Squeegee angle control method, device and window cleaning robot

Abstract

The embodiment of the application provides a kind of angle control method, device and window cleaning robot of scraping strip.The method comprises: in the moving process of window cleaning robot, based on the running parameter of the moving component arranged on window cleaning robot, the moving state of window cleaning robot is determined;Based on the moving state, the angle between the scraping strip arranged on window cleaning robot and the plane to be cleaned of window cleaning robot is dynamically adjusted.The method is used to automatically adjust the angle of scraping strip, improve the effect of cleaning effect.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology for window cleaning robots, and in particular to a method, device and window cleaning robot for controlling the angle of the squeegee. Background Technology

[0002] Nowadays, more and more people are using window cleaning robots to clean their windows. Window cleaning robots usually clean the glass surface by using a squeegee. It can be seen that the angle control of the squeegee directly affects the cleaning effect on the glass surface and the stability of the equipment.

[0003] Most common window cleaning robots use mechanical limiters or electromagnet drives to adjust the angle of the squeegee. These solutions require complex mechanical transmission structures and limit switches, which not only occupy a lot of design space and restrict the miniaturization of products, but also increase the failure rate of window cleaning robots due to structural redundancy. Furthermore, after long-term use, mechanical limit components are prone to wear, which leads to a gradual decrease in control accuracy and seriously affects the stability of the squeegee effect of window cleaning robots.

[0004] Meanwhile, common window cleaning robots often leave stains on the surface during the cleaning process because the contact force between the squeegee and the surface to be cleaned is too small. This seriously affects the overall cleaning performance of the window cleaning robot and reduces the user experience. Summary of the Invention

[0005] This application provides a method, device, and window cleaning robot for controlling the angle of the squeegee, so as to automatically adjust the angle of the squeegee and improve the cleaning effect.

[0006] In a first aspect, embodiments of this application provide a method for controlling the angle of a scraper, including:

[0007] During the movement of the window cleaning robot, the movement state of the window cleaning robot is determined based on the operating parameters of the moving components set on the window cleaning robot;

[0008] Based on the movement state, the angle between the scraper on the window cleaning robot and the surface to be cleaned by the window cleaning robot is dynamically adjusted.

[0009] In one possible implementation, the moving component includes two sets of drive wheels, which are symmetrically arranged on one side of the window cleaning robot facing the surface to be cleaned.

[0010] The operating parameters include the rotation direction and rotation speed of the drive wheel;

[0011] Determining the movement state of the window cleaning robot based on the operating parameters of the moving components installed on the robot includes:

[0012] The movement state of the window cleaning robot is determined based on the rotation direction and movement speed of the two sets of drive wheels.

[0013] In one possible implementation, determining the movement state of the window cleaning robot based on the rotation direction and movement speed of the two sets of drive wheels includes:

[0014] When the two sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the first direction, the movement state of the window cleaning robot is determined to be forward.

[0015] When the two sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the second direction, the movement state of the window cleaning robot is determined to be backward.

[0016] When the two sets of drive wheels rotate in the same direction and the difference in their rotation speeds reaches a preset difference threshold, or when the two sets of drive wheels rotate in opposite directions and the difference in their rotation speeds reaches a preset difference threshold, the movement state of the window cleaning robot is determined to be turning.

[0017] The first direction is opposite to the second direction.

[0018] In one possible implementation, the window cleaning robot is equipped with multiple scrapers;

[0019] The step of dynamically adjusting the angle between the scraper on the window cleaning robot and the surface to be cleaned by the window cleaning robot based on the movement state includes:

[0020] When the window cleaning robot is moving forward, several scraper blades on the side closest to the direction of movement are controlled to remain perpendicular to the surface to be cleaned.

[0021] When the window cleaning robot is moving backward, control several scraper blades on the side closest to the backward direction to keep them perpendicular to the surface to be cleaned;

[0022] When the window cleaning robot is turning, the angle between the scraper and the surface to be cleaned is adjusted based on the rotation speed of the drive wheel.

[0023] In one possible implementation, adjusting the angle between the scraper and the surface to be cleaned based on the rotational speed of the drive wheel includes:

[0024] The turning radius of the window cleaning robot is determined based on the preset wheel spacing of the two sets of drive wheels and the rotation speed of the two sets of drive wheels.

[0025] Based on the rotational speed of the two sets of drive wheels and the turning radius, the angle between the scraper and the surface to be cleaned is adjusted.

[0026] In one possible implementation, adjusting the angle between the scraper and the surface to be cleaned based on the rotational speeds of the two sets of drive wheels and the turning radius includes:

[0027] The turning angular velocity of the window cleaning robot is determined based on the rotation speed of the two sets of drive wheels and the rotation radius.

[0028] The adjustment angle is determined based on the steering angular velocity, the steering radius, and the preset material parameters corresponding to the scraper.

[0029] Control the scraper to maintain the adjusted angle with the surface to be cleaned.

[0030] In one possible implementation, the method further includes:

[0031] When the rotational speed of both sets of drive wheels is less than a preset rotational speed threshold, all scraper blades are controlled to remain perpendicular to the surface to be cleaned.

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

[0033] If an abnormality is detected in the window cleaning robot, control all the scrapers on the window cleaning robot to keep them perpendicular to the surface to be cleaned.

[0034] Secondly, this application provides a window cleaning robot, including a robot body, a moving component and at least one scraper on the side of the robot body facing the window cleaning robot to be cleaned;

[0035] The window cleaning robot is used to determine the movement state of the window cleaning robot based on the operating parameters of the moving component by employing the scraper angle control method as described in the first aspect and / or various possible implementations of the first aspect during movement; and dynamically adjust the angle between the scraper set on the window cleaning robot and the surface to be cleaned by the window cleaning robot based on the movement state.

[0036] Thirdly, embodiments of this application provide a scraper angle control device, including:

[0037] The determination module is used to determine the movement state of the window cleaning robot based on the operating parameters of the moving components set on the window cleaning robot during its movement.

[0038] An adjustment module is used to dynamically adjust the angle between the scraper on the window cleaning robot and the surface to be cleaned by the window cleaning robot based on the movement state.

[0039] The squeegee angle control method, device, and window cleaning robot provided in this application dynamically adjust the angle between the squeegee and the surface to be cleaned. This ensures that the squeegee always applies to the surface in a manner that adapts to the current movement posture of the window cleaning robot, avoiding problems such as uneven squeegee adhesion and abnormal force caused by changes in the movement state of the window cleaning robot. This improves the contact stability between the squeegee and the surface to be cleaned, ensuring a uniform cleaning effect. It also reduces ineffective friction between the squeegee and the surface to be cleaned, preventing squeegee wear. Furthermore, dynamically adjusting the angle between the squeegee and the surface to be cleaned optimizes the operating resistance of the window cleaning robot, reduces the load and energy consumption of moving components, improves the smoothness of overall operation, and adapts to cleaning needs under different working conditions. This enhances the adaptability and reliability of the window cleaning robot in complex working scenarios and extends its overall service life. Attached Figure Description

[0040] 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.

[0041] Figure 1 This application provides a schematic diagram of the structure of a window cleaning robot;

[0042] Figure 2 A flowchart illustrating a scraper angle control method provided in this application;

[0043] Figure 3 A schematic diagram of a scraper angle control device provided in this application;

[0044] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0045] 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

[0046] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0047] Please see Figure 1 In one embodiment, this application provides a window cleaning robot 100, including a robot body 110, a moving component 120 and at least one scraper 130 disposed on the side of the robot body 110 facing the window cleaning surface to be cleaned;

[0048] Each scraper blade 130 is equipped with a corresponding drive assembly 140;

[0049] The drive assembly 140 is connected to the corresponding scraper 130 to drive the corresponding scraper 130 to rotate along the length direction, thereby dynamically adjusting the angle between the cleaning surface of the scraper 130 and the surface to be cleaned of the window cleaning robot 100.

[0050] The window cleaning robot 100 is a device used to clean vertical or inclined surfaces such as window glass. The window cleaning robot does not require manual operation and can autonomously complete the cleaning tasks of vertical or inclined surfaces.

[0051] The surface to be cleaned refers to the surface on which the window cleaning robot 100 actually performs its cleaning work. It is usually window glass, but may also include smooth tiled walls, mirrors, and other surfaces that meet the cleaning requirements.

[0052] The moving component 120 refers to the moving part installed on the side of the robot body 110 facing the surface to be cleaned. The moving component 120 can be, for example, a drive wheel, an adsorption wheel, or a track structure. The moving component 120 is used to drive the robot body 110 to perform translation, turning, and other moving actions on the surface to be cleaned, ensuring that the moving range of the robot body 110 can cover the entire surface to be cleaned.

[0053] The moving components 120 are typically symmetrically distributed on both sides or at the four corners of the bottom of the robot body 110. They are powered by built-in drive motors and work in conjunction with the negative pressure generated by the suction module at the bottom of the robot body 110 to ensure that the window cleaning robot 100 can move smoothly on vertical or inclined surfaces to be cleaned.

[0054] The scraper 130 refers to the elastic component on the robot body 110 used to directly contact the surface to be cleaned and remove stains. The scraper 130 can be, for example, a silicone scraper or a rubber scraper, and can be long and narrow. Through contact and friction with the surface to be cleaned, the scraper 130 can scrape away contaminants such as dust, water stains, and oil stains from the surface of the surface to be cleaned.

[0055] As an example, the robot body 110 can be equipped with two or more scraper blades 130. The purpose is to improve the cleaning coverage of the window cleaning robot 100 through the coordinated operation of multiple scraper blades, while avoiding the situation where the cleaning effect of the window cleaning robot 100 drops significantly after the scraper blades wear down due to the setting of a single scraper blade.

[0056] The drive assembly 140 is an angle control actuator, such as a servo motor. The servo motor may contain a motor, reducer, position sensor and control circuit. The drive assembly 140 can drive the output shaft to rotate a specific angle according to the control signal issued by the control assembly on the robot body 110, so as to control the scraper 130 connected to the drive assembly 140 to flip along the length direction, thereby realizing the change of the angle between the cleaning surface of the scraper 130 and the surface to be cleaned.

[0057] The drive assembly 140 drives the scraper 130 to rotate along its length, which means that the scraper 130 rotates about its own length.

[0058] In one embodiment, the length direction of the squeegee 130 is perpendicular to the forward direction of the window cleaning robot 100. As the window cleaning robot 100 moves forward, the cleaning surface of the squeegee 130 can move relative to the surface to be cleaned along the path of the window cleaning robot 100 to the greatest extent, thereby achieving efficient cleaning of the surface to be cleaned.

[0059] With the cleaning surface of the scraper 130 parallel to and in close contact with the surface to be cleaned, when the drive assembly 140 controls the scraper 130 to rotate 90°, the cleaning surface of the scraper 130 can, for example, rotate about the length direction as the axis in the direction of travel of the window cleaning robot 100. After the rotation, the cleaning surface of the scraper 130 is perpendicular to the surface to be cleaned and faces the direction of travel of the window cleaning robot 100.

[0060] The change in the angle between the cleaning surface of the squeegee 130 and the surface to be cleaned by the window cleaning robot 100 will cause changes in the contact pressure and friction between the cleaning surface and the surface to be cleaned, thus changing the efficiency of the window cleaning robot 100 in removing stains. At the same time, the change in the friction between the cleaning surface and the surface to be cleaned will also change the moving speed of the window cleaning robot 100 during the movement process.

[0061] The aforementioned window cleaning robot utilizes a servo motor to drive the scraper blade to rotate, allowing the blade to dynamically adjust its angle relative to the surface being cleaned. This design overcomes the limitations of fixed-angle scrapers in common window cleaning robots, which restrict cleaning effectiveness and cleaning position. The scraper blade can adaptively adjust according to the actual work scenario, ensuring effective cleaning of stubborn stains while also balancing the robot's cleaning efficiency and the scraper blade's lifespan, thereby improving the user experience.

[0062] In some alternative embodiments, the window cleaning robot 100 also includes a control component disposed inside the mounting cavity of the robot body 110;

[0063] The control component is electrically connected to the drive component 140. The control component is used to output control signals to the drive component 140 to control the drive component 140 to drive the corresponding scraper 130 to rotate along the length direction, thereby dynamically adjusting the angle between the cleaning surface of the scraper 130 and the surface to be cleaned of the window cleaning robot 100.

[0064] Control signals refer to electrical signals emitted by the control component, used to indicate the rotation speed and duration of the motor in the drive component 140. For example, upon receiving a control command from a terminal, the control component can generate control signals and send them to the drive component 140. The control commands can be issued by the user through a terminal connected to the control component, or they can be automatically generated by the control component based on the working status of the window cleaning robot 100.

[0065] In some alternative embodiments, the moving component 120 includes a plurality of drive wheels, and each drive wheel is equipped with a speed sensor;

[0066] The speed sensor is electrically connected to the control component and is used to output the rotational speed of the corresponding drive wheel to the control component.

[0067] In this embodiment, the drive wheels are typically symmetrically installed on both sides or at the front and rear ends of the bottom of the window cleaning robot 100, forming a symmetrical drive layout. This ensures that the window cleaning robot 100 is subjected to balanced force when moving, avoiding deviation caused by insufficient power on one side.

[0068] Each drive wheel is powered by an independent drive motor. The drive motor and the drive wheel are directly connected through a gear reducer or coupling, which can convert the high-speed rotation of the motor into low-speed, high-torque rotation of the drive wheel. This ensures that the window cleaning robot 100 can obtain sufficient driving force on vertical or inclined surfaces to be cleaned, and achieve smooth movement.

[0069] Speed ​​sensors can be fixed to the end of the drive wheel axle, the motor output shaft, or the side of the drive wheel to ensure stable acquisition of the drive wheel's rotation signal. As an example, if the speed sensor is a Hall sensor, its probe can be aligned with a magnetic gear on the drive wheel axle. As the gear rotates with the axle, the magnetic teeth alternately pass over the probe, and the Hall sensor generates a corresponding pulse signal based on the change in magnetic flux. The frequency of the pulse signal is proportional to the rotational speed of the drive wheel, thus achieving quantitative detection of the rotational speed.

[0070] The aforementioned window cleaning robot, by being equipped with speed sensors, can obtain the actual rotation direction and speed of each drive wheel in real time, and can further adjust the scraper angle according to the actual rotation direction and speed of each drive wheel, which can improve cleaning efficiency and extend the life of the scraper and servo motor.

[0071] In one embodiment, a method for controlling the scraper angle is provided. This embodiment uses the application of this scraper angle control method to the control component of the aforementioned window cleaning robot as an example for illustration. Figure 2 As shown, the scraper angle control method includes:

[0072] Step 202: During the movement of the window cleaning robot, determine the movement state of the window cleaning robot based on the operating parameters of the moving components set on the window cleaning robot.

[0073] Operating parameters refer to the data generated by the moving component during operation. For example, when the moving component is a drive wheel, the operating parameters may include the rotation speed and direction of rotation of the drive wheel. When there are multiple drive wheels, the operating parameters may also include the speed difference between different drive wheels.

[0074] The movement state refers to the movement of the window cleaning robot on the surface to be cleaned, which may include specific states such as moving forward in a straight line, moving backward in a straight line, turning left, turning right, etc.

[0075] The control component can control the window cleaning robot to perform specific cleaning tasks. During the cleaning process, the moving component on the window cleaning robot can change the moving speed and specific position of the window cleaning robot by changing the operating parameters.

[0076] As an example, during the window cleaning robot's cleaning task, when the window cleaning robot is in a large, flat area, the control component can, for example, control the moving component to move in a straight line at a constant speed. When the window cleaning robot is in a corner or edge area of ​​the surface to be cleaned, the control component can, for example, control the moving component to decelerate and turn left or decelerate and turn right.

[0077] Step 204: Based on the movement status, dynamically adjust the angle between the scraper set on the window cleaning robot and the surface to be cleaned by the window cleaning robot.

[0078] As an example, when the window cleaning robot moves in a straight line forward or backward, the control component can assume that the robot needs to clean a large, flat area. In this case, the control component can, for example, control the servo motor to drive the scraper blade to flip the cleaning surface of the scraper blade to a position parallel to and in close contact with the surface to be cleaned. Alternatively, the control component can also control the servo motor to drive the scraper blade to lift the cleaning surface on the side closest to the direction of movement of the window cleaning robot. At this time, the cleaning surface and the surface to be cleaned form a first angle, which can effectively scrape away a large area of ​​floating dust and water stains on the surface to be cleaned. This can also avoid the great resistance caused by the cleaning surface being completely in contact with the surface to be cleaned, which would affect the operation of the moving component. At the same time, it can also reduce the wear rate of the scraper blade and improve cleaning efficiency.

[0079] When the window cleaning robot is turning left or right, the control unit can control the servo motor to drive the scraper to lift the cleaning surface on the side closest to the direction of movement of the window cleaning robot. At this time, a second angle is formed between the cleaning surface and the surface to be cleaned. The second angle is generally larger than the first angle. It should be noted that the larger the angle between the cleaning surface and the surface to be cleaned, the greater the contact pressure between the cleaning surface and the surface to be cleaned. By controlling the window cleaning robot to increase the contact pressure during left or right turns, the ability of the window cleaning robot to scrape off stubborn stains during turns can be improved, and stains can be avoided when turning.

[0080] In one embodiment, the length direction of multiple scrapers on the window cleaning robot can be perpendicular to the forward and backward directions of the window cleaning robot; that is, the length direction of the scrapers coincides with the width direction of the window cleaning robot. In this case, when the window cleaning robot moves in a straight line forward and backward, the control component can control the servo motor to drive the scrapers, so as to flip the cleaning surface of several scrapers on the side closer to the moving direction of the window cleaning robot to a position perpendicular to the plane to be cleaned, and flip the cleaning surface of the remaining scrapers on the side farther from the moving direction of the window cleaning robot to a position forming a first angle with the plane to be cleaned. The first angle can be 0°, at which point the cleaning surface of the scraper is parallel to the plane to be cleaned.

[0081] When the window cleaning robot is moving left or right, the control unit can control the servo motor to drive the scraper blades, so that the cleaning surfaces of several scraper blades on the side closest to the direction of movement of the window cleaning robot are flipped to a position perpendicular to the plane to be cleaned, and the cleaning surfaces of the remaining scraper blades on the side furthest from the direction of movement of the window cleaning robot are flipped to a position forming a second angle with the plane to be cleaned. The second angle is greater than the first angle.

[0082] This design reduces the movement resistance of the window cleaning robot while ensuring its cleaning effect, thereby achieving a balance between the contact pressure and movement resistance of the window cleaning robot, reducing component wear and failure risk, and extending the service life of the scraper, servo motor, and corresponding drive motor.

[0083] The aforementioned squeegee angle control method, by dynamically adjusting the angle between the squeegee and the surface to be cleaned, ensures that the squeegee always applies to the surface in a manner that adapts to the current movement posture of the window cleaning robot. This avoids problems such as uneven squeegee adhesion and abnormal force caused by changes in the robot's movement state, thereby improving the contact stability between the squeegee and the surface to be cleaned, ensuring uniform cleaning results, and reducing ineffective friction between the squeegee and the surface to be cleaned, thus preventing squeegee wear. Furthermore, dynamically adjusting the angle between the squeegee and the surface to be cleaned optimizes the operating resistance of the window cleaning robot, reduces the load and energy consumption of moving components, improves the overall smoothness of operation, and adapts to cleaning needs under different working conditions. This enhances the adaptability and reliability of the window cleaning robot in complex working scenarios and extends its overall service life.

[0084] In some alternative embodiments, the moving component includes two sets of drive wheels; the operating parameters include the rotation direction and rotation speed of the drive wheels;

[0085] Step 202 includes:

[0086] The movement state of the window cleaning robot is determined based on the rotation direction and speed of the two sets of drive wheels.

[0087] Specifically, the movement state of the window cleaning robot is determined based on the rotation direction and speed of the two sets of drive wheels, including:

[0088] When the two sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the first direction, the movement state of the window cleaning robot is determined to be forward.

[0089] When both sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the second direction, the movement state of the window cleaning robot is determined to be backward.

[0090] When the two sets of drive wheels rotate in the same direction and the difference in their rotation speeds reaches a preset difference threshold, or when the two sets of drive wheels rotate in opposite directions and the difference in their rotation speeds reaches a preset difference threshold, the movement state of the window cleaning robot is determined to be turning.

[0091] The first direction is opposite to the second direction.

[0092] A drive wheel is a wheel-shaped component that directly contacts the surface to be cleaned and generates driving force through rotation. The direction and speed of rotation of the drive wheel determine the movement state of the window cleaning robot. Each set of drive wheels can contain n drive wheels. For example, each set of drive wheels can be symmetrically arranged on both sides of the side of the window cleaning robot body facing the surface to be cleaned.

[0093] The direction of rotation refers to the direction in which the drive wheel rotates, including clockwise or counterclockwise rotation around its own axis. Different rotation directions of the drive wheel will cause the window cleaning robot to move in different directions.

[0094] The first direction refers to the pre-set rotation direction of the drive wheels. The window cleaning robot will move forward when both sets of drive wheels rotate in the first direction and the difference in their rotational speeds is less than a pre-set synchronization difference threshold. The synchronization difference threshold is less than the preset difference threshold.

[0095] The second direction refers to the direction of rotation of the drive wheels that is opposite to the first direction. When both sets of drive wheels rotate in the second direction and the difference in rotation speed between each drive wheel is less than the preset synchronization difference threshold, the window cleaning robot will move backward.

[0096] Rotational speed refers to how fast the drive wheel rotates around its own axis per unit time. Rotational speed is used to indicate the strength of the power output by the drive wheel, and it directly affects the moving speed of the window cleaning robot.

[0097] As an example, in one scenario, the rotation directions of the two sets of drive wheels are exactly the same, and the difference in rotation speed between the two sets of drive wheels is less than a preset synchronization difference threshold. At the same time, the rotation directions of the two sets of drive wheels are both preset first directions. In this case, the power output directions of the two sets of drive wheels are the same, and the output intensity can be regarded as the same. In this case, the two sets of drive wheels can drive the window cleaning robot to move smoothly forward along a straight line. At this time, it can be determined that the movement state of the window cleaning robot is forward.

[0098] In another scenario, the two sets of drive wheels rotate in the same direction, and the difference in their rotational speeds is less than a pre-set synchronization difference threshold. However, both sets of drive wheels rotate in a second direction opposite to the first direction. In this case, the power output directions of the two sets of drive wheels are reversed, but the output intensity can be considered to be consistent, enabling the window cleaning robot to move smoothly backward in a straight line. In this situation, the window cleaning robot's movement state is determined to be backward. As an example, the control component can control the window cleaning robot to move backward in scenarios such as needing to adjust its working position when moving to the edge of the surface to be cleaned, or needing to avoid obstacles detected during movement.

[0099] In another scenario, the control component determines that the window cleaning robot's movement is in a turning state when it detects one of the following two conditions: 1) The two sets of drive wheels rotate in the same direction, but their rotational speeds differ, and the difference in rotational speeds reaches a preset threshold; or 2) The two sets of drive wheels rotate in opposite directions, and the difference in rotational speeds also reaches a preset threshold. This is because when the two sets of drive wheels rotate in the same direction but at different speeds, the power output of the two drive wheels is unbalanced. The side with the faster rotation will generate a greater driving force, causing the window cleaning robot to deflect towards the side with the slower rotation. When the two sets of drive wheels rotate in opposite directions, the two drive wheels will generate opposing driving forces, forming a rotational torque that causes the window cleaning robot to deflect. In both of these cases, when the difference in rotational speeds reaches the preset threshold, the deflection effect meets the turning requirements, and therefore, the movement is determined to be in a turning state.

[0100] The aforementioned squeegee angle control method, by precisely linking the operating parameters of the drive wheels with the movement state of the window cleaning robot, makes the identification of the robot's movement state more accurate. The operating parameters of the drive wheels provide a precise basis for adjusting the squeegee angle, ensuring that the actual angle between the squeegee and the surface to be cleaned always matches the actual movement posture of the window cleaning robot. This avoids uneven cleaning of the surface due to misjudgment of the window cleaning robot's state, not only guaranteeing the cleaning effect but also reducing the ineffective wear and tear on the components of the window cleaning robot, thus improving the overall operational stability and service life of the machine.

[0101] In some alternative embodiments, step 204 includes:

[0102] When the window cleaning robot is moving forward, control several scrapers on the side closest to the direction of movement to keep them perpendicular to the surface to be cleaned;

[0103] When the window cleaning robot is moving backward, control several scrapers on the side closest to the backward direction to keep them perpendicular to the surface to be cleaned;

[0104] When the window cleaning robot is turning, the angle between the scraper and the surface to be cleaned is adjusted based on the rotation speed of the drive wheels.

[0105] As an example, when the window cleaning robot has two scrapers on the side facing the surface to be cleaned, the control component can, when the window cleaning robot is moving forward, control the cleaning surface of one scraper on the side closer to the forward direction to keep it perpendicular to the surface to be cleaned, and control the cleaning surface of the other scraper to be parallel to and close to the surface to be cleaned, or control the cleaning surface of the other scraper to flip to a position that forms a first angle with the surface to be cleaned.

[0106] When the window cleaning robot is moving forward, it moves smoothly in a straight line, primarily scraping away dirt and water stains along its path. At this time, the control unit keeps several scraper blades on the side closest to the direction of travel perpendicular to the surface to be cleaned, thus preventing excessive contact between these blades and the surface and reducing resistance during the robot's movement.

[0107] Meanwhile, the control component can also control the cleaning surfaces of several scrapers on the side away from the direction of travel to flip to a position that forms a first angle with the surface to be cleaned, thereby scraping away stubborn stains and residual water stains on the path of the window cleaning robot. This ensures the cleaning function of the window cleaning robot, avoids cleaning dead corners, reduces frictional resistance between the scrapers and the surface to be cleaned, avoids obstructing the forward movement of the window cleaning robot, and ensures the smoothness of the forward movement of the window cleaning robot.

[0108] When the window cleaning robot is moving backward, its direction of movement is opposite to that when it is moving forward. Several scrapers on the side away from the backward direction serve as the main cleaning components, while several scrapers on the side closer to the backward direction are kept perpendicular to the surface to be cleaned. This avoids excessive contact between the scrapers closer to the backward direction and the surface to be cleaned, thereby reducing the resistance encountered by the window cleaning robot during forward movement, reducing the wear of the scrapers on the surface to be cleaned, and reducing the operating load of the window cleaning robot when it is moving backward, thus ensuring the stability of movement.

[0109] When the window cleaning robot is turning, it deflects due to the difference in rotation speed between the two sets of drive wheels on both sides. The robot's trajectory in this state is curved, and the cleaning requirement becomes scraping along an arc-shaped path. Simultaneously, it must balance the centrifugal force during turning with the contact pressure of the squeegee to avoid missed areas or squeegee jamming. Therefore, the squeegee angle adjustment in this state needs to be precisely adapted based on the rotation speed of the drive wheels.

[0110] The aforementioned squeegee angle control method, based on the rotation speed of the drive wheel, makes differentiated adjustments to the angle between the squeegee and the surface to be cleaned. This allows the squeegee angle to be precisely matched with the turning state, taking into account both the cleaning effect and the smoothness of movement during the turning process. This enables the window cleaning robot to maintain stable cleaning performance even in complex corner and edge cleaning scenarios.

[0111] In some optional embodiments, adjusting the angle between the scraper and the surface to be cleaned based on the rotational speed of the drive wheel includes:

[0112] The turning radius of the window cleaning robot is determined based on the preset wheel spacing and rotation speed of the two sets of drive wheels.

[0113] Adjust the angle between the scraper and the surface to be cleaned based on the rotation speed and turning radius of the two sets of drive wheels.

[0114] Specifically, the turning radius of the window cleaning robot can be calculated using the following formula:

[0115] Where R represents the turning radius. This indicates the preset wheel spacing between the two sets of drive wheels. Indicates the rotational speed of one drive wheel; This indicates the rotational speed of the drive wheel on the other side.

[0116] The control component can determine the window cleaning robot's turning direction as right when the turning radius R is greater than 0, and determine the window cleaning robot's turning direction as left when the turning radius R is less than 0.

[0117] Furthermore, in some optional embodiments, the step of adjusting the angle between the scraper and the surface to be cleaned based on the rotational speed and turning radius of the two sets of drive wheels includes:

[0118] The turning angular velocity of the window cleaning robot is determined based on the rotation speed and rotation radius of the two sets of drive wheels.

[0119] The adjustment angle is determined based on the steering angular velocity, steering radius, and preset material parameters corresponding to the scraper.

[0120] Maintain the adjusted angle between the scraper and the surface to be cleaned.

[0121] In the step of determining the turning angular velocity of the window cleaning robot based on the rotational speed and radius of the two sets of drive wheels, the following formula can be used to calculate the turning angular velocity:

[0122] Furthermore, in the step of determining the adjustment angle based on the turning angular velocity, turning radius, and preset material parameters corresponding to the scraper blade, the control component can, for example, use the following formula to calculate the angle between the scraper blade of the window cleaning robot and the surface to be cleaned:

[0123] in, This indicates the angle between the squeegee of the window cleaning robot and the surface to be cleaned. This indicates the default angle between the squeegee of the window cleaning robot and the surface to be cleaned. In one embodiment, the initial state of the squeegee can be parallel to the surface to be cleaned, in which case the default angle is 0°. This refers to the preset material parameters corresponding to the scraper. R represents the steering angular velocity, and R represents the steering radius.

[0124] The aforementioned squeegee angle control method can, based on the intensity of the window cleaning robot's turning motion, control the angle between the squeegee and the surface to be cleaned to be smaller when the turning radius is large and the deflection amplitude of the window cleaning robot is gentle, and control the angle between the squeegee and the surface to be cleaned to be larger when the turning radius is small and the deflection amplitude of the window cleaning robot is large. This allows the squeegee to adjust to the appropriate angle in a timely manner, ensuring that the squeegee can provide appropriate contact pressure and avoiding cleaning omissions caused by the centrifugal force generated during turning.

[0125] In some optional embodiments, the scraper angle control method further includes:

[0126] When the rotational speed of both sets of drive wheels is less than the preset rotational speed threshold, control all scraper blades to keep them perpendicular to the surface to be cleaned.

[0127] In this embodiment, the control component can directly assume that the window cleaning robot may be in a stopped state when the moving speed of the window cleaning robot is too slow. If the squeegee remains in contact with the surface to be cleaned for a long time, it may cause damage to the squeegee. Therefore, the control component can control all squeegees to be perpendicular to the surface to be cleaned, thereby reducing the contact pressure and friction between the squeegee and the surface to be cleaned, thus avoiding squeegee wear and extending the service life of the window cleaning robot.

[0128] In some optional embodiments, the scraper angle control method further includes:

[0129] If an abnormality is detected in the window cleaning robot, control all the scrapers on the window cleaning robot to keep them perpendicular to the surface to be cleaned.

[0130] In this embodiment, the control component can monitor the status of each component mounted on the window cleaning robot. If any component is abnormal, the control component can control all scrapers to remain perpendicular to the surface to be cleaned, thereby reducing the contact pressure and friction between the scrapers and the surface to be cleaned, thus preventing scraper wear and extending the service life of the window cleaning robot.

[0131] It should be noted that, based on the angle between each scraper blade and the surface to be cleaned, the control component in this embodiment can perform pulse width conversion based on the included angle to output the corresponding output signal to the servo motor corresponding to each scraper blade, thereby controlling the servo motor to drive the scraper blade to rotate until the included angle between the scraper blade and the surface to be cleaned matches the determined angle.

[0132] It should be understood that although the steps in the flowcharts of the above embodiments 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 flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0133] Based on the same inventive concept, this application also provides a scraper angle control device for implementing the scraper angle control method described above. The solution provided by this scraper angle control device is similar to the solution described in the scraper angle control method above. Therefore, the specific limitations in one or more device embodiments provided below can be found in the limitations of the scraper angle control method described above, and will not be repeated here.

[0134] In one embodiment, such as Figure 3 As shown, a scraper angle control device 300 is provided, comprising:

[0135] The determination module 302 is used to determine the movement state of the window cleaning robot based on the operating parameters of the moving components set on the window cleaning robot during the movement process;

[0136] The adjustment module 304 is used to dynamically adjust the angle between the scraper on the window cleaning robot and the surface to be cleaned by the window cleaning robot based on the movement state.

[0137] In some alternative embodiments, the moving component includes two sets of drive wheels; the operating parameters include the rotation direction and rotation speed of the drive wheels;

[0138] Module 302 is also configured as follows:

[0139] The movement state of the window cleaning robot is determined based on the rotation direction and speed of the two sets of drive wheels.

[0140] In some alternative embodiments, the determining module 302 is further configured to:

[0141] When the two sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the first direction, the movement state of the window cleaning robot is determined to be forward.

[0142] When both sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the second direction, the movement state of the window cleaning robot is determined to be backward.

[0143] When the two sets of drive wheels rotate in the same direction and the difference in their rotation speeds reaches a preset difference threshold, or when the two sets of drive wheels rotate in opposite directions and the difference in their rotation speeds reaches a preset difference threshold, the movement state of the window cleaning robot is determined to be turning.

[0144] The first direction is opposite to the second direction.

[0145] In some alternative embodiments, the window cleaning robot is equipped with multiple scrapers;

[0146] Adjustment module 304 is also configured as follows:

[0147] When the window cleaning robot is moving forward, control several scrapers on the side closest to the direction of movement to keep them perpendicular to the surface to be cleaned;

[0148] When the window cleaning robot is moving backward, control several scrapers on the side closest to the backward direction to keep them perpendicular to the surface to be cleaned;

[0149] When the window cleaning robot is turning, the angle between the scraper and the surface to be cleaned is adjusted based on the rotation speed of the drive wheels.

[0150] In some optional embodiments, the adjustment module 304 is further configured to:

[0151] The turning radius of the window cleaning robot is determined based on the preset wheel spacing and rotation speed of the two sets of drive wheels.

[0152] Adjust the angle between the scraper and the surface to be cleaned based on the rotation speed and turning radius of the two sets of drive wheels.

[0153] In some optional embodiments, the adjustment module 304 is further configured to:

[0154] The turning angular velocity of the window cleaning robot is determined based on the rotation speed and rotation radius of the two sets of drive wheels.

[0155] The adjustment angle is determined based on the steering angular velocity, steering radius, and preset material parameters corresponding to the scraper.

[0156] Maintain the adjusted angle between the scraper and the surface to be cleaned.

[0157] In some optional embodiments, the adjustment module 304 is further configured to:

[0158] When the rotational speed of both sets of drive wheels is less than the preset rotational speed threshold, control all scraper blades to keep them perpendicular to the surface to be cleaned.

[0159] In some optional embodiments, the adjustment module 304 is further configured to:

[0160] If an abnormality is detected in the window cleaning robot, control all the scrapers on the window cleaning robot to keep them perpendicular to the surface to be cleaned.

[0161] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0162] Figure 4 A schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device 400 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the device 400 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0163] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0164] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0165] 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.

[0166] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0167] 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.

[0168] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0169] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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 groups of units can be integrated into one unit.

[0175] 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.

[0176] 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.

[0177] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for controlling the angle of a scraper blade, characterized in that, include: During the movement of the window cleaning robot, the movement state of the window cleaning robot is determined based on the operating parameters of the moving components set on the window cleaning robot; Based on the movement state, the angle between the scraper on the window cleaning robot and the surface to be cleaned by the window cleaning robot is dynamically adjusted.

2. The method according to claim 1, characterized in that, The moving component includes two sets of drive wheels, which are symmetrically arranged on one side of the window cleaning robot facing the surface to be cleaned. The operating parameters include the rotation direction and rotation speed of the drive wheel; Determining the movement state of the window cleaning robot based on the operating parameters of the moving components installed on the robot includes: The movement state of the window cleaning robot is determined based on the rotation direction and movement speed of the two sets of drive wheels.

3. The method according to claim 2, characterized in that, Determining the movement state of the window cleaning robot based on the rotation direction and speed of the two sets of drive wheels includes: When the two sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the first direction, the movement state of the window cleaning robot is determined to be forward. When the two sets of drive wheels rotate in the same direction and at the same speed, and both sets of drive wheels rotate in the second direction, the movement state of the window cleaning robot is determined to be backward. When the two sets of drive wheels rotate in the same direction and the difference in their rotation speeds reaches a preset difference threshold, or when the two sets of drive wheels rotate in opposite directions and the difference in their rotation speeds reaches a preset difference threshold, the movement state of the window cleaning robot is determined to be turning. The first direction is opposite to the second direction.

4. The method according to claim 3, characterized in that, The window cleaning robot is equipped with multiple scraper blades; The step of dynamically adjusting the angle between the scraper on the window cleaning robot and the surface to be cleaned by the window cleaning robot based on the movement state includes: When the window cleaning robot is moving forward, several scraper blades on the side closest to the direction of movement are controlled to remain perpendicular to the surface to be cleaned. When the window cleaning robot is moving backward, control several scraper blades on the side closest to the backward direction to keep them perpendicular to the surface to be cleaned; When the window cleaning robot is turning, the angle between the scraper and the surface to be cleaned is adjusted based on the rotation speed of the drive wheel.

5. The method according to claim 4, characterized in that, Adjusting the angle between the scraper and the surface to be cleaned based on the rotational speed of the drive wheel includes: The turning radius of the window cleaning robot is determined based on the preset wheel spacing of the two sets of drive wheels and the rotation speed of the two sets of drive wheels. Based on the rotational speed of the two sets of drive wheels and the turning radius, the angle between the scraper and the surface to be cleaned is adjusted.

6. The method according to claim 5, characterized in that, The adjustment of the angle between the scraper and the surface to be cleaned, based on the rotational speed of the two sets of drive wheels and the turning radius, includes: The turning angular velocity of the window cleaning robot is determined based on the rotation speed of the two sets of drive wheels and the rotation radius. The adjustment angle is determined based on the steering angular velocity, the steering radius, and the preset material parameters corresponding to the scraper. Control the scraper to maintain the adjusted angle with the surface to be cleaned.

7. The method according to claim 2, characterized in that, The method further includes: When the rotational speed of both sets of drive wheels is less than a preset rotational speed threshold, all scraper blades are controlled to remain perpendicular to the surface to be cleaned.

8. The method according to claim 1, characterized in that, The method further includes: If an abnormality is detected in the window cleaning robot, control all the scrapers on the window cleaning robot to keep them perpendicular to the surface to be cleaned.

9. A window cleaning robot, characterized in that, The system includes a robot body, a movable component and at least one scraper on the side of the robot body facing the surface to be cleaned. The window cleaning robot is used to determine the movement state of the window cleaning robot based on the operating parameters of the moving component during movement, using the scraper angle control method as described in any one of claims 1-8; and dynamically adjust the angle between the scraper provided on the window cleaning robot and the surface to be cleaned of the window cleaning robot based on the movement state.

10. A scraper angle control device, characterized in that, include: The determination module is used to determine the movement state of the window cleaning robot based on the operating parameters of the moving components set on the window cleaning robot during its movement. An adjustment module is used to dynamically adjust the angle between the scraper on the window cleaning robot and the surface to be cleaned by the window cleaning robot based on the movement state.

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