancing the universality and adaptability of the system in real scenes. In addition, by setting a reasonable A-B path interval, the cleaning robot can realize high-precision path calculation and action control under limited computing resources, which is conducive to realizing a low-power and light-computing corner path transition scheme and improving the overall operation efficiency of the system.

[0010] In some example embodiments of the present disclosure, based on the foregoing scheme, during movement of the cleaning robot from the B position to the cleaning initial position of the second boundary, the cleaning robot moves towards the first boundary, and the first end of the cleaning edge of the cleaning robot keeps in contact with the second boundary, and the second end of the cleaning edge of the cleaning robot gradually approaches the second boundary.

[0011] By keeping the first end of the cleaning edge in contact with the second boundary at all times, the cleaning robot can establish an initial boundary contact relationship before completing the overall attitude adjustment, and the fitting of the cleaning edge to the second boundary is anchored by the first end and gradually approaches the boundary by the second end, so that the included angle between the cleaning edge and the second boundary continuously decreases, the movement is more stable, and the cleaning robot is prevented from retracting or deviating from the path due to sudden changes in direction or secondary adjustment, thereby effectively reducing unnecessary displacement, compressing the movement path required for the cleaning edge to fit from part to whole, improving the efficiency of path convergence; at the same time, this fitting method enables the cleaning robot to enter a stable edge-following cleaning mode as soon as possible, thereby reducing the invalid time consumption in the edge-following preparation stage, improving the fitting efficiency of the cleaning edge, and thereby improving the cleaning efficiency of the cleaning robot for the overall boundary area.

[0012] In some example embodiments of the present disclosure, based on the foregoing scheme, the target boundary further includes a third boundary disposed opposite the first boundary; during movement of the cleaning robot from the cleaning end position of the first boundary to the A position, the cleaning robot performs curve movement, and the cleaning edge of the cleaning robot is more likely to depart from the first boundary at one end of the intersection of the first boundary and the second boundary than at the other end.

[0013] Through curve movement control of the cleaning robot from the cleaning end position of the first boundary to the A position, one end of the cleaning edge can be caused to depart from the boundary first, gradually driving the entire cleaning edge away from the first boundary, which can smoothly release the fitting relationship between the cleaning edge and the first boundary, reduce the risk of collision, and improve the running stability of the cleaning robot when exiting the first boundary; at the same time, the curve-type off-boundary path can cause the cleaning robot to smoothly deviate from the first boundary, avoid the problem of local sealing failure caused by forcibly rotating the main body, and effectively maintain the continuous suction force output of the negative pressure suction system, thereby ensuring the safe operation of the cleaning robot in the corner transition scenario.

[0014] In some example embodiments of the present disclosure, based on the foregoing scheme, the cleaning robot passes through the A position, the C position and the B position in sequence from the cleaning end position of the first boundary to the cleaning initial position of the second boundary; wherein the cleaning edge in the A position is away from the second boundary, and the cleaning edges in the C position and the B position are both towards the second boundary; in the process of moving the cleaning robot from the A position to the C position, the cleaning robot spins in a preset direction; in the process of moving the cleaning robot from the C position to the B position, the cleaning robot makes a curve motion in the preset direction.

[0015] By introducing the C position as a posture spinning node, the cleaning robot can divide the path transition process into two stages of independent posture rotation and curve edge following, enhance the initiative of posture adjustment and the flexibility of path control; at the same time, cooperating with spinning and curve motion, the transition process of the cleaning robot as a whole from the first boundary to the second boundary is more stable, more efficient and more continuous, thereby improving the cleaning connection effect and operation reliability of the boundary corner area.

[0016] In some example embodiments of the present disclosure, based on the foregoing scheme, the number of the edge-following cleaning assembly is one, and the edge-following cleaning assembly is configured to move along the cleaning edge of the cleaning robot, or the edge-following cleaning assembly is configured to move along the cleaning edge of the cleaning robot and the edge adjacent to and intersecting with the cleaning edge; in the process of moving to the B position, the cleaning robot drives the edge-following cleaning assembly to move to one end of the cleaning edge of the cleaning robot abutting against the second boundary, and in the process of moving from the B position to the cleaning initial position of the second boundary, the cleaning robot moves towards the first boundary until the included angle between the cleaning edge of the cleaning robot and the second boundary gradually decreases to 0° to fit the second boundary.

[0017] Since the edge-following cleaning assembly works continuously in the edge-following process and is always kept at the starting contact point, it has the functions of guiding and cleaning, and can assist the robot to smoothly complete the posture transition from the transition state to the stable cleaning state, thereby enhancing the cleaning continuity of the boundary area. By setting the movable structure of the single edge-following cleaning assembly and combining the dynamic position adjustment thereof at the key points of the path, the cleaning efficiency, control accuracy and operation stability of the cleaning robot in the boundary connection process can be improved while simplifying the hardware structure.

[0018] In some example embodiments of the present disclosure, based on the foregoing scheme, the edge cleaning assembly is configured to be fixed at one end of the cleaning edge of the cleaning robot; during movement to the B position, the cleaning robot controls the edge cleaning assembly to continuously rotate and adjusts the travel direction through the track to first spin in a preset direction at a C position and make a curve motion in the preset direction to abut one end of the cleaning edge, where the edge cleaning assembly exists and is parallel to the extension direction of the track; during movement from the B position to the cleaning initial position of the second boundary, the cleaning robot travels towards the first boundary and, in combination with the rotation of the edge cleaning assembly, gradually reduces the included angle between the cleaning edge of the cleaning robot and the second boundary to 0° to fit the second boundary.

[0019] By fixing the edge cleaning assembly at one end of the cleaning edge and combining the curve motion of the track, the cleaning robot can start the edge cleaning assembly to rotate and clean when the attitude is turned, and the rotation friction and the guiding and lifting edge fitting efficiency of the edge cleaning assembly are utilized to simplify the structure of the cleaning robot, improve the edge fitting efficiency of the cleaning robot, and improve the boundary cleaning continuity.

[0020] In some example embodiments of the present disclosure, based on the foregoing scheme, the number of edge cleaning assemblies is two, and the cleaning edges where the two edge cleaning assemblies are located are parallel to the extension direction of the track of the cleaning robot; during movement from the B position to the cleaning initial position of the second boundary, the cleaning robot controls any one of the edge cleaning assemblies to continuously rotate and adjusts the travel direction through the track to gradually reduce the included angle between the cleaning edges where the two edge cleaning assemblies are located and the second boundary to 0° to fit the second boundary and reach the cleaning initial position of the second boundary.

[0021] By providing two edge cleaning assemblies, the cleaning robot can not only achieve faster edge fitting response during movement from the B position to the cleaning initial position of the second boundary, but also enhance the cleaning range coverage and boundary fitting accuracy through the coordinated action of the double edge rotating assemblies, and significantly improve the attitude transition smoothness, cleaning efficiency, and trajectory stability in complex corner areas.

[0022] In some example embodiments of the present disclosure, based on the foregoing scheme, during movement from the B position to the cleaning initial position of the second boundary, the cleaning robot controls self-rotation of the cleaning robot through the track to gradually reduce the included angle between the cleaning edges where the two edge cleaning assemblies are located and the second boundary to 0° to fit the second boundary and reach the cleaning initial position of the second boundary.

[0023] The self-rotation posture convergence of the cleaning robot is realized through track control, the cleaning edge is aligned with the second boundary, the preparation time for adhesion can be effectively shortened, the starting accuracy of the cleaning track can be improved, the number of secondary adjustments caused by adhesion alignment errors of the boundary can be reduced, and thus the overall boundary cleaning efficiency and operation stability are enhanced.

[0024] In some example embodiments of the present disclosure, based on the foregoing scheme, the cleaning robot controls the rotation of the edge cleaning assembly in abutment with the second boundary, and combines the driving of the track to gradually reduce the included angle between the cleaning edge where the two edge cleaning assemblies are located and the second boundary to 0°, so as to adhere to the second boundary.

[0025] The edge cleaning assembly in contact with the second boundary is controlled to rotate continuously by the cleaning robot, and the cleaning edge is gradually adhered to the second boundary through differential adjustment of the track. This edge adhesion method takes the contact point as the guide, and the cleaning path is established at the initial contact, which helps to quickly complete the connection from the path transition to the cleaning state, improves the starting response speed of adhesion, and ensures the continuity and integrity of the boundary cleaning track. At the same time, since the rotating cleaning assembly is located at the contact point, the rotating force can form an inward friction traction force to guide the cleaning edge to stably advance along the boundary direction, thereby having good cleaning efficiency and posture stability in application scenarios such as curtain walls, standard window frames, etc. with clear boundaries and good structural rigidity.

[0026] In some example embodiments of the present disclosure, based on the foregoing scheme, the cleaning robot controls the rotation of the edge cleaning assembly away from the second boundary, and combines the driving of the track to gradually reduce the included angle between the cleaning edge where the two edge cleaning assemblies are located and the second boundary to 0°, so as to adhere to the second boundary.

[0027] The edge cleaning assembly away from the second boundary is controlled to rotate continuously by the cleaning robot, and the rotating friction thrust generated thereby forms an effective posture adjustment moment through the lever force arm effect to guide the cleaning edge to gradually converge to parallel adhesion with the second boundary. This edge adhesion method can provide stronger posture correction capability when the included angle of the cleaning edge is larger, enhance the robustness of the adhesion process, and improve the boundary adaptation capability and operation stability of the cleaning robot.

[0028] In some example embodiments of the present disclosure, based on the foregoing scheme, the number of edge cleaning assemblies is four; during the movement of the cleaning robot from the B position to the cleaning initial position of the second boundary, at least two edge cleaning assemblies are controlled to rotate continuously, and the advancing direction is adjusted through the track, so that the included angle between the cleaning edge where the two edge cleaning assemblies are located and the second boundary gradually reduces to 0°, to adhere to the second boundary and reach the cleaning initial position of the second boundary.

[0029] By controlling at least two edge cleaning assemblies to continuously rotate during the edge abutting process, and in combination with the differential driving of the track, the cleaning robot with four edge cleaning assemblies improves the boundary adaptation capability, pollutant processing efficiency and multi-angle corner transition capability while completing the path posture adjustment and boundary alignment.

[0030] In some example embodiments of the present disclosure, based on the foregoing scheme, the cleaning robot controls two edge cleaning assemblies on the diagonal to rotate, and in combination with the driving of the track, the cleaning robot gradually reduces the included angle between the cleaning edge of the two edge cleaning assemblies parallel to the extension direction of the track and the second boundary to 0° to abut the second boundary.

[0031] By introducing the diagonal combination control mode under the four-edge cleaning assembly structure, and based on the symmetric friction guiding and large torque posture driving mechanism, high stability abutting transition in the multi-component collaborative cleaning structure is achieved, effectively improving the path correction capability, posture dynamic response capability and abutting precision of the cleaning robot.

[0032] In some example embodiments of the present disclosure, based on the foregoing scheme, the method further includes: when the number of times of detecting the impact boundary is greater than or equal to a preset number threshold, determining that there is a target boundary that cannot be crossed.

[0033] Through impact detection and non-crossable boundary confirmation, the cleaning robot can autonomously determine the properties of the boundary based on physical feedback signals in complex environments lacking high-precision recognition conditions such as vision and laser or image blur, irregular boundary structures, etc., greatly improving the environmental adaptability, path fault tolerance capability and boundary processing robustness of the system. At the same time, it can effectively avoid the problems of boundary recognition failure in traditional cleaning paths, such as boundary collision, cleaning omission or path failure, etc., ensuring the continuity and safety of the cleaning task.

[0034] According to a second aspect of the embodiments of the present disclosure, a control method for a cleaning robot is provided, the cleaning robot is adsorbed on and travels on a to-be-cleaned surface, the to-be-cleaned surface includes a target fixed-point area, and the cleaning robot includes an edge cleaning assembly. The method includes: when the cleaning robot performs a fixed-point cleaning task, controlling at least part of the edge cleaning assembly to perform rotational cleaning at the target fixed-point area.

[0035] By combining the target fixed-point area recognition and the travel path control of the cleaning robot, at least part of the edge cleaning assembly repeatedly passes through the target fixed-point area, so that the cleaning robot has the positioning cleaning capability for the key pollution area, improves the overall cleaning intelligence, the detail processing capability and the stain removal efficiency, can realize the customization of the cleaning task of the user, and improves the cleaning flexibility of the cleaning robot.

[0036] In some example embodiments of the present disclosure, based on the foregoing scheme, the cleaning robot controls the edge cleaning assembly to continuously rotate and drives the edge cleaning assembly in the continuously rotating state to perform back-and-forth cleaning on the target fixed-point area along a back-and-forth path covering the target fixed-point area, and the edge cleaning assembly is always close to the target fixed-point area during the cleaning process.

[0037] By controlling the travel path and the posture of the cleaning robot, the edge cleaning assembly can perform back-and-forth cleaning in the target fixed-point area multiple times, avoid stain residues caused by incomplete single cleaning, and achieve high-density and high-overlap fine cleaning by close-to-target fixed-point area control, thereby significantly improving the cleaning quality, especially for stubborn stains on the surface to be cleaned, effectively improving the cleaning capability of the cleaning robot for stubborn stains, and improving the cleaning effect.

[0038] In some example embodiments of the present disclosure, based on the foregoing scheme, the cleaning robot controls the edge cleaning assembly to continuously rotate and drives the edge cleaning assembly in the continuously rotating state to perform rotational cleaning on the target fixed-point area along a rotational path surrounding and covering the target fixed-point area, and the edge cleaning assembly is always close to the target fixed-point area during the cleaning process.

[0039] Through the cleaning mode controlled by the rotational path, the edge cleaning assembly on the cleaning robot can not only achieve continuous coverage of the target fixed-point area, but also form an overlapping rotational cleaning surface through the angle change introduced by the rotational path, thereby enhancing the repeated cleaning of stubborn stains at the target fixed-point area; and in combination with the self-rotation cleaning of the edge cleaning assembly, the high-frequency coverage and strong shear of stubborn stains at the target fixed-point area can be effectively realized, and the cleaning quality of the local area is significantly improved.

[0040] In some example embodiments of the present disclosure, based on the foregoing scheme, the rotational speed of the edge cleaning assembly when close to the target fixed-point area is greater than the rotational speed of the edge cleaning assembly when away from the target fixed-point area.

[0041] By differentiating the rotation speed of the edge cleaning assembly, the stain removal capability of the cleaning robot in the target fixed-point area can be significantly improved, and the power consumption of the cleaning robot when moving away from the target fixed-point area can be reduced, thereby prolonging the endurance time of the cleaning robot and improving the running stability.

[0042] In some example embodiments of the present disclosure, based on the foregoing scheme, the number of edge cleaning assemblies includes any one of one, two, and four.

[0043] By configuring the number of edge cleaning assemblies of the cleaning robot, the cleaning robot can flexibly adapt to different cleaning boundaries, corner shapes, and fixed-point stain areas, significantly enhance the operation capability in complex glass structures or window frame environments, and improve the cleaning integrity and cleaning efficiency of the edge and corner areas, and can be used to meet the application requirements of high performance and multiple tasks.

[0044] According to a third aspect of the embodiments of the present disclosure, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the control method for the cleaning robot in the first aspect or the second aspect.

[0045] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor based on these drawings.

[0047] Figure 1 The composition of the cleaning robot according to some embodiments of the present disclosure is schematically shown.

[0048] Figure 2 The cleaning robot performing the edge cleaning task on the surface to be cleaned according to some embodiments of the present disclosure is schematically shown.

[0049] Figure 3 The trajectory of the cleaning robot turning between the first boundary and the second boundary according to some embodiments of the present disclosure is schematically shown.

[0050] Figure 4 The trajectory of the cleaning robot turning between the first boundary and the second boundary according to some other embodiments of the present disclosure is schematically shown.

[0051] Figure 5 A trajectory diagram of a cleaning robot performing an edge cleaning task on a surface to be cleaned is schematically illustrated in accordance with some embodiments of the present disclosure.

[0052] Figure 6 A trajectory diagram of a cleaning robot performing an edge cleaning task on a surface to be cleaned is schematically illustrated in accordance with some other embodiments of the present disclosure.

[0053] Figure 7 A trajectory diagram of a cleaning robot performing a spot cleaning task is schematically illustrated in accordance with some embodiments of the present disclosure.

[0054] Figure 8 A trajectory diagram of a cleaning robot performing an edge cleaning task is schematically illustrated in accordance with some other embodiments of the present disclosure.

[0055] In the drawings, like or corresponding elements shown throughout the figures are identified by like reference numerals. DETAILED DESCRIPTION

[0056] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art.

[0057] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the implementations can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, devices, and operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

[0058] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the implementations can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, devices, and operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

[0059] In an example embodiment of the present disclosure, a control method for a cleaning robot is first provided, with reference to Figure 1 and Figure 2As shown, the cleaning robot 100 can include a main body 110, an edge cleaning assembly 120, and a track 130, the main body 110 can be adsorbed to a to-be-cleaned surface 160, the track 130 is arranged on the main body 110 and enables the cleaning robot 100 to travel on the to-be-cleaned surface 160, the edge cleaning assembly 120 is rotatably arranged on the main body 110, and the edge cleaning assembly 120 is located at a cleaning edge 140 of the cleaning robot 100, and the to-be-cleaned surface 160 has a target boundary 150. When the cleaning robot 100 performs an edge cleaning task, the cleaning edge 140 of the cleaning robot 100 abuts against the target boundary 150, and the edge cleaning assembly 120 arranged at the cleaning edge 140 travels along the target boundary 150 and rotates to clean the target boundary 150.

[0060] In the working state, the main body of the cleaning robot can be fixed to the to-be-cleaned surface by an adsorption structure, which can include a negative pressure adsorption unit, such as a closed negative pressure space formed by an internal fan and an adsorption cavity, so that the cleaning robot can be stably attached to a vertical or inclined glass curtain wall or the like. The adsorption structure can also be a magnetic module to adapt to a specific material surface such as a magnetic glass window. Of course, in order to ensure uniform and reliable adsorption force, a plurality of adsorption cavity regions can be arranged at the bottom of the main body, and a pressure sensor can be provided to monitor the adsorption state in real time, so as to prevent the risk of falling caused by adsorption failure. The specific structure of the cleaning robot adsorbed to the to-be-cleaned surface is not specially limited in the embodiment.

[0061] After adsorption is stabilized, the track starts to drive the robot to travel. The track structure can include a motor-driven rubber track or a flexible track mechanism arranged around a track wheel set on both sides of the main body, so that the cleaning robot can realize uniform propulsion on the to-be-cleaned surface. In order to enhance the adaptability to small obstacles on the glass surface, the track surface can be made of high-friction coefficient material, and the track drive can be combined with encoder feedback closed-loop control to realize accurate adjustment of the travel speed and direction. In addition, the driving mode of the track can be independent double-drive mode, that is, the left and right tracks are controlled by independent motors to support various flexible motion modes such as spot turning and curve turning. Of course, the track of the cleaning robot can be of other structures or motion modes, which are not specially limited in the embodiment.

[0062] In the implementation of the edge cleaning task, the control unit of the cleaning robot (which can be a processor independently installed in the cleaning robot, a robot base station electrically connected with the cleaning robot, or an upper computer in communication connection with the cleaning robot, and the present embodiment does not make special limitations on this) can confirm the position and direction of the target boundary through a boundary identification mechanism. For example, the identification mechanism can be implemented based on a plurality of collision sensors arranged on the side of the cleaning robot. When the cleaning robot detects that the number of collisions with the boundary is greater than or equal to a preset number threshold, it is determined that there is a target boundary that cannot be crossed. Of course, the boundary identification mechanism of the cleaning robot can also be implemented based on image recognition, infrared ranging, ultrasonic detection, etc. For example, the edge profile can be obtained by mounting a machine vision module, and the geometric features of the boundary of the cleaning surface are located by combining an edge detection algorithm (such as the Canny operator), so that the cleaning robot can autonomously determine when to enter the edge cleaning mode, and the present embodiment does not make any special limitations on the boundary identification mechanism of the cleaning robot.

[0063] When the cleaning robot confirms that it enters the edge cleaning mode, the cleaning robot can adjust its posture so that its cleaning edge is in contact with the target boundary. Among them, the cleaning edge in contact with the target boundary can be that at least one end of the cleaning edge of the cleaning robot in the length direction is in direct contact with the target boundary, that is, one end of the cleaning edge is in actual physical contact with the boundary line, so that the edge cleaning component arranged on the cleaning edge can cover and act on the area where the boundary is located, and effective cleaning is realized. This contact mode is suitable for scenarios where the cleaning path direction and the boundary direction form a certain angle or have a corner transition, which can ensure effective coverage in the corner connection area; the cleaning edge in contact with the target boundary can also mean that the entire cleaning edge of the cleaning robot maintains a preset close distance interval relationship with the target boundary, for example, the interval relationship can be greater than 0 and not greater than 5 mm, that is, the distance between the cleaning edge and the boundary is kept within a small tolerance range, and within the allowable range of visual recognition or sensor positioning accuracy, it can be considered that the two are in a state of contact. This mode is suitable for frame-type glass boundaries or edge structures with slight step height differences, which is beneficial to avoid wear caused by hard contact of mechanical structures, and can also effectively ensure that the rotation cleaning range of the edge cleaning component covers the boundary area; in the case of frameless glass or no entity frame is set on the boundary, the cleaning edge in contact with the target boundary can also mean that the cleaning edge of the cleaning robot has a certain out-of-bound behavior relative to the target boundary, that is, the cleaning edge extends beyond the boundary line appropriately, so that part of the edge cleaning component extends to the outer edge of the glass to ensure coverage of the adjacent area of the boundary. At this time, the cleaning robot can adjust the posture and correct the path so that the edge cleaning component can effectively act on the contaminants at the outermost edge of the glass, thereby avoiding the generation of cleaning dead angles.

[0064] The cleaning edge refers to the edge on which the edge cleaning assembly on the main body of the cleaning robot is located, which is usually arranged on one side of the movement direction of the cleaning robot, and its geometric layout is parallel or forms an angle with the direction of the track to optimize the edge coverage capability, for example, the position relationship between the cleaning edge 140 and the edge cleaning assembly 120 in Figure 1 and Figure 2 can be referred to. In this fitting process, the track adjusts the direction through differential control, so that the cleaning robot approaches the target boundary while the cleaning edge is arranged along the boundary, and the fitting accuracy control can be adjusted based on the feedback signals such as the edge position sensor, so that the distance between the cleaning edge and the target boundary converges to a preset range, for example, the preset range can be greater than 0 and less than 5 mm.

[0065] When the cleaning robot completes the fitting action to the target boundary, the edge cleaning assembly arranged on the cleaning edge starts synchronous rotation or early rotation. The edge cleaning assembly can be a rotating structure, for example, a rotating brush head with a flexible cloth, which is driven by a motor to rotate around its axis, so that multi-directional shear force can be generated on the glass surface during rotation to overcome the adhesion of pollutants to the glass surface, and form a liquid film under wet conditions to enhance the transfer and adsorption capacity of pollutants. In order to further improve the cleaning efficiency, the edge cleaning assembly can be designed as a replaceable assembly to adapt to the difference in requirements of different pollution types or material surfaces. The rotation speed of the edge cleaning assembly can be adaptively adjusted by the control unit according to the boundary pollution level, for example, the user can set the boundary pollution level in advance, so as to adjust the rotation frequency of the edge cleaning assembly combined with the preset mapping relationship between the boundary pollution level and the rotation speed. The adjustment mode of the rotation speed of the edge cleaning assembly is not specially limited in this embodiment.

[0066] It can be understood that in the process of the cleaning robot traveling along the target boundary in the edge cleaning mode, the track continuously drives the main body to move at a constant speed, and the edge cleaning assembly remains in a rotating state, so as to realize continuous cleaning of the boundary pollutants under the premise that the cleaning edge continuously fits the boundary. In the whole process, the control unit of the cleaning robot can monitor the relative position of the cleaning edge and the boundary in real time, and dynamically adjust the track output according to the feedback signal to ensure that the cleaning path is consistent with the direction of the boundary, and avoid deviation or separation.

[0067] By setting the edge cleaning assembly on the cleaning robot, and fitting the cleaning edge with the target boundary of the cleaning surface when performing the edge cleaning task, and driving the edge cleaning assembly to travel and rotate along the target boundary, the cleaning edge can be in contact with the target boundary. In the process of traveling, the robot path will be continuously guided by the relative position of the cleaning edge and the boundary, which can avoid the deviation problem caused by the inaccuracy of traditional path control, so as to effectively avoid the blind area between the cleaning trajectory and the boundary.

[0068] During the edge cleaning process, the edge cleaning assembly arranged on the cleaning edge rotates while moving along the edge, and cooperates with the abutting relationship between the cleaning edge and the boundary to introduce a rotational shearing action with rich direction changes in the boundary area. During the rotation of the edge cleaning assembly, the mechanical shearing force generated can act on the pollutants at the edge of the glass from multiple directions, making it easier for the pollutants to be separated from the surface to be cleaned. At the same time, due to the continuous abutting operation of the edge cleaning assembly, the pollutants accumulated on the boundary can be guided to the cleaning range of the cleaning robot without diffusion, thereby reducing the possibility of pollutant accumulation and effectively improving the cleaning effect of the edge and corner regions of the surface to be cleaned.

[0069] The abutting control of the cleaning edge of the cleaning robot and the target boundary, combined with the rotation of the edge cleaning assembly, can achieve close abutting cleaning of the target boundary by the cleaning robot without relying on simple path presetting. In the case of complex boundary structure and local height difference, the cleaning edge can be prevented from deviating or missing the effective cleaning range too early, thereby improving the boundary integrity of the cleaning coverage. At the same time, the abutting control of the cleaning edge can effectively shorten the path length of the cleaning robot during corner turning, thereby improving the turning efficiency and ensuring the cleaning efficiency of the surface to be cleaned.

[0070] In an example embodiment of the present disclosure, referring to FIGS. 1 to 3, the target boundary can include a first boundary 151 and a second boundary 152 that are adjacent and intersected. Figure 3 Figure 4 When it is determined that the target boundary includes the first boundary 151 and the second boundary 152 that are adjacent and intersected, the cleaning robot can sequentially complete cleaning of the first boundary, path transition at the corner, and finally enter the cleaning initial position of the second boundary, in order to achieve continuous cleaning of the two boundaries. To this end, the cleaning robot can sequentially pass through the A position and the B position from the cleaning end position of the first boundary to the cleaning initial position of the second boundary according to a preset control logic.

[0071] The first boundary and the second boundary are two geometric boundary lines adjacent and intersected on the surface to be cleaned, which are commonly seen in regions such as window corners and curtain wall joint gaps. For example, the intersection angle of the first boundary and the second boundary can be a typical geometric angle such as 90° or 135°, or a non-standard acute angle or obtuse angle. The present embodiment does not specially limit the relationship between the first boundary and the second boundary. After the cleaning robot completes cleaning of the first boundary, the cleaning edge thereof is already in an abutting state with the first boundary. At this time, in order to enter the cleaning stage of the next boundary, the cleaning edge needs to be re-abutted with the second boundary through a specific path adjustment.

[0072] Optionally, referring to FIG. 4, after leaving the cleaning end position of the first boundary, the cleaning robot can move to the A position. At this time, the movement path of the cleaning robot can be a straight line. Figure 3 ​​Figure 3 In the path 1, position A is a transition position, and its main purpose is to provide sufficient path buffering and spatial scheduling capabilities for the robot's steering. Specifically, position A can be located on one side of the intersection of the first boundary 151 and the second boundary 152, and there is a non-zero distance from both boundaries, so that the cleaning robot can get rid of the path inertia of the first boundary at position A, and at the same time provide a spatial basis for subsequent direction adjustment. In the process of moving the cleaning robot to position A, the track system can drive the main body to move in the direction of leaving the intersection of the first boundary and the second boundary through differential control. Optionally, it can be combined with the rotation of the edge cleaning component to accelerate the steering control of the cleaning robot, thereby effectively shortening the path to position A and reducing the adjustment time. Of course, in some embodiments, it can also be combined with an angle sensor or an inertial measurement unit (IMU) to collect posture changes in real time to ensure that the overall motion state is controllable and predictable during the transition from the first trajectory to the new steering trajectory.

[0073] After moving to position A, the cleaning robot can continue to move to position B. Figure 3 As shown, the moving path of the cleaning robot can be Figure 3 In the path 2+path 3, position B is further away from the first boundary than position A and is the key intermediate state for achieving contact between the cleaning edge and the second boundary. Of course, in some embodiments, position B can also be closer to the first boundary than position A. Figure 4 As shown, this is also within the protection scope of this embodiment. The setting of position B can be calculated based on the overall dimensions of the cleaning robot, the turning radius, and the angle between the boundaries. It can usually be set at the shortest fitting transition point when the cleaning edge of the cleaning robot forms an angle with the second boundary. At position B, a certain angle is formed between the cleaning edge of the cleaning robot and the second boundary. This angle can be dynamically adjusted according to the boundary intersection angle and the size of the cleaning robot, and is not fixed to an acute angle or a right angle. Under this angle structure, refer to Figure 3 As shown, the first end of the cleaning edge (ie, the end point facing the corner) is in contact with the second boundary 152, that is, partial contact is achieved, while the second end of the cleaning edge (ie, the outward side) still maintains a distance from the second boundary.

[0074] By setting the B position, guided edge bonding can be achieved, so that the cleaning robot can establish edge contact points preferentially without overall alignment, thereby gradually achieving full edge bonding during travel by means of the geometric constraints of the boundary itself, effectively shortening the cleaning boundary transition path and improving transition efficiency. Meanwhile, at the B position, the travel direction of the cleaning robot is towards the first boundary, i.e., the cleaning robot at the B position has not completed path turning, but at least one end is in contact with the second boundary. The setting of this position can make the cleaning robot in the best transition state, facilitating the robot to complete the turning from the first boundary to the second boundary with the smallest path length.

[0075] By setting the A position and the B position, the embodiment constructs a structured transition trajectory from the first boundary to the second boundary, which can enable the track drive system to change the travel direction of the cleaning robot in a gradual manner, avoiding problems such as track slipping, adsorption force decreasing, or path deviation caused by too small turning radius or angle mutation, improving the stability and controllability of path control. Meanwhile, with the turning space buffer at the A position and the single-end contact at the B position, the cleaning robot can achieve dynamic adjustment of the cleaning edge posture during gradual turning, gradually aligning the cleaning edge with the second boundary and laying a directional foundation for subsequent edge cleaning. Since the B position is set to have the first end of the cleaning edge in contact with the second boundary and the second end in an intermediate state with a certain distance, the cleaning robot can start rotating cleaning at the B position and establish boundary contact points in advance, thereby shortening the path distance and motion time required from turning to complete edge bonding. Compared with the free turning mechanism without intermediate point planning, the embodiment can achieve faster posture adjustment and shorter invalid displacement path, improving the cleaning efficiency at the boundary and thus the boundary coverage rate and overall cleaning efficiency of the surface to be cleaned. Meanwhile, the settings of the A position and the B position provide a fault-tolerant path and scalability for the cleaning robot when facing boundary corners of different angles (such as acute angles, obtuse angles, and non-standard angles), and by adjusting the relative position relationship between the A and B points, the cleaning robot can be flexibly adapted to geometric boundary structures formed by different architectural components, thereby expanding the cleaning ability of the cleaning robot for complex curtain wall corners, joints, and other special boundaries and enhancing the universality and adaptability of the system in real scenes. In addition, by setting a reasonable A-B path interval, the cleaning robot can achieve high-precision path calculation and motion control under limited computing resources, which is conducive to realizing a low-power and light-computing corner path transition scheme and improving the overall operating efficiency of the system.

[0076] In an example embodiment of the present disclosure, continuing to refer to Figure 3 As shown in FIG. 15B, during the movement of the cleaning robot from the B position to the cleaning initial position of the second boundary, the cleaning robot moves towards the first boundary 151, and the first end of the cleaning edge of the cleaning robot remains in contact with the second boundary 152. The second end of the cleaning edge of the cleaning robot gradually approaches the second boundary 152. At this time, the movement path of the cleaning robot corresponds toFigure 3 Path 4 in.

[0077] Among them, when the cleaning robot moves from position B to the cleaning initial position of the second boundary, the overall moving direction of the cleaning robot must be toward the first boundary. Towards the first boundary does not mean that the cleaning robot is approaching the first boundary again, but means that its moving posture direction in the plane coordinate system is toward the first boundary. For example, if the angle between the first boundary and the second boundary is 90°, then toward the first boundary means that the moving posture direction is gradually perpendicular to the extension direction of the first boundary. At this stage, the crawler system finely adjusts the wheel speed in differential mode, and combines the rotational friction of the edge cleaning component to achieve a gradually converging steering path, so that the posture of the cleaning edge continues to reduce the angle with the second boundary without changing the direction toward the main axis, until the cleaning edge fits the second boundary.

[0078] During the above-mentioned movement process, the first end of the cleaning edge of the cleaning robot can always maintain contact with the second boundary. Based on the contact point between the first end and the second boundary, and combined with the track drive and the rotation of the edge cleaning component, the cleaning robot can make the cleaning edge of the cleaning robot fit with the second boundary more quickly, thereby effectively shortening the moving path of the cleaning edge of the cleaning robot to fit to the second boundary, improving the fitting efficiency of the cleaning edge, and thus improving the cleaning efficiency of the cleaning robot for the second boundary.

[0079] As the cleaning robot rotates around the contact point, the second end of the cleaning edge gradually approaches the second boundary. In terms of spatial geometry, this is reflected by the angle between the cleaning edge and the second boundary continuously converging until it reaches 0°. This means that the entire cleaning edge is in contact with the second boundary, achieving a transition from partial contact to full contact. As the cleaning robot reaches its initial cleaning position at the second boundary, the entire length of its cleaning edge is in contact with the second boundary. At this point, the angle converges to 0°, and the contact condition is met, allowing the robot to enter a state of rotational cleaning along the second boundary.

[0080] By keeping the first end of the cleaning edge always in contact with the second boundary, the cleaning robot can establish an initial boundary contact relationship before completing the overall posture adjustment, and use the first end as an anchor point and the second end to gradually move closer to the boundary, so that the angle between the cleaning edge and the second boundary continuously decreases, the movement process is more stable, and the cleaning robot is avoided from retreating or offsetting the path due to sudden changes in direction or secondary adjustments, thereby effectively reducing unnecessary displacement, compressing the movement path required for the cleaning edge to move from partial fit to overall fit, and improving the efficiency of path convergence; at the same time, this fitting method enables the cleaning robot to enter a stable edge cleaning mode as early as possible, thereby reducing the ineffective time-consuming edge preparation stage, improving the fitting efficiency of the cleaning edge, and thus improving the cleaning efficiency of the cleaning robot for the overall boundary area.

[0081] In an example embodiment of the present disclosure, referring to Figure 3 and Figure 4 As shown, the target boundary further includes a third boundary 153 disposed opposite to the first boundary 151; in the process of moving the cleaning robot from the cleaning end position of the first boundary 151 to the A position, the cleaning robot performs a curved motion, and the cleaning edge of the cleaning robot is farther away from one end of the intersection of the first boundary 151 and the second boundary 152 than the other end, and is earlier away from the first boundary 151 in the direction of the third boundary 153.

[0082] In the process of moving the cleaning robot from the cleaning end position of the first boundary to the A position, the motion trajectory can adopt a curved motion mode to realize flexible transition of the path. The curved motion refers to the formation of a non-linear trajectory curvature of the cleaning robot under the differential control of the track and / or the rotation of the edge cleaning assembly. The curvature can be calculated in real time by the control unit according to the boundary angle, the body size and the target fitting direction. The curved trajectory can be fitted and controlled in a circular arc segment, a Bezier curve or a cubic spline curve, so as to make the robot smoothly leave the first boundary without deviating from the adsorption stability, and adjust its posture to the direction of the next boundary. The control mode of the curved motion is not specially limited in the example embodiment.

[0083] In the curved motion process from the cleaning end position of the first boundary to the A position, one end of the cleaning edge, i.e., the end of the cleaning robot far away from the intersection of the first boundary and the second boundary, is earlier away from the first boundary than the other end. By making the one end far away from the intersection of the boundary angle rotate away from the first boundary first, the robot posture can be gradually rotated in the curved process, so as to obtain a better path orientation when entering the A position, which is beneficial to reducing the posture correction amplitude when the robot fits the second boundary at the subsequent B position. This curved smooth edge leaving mode can reduce the risk of adsorption instability or cleaning dead angle of the cleaning robot in the corner area. Since the cleaning edge is fitted with the first boundary, if the cleaning robot directly rotates, it may collide with the first boundary due to the sudden change of the angle, and even the track may be idling or the adsorption may fail. By setting the smooth curved motion mode of the one end of the cleaning edge first leaving the edge, the whole process of the cleaning edge leaving the first boundary to the A position can be more stable, and the normal operation of the cleaning robot can be avoided.

[0084] It can be understood that in this process, the edge cleaning assembly can be controlled to remain in a rotating state, and the rotation speed or the cleaning action can be adjusted or paused according to the change of the posture angle to adapt to the transition from the cleaning state to the motion state. Optionally, before completing the curved motion to reach the A position, an image recognition algorithm can be used to confirm the initial orientation of the second boundary, so as to provide a reference basis for subsequent posture alignment and B position setting.

[0085] By controlling the curved motion of the cleaning robot from the cleaning end position of the first boundary to position A, one end of the cleaning edge can be separated from the boundary first, and the entire cleaning edge can be gradually driven to leave the first boundary, so that the release of the fitting relationship between the cleaning edge and the first boundary can be smoothly achieved, the risk of collision can be reduced, and the running stability of the cleaning robot when exiting the first boundary can be improved; at the same time, the curved edge-off path can enable the cleaning robot to smoothly deviate from the first boundary, avoiding the problem of local sealing failure caused by forced rotation of the main body, resulting in insufficient adsorption force or even adsorption detachment, and effectively maintaining the continuous adsorption force output of the negative pressure adsorption system to ensure the safe operation of the cleaning robot in the corner conversion scenario.

[0086] In an exemplary embodiment of the present disclosure, continue to refer to Figure 3 As shown, the cleaning robot ends at the cleaning position of the first boundary 151 (the cleaning end position may be Figure 3 The cleaning robot is located at the intersection of the first boundary 151 and the second boundary 152 (shown by the dotted box), and passes through position A, position C, and position B in sequence, and then reaches the cleaning initial position of the second boundary 152; wherein, the cleaning edge at position A is away from the second boundary 152, and the cleaning edges at positions C and B are both toward the second boundary 152; in the process of the cleaning robot moving from position A to position C, the cleaning robot rotates along the preset direction, and the moving path of the cleaning robot at this time corresponds to Figure 3 Path 2 in the figure; when the cleaning robot moves from position C to position B, the cleaning robot moves in a curve along the preset direction. At this time, the moving path of the cleaning robot corresponds to Figure 3 Path 3 in.

[0087] Among them, during the process of the cleaning robot moving from position A to position C, the control unit can make it perform a spin operation. Spin refers to the cleaning robot performing a fixed-point rotation with the center of the body as the rotation axis. At this time, the left and right tracks move in opposite directions respectively, thereby changing the posture direction of the cleaning robot without translation. The spin operation can be performed by the dual-track independent drive motor, and a spin action is formed by setting opposite motor directions and speeds. During the spin process, the cleaning robot can monitor the body rotation angle in real time through the onboard angle sensor or inertial measurement unit to ensure that the posture adjustment meets the preset value. For example, when the angle between the first boundary and the second boundary is 90°, the spin angle should also be close to 90° to complete the basic posture steering.

[0088] After the cleaning robot completes the spin and reaches the C position, at this time in the new attitude orientation state, the direction of the cleaning edge has been basically oriented to the second boundary. In the process of moving from the C position to the B position, the cleaning robot performs a curve motion, and the track system drives the left and right tracks to move at different speeds through differential control, and at the same time, the rotation of the edge cleaning assembly can also be combined to form a curvature path, gradually aligning the attitude of the cleaning edge with the second boundary. In this process, the cleaning robot can track the position of the second boundary in real time through the image recognition module or the edge recognition sensor, dynamically adjust the differential ratio of the track drive according to the distance difference between the two ends of the cleaning edge and the boundary, so that the first end of the cleaning edge gradually approaches and abuts against the second boundary.

[0089] In the curve motion process from the C position to the B position, a flexible transition path can be generated according to the current attitude of the cleaning robot, the second boundary orientation, the boundary angle, and other parameters, and then the output speed of the left and right tracks can be controlled in segments according to the curvature function generated by the fitting path, to ensure smooth turning transition and not produce sharp direction mutations. In the process of approaching the B position, the cleaning robot can activate the edge cleaning assembly in advance to make it enter a pre-rotation state, and adjust its relative position with the direction of the cleaning edge, so that its motion path has the boundary contact condition. When the first end of the cleaning edge forms a preliminary contact with the second boundary, the cleaning robot automatically adjusts the motion direction to converge the angle between the cleaning edge and the boundary, and prepares to enter the subsequent fitting propulsion from the B position to the cleaning initial position of the second boundary, which is shown in FIG. 5. Figure 3 The moving trajectory of the fitting propulsion from the B position to the cleaning initial position of the second boundary corresponds to the path 5 in FIG. 5. Figure 3

[0090] By introducing the C position as the attitude spin node, the cleaning robot can divide the path transition process into two stages of attitude rotation and curve edge sticking, enhance the initiative of attitude adjustment and the flexibility of path control, and at the same time, cooperate with the spin and curve motion to make the overall transition process of the cleaning robot from the first boundary to the second boundary more stable, more efficient, and more continuous, thereby improving the cleaning connection effect and operation reliability of the boundary corner area.

[0091] In an example embodiment of the present disclosure, the number of edge cleaning assemblies can be set to one, which can simplify the mechanical structure of the cleaning robot, reduce the weight and power consumption of the whole machine, and at the same time, reduce the manufacturing cost of the cleaning robot while ensuring the completion of the edge cleaning task.

[0092] ​Optionally, the edge cleaning assembly is configured to move along a cleaning edge of the cleaning robot, the cleaning edge being a part of the edge of the cleaning robot housing, usually arranged parallel to the traveling direction of the tracks. A guide rail structure can be arranged on the cleaning edge, and the edge cleaning assembly slides along the cleaning edge through the guide rail structure. The driving mode of the edge cleaning assembly can be motor gear driving, belt driving, or magnetic slide rail driving, etc. The present embodiment is not limited thereto.

[0093] In another optional embodiment, the edge cleaning assembly can not only move along the cleaning edge, but also extend and move along the edge direction adjacent to and intersecting with the cleaning edge, to adapt to the multi-angle boundary cleaning requirement.

[0094] When the cleaning robot moves to the B position in the path adjustment process, it can be determined which end of the currently contacted cleaning edge forms the initial contact with the second boundary according to the contact direction and angle relationship between the cleaning edge and the second boundary. Based on the determination result, the cleaning robot can drive the edge cleaning assembly to move along the cleaning edge to the end where the initial contact with the second boundary occurs, so that it can preferentially perform a rotating cleaning action on the area near the contact point, remove the pollutants that may be left over during the path corner process, and assist the guiding function of the robot in the edge adjustment process.

[0095] In the process of the cleaning robot continuing to travel towards the first boundary direction from the B position to gradually fit the second boundary, the edge cleaning assembly continues to be kept at the end of the cleaning edge abutting against the second boundary and maintains the rotating cleaning state. During this process, since the included angle between the cleaning edge and the second boundary continuously decreases, in order to maintain the stable coverage of the boundary area by the rotating cleaning assembly, the rotating speed and contact pressure of the edge cleaning assembly can be adjusted in real time. For example, a closed-loop control mode can be adopted to control the output torque of the rotating motor according to the boundary detection sensor or the current feedback, so that the edge cleaning assembly always maintains the optimal contact pressure between the cleaning edge and the glass surface when the corner decreases, enhances the pollutant stripping capacity, and prevents scratching the glass.

[0096] Reference Figure 4As shown, in the curve movement from the cleaning end position of the first boundary 151 to the A position, the cleaning edge can be moved along the path 1, at this time, one end of the cleaning edge, i.e., the end of the cleaning robot far away from the end of the intersection of the first boundary 151 and the second boundary 152, can be separated from the first boundary 151 earlier than the other end. By making the end far away from the corner intersection turn away from the first boundary 151 first, the robot posture can be gradually rotated in the curve process, so that a better path orientation is obtained when entering the A position, which is beneficial to reducing the posture correction amplitude when the robot is attached to the second boundary at the subsequent B position. The cleaning robot can move the edge cleaning assembly along the movement path 2 to the other corner at the A position, and then the cleaning robot can be moved along the path 3 from the A position to the B position. When reaching the B position, the corner of the cleaning robot with the edge cleaning assembly can be in abutment with the second boundary. In the process of continuing to move towards the first boundary from the B position, the edge cleaning assembly continues to be kept at the end of the cleaning edge abutting against the second boundary and keeps the rotating cleaning state, and the path attachment process from the B position to the cleaning initial position of the second boundary is realized through the paths 4 and 5, so that the included angle between the cleaning edge and the second boundary is gradually reduced to 0°, and a complete attachment state is formed. Since the edge cleaning assembly continuously works in the edge attachment process and is always kept at the starting contact point, it has the functions of guiding and cleaning, and can assist the robot to smoothly complete the posture transition from the transition state to the stable cleaning state, and enhance the cleaning continuity of the boundary area.

[0097] By setting the movable structure of the single edge cleaning assembly and combining the dynamic position adjustment of the edge cleaning assembly at the key points of the path, the boundary attachment process can be effectively assisted and the pollutants can be efficiently removed while the hardware structure is simplified, so as to improve the cleaning efficiency, control accuracy and running stability of the cleaning robot in the boundary connection process.

[0098] In an optional embodiment of the first embodiment, the edge cleaning assembly is configured to be fixed at one end of the cleaning edge of the cleaning robot, as shown in FIG. 6A. Figure 3 As shown, in the process of moving to the B position, the cleaning robot controls the edge cleaning assembly to continuously rotate, and adjusts the travel direction through the track, so that the cleaning robot first rotates in the preset direction at the C position, and makes a curve movement in the preset direction to abut the end of the cleaning edge with the second boundary, which is parallel to the extension direction of the track. In the process of moving from the B position to the cleaning initial position of the second boundary, the cleaning robot moves towards the first boundary, and combines the rotation of the edge cleaning assembly, so that the included angle between the cleaning edge of the cleaning robot and the second boundary is gradually reduced to 0° to attach to the second boundary.

[0099] Because the edge cleaning assembly is fixed to one end of the cleaning edge, it always remains in the area where the cleaning edge forms initial contact with the second boundary during the movement of the cleaning robot to position B. With this configuration, the cleaning robot can combine track motion control to gradually adjust the posture of the cleaning edge, which has the edge cleaning assembly and is parallel to the track extension direction, so that it approaches the second boundary and ultimately abuts one end of the cleaning edge against the second boundary, thereby establishing the first contact point.

[0100] As the cleaning robot moves from position B to the initial cleaning position at the second boundary, its tracks continue to advance toward the first boundary, gradually converging the angle between the cleaning edge and the second boundary, ultimately achieving a 0° angle fit. During this fitting process, the cleaning robot continuously controls the edge cleaning component to maintain its rotation. Through the multi-directional rotational friction and continuous adsorption capacity of the edge cleaning component, dynamic cleaning is achieved from the initial fit point to the complete fit path, avoiding blind spots or untreated areas caused by posture changes during the fitting process.

[0101] By fixing the edge cleaning component at one end of the cleaning edge and combining it with the curved motion of the crawler track, the edge cleaning component can be started to perform rotational cleaning when the cleaning robot turns its posture. At the same time, the rotational friction and guidance of the edge cleaning component are used to improve the efficiency of the edge. While simplifying the structure of the cleaning robot, the edge cleaning efficiency of the cleaning robot is improved, and the continuity of boundary cleaning is improved.

[0102] In another exemplary embodiment of the present disclosure, referring to Figure 5 As shown, the number of edge cleaning components on the cleaning robot 500 can be two, and the cleaning edges where the two edge cleaning components are located are parallel to the extension direction of the cleaning robot's tracks; in the process of moving from position B to the cleaning initial position of the second boundary, the cleaning robot controls any one edge cleaning component to rotate continuously, and adjusts the moving direction through the tracks, so that the angle between the cleaning edges where the two edge cleaning components are located and the second boundary gradually decreases to 0°, so as to fit the second boundary and reach the cleaning initial position of the second boundary.

[0103] In the process of moving from the B position to the cleaning initial position of the second boundary, the cleaning robot can control at least one of the edge cleaning assemblies to maintain a continuous rotating state according to the current path state and the boundary contact condition. The rotating direction can be adaptively set according to the moving direction to ensure that the rotating direction is consistent with the advancing direction of the cleaning edge. In this process, the cleaning robot can also control the traveling direction of the track to gradually reduce the included angle between the two cleaning edges and the second boundary to 0°. The track can be controlled by differential control, and the distance difference between the two cleaning edges and the second boundary is monitored in real time to determine the attitude deviation and adjust the output power of the left and right tracks accordingly. For example, when the right cleaning edge is closer to the second boundary, the left track speed is reduced and the right track speed is increased to rotate the attitude of the robot to the left to converge the included angle between the right cleaning edge and the second boundary.

[0104] In the edge fitting process, in order to avoid interference force or friction counter-thrust generated by the rotation of the cleaning assembly affecting the stability of the attitude adjustment, the cleaning robot can set the rotation control according to the path segment. For example, in the stage of large included angle, only the edge cleaning assembly farther away from the second boundary can be started, and when the included angle converges to a certain angle, the edge cleaning assembly closer to the second boundary is started, or both edge cleaning assemblies are started. In addition, the two cleaning assemblies can also be configured as a soft connection or provided with an elastic buffer structure to adapt to the local concave-convex, gap or angle error of the second boundary surface, thereby ensuring continuous contact and cleaning stability during the fitting process.

[0105] When the cleaning edges where the two edge cleaning assemblies are located are completely fitted to the second boundary, that is, the included angle converges to 0°, that is, the cleaning robot reaches the cleaning initial position of the second boundary, at this time, the attitude of the cleaning edge of the cleaning robot is completely consistent with the direction of the boundary, and the two edge cleaning assemblies are in a stable edge fitting and rotating cleaning state, and the cleaning robot can enter the next stage of the edge cleaning task of the second boundary.

[0106] By setting two edge cleaning assemblies, the cleaning robot can not only achieve faster edge fitting response in the process of moving from the B position to the cleaning initial position of the second boundary, but also enhance the cleaning range coverage and boundary fitting accuracy through the coordinated action of the double edge rotating assemblies, and significantly improve the attitude transition smoothness, cleaning efficiency and trajectory stability in complex corner areas.

[0107] Optionally, the cleaning robot can not start the two edge cleaning assemblies for self-rotation auxiliary steering in the process of moving from the B position to the cleaning initial position of the second boundary, but can directly control the cleaning robot to self-rotate through the track to gradually reduce the included angle between the two cleaning edges and the second boundary to 0° to fit the second boundary and reach the cleaning initial position of the second boundary.

[0108] The self-rotation posture convergence of the cleaning robot is realized through the track control, the cleaning edge is aligned with the second boundary, the preparation time for adhesion can be effectively shortened, the starting accuracy of the cleaning trajectory is improved, the number of secondary adjustments caused by adhesion alignment errors of the boundary can be reduced, and the overall boundary cleaning efficiency and operation stability are enhanced.

[0109] In an optional embodiment of the present embodiment, the cleaning robot controls the rotation of the edge cleaning assembly abutting against the second boundary, and combines the driving of the track, so that the included angle between the cleaning edge where the two edge cleaning assemblies are located and the second boundary gradually decreases to 0°, to adhere to the second boundary.

[0110] When the cleaning robot is in the B position, an included angle exists between the cleaning edge and the second boundary, one of the two edge cleaning assemblies is in contact with the second boundary, and the other has not yet adhered. At this time, the cleaning robot can recognize the edge cleaning assembly in contact with the second boundary through a collision sensor or the like, and start the rotation working state of the edge cleaning assembly. The rotation direction of the edge cleaning assembly can be set as consistent with the advancing direction of the cleaning edge, so that the edge cleaning assembly forms a cleaning trajectory in the inward shearing direction after abutting against the second boundary, thereby further removing the pollutants on the initial section of the boundary in cooperation with the edge adhesion action, and forming a slight lateral thrust through the rotation torque, guiding the posture of the cleaning edge to converge towards the second boundary. In this process, the cleaning robot can judge the change rate of the included angle between the cleaning edge and the second boundary in real time according to the distance data provided by the boundary recognition module, so as to adjust the rotation speed and duration of the edge cleaning assembly.

[0111] It can be understood that the cleaning robot can synchronously schedule the track to cooperate with the edge cleaning assembly to complete the edge adhesion transition. The track can control the posture change of the cleaning robot as a whole through differential output control of the left and right tracks, that is, the speed difference between the left and right tracks is determined according to the direction of the included angle between the cleaning edge and the second boundary, and the output is adjusted in real time, so that the cleaning edge as a whole slowly rotates to approach the second boundary. In terms of control algorithm, a proportional-integral-derivative (PID) control strategy can be adopted, the boundary angle deviation is taken as an input error term, the track speed difference output is generated through closed-loop adjustment, so as to continuously reduce the included angle.

[0112] As the cleaning robot continues to advance from the B position to the initial position of the second boundary, the included angle gradually decreases to 0°, at which time the cleaning edge adheres to the second boundary, the edge cleaning assembly works stably, the track direction adjustment action is terminated, and the posture direction of the cleaning edge is kept consistent with the second boundary. The whole process does not rely on the symmetrical action of the cleaning edge, but actively rotates the cleaning through the edge cleaning assembly in contact with the second boundary, and guides the posture of the cleaning edge to converge towards the target direction.

[0113] The cleaning robot controls the edge cleaning assembly in contact with the second boundary to rotate continuously, and adjusts the differential of the track to gradually fit the cleaning edge to the second boundary. This fitting method uses the contact point as a guide to establish a cleaning path at the initial contact, which helps to quickly complete the transition from the path to the cleaning state, improves the response speed of the fitting start, and ensures the continuity and integrity of the boundary cleaning track. At the same time, since the rotating cleaning assembly is located at the contact point, the rotating force can form an inward friction traction force to guide the cleaning edge to move stably along the boundary direction, thereby having good cleaning efficiency and attitude stability in application scenarios such as curtain walls, standard window frames, and the like with clear boundaries and good structural rigidity.

[0114] In an optional embodiment of the present embodiment, the cleaning robot controls the edge cleaning assembly away from the second boundary to rotate, and drives the track to gradually reduce the included angle between the cleaning edge where the two edge cleaning assemblies are located and the second boundary to 0° to fit the second boundary.

[0115] Wherein, when the cleaning robot is in the B position, the cleaning edge has not yet completely fitted the second boundary, and only an initial contact is formed at one end, at which time the entire cleaning edge is guided to rotate and fit by the active rotation of the edge cleaning assembly away from the one end of the second boundary. When the path turning space is limited or there is an interference obstacle in the corner area, the rotation of the edge cleaning assembly away from the boundary can reduce the local friction load and avoid displacement rebound directly at the contact point; at the same time, during the dynamic fitting process, the attitude adjustment direction is consistent with the friction guide direction, which helps to improve the fitting speed and enhance the fitting accuracy. It can be understood that in the dual-component configuration scenario, the active rotation of the edge cleaning assembly away from the one end of the second boundary can also be used as another effective path adjustment means to cope with attitude control remediation schemes for situations such as fitting failure, large corner error, or failure of the main rotating component.

[0116] The cleaning robot controls the edge cleaning assembly away from the second boundary to rotate continuously, so that the rotating friction thrust generated thereby forms an effective attitude adjustment torque through the lever force arm to guide the cleaning edge to gradually converge to fit the second boundary in parallel. This fitting method can provide stronger attitude correction capability when the included angle of the cleaning edge is large, enhance the robustness of the fitting process, and improve the boundary adaptation capability and running stability of the cleaning robot.

[0117] In another example embodiment of the present disclosure, with reference to Figure 6As shown, the number of edge cleaning assemblies on the cleaning robot 600 can be set to four; during the movement of the cleaning robot from the B position to the cleaning initial position of the second boundary, at least two edge cleaning assemblies are controlled to rotate continuously, and the travel direction is adjusted by the track, so that the cleaning robot has two edge cleaning assemblies and the angle between the cleaning edge parallel to the extension direction of the track and the second boundary gradually decreases to 0°, so as to fit the second boundary and reach the cleaning initial position of the second boundary.

[0118] It can be understood that, taking the edge cleaning assembly as a rectangle as an example, the four edge cleaning assemblies can be respectively installed at the four corner positions of the robot body. In order to ensure the stability of the cleaning robot, the control among the four edge cleaning assemblies can adopt group control, that is, at least two edge cleaning assemblies are taken as a group, which can work simultaneously or alternately during path adjustment. For example, the edge cleaning assemblies on the diagonal line can be taken as a group, or the two edge cleaning assemblies on the same cleaning edge can be taken as a group. The present embodiment does not specially limit this.

[0119] When the cleaning robot is in the B position and has not yet completely fitted the second boundary, the system can determine the rotation direction of the attitude of the cleaning robot according to the angle between the cleaning edge and the second boundary, and control at least two cleaning assemblies on the cleaning robot to start continuous rotation. Optionally, two edge cleaning assemblies on the cleaning edge inside the angle can be selected to participate in initial rotation to guide the fitting direction on the basis of frictional shear action and form a mechanical guiding force. This guiding rotation mode does not depend on the active rotation of the cleaning robot, but guides the cleaning edge to fit the second boundary through the combination of continuous friction and track fine adjustment.

[0120] During the above movement, the continuous rotation of the two edge cleaning assemblies not only ensures the continuous removal of pollutants during path adjustment and avoids forming a fitting dead angle, but also can generate an additional guiding torque, which cooperates with the movement deflection generated by the track to improve the edge fitting efficiency of the cleaning robot and the stability of attitude adjustment. The rotation speed can be dynamically adjusted according to the cleaning state. If the edge fitting is close to completion, the rotation speed can be increased to the working frequency in the normal cleaning mode.

[0121] When the cleaning robot finally reaches the cleaning initial position of the second boundary, and the cleaning edge where the two edge cleaning assemblies are located coincides with the direction of the second boundary, forming a completely fitted state with an angle of 0°, the cleaning robot can enter the next stage of edge cleaning mode. At this time, the edge cleaning assemblies located on the non-working edge among the four edge cleaning assemblies can enter the standby or low-power monitoring state to reduce energy consumption and reserve switching flexibility, while the two cleaning assemblies on the current fitting edge remain in the working state and perform continuous rotation cleaning.

[0122] By controlling the continuous rotation of at least two edge cleaning assemblies during the edge abutting process and combining with the differential drive of the track, the cleaning robot with four edge cleaning assemblies can improve the boundary adaptation capability, pollutant treatment efficiency and multi-angle corner transition capability while completing the path posture adjustment and boundary alignment.

[0123] In an optional embodiment of the present embodiment, the cleaning robot controls the rotation of the two edge cleaning assemblies on the diagonal line, and combines with the drive of the track, so that the cleaning robot gradually reduces the included angle between the cleaning edge parallel to the extension direction of the track and the second boundary to 0°, to abut the second boundary.

[0124] Among them, the cleaning robot includes four edge cleaning assemblies, which are respectively installed on the four corners of the cleaning robot, and during the edge abutting posture adjustment process, the two edge cleaning assemblies on the diagonal line can be controlled to perform synchronous rotation, thereby cooperatively pushing the adjustment and alignment of the cleaning edge posture under the action of mechanical symmetry force, which can significantly enhance the rotation stability and response speed during the posture adjustment process. The four edge cleaning assemblies are respectively arranged at the front, rear, left and right edge positions of the cleaning robot, and the diagonal distribution defines two diagonal line pairs of front left-rear right and front right-rear left.

[0125] During the movement of the cleaning robot from the B position to the initial position of the second boundary, the cleaning robot can identify the direction of the included angle between the cleaning edge and the second boundary and the error direction according to the current posture, and thereby determine the combination of the diagonal edge cleaning assemblies that need to participate in the posture adjustment. For example, when the overall posture of the cleaning robot is left, the right front and left rear edge cleaning assemblies can be started as a synchronous rotation pair to form a symmetrical friction thrust, thereby guiding the cleaning edge to rotate right to abut the second boundary, and since the distance between the mechanical action points is large, a larger rotation control torque can be generated to improve the posture response efficiency.

[0126] When the two edge cleaning assemblies on the diagonal line perform the rotation action, the motor output speed and torque need to be adjusted through closed-loop control to ensure that the two edge cleaning assemblies run synchronously and output balance. For example, the cleaning robot can use an inertial measurement unit to monitor the angular velocity and attitude angle change of the cleaning robot in real time, and perform difference compensation on the edge cleaning assembly based on the PID algorithm. For example, when the left rear assembly has a slightly lower response speed than the right front assembly due to the larger friction force, the rotation speed of the right front assembly can be reduced to keep the rotation guide force symmetrical, thereby preventing left and right shaking or posture drift during the edge abutting process.

[0127] Meanwhile, while the diagonal line along the edge cleaning assembly provides a guiding force, the track can continue to cooperate with differential drive to provide forward propulsion and assist in achieving the continued convergence of the included angle to 0°. When the included angle between the cleaning edge and the second boundary gradually decreases and finally converges to 0°, the cleaning robot reaches the initial cleaning position, and two along the edge cleaning assemblies among the four cleaning edges that are in the direction of the boundary remain in the rotating cleaning state, and the remaining two along the edge cleaning assemblies can enter standby or low-speed mode.

[0128] By introducing a diagonal line combination control mode under the four along the edge cleaning assembly structure, and based on the symmetric friction guiding and large torque attitude driving mechanism, high stability edge sticking transition in the multi-component cooperative cleaning structure is achieved, effectively improving the path correction ability, attitude dynamic response ability and sticking accuracy of the cleaning robot.

[0129] In an example embodiment of the present disclosure, the cleaning robot determines that there is a target boundary that cannot be crossed when the number of times of detecting the impact boundary is greater than or equal to a preset number threshold. In the specific implementation process, collision detection can be achieved by using various collision sensor devices, for example, which can include but are not limited to acceleration sensors, gyroscopes or micro pressure switches, etc. The collision sensor can be arranged at the four edges of the cleaning robot body, such as the outer edge of the along the edge cleaning assembly or the corner part of the cleaning edge, so as to be able to respond to the detection in the first time when the cleaning edge contacts and collides with the wall, frame or edge structure.

[0130] After monitoring the impact event, the cleaning robot can record the event as a boundary touch record, and enter the internal counting logic. The impact count can be completed by the state register maintained by the control unit of the cleaning robot, and the impact counter is incremented by one each time an effective impact event occurs, that is, a boundary contact confirmed by the sensor occurs within the threshold range. In order to prevent repeated counting caused by continuous vibration in a short time, a time de-bouncing mechanism or a minimum impact interval threshold, for example, only one effective impact is counted within 500ms, can be introduced. At the same time, in order to prevent misjudgment, a redundant judgment mechanism can also be introduced, which requires multiple sensors to trigger at the same time or multiple impacts to occur in the same boundary direction, which is not specially limited in the present embodiment.

[0131] When the impact count reaches the preset number threshold, for example, the preset number threshold can be 2 or 3 times, it can be judged that the contacted boundary is a boundary that cannot be crossed. The preset number threshold can be flexibly set according to the actual application scene, for example, in the glass curtain wall boundary cleaning task, 2 impacts can be judged as a window frame boundary; while in the open structure, it can be increased to 3 times or additional identification logic is introduced for confirmation, which is not specially limited in the present example embodiment. At this time, the cleaning robot can mark the current boundary as a limit boundary, and immediately terminate the further edge sticking propulsion or the along the edge cleaning assembly into the direction area, so as to avoid boundary crossing operation or impact damage.

[0132] After the collision recognition is completed, the cleaning robot can automatically adjust the cleaning strategy according to the task state, for example, triggering path backtracking logic or re-planning the boundary path. If the current collision edge is part of the expected cleaning path direction of the cleaning robot, the next advancing direction can be adjusted by an adaptive path updating algorithm or a path avoidance mechanism to avoid approaching the non-crossable boundary again. In some optional embodiments, the cleaning robot can also feed back the collision edge information to the global navigation module in combination with the pose perception module and the environment map reconstruction module to form an unreachable area mark for subsequent path planning and obstacle avoidance reference.

[0133] Through collision detection and non-crossable boundary confirmation, the cleaning robot can autonomously determine the boundary properties based on physical feedback signals in complex environments lacking high-precision recognition conditions such as vision and laser or image blur, irregular boundary structures, etc., significantly improving the environmental adaptability, path fault tolerance, and boundary processing robustness of the system. At the same time, it can effectively avoid problems such as boundary recognition failure, boundary collision, cleaning omission, or path failure in traditional cleaning paths, ensuring the continuity and safety of the cleaning task.

[0134] In example embodiments of the present disclosure, a control method for a cleaning robot is also provided, which can be applied to a point cleaning scenario, where the cleaning robot is adsorbed on and travels on a to-be-cleaned surface, the to-be-cleaned surface includes a target point cleaning area, and the cleaning robot includes an edge cleaning assembly. When the cleaning robot performs a point cleaning task for the target point cleaning area, at least part of the edge cleaning assembly can be controlled to perform rotational cleaning on the target point cleaning area. In this process, the cleaning robot can control at least part of the edge cleaning assembly to perform a rotational cleaning operation for the target point cleaning area, thereby enhancing the removal ability of local stains and improving the specificity of area cleaning. For example, the point cleaning task can be used in cleaning task scenarios where stubborn stains, mark traces, or corner oil stains exist in large planar structures such as glass curtain walls, windows, and display screens, to achieve targeted processing of local pollution areas in space.

[0135] The target point cleaning area can be set in various ways, for example, a user can manually annotate the cleaning target area through a remote control interface or an application, or it can be automatically detected based on an image recognition algorithm, such as obtaining a to-be-cleaned surface image through machine vision, detecting feature areas such as stains and adhesive marks using a convolutional neural network (CNN) based image recognition model, and mapping the target area position to the travel coordinate system of the cleaning robot through image coordinate conversion. The determination method of the target point cleaning area is not specially limited in this embodiment.

[0136] After identifying and converting the coordinates of the target fixed-point area, the control unit can drive the cleaning robot to move toward the area. When the cleaning robot moves to the target fixed-point area, the control unit can determine whether the current position is within the determination threshold range of the target fixed-point area, and can set the target center point combined with the surrounding preset range (such as the surrounding preset range is 10mm). If the conditions are met, it will switch to the fixed-point cleaning mode. In this mode, the cleaning robot can start the edge cleaning component to rotate around its own axis for cleaning. The structure of the edge cleaning component is consistent with the structure in other embodiments and will not be repeated here. The direction of rotation of the edge cleaning component is parallel to the cleaning surface, and is used to provide multi-directional shear force to the stains in the target fixed-point area to overcome its adhesion to the glass surface.

[0137] The cleaning robot can control the synchronous or alternating rotation of one or more edge cleaning components based on the size of the target area. If the target area is small, only a single edge cleaning component close to the target area can be activated, and the cleaning robot will allow at least some of the edge cleaning components to pass through the target area as it moves, thereby achieving cleaning of the target area through path control. If the target area is irregularly shaped or has large sides, and the cleaning robot has multiple edge cleaning components, the multiple cleaning components can be set to rotate at different starting angles to achieve full coverage.

[0138] By combining the recognition of target fixed-point areas and the travel path control of the cleaning robot, at least part of the edge cleaning components repeatedly pass through the target fixed-point areas, thereby enabling the cleaning robot to achieve the ability to locate and clean key contaminated areas, improving the overall cleaning intelligence, detail processing capabilities and stain removal efficiency, enabling users to customize cleaning tasks and improving the cleaning flexibility of the cleaning robot.

[0139] In an alternative embodiment of this embodiment, refer to Figure 7 As shown, the cleaning robot controls the edge cleaning component to rotate continuously, and drives the edge cleaning component in the continuous rotation state to clean the target fixed point area back and forth in a round-trip path 720 covering the target fixed point area 710, and during the cleaning process, the edge cleaning component is always close to the target fixed point area 710. Here, the edge cleaning component that is always close to the target fixed point area 710 is the edge cleaning component that performs the main work of this fixed-point cleaning task.

[0140] The cleaning robot can set the edge cleaning assembly to a continuous rotation state and generate a round-trip path covering the target positioning area in the control unit. The round-trip path refers to a path in which the cleaning robot moves multiple times in the target positioning area according to a certain scanning mode (for example, horizontal reciprocation, vertical scanning, or cross scanning). The round-trip path can enable the edge cleaning assembly to generate multiple superimposed cleaning actions on the same area to enhance the cleaning intensity. The generation of the round-trip path can be based on the geometric boundary of the target positioning area and the size of the edge cleaning assembly to perform grid division, ensuring that the cleaning coverage of the edge cleaning assembly under the round-trip path can completely cover the target positioning area.

[0141] During the travel of the cleaning robot along the round-trip path, the main working edge cleaning assembly can always be close to the target positioning area. Close means that the cleaning robot always covers at least part of the rotating surface of the main working edge cleaning assembly on the target positioning area during travel. For example, the cleaning robot can use an inertial measurement unit to adjust its orientation and path direction in real time according to the pose during the execution of the round-trip path, so that the edge cleaning assembly is always located within the coverage range of the target positioning area. Of course, the cleaning robot can also use other ways to realize pose control, which is not specially limited in this embodiment.

[0142] By controlling the travel path and pose of the cleaning robot, the edge cleaning assembly can clean the target positioning area multiple times in a round-trip manner, avoiding stains caused by incomplete single cleaning, and achieving high-density, high-overlap, and fine cleaning by controlling the edge cleaning assembly to be close to the target positioning area, thereby significantly improving the cleaning quality. Especially for stubborn stains on the cleaning surface, the cleaning ability of the cleaning robot for stubborn stains is effectively improved, and the cleaning effect is improved.

[0143] In an optional embodiment of the present embodiment, as shown in Figure 8 The cleaning robot controls the edge cleaning assembly to continuously rotate and drives the edge cleaning assembly in the continuous rotation state to rotate clean the target positioning area 710 with a rotating path 820 around and covering the target positioning area 710, and the edge cleaning assembly is always close to the target positioning area 710 during cleaning.

[0144] The rotating path refers to a closed or semi-closed trajectory path constructed around the boundary or center of the target positioning area. The core purpose is to make the edge cleaning assembly run along the path in a continuous rotating state, so as to form a multi-angle and multi-directional covering cleaning track in the target area. For example, the rotating path can be a circular track with the center of the target positioning area as the geometric center to generate a circular track with a fixed radius around it. The rotating path can also be an elliptical track, which can be used for irregular target areas to construct a dynamic surrounding path with different radii according to the difference between the major and minor axes of the area. Of course, the rotating path can also be a spiral track or a polygon rotating track (such as a quadrilateral or hexagonal rotating path). The specific rotating path can be customized according to the shape of the target positioning area in the actual application scene, and the present embodiment does not make special limitations.

[0145] The rotating path can be generated by offline path preset, online real-time path generation, or a combination of offline path preset and online path correction. The present embodiment is not limited in this way. During cleaning, the cleaning robot body can slowly rotate around the center point of the target positioning area to form a rotating cleaning with outer ring rotation and inner ring continuous cleaning.

[0146] During the execution of the rotating path, the edge cleaning assembly always stays close to the target positioning area. Close means that the cleaning robot always covers at least part of the rotating surface of the edge cleaning assembly on the target positioning area during travel. For example, the cleaning robot can use an inertial measurement unit to adjust its orientation and path direction in real time during the execution of the rotating path, so that the edge cleaning assembly always stays within the coverage range of the target positioning area. Through the control of the rotating path, the edge cleaning assembly can form an overlapping rotating cleaning surface, thereby realizing overlapping and multiple rotating cleaning of the target positioning area.

[0147] Through the cleaning mode controlled by the rotating path, the edge cleaning assembly on the cleaning robot can not only realize continuous coverage of the target positioning area, but also through the angle change introduced by the rotating path, the edge cleaning assembly can form an overlapping rotating cleaning surface, thereby enhancing the repeated cleaning of stubborn stains in the target positioning area. Combined with the self-rotation cleaning of the edge cleaning assembly, the high-frequency coverage and strong shear of stubborn stains in the target positioning area can be effectively realized, and the cleaning quality of the local area can be significantly improved.

[0148] In an optional embodiment of the present embodiment, the rotation speed of the edge cleaning assembly when approaching the target fixed-point area is greater than the rotation speed of the edge cleaning assembly when moving away from the target fixed-point area. When approaching the target fixed-point area, the rotation speed of the edge cleaning assembly is controlled to be increased, so that the edge cleaning assembly generates a higher linear speed and friction in unit time, thereby enhancing the shearing action between the cleaning bristles, scraping strips or cleaning cloth on the edge cleaning assembly and the contaminants of the target fixed-point area, and achieving a stronger mechanical peeling effect.

[0149] When it is detected that the edge cleaning assembly is about to enter or has entered the preset range of the target fixed-point area (for example, within a range of 20mm to 50mm from the target fixed-point area), the cleaning robot can increase the motor output speed according to the preset rotation speed mapping relationship. Conversely, when it is detected that the edge cleaning assembly moves away from the target fixed-point area, the rotation speed of the edge cleaning assembly can be reduced to a lower level in the basic cleaning mode according to the energy saving logic of the cleaning robot or the stable operation state of the cleaning robot. The specific rotation speed adjustment manner is not specially limited in the present embodiment, and can be self-defined according to actual conditions.

[0150] Through the differential control of the rotation speed of the edge cleaning assembly, the stain removal capability of the cleaning robot in the target fixed-point area can be significantly improved, and the power consumption of the cleaning robot when moving away from the target fixed-point area can be reduced, thereby prolonging the endurance time of the cleaning robot and improving the running stability.

[0151] In an example embodiment of the present disclosure, as shown in Figures 1 to 8 The number of edge cleaning assemblies can include any one of one, two and four. For example, when the number of edge cleaning assemblies is one, the edge cleaning assembly can be arranged on a certain end corner of the cleaning robot body and have the ability of rotation, extension or a certain degree of in-plane deviation. When the number of edge cleaning assemblies is two, the edge cleaning assemblies can be arranged on two opposite corners of the cleaning robot body or two end corners in the direction of travel of the cleaning robot, or arranged on two end corners of the edge parallel to the track of the cleaning robot. When the number of edge cleaning assemblies is four, the edge cleaning assemblies can be arranged on four corners or middle positions of four edges of the robot body to achieve omnidirectional boundary cleaning capability. Of course, the specific arrangement manner of the edge cleaning assembly can be self-defined according to actual conditions, and the present embodiment is not limited thereto. In some optional embodiments, the edge cleaning assembly has a detachable relationship with the robot body, and the edge cleaning assembly can be installed or detached on the robot body according to the current scene.

[0152] Through the number configuration of the edge cleaning assembly of the cleaning robot, the cleaning robot can flexibly adapt to different cleaning boundaries, corner shapes and fixed-point stain areas, significantly enhances the operation capability in a complex glass structure or window frame environment, improves the cleaning integrity and cleaning efficiency of the edge and corner areas, and can be used to meet the application requirements of high performance and multiple tasks.

[0153] It should be noted that although the various steps of the method in the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired result. In addition or alternatively, some steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps, etc.

[0154] The embodiments of the present disclosure also provide a program product for implementing the control method for the cleaning robot, which can adopt a portable compact disc read-only memory (CD-ROM) and include program codes, and can run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, the readable storage medium can be any tangible medium containing or storing a program, which can be used or combined with an instruction execution system, device or apparatus.

[0155] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0156] The computer readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, in which readable program codes are borne. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The readable signal medium can also be any readable medium other than the readable storage medium, which can send, propagate or transmit programs for use by or in connection with an instruction execution system, device or apparatus.

[0157] The program codes contained on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0158] The program code may, for example, be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider.

[0159] In addition, the above-described flowcharts are merely illustrative of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to limit the purposes. It is easily understood that the processes shown in the above-described flowcharts do not indicate or limit the time sequence of the processes. In addition, it is also easily understood that the processes can be executed synchronously or asynchronously, for example, in a plurality of modules.

[0160] Through the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, or the like) or a network, and includes a plurality of instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the methods according to the embodiments of the present disclosure.

[0161] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present disclosure cover any and all variations of the application that come within the scope of the following claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application indicated by the following claims.

[0162] It is to be understood that the present disclosure is not limited to the precise construction described in the specification and shown in the drawings, and that various modifications and changes can be effected therein by those skilled in the art without departing from the scope of the application. The scope of the present disclosure is to be limited only by the appended claims.

Claims

1. A control method for a cleaning robot, characterized in that: The cleaning robot includes a main body, an edge cleaning component, and a crawler. The main body is adsorbed on a surface to be cleaned. The crawler is provided on the main body and enables the cleaning robot to move on the surface to be cleaned. The edge cleaning component is rotatably provided on the main body and is located at a cleaning edge of the cleaning robot. The surface to be cleaned has a target boundary. The control method includes: When the cleaning robot performs an edge cleaning task, the cleaning edge of the cleaning robot adheres to the target boundary, and the edge cleaning component provided on the cleaning edge moves along the target boundary and rotates to clean the target boundary.

2. The control method according to claim 1, characterized in that: The target boundary includes a first boundary and a second boundary that are adjacent and intersecting; When the cleaning robot performs the edge cleaning task on the first boundary and the second boundary in sequence, the cleaning robot moves from the cleaning end position of the first boundary, passes through position A and position B in sequence, and then reaches the cleaning start position of the second boundary; The cleaning robot at position A is spaced apart from the first boundary and the second boundary respectively. The B position is farther away from the first boundary than the A position; an angle is formed between the cleaning edge of the cleaning robot at the B position and the second boundary, and the first end of the cleaning edge is in contact with the second boundary, and there is a distance between the second end of the cleaning edge and the second boundary; and the moving direction of the cleaning robot at the B position is toward the first boundary.

3. The control method according to claim 2, characterized in that: During the process of the cleaning robot moving from the B position to the cleaning initial position of the second boundary, the cleaning robot moves toward the first boundary, and the first end of the cleaning edge of the cleaning robot remains in contact with the second boundary, and the second end of the cleaning edge of the cleaning robot gradually approaches the second boundary.

4. The control method according to claim 2, characterized in that: The target boundary further includes a third boundary disposed opposite to the first boundary; In the process of the cleaning robot moving from the cleaning end position of the first boundary to the A position, the cleaning robot moves in a curve, and the cleaning edge of the cleaning robot, one end away from the intersection of the first boundary and the second boundary, leaves the first boundary toward the third boundary earlier than the other end.

5. The control method according to claim 2, characterized in that: The cleaning robot moves from the cleaning end position at the first boundary, passes through position A, position C, and position B in sequence, and then reaches the cleaning start position at the second boundary; The cleaning edge at the A position faces away from the second boundary, and the cleaning edges at the C position and the B position both face toward the second boundary; During the movement of the cleaning robot from the A position to the C position, the cleaning robot rotates along a preset direction; during the movement of the cleaning robot from the C position to the B position, the cleaning robot moves in a curve along the preset direction.

6. The control method according to any one of claims 2 to 5, characterized in that: The number of the edge cleaning assembly is one, and the edge cleaning assembly is configured to move along the cleaning edge of the cleaning robot, or the edge cleaning assembly is configured to move along the cleaning edge of the cleaning robot and an edge adjacent to and intersecting the cleaning edge; During the process of moving to the B position, the cleaning robot drives the edge cleaning component to move to the end where the cleaning edge of the cleaning robot abuts the second boundary, and during the process of moving from the B position to the cleaning initial position of the second boundary, the cleaning robot moves toward the first boundary until the angle between the cleaning edge of the cleaning robot and the second boundary gradually decreases to 0° to fit the second boundary.

7. The control method according to any one of claims 2 to 5, characterized in that: The edge cleaning assembly is configured to be fixed to one end of the cleaning edge of the cleaning robot; When the cleaning robot moves to the B position, the edge cleaning assembly is controlled to continuously rotate, and the moving direction is adjusted by the crawler belt, so that the cleaning robot first rotates in a preset direction at the C position, and then makes a curved motion in the preset direction to bring an end of the cleaning edge where the edge cleaning assembly is located and parallel to the extension direction of the crawler belt into contact with the second boundary. In the process of moving from the B position to the cleaning initial position of the second boundary, the cleaning robot moves toward the first boundary, and combined with the rotation of the edge cleaning component, the angle between the cleaning edge of the cleaning robot and the second boundary is gradually reduced to 0° to fit the second boundary.

8. The control method according to any one of claims 2 to 5, characterized in that: There are two edge cleaning assemblies, and the cleaning edges where the two edge cleaning assemblies are located are parallel to the extension direction of the crawler track of the cleaning robot; During the process of moving from position B to the cleaning initial position of the second boundary, the cleaning robot controls any one of the edge cleaning components to rotate continuously, and adjusts the moving direction through the crawler track, so that the angle between the cleaning edge where the two edge cleaning components are located and the second boundary gradually decreases to 0°, so as to fit the second boundary and reach the cleaning initial position of the second boundary.

9. The control method according to claim 8, characterized in that: During the process of moving from position B to the cleaning initial position of the second boundary, the cleaning robot is controlled to rotate by the crawler track, so that the angle between the cleaning edge where the two edge cleaning components are located and the second boundary is gradually reduced to 0°, so as to fit the second boundary and reach the cleaning initial position of the second boundary.

10. The control method according to claim 8, characterized in that: The cleaning robot controls the rotation of the edge cleaning assembly abutting the second boundary, and combines the drive of the crawler to gradually reduce the angle between the cleaning edge where the two edge cleaning assemblies are located and the second boundary to 0° to fit the second boundary.

11. The control method according to claim 8, characterized in that: The cleaning robot controls the rotation of the edge cleaning assembly away from the second boundary, and combines the drive of the crawler to gradually reduce the angle between the cleaning edge where the two edge cleaning assemblies are located and the second boundary to 0° to fit the second boundary.

12. The control method according to any one of claims 2 to 5, characterized in that: The number of the edge cleaning components is four; During the process of moving from position B to the cleaning initial position of the second boundary, the cleaning robot controls at least two of the edge cleaning components to rotate continuously, and adjusts the moving direction through the track, so that the cleaning robot has two edge cleaning components and the angle between the cleaning edge parallel to the extension direction of the track and the second boundary gradually decreases to 0°, so as to fit the second boundary and reach the cleaning initial position of the second boundary.

13. The control method according to claim 12, characterized in that: The cleaning robot controls the rotation of the two edge cleaning components on the diagonal line, and combined with the drive of the track, the cleaning robot has two edge cleaning components and the angle between the cleaning edge parallel to the extension direction of the track and the second boundary gradually decreases to 0° to fit the second boundary.

14. A control method for a cleaning robot, characterized in that: The cleaning robot is adsorbed on a surface to be cleaned and moves on the surface to be cleaned, the surface to be cleaned includes a target fixed point area, the cleaning robot includes an edge cleaning component, and the method includes: When the cleaning robot performs a fixed-point cleaning task, it controls at least a portion of the edge cleaning components to perform rotational cleaning on the target fixed-point area.

15. The control method according to claim 14, characterized in that: The rotation speed of the edge cleaning component when approaching the target fixed point area is greater than the rotation speed of the edge cleaning component when away from the target fixed point area.

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