Control methods, devices, and window cleaning robots for window cleaning

Abstract

This specification provides a control method, device, and window cleaning robot. The window cleaning robot has spray devices positioned both in front of and behind it in its travel direction. The method includes: responding to a cleaning command, controlling the window cleaning robot to move vertically in a target spray pattern and spraying liquid onto at least a portion of the area to be cleaned. During movement, before the window cleaning robot moves downwards in a first vertical direction and turns into a second vertical direction, it sprays cleaning liquid onto at least a portion of the area to be cleaned using the spray devices positioned behind it in the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during both the downward movement and the turning process. During the downward movement and turning process, the window cleaning robot sprays cleaning liquid onto at least a portion of the area to be cleaned using the spray devices positioned behind it in the travel direction, avoiding repeated spraying of cleaning liquid. Furthermore, the "moving forward, spraying backward (upward)" pattern allows for efficient coverage of the cleaning liquid.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of smart home technology, and in particular to a control method, device and window cleaning robot for a window cleaning robot. Background Technology

[0002] With the rapid development of computer technology, internet technology, and artificial intelligence technology, various smart home devices are gradually being applied to all aspects of work and life. Based on people's increasing demand for cleaning quality, traditional cleaning tools have gradually faded from people's sight, and a large number of window cleaning robots have entered users' homes. After years of development, window cleaning robots have shown a trend of automation, functionality, diversification, and professionalism, and have been widely used in people's daily lives. People can use window cleaning robots to complete corresponding cleaning tasks.

[0003] In existing technologies, the logic of window cleaning robots spraying cleaning liquid is usually quite simple, leading to waste of cleaning liquid, low cleaning efficiency, poor cleaning effect, and a poor user experience. Therefore, there is an urgent need for a more efficient control solution for window cleaning robots that can achieve better cleaning results. Summary of the Invention

[0004] In view of this, embodiments of this specification provide a control method for a window cleaning robot. One or more embodiments of this specification also relate to various control methods for window cleaning robots, various control devices for window cleaning robots, a window cleaning robot, a computer-readable storage medium, and a computer program product, to address the technical deficiencies existing in the prior art.

[0005] According to a first aspect of the embodiments of this specification, a control method for a window cleaning robot is provided, wherein the window cleaning robot is provided with spraying devices both in front of and behind its traveling direction, the method comprising:

[0006] In response to a cleaning command, the window cleaning robot is controlled to traverse the area to be cleaned in a target spraying pattern. During the traversal, cleaning liquid is sprayed onto at least a portion of the area to be cleaned until the area to be cleaned has been traversed. The target spraying pattern is a spraying pattern that sprays cleaning liquid onto at least a portion of the area to be cleaned based on a spraying device on the rear side along the driving direction.

[0007] According to a second aspect of the embodiments of this specification, a control device for a window cleaning robot is provided, wherein the window cleaning robot is provided with spraying devices both in front of and behind in its direction of travel, the device comprising:

[0008] The first spray control module is configured to respond to a cleaning command and control the window cleaning robot to traverse the area to be cleaned in a target spray pattern. During the traversal, cleaning liquid is sprayed onto at least a portion of the area to be cleaned until the area to be cleaned has been traversed. The target spray pattern is a spray pattern that sprays cleaning liquid onto at least a portion of the area to be cleaned based on a spray device on the rear side along the driving direction.

[0009] According to a third aspect of the embodiments of this specification, a control method for a window cleaning robot is provided, wherein the window cleaning robot is provided with spraying devices both in front of and behind its traveling direction, the method comprising:

[0010] In response to a cleaning command, the window cleaning robot is controlled to move vertically in a target spraying pattern and spray liquid onto at least a portion of the area to be cleaned. During the movement, as the window cleaning robot travels from top to bottom, it sprays cleaning liquid onto at least a portion of the area to be cleaned located above the window cleaning robot.

[0011] According to a fourth aspect of the embodiments of this specification, a control device for a window cleaning robot is provided, wherein the window cleaning robot is provided with spraying devices both in front of and behind it in its direction of travel, and the device includes:

[0012] The second spray control module is configured to respond to a cleaning command by controlling the window cleaning robot to move vertically in a target spray pattern and spray liquid onto at least a portion of the area to be cleaned. During the movement, the window cleaning robot sprays cleaning liquid onto at least a portion of the area to be cleaned above it as it moves from top to bottom.

[0013] According to a fifth aspect of the embodiments of this specification, a control method for a window cleaning robot is provided, wherein the window cleaning robot is provided with spraying devices both in front of and behind its traveling direction, the method comprising:

[0014] In response to a cleaning command, the window cleaning robot is controlled to move vertically in a target spraying mode and spray liquid on at least a portion of the area to be cleaned. During the movement, before the window cleaning robot moves from top to bottom in a first vertical direction and turns into a second vertical direction, it sprays cleaning liquid on at least a portion of the area to be cleaned based on the spraying device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top-down movement and the turning process.

[0015] According to a sixth aspect of the embodiments of this specification, a control device for a window cleaning robot is provided, wherein the window cleaning robot is provided with spraying devices both in front of and behind in its direction of travel, and the device includes:

[0016] The third spray control module is configured to respond to a cleaning command and control the window cleaning robot to move vertically in a target spray pattern and spray liquid on at least a portion of the area to be cleaned. During the movement, before the window cleaning robot moves from top to bottom in the first vertical direction and turns into the second vertical direction, it sprays cleaning liquid on at least a portion of the area to be cleaned based on the spray device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top-down movement and the turning process.

[0017] According to a seventh aspect of the embodiments of this specification, a window cleaning robot is provided, wherein a spraying device is provided on both the front and rear sides of the window cleaning robot in the direction of travel, and the window cleaning robot includes:

[0018] In the first cleaning mode, the spraying device located in front of the window cleaning robot in the direction of travel sprays liquid.

[0019] The second cleaning mode includes:

[0020] In response to a cleaning command, the window cleaning robot is controlled to traverse the area to be cleaned using a target spraying pattern. During the traversal, cleaning liquid is sprayed onto at least a portion of the area to be cleaned until the area to be cleaned has been traversed. The target spraying pattern is a spraying pattern based on a spraying device located behind the vehicle's direction of travel, spraying cleaning liquid onto at least a portion of the area to be cleaned. Alternatively...

[0021] In response to a cleaning command, the window cleaning robot is controlled to move vertically in a target spraying pattern and spray liquid onto at least a portion of the area to be cleaned. During the movement, as the window cleaning robot travels downwards, cleaning liquid is sprayed onto at least a portion of the area to be cleaned located above the window cleaning robot; or,

[0022] In response to a cleaning command, the window cleaning robot is controlled to move vertically in a target spraying mode and spray liquid on at least a portion of the area to be cleaned. During the movement, before the window cleaning robot moves from top to bottom in a first vertical direction and turns into a second vertical direction, it sprays cleaning liquid on at least a portion of the area to be cleaned based on the spraying device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top-down movement and the turning process.

[0023] According to an eighth aspect of the embodiments of this specification, a window cleaning robot is provided, comprising:

[0024] ontology,

[0025] A drive module, located on the main body, is used to drive the main body to move;

[0026] An execution module, located in the main body, is used to perform work tasks;

[0027] Memory and processor;

[0028] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor, they implement the steps of the control method for the window cleaning robot provided in the first aspect, the control method for the window cleaning robot provided in the third aspect, or the control method for the window cleaning robot provided in the fifth aspect.

[0029] According to a ninth aspect of the embodiments of this specification, a computer-readable storage medium is provided that stores computer-executable instructions, which, when executed by a processor, implement the steps of the control method for a window cleaning robot provided in the first aspect, the control method for a window cleaning robot provided in the third aspect, or the control method for a window cleaning robot provided in the fifth aspect.

[0030] According to a tenth aspect of the embodiments of this specification, a computer program product is provided, including a computer program / instructions that, when executed by a processor, implement the steps of the control method for a window cleaning robot provided in the first aspect, the control method for a window cleaning robot provided in the third aspect, or the control method for a window cleaning robot provided in the fifth aspect.

[0031] This specification provides a control method for a window cleaning robot in one embodiment. The window cleaning robot has spray devices positioned both forward and backward along its travel direction. Responding to a cleaning command, the robot is controlled to traverse the area to be cleaned using a target spray pattern. During this traversal, cleaning liquid is sprayed onto at least a portion of the area until the area has been completely traversed. The target spray pattern is defined as the spray pattern where cleaning liquid is sprayed onto at least a portion of the area to be cleaned using the spray device positioned behind the robot's travel direction. Thus, with spray devices positioned both forward and backward along the robot's travel direction, cleaning liquid is sprayed onto at least a portion of the area during the traversal. The spray direction is always opposite to the robot's travel direction, employing a "forward-walking, backward-spraying" mechanism to prevent the sprayed cleaning liquid from being wiped away by the robot body, reducing waste and improving spray efficiency. Furthermore, a pre-immersion time window for the cleaning liquid is provided, allowing it to fully soften and dissolve stubborn stains on the area to be cleaned, further improving cleaning efficiency. No manual user intervention is required, enhancing the user experience.

[0032] Another embodiment of this specification provides a different control method for a window cleaning robot. The window cleaning robot is equipped with spraying devices both in front of and behind it in its direction of travel. The robot is controlled to move vertically in a target spraying pattern, spraying liquid onto at least a portion of the area to be cleaned. During movement, as the robot moves downwards, it sprays cleaning liquid onto at least a portion of the area above it. This "moving downwards and spraying upwards" pattern during vertical movement ensures efficient use of the cleaning liquid, allowing it to fully cover the area to be cleaned and preventing the sprayed liquid from being wiped off by the robot body, reducing waste. It also fully utilizes the dissolving time of the cleaning liquid, improving cleaning efficiency. Furthermore, it allows the cleaning liquid to fully soften and dissolve stubborn stains on the area to be cleaned, enhancing the cleaning efficiency without requiring manual user intervention and improving the user experience.

[0033] Another embodiment of this specification provides a control method for a window cleaning robot. The window cleaning robot has spray devices positioned both in front of and behind it in its travel direction. The robot is controlled to move vertically in a target spray pattern, spraying liquid onto at least a portion of the area to be cleaned. During movement, before turning into a second vertical direction and moving downwards in a first vertical direction, the robot sprays cleaning liquid onto at least a portion of the area to be cleaned using the spray devices on its rear side in the travel direction. After turning into the second vertical direction, the robot continues to spray cleaning liquid during both the downward movement and the turning process. This method avoids repeated spraying of cleaning liquid. The "forward movement, backward (upward) spraying" pattern ensures efficient use of the cleaning liquid, allowing it to fully cover the area to be cleaned, reducing waste, and maximizing the dissolving time of the cleaning liquid to improve cleaning efficiency. It also allows the cleaning liquid to fully soften and dissolve stubborn stains on the area to be cleaned, improving cleaning efficiency without requiring manual user intervention, thus enhancing the user experience. Attached Figure Description

[0034] Figure 1 This is a flowchart of a control method for a first type of window cleaning robot provided in one embodiment of this specification;

[0035] Figure 2a This is a schematic diagram of the movement process of the first window cleaning robot provided in one embodiment of this specification;

[0036] Figure 2b This is a schematic diagram of the movement process of a second type of window cleaning robot provided in one embodiment of this specification;

[0037] Figure 2c This is a schematic diagram of the movement process of a third type of window cleaning robot provided in one embodiment of this specification;

[0038] Figure 2d This is a schematic diagram of the movement process of the fourth type of window cleaning robot provided in one embodiment of this specification;

[0039] Figure 2e This is a schematic diagram of the movement process of the fifth type of window cleaning robot provided in one embodiment of this specification;

[0040] Figure 3 This is a flowchart of a second control method for a window cleaning robot provided in one embodiment of this specification;

[0041] Figure 4 This is a schematic diagram of the movement process of the sixth type of window cleaning robot provided in one embodiment of this specification;

[0042] Figure 5 This is a flowchart of a third control method for a window cleaning robot provided in one embodiment of this specification;

[0043] Figure 6 This is a schematic diagram of the movement process of the seventh type of window cleaning robot provided in one embodiment of this specification;

[0044] Figure 7 This is a flowchart illustrating the control method for a window cleaning robot according to one embodiment of this specification.

[0045] Figure 8 This is a schematic diagram of the control device for a first type of window cleaning robot provided in one embodiment of this specification;

[0046] Figure 9 This is a schematic diagram of the control device for a second type of window cleaning robot provided in one embodiment of this specification;

[0047] Figure 10 This is a schematic diagram of the control device for a third type of window cleaning robot provided in one embodiment of this specification;

[0048] Figure 11 This is a structural block diagram of a window cleaning robot provided in one embodiment of this specification. Detailed Implementation

[0049] Many specific details are set forth in the following description to provide a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0050] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this specification. The singular forms “a” and “the” as used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0051] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0052] Furthermore, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0053] It's important to note that, taking window cleaning robots as an example, their application in bathrooms typically employs simple reciprocating or random paths for cleaning. Their logic for spraying cleaning liquids (water, detergent, etc.) is usually quite simplistic, such as spraying evenly throughout or only at the starting point. This fails to adequately consider the dissolving efficiency of the cleaning liquid, the uniformity of coverage, and the protection of bathroom edges (such as silicone sealing strips and metal frames). Furthermore, the cleaning path is often singular, easily overlooking corners and edges, resulting in poor cleaning performance, especially against stubborn limescale and soap scum commonly found in bathrooms. If manual spraying is used, the volatile odor of the cleaning liquid may pose a health hazard.

[0054] In practice, spraying a large amount of cleaning liquid at once or spraying it throughout the entire process will lead to waste of cleaning liquid and failure to fully utilize the optimal dissolution time of the cleaning liquid (the area that has just been sprayed does not have enough time to dissolve before being wiped), resulting in waste of cleaning liquid and low cleaning efficiency. In addition, if the cleaning liquid is not avoided when spraying the edges, the cleaning liquid may splash onto the edges (such as silicone strips), which may cause them to age, mold, or leave residues that are difficult to remove, posing a risk of contamination to the edges.

[0055] Therefore, one embodiment of this specification provides a control scheme for a window cleaning robot. The window cleaning robot has spray devices positioned both in front of and behind its travel direction. During the robot's traversal of the area to be cleaned, cleaning liquid is sprayed onto the area via the spray devices on the rear side of its travel direction. The spray direction is always opposite to the robot's travel direction, employing a "forward-walking, backward-spraying" mechanism to prevent the sprayed cleaning liquid from being wiped away by the robot body, reducing waste and improving spraying efficiency. Furthermore, the robot can first spray the area to be cleaned once, then return to the starting point to perform at least one cleaning cycle, utilizing a multi-segment path... The path planning separates the spraying of cleaning liquid from the execution of the cleaning task, providing ample time for the cleaning liquid to dissolve and maximizing its effectiveness. This results in better cleaning of stubborn stains, minimizing waste while ensuring cleaning results, and improving cleaning efficiency by fully utilizing the dissolving time. Furthermore, by performing at least one cleaning pass, the cleaning area is effectively covered, preventing omissions and improving overall cleaning efficiency and effectiveness. Moreover, the logic control of the spraying of cleaning liquid prevents splashing onto the edges, avoiding contamination and damage, and eliminates the need for manual user intervention, thus enhancing the user experience.

[0056] This specification provides various control methods for window cleaning robots, and also relates to various control devices for window cleaning robots, a window cleaning robot, a computer-readable storage medium, and a computer program product, which are described in detail in the following embodiments.

[0057] See Figure 1 , Figure 1 A flowchart of a control method for a first window cleaning robot according to an embodiment of this specification is shown. The window cleaning robot is equipped with spraying devices in both directions of travel, which are applied to the control unit of the window cleaning robot. The method specifically includes the following steps.

[0058] Step 102: In response to the cleaning command, control the window cleaning robot to traverse the area to be cleaned in a target spraying pattern. During the traversal, at least part of the area to be cleaned is sprayed with cleaning liquid until the area to be cleaned is traversed. The target spraying pattern is a spraying pattern that sprays cleaning liquid onto at least part of the area to be cleaned based on the spraying device on the rear side along the driving direction.

[0059] Specifically, a window cleaning robot refers to an intelligent device capable of automatically performing cleaning tasks such as cleaning windows and glass. It typically includes a main control module, a spraying device, a cleaning actuator, a sensor system, and a drive system. The main control module refers to an MCU (Microcontroller Unit) / processor, which may include a control unit and perform functions such as path planning, water spraying logic control, and sensor data processing. The spraying device is used to spray cleaning liquid onto the area to be cleaned and mainly includes liquid containers (such as water tanks), liquid pumps, pipelines, and nozzles. The cleaning actuator is used to clean the area to be cleaned, such as a mop tray and a roller brush. The sensor system is used to detect relevant driving parameters of the window cleaning robot, such as lidar, cameras, ultrasonic sensors, and collision detection sensors (such as ball heads and collision plates). The drive system is used to drive the window cleaning robot to move on the area to be cleaned, such as drive wheel motors, to enable the window cleaning robot to move on the area to be cleaned.

[0060] A cleaning command is a command issued by the user or control unit to initiate the cleaning process. It typically includes basic parameters for the cleaning task, such as the cleaning area identifier, cleaning mode (e.g., standard, heavy-duty), and cleaning liquid type. The area to be cleaned refers to the target surface area where the window cleaning robot needs to operate; this can be a glass surface or a wall surface.

[0061] Cleaning liquid refers to the liquid used by window cleaning robots to clean the area to be cleaned. This cleaning liquid is used to dissolve dirt on the area to be cleaned. For example, the cleaning liquid can be water, chemical solution, etc. Spraying cleaning liquid refers to the process of controlling the window cleaning robot to spray the stored cleaning liquid evenly onto the area to be cleaned in the form of atomized or fine water stream through its onboard pump, nozzles and other spraying devices.

[0062] Targeted spraying mode refers to a strategy of spraying cleaning liquid in reverse. This involves spraying cleaning liquid from a spray device located behind the robot's travel direction, directing the liquid towards the area the robot has just passed (the area it has just traversed). The spray direction is opposite to the robot's travel direction. The spray device refers to the actuating component on the window cleaning robot responsible for spraying the cleaning liquid, typically including a liquid container (such as a water tank), a pump, piping, and nozzles. Traversal refers to the window cleaning robot moving along a pre-set path that covers the entire area to be cleaned, ensuring no part is missed.

[0063] It should be noted that the window cleaning robot has spray devices at both the front and rear of its travel direction. However, during the process of traversing the area to be cleaned, the cleaning liquid can be sprayed by the spray device on the rear side of the travel direction. In other words, the window cleaning robot has a spraying mode that sprays liquid on the rear side of the travel direction to traverse the area to be cleaned, thus avoiding the window cleaning robot wiping away the cleaning liquid while traveling in the travel direction.

[0064] In practice, users can attach the window cleaning robot to the glass surface to be cleaned. Upon receiving a cleaning command, the robot moves along a trajectory covering the entire area to be cleaned. While the robot moves in the direction of travel, a spraying device mounted on the rear of the robot operates. As the robot moves forward, cleaning fluid is continuously sprayed behind it. Spraying stops when the robot has completed its coverage of the entire area, leaving the area covered in cleaning fluid. This "forward-moving, backward-spraying" targeted spraying pattern prevents the sprayed cleaning fluid from being wiped away by the robot body, reducing waste and improving spraying efficiency. It also provides a pre-immersion time window for the cleaning fluid, allowing it to fully soften and dissolve stubborn stains on the area to be cleaned, further enhancing cleaning efficiency.

[0065] Specifically, the window cleaning robot can be controlled to load a preset spray trajectory, and its travel direction from the starting point can be determined based on this preset spray trajectory (e.g., moving 20 degrees to the right). The drive system can be controlled to drive the drive wheels of the window cleaning robot to move along this travel direction. The movement parameters (such as speed) can be determined based on cleaning instructions or pre-configured as default movement parameters, such as constant speed movement. During the movement of the window cleaning robot, the spray device on the rear side of the travel direction can be activated to continuously spray cleaning liquid in the opposite direction of the current travel direction of the window cleaning robot at a certain spray angle and speed, so that the window cleaning robot can spray cleaning liquid in the opposite direction while moving.

[0066] The preset spray trajectory refers to the movement path of the window cleaning robot to traverse the area to be cleaned during the spraying stage, which is pre-configured before the task begins. The preset spray trajectory can be a bow trajectory, Z trajectory, N trajectory, L trajectory, edge-following, or fixed-point trajectory, etc., with the aim of achieving efficient and thorough cleaning liquid coverage.

[0067] Example, Figure 2a This is a schematic diagram illustrating the movement process of the first type of window cleaning robot provided in one embodiment of this specification, as shown below. Figure 2aAs shown, taking a bathroom window as an example, when the window cleaning robot moves from top to bottom, the spray device on the rear side (i.e., the spray device on the rear of the robot) sprays cleaning liquid upwards along the direction of travel. This avoids the cleaning liquid being wiped off by the robot body and also prevents the cleaning liquid from being sprayed directly onto the ground. Another example... Figure 2b This is a schematic diagram illustrating the movement process of a second type of window cleaning robot provided in one embodiment of this specification, as shown below. Figure 2b As shown, taking the bathroom glass as an example, when the window cleaning robot moves upward on the bathroom glass, the spray device on the rear side along the direction of travel (that is, the spray device on the rear side of the robot) sprays cleaning liquid downward. However, during the spraying process, some cleaning liquid will be sprayed directly onto the ground, resulting in waste of cleaning liquid.

[0068] In an optional implementation of this embodiment, after the area to be cleaned has been traversed, the process further includes:

[0069] Control the window cleaning robot to wait at a set waiting position in the area to be cleaned for a set time, and then return from the set waiting position to the starting point in the area to be cleaned;

[0070] The robot performs at least one cleaning task on the area to be cleaned from the starting point in cleaning mode, wherein cleaning liquid is sprayed on the designated waiting position in target spraying mode when the window cleaning robot leaves the designated waiting position.

[0071] Specifically, the designated waiting position refers to a predefined specific coordinate point within the area to be cleaned. The window cleaning robot will pause its movement at this position and perform a waiting operation to provide sufficient dissolution time for the sprayed cleaning liquid. This designated waiting position can typically be the endpoint after traversing the area to be cleaned. The endpoint refers to the final position that the window cleaning robot needs to reach during the spraying phase, meaning that the robot needs to cover the entire area to be cleaned from the starting point along the preset spraying trajectory to the endpoint, ensuring that at least a portion of the area to be cleaned is sprayed with cleaning liquid. Of course, in actual implementation, it can also be configured to other positions within the area to be cleaned based on actual business needs, such as the lower right corner.

[0072] In one optional implementation of this embodiment, the waiting position can be configured as the lowest point of the area to be cleaned. It should be noted that the cleaning liquid at higher points in the area to be cleaned will flow downwards under gravity. Therefore, the waiting position can be configured as the lowest point of the area to be cleaned. For example, if the area to be cleaned is a rectangular glass panel, the waiting position can be any position on the lower edge of the glass panel in the direction of gravity, as shown above. Figure 2a and 2bAs shown, the waiting position can be configured to be the bottom right corner. By setting the waiting position to the lowest point of the area to be cleaned (such as the bottom right corner of a window), gravity is cleverly used to allow the cleaning liquid at higher levels to naturally collect there. The window cleaning robot then returns to the starting point from the lowest position, improving the softening and cleaning effect and enhancing the cleaning quality.

[0073] The set duration refers to a pre-set, fixed waiting time, which is the time the window cleaning robot remains stationary at the set waiting position. This set duration can be set based on the dissolution time of the cleaning liquid.

[0074] The starting point refers to the initial position of the window cleaning robot on the area to be cleaned when the cleaning task begins. This starting point can be the initial position where the user attaches the window cleaning robot to the area to be cleaned, or a pre-configured initial position.

[0075] Cleaning mode refers to the working state of the window cleaning robot when performing physical cleaning operations. In this mode, the window cleaning robot uses cleaning components such as cleaning cloths, squeegees, roller brushes, or squeegees to scrape or wipe away sewage and dissolved stains on the glass to complete the final cleaning.

[0076] In practice, the cleaning process can be divided into a spraying stage and a cleaning stage. In response to a cleaning command, the spraying stage can be initiated first. The window cleaning robot starts from the starting point and traverses the area to be cleaned in the target spraying mode. It confirms that the spraying device behind the travel direction is working properly. During the traversal, the cleaning liquid is sprayed onto the area to be cleaned based on the spraying device behind the travel direction, ensuring that the cleaning liquid is evenly distributed in the area to be cleaned. The window cleaning robot moves to the endpoint, and the area to be cleaned is traversed. At this time, the spraying device can be turned off. The cleaning liquid spraying is now complete, and the cleaning liquid covers the area to be cleaned, ending the spraying stage.

[0077] It should be noted that after the area to be cleaned has been traversed, the spraying phase ends. At this point, the window cleaning robot can be controlled to wait at the set waiting position for a set time to provide sufficient time for the sprayed cleaning liquid to dissolve. Then, the window cleaning robot can be controlled to return from the set waiting position to the starting point of the area to be cleaned and perform the cleaning task at least once from the starting point in cleaning mode.

[0078] Specifically, the cleaning task refers to the task of performing physical cleaning actions in the cleaning phase after the liquid spraying phase. For example, after the liquid spraying phase, the window cleaning robot uses its cleaning execution mechanism (such as a wiping disc or roller brush) to scrub and wipe the area to be cleaned that has been soaked in the cleaning liquid.

[0079] In practice, once the cleaning liquid spraying is complete—that is, the window cleaning robot has moved to the designated waiting position and the spraying device has stopped working—the control unit can initiate a timing task, controlling the window cleaning robot to remain at the designated waiting position for a set duration. After the set duration is reached, the control unit can initiate a return procedure. The path planning module uses the current designated waiting position as the starting point and the initial starting point as the target point to determine an efficient return path. This return path is usually the shortest straight path, but may also be adjusted locally to avoid dynamic obstacles. Then, the control unit can control the drive system to move the window cleaning robot along this return path to return from the designated waiting position to the starting point. After the window cleaning robot successfully returns to the starting point, it enters the cleaning phase. The control unit activates the cleaning actuator, such as lowering the mop tray to make it close to the area to be cleaned, and then controls the window cleaning robot to move in cleaning mode, performing at least one cleaning task on the area to be cleaned.

[0080] It should be noted that when the window cleaning robot moves to the set waiting position, the set waiting position is the end point of the area to be cleaned. Therefore, no cleaning liquid is sprayed at the set waiting position. In order to avoid the set waiting position from missing cleaning liquid, the window cleaning robot can be controlled to spray cleaning liquid at the set waiting position in the target spraying mode when it leaves the set waiting position.

[0081] In one alternative implementation, cleaning liquid can be sprayed onto the designated waiting position for a set duration only when the window cleaning robot leaves the designated waiting position, in a target spraying mode, and then the spraying can be paused. Cleaning liquid can be replenished onto the designated waiting position only when the window cleaning robot leaves the designated waiting position. During the window cleaning robot's return from the designated waiting position to the starting point, the cleaning actuator and spraying device of the window cleaning robot can be controlled to not work, or the cleaning actuator of the window cleaning robot can be controlled to work while the spraying device does not work. That is, during the window cleaning robot's return from the designated waiting position to the starting point, the area traversed on the return path is initially cleaned, but the cleaning liquid is not sprayed again.

[0082] In another optional implementation, cleaning liquid can be sprayed onto the designated waiting position in a target spray mode when the window cleaning robot leaves the designated waiting position, and spraying can continue until the window cleaning robot returns to the starting point. That is, during the process of the window cleaning robot returning from the designated waiting position, the cleaning actuator of the window cleaning robot can be controlled to not work, while the spraying device has been working continuously since leaving the designated waiting position, so as to replenish the cleaning liquid in the area traversed by the window cleaning robot on the return path, but without cleaning it. Of course, in actual implementation, both the cleaning actuator and the spraying device of the window cleaning robot can be controlled to work during the process of the window cleaning robot returning from the designated waiting position. The specific configuration can be based on actual business needs, and the embodiments in this specification do not limit this.

[0083] For example, in the spraying phase, the window cleaning robot starts at the bottom left corner to be cleaned and ends at the bottom right corner. The waiting position is set as the end position, and the preset spray trajectory is trajectory N. The window cleaning robot starts from the bottom left corner and follows trajectory N, spraying the left side first, and then spraying the cleaning liquid from left to right. After spraying, it waits for a set time in the bottom right corner and then returns to the bottom left corner to start the cleaning task from the bottom left corner. That is, it sprays the left side first and then the right side. When spraying the right side, it gives the cleaning liquid on the left side sufficient time to dissolve. After spraying the right side, it waits for a period of time and then returns to the left side to perform the cleaning task. The cleaning liquid sprayed on the left side has a longer time to dissolve, and the stains are easier to remove. During the process of performing the cleaning task on the left side and moving to the right side, it provides sufficient time for the right side (the area sprayed later) to dissolve before performing the cleaning task on the right side.

[0084] In the embodiments described in this specification, after the cleaning liquid is sprayed, the window cleaning robot does not start cleaning directly from its current position (the endpoint of the cleaning liquid spraying). Instead, it waits at a set waiting position for a set time before returning to the starting position of the cleaning liquid spraying to begin the first wiping cleaning in cleaning mode. By separating the spraying of the cleaning liquid and the execution of the cleaning task through multi-segment path planning, and utilizing the time difference between the waiting time after spraying the cleaning liquid and the return to the starting point, sufficient time is provided for the cleaning liquid to dissolve, maximizing its effectiveness. This results in better cleaning of stubborn stains, ensuring cleaning results while minimizing waste of cleaning liquid, and fully utilizing the dissolving time of the cleaning liquid to improve cleaning efficiency. In addition, performing at least one cleaning task on the area to be cleaned means cleaning the area at least once to effectively cover the cleaning area, avoid cleaning omissions, and improve the overall cleaning efficiency and effect.

[0085] In one optional implementation of this embodiment, the traversal turning angle of the target spraying mode is greater than the cleaning turning angle of the cleaning mode.

[0086] The traversal turning angle refers to the body turning angle of the window cleaning robot during the spraying phase, when it moves along the preset spraying trajectory. The cleaning turning angle refers to the body turning angle of the window cleaning robot during the cleaning phase, when it moves along the preset cleaning trajectory. For example, in a bow-shaped trajectory, when the robot has completed one row and is ready to turn back, it usually needs to rotate 180 degrees to turn around, i.e., the turning angle is 180 degrees. In the N-track, the angle between the window cleaning robot's body and the horizontal direction is the turning angle, such as 45 degrees. In the Z-track, when the robot has completed one row and is ready to turn back, the side of the window cleaning robot away from the frame turns towards the next row and directly reverses (opposite to the previous row's direction of travel) to enter the next row. At this time, during the turning and entering the next row, it sprays liquid towards the spraying device of the previous row to compensate for the tail position of the previous row. Correspondingly, the deflection angle in the Z-track is the same as the deflection angle in the N-track.

[0087] The traversal turning angle and cleaning turning angle can be configured during pre-path planning. Specifically, the spray traversal turning angle can be configured to be greater than the cleaning turning angle. Since the window cleaning robot sprays in a fan-shaped area behind its travel direction, and this fan-shaped area is typically larger than the robot's width, the spray can turn at a larger angle, resulting in higher efficiency in traversing the area to be cleaned. Conversely, a smaller turning angle results in more overlapping sprayed areas, leading to better dissolution of dirt and better cleaning, but lower spray efficiency. In essence, the window cleaning robot can adjust the spray turning angle according to the different types of stains selected by the user, ensuring both spray and cleaning efficiency.

[0088] In practice, since the spraying stage is mainly a process of spraying cleaning liquid to cover the area to be cleaned for pre-wetting, the goal is to pursue coverage efficiency. Therefore, during the spraying stage, the control unit can control the window cleaning robot to traverse the area to be cleaned at a relatively large traversal turning angle. This means that after completing the spraying of one row, the window cleaning robot will perform a relatively large body turning angle at the end of the row to enter the next row, reducing the number of rows traversed by the window cleaning robot and completing the liquid coverage of at least part of the area to be cleaned as soon as possible.

[0089] Since the cleaning phase is mainly a process of thoroughly cleaning the area to be cleaned, the goal is to achieve comprehensive coverage and avoid missing any areas. Therefore, during the cleaning phase, the control unit can control the window cleaning robot to move at a small cleaning turning angle. This means that after cleaning one row, the window cleaning robot will make a relatively small deflection angle at the end of the row and move to the next row. The number of rows traversed by the window cleaning robot is large, and the interval between the two rows is small, which ensures effective coverage and can ensure the integrity of the area to be cleaned as much as possible, avoid missing cleaning dead corners, and improve the cleaning effect.

[0090] In the embodiments of this specification, during the spraying stage, the window cleaning robot can be controlled to traverse the area to be cleaned at a large traversal turning angle to improve the spraying efficiency of the cleaning liquid; during the cleaning stage, the window cleaning robot can be controlled to move at a small cleaning turning angle to ensure the cleanliness of the area to be cleaned, avoid missing cleaning dead corners, improve the cleaning effect, and realize intelligent cleaning control.

[0091] In one optional implementation of this embodiment, the driving speed of the target spray mode is different from the driving speed of the cleaning mode.

[0092] The travel speed refers to the speed at which the window cleaning robot moves within the area to be cleaned.

[0093] The travel speed of the target spray mode and the travel speed of the cleaning mode can be configured during the pre-planning of the path. Specifically, the travel speed of the target spray mode and the travel speed of the cleaning mode can be configured to be different. The higher the travel speed, the higher the efficiency of traversing the area to be cleaned, but the worse the cleaning effect or the cleaning effect, which may result in problems such as insufficient cleaning liquid, missed areas, or residual stains. The lower the travel speed, the lower the efficiency of traversing the area to be cleaned, but the lower the probability of problems such as insufficient cleaning liquid, missed areas, or residual stains.

[0094] In practice, the requirements for the spraying and cleaning phases differ. The travel speeds of the target spraying mode and the cleaning mode can be configured based on these requirements. One possible implementation is to configure the target spraying mode's travel speed to be greater than the cleaning mode's speed. This ensures that at least part of the area to be cleaned is covered with liquid as quickly as possible during the spraying phase, while guaranteeing sufficient cleaning time during the cleaning phase. This maximizes the integrity of the area being cleaned, avoids overlooking cleaning dead zones, and improves cleaning effectiveness. Another possible implementation is to configure the target spraying mode's travel speed to be less than the cleaning mode's speed. This ensures sufficient spraying time during the spraying phase, guaranteeing a sufficient amount of cleaning liquid is sprayed onto the area to be cleaned, maximizing the integrity of the liquid coverage. During the cleaning phase, this maximizes the speed at which the entire area is cleaned, improving cleaning efficiency.

[0095] In the embodiments of this specification, the driving speed of the target spraying mode is different from that of the cleaning mode. The corresponding driving speed can be configured based on the different needs of the spraying stage and the cleaning stage, which can adapt to different needs in various scenarios, improve the cleaning effect, and realize intelligent cleaning control.

[0096] In one optional implementation of this embodiment, controlling the window cleaning robot to traverse the area to be cleaned in a target spraying pattern includes:

[0097] The window cleaning robot is controlled to start from the beginning of the area to be cleaned and move according to the preset spray trajectory, traversing the area to be cleaned in the target spray pattern;

[0098] From the starting point, treat the cleaning area in cleaning mode and perform at least one cleaning task, including:

[0099] Control the window cleaning robot to start from the starting point and move according to the preset cleaning trajectory, and perform at least one cleaning task on the area to be cleaned in the cleaning mode;

[0100] The preset spray trajectory of the target spray mode and the preset cleaning trajectory of the cleaning mode may be the same or different.

[0101] It should be noted that the preset spray trajectory for the target spray mode and the preset cleaning trajectory for the cleaning mode can be configured to be the same or different. The preset spray trajectory for the target spray mode aims to spray the cleaning liquid efficiently, while the preset cleaning trajectory for the cleaning mode aims to effectively cover all areas of the area to be cleaned, minimizing omissions. For example, the preset spray trajectory for the target spray mode uses an N-track for full coverage, while the preset spray trajectory for the cleaning mode uses a bow-shaped pattern for full coverage.

[0102] In the embodiments of this specification, the preset spray trajectory and preset cleaning trajectory can be flexibly configured to be the same or different based on the different needs of the spraying stage and the cleaning stage. This can ensure both the spraying efficiency of the cleaning liquid in the spraying stage and the comprehensive coverage in the cleaning stage, thereby improving the cleaning effect. It is more flexible and can be adapted to a variety of different application scenarios.

[0103] In one optional implementation of this embodiment, the preset spray trajectory of the target spray pattern is the same as the preset cleaning trajectory of the cleaning pattern; controlling the window cleaning robot to move from the starting point of the area to be cleaned according to the preset spray trajectory, and traversing the area to be cleaned in the target spray pattern, includes:

[0104] The window cleaning robot is controlled to start from the beginning of the area to be cleaned, and move along the preset spray trajectory according to the first trajectory deflection angle, and traverse the area to be cleaned in the target spray pattern.

[0105] Accordingly, the window cleaning robot is controlled to move from the starting point along a preset cleaning trajectory, performing at least one cleaning task on the area to be cleaned in cleaning mode, including:

[0106] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory according to the second trajectory deflection angle. It performs at least one cleaning task on the area to be cleaned in the cleaning mode, wherein the second trajectory deflection angle is smaller than the first trajectory deflection angle.

[0107] Specifically, the first trajectory deflection angle refers to the body turning angle of the window cleaning robot when moving along the preset spray trajectory, which is also the traversal turning angle of the target spray pattern. The second trajectory deflection angle refers to the body turning angle of the window cleaning robot when moving along the preset cleaning trajectory, which is also the cleaning turning angle of the cleaning pattern. For example, in the bow-shaped trajectory, when the robot has completed one row and is ready to turn back, it usually needs to rotate 180 degrees to turn around, which means the first trajectory deflection angle is 180 degrees. In the N-track, the angle between the window cleaning robot's body and the horizontal direction is the first trajectory deflection angle, such as 45 degrees. In the Z-track, when the robot has completed one row and is ready to turn back, the side of the window cleaning robot away from the frame turns towards the next row and directly reverses (opposite to the previous row's direction of travel) to enter the next row. At this time, during the turning and entering the next row, it sprays liquid towards the spray device of the previous row to compensate for the tail position of the previous row. Correspondingly, the deflection angle in the Z-track is the same as the deflection angle in the N-track.

[0108] In practice, the spraying and cleaning phases can use the same movement trajectory, and the first trajectory deflection angle of the preset spraying trajectory is greater than the second trajectory deflection angle of the preset cleaning trajectory. For example... Figure 2c This is a schematic diagram illustrating the movement process of a third type of window cleaning robot provided in one embodiment of this specification, as shown below. Figure 2c As shown, during the spraying phase, the window cleaning robot moves along trajectory N with a first trajectory deflection angle, and during the cleaning phase, the window cleaning robot moves along trajectory N with a second trajectory deflection angle. The first trajectory deflection angle is greater than the second trajectory deflection angle. For example, the first trajectory deflection angle is 45 degrees and the second trajectory deflection angle is 30 degrees, which improves the spraying efficiency of the cleaning liquid.

[0109] In the embodiments of this specification, by using different trajectory deflection angles on the same moving trajectory, efficient spraying of cleaning liquid in the spraying stage and high coverage cleaning in the cleaning stage are achieved, thereby improving the cleaning effect and realizing intelligent cleaning control.

[0110] In one optional implementation of this embodiment, returning from the designated waiting position to the starting point of the area to be cleaned includes:

[0111] Control the window cleaning robot to move from the set waiting position towards the starting point;

[0112] While moving in the direction of the starting point, continue to control the window cleaning robot to replenish the cleaning liquid in the target spraying mode.

[0113] Specifically, the starting point direction refers to the direction from the designated waiting position to the initial starting point position. Supplementary spraying refers to auxiliary and supplementary spraying activities carried out during the return to the starting point after the main spraying task has been completed.

[0114] It should be noted that after the cleaning liquid is sprayed and the window cleaning robot has waited for a set time at the set waiting position, it does not start cleaning directly from the set waiting position (such as the end position of the cleaning liquid spraying). Instead, it returns to the starting position of the cleaning liquid spraying and begins the first wiping cleaning along the preset cleaning trajectory. During the process of controlling the window cleaning robot to return to the starting point from the set waiting position, the robot body may wipe away the previously sprayed cleaning liquid on the return path due to the movement of the window cleaning robot. Therefore, the cleaning liquid can be replenished during the return to the starting point.

[0115] In practice, once the cleaning liquid spraying is complete and the robot has waited at the designated waiting position for a set time, the return process can be initiated. The path planning module generates a return path starting from the designated waiting position and generally heading towards the starting point. The window cleaning robot is then controlled to move along the planned return path towards the starting point. During this movement, the robot can be controlled to replenish the cleaning liquid spraying in the target spraying mode. That is, the spraying device along the rear of the travel direction continues to work, replenishing the cleaning liquid sprayed along the return path traversed by the window cleaning robot, until the window cleaning robot returns to the starting point, at which point the spraying device stops working.

[0116] Example, Figure 2d This is a schematic diagram illustrating the movement process of the fourth type of window cleaning robot provided in one embodiment of this specification, as shown below. Figure 2d As shown, after the cleaning liquid is sprayed, the window cleaning robot waits in the lower right corner for the set time. Then, the window cleaning robot needs to return to the lower left corner (starting point) to start the cleaning task. During the return process, the cleaning liquid in the area around the robot will be wiped away due to the movement of the robot body. At this time, the cleaning liquid can be sprayed in the opposite direction of the robot's movement.

[0117] In the embodiments described in this specification, during the process of the window cleaning robot returning to the starting point from the set waiting position after spraying the liquid, the window cleaning robot is controlled to spray more cleaning liquid to achieve full coverage of the cleaning liquid on the area to be cleaned, ensuring the overall cleaning effect and reliability, and achieving a more thorough cleaning.

[0118] Of course, in actual implementation, the spraying device can be turned on only during the spraying phase to spray cleaning liquid onto the area to be cleaned. The spraying device can be turned on for supplementary spraying during the subsequent return to the starting point and the execution of the cleaning task. This specification does not limit this.

[0119] In one optional embodiment of this invention, the window cleaning robot is controlled to traverse the area to be cleaned in a target spraying pattern, spraying cleaning liquid onto at least a portion of the area to be cleaned during the traversal, including:

[0120] The window cleaning robot is controlled to traverse the area to be cleaned, and during the traversal, cleaning liquid is sprayed with the first spraying parameters based on the spraying device on the rear side along the driving direction.

[0121] Accordingly, while moving towards the starting point, the window cleaning robot continues to be controlled to replenish the spraying of cleaning liquid in the target spraying pattern, including:

[0122] As the robot moves toward the starting point, it controls the window cleaning robot to supplement the spraying of cleaning liquid with a second spraying parameter based on the spraying device on the rear side along the direction of travel. The second spraying parameter may be the same as or different from the first spraying parameter.

[0123] Specifically, spraying parameters refer to the operating parameters used by the spraying device when it is working. These parameters may include, but are not limited to, the following: spray flow rate (volume of liquid sprayed per unit time), spray pressure, nozzle atomization particle size (droplet size), and spraying mode (such as continuous spraying, intermittent spraying, etc.), and spraying frequency in the intermittent spraying mode. By adjusting the spraying parameters, the spraying effect, coverage area, and dosage of the cleaning liquid can be precisely controlled.

[0124] The first spraying parameter refers to the operating parameters used by the window cleaning robot during the main spraying process, when the spraying device along the rear side of the travel direction is working. The first spraying parameter is set with the goal of achieving efficient and uniform full coverage of the cleaning liquid. For example, the first spraying parameter may be set to a higher spraying flow rate and a higher spraying frequency to ensure that sufficient cleaning liquid is sprayed to fully pre-soak the stains. The second spraying parameter refers to another operating parameter used by the window cleaning robot when performing supplementary spraying during the return to the starting point, when the spraying device along the rear side of the travel direction is working. The second spraying parameter is set with the goal of achieving efficient supplementary spraying along the path traveled. For example, the second spraying parameter can be set to the same as the first spraying parameter, or it can be set to a lower spraying flow rate and a lower spraying frequency to save cleaning liquid.

[0125] In actual implementation, during the spraying phase where the robot moves along a preset spray trajectory, the control unit can control the spraying device on the rear side of the travel direction to operate with the first spraying parameters. When the window cleaning robot arrives at the set waiting position and waits for a set time before starting to move towards the starting point, the replenishment process is initiated. During the return of the window cleaning robot to the starting point, the control unit controls the spraying device on the rear side of the travel direction to continue operating with the second spraying parameters. The second spraying parameters can be the same as the first spraying parameters, making the return path an additional, equivalent spraying path for simply replenishing the cleaning liquid on the return path to achieve effective coverage. Alternatively, the second spraying parameters can be different from the first spraying parameters. For replenishment spraying, this is a replenishment strategy that can use lower spray flow rate, spray frequency, etc., to save cleaning liquid.

[0126] In the embodiments described in this specification, a first spraying parameter is used in the main spraying stage to achieve efficient, uniform and effective full-area coverage, and a second spraying parameter is used in the return-to-starting-point stage for supplementary spraying. This can be flexibly configured based on actual needs. Through this dual-stage, variable-parameter precise spraying control, the window cleaning robot can save cleaning liquid while ensuring the efficiency of spraying cleaning liquid, thereby improving adaptability and flexibility.

[0127] In one optional embodiment of this example, the first spraying parameter includes a first spraying frequency, and the second spraying parameter includes a second spraying frequency, wherein the second spraying frequency is less than the first spraying frequency.

[0128] In actual implementation, the window cleaning robot is controlled to traverse the area to be cleaned. During the traversal, the spraying device on the rear side of the window cleaning robot along the travel direction is controlled to spray cleaning liquid at a first spraying frequency until the traversal is completed and the cleaning liquid covers the area to be cleaned. After waiting for a set time at a set waiting position, it returns to the starting point. During the movement towards the starting point, the spraying device on the rear side of the window cleaning robot along the travel direction is controlled to supplement the spraying of cleaning liquid at a second spraying frequency, wherein the second spraying frequency is less than the first spraying frequency.

[0129] Specifically, the spraying frequency refers to the number of times the spraying device on the rear side of the window cleaning robot sprays cleaning liquid per unit time and the duration of each spray. It is a key parameter for controlling the working sequence of the spraying device, determining whether the spraying action is continuous or intermittent, and the length of the interval. A higher spraying frequency usually means more continuous and denser liquid spraying. For example, spraying once per second, each time lasting 500ms, that is, spraying for 500ms and an interval of 500ms.

[0130] The first spraying frequency refers to the number of times the window cleaning robot sprays cleaning liquid per unit time and the duration of each spray as it moves along a preset spray trajectory to traverse the area to be cleaned. The second spraying frequency refers to the number of times the window cleaning robot sprays cleaning liquid per unit time and the duration of each spray as it returns to the starting point for supplementary spraying. The first and second spraying frequencies can be flexibly configured based on actual needs. In one implementation, the second spraying frequency can be configured to be lower than the first spraying frequency, that is, the frequency of supplementary spraying is lower than the frequency of spraying during the traversal process. For example, the first spraying frequency is once per second, each spray lasting 500ms, i.e., spraying for 500ms with a 500ms interval; the second spraying frequency is once every 2 seconds, each spray lasting 500ms, i.e., spraying for 500ms with a 1500ms interval.

[0131] In practice, an intermittent spraying mode can be used to spray the cleaning liquid. First, during the main spraying phase, which traverses the area to be cleaned along a preset spray trajectory, the control unit can drive the spraying device along the rear side of the travel direction to operate at a higher first spraying frequency, achieving continuous or high-density coverage of the area to be cleaned. For example, the control unit sends an activation command pulse to the pump and valve at fixed time intervals (e.g., every 500ms), causing them to operate continuously in high-frequency mode. This ensures that the cleaning liquid is sprayed evenly and at a high frequency onto the area to be cleaned, providing sufficient pre-wetting for subsequent physical cleaning steps. After the main spraying phase is completed, when the window cleaning robot moves from its designated waiting position towards the starting point and activates the supplementary spraying function, the control unit switches to a lower second spraying frequency to drive the spraying device along the rear side of the travel direction, conserving cleaning liquid consumption.

[0132] In the embodiments of this specification, the cleaning liquid is sprayed in an intermittent spraying mode. Intermittent spraying saves more cleaning liquid than continuous spraying and can form a more uniform liquid film coverage. The frequency of supplementary spraying is less than the frequency of the main spraying phase that traverses the area to be cleaned. The supplementary spraying during the return process reduces the spraying frequency, further saving cleaning liquid. It also effectively prevents local areas from becoming too wet due to excessive liquid or even cleaning liquid dripping onto the edges or the ground, affecting the cleaning effect or even damaging the area to be cleaned.

[0133] In one optional implementation of this embodiment, the area to be cleaned includes a key cleaning area; the cleaning task is performed at least once on the area to be cleaned from the starting point in a cleaning mode, including:

[0134] The window cleaning robot is controlled to start from the starting point and perform the first cleaning task on the area to be cleaned in cleaning mode. The first cleaning task is used to clean all areas of the area to be cleaned.

[0135] After the first cleaning task is completed, the window cleaning robot is controlled to continue cleaning the area to be cleaned in cleaning mode for a second cleaning task. The second cleaning task is used to clean key cleaning areas a second time.

[0136] Specifically, the first cleaning task refers to the first overall cleaning of the area to be cleaned by the window cleaning robot after spraying the cleaning liquid, following the preset cleaning trajectory. Its core objective is to remove the main stains, and to remove most of the loose dirt softened by the cleaning liquid through cleaning execution mechanisms such as the rag tray and roller brush.

[0137] The second cleaning task refers to the window cleaning robot performing a second cleaning of key areas in the cleaning area following the same preset cleaning trajectory after the first cleaning task is completed. Its core objective is to perform fine cleaning and drying, remove residual fine stains and water stains, and ensure that the area to be cleaned is dry.

[0138] Among them, key cleaning areas refer to the areas marked in advance in the area to be cleaned that require special treatment for heavy dirt. These areas usually have a higher degree of dirt or special cleaning requirements, such as oily areas on the kitchen floor, the area under the bathroom glass, or specific areas manually marked by the user through the control application.

[0139] Overall cleaning refers to a standardized cleaning process where a window cleaning robot performs a uniform, full-coverage cleaning of all areas in the area to be cleaned, following a preset cleaning trajectory. Secondary cleaning refers to an additional cleaning of key areas within the overall cleaning process. The cleaning parameters (such as suction power, water volume, brush speed, and number of cleaning passes) may or may not be the same as the overall cleaning, achieving secondary cleaning of key areas within the overall cleaning task.

[0140] In actual implementation, after the cleaning liquid is sprayed, the window cleaning robot is controlled to return to the starting point, move from the starting point according to the preset cleaning trajectory, and simultaneously start the cleaning execution mechanism to traverse the area to be cleaned and begin to perform overall cleaning of the area to be cleaned. During this stage, all areas to be cleaned are completely traversed and cleaned. After the first cleaning cycle, most of the stains on the area to be cleaned have been removed, but a small number of stubborn stains may still remain. Additionally, blind spots may be created due to obstructions from the robot's structure (such as wheel hubs or drive shafts). Therefore, after the first cleaning cycle is completed (i.e., the window cleaning robot has completely traversed the area to be cleaned), it will not stop cleaning or return, but will continue with the second cleaning cycle. The second cleaning cycle is a phase of area-based cleaning. The control unit can load the key cleaning areas marked on the work map, and the path planning module can calculate an efficient sub-path to traverse these key cleaning areas. The robot is then controlled to move along this sub-path, performing secondary cleaning on the key cleaning areas within the area to be cleaned. Once the key cleaning areas have been cleaned a second time, the second cleaning cycle ends. This process strengthens the cleaning of heavily soiled areas or areas that may not have been thoroughly cleaned in the first cycle, ensuring a uniform cleaning effect.

[0141] It should be noted that during the first cleaning cycle, the window cleaning robot performs a general cleaning of all areas of the area to be cleaned, including key areas. After the overall cleaning (i.e., the first cleaning cycle) is completed, the robot performs a second cleaning of these key areas, completing the second cleaning cycle. In other words, both the first and second cleaning cycles clean the key areas included in the area to be cleaned, resulting in these key areas being cleaned twice. Furthermore, the robot can either continue directly from the end position of the first cleaning cycle or return to the starting position to begin moving again during the second cleaning cycle; this embodiment does not impose any limitations on this.

[0142] Example, Figure 2e This is a schematic diagram of the movement process of the fifth type of window cleaning robot provided in one embodiment of this specification, as shown below. Figure 2e As shown, taking the bathroom glass as an example, in a bathroom scenario, there is more limescale under the glass than on the glass. Therefore, the key cleaning area can be set as the heavily soiled area under the glass. During the first and second rounds of N-track cleaning tasks, the heavily soiled area under the glass is cleaned twice, while the area above the glass can be cleaned only once to ensure cleaning efficiency.

[0143] In this embodiment, the first path planning is used to spray cleaning liquid onto the area to be cleaned, ensuring that the cleaning liquid covers the area and provides sufficient time for dissolution. The second path planning is used to perform a first overall cleaning of the area, removing most of the stains. The third path planning is used to perform a second cleaning of key areas within the area, that is, to intensify the cleaning of these key areas, removing stubborn stains and ensuring a uniform and thorough cleaning effect. The area to be cleaned undergoes two cleaning cycles, ensuring no area is missed and significantly improving cleaning coverage. Thus, the window cleaning robot can perform three consecutive passes through the area to be cleaned, completing a single cleaning process. This fully automatic three-stage cleaning process requires no user intervention in the liquid spraying time. The three-stage path planning and liquid spraying logic are built into the window cleaning robot's control unit; users only need to press a button to start it, improving the user experience and achieving a cleaner, more thorough cleaning effect. It can also achieve more efficient and time-saving automated cleaning for heavy limescale.

[0144] In addition, the "global first, local later" strategy is adopted when carrying out cleaning tasks. While ensuring overall cleaning efficiency, it also enables secondary cleaning of key areas in the cleaning area. This balances the comprehensiveness and thoroughness of cleaning, ensuring both overall cleaning efficiency and the cleanliness of key areas, thus guaranteeing the cleaning effect.

[0145] Of course, in practice, besides the above-mentioned method of using overall cleaning in the first pass and secondary cleaning of key areas in the second pass, both the first and second cleaning tasks can also use overall cleaning. However, in each overall cleaning process, the non-key areas are cleaned once, and the key areas are cleaned twice. That is, one overall cleaning cycle cleans the non-key areas once and the key areas twice. In other words, after cleaning the non-key areas once, the key areas are cleaned a second time to complete the first cleaning task; then, the non-key areas are cleaned once again, and the key areas are cleaned a second time to complete the second cleaning task.

[0146] In an optional implementation of this embodiment, for scenarios where the area to be cleaned has a physical border, the system can also detect whether the window cleaning robot has reached the border and avoid it when spraying cleaning liquid. That is, the window cleaning robot is controlled to traverse the area to be cleaned in a target spraying pattern, and cleaning liquid is sprayed onto the area during the traversal, including:

[0147] The window cleaning robot is controlled to traverse the area to be cleaned in a target spray pattern, and during the traversal, it is detected whether it has moved to the edge of the area to be cleaned.

[0148] If the device moves to the edge of the area to be cleaned, the cleaning liquid will be sprayed after a set delay.

[0149] Specifically, the edge position of the area to be cleaned refers to the physical boundary of the area to be cleaned, such as silicone sealing strips, metal frames, etc. The set duration refers to the pre-set, delayed time period, which is the waiting time introduced from the time the window cleaning robot detects that it has reached the edge position to the time it continues to spray cleaning liquid, such as 300ms, 500ms, 700ms, etc.

[0150] In one implementation, if the window cleaning robot is equipped with positioning sensors such as lidar, ultrasonic sensors, infrared ranging sensors, and cameras, it can continuously collect data from the positioning sensors during the movement of the window cleaning robot, calculate the distance and relative orientation between itself and surrounding obstacles, and determine whether the window cleaning robot has reached or is infinitely close to the edge position of the area to be cleaned in the established working map by fusing and matching these data with the edge position of the area to be cleaned in the established working map (for example, the distance between the robot body and the edge is less than 2 mm).

[0151] In another implementation, if the window cleaning robot is equipped with a collision detection sensor (such as a ball head or a collision plate) at its front end, the window cleaning robot can move by relying on the collision detection sensor (such as a movable ball head or a collision plate with a buffer spring) installed at its front end. When the window cleaning robot comes into contact with the edge of the area to be cleaned, the collision plate or ball head will be squeezed and moved backward. This physical displacement will trigger the micro switch or optical interrupter installed inside, thereby generating a high-level electrical signal. This signal is transmitted to the control unit of the window cleaning robot. After the control unit captures this specific signal, it can determine that the window cleaning robot has moved to the edge of the area to be cleaned.

[0152] In actual implementation, if it is determined that the window cleaning robot has moved to the edge of the area to be cleaned, the control unit can trigger a delayed spraying program, pause the spraying of cleaning liquid, and start a timer to begin the delayed timing. During the delayed timing period, the window cleaning robot will not stop moving, but will turn and continue to move away from the edge. After the timer reaches the set time, the window cleaning robot has moved away from the edge by a certain distance, and then the spraying of cleaning liquid will resume.

[0153] It should be noted that when the window cleaning robot moves to the edge of the area to be cleaned, the spraying of cleaning liquid is paused and waited for a set time until the window cleaning robot has moved away from the edge to a certain distance. At this time, the spraying of cleaning liquid is resumed. Through the logic control of the spraying of cleaning liquid, the window cleaning robot is able to spray cleaning liquid only after it has moved away from the edge, preventing the edge from being sprayed with a large amount of cleaning liquid and avoiding edge contamination and damage.

[0154] This specification provides a control method for a window cleaning robot in one embodiment. The robot has spray devices positioned both in front of and behind it in its direction of travel. As the robot traverses the area to be cleaned, cleaning liquid is sprayed onto the area via the spray devices on the rear side of its travel direction. The spray direction is always opposite to the robot's travel direction, employing a "forward-walking, backward-spraying" mechanism to prevent the sprayed cleaning liquid from being wiped away by the robot body, reducing waste. Furthermore, multi-segment path planning separates the spraying of cleaning liquid from the execution of the cleaning task, providing sufficient time for the cleaning liquid to dissolve, maximizing its effectiveness, and resulting in better cleaning of stubborn stains. This method ensures cleaning effectiveness while minimizing waste and fully utilizing the dissolving time to improve cleaning efficiency. Moreover, it requires no manual user intervention, enhancing the user experience.

[0155] See Figure 3 , Figure 3A flowchart of a second control method for a window cleaning robot according to an embodiment of this specification is shown. The window cleaning robot is equipped with spraying devices in both directions of travel, which are applied to the control unit of the window cleaning robot. The method specifically includes the following steps.

[0156] Step 302: In response to the cleaning command, control the window cleaning robot to move vertically in the target spraying mode and spray liquid on at least part of the area to be cleaned. During the movement, when the window cleaning robot moves from top to bottom, it sprays cleaning liquid on at least part of the area to be cleaned above the window cleaning robot.

[0157] Specifically, the target spraying pattern is a spraying pattern in which cleaning liquid is sprayed onto at least a portion of the area to be cleaned based on the spraying device on the rear side along the direction of travel. Vertical movement refers to the movement of the window cleaning robot along a direction perpendicular to the ground (up and down direction). Moving from top to bottom refers to the direction in which the window cleaning robot moves longitudinally during vertical movement, that is, the process of moving from a higher position to a lower position in the area to be cleaned. Specifically, moving from top to bottom means that the current position is lower than the previous position in terms of longitudinal coordinates, that is, moving from top to bottom includes moving straight down and moving diagonally down.

[0158] In practice, users can attach the window cleaning robot to the area to be cleaned. Upon receiving a cleaning instruction, the robot's path planning module generates a vertically moving spray trajectory that covers the entire glass surface to be cleaned. Starting from the top of the area to be cleaned, the robot moves vertically along the spray trajectory to traverse the area. During the traversal, when moving from top to bottom (i.e., from a high point to a low point in the area to be cleaned), the spraying device installed on the rear side of the robot along the direction of travel is activated to spray cleaning liquid onto at least a portion of the area above the robot. When moving in other directions (i.e., from a low point to a high point in the area to be cleaned or during lateral movement), the spraying device installed on the rear side of the robot along the direction of travel is deactivated.

[0159] In other words, during vertical movement, the control system activates the target spraying mode only when the window cleaning robot is moving from a high to a low position. This involves spraying cleaning liquid onto the area to be cleaned above the robot via a spray device mounted on the rear of the robot along its direction of travel. This means that when the robot moves downwards, the cleaning liquid is sprayed onto the area just above it. Throughout the entire process, the robot performs reverse spraying during vertical movement from top to bottom, and stops spraying during vertical or lateral movement from bottom to top. This cycle continues until at least a portion of the area to be cleaned has been traversed and sprayed.

[0160] In one optional implementation of this embodiment, the window cleaning robot is controlled to move vertically in a target spraying pattern and spray liquid onto at least a portion of the area to be cleaned, including:

[0161] Control the window cleaning robot to traverse along N trajectories in a target spraying pattern. During the traversal of N trajectories, the window cleaning robot sprays cleaning liquid toward at least a portion of the area to be cleaned above the window cleaning robot as it travels from top to bottom.

[0162] In practice, the vertical spray trajectory can be an N-track, meaning the window cleaning robot traverses along an N-track. The N-track refers to a trajectory resembling the letter "N" as the window cleaning robot moves across the area to be cleaned. During the traversal of the N-track, the window cleaning robot sprays cleaning liquid towards at least a portion of the area to be cleaned above it as it moves downwards, until the area to be cleaned has been completely traversed.

[0163] Example, Figure 4 This is a schematic diagram of the movement process of the sixth type of window cleaning robot provided in one embodiment of this specification, as shown below. Figure 4 As shown, during the spraying phase, the window cleaning robot moves along trajectory N in the area to be cleaned. During this movement, if the window cleaning robot moves from top to bottom, the spraying device on the rear side along the direction of travel is activated to spray cleaning liquid upwards; while in other directions of travel (such as diagonally upwards), the spraying device on the rear side along the direction of travel is not activated, and no cleaning liquid is sprayed.

[0164] It should be noted that the N-track method traverses the area to be cleaned. During the traversal, as the robot moves downwards, a spraying device along the rear of the travel direction sprays cleaning liquid onto the area above the window cleaning robot. The N-track path is continuous and has high turning efficiency, which can largely avoid the leakage of cleaning liquid in the area to be cleaned. Moreover, the "moving downwards and spraying upwards" mode makes full use of gravity, so that the cleaning liquid sprayed on the upper area will naturally flow downwards under the action of gravity. This flow process itself is a wetting and rinsing of the glass, ensuring that the cleaning liquid is used efficiently. This allows the cleaning liquid to fully cover the area to be cleaned and also prevents the sprayed cleaning liquid from being wiped off by the robot body, reducing the waste of cleaning liquid and improving spraying efficiency.

[0165] In an optional implementation of this embodiment, after the area to be cleaned has been traversed, the process further includes:

[0166] Control the window cleaning robot to wait at a set waiting position in the area to be cleaned for a set time, and then return from the set waiting position to the starting point in the area to be cleaned;

[0167] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory. It performs at least one cleaning task on the area to be cleaned in the cleaning mode. When the window cleaning robot leaves the set waiting position, it sprays cleaning liquid on the set waiting position in the target spraying mode.

[0168] In one optional implementation of this embodiment, the waiting position is set to the lowest point of the area to be cleaned.

[0169] In one optional implementation of this embodiment, the traversal turning angle of the target spraying mode is greater than the cleaning turning angle of the cleaning mode.

[0170] In one optional implementation of this embodiment, the driving speed of the target spray mode is different from the driving speed of the cleaning mode.

[0171] In one optional implementation of this embodiment, the preset cleaning trajectory is trajectory N; controlling the window cleaning robot to traverse along trajectory N in a target spraying pattern includes:

[0172] The window cleaning robot is controlled to start from the beginning of the area to be cleaned, move along trajectory N according to the first trajectory deflection angle, and traverse the area to be cleaned in the target spraying pattern.

[0173] Accordingly, the window cleaning robot is controlled to move from the starting point along a preset cleaning trajectory, performing at least one cleaning task on the area to be cleaned in cleaning mode, including:

[0174] The window cleaning robot is controlled to start from the starting point and move along trajectory N according to the second trajectory deflection angle, and perform the cleaning task at least once in cleaning mode on the area to be cleaned. The second trajectory deflection angle is smaller than the first trajectory deflection angle.

[0175] In actual implementation, the cleaning phase can also use the N-track, meaning the cleaning trajectory is preset to the N-track, and both the cleaning and spraying phases use the N-track. However, the deflection angle of the second trajectory of the N-track in the cleaning phase is smaller than the deflection angle of the first trajectory of the N-track in the spraying phase, as shown above. Figure 2c As shown, during the spraying phase, the window cleaning robot moves along trajectory N with a first trajectory deflection angle, and during the cleaning phase, the window cleaning robot moves along trajectory N with a second trajectory deflection angle. The first trajectory deflection angle is greater than the second trajectory deflection angle. For example, the first trajectory deflection angle is 45 degrees and the second trajectory deflection angle is 30 degrees, which improves the spraying efficiency of the cleaning liquid.

[0176] Of course, in actual implementation, the preset cleaning trajectory of the cleaning stage can also be other trajectories, but its cleaning turning angle needs to be smaller than the turning angle of trajectory N in the spraying stage (that is, the traversal turning angle).

[0177] In the embodiments of this specification, both the spraying stage and the cleaning stage use an N-track. However, the deflection angle of the second trajectory of the N-track in the cleaning stage is smaller than the deflection angle of the first trajectory of the N-track in the spraying stage. By using different trajectory deflection angles of the N-track, efficient spraying of cleaning liquid in the spraying stage and high coverage cleaning in the cleaning stage are achieved, thereby improving the cleaning effect and realizing intelligent cleaning control.

[0178] In one optional implementation of this embodiment, returning from the designated waiting position to the starting point of the area to be cleaned includes:

[0179] Control the window cleaning robot to move from the set waiting position towards the starting point;

[0180] While moving in the direction of the starting point, continue to control the window cleaning robot to replenish the cleaning liquid in the target spraying mode.

[0181] In one optional embodiment of this example, the window cleaning robot is controlled to traverse along trajectory N in a target spraying pattern. During the traversal of trajectory N, as the window cleaning robot travels from top to bottom, it sprays cleaning liquid toward at least a portion of the area to be cleaned above the robot, including:

[0182] The window cleaning robot is controlled to traverse the area to be cleaned along trajectory N. During the traversal of trajectory N, when the window cleaning robot moves from top to bottom, the cleaning liquid is sprayed onto at least part of the area to be cleaned above the window cleaning robot with a first spraying parameter based on the spraying device on the rear side along the travel direction.

[0183] Accordingly, while moving towards the starting point, the window cleaning robot continues to be controlled to replenish the spraying of cleaning liquid in the target spraying pattern, including:

[0184] As the robot moves toward the starting point, it controls the window cleaning robot to supplement the spraying of cleaning liquid with a second spraying parameter based on the spraying device on the rear side along the direction of travel. The second spraying parameter may be the same as or different from the first spraying parameter.

[0185] In one optional embodiment of this example, the first spraying parameter includes a first spraying frequency, and the second spraying parameter includes a second spraying frequency, wherein the second spraying frequency is less than the first spraying frequency.

[0186] In one optional implementation of this embodiment, the area to be cleaned includes key cleaning areas; the window cleaning robot is controlled to move from the starting point along a preset cleaning trajectory, performing at least one cleaning task on the area to be cleaned in a cleaning mode, including:

[0187] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory. During the movement, it performs the first cleaning task on the area to be cleaned in cleaning mode. The first cleaning task is used to clean all areas of the area to be cleaned.

[0188] After the first cleaning task is completed, the window cleaning robot continues to move along the preset cleaning trajectory. During the movement, it performs a second cleaning task on the area to be cleaned in cleaning mode. The second cleaning task is used to perform a second cleaning on key cleaning areas.

[0189] In one optional embodiment of this example, the window cleaning robot is controlled to move vertically in a target spraying pattern and spray liquid onto at least a portion of the area to be cleaned. During the movement, as the window cleaning robot travels downwards, it sprays cleaning liquid onto at least a portion of the area to be cleaned above it, including:

[0190] Control the window cleaning robot to move vertically in the target spray pattern, and detect whether it has moved to the edge of the area to be cleaned when it moves from top to bottom during the movement.

[0191] If the robot moves to the edge of the area to be cleaned, it delays for a set time and sprays cleaning liquid onto at least part of the area to be cleaned above the window cleaning robot.

[0192] It should be noted that the above Figure 3 The diagram illustrates a schematic scheme of a control method for a window cleaning robot according to this embodiment. It should be noted that... Figure 3 The technical solution of the control method for the window cleaning robot shown is the same as that described above. Figure 1 The technical solutions for the control methods of the window cleaning robots shown belong to the same concept. Figure 3 For details not described in the technical solution of the control method for the window cleaning robot shown above, please refer to the above. Figure 1 The technical solution of the control method for the window cleaning robot shown is described, and will not be repeated in the embodiments of this specification.

[0193] This specification provides a control method for a window cleaning robot in one embodiment. The window cleaning robot is equipped with spraying devices both in front of and behind it in its direction of travel. The robot is controlled to move vertically in a target spraying pattern, spraying liquid onto at least a portion of the area to be cleaned. During movement, as the robot moves downwards, it sprays cleaning liquid onto at least a portion of the area above it. This "moving downwards and spraying upwards" pattern during vertical movement ensures efficient use of the cleaning liquid, allowing it to fully cover the area to be cleaned and preventing the sprayed liquid from being wiped off by the robot body, thus reducing waste. It also fully utilizes the dissolving time of the cleaning liquid, improving cleaning efficiency. Furthermore, it allows the cleaning liquid to fully soften and dissolve stubborn stains on the area to be cleaned, enhancing the cleaning efficiency without requiring manual user intervention, thus improving the user experience.

[0194] See Figure 5 , Figure 5 A flowchart of a third control method for a window cleaning robot according to an embodiment of this specification is shown. The window cleaning robot is equipped with spraying devices in both directions of travel, which are applied to the control unit of the window cleaning robot. The method specifically includes the following steps.

[0195] Step 502: In response to the cleaning command, control the window cleaning robot to move vertically in the target spraying mode and spray liquid on at least part of the area to be cleaned. During the movement, before the window cleaning robot moves from top to bottom in the first vertical direction and turns into the second vertical direction, it sprays cleaning liquid on at least part of the area to be cleaned based on the spraying device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top to bottom travel process and the turning process.

[0196] In practice, users can attach the window cleaning robot to the area to be cleaned. After receiving the cleaning instruction, the window cleaning robot's path planning module will generate a vertically moving spray trajectory that covers the entire glass surface to be cleaned. This vertical movement includes different vertical directions. The window cleaning robot starts from one corner of the top of the area to be cleaned (e.g., the upper left corner) and moves from top to bottom in the first vertical direction. After completing the movement in the first vertical direction, it turns from the first vertical direction to the second vertical direction and continues to move from top to bottom to traverse the area to be cleaned.

[0197] During the traversal process, as the machine travels from top to bottom along the first vertical direction and before turning into the second vertical direction, that is, during the movement from a high point to a low point in the area to be cleaned and before turning into the second vertical direction, the spraying device installed on the rear side of the machine body along the travel direction is controlled to operate so as to spray liquid onto at least part of the area to be cleaned.

[0198] As the window cleaning robot travels downwards along the first vertical direction (i.e., performing longitudinal movement in each column) and before turning into the second vertical direction, the control unit activates the target spraying mode, controlling the spraying device installed on the rear side of the robot along the travel direction. This means that when the window cleaning robot moves downwards, the cleaning liquid is continuously sprayed towards the rear of the robot, i.e., the area it just passed above; and before the window cleaning robot turns into the second vertical direction, i.e., during the turning process, the cleaning liquid can also be continuously sprayed towards the rear of the window cleaning robot. Throughout the entire traversal, the window cleaning robot performs reverse spraying during the "downward travel" longitudinal movement and during the turning process, and continues to spray cleaning liquid during the downward travel and turning process after turning into the second vertical direction, thus repeating this cycle until at least part of the area to be cleaned has been traversed and sprayed.

[0199] In one optional implementation of this embodiment, the window cleaning robot is controlled to move vertically in a target spraying pattern and spray liquid onto at least a portion of the area to be cleaned, including:

[0200] The window cleaning robot is controlled to traverse along trajectory L in a target spraying mode. During the traversal of trajectory L, the window cleaning robot travels from top to bottom along the first vertical direction and before turning into the second vertical direction, it sprays cleaning liquid on at least part of the area to be cleaned based on the spraying device on the rear side along the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the process of traveling from top to bottom and during the turning process.

[0201] In practice, the vertical spray trajectory can be an L-shaped path, which is a path similar to the letter "L" that the window cleaning robot walks on the area to be cleaned. It moves in one direction and turns 90 degrees after each movement.

[0202] Example, Figure 6 This is a schematic diagram of the movement process of the seventh type of window cleaning robot provided in one embodiment of this specification, as shown below. Figure 6 As shown, during the spraying phase, the window cleaning robot moves vertically along an L-shaped trajectory within the area to be cleaned. During this movement, the robot travels downwards along the first L-shaped trajectory, spraying cleaning liquid upwards using the spraying device located behind it in the direction of travel. Before turning towards and entering the second L-shaped trajectory (i.e., during the turning process), cleaning liquid can also be sprayed using the spraying device located behind it in the direction of travel. After turning into the second L-shaped trajectory, the robot continues to spray cleaning liquid from the top-down direction and before turning into the next L-shaped trajectory. Figure 6 As shown, the solid line represents the first L-track, the dashed line represents the second L-track, and the arrow section (during the downward driving and turning process) will spray cleaning liquid (based on the spraying device on the rear side along the driving direction).

[0203] It should be noted that the L-shaped trajectory is used to traverse the area to be cleaned. During the traversal, before turning into the second vertical direction and moving downwards along the first vertical direction, cleaning liquid is sprayed onto at least part of the area to be cleaned by a spraying device on the rear side of the direction of travel. The cleaning liquid sprayed onto the upper area will naturally flow downwards under the action of gravity, thus pre-rinsing the area to be cleaned and ensuring that the cleaning liquid can cover a larger vertical area. This "moving downwards and spraying backwards (upwards)" mode, combined with the unidirectional nature of the L-shaped trajectory, means that all vertical movements of the L-shaped spray trajectory are downwards, and spraying only occurs during downward movement. This avoids repeated spraying that may occur during lateral movement, ensuring a clear and efficient spraying logic while saving cleaning liquid.

[0204] In an optional implementation of this embodiment, after the area to be cleaned has been traversed, the process further includes:

[0205] Control the window cleaning robot to wait at a set waiting position in the area to be cleaned for a set time, and then return from the set waiting position to the starting point in the area to be cleaned;

[0206] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory. It performs at least one cleaning task on the area to be cleaned in the cleaning mode. When the window cleaning robot leaves the set waiting position, it sprays cleaning liquid on the set waiting position in the target spraying mode.

[0207] In one optional implementation of this embodiment, the waiting position is set to the lowest point of the area to be cleaned.

[0208] In one optional implementation of this embodiment, the traversal turning angle of the target spraying mode is greater than the cleaning turning angle of the cleaning mode.

[0209] In actual implementation, the spraying phase uses an L-track to traverse the area to be cleaned. The core characteristic of the L-track is the unidirectional vertical movement (always from top to bottom). That is, the window cleaning robot moves downwards from the top of the area to be cleaned, turns 90 degrees after reaching the edge, and the traversal turning angle of the target spraying pattern is 90 degrees. Other movement trajectories can be used in the cleaning phase, where the cleaning turning angle along the cleaning trajectory in the cleaning mode is set to be less than the traversal turning angle of the target spraying pattern, i.e., less than 90 degrees. For example, in the spraying phase, an L-track is used to traverse the area to be cleaned, and the traversal turning angle of the target spraying pattern is 90 degrees; in the cleaning phase, an N-track is used to clean the area, and the turning angle of the N-track is less than 90 degrees.

[0210] In one optional implementation of this embodiment, returning from the designated waiting position to the starting point of the area to be cleaned includes:

[0211] Control the window cleaning robot to move from the set waiting position towards the starting point;

[0212] While moving in the direction of the starting point, continue to control the window cleaning robot to replenish the cleaning liquid in the target spraying mode.

[0213] In one optional implementation of this embodiment, controlling the window cleaning robot to traverse along trajectory L in a target spraying pattern includes:

[0214] The window cleaning robot is controlled to traverse the area to be cleaned along the L-track. During the traversal of the L-track, before the window cleaning robot moves from top to bottom along the first vertical direction and turns into the second vertical direction, it sprays cleaning liquid with the first spraying parameters based on the spraying device on the rear side along the travel direction.

[0215] Accordingly, while moving towards the starting point, the window cleaning robot continues to be controlled to replenish the spraying of cleaning liquid in the target spraying pattern, including:

[0216] As the robot moves toward the starting point, it controls the window cleaning robot to supplement the spraying of cleaning liquid with a second spraying parameter based on the spraying device on the rear side along the direction of travel. The second spraying parameter may be the same as or different from the first spraying parameter.

[0217] It should be noted that the above Figure 5 The diagram illustrates a schematic scheme of a control method for a window cleaning robot according to this embodiment. It should be noted that... Figure 5 The technical solution of the control method for the window cleaning robot shown is the same as that described above. Figure 1 The technical solutions for the control methods of the window cleaning robots shown belong to the same concept. Figure 5 For details not described in the technical solution of the control method for the window cleaning robot shown above, please refer to the above. Figure 1 The technical solution of the control method for the window cleaning robot shown is described, and will not be repeated in the embodiments of this specification.

[0218] This specification provides a control method for a window cleaning robot in one embodiment. The window cleaning robot has spray devices positioned both in front of and behind it along its travel direction. The robot is controlled to move vertically in a target spray pattern, spraying liquid onto at least a portion of the area to be cleaned. During movement, before turning into a second vertical direction and moving downwards along a first vertical direction, the robot sprays cleaning liquid onto at least a portion of the area to be cleaned using the spray devices on its rear side along the travel direction. After turning into the second vertical direction, the robot continues to spray cleaning liquid during both the downward movement and the turning process. This method avoids repeated spraying of cleaning liquid and ensures efficient use of the cleaning liquid, allowing it to fully cover the area to be cleaned, reducing waste, and maximizing the dissolving time of the cleaning liquid to improve cleaning efficiency. It also allows the cleaning liquid to fully soften and dissolve stubborn stains on the area to be cleaned, improving cleaning efficiency without requiring manual user intervention, thus enhancing the user experience.

[0219] Corresponding to the above method embodiments, this specification also provides a window cleaning robot, which has spraying devices on both the front and rear sides of the window cleaning robot in the direction of travel. The window cleaning robot includes: a first cleaning mode in which the spraying device located on the front side of the window cleaning robot in the direction of travel sprays liquid.

[0220] The second cleaning mode includes:

[0221] In response to a cleaning command, the window cleaning robot is controlled to traverse the area to be cleaned using a target spray pattern. During the traversal, cleaning liquid is sprayed onto at least a portion of the area to be cleaned until the area to be cleaned has been traversed. The target spray pattern is a spray pattern that sprays cleaning liquid onto at least a portion of the area to be cleaned using a spray device located behind the robot along the direction of travel; or...

[0222] In response to a cleaning command, the window cleaning robot is controlled to move vertically in a targeted spraying pattern and spray cleaning liquid onto at least a portion of the area to be cleaned. During the movement, as the robot travels downwards, cleaning liquid is sprayed onto at least a portion of the area above the robot. Alternatively,

[0223] In response to a cleaning command, the window cleaning robot is controlled to move vertically in a target spraying mode and spray liquid on at least part of the area to be cleaned. During the movement, before the window cleaning robot moves from top to bottom in the first vertical direction and turns into the second vertical direction, it sprays cleaning liquid on at least part of the area to be cleaned based on the spraying device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top-down travel and turning process.

[0224] It should be noted that the window cleaning robot has spray devices both in front of and behind it in the direction of travel, and the robot has two cleaning modes. In the first cleaning mode, the spray devices along the front of the travel direction spray cleaning liquid onto the area to be cleaned, meaning that the spraying occurs along the front of the travel direction. As the robot moves, it passes over the sprayed cleaning liquid, resulting in efficient cleaning. The second cleaning mode is the mode in which the control method of the window cleaning robot described above operates, meaning that in the second cleaning mode, the spray devices along the rear of the travel direction spray cleaning liquid onto the area to be cleaned.

[0225] In practice, depending on the working scenario of the window cleaning robot, you can choose to use either the first cleaning mode or the second cleaning mode. The first cleaning mode is suitable for lightly soiled scenarios, such as normal glass cleaning scenarios like bedroom windows and living room windows. The second cleaning mode is suitable for heavily soiled scenarios, such as heavily soiled bathroom windows, heavily soiled glass doors, and tile grout.

[0226] In one alternative implementation, the control device of the window cleaning robot can provide multiple cleaning scenarios, each with a corresponding preset cleaning mode. Users can select the desired cleaning scenario, and the window cleaning robot can automatically spray cleaning liquid and perform cleaning using the cleaning mode corresponding to the selected scenario.

[0227] In another optional implementation, the control device of the window cleaning robot can also directly provide a first cleaning mode and a second cleaning mode for the user to choose from, and can display the cleaning scenarios applicable to the first cleaning mode and the second cleaning mode respectively, for the user to refer to and select the corresponding cleaning mode to spray cleaning liquid and perform cleaning.

[0228] This specification provides a window cleaning robot, which includes a first cleaning mode and a second cleaning mode. In routine maintenance, the first cleaning mode can be used to efficiently clean the area to be cleaned. When dealing with stubborn stains such as heavy limescale on bathroom glass, the second cleaning mode can be used. This second mode employs a "forward-moving, backward-spraying" mechanism to prevent the sprayed cleaning liquid from being wiped away by the machine body, reducing waste and improving spraying efficiency. It also provides a pre-immersion time window for the cleaning liquid, allowing it to fully soften and dissolve stubborn stains on the area to be cleaned, further improving cleaning efficiency. Thus, the coordinated operation of the two cleaning modes, adapting to different levels of dirt, achieves a comprehensive, automated, and efficient cleaning solution from routine maintenance to deep cleaning, offering greater flexibility and better cleaning efficiency and results.

[0229] The following is in conjunction with the appendix Figure 7 Taking the control method of the window cleaning robot provided in this manual in the application of the window cleaning robot in a bathroom setting as an example, the control method of the window cleaning robot will be further explained. Among other things, Figure 7 The present specification shows a flowchart of a control method for a window cleaning robot according to an embodiment of the present specification. The window cleaning robot is equipped with a spraying device both in front of and behind it in the direction of travel, and the method includes the following steps.

[0230] Step 702: The user attaches the window cleaning robot to the bathroom glass and starts it up.

[0231] Step 704: First pass of N-path spraying: The window cleaning robot starts from the starting point and moves along the planned N-path. During the movement, the control unit can use a software timer to make the spraying device on the rear side of the travel direction work in a fixed pulse cycle of 500ms (spraying) - 700ms (stopping spraying) after the robot body is a certain distance away from the glass frame. The cleaning liquid is sprayed on the bathroom glass in the opposite direction of the machine's movement to prevent the cleaning liquid from being wiped off by the robot body and to prevent the glass frame from being sprayed with a large amount of cleaning liquid. In addition, during the cleaning liquid spraying stage, the robot body turns at a larger angle to improve spraying efficiency.

[0232] Step 706: After completing the entire N-track path, the window cleaning robot reaches the lower right corner of the glass, and the spraying task ends. At this time, the cleaning liquid has covered most of the glass area, but the dissolution time of different positions begins to differ (the left side was sprayed earliest and has a longer dissolution time).

[0233] Step 708: The second round of the main cleaning task is performed along the N path. After the spraying is completed, the window cleaning robot waits for the set time at the lower right corner and then returns to the left side of the glass (near the lower left corner). The window cleaning robot is then controlled to start the first cleaning along the N path. During this process, the spraying device on the rear side along the driving direction can be turned off. During the cleaning process along the N path, the heavily soiled area below the glass will be cleaned twice, while the upper area will be cleaned once.

[0234] It should be noted that when the window cleaning robot starts wiping from the left to the right, the cleaning liquid in the left area has already dissolved for a longer time (starting from the moment the liquid is sprayed), and the stains are fully softened and easy to wipe away. As the window cleaning robot moves to the right, the cleaning liquid in the right area also gets a relatively longer time to dissolve (compared to starting to wipe directly from the bottom right corner), providing sufficient time for the cleaning liquid to dissolve and maximizing its effectiveness, resulting in better cleaning of stubborn stains.

[0235] Step 710: The third N-path is used to perform an enhanced cleaning task. After the main cleaning task is completed, the window cleaning robot can then perform the second N-path wiping. Similarly, the heavily soiled area under the glass will be cleaned twice, while the upper area will be cleaned once. The third N-path can cover the local cleaning blind spots caused by the body structure (such as wheel hubs and drive shafts) in the first two N-paths, and can also strengthen the cleaning of key stain areas or areas that may not have been thoroughly cleaned in the first wiping, ensuring the uniformity of the cleaning effect.

[0236] Step 712: After the window cleaning robot completes the third pass of the N path, it will stop at the bottom left corner, and the overall cleaning process will be completed.

[0237] This specification provides a control method for a window cleaning robot, which separates the spraying of cleaning liquid and the execution of cleaning tasks through a three-stage N-path planning. The window cleaning robot moves from the starting point to the ending point, first spraying the entire bathroom glass with cleaning liquid, and then returning to the starting point to perform the N-path cleaning task twice. This provides sufficient time for the cleaning liquid to dissolve, maximizing its effectiveness and resulting in better cleaning of stubborn stains. While ensuring cleaning effect, it minimizes waste of cleaning liquid and fully utilizes the dissolving time of the cleaning liquid to improve cleaning efficiency. Moreover, it requires no manual intervention from the user, thus enhancing the user experience.

[0238] Corresponding to the above method embodiments, this specification also provides an embodiment of a first type of control device for a window cleaning robot. Figure 8 A schematic diagram of the control device for a first type of window cleaning robot according to an embodiment of this specification is shown. Figure 8 As shown, the window cleaning robot is equipped with spray devices both in front of and behind it in its direction of travel. These devices include:

[0239] The first spray control module 802 is configured to respond to a cleaning command and control the window cleaning robot to traverse the area to be cleaned in a target spray pattern. During the traversal, cleaning liquid is sprayed onto at least a portion of the area to be cleaned until the area to be cleaned has been traversed. The target spray pattern is a spray pattern that sprays cleaning liquid onto at least a portion of the area to be cleaned based on a spray device on the rear side along the driving direction.

[0240] Optionally, the device further includes a first cleaning control module configured to:

[0241] Control the window cleaning robot to wait at a set waiting position in the area to be cleaned for a set time, and then return from the set waiting position to the starting point in the area to be cleaned;

[0242] The robot performs at least one cleaning task on the area to be cleaned from the starting point in cleaning mode, wherein cleaning liquid is sprayed on the designated waiting position in target spraying mode when the window cleaning robot leaves the designated waiting position.

[0243] Optionally, the waiting position can be set to the lowest point of the area to be cleaned.

[0244] Optionally, the traversal turning angle of the target spray pattern is greater than the cleaning turning angle of the cleaning pattern.

[0245] Optionally, the driving speed of the target spray mode is different from that of the cleaning mode.

[0246] Optionally, the first spray control module 802 is further configured to:

[0247] The window cleaning robot is controlled to start from the beginning of the area to be cleaned and move according to the preset spray trajectory, traversing the area to be cleaned in the target spray pattern;

[0248] The first cleaning control module is further configured as follows:

[0249] Control the window cleaning robot to start from the starting point and move according to the preset cleaning trajectory, and perform at least one cleaning task on the area to be cleaned in the cleaning mode;

[0250] The preset spray trajectory of the target spray mode and the preset cleaning trajectory of the cleaning mode may be the same or different.

[0251] Optionally, the preset spray trajectory of the target spray mode is the same as the preset cleaning trajectory of the cleaning mode; the first spray control module 802 is further configured to:

[0252] The window cleaning robot is controlled to start from the beginning of the area to be cleaned, and move along the preset spray trajectory according to the first trajectory deflection angle, and traverse the area to be cleaned in the target spray pattern.

[0253] Accordingly, the first cleaning control module is further configured as follows:

[0254] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory according to the second trajectory deflection angle. It performs at least one cleaning task on the area to be cleaned in the cleaning mode, wherein the second trajectory deflection angle is smaller than the first trajectory deflection angle.

[0255] Optionally, the first cleaning control module is further configured as follows:

[0256] Control the window cleaning robot to move from the set waiting position towards the starting point;

[0257] While moving in the direction of the starting point, continue to control the window cleaning robot to replenish the cleaning liquid in the target spraying mode.

[0258] Optionally, the first spray control module 802 is further configured to:

[0259] The window cleaning robot is controlled to traverse the area to be cleaned, and during the traversal, cleaning liquid is sprayed with the first spraying parameters based on the spraying device on the rear side along the driving direction.

[0260] Accordingly, the first cleaning control module is further configured as follows:

[0261] As the robot moves toward the starting point, it controls the window cleaning robot to supplement the spraying of cleaning liquid with a second spraying parameter based on the spraying device on the rear side along the direction of travel. The second spraying parameter may be the same as or different from the first spraying parameter.

[0262] Optionally, the first spraying parameter includes a first spraying frequency, and the second spraying parameter includes a second spraying frequency, wherein the second spraying frequency is less than the first spraying frequency.

[0263] Optionally, the area to be cleaned includes key cleaning areas; the first cleaning control module is further configured to:

[0264] The window cleaning robot is controlled to start from the starting point and perform the first cleaning task on the area to be cleaned in cleaning mode. The first cleaning task is used to clean all areas of the area to be cleaned.

[0265] After the first cleaning task is completed, the window cleaning robot is controlled to continue cleaning the area to be cleaned in cleaning mode for a second cleaning task. The second cleaning task is used to clean key cleaning areas a second time.

[0266] Optionally, the first spray control module 802 is further configured to:

[0267] The window cleaning robot is controlled to traverse the area to be cleaned in a target spray pattern, and during the traversal, it is detected whether it has moved to the edge of the area to be cleaned.

[0268] If the device moves to the edge of the area to be cleaned, the cleaning liquid will be sprayed after a set delay.

[0269] One embodiment of this specification provides a control device for a window cleaning robot. This device separates the spraying of cleaning liquid from the execution of the cleaning task through multi-segment path planning. The window cleaning robot moves from the starting point to the ending point, first spraying cleaning liquid on at least part of the area to be cleaned, and then returning to the starting point to perform the cleaning task. This provides sufficient time for the cleaning liquid to dissolve, maximizing its effectiveness and resulting in better cleaning of stubborn stains. While ensuring cleaning results, it minimizes waste of cleaning liquid and fully utilizes the dissolving time to improve cleaning efficiency. Furthermore, it requires no manual intervention from the user, enhancing the user experience.

[0270] Corresponding to the above method embodiments, this specification also provides a second embodiment of a control device for a window cleaning robot. Figure 9 A schematic diagram of the control device for a second type of window cleaning robot according to one embodiment of this specification is shown. Figure 9 As shown, the window cleaning robot is equipped with spray devices both in front of and behind it in its direction of travel. These devices include:

[0271] The second spray control module 902 is configured to respond to a cleaning command to control the window cleaning robot to move vertically in a target spray pattern and spray liquid on at least part of the area to be cleaned. During the movement, the window cleaning robot sprays cleaning liquid on at least part of the area to be cleaned above the window cleaning robot as it moves from top to bottom.

[0272] Optionally, the second spray control module 902 is further configured to:

[0273] Control the window cleaning robot to traverse along trajectory N in a target spraying mode. During the traversal of trajectory N, the window cleaning robot sprays cleaning liquid towards the area to be cleaned above it as it travels from top to bottom.

[0274] Optionally, the device further includes a second cleaning control module configured to:

[0275] Control the window cleaning robot to wait at a set waiting position in the area to be cleaned for a set time, and then return from the set waiting position to the starting point in the area to be cleaned;

[0276] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory. It performs at least one cleaning task on the area to be cleaned in the cleaning mode. When the window cleaning robot leaves the set waiting position, it sprays cleaning liquid on the set waiting position in the target spraying mode.

[0277] Optionally, the waiting position can be set to the lowest point of the area to be cleaned.

[0278] Optionally, the traversal turning angle of the target spray pattern is greater than the cleaning turning angle of the cleaning pattern.

[0279] Optionally, the driving speed of the target spray mode is different from that of the cleaning mode.

[0280] Optionally, the preset cleaning trajectory is trajectory N; the second spray control module 902 is further configured as follows:

[0281] The window cleaning robot is controlled to start from the beginning of the area to be cleaned, move along trajectory N according to the first trajectory deflection angle, and traverse the area to be cleaned in the target spraying pattern.

[0282] Accordingly, the second cleaning control module is further configured as follows:

[0283] The window cleaning robot is controlled to start from the starting point and move along trajectory N according to the second trajectory deflection angle, and perform the cleaning task at least once in cleaning mode on the area to be cleaned. The second trajectory deflection angle is smaller than the first trajectory deflection angle.

[0284] Optionally, the second cleaning control module is further configured as follows:

[0285] Control the window cleaning robot to move from the set waiting position towards the starting point;

[0286] While moving in the direction of the starting point, continue to control the window cleaning robot to replenish the cleaning liquid in the target spraying mode.

[0287] Optionally, the second spray control module 902 is further configured to:

[0288] The window cleaning robot is controlled to traverse the area to be cleaned along trajectory N. During the traversal of trajectory N, when the window cleaning robot moves from top to bottom, the cleaning liquid is sprayed onto at least part of the area to be cleaned above the window cleaning robot with a first spraying parameter based on the spraying device on the rear side along the travel direction.

[0289] Accordingly, the second cleaning control module is further configured as follows:

[0290] As the robot moves toward the starting point, it controls the window cleaning robot to supplement the spraying of cleaning liquid with a second spraying parameter based on the spraying device on the rear side along the direction of travel. The second spraying parameter may be the same as or different from the first spraying parameter.

[0291] Optionally, the first spraying parameter includes a first spraying frequency, and the second spraying parameter includes a second spraying frequency, wherein the second spraying frequency is less than the first spraying frequency.

[0292] Optionally, the area to be cleaned includes key cleaning areas; the second cleaning control module is further configured to:

[0293] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory. During the movement, it performs the first cleaning task on the area to be cleaned in cleaning mode. The first cleaning task is used to clean all areas of the area to be cleaned.

[0294] After the first cleaning task is completed, the window cleaning robot continues to move along the preset cleaning trajectory. During the movement, it performs a second cleaning task on the area to be cleaned in cleaning mode. The second cleaning task is used to perform a second cleaning on key cleaning areas.

[0295] Optionally, the second spray control module 902 is further configured to:

[0296] Control the window cleaning robot to move vertically in the target spray pattern, and detect whether it has moved to the edge of the area to be cleaned when it moves from top to bottom during the movement.

[0297] If the robot moves to the edge of the area to be cleaned, it delays for a set time and sprays cleaning liquid onto at least part of the area to be cleaned above the window cleaning robot.

[0298] This specification provides a control device for a window cleaning robot. The robot has spray devices positioned both forward and backward along its travel direction. The device controls the robot to move vertically in a target spray pattern, spraying liquid onto at least a portion of the area to be cleaned. During movement, as the robot moves downwards, it sprays cleaning liquid onto at least a portion of the area above it. This "moving downwards and spraying backwards (upwards)" pattern during vertical movement ensures efficient use of the cleaning liquid, allowing it to fully cover the area to be cleaned and preventing the sprayed liquid from being wiped off by the robot body, thus reducing waste. It also fully utilizes the dissolving time of the cleaning liquid, improving cleaning efficiency. Furthermore, it allows the cleaning liquid to fully soften and dissolve stubborn stains on the area to be cleaned, enhancing the cleaning efficiency without requiring manual user intervention, thus improving the user experience.

[0299] Corresponding to the above method embodiments, this specification also provides a third embodiment of a control device for a window cleaning robot. Figure 10 A schematic diagram of the control device for a third type of window cleaning robot according to one embodiment of this specification is shown. Figure 10 As shown, the window cleaning robot is equipped with spray devices both in front of and behind it in its direction of travel. These devices include:

[0300] The third spray control module 1002 is configured to respond to a cleaning command, control the window cleaning robot to move vertically in a target spray pattern, and spray at least a portion of the area to be cleaned. During the movement, before the window cleaning robot moves from top to bottom in the first vertical direction and turns into the second vertical direction, it sprays cleaning liquid on at least a portion of the area to be cleaned based on the spray device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top-down movement and the turning process.

[0301] Optionally, the third spray control module 1002 is further configured as follows:

[0302] The window cleaning robot is controlled to traverse along trajectory L in a target spraying mode. During the traversal of trajectory L, the window cleaning robot travels from top to bottom along the first vertical direction and before turning into the second vertical direction, it sprays cleaning liquid on at least part of the area to be cleaned based on the spraying device on the rear side along the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the process of traveling from top to bottom and during the turning process.

[0303] Optionally, the device also includes a third cleaning control module, configured to:

[0304] Control the window cleaning robot to wait at a set waiting position in the area to be cleaned for a set time, and then return from the set waiting position to the starting point in the area to be cleaned;

[0305] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory. It performs at least one cleaning task on the area to be cleaned in the cleaning mode. When the window cleaning robot leaves the set waiting position, it sprays cleaning liquid on the set waiting position in the target spraying mode.

[0306] Optionally, the waiting position can be set to the lowest point of the area to be cleaned.

[0307] Optionally, the traversal turning angle of the target spray pattern is greater than the cleaning turning angle of the cleaning pattern.

[0308] Optionally, the driving speed of the target spray mode is different from that of the cleaning mode.

[0309] Optionally, the third cleaning control module is further configured as follows:

[0310] Control the window cleaning robot to move from the set waiting position towards the starting point;

[0311] While moving in the direction of the starting point, continue to control the window cleaning robot to replenish the cleaning liquid in the target spraying mode.

[0312] Optionally, the third spray control module 1002 is further configured as follows:

[0313] The window cleaning robot is controlled to traverse the area to be cleaned along the L-track. During the traversal of the L-track, before the window cleaning robot moves from top to bottom along the first vertical direction and turns into the second vertical direction, it sprays cleaning liquid with the first spraying parameters based on the spraying device on the rear side along the travel direction.

[0314] Accordingly, the third cleaning control module is further configured as follows:

[0315] As the robot moves toward the starting point, it controls the window cleaning robot to supplement the spraying of cleaning liquid with a second spraying parameter based on the spraying device on the rear side along the direction of travel. The second spraying parameter may be the same as or different from the first spraying parameter.

[0316] Optionally, the first spraying parameter includes a first spraying frequency, and the second spraying parameter includes a second spraying frequency, wherein the second spraying frequency is less than the first spraying frequency.

[0317] Optionally, the area to be cleaned includes key cleaning areas; the third cleaning control module is further configured to:

[0318] The window cleaning robot is controlled to start from the starting point and move along the preset cleaning trajectory. During the movement, it performs the first cleaning task on the area to be cleaned in cleaning mode. The first cleaning task is used to clean all areas of the area to be cleaned.

[0319] After the first cleaning task is completed, the window cleaning robot continues to move along the preset cleaning trajectory. During the movement, it performs a second cleaning task on the area to be cleaned in cleaning mode. The second cleaning task is used to perform a second cleaning on key cleaning areas.

[0320] Optionally, the third spray control module 1002 is further configured as follows:

[0321] Control the window cleaning robot to move vertically in the target spraying pattern. During the movement, detect whether it has moved to the edge of the area to be cleaned before moving from top to bottom and turning into the second vertical direction.

[0322] If the vehicle moves to the edge of the area to be cleaned, a set delay is set, and cleaning liquid is sprayed onto at least a portion of the area to be cleaned using a spraying device located behind the vehicle in the direction of travel.

[0323] This specification provides a control device for a window cleaning robot. The robot moves vertically in a target spraying mode, spraying liquid onto at least a portion of the area to be cleaned. During movement, before turning into a second vertical direction and traveling downwards in a first vertical direction, the robot sprays cleaning liquid onto at least a portion of the area to be cleaned using a spraying device located on the rear side of the travel direction. After turning into the second vertical direction, the robot continues spraying cleaning liquid during both the downward travel and turning processes. This avoids repeated spraying of cleaning liquid. The "forward movement, backward (upward) spraying" mode ensures efficient use of the cleaning liquid, allowing it to fully cover the area to be cleaned, reducing waste, and maximizing the dissolving time of the cleaning liquid to improve cleaning efficiency. It also allows the cleaning liquid to fully soften and dissolve stubborn stains on the area to be cleaned, improving cleaning efficiency without requiring manual user intervention, thus enhancing the user experience.

[0324] The above are schematic schemes of various control devices for window cleaning robots in this embodiment. It should be noted that the technical solution of the control device for the window cleaning robot and the technical solution of the control method for the window cleaning robot described above belong to the same concept. For details not described in detail in the technical solution of the control device for the window cleaning robot, please refer to the description of the technical solution of the control method for the window cleaning robot described above.

[0325] Figure 11 A structural block diagram of a window cleaning robot according to one embodiment of this specification is shown, comprising:

[0326] Ontology 1102,

[0327] Drive module 1104 is located on the main body and is used to drive the main body to move.

[0328] Execution module 1106, located in the main body, is used to execute work tasks;

[0329] Memory 1108 and processor 1110;

[0330] The memory 1108 is used to store computer-executable instructions, and the processor 1110 is used to execute the computer-executable instructions. When the computer-executable instructions are executed by the processor 1110, they implement the steps of the control method of the window cleaning robot shown in any of the above embodiments.

[0331] The above is an illustrative scheme of a window cleaning robot according to this embodiment. It should be noted that the technical solution of this window cleaning robot and the technical solution of the control method of the window cleaning robot described above belong to the same concept. For details not described in detail in the technical solution of the window cleaning robot, please refer to the description of the technical solution of the control method of the window cleaning robot described above.

[0332] An embodiment of this specification also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the control method for the window cleaning robot described above.

[0333] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the control method for the window cleaning robot described above belong to the same concept. For details not described in detail in the technical solution of the storage medium, please refer to the description of the technical solution of the control method for the window cleaning robot described above.

[0334] An embodiment of this specification also provides a computer program, wherein when the computer program is executed in a computer, it causes the computer to perform the steps of the control method for the window cleaning robot described above.

[0335] The above is an illustrative scheme of a computer program according to this embodiment. It should be noted that the technical solution of this computer program and the technical solution of the control method for the window cleaning robot described above belong to the same concept. For details not described in detail in the technical solution of the computer program, please refer to the description of the technical solution of the control method for the window cleaning robot described above.

[0336] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0337] Computer instructions include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in computer-readable media can be appropriately added or removed according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0338] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments in this specification are not limited to the described order of actions, because according to the embodiments in this specification, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments in this specification.

[0339] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0340] The preferred embodiments disclosed above are merely illustrative of this specification. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the embodiments described herein. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the embodiments, thereby enabling those skilled in the art to better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A control method for a window cleaning robot, characterized in that, The window cleaning robot is equipped with spray devices both in front of and behind it in its direction of travel. The method includes: In response to a cleaning command, the window cleaning robot is controlled to move vertically in a target spraying mode and spray at least a portion of the area to be cleaned. The target spraying mode refers to a strategy of spraying cleaning liquid in reverse. During the movement, the window cleaning robot travels from top to bottom in a first vertical direction and before turning into a second vertical direction, it sprays cleaning liquid on at least a portion of the area to be cleaned based on the spraying device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top-down travel and turning process.

2. The control method for the window cleaning robot according to claim 1, characterized in that, The control of the window cleaning robot to move vertically in a target spraying pattern and spray liquid onto at least a portion of the area to be cleaned includes: The window cleaning robot is controlled to traverse along trajectory L in a target spraying mode. During the traversal of trajectory L, the window cleaning robot travels from top to bottom along the first vertical direction and before turning into the second vertical direction, it sprays cleaning liquid on at least part of the area to be cleaned based on the spraying device on the rear side along the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the process of traveling from top to bottom and during the turning process.

3. The control method for the window cleaning robot according to claim 1, characterized in that, After the area to be cleaned has been traversed, the following steps are also included: The window cleaning robot is controlled to wait at a set waiting position in the area to be cleaned for a set time, and then return from the set waiting position to the starting point of the area to be cleaned. The window cleaning robot is controlled to move from the starting point according to the preset cleaning trajectory and perform at least one cleaning task on the area to be cleaned in the cleaning mode. When the window cleaning robot leaves the set waiting position, the cleaning liquid is sprayed on the set waiting position in the target spraying mode.

4. The control method for the window cleaning robot according to claim 3, characterized in that, The set waiting position is the lowest point of the area to be cleaned.

5. The control method for the window cleaning robot according to claim 3, characterized in that, The traversal turning angle of the target spray pattern is greater than the cleaning turning angle of the cleaning pattern.

6. The control method for the window cleaning robot according to claim 3, characterized in that, The travel speed of the target spray mode is different from the travel speed of the cleaning mode.

7. The control method for the window cleaning robot according to claim 3, characterized in that, The step of returning from the designated waiting position to the starting point of the area to be cleaned includes: Control the window cleaning robot to move from the set waiting position toward the starting point; While moving toward the starting point, the window cleaning robot continues to be controlled to spray the cleaning liquid in the target spraying pattern.

8. The control method for the window cleaning robot according to claim 7, characterized in that, The control of the window cleaning robot to traverse along trajectory L in a target spraying pattern includes: The window cleaning robot is controlled to traverse the area to be cleaned along trajectory L. During the traversal of trajectory L, before the window cleaning robot moves from top to bottom along the first vertical direction and turns into the second vertical direction, the cleaning liquid is sprayed with the first spraying parameters based on the spraying device on the rear side along the travel direction. Accordingly, the step of continuing to control the window cleaning robot to replenish the cleaning liquid in the target spraying pattern during the movement towards the starting point includes: During the movement toward the starting point, the window cleaning robot is controlled to spray the cleaning liquid with a second spraying parameter based on the spraying device on the rear side along the driving direction, wherein the second spraying parameter is the same as or different from the first spraying parameter.

9. The control method for the window cleaning robot according to claim 8, characterized in that, The first spraying parameter includes a first spraying frequency, and the second spraying parameter includes a second spraying frequency, wherein the second spraying frequency is less than the first spraying frequency.

10. The control method for the window cleaning robot according to claim 3, characterized in that, The area to be cleaned includes key cleaning areas; controlling the window cleaning robot to move from the starting point along a preset cleaning trajectory and perform at least one cleaning task on the area to be cleaned in a cleaning mode includes: The window cleaning robot is controlled to start from the starting point and move according to the preset cleaning trajectory. During the movement, the cleaning robot performs the first cleaning task on the area to be cleaned in the cleaning mode. The first cleaning task is used to clean all areas of the area to be cleaned as a whole. After the first cleaning task is completed, the window cleaning robot is controlled to continue moving along the preset cleaning trajectory. During the movement, the cleaning robot performs a second cleaning task on the area to be cleaned in the cleaning mode. The second cleaning task is used to perform secondary cleaning on the key cleaning areas.

11. The control method for the window cleaning robot according to any one of claims 1-10, characterized in that, The control of the window cleaning robot to move vertically in a target spraying mode and spray at least a portion of the area to be cleaned includes, during the movement, the window cleaning robot traveling downwards in a first vertical direction and before turning into a second vertical direction, spraying cleaning liquid onto at least a portion of the area to be cleaned based on the spraying device on the rear side along the travel direction, including: The window cleaning robot is controlled to move vertically in a target spraying mode. During the movement, it travels from top to bottom and before turning into the second vertical direction, it detects whether it has moved to the edge position of the area to be cleaned. If the vehicle moves to the edge of the area to be cleaned, the cleaning liquid is sprayed onto at least a portion of the area to be cleaned after a set delay, based on the spraying device on the rear side along the driving direction.

12. A control device for a window cleaning robot, characterized in that, The window cleaning robot is equipped with spray devices both in front of and behind it in its direction of travel. These devices include: The third spray control module is configured to respond to a cleaning command by controlling the window cleaning robot to move vertically in a target spray pattern and spray at least a portion of the area to be cleaned. The target spray pattern refers to a strategy of spraying cleaning liquid in reverse. During the movement, the window cleaning robot sprays cleaning liquid on at least a portion of the area to be cleaned based on the spray device on the rear side of the travel direction before turning into the second vertical direction while traveling downwards in the first vertical direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the downward travel and turning process.

13. A window cleaning robot, characterized in that, The window cleaning robot is equipped with spray devices on both the front and rear sides in its direction of travel. The window cleaning robot includes: In the first cleaning mode, the spraying device located in front of the window cleaning robot in the direction of travel sprays liquid. The second cleaning mode includes: In response to a cleaning command, the window cleaning robot is controlled to move vertically in a target spraying mode and spray at least a portion of the area to be cleaned. The target spraying mode refers to a strategy of spraying cleaning liquid in reverse. During the movement, the window cleaning robot travels from top to bottom in a first vertical direction and before turning into a second vertical direction, it sprays cleaning liquid on at least a portion of the area to be cleaned based on the spraying device on the rear side of the travel direction. After turning into the second vertical direction, it continues to spray cleaning liquid during the top-down travel and turning process.

14. A window cleaning robot, characterized in that, include: ontology, A drive module, located on the main body, is used to drive the main body to move; An execution module, located in the main body, is used to perform work tasks; Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the control method of the window cleaning robot according to any one of claims 1-11.

15. A computer-readable storage medium, characterized in that, It stores computer-executable instructions, which, when executed by a processor, implement the steps of the control method for the window cleaning robot according to any one of claims 1-11.

16. A computer program product, characterized in that, Includes a computer program / instructions that, when executed by a processor, implement the steps of the control method for the window cleaning robot according to any one of claims 1-11.

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