Cleaning control method and device, window cleaning robot, medium and product

Abstract

The invention provides a cleaning control method and device, a window cleaning robot, a medium and a product, and relates to the technical field of cleaning equipment.The method includes the steps that under the condition that the window cleaning robot cleans a to-be-cleaned object in the first direction, a first scraping strip descends, and the first scraping strip is used for scraping the surface of the to-be-cleaned object scrubbed by a rag; under the condition that the window cleaning robot moves to the edge of the to-be-cleaned object in the first direction, the first scraping strip is lifted, and the second scraping strip is lowered; the window cleaning robot is controlled to move in the second direction, so that a second scraping strip is used for scraping the surface of the to-be-cleaned object scrubbed by the cleaning cloth; according to the method, through sequential operation of first wiping with the cleaning cloth and then scraping with the scraping strip and in combination with dynamic adjustment of the scraping strip, the treatment capacity for stubborn stains is enhanced, dragging water marks in the scraping process are reduced, and the cleaning effect of the window cleaning robot is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a cleaning control method, apparatus, window cleaning robot, medium and product. Background Technology

[0002] Window cleaning robot technology is widely used in window cleaning operations in high-rise buildings, commercial office buildings, and residential glass curtain walls. With accelerating urbanization, the area of ​​glass curtain walls in high-rise buildings continues to expand, and traditional manual cleaning methods suffer from high risks, low efficiency, and high costs associated with working at heights. Window cleaning robots use adsorption technology (such as magnetic attraction and vacuum adsorption) to fix themselves to the glass surface and use cleaning components (such as a cleaning cloth) to complete the automatic cleaning, significantly improving cleaning efficiency and safety.

[0003] However, the window cleaning machines mentioned above are not very effective at cleaning stubborn stains, and they tend to leave drag marks when wiping water stains, which affects the cleaning effect. Summary of the Invention

[0004] This application provides a cleaning control method, device, window cleaning robot, medium, and product to address the shortcomings of window cleaning robots in the aforementioned related technologies, such as poor cleaning effect on stubborn stains and the tendency to create dragging water marks when wiping water stains, which affects the cleaning effect.

[0005] In a first aspect, this application provides a cleaning control method applied to a window cleaning robot, the bottom of which includes a first scraper, a second scraper, and a cloth, the first and second scrapers being located on opposite sides of the cloth; the method includes:

[0006] While the window cleaning robot is cleaning the object to be cleaned in the first direction, the first scraper is lowered to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0007] When the window cleaning robot moves along the first direction to the edge of the object to be cleaned, the first scraper is raised and the second scraper is lowered.

[0008] The window cleaning robot is controlled to move along a second direction so as to use the second scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0009] In one possible implementation, lowering the first scraper includes:

[0010] Adjust the descent height of the first scraper based on the degree of dirt and / or material of the area to be cleaned corresponding to the current cleaning path.

[0011] In one possible implementation, adjusting the descent height of the first scraper based on the degree of dirt in the area to be cleaned corresponding to the current cleaning path includes:

[0012] When the degree of dirtiness in the area to be cleaned is a first degree, the first scraper is lowered to a first height;

[0013] When the degree of dirtiness in the area to be cleaned reaches the second level, the first scraper is lowered to a second height;

[0014] When the degree of dirtiness in the area to be cleaned is the third degree of dirtiness, the first scraper is lowered to a third height, where the first height is less than the second height and the third height is less than the third degree of dirtiness, and the first degree of dirtiness is less than the second degree of dirtiness and the third degree of dirtiness.

[0015] In one possible implementation, adjusting the descent height of the first scraper based on the material of the area to be cleaned corresponding to the current cleaning path includes:

[0016] If the material of the area to be cleaned is the first material, lower the first scraper to a fourth height;

[0017] When the material of the area to be cleaned is the second material, the first scraper is lowered to a fifth height, the fourth height is less than the fifth height, and the surface roughness of the first material is less than the surface roughness of the second material.

[0018] In one possible implementation, the method further includes:

[0019] When the cleaning task has not started or has been completed, the first and second scrapers are controlled to not come into contact with the surface of the object to be cleaned.

[0020] In one possible implementation, the window cleaning robot further includes: a lifting mechanism, with its two sides respectively connected to the first scraper and the second scraper, wherein controlling the first scraper and the second scraper to prevent contact with the surface to be cleaned includes:

[0021] When the first scraper is in a lowered state and the second scraper is in an raised state, the lifting mechanism is controlled to raise the side connected to the first scraper so that the first and second scrapers do not come into contact with the surface of the object to be cleaned.

[0022] When the first scraper is in the raised state and the second scraper is in the lowered state, the lifting mechanism is controlled to raise the other side connected to the second scraper so that the first scraper and the second scraper do not come into contact with the surface of the object to be cleaned.

[0023] In one possible implementation, controlling the lifting mechanism to lift the side connected to the first scraper bar includes:

[0024] The lifting mechanism is controlled to move a first distance from the first endpoint position to the initial position along a third direction, so that the first scraper is lifted, and the third direction is perpendicular to the first direction;

[0025] Correspondingly, controlling the lifting mechanism to lift the other side connected to the second scraper includes:

[0026] The lifting mechanism is controlled to move a first distance from the second endpoint position to the initial position in the opposite direction of the third direction, so as to raise the second scraper.

[0027] In one possible implementation, raising the first scraper and lowering the second scraper includes:

[0028] The lifting mechanism is controlled to move a second distance from the first endpoint position to the second endpoint position along a third direction, so that the first scraper is raised and the second scraper is lowered to contact the surface of the object to be cleaned, and the second distance is greater than the first distance.

[0029] In one possible implementation, controlling the lifting mechanism to move a second distance along a third direction from the first endpoint position to the second endpoint position includes:

[0030] The lifting mechanism is controlled to move a first distance from the first endpoint position to the initial position along a third direction, so that the first scraper bar is raised while the second scraper bar remains at its current height.

[0031] The lifting mechanism is controlled to continue moving a third distance from the initial position to the second endpoint position along the third direction, so that the first scraper maintains its current height and the second scraper descends to contact the surface of the object to be cleaned. The sum of the first distance and the third distance is the second distance.

[0032] In one possible implementation, the method further includes:

[0033] If the window cleaning robot is in single-scraper cleaning mode, when the window cleaning robot moves to the edge of the object to be cleaned along the first direction, the first scraper is raised, and the window cleaning robot is controlled to move to the edge of the object to be cleaned along the second direction.

[0034] The first scraper is lowered, and the window cleaning robot is controlled to continue moving in the first direction to scrape the surface of the object to be cleaned after being wiped by the cloth using the first scraper.

[0035] In one possible implementation, the window cleaning robot further includes a water spraying mechanism, and the method further includes:

[0036] When the window cleaning robot is performing a cleaning task, it sprays cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path.

[0037] In one possible implementation, the water spraying mechanism includes: a first water spraying component and a second water spraying component, wherein the first water spraying component is disposed inside the first scraper, and the second water spraying component is disposed inside the second scraper; the step of spraying cleaning liquid onto the surface of the object to be cleaned includes:

[0038] While the window cleaning robot is cleaning the object to be cleaned along the first direction, the second water spraying component sprays cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path.

[0039] While the window cleaning robot is cleaning the object to be cleaned along the second direction, cleaning liquid is sprayed onto the surface of the object to be cleaned in the area corresponding to the current cleaning path by the first water spraying component.

[0040] In one possible implementation, after raising the first scraper and lowering the second scraper, the method further includes:

[0041] Control the second water spray component to spray cleaning liquid onto the surface of the object to be cleaned in the area to be cleaned corresponding to the current cleaning path;

[0042] The window cleaning robot is controlled to retract a preset distance so that the edge stains of the object to be cleaned can be scraped off by the second scraper.

[0043] The first and second scrapers are controlled to not contact the surface of the object to be cleaned, and the window cleaning robot is controlled to move back along the first direction to the edge of the object to be cleaned, so as to collect the scraped edge stains onto the wiping cloth.

[0044] Secondly, this application provides a cleaning control device for a window cleaning robot. The bottom of the window cleaning robot includes a first scraper, a second scraper, and a cloth, with the first and second scrapers located on either side of the cloth. The device includes:

[0045] The first control module is used to lower the first scraper when the window cleaning robot is cleaning the object to be cleaned in the first direction, so as to use the first scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0046] The first control module is also used to raise the first scraper and lower the second scraper when the window cleaning robot moves along the first direction to the edge of the object to be cleaned;

[0047] The second control module is used to control the window cleaning robot to move along the second direction so as to use the second scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0048] In one possible implementation, the first control module is specifically used to adjust the descent height of the first scraper based on the degree of dirt and / or material of the area to be cleaned corresponding to the current cleaning path.

[0049] In one possible implementation, the first control module is specifically configured to lower the first scraper to a first height when the degree of dirtiness of the area to be cleaned is a first degree of dirtiness; lower the first scraper to a second height when the degree of dirtiness of the area to be cleaned is a second degree of dirtiness; and lower the first scraper to a third height when the degree of dirtiness of the area to be cleaned is a third degree of dirtiness, wherein the first height < the second height < the third height, and the degree of dirtiness is the first degree of dirtiness < the second degree of dirtiness < the third degree of dirtiness.

[0050] In one possible implementation, the first control module is specifically used to lower the first scraper to a fourth height when the material of the area to be cleaned is a first material; and to lower the first scraper to a fifth height when the material of the area to be cleaned is a second material, wherein the fourth height < the fifth height and the surface roughness of the first material < the surface roughness of the second material.

[0051] In one possible implementation, the first control module is further configured to control the first and second scrapers to not contact the surface of the object to be cleaned when the cleaning task has not started or has been completed.

[0052] In one possible implementation, the window cleaning robot further includes: a lifting mechanism, with its two sides connected to a first scraper and a second scraper, respectively; and a first control module, specifically used to control the lifting mechanism to lift the side connected to the first scraper when the first scraper is in a descending state and the second scraper is in a rising state, so that the first and second scrapers do not contact the surface to be cleaned; and to control the lifting mechanism to lift the other side connected to the second scraper when the first scraper is in a rising state and the second scraper is in a descending state, so that the first and second scrapers do not contact the surface to be cleaned.

[0053] In one possible implementation, the first control module is specifically used to control the lifting mechanism to move a first distance from the first endpoint position to the initial position along a third direction, so as to raise the first scraper bar, the third direction being perpendicular to the first direction; and to control the lifting mechanism to move a first distance from the second endpoint position to the initial position along the opposite direction of the third direction, so as to raise the second scraper bar.

[0054] In one possible implementation, the first control module is specifically used to control the lifting mechanism to move a second distance from the first endpoint position to the second endpoint position along a third direction, so that the first scraper is raised and the second scraper is lowered to contact the surface of the object to be cleaned, and the second distance is greater than the first distance.

[0055] In one possible implementation, the first control module is specifically used to control the lifting mechanism to move a first distance from the first endpoint position to the initial position along a third direction, so that the first scraper is raised and the second scraper remains at its current height; and to control the lifting mechanism to continue moving a third distance from the initial position to the second endpoint position along a third direction, so that the first scraper remains at its current height and the second scraper descends to contact the surface of the object to be cleaned, wherein the sum of the first distance and the third distance is the second distance.

[0056] In one possible implementation, the first control module is further configured to lift the first scraper when the window cleaning robot is in single scraper cleaning mode and the window cleaning robot moves along the first direction to the edge of the object to be cleaned.

[0057] The second control module is also used to control the window cleaning robot to move along the second direction to the edge of the object to be cleaned;

[0058] The first control module is also used to lower the first scraper when the window cleaning robot moves along the second direction to the edge of the object to be cleaned;

[0059] The second control module is also used to control the window cleaning robot to continue moving along the first direction so as to use the first scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0060] In one possible implementation, the window cleaning robot also includes a water spraying mechanism, and the cleaning control device further includes a third control module;

[0061] The third control module is used to spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path when the window cleaning robot is performing a cleaning task.

[0062] In one possible implementation, the water spraying mechanism includes: a first water spraying component and a second water spraying component, wherein the first water spraying component is disposed inside the first scraper and the second water spraying component is disposed inside the second scraper; and a third control module, specifically used to spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path via the second water spraying component when the window cleaning robot is cleaning the object to be cleaned in a first direction; and to spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path via the first water spraying component when the window cleaning robot is cleaning the object to be cleaned in a second direction.

[0063] In one possible implementation, the third control module is also used to control the second water spraying component to spray cleaning liquid onto the surface of the object to be cleaned in the area to be cleaned corresponding to the current cleaning path.

[0064] The second control module is also used to control the window cleaning robot to retract a preset distance so that the second scraper can scrape off the dirt from the edge of the object to be cleaned.

[0065] The first control module is also used to control the first and second scrapers to prevent them from contacting the surface of the object to be cleaned;

[0066] The second control module is also used to control the window cleaning robot to move back along the first direction to the edge of the object to be cleaned, so as to collect the scraped edge stains onto the rag.

[0067] Thirdly, this application provides a window cleaning robot, including: a processor, and a memory communicatively connected to the processor;

[0068] The memory stores the instructions that the computer executes;

[0069] The processor executes computer execution instructions stored in memory to implement the cleaning control method as shown in the first aspect above and / or various possible implementations of the first aspect.

[0070] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the cleaning control method as shown in the first aspect and / or various possible implementations of the first aspect.

[0071] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the cleaning control method as shown in the first aspect and / or various possible implementations of the first aspect.

[0072] The cleaning control method, apparatus, window cleaning robot, medium, and product provided in this application include a window cleaning robot with a first scraper, a second scraper, and a cloth at its bottom. The first and second scrapers are located on either side of the cloth. The method involves lowering the first scraper while the window cleaning robot is cleaning an object in a first direction to scrape the surface of the object after it has been wiped by the cloth. When the window cleaning robot moves to the edge of the object in the first direction, the first scraper is raised and the second scraper is lowered. The method also controls the window cleaning robot to move in a second direction to scrape the surface of the object after it has been wiped by the cloth. This method, through the sequential operation of wiping with the cloth first and then scraping with the scraper, combined with the dynamic adjustment of the scraper, not only enhances the ability to handle stubborn stains but also reduces dragging water streaks during the scraping process, thus improving the cleaning effect of the window cleaning robot. Attached Figure Description

[0073] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0074] Figure 1 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 1 ;

[0075] Figure 2 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 2 ;

[0076] Figure 3 A schematic flowchart of a cleaning control method provided in an embodiment of this application;

[0077] Figure 4 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 3 ;

[0078] Figure 5 A schematic diagram of a lifting mechanism provided in an embodiment of this application;

[0079] Figure 6 This is a schematic diagram of the structure of a cleaning control device provided in an embodiment of this application;

[0080] Figure 7 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 4 .

[0081] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0083] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0084] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0085] Window cleaning robot technology is widely used in window cleaning operations in high-rise buildings, commercial office buildings, and residential glass curtain walls. With accelerating urbanization, the area of ​​glass curtain walls in high-rise buildings continues to expand, and traditional manual cleaning methods suffer from high risks, low efficiency, and high costs associated with working at heights. Window cleaning robots use adsorption technology (such as magnetic attraction and vacuum adsorption) to fix themselves to the glass surface and use cleaning components (such as a cleaning cloth) to complete the automatic cleaning, significantly improving cleaning efficiency and safety.

[0086] However, most of the window cleaning robots mentioned above are designed for ordinary floating dust, and their cleaning ability is poor when faced with firmly attached stains (such as dust, oil, glue, bird droppings, etc.). Furthermore, during the cleaning process, especially when dealing with water stains or using wet cleaning mode, existing window cleaning robots are prone to leaving dragging water streaks or lines. These water streaks are particularly noticeable after the glass surface dries, severely affecting visual cleanliness and light transmittance. In addition, if the residual water after cleaning does not evaporate in time, it may attract dust from the air, causing secondary pollution.

[0087] To address the aforementioned problems, this application provides a cleaning control method applied to a window cleaning robot. The bottom of the window cleaning robot includes a first scraper, a second scraper, and a cloth, with the first and second scrapers located on either side of the cloth. When the window cleaning robot is cleaning an object to be cleaned along a first direction, the first scraper is lowered to scrape the surface of the object after it has been wiped by the cloth. When the window cleaning robot moves along the first direction to the edge of the object to be cleaned, the first scraper is raised, and the second scraper on the opposite side is lowered. Then, the window cleaning robot is controlled to move along a second direction to scrape the surface of the object after it has been wiped by the cloth using the second scraper. Because this method operates by first wiping with the cloth and then scraping with the scraper, combined with dynamic adjustment of the scraper, it not only enhances the ability to handle stubborn stains but also reduces dragging water streaks during the scraping process, thus improving the cleaning effect of the window cleaning robot.

[0088] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0089] The structure of the window cleaning robot provided in the embodiments of this application will be explained below. Figure 1 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 1 ; Figure 2 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 2 .like Figure 1 and Figure 2 As shown, the bottom of the window cleaning robot includes: a first scraper 1, a second scraper 2, and a cloth 3, with the first scraper 1 and the second scraper 2 located on both sides of the cloth 3.

[0090] When the window cleaning robot is performing a cleaning task, the cloth 3 set at the bottom can wipe the surface of the object to be cleaned along the cleaning path; the scrapers set on both sides of the cloth 3 can scrape the surface of the object to be cleaned after the cloth 3 has been wiped to remove the residual water marks after the cloth 3 has been wiped, thereby improving the cleaning effect of the window cleaning robot.

[0091] Understandably, which squeegee is used for wiping depends on the direction of movement of the window cleaning robot, in order to ensure that the robot can perform the operation sequence of wiping with a cloth first and then scraping with a squeegee.

[0092] For example, if the window cleaning robot moves along a first direction (such as...) Figure 1 The cleaning task is performed in the Y-axis direction shown. In the scenario where the movement direction is the first direction, since the first scraper 1 is behind the cloth 3, the first scraper 1 can scrape the surface of the object to be cleaned after the cloth 3 has been wiped.

[0093] If the window cleaning robot moves in the opposite direction of the first direction (e.g.) Figure 1 (The Y-axis is reversed as shown) to perform the cleaning task. In the scenario where the direction of movement is the opposite of the first direction, since the second scraper 2 is behind the cloth 3, the second scraper 2 can scrape the surface of the object to be cleaned after the cloth 3 has been wiped.

[0094] The first scraper 1 and the second scraper 2 provided in this embodiment can move up and down in the Z-axis direction;

[0095] When the first scraper 1 needs to perform scraping, it can be lowered in the Z-axis direction until it comes into contact with the surface of the object to be cleaned.

[0096] When the second scraper 2 is required to perform scraping, it can be lowered in the Z-axis direction until it comes into contact with the surface of the object to be cleaned.

[0097] Figure 3 This is a schematic flowchart illustrating a cleaning control method provided in an embodiment of this application. The cleaning control method provided in this application can be applied to... Figure 1 and Figure 2 The window cleaning robot shown in the embodiment. Figure 3 As shown in the embodiments of this application, the cleaning control method includes:

[0098] S301. While the window cleaning robot is cleaning the object to be cleaned along the first direction, the first scraper is lowered to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0099] In this scenario, if the window cleaning robot cleans the object to be cleaned along the first direction (cleaning direction), the first scraper is located at the rear end of the window cleaning robot. That is, in this first direction, the first scraper is located behind the cleaning cloth.

[0100] The first squeegee is lowered to enable the window cleaning robot to achieve a cleaning effect of wiping with a cloth first and then scraping with the squeegee.

[0101] Understandably, since the second scraper is located in front of the cloth at this time, the second scraper can avoid contact with the surface of the object to be cleaned.

[0102] S302. As the window cleaning robot moves along the first direction to the edge of the object to be cleaned, the first scraper is raised and the second scraper is lowered.

[0103] The detection of whether the window cleaning robot has moved to the edge of the object to be cleaned can be achieved, for example, by using the collision plate or ball-head distance detection component of the window cleaning robot, or by using an infrared sensor or other detection components. This application does not limit this.

[0104] When the window cleaning robot moves along the first direction to the edge of the object to be cleaned (the scraping robot can no longer move along the first direction), it indicates that the cleaning direction of the window cleaning robot needs to be switched. At this time, it is no longer necessary to continue using the first scraper for scraping. Therefore, the first scraper needs to be raised and the second scraper needs to be lowered to keep the first scraper from contacting the surface of the object to be cleaned during the subsequent cleaning process, and the second scraper is used to scrape the surface of the object to be cleaned.

[0105] In one possible implementation, the raising and lowering of the first scraper and the second scraper can be driven by different drive modules or by the same drive module; this application does not impose any restrictions on this.

[0106] In one possible implementation, the window cleaning robot may further include a lifting mechanism. The lifting mechanism is connected to a first scraper and a second scraper on both sides, respectively.

[0107] Figure 4 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 3 . Figure 5 A schematic diagram of a lifting mechanism is provided in an embodiment of this application. For example... Figure 4 and Figure 5 As shown,

[0108] The lifting mechanism 4 is located inside the window cleaning robot, and its two sides are connected to the first scraper 1 and the second scraper 2, respectively. One possible implementation of raising the first scraper and lowering the second scraper is as follows:

[0109] The lifting mechanism raises the side connected to the first scraper and lowers the other side connected to the second scraper.

[0110] Understandably, this lifting mechanism enables the raising and lowering of the two scraper blades in order to control the corresponding scraper blades to perform the scraping process.

[0111] In this step, the lifting mechanism can control the side of itself connected to the first scraper to rise so that the first scraper does not contact the surface of the object to be cleaned, and control the other side connected to the second scraper to fall so that the second scraper contacts the surface of the object to be cleaned, so that the scraping treatment is performed based on the second scraper when the cleaning task is performed subsequently.

[0112] In one possible implementation, the lifting mechanism is provided with corresponding limiting holes 41, strip holes 42 and slide bars 43 on both sides. The lifting mechanism can control the relative positional relationship between the slide bars 43 and the limiting holes 41 and strip holes 42 to realize the corresponding lifting and lowering of the scraper.

[0113] Exemplary

[0114] If the lifting mechanism controls the slide bar 43 to move within the limiting hole 41, the corresponding scraper bar will rise or fall in the Z-axis direction based on the movement of the slide bar 43.

[0115] Understandably, in the lifting mechanism, the setting angles of the limiting hole 41, strip hole 42 and slide rod 43 on the side connecting the first scraper are opposite to the setting angles of the limiting hole, strip hole and slide rod on the side connecting the second scraper. This allows the scraper on one side to be raised and lowered while the scraper on the other side is kept at a certain height, thus achieving the lifting and lowering control of the scrapers on both sides by a single lifting mechanism.

[0116] For example: when the first scraper is raised, the second scraper maintains its current height or lowers, or when the first scraper is lowered, the second scraper maintains its current height or is raised.

[0117] For example, when the first scraper 1 is in a descending state in contact with the surface of the object to be cleaned, the slide rod 43 corresponding to the first scraper 1 is at the high point of the limiting hole 41. The slide rod 43 corresponding to the second scraper 2 can be, for example, inside the strip hole 42, that is, the second scraper 2 is in an ascending state in which it is not in contact with the surface of the object to be cleaned.

[0118] When the slide rod 43 corresponding to the first scraper 1 moves from the high point of the limiting hole 41 to the low point of the limiting hole 41 (i.e., at one end of the strip hole 42), the first scraper 1 is lifted. At this time, the slide rod 43 corresponding to the second scraper 2 can move horizontally (X-axis direction) within the strip hole 42, or it can move from the strip hole 42 to the corresponding limiting hole 41. This application does not limit this; it depends specifically on the length of the limiting hole 41 and the length of the strip hole 42. In one possible implementation, the lifting mechanism can move along the X-axis direction to control the relative positional relationship between the slide rod 43 and the limiting hole 41 and the strip hole 42, thereby controlling the lifting and lowering of the scraper. For example:

[0119] When the lifting mechanism moves along a third direction (opposite to the X-axis shown in the figure), the first scraper bar rises and the second scraper bar falls; when the lifting mechanism moves in the opposite direction of the third direction, the first scraper bar falls and the second scraper bar rises.

[0120] S303. Control the window cleaning robot to move along the second direction so as to use the second scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0121] The second direction can be the opposite direction of the first direction, or it can be any other direction with an angle of any angle with the first direction; it can be determined by the window cleaning robot based on its own planned cleaning path, or it can be determined based on the cleaning path selected by the user.

[0122] For example, if the window cleaning robot is cleaning a heavily soiled area, the second direction can be the opposite of the first direction, so that the window cleaning robot can repeatedly scrape the heavily soiled area.

[0123] Understandably, when the window cleaning robot is cleaning the object to be cleaned in the second direction, the second scraper is located behind the cloth.

[0124] In one possible implementation, when lowering the squeegee, the descent height of the squeegee can be adjusted, for example, based on the degree of dirt and / or material of the area to be cleaned corresponding to the current cleaning path.

[0125] The degree of dirtiness can be detected using sensors such as stain detection sensors, vision sensors, or other sensors capable of detecting the level of dirt on the surface to be cleaned. Different levels of dirtiness correspond to different descent heights.

[0126] For example, the degree of dirtiness may include: a first degree of dirtiness, a second degree of dirtiness, and a third degree of dirtiness.

[0127] The first level of dirt indicates light pollution, such as a thin, uniform layer of dust, a few water spots, or minor air pollutants on the surface of the object to be cleaned. Light pollution has little impact on light transmittance and may not be easily visible to the naked eye, but it is visible under certain lighting conditions.

[0128] The second level of dirt indicates moderate contamination, such as obvious localized stains, rain streaks, mud spots, patches of limescale, or a thick layer of dust on the surface of the object to be cleaned. At moderate levels of contamination, the translucency of the object is somewhat affected, and the dirt is clearly visible to the naked eye.

[0129] The third level of dirtiness indicates severe contamination, such as stubborn stains with strong adhesion on the surface of the object to be cleaned, like bird droppings, dried glue, oil stains, thick industrial dust, or complex dirt formed over a long period of neglect. These stains may have partially hardened, severely affecting light transmittance.

[0130] When the degree of dirtiness is represented numerically, the first degree of dirtiness < the second degree of dirtiness < the third degree of dirtiness.

[0131] In one possible implementation, when the degree of dirtiness of the area to be cleaned is a first degree, the corresponding scraper can be lowered to a first height;

[0132] If the area to be cleaned is at the second level of dirtiness, the corresponding scraper can be lowered to the second height.

[0133] When the dirt level of the area to be cleaned is level three, the corresponding scraper will be lowered to the third height.

[0134] It's understandable that the altitude is first < second < third.

[0135] The first applied pressure corresponding to the first height can be, for example, a relatively gentle pressure. Under the action of the first applied pressure, the scraper can not only remove floating dust, but also avoid excessive wear due to excessive pressure.

[0136] The second applied pressure corresponding to the second height can be, for example, the standard pressure. Under the action of the second applied pressure, the squeegee can remove ordinary stains and watermarks to ensure a clean wipe.

[0137] The third applied pressure corresponding to the third height can be, for example, a large pressure. Under the action of the third applied pressure, the scraper can break the adhesion of the stain by strong scraping, so as to clean stubborn stains.

[0138] In a scenario where the object to be cleaned is glass, the surface material of the object to be cleaned may include, for example, a first material (such as glossy glass) and a second material (such as non-glossy glass).

[0139] If the material of the area to be cleaned is the first material, the corresponding scraper will be lowered to the fourth height;

[0140] When the material of the area to be cleaned is the second material, the corresponding scraper will be lowered to the fifth height. The fourth height is less than the fifth height, and the surface roughness of the first material is less than that of the second material.

[0141] Understandably, when dealing with surfaces with low roughness, the squeegee only needs to descend to a low height (to contact the surface) to ensure a close fit between the squeegee and the glass. Because the descent height is low, the pressure exerted by the squeegee on the surface is also low, thus achieving the desired cleaning effect while avoiding excessive compression that could cause the squeegee to wriggle or experience a sharp increase in resistance.

[0142] When dealing with surfaces with high roughness, the squeegee needs to be lowered to a greater height (to contact the surface). This is to increase the pressure exerted by the squeegee on the surface, so as to better scrape uneven areas such as deep valleys and / or scratches on the rough surface.

[0143] This step involves using different descent heights to scrape different materials when cleaning, avoiding problems such as "incomplete cleaning" or "excessive movement resistance" caused by using a single height. While ensuring cleaning effectiveness, it also optimizes the robot's walking smoothness and power consumption.

[0144] In one possible implementation, when the window cleaning robot is in standby, moving, or paused state (i.e., not performing a cleaning task or the cleaning task has been completed), the first and second scrapers can be controlled to not contact the surface to be cleaned.

[0145] This reduces the resistance of the window cleaning robot on the surface to be cleaned, improving its movement speed and ability to overcome obstacles (such as window frames and rubber strips); at the same time, it can also avoid unnecessary wear, deformation or aging of the scraper due to friction caused by continuous pressure contact.

[0146] In one possible implementation, controlling the first and second scraper strips to not contact the surface to be cleaned includes:

[0147] When the first scraper is in the lowered state and the second scraper is in the raised state, the lifting mechanism is controlled to raise the side connected to the first scraper so that the first and second scrapers do not come into contact with the surface of the object to be cleaned;

[0148] When the first scraper is in the raised state and the second scraper is in the lowered state, the lifting mechanism is controlled to raise the other side of the second scraper so that the first and second scrapers do not come into contact with the surface of the object to be cleaned.

[0149] See above for further details. Figure 4 and Figure 5 As shown, when the first scraper 1 is in the descending state (the first scraper 1 is in contact with the surface of the object to be cleaned) and the second scraper 2 is in the ascending state, the slide rod 43 corresponding to the first scraper 1 is at the high point in the limiting hole 41. At this time, the slide rod 43 can be controlled to move from the high point in the limiting hole 41 to the low point of the limiting hole 41 (that is, one end of the strip hole 42), thereby realizing the lifting mechanism to raise the side connected to the first scraper 1, so that the first scraper does not contact the surface of the object to be cleaned.

[0150] At this time, the slide bar corresponding to the second scraper 2 moves horizontally (X-axis direction) inside the strip hole, such as moving from one end of the strip hole to the other end.

[0151] Understandably, when the first scraper 1 is raised (the first scraper 1 moves within the limiting hole 41), since the second scraper 2 only moves within the corresponding strip hole, the second scraper 2 maintains its current height and will not rise or fall in the Z-axis direction.

[0152] In one possible implementation, when the first scraper is in a lowered state and the second scraper is in an raised state, the lifting mechanism can be controlled to move a first distance from the first endpoint position to the initial position along a third direction, so that the first scraper is raised and the second scraper remains at its current height, so that neither the first nor the second scraper is in contact with the surface of the object to be cleaned.

[0153] When the first scraper is in the rising state and the second scraper is in the falling state, the lifting mechanism can be controlled to move a first distance from the second endpoint position to the initial position in the opposite direction of the third direction, so that the second scraper is raised and the first scraper remains at its current height, so that neither the first nor the second scraper is in contact with the surface of the object to be cleaned.

[0154] The initial position can be, for example, Figure 5 The location of region B shown in the diagram (hereinafter referred to as initial location B), and the first endpoint location can be, for example, [missing information]. Figure 5 The location of region C shown in the diagram (hereinafter referred to as the first endpoint location C), and the second endpoint location can be, for example, […]. Figure 5 The location of region A shown in the figure (hereinafter referred to as the second endpoint location A).

[0155] Understandably, when the lifting mechanism is at the first end position C, the slide bar 43 of the first scraper 1 is at the highest point within the limiting hole 41, and the slide bar of the second scraper 2 is at the other end of the corresponding strip hole. At this time, the first scraper 1 is in a descending state and in contact with the surface of the object to be cleaned, while the second scraper 2 is in an ascending state.

[0156] When the lifting mechanism is in the initial position B, the slide bar 43 of the first scraper bar 1 is at the lowest point in the limiting hole 41 (that is, one end of the strip hole 42), and the slide bar of the second scraper bar 2 is also at the lowest point in the corresponding limiting hole. At this time, both the first scraper bar 1 and the second scraper bar 2 are in the rising state.

[0157] When the lifting mechanism is at the second end position A, the slide bar 43 of the first scraper 1 is at the other end of the strip hole 42, and the slide bar of the second scraper 2 is at the highest point within the corresponding limiting hole. At this time, the first scraper 1 is in an upward state, and the second scraper 2 is in a downward state, and is in contact with the surface of the object to be cleaned.

[0158] When the lifting mechanism moves a first distance from the first endpoint position C to the initial position B in a third-order upward direction, the slide bar 43 of the first scraper 1 moves from the high point in the limiting hole 41 to the low point in the limiting hole 41 (i.e., one end of the strip hole 42), and the slide bar of the second scraper 2 moves from the other end of the strip hole to one end. That is, the slide bars corresponding to both scrapers are at one end of their respective strip holes, i.e., at the connection between the strip hole and the limiting hole. At this time, neither the first nor the second scraper is in contact with the surface of the object to be cleaned.

[0159] When the lifting mechanism moves a first distance from the second endpoint position A to the initial position B in the opposite direction of the third direction, the slide bar of the second scraper 2 moves from the high point in the limiting hole to the low point in the limiting hole (i.e., one end of the strip hole), and the slide bar 43 of the first scraper 1 moves from the other end of the strip hole 42 to one end. That is, the slide bars corresponding to both scrapers are at one end of the corresponding strip hole, that is, at the connection between the strip hole and the limiting hole. At this time, neither the first nor the second scraper is in contact with the surface of the object to be cleaned.

[0160] When the lifting mechanism moves a first distance from the initial position B to the first end position C in the opposite direction of the third direction, the slide bar 43 of the first scraper 1 moves from the lowest point in the limiting hole 41 to the highest point in the limiting hole 41, and the slide bar of the second scraper 2 moves from one end of the strip hole to the other end. That is, the first scraper descends to contact the surface of the object to be cleaned, while the second scraper maintains its current height.

[0161] When the lifting mechanism moves a first distance from the initial position B to the second endpoint position A in the third direction, the slide bar of the second scraper 2 moves from the lowest point in the limiting hole to the highest point in the limiting hole, and the slide bar 43 of the first scraper 1 moves from one end of the strip hole 42 to the other end. That is, the second scraper descends to contact the surface of the object to be cleaned, while the first scraper maintains its current height. In one possible implementation, the lifting mechanism can be controlled to move a second distance from the first endpoint position C to the second endpoint position A in the third direction, so that the first scraper is raised and the second scraper descends to contact the surface of the object to be cleaned; alternatively, the lifting mechanism can be controlled to move a second distance from the second endpoint position A to the first endpoint position C in the opposite direction of the third direction, so that the second scraper is raised and the first scraper descends to contact the surface of the object to be cleaned.

[0162] Understandably, the second distance is greater than the first distance. When the lifting mechanism moves the second distance, at this time, the two slide rods corresponding to the two scrapers are positioned at the highest point within the corresponding limit hole, and the other is positioned at the other end of the strip hole.

[0163] Specifically: When raising the first scraper and lowering the second scraper, the lifting mechanism can be controlled to move a second distance along a third direction from the first endpoint position C to the second endpoint position A, so that the first scraper is raised and the second scraper is lowered to contact the surface of the object to be cleaned.

[0164] In one possible implementation, when raising the first scraper and lowering the second scraper, the lifting mechanism can be controlled to move a first distance from the first endpoint position C to the initial position B along a third direction.

[0165] At this time, the first scraper 1 is raised (the corresponding slide bar 43 moves from the high point of the limiting hole 41 to the low point of the limiting hole 41), and the second scraper 2 maintains the current height (the corresponding slide bar moves from one end to the other end in the strip hole).

[0166] Then, control the lifting mechanism to continue moving a third distance along a third direction from the initial position B to the second endpoint position A.

[0167] At this time, the first scraper 1 maintains its current height (the corresponding slide bar 43 moves from one end to the other end within the strip hole 42), and the second scraper 2 descends (the corresponding slide bar moves from the low point of the limiting hole to the high point of the limiting hole). When the slide bar corresponding to the second scraper 2 is at the high point of the limiting hole, the second scraper 2 descends to contact the surface of the object to be cleaned.

[0168] Understandably, the sum of the first distance and the third distance equals the second distance. The first distance and the third distance may be equal or unequal, and this application does not impose any restrictions on this.

[0169] In one possible implementation, if any squeegee is damaged or unusable, the window cleaning robot can clean the surface to be cleaned using a single squeegee cleaning mode.

[0170] When the window cleaning robot is in single-strip cleaning mode, and the window cleaning robot moves along the first direction to the edge of the object to be cleaned, the first scraper can be raised, and then the window cleaning robot can be controlled to move along the second direction to the edge of the object to be cleaned. At this time, the window cleaning robot only wipes with a cloth and does not scrape with a scraper.

[0171] As the window cleaning robot moves along the second direction to the edge of the object to be cleaned, the first scraper is lowered, and the window cleaning robot is controlled to continue moving along the first direction to use the first scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0172] In one possible implementation, the window cleaning robot may also include a water spraying mechanism.

[0173] The spray mechanism is used to spray cleaning liquid (or stain-removing foam) onto the surface of the object to be cleaned. When performing a cleaning task, the window cleaning robot can spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path, so that the cloth can wipe the surface of the object to be cleaned with the cleaning liquid, and the squeegee can scrape the surface of the object to be cleaned with the cleaning liquid.

[0174] In one possible implementation, the water spraying mechanism may include, for example, a first water spraying component and a second water spraying component.

[0175] The water spraying component is, for example, located inside the corresponding scraper or outside the corresponding impact plate. When the window cleaning robot is cleaning the object to be cleaned along the first direction, the second water spraying component can spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path.

[0176] When the window cleaning robot is cleaning the object to be cleaned along the second direction, cleaning liquid can be sprayed onto the surface of the object to be cleaned in the area corresponding to the current cleaning path through the first water spraying component.

[0177] Understandably, if the window cleaning robot cleans the object to be cleaned along the first direction, since the first water spray component corresponding to the first scraper is behind the cloth and the second water spray component corresponding to the second scraper is in front of the cloth, cleaning liquid can be sprayed onto the surface of the object to be cleaned in the area corresponding to the current cleaning path through the second water spray component corresponding to the second scraper.

[0178] If the window cleaning robot cleans the object to be cleaned along the second direction, since the second water spray component corresponding to the second scraper is behind the cloth and the first water spray component corresponding to the first scraper is in front of the cloth, cleaning liquid can be sprayed onto the surface of the object to be cleaned in the area corresponding to the current cleaning path through the first water spray component corresponding to the first scraper.

[0179] It is understandable that there is no clear temporal relationship between spraying the cleaning fluid and lowering the scraper blades. The cleaning fluid can be sprayed first, and then the scraper blades can be lowered; or the scraper blades can be lowered first, and then the cleaning fluid can be sprayed; or the cleaning fluid can be sprayed while the scraper blades are being lowered. This application does not impose any restrictions on this.

[0180] For example, after spraying the cleaning solution, you can wait for a preset time before moving the window cleaning robot so that the stains are fully dissolved by the cleaning solution, thereby allowing the squeegee to achieve a better cleaning effect.

[0181] In one possible implementation, after raising the first scraper and lowering the second scraper, the second water spray assembly can be controlled to spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path.

[0182] Understandably, after the second scraper descends, it comes into contact with the surface of the object to be cleaned. At this time, the second water spray component corresponding to the second scraper can be controlled to spray cleaning liquid onto the surface of the object to be cleaned (for example, cleaning liquid can be sprayed onto the position between the scraper and the cloth).

[0183] The purpose of using the second water spray assembly on the same side as the second scraper to spray cleaning fluid is to clean the edge stains of the object to be cleaned.

[0184] After the second water spraying component finishes spraying, control the window cleaning robot to retreat a preset distance.

[0185] The purpose of retraction is to use the second scraper to scrape away edge stains from the edges of the object to be cleaned (this is easier to do because of the cleaning solution). The direction of retraction can be, for example, the opposite of the first direction.

[0186] The preset distance can be determined by the setting position of the water spraying mechanism and the distance between the scraper and the cloth, such as 4 cm, 5 cm or 6 cm, and this application does not limit it.

[0187] After using the second scraper to remove the edge stains from the edge of the object to be cleaned, control the first and second scrapers to prevent them from contacting the surface of the object to be cleaned, and control the window cleaning robot to move back to the edge of the object to be cleaned along the first direction.

[0188] The purpose of controlling the window cleaning robot to move back along the first direction to the edge of the object to be cleaned is to collect the scraped edge dirt onto the cloth, so that there will not be too much dirt on the scraper during subsequent cleaning, which would affect the scraping effect. At the same time, this step, through the control logic of retracting a preset distance, allows the window cleaning robot to spray water at specific points, and perform targeted cleaning when facing key areas (such as the area between the scraper and the cloth, and the edge area of ​​the object to be cleaned).

[0189] The cleaning control method provided in this application embodiment involves lowering a first scraper to scrape the surface of the object to be cleaned after it has been wiped by a cloth while the window cleaning robot is cleaning the object in a first direction; raising the first scraper and lowering the second scraper while the window cleaning robot moves to the edge of the object to be cleaned in the first direction; and controlling the window cleaning robot to move in a second direction to scrape the surface of the object to be cleaned after it has been wiped by a cloth using the second scraper. This method, through the sequential operation of wiping with a cloth first and then scraping with a scraper, combined with the dynamic adjustment of the scraper, not only enhances the ability to handle stubborn stains but also reduces dragging water marks during the scraping process, thereby improving the cleaning effect of the window cleaning robot.

[0190] Figure 6 This is a schematic diagram of a cleaning control device provided in an embodiment of this application. The cleaning control device shown in this embodiment can be applied to the window cleaning robot shown in the above embodiments. Figure 6 As shown, the cleaning control device 600 includes:

[0191] The first control module 601 is used to lower the first scraper when the window cleaning robot is cleaning the object to be cleaned along the first direction, so as to use the first scraper to scrape the surface of the object to be cleaned after the cloth has been wiped.

[0192] The first control module 601 is also used to raise the first scraper and lower the second scraper when the window cleaning robot moves along the first direction to the edge of the object to be cleaned;

[0193] The second control module 602 is used to control the window cleaning robot to move along the second direction so as to use the second scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0194] In one possible implementation, the first control module 601 is specifically used to adjust the descent height of the first scraper based on the degree of dirt and / or material of the area to be cleaned corresponding to the current cleaning path.

[0195] In one possible implementation, the first control module 601 is specifically configured to lower the first scraper to a first height when the degree of dirtiness of the area to be cleaned is a first degree of dirtiness; lower the first scraper to a second height when the degree of dirtiness of the area to be cleaned is a second degree of dirtiness; and lower the first scraper to a third height when the degree of dirtiness of the area to be cleaned is a third degree of dirtiness, wherein the first height < the second height < the third height, and the degree of dirtiness is less than the second degree of dirtiness < the third degree of dirtiness.

[0196] In one possible implementation, the first control module 601 is specifically used to lower the first scraper to a fourth height when the material of the area to be cleaned is a first material; and to lower the first scraper to a fifth height when the material of the area to be cleaned is a second material, wherein the fourth height < the fifth height and the surface roughness of the first material < the surface roughness of the second material.

[0197] In one possible implementation, the first control module 601 is further configured to control the first and second scrapers to not contact the surface of the object to be cleaned when the cleaning task has not started or has been completed.

[0198] In one possible implementation, the window cleaning robot further includes: a lifting mechanism, with its two sides connected to a first scraper and a second scraper, respectively; and a first control module 601, specifically used to control the lifting mechanism to lift the side connected to the first scraper when the first scraper is in a descending state and the second scraper is in a rising state, so that the first and second scrapers do not contact the surface to be cleaned; and to control the lifting mechanism to lift the other side connected to the second scraper when the first scraper is in a rising state and the second scraper is in a descending state, so that the first and second scrapers do not contact the surface to be cleaned.

[0199] In one possible implementation, the first control module 601 is specifically used to control the lifting mechanism to move a first distance from the first end position to the initial position along a third direction, so as to raise the first scraper bar, the third direction being perpendicular to the first direction; and to control the lifting mechanism to move a first distance from the second end position to the initial position along the opposite direction of the third direction, so as to raise the second scraper bar.

[0200] In one possible implementation, the first control module 601 is specifically used to control the lifting mechanism to move a second distance from the first endpoint position to the second endpoint position along a third direction, so that the first scraper is raised and the second scraper is lowered to contact the surface of the object to be cleaned, and the second distance is greater than the first distance.

[0201] In one possible implementation, the first control module 601 is specifically used to control the lifting mechanism to move a first distance from the first endpoint position to the initial position along a third direction, so that the first scraper is raised and the second scraper remains at its current height; and to control the lifting mechanism to continue moving a third distance from the initial position to the second endpoint position along a third direction, so that the first scraper remains at its current height and the second scraper descends to contact the surface of the object to be cleaned, wherein the sum of the first distance and the third distance is the second distance.

[0202] In one possible implementation, the first control module 601 is further configured to lift the first scraper when the window cleaning robot is in single scraper cleaning mode and the window cleaning robot moves along the first direction to the edge of the object to be cleaned.

[0203] The second control module 602 is also used to control the window cleaning robot to move along the second direction to the edge of the object to be cleaned;

[0204] The first control module 601 is also used to lower the first scraper when the window cleaning robot moves along the second direction to the edge of the object to be cleaned;

[0205] The second control module 602 is also used to control the window cleaning robot to continue moving along the first direction so as to use the first scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

[0206] In one possible implementation, the window cleaning robot also includes a water spraying mechanism, and the cleaning control device further includes a third control module 603;

[0207] The third control module 603 is used to spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path when the window cleaning robot is performing a cleaning task.

[0208] In one possible implementation, the water spraying mechanism includes: a first water spraying component and a second water spraying component, wherein the first water spraying component is disposed inside the first scraper and the second water spraying component is disposed inside the second scraper. The third control module 603 is specifically used to spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path through the second water spraying component when the window cleaning robot is cleaning the object to be cleaned along a first direction; and to spray cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path through the first water spraying component when the window cleaning robot is cleaning the object to be cleaned along a second direction.

[0209] In one possible implementation, the third control module 603 is also used to control the second water spraying assembly to spray cleaning liquid onto the surface of the object to be cleaned in the area to be cleaned corresponding to the current cleaning path.

[0210] The second control module 602 is also used to control the window cleaning robot to retract a preset distance so that the edge stains of the object to be cleaned can be scraped off by the second scraper.

[0211] The first control module 601 is also used to control the first scraper and the second scraper to prevent them from contacting the surface of the object to be cleaned;

[0212] The second control module 602 is also used to control the window cleaning robot to move back along the first direction to the edge of the object to be cleaned, so as to collect the scraped edge stains onto the rag.

[0213] The cleaning control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0214] Figure 7 A schematic diagram of the structure of a window cleaning robot provided in this application embodiment. Figure 4 .like Figure 7 As shown, the window cleaning robot 700 provided in this embodiment includes at least one processor 701 and a memory 702. Optionally, the window cleaning robot 700 also includes a communication interface 703. The processor 701, memory 702, and communication interface 703 are connected via a bus 704.

[0215] In a specific implementation, at least one processor 701 executes computer execution instructions stored in memory 702, causing at least one processor 701 to perform the above-described method.

[0216] The specific implementation process of processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0217] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0218] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0219] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0220] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0221] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0222] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0223] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0224] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0225] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0226] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0227] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0228] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0229] 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 this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0230] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0231] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0232] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0233] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0234] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0235] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0236] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0237] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A cleaning control method, characterized in that, An application is made to a window cleaning robot, the bottom of which includes a first scraper, a second scraper, and a cloth, with the first and second scrapers located on either side of the cloth; the method includes: While the window cleaning robot is cleaning the object to be cleaned in the first direction, the first scraper is lowered to scrape the surface of the object to be cleaned after being wiped by the cloth. When the window cleaning robot moves along the first direction to the edge of the object to be cleaned, the first scraper is raised and the second scraper is lowered. The window cleaning robot is controlled to move along a second direction so as to use the second scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

2. The method according to claim 1, characterized in that, The lowering of the first scraper includes: Adjust the descent height of the first scraper based on the degree of dirt and / or material of the area to be cleaned corresponding to the current cleaning path.

3. The method according to claim 2, characterized in that, The step of adjusting the descent height of the first scraper based on the degree of dirt in the area to be cleaned corresponding to the current cleaning path includes: When the degree of dirtiness in the area to be cleaned is a first degree, the first scraper is lowered to a first height; When the degree of dirtiness in the area to be cleaned reaches the second level, the first scraper is lowered to a second height; When the degree of dirtiness of the area to be cleaned is the third degree of dirtiness, the first scraper is lowered to a third height, where the first height < the second height < the third height, and the degree of dirtiness is the first degree of dirtiness < the second degree of dirtiness < the third degree of dirtiness.

4. The method according to claim 2, characterized in that, The step of adjusting the descent height of the first scraper based on the material of the area to be cleaned corresponding to the current cleaning path includes: If the material of the area to be cleaned is the first material, lower the first scraper to a fourth height; When the material of the area to be cleaned is the second material, the first scraper is lowered to a fifth height, the fourth height is less than the fifth height, and the surface roughness of the first material is less than the surface roughness of the second material.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: When the cleaning task has not started or has been completed, the first and second scrapers are controlled to not come into contact with the surface of the object to be cleaned.

6. The method according to claim 5, characterized in that, The window cleaning robot further includes a lifting mechanism, with its two sides respectively connected to the first scraper and the second scraper. Controlling the first and second scrapers to prevent them from contacting the surface of the object to be cleaned includes: When the first scraper is in a lowered state and the second scraper is in an raised state, the lifting mechanism is controlled to raise the side connected to the first scraper so that the first and second scrapers do not come into contact with the surface of the object to be cleaned. When the first scraper is in the raised state and the second scraper is in the lowered state, the lifting mechanism is controlled to raise the other side connected to the second scraper so that the first scraper and the second scraper do not come into contact with the surface of the object to be cleaned.

7. The method according to claim 6, characterized in that, The control of lifting the side of the lifting mechanism connected to the first scraper bar includes: The lifting mechanism is controlled to move a first distance from the first endpoint position to the initial position along a third direction, so that the first scraper is lifted, and the third direction is perpendicular to the first direction; Correspondingly, controlling the lifting mechanism to lift the other side connected to the second scraper includes: The lifting mechanism is controlled to move a first distance from the second endpoint position to the initial position in the opposite direction of the third direction, so as to raise the second scraper.

8. The method according to claim 7, characterized in that, The raising of the first scraper and lowering of the second scraper includes: The lifting mechanism is controlled to move a second distance from the first endpoint position to the second endpoint position along a third direction, so that the first scraper is raised and the second scraper is lowered to contact the surface of the object to be cleaned, and the second distance is greater than the first distance.

9. The method according to claim 8, characterized in that, The control of the lifting mechanism to move a second distance along a third direction from the first endpoint position to the second endpoint position includes: The lifting mechanism is controlled to move a first distance from the first endpoint position to the initial position along a third direction, so that the first scraper bar is raised while the second scraper bar remains at its current height. The lifting mechanism is controlled to continue moving a third distance from the initial position to the second endpoint position along the third direction, so that the first scraper maintains its current height and the second scraper descends to contact the surface of the object to be cleaned. The sum of the first distance and the third distance is the second distance.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: If the window cleaning robot is in single-scraper cleaning mode, when the window cleaning robot moves to the edge of the object to be cleaned along the first direction, the first scraper is raised, and the window cleaning robot is controlled to move to the edge of the object to be cleaned along the second direction. The first scraper is lowered, and the window cleaning robot is controlled to continue moving in the first direction to scrape the surface of the object to be cleaned after being wiped by the cloth using the first scraper.

11. The method according to any one of claims 1-9, characterized in that, The window cleaning robot further includes a water spraying mechanism, and the method further includes: When the window cleaning robot is performing a cleaning task, it sprays cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path.

12. The method according to claim 11, characterized in that, The water spraying mechanism includes a first water spraying component and a second water spraying component. The first water spraying component is disposed inside the first scraper, and the second water spraying component is disposed inside the second scraper. Spraying cleaning liquid onto the surface of the object to be cleaned includes: While the window cleaning robot is cleaning the object to be cleaned along the first direction, the second water spraying component sprays cleaning liquid onto the surface of the object to be cleaned in the area corresponding to the current cleaning path. While the window cleaning robot is cleaning the object to be cleaned along the second direction, cleaning liquid is sprayed onto the surface of the object to be cleaned in the area corresponding to the current cleaning path by the first water spraying component.

13. The method according to claim 12, characterized in that, After raising the first scraper and lowering the second scraper, the method further includes: Control the second water spray component to spray cleaning liquid onto the surface of the object to be cleaned in the area to be cleaned corresponding to the current cleaning path; The window cleaning robot is controlled to retract a preset distance so that the edge stains of the object to be cleaned can be scraped off by the second scraper. The first and second scrapers are controlled to not contact the surface of the object to be cleaned, and the window cleaning robot is controlled to move back along the first direction to the edge of the object to be cleaned, so as to collect the scraped edge stains onto the wiping cloth.

14. A cleaning control device, characterized in that, An application to a window cleaning robot, the bottom of which includes a first scraper, a second scraper, and a cloth, with the first and second scrapers located on either side of the cloth; the device includes: The first control module is used to lower the first scraper when the window cleaning robot is cleaning the object to be cleaned in the first direction, so as to use the first scraper to scrape the surface of the object to be cleaned after being wiped by the cloth. The first control module is further configured to raise the first scraper and lower the second scraper when the window cleaning robot moves along the first direction to the edge of the object to be cleaned; The second control module is used to control the window cleaning robot to move along the second direction so as to use the second scraper to scrape the surface of the object to be cleaned after being wiped by the cloth.

15. A window cleaning robot, characterized in that, include: Memory; processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-13.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 13.

17. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 13.

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