Control method, control device, apparatus and product for a surface cleaning device

Abstract

This application discloses a control method, control device, equipment, and product for a surface cleaning device. The surface cleaning device is equipped with an adsorption unit. The method includes: acquiring the pressure value generated by the adsorption unit while the surface cleaning device is adsorbed onto the target cleaning surface and moving along a first path; determining the current position as the leak position when the pressure value generated by the adsorption unit meets a preset leakage condition; controlling the surface cleaning device to retract a preset distance from the leak position to the first position, and detecting the pressure value generated by the adsorption unit at the first position; when the pressure value meets a preset air pressure stability condition, controlling the surface cleaning device to move from the first position along a second path and perform a cleaning task. The second path bypasses the leak position, thereby ensuring the safety and stability of the surface cleaning device when performing high-altitude surface cleaning operations such as windows and walls, and improving the user experience.

Description

Technical Field

[0001] This application relates to the field of surface cleaning equipment technology, and in particular to a control method, control device, equipment, and product for surface cleaning equipment. Background Technology

[0002] In the field of surface cleaning, surface cleaning equipment with adsorption units, such as window cleaning robots, are widely used in high-altitude surface cleaning operations such as windows and walls. They adhere to the surface to be cleaned through adsorption units to prevent falling and ensure operational stability.

[0003] However, during mobile cleaning, existing surface cleaning equipment often suffers from air leakage due to foreign objects, uneven surfaces, or oil stains on the surface being cleaned. This can lead to a lack of proper sealing between the adsorption unit and the surface, resulting in decreased adsorption force, equipment shaking, or even the risk of falling. Consequently, high-altitude surface cleaning operations are interrupted, inefficient, and negatively impact the user experience. Summary of the Invention

[0004] This application provides a control method, control device, equipment, and product for surface cleaning equipment, which is used to ensure the safety and stability of surface cleaning equipment when performing high-altitude surface cleaning operations such as windows and walls, so as to improve the user experience.

[0005] In a first aspect, this application provides a control method for a surface cleaning device, wherein the surface cleaning device is provided with an adsorption unit for adsorbing the surface cleaning device onto a target surface to be cleaned; the method includes: During the process of the surface cleaning device adsorbing onto the target cleaning surface and moving along the first path, the pressure value generated by the adsorption unit is obtained; When the pressure value generated by the adsorption unit meets the preset leakage conditions, the current position is determined to be the leakage position. The surface cleaning device is controlled to retract a preset distance from the leak location to a first position, and the pressure value generated by the adsorption unit at the first position is detected; When the pressure value generated by the adsorption unit at the first position meets the preset air pressure stability condition, the surface cleaning device is controlled to move from the first position along the second path and perform the cleaning task, the second path bypassing the leak location.

[0006] In some embodiments, the leakage condition includes: the pressure value generated by the adsorption unit is less than a preset working pressure threshold and greater than or equal to a preset static pressure threshold. The pressure stabilization condition includes: detecting that the pressure value generated by the adsorption unit at the first position is greater than or equal to the working pressure threshold. Wherein, the working pressure threshold is greater than the static pressure threshold.

[0007] In some embodiments, the method further includes: When the pressure value generated by the adsorption unit at the first position is greater than the static pressure threshold and less than the working pressure threshold, a first fault warning signal is generated.

[0008] In some embodiments, controlling the surface cleaning device to move from the first position along a second path includes: The area within a preset radius of the leak location is defined as the avoidance zone; A second location is determined from a candidate cleaning area located outside the avoidance area on the target cleaning surface; Generate a second path from the first position to the second position that does not pass through the avoidance area; Control the surface cleaning device to move along the second path to the second position.

[0009] In some embodiments, determining a second location from a candidate cleaning area located outside the avoidance area on the target cleaning surface includes: Obtain a first direction of movement for the surface cleaning device as it moves from the first position to the leak location; Based on the first moving direction and the preset offset angle, the second moving direction is determined; The second position is determined from the candidate cleaning area based on the second direction of movement.

[0010] In some embodiments, determining a second location from a candidate cleaning area located outside the avoidance area on the target cleaning surface includes: Based on the historical cleaning records of the surface cleaning equipment, uncleaned areas are determined from the candidate cleaning areas; The second location is determined from the uncleaned area.

[0011] In some embodiments, during the process of controlling the surface cleaning device to move along the second path to the second position, the method further includes: Obtain the pressure value generated by the adsorption unit; When the distance between the current position of the surface cleaning device and the leak location is greater than a preset threshold, the adsorption unit is controlled to operate at a first power. When the distance between the current position of the surface cleaning device and the leak location is less than or equal to the preset threshold, the adsorption unit is controlled to operate at the second power. The second power is greater than the first power.

[0012] In some embodiments, during the process of controlling the surface cleaning device to move along the second path to the second position, the method further includes: Obtain the pressure value generated by the adsorption unit; When the distance between the current position of the surface cleaning device and the leak location is greater than a preset threshold, the surface cleaning device is controlled to move at a first speed; When the distance between the current position of the surface cleaning device and the air leakage location is less than or equal to the preset threshold, the surface cleaning device is controlled to move at a second speed. The second speed is less than the first speed.

[0013] In some embodiments, during the process of controlling the surface cleaning device to move from the first position along a second path, the method further includes: When the pressure value generated by the adsorption unit meets the preset leakage condition, the surface cleaning device is controlled to retract by the preset distance.

[0014] In some embodiments, the method further includes: Obtain the cumulative number of times the surface cleaning device retracts the preset distance; When the cumulative number of occurrences exceeds a preset threshold, a second fault warning signal is generated.

[0015] In some embodiments, the adsorption unit includes a negative pressure chamber and a vacuum source disposed inside the negative pressure chamber.

[0016] Secondly, this application provides a control device for a surface cleaning device, wherein the surface cleaning device is provided with an adsorption unit for adsorbing the surface cleaning device onto a target surface to be cleaned; the device includes: The pressure acquisition module is configured to acquire the pressure value generated by the adsorption unit during the process of the surface cleaning device adsorbing onto the target cleaning surface and moving along a first path; The location determination module is configured to determine the current location as a leak location when the pressure value generated by the adsorption unit meets a preset leak condition. The retraction control module is configured to control the surface cleaning device to retract a preset distance from the leak location to a first position, and to detect the pressure value generated by the adsorption unit at the first position; The movement control module is configured to control the surface cleaning device to move from the first position along a second path and perform a cleaning task when the pressure value generated by the adsorption unit at the first position meets a preset air pressure stability condition, wherein the second path bypasses the leak location.

[0017] Thirdly, this application provides a surface cleaning device, the surface cleaning device including a surface cleaning device, the end of the surface cleaning device being provided with a docking part for engaging with a target cleaning accessory in a base station, the docking part being provided with an attitude detection module, and the surface cleaning device further including: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method described in any one of the first aspects.

[0018] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0019] According to the specific embodiments provided in this application, the following technical effects are disclosed: The control method, control device, equipment, and product for surface cleaning equipment in this application, by acquiring the pressure value generated by the adsorption unit in real time during the process of the surface cleaning equipment adsorbing onto the target cleaning surface and moving along a first path, can promptly and accurately identify instantaneous air leakage caused by foreign objects, unevenness, or oil stains on the cleaning surface. Once the air leakage condition is determined, the current position can be immediately identified as the leakage location, and the surface cleaning equipment can be controlled to retreat a preset distance from the leakage location to the first position for adsorption status detection. When the pressure value detected at the first position confirms that a stable working state has been reached, the surface cleaning equipment can be controlled to continue performing the cleaning task from the first position along a second path that specifically avoids the leakage location. It is understood that the method of this application can effectively solve the problems of adsorption force attenuation, equipment shaking, and the risk of falling caused by air leakage in high-altitude surface cleaning operations such as window cleaning robots and other equipment on windows and walls, reduce the interruption of high-altitude surface cleaning operations caused by air leakage, ensure the safety and stability of surface cleaning equipment when performing high-altitude surface cleaning operations on windows, walls, etc., and improve the user experience.

[0020] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1This is a bottom schematic diagram of the surface cleaning device in the control method of the surface cleaning device provided in the embodiments of this application.

[0023] Figure 2 A flowchart illustrating the control method of the surface cleaning equipment provided in this application embodiment.

[0024] Figure 3 A flowchart illustrating the determination of a second position in the control method for a surface cleaning device provided in this application embodiment.

[0025] Figure 4 A flowchart illustrating the process of determining a second position from a candidate cleaning area in the control method of the surface cleaning device provided in this application embodiment.

[0026] Figure 5 This is a schematic diagram of the control device of the surface cleaning equipment provided in the embodiments of this application.

[0027] Figure 6 A schematic block diagram of a surface cleaning device provided in an embodiment of this application.

[0028] Figure label: 100. Surface cleaning equipment; 110. Negative pressure chamber; 120. Vacuum source; 130. Detection unit; 140. Cleaning unit; 150. Moving mechanism. Detailed Implementation

[0029] 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, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0030] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0031] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0032] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0033] In the field of surface cleaning, surface cleaning equipment with adsorption units, such as window cleaning robots, is widely used for cleaning surfaces such as windows and walls at heights. These devices adhere to the surface through the adsorption unit to prevent falls and ensure operational stability. However, during mobile cleaning operations, existing surface cleaning equipment may experience leaks due to foreign objects, uneven surfaces, or oil stains. This can lead to a weakening of the adsorption force, equipment shaking, and the risk of falls, resulting in cleaning interruptions, reduced efficiency, and impacting the operational stability and user experience of the surface cleaning equipment.

[0034] To address the aforementioned problems, this application proposes a control method for a surface cleaning device, applied to the surface cleaning device, wherein the surface cleaning device is equipped with an adsorption unit for adsorbing the surface cleaning device onto the target surface to be cleaned; the method includes: During the process of a surface cleaning device adsorbing onto a target surface and moving along a first path, the pressure value generated by the adsorption unit is acquired. When this pressure value meets a preset leakage condition, the current position is determined to be a leakage location. The surface cleaning device is then controlled to retract a preset distance from the leakage location to the first position, and the pressure value generated by the adsorption unit at the first position is detected. When the pressure value generated by the adsorption unit at the first position meets a preset air pressure stability condition, the surface cleaning device is controlled to move from the first position along a second path and perform the cleaning task. The second path bypasses the leakage location. This method effectively addresses leakage problems during the cleaning process by monitoring the pressure status of the adsorption unit in real time during device movement and promptly retracting and reconfirming adsorption stability when leakage is detected, thereby improving the stability and efficiency of the operation.

[0035] For ease of understanding, the following explains some key terms in this embodiment: Surface cleaning equipment can refer to window cleaning robots, wall cleaning robots, etc., which are used to perform cleaning operations by adhering to vertical or inclined surfaces.

[0036] An adsorption unit is a mechanism in surface cleaning equipment used to adsorb onto a target surface to be cleaned. Adsorption can be achieved by generating negative pressure.

[0037] The target cleaning surface refers to the flat or curved surface on which surface cleaning equipment performs cleaning operations, such as window glass and walls.

[0038] The first position refers to the safe position reached by the surface cleaning equipment after retracing a preset distance from the leak location, used to retest the adsorption stability.

[0039] Leakage location refers to the current position of the equipment when the pressure value of the adsorption unit is detected to meet the leakage conditions during the movement process.

[0040] The second path refers to the planned movement path from the first location to continue the cleaning task, which is configured to bypass the leak location.

[0041] Pressure value, generally refers to the gas pressure value generated by the adsorption unit, used to evaluate its working status; in specific steps, it explicitly refers to the pressure value acquired in real time during the movement or the pressure value detected when it is in the first position, depending on the context.

[0042] Leakage condition refers to the preset condition for determining whether the adsorption unit has leaked air, and it is related to the pressure value generated by the adsorption unit during movement.

[0043] The pressure stability condition refers to the preset condition for judging whether the adsorption state of the adsorption unit is stable, which is related to the pressure value detected at the first position.

[0044] refer to Figure 1 , Figure 1 This is a bottom schematic diagram of the surface cleaning device in the control method of the surface cleaning device provided in the embodiments of this application; as shown. Figure 1 As shown, in some embodiments, the surface cleaning device 100 is provided with an adsorption unit for adsorbing the surface cleaning device 100 onto the target surface to be cleaned. The adsorption unit includes a negative pressure chamber 110 and a vacuum source 120 disposed inside the negative pressure chamber 110. The negative pressure chamber 110 is also provided with a detection unit 130 for acquiring the pressure value generated by the adsorption unit. The bottom of the surface cleaning device 100 is also provided with a cleaning unit 140 and a moving mechanism 150.

[0045] Understandably, the adsorption unit fixes the device to a vertical or inclined surface by generating adsorption force. The negative pressure chamber 110 is a sealed or semi-sealed space inside the adsorption unit, used to contain gas at a pressure lower than ambient pressure, thereby creating a pressure difference between the chamber and the target cleaning surface, generating adsorption force. The negative pressure chamber 110 is designed with edges that contact the cleaning surface to form an effective sealing area. The vacuum source 120 is a device that actively reduces the gas pressure inside the negative pressure chamber 110; for example, it can be a miniature vacuum pump, centrifugal fan, or Venturi effect generator, etc., which establishes and maintains the required negative pressure by evacuating air from the negative pressure chamber 110. The operating status and power of the vacuum source 120 can be adjusted according to the required adsorption force. The detection unit 130 is used to monitor the pressure value inside the negative pressure chamber 110 in real time, and a high-precision detection unit 130, such as a piezoresistive sensor, capacitive sensor, or strain gauge sensor, is used. The detection unit 130 converts pressure changes within the negative pressure chamber 110 into electrical signals and transmits them to the equipment's control system. This allows the control system to accurately determine the adsorption status, such as whether there is air leakage or whether the adsorption is stable. The cleaning unit 140, located at the bottom of the surface cleaning equipment 100, is the component used to perform cleaning tasks. It can be a rotating brush, wiping pad, spray head, or scraper, configured according to different cleaning needs and surface types. The moving mechanism 150, also located at the bottom of the surface cleaning equipment 100, is the component used to drive the surface cleaning equipment 100 to move. It can be a tracked moving mechanism 150, a roller assembly, adsorption-type wheels, or a magnetic adsorption moving component, adapting to the adhesion requirements of different cleaning surfaces and ensuring the stability and reliability of the equipment's movement. The cleaning unit 140 and the adsorption unit moving mechanism 150 work together to ensure that the equipment can efficiently complete the cleaning operation while firmly adsorbing onto the surface and moving.

[0046] In summary, the surface cleaning device 100 can generate and maintain negative pressure within the negative pressure chamber 110 via the vacuum source 120, thereby achieving reliable adsorption onto the target surface. Simultaneously, the detection unit 130 can accurately acquire the pressure value within the negative pressure chamber 110 in real time, providing a precise data basis for judging air pressure leakage and stability conditions in the control method. When air pressure leakage is detected, the device can promptly retract and re-establish a stable adsorption state, ensuring the continuity and safety of the cleaning process. Furthermore, the arrangement of the cleaning unit 140 and the moving mechanism 150 allows the device to effectively perform cleaning tasks while adsorbing onto the surface and moving, achieving an organic combination of adsorption, movement, and cleaning functions, thus improving cleaning efficiency and operational stability.

[0047] refer to Figure 2 , Figure 2 A flowchart illustrating the control method of the surface cleaning device 100 provided in this application embodiment; as follows: Figure 2As shown, in some embodiments, this application provides a control method for a surface cleaning device 100, applied to the surface cleaning device 100, the surface cleaning device 100 being provided with an adsorption unit for adsorbing the surface cleaning device 100 onto a target cleaning surface; the method includes at least the following steps: Step 210: During the process of the surface cleaning device adsorbing onto the target cleaning surface and moving along the first path, the pressure value generated by the adsorption unit is obtained.

[0048] Step 220: When the pressure value generated by the adsorption unit meets the preset leakage conditions, the current position is determined as the leakage position.

[0049] Step 230: Control the surface cleaning device to retract a preset distance from the leak location to the first position, and detect the pressure value generated by the adsorption unit at the first position.

[0050] Step 240: When the pressure value generated by the detection adsorption unit in the first position meets the preset air pressure stability condition, control the surface cleaning device to move from the first position along the second path and perform the cleaning task, the second path bypassing the leak location.

[0051] Based on steps 210 to 240 above, this application, by acquiring the adsorption pressure in real time during the process of the surface cleaning device 100 adsorbing onto the target cleaning surface and moving, can promptly detect air leakage caused by abnormalities in the cleaning surface. Then, by controlling the device to retract to a safe first position for status confirmation, and after adsorption stabilizes, it continues the cleaning task along a second path bypassing the leakage location. This method effectively solves the safety problems caused by air leakage in high-altitude surface cleaning operations of window cleaning robots and other equipment, reduces work interruptions, ensures equipment safety and stability, and improves user experience.

[0052] Understandably, during the movement of the surface cleaning device 100 along the first path, it is necessary to acquire the pressure value generated by the adsorption unit in real time. This pressure value can be obtained through real-time monitoring by the detection unit 130 located inside the adsorption unit. Further, when the acquired pressure value meets a preset leakage condition, i.e., the current position is determined to be a leakage location, the surface cleaning device 100 will be controlled to retract a preset distance from this leakage location back to the first position, and at this location, acquire the pressure value generated by the adsorption unit at the first position. The leakage condition can be set to occur when the pressure value during movement is lower than a certain working pressure threshold but higher than a static pressure threshold. The retraction operation can be achieved by driving the device's moving mechanism 150 to move in the opposite direction along the original path. After retracting to the first position, the pressure state of the adsorption unit will be measured again. Subsequently, when the pressure value detected at the first position meets a preset air pressure stability condition, the surface cleaning device 100 will be controlled to continue moving from the first position along a second path that bypasses the leakage location and perform the cleaning task. The planning of the second path ensures that the device avoids identified risk areas. For example, after the device returns to the first position and the adsorption pressure is detected to have returned to a safe and stable level, the device can be instructed to plan a path to avoid the leak and continue its cleaning task.

[0053] In summary, by monitoring the pressure status of the adsorption unit in real time during the movement of the surface cleaning equipment 100, and by promptly retracting and reconfirming adsorption stability when leaks are detected, this method effectively avoids the risks of adsorption force attenuation, equipment shaking, and falls caused by localized leaks. This ensures the safety and stability of the surface cleaning equipment 100 when operating at heights or on complex surfaces, improves the continuity and efficiency of cleaning operations, and reduces the occurrence of work interruptions.

[0054] In some embodiments, this application further proposes leakage conditions including: the pressure value generated by the adsorption unit is less than a preset working pressure threshold and greater than or equal to a preset static pressure threshold; and pressure stability conditions including: the pressure value generated by the adsorption unit at the first position is greater than or equal to the working pressure threshold; wherein, the working pressure threshold is greater than the static pressure threshold.

[0055] Understandably, the preset working pressure threshold is the minimum pressure required for the adsorption unit to maintain stable adsorption and effective cleaning when the surface cleaning device 100 is in normal working condition, i.e., when it is adsorbed onto the target cleaning surface and moving for cleaning. This threshold is determined through extensive experiments and data analysis on the adsorption performance at different cleaning surfaces and different moving speeds to ensure that the device will not detach due to insufficient adsorption or achieve poor cleaning results during movement. When the pressure value generated by the adsorption unit during movement is lower than this working pressure threshold, it indicates that the adsorption force may be insufficient to support the stable movement and cleaning operation of the device, posing a potential risk of air leakage.

[0056] In some embodiments, the preset static pressure threshold is the minimum pressure value required for the adsorption unit of the surface cleaning device 100 to maintain basic adsorption when it is adsorbed onto the target cleaning surface but in a stationary state. A static pressure threshold lower than the operating pressure threshold indicates that the device may adsorb but may not be able to move or clean effectively. When the pressure value generated by the adsorption unit during movement falls between the static pressure threshold and the operating pressure threshold, it indicates that the device may be in a critical state where the adsorption force is insufficient for movement but has not yet completely detached. This is precisely the leakage situation that requires retraction and reassessment of the adsorption state. It is understood that the setting of the above-mentioned operating pressure threshold and static pressure threshold makes the judgment of leakage conditions more accurate, avoids misjudging slight pressure fluctuations as serious leaks, and prevents the device from continuing to move when the adsorption force is insufficient to support movement.

[0057] In some embodiments, a stable air pressure condition, i.e., detecting that the pressure value generated by the adsorption unit in the first position is greater than or equal to the working pressure threshold, is used to determine whether the adsorption unit has re-established sufficient adsorption force to support subsequent mobile cleaning operations after the surface cleaning device 100 returns to the first position. When the device returns to the first position, the system again acquires the pressure value generated by the adsorption unit at that position. If this pressure value reaches or exceeds the preset working pressure threshold, it indicates that the adsorption unit has recovered to a stable state sufficient for mobile cleaning, at which point the device can safely move along the second path. This condition ensures that the adsorption state of the device is reliable before restarting movement, thereby avoiding secondary air leakage or detachment due to unstable adsorption.

[0058] In some embodiments, this application further proposes that when the pressure value generated by the detection adsorption unit in the first position is greater than the static pressure threshold and less than the working pressure threshold, a first fault warning signal is generated.

[0059] Understandably, after the surface cleaning device 100 retracts to the first position, it not only determines whether the pressure value at that position meets the air pressure stability condition to decide whether to continue moving, but also further identifies whether the pressure value is in a critical state between the static pressure threshold and the working pressure threshold. When the aforementioned potential adsorption instability state is detected, the system of this application can generate a first fault warning signal, so that the surface cleaning device 100 can issue a warning to the user or system before the adsorption problem deteriorates to the point of complete failure, thereby providing the user with sufficient reaction time to check the equipment, clean the surface, or adjust the operation. Understandably, the above-mentioned warning mechanism can effectively prevent the surface cleaning device 100 from continuing to work when the adsorption force is insufficient but the adsorption has not completely detached, reducing the risk of equipment damage, poor cleaning effect, or accidental drop, improving the reliability and safety of the surface cleaning device 100 operation, and helping to extend the service life of the equipment.

[0060] refer to Figure 3 , Figure 3 A flowchart illustrating the process of determining a second position in the control method for the surface cleaning device 100 provided in this application embodiment; as shown below. Figure 3 As shown, in some embodiments, this application further proposes that controlling the movement of the surface cleaning device 100 from a first position along a second path may also include the following steps: Step 310: Determine the area within a preset radius of the leak location as the avoidance zone; Step 320: Determine a second location from the candidate cleaning area located outside the avoidance area on the target cleaning surface; Step 330: Generate a second path from the first position to the second position without passing through the avoidance area; Step 340: Control the surface cleaning device to move along the second path to the second position.

[0061] Understandably, when the surface cleaning device 100 detects an air pressure leak at a leak location, the system first acquires the spatial coordinates of that leak location. This can be achieved through an integrated positioning module within the device, such as an inertial measurement unit, a visual positioning system, or a lidar system. These modules can provide real-time, precise position data of the device on the target cleaning surface. The acquired coordinate information is recorded as the basis for subsequent judgments. Subsequently, based on the acquired spatial coordinates of the leak location, the system determines an area within a preset radius of the leak location as a avoidance zone. The size of the preset radius can be flexibly set according to factors such as the size of the surface cleaning device 100, the characteristics of the adsorption unit, and the specific conditions of the cleaning surface. This aims to delineate an area centered on the known leak point that needs to be avoided to ensure the safety of the device's subsequent path.

[0062] Based on this, the system will identify all areas on the target cleaning surface that are outside the aforementioned avoidance areas as candidate cleaning areas. This means that all areas marked as potentially leaking will be excluded from subsequent cleaning path planning, thereby ensuring that when the device selects a new cleaning target location, it can avoid these known problem areas and generate a second path from the first location to the second location without passing through the avoidance area, so as to control the surface cleaning device to move to the second location along the second path.

[0063] Furthermore, after defining the candidate cleaning areas, the system will determine a second location from them. The strategy for determining the second location can be varied. For example, as in subsequent embodiments, it can be based on the direction of movement from the first location to the leak location, or on selecting uncleaned areas based on historical cleaning records. Alternatively, it can be selected based on the distance from the first location, the required cleaning coverage, or a preset cleaning path planning algorithm, to ensure that the device can continue the cleaning task efficiently and safely.

[0064] In some embodiments, this application further proposes a specific method for determining a second position from the aforementioned candidate cleaning area, the method comprising: obtaining a first moving direction of the surface cleaning device 100 moving from a first position to a leaking position; determining a second moving direction based on the first moving direction and a preset offset angle; and determining a second position from the candidate cleaning area according to the second moving direction.

[0065] Understandably, as the surface cleaning device 100 moves from the first position to the leak location, its control system records in real time or, after detecting a pressure leak and reversing, analyzes the spatial coordinates of the first position and the leak location to obtain the first direction of movement. For example, the vector direction of movement can be determined by comparing the coordinate difference between the two positions, or the direction data during movement can be read from the device's navigation module. The first direction of movement reflects the device's trajectory before the pressure leak occurred.

[0066] The system calculates a second movement direction based on the acquired first movement direction and a preset offset angle. Then, it selects a second location within a previously determined candidate cleaning area based on this second movement direction. The preset offset angle can be a fixed value, such as 30, 45, or 90 degrees, or it can be dynamically adjusted based on the characteristics of the cleaning surface, the size of the avoidance area, or historical cleaning data. Alternatively, the system can plan a path from the first location along the second movement direction and select the first point on the path that enters the candidate cleaning area and is at a preset distance from the first location as the second location. Or, the system can identify an area within the candidate cleaning area that corresponds to the second movement direction and select a center point or boundary point from it as the second location.

[0067] refer to Figure 4 , Figure 4 A flowchart illustrating the control method for the surface cleaning device 100 provided in this application embodiment for determining a second position from a candidate cleaning area; in some embodiments, this application further proposes that the step of determining the second position from the candidate cleaning area may include at least: Step 410: Based on the historical cleaning records of the surface cleaning equipment, identify uncleaned areas from the candidate cleaning areas; Step 420: Identify the second location in the uncleaned area.

[0068] Understandably, when performing a cleaning task, the surface cleaning device 100 records the cleaned areas on the target surface in real time, forming a historical cleaning record. This historical cleaning record data can be acquired and stored by the device's internal positioning and mapping module. When it is necessary to identify uncleaned areas, the system compares the currently identified candidate cleaned areas with these historical cleaning records to identify the uncleaned areas.

[0069] By employing the aforementioned technical solution, when the surface cleaning device 100 moves from the first position to the second position, it accurately identifies uncleaned areas within the candidate cleaning area based on the device's historical cleaning records. Subsequently, the second position is determined from these uncleaned areas, effectively preventing the device from repeatedly cleaning already treated areas, thus improving cleaning efficiency and coverage. By prioritizing the cleaning of uncleaned areas, comprehensive cleaning of the target surface is ensured, avoiding blind spots or omissions, thereby enhancing overall cleaning quality and user experience.

[0070] In some embodiments, the second position and the leak position are different positions. During the process of controlling the surface cleaning device 100 to move along the second path to the second position, the method further includes: acquiring the pressure value generated by the adsorption unit; when the distance between the current position of the surface cleaning device 100 and the leak position is greater than a preset threshold, controlling the adsorption unit to operate at a first power; when the distance between the current position of the surface cleaning device 100 and the leak position is less than or equal to the preset threshold, controlling the adsorption unit to operate at a second power; wherein the second power is greater than the first power.

[0071] Understandably, the second position is planned outside the avoidance area of ​​the leak location. This indicates that after retracting to the first position and re-stabilizing adsorption, the surface cleaning device 100 chooses to avoid the leak area and move to another second position on the target cleaning surface. When the surface cleaning device 100 moves along the second path to the second position, if the distance between its current position and the leak location is greater than a preset threshold, it can be considered that the device is in a relatively safe area, or has not yet approached a potential leak area. In this case, the adsorption unit is controlled to operate at a first power.

[0072] The first power can be understood as the power that meets the basic adsorption requirements and is relatively low, which aims to ensure the adsorption stability of the equipment during normal movement, while also taking into account energy efficiency.

[0073] When the surface cleaning device 100 moves along the second path to the second position, if the distance between its current position and the leak location is less than or equal to a preset threshold, it indicates that the device has approached or entered the edge of the avoidance area where the leak previously occurred. To address the potential risk of unstable adsorption or leakage in this area, the adsorption unit is controlled to operate at a second power.

[0074] The second power is higher than the first power, designed to provide stronger adsorption force, thereby enhancing the adsorption stability of the device at the edge of the risk area and effectively preventing recurrence of leaks. Through the above technical solution, as the surface cleaning device 100 moves to the second position, the operating power of the adsorption unit is dynamically adjusted according to the distance between the current position of the surface cleaning device 100 and the leak location. That is, when the surface cleaning device 100 is far from the leak location, it operates at a lower first power, while when the surface cleaning device 100 is close to the leak location, it operates at a higher second power. This application can effectively cope with changes in local adsorption conditions on the cleaned surface.

[0075] In some embodiments, this application further proposes that, during the process of controlling the surface cleaning device 100 to move along the second path to the second position, the method further includes: acquiring the pressure value generated by the adsorption unit; when the distance between the current position of the surface cleaning device 100 and the leak position is greater than a preset threshold, controlling the surface cleaning device 100 to move at a first speed; when the distance between the current position of the surface cleaning device 100 and the leak position is less than or equal to the preset threshold, controlling the surface cleaning device 100 to move at a second speed; wherein the second speed is less than the first speed.

[0076] Understandably, as the surface cleaning device 100 moves along the second path to the second position, its movement speed can be dynamically adjusted based on the distance between its current position and the leak location. When the surface cleaning device 100 moves away from the leak location, it moves at a faster first speed, thereby improving cleaning efficiency and path coverage speed; while when the surface cleaning device 100 approaches or enters a preset adjacent area of ​​the leak location, it switches to a slower second speed. This segmented speed control strategy allows the surface cleaning device 100 to operate efficiently when away from potential problem areas, and to be more cautious when approaching sensitive areas, providing more time for pressure monitoring of the adsorption unit and system response. Therefore, this segmented speed control strategy effectively reduces the risk of adsorption instability recurring when the surface cleaning device 100 approaches the leak location, improving the reliability and safety of the cleaning task while maintaining overall cleaning efficiency.

[0077] In some embodiments, this application further proposes an improved control method, which further includes the following steps during the process of controlling the surface cleaning device 100 to move from a first position along a second path: when the pressure value generated by the adsorption unit meets the preset leakage condition, the surface cleaning device 100 is controlled to retract a preset distance.

[0078] Understandably, during the entire process of the surface cleaning device 100 moving from the first position along the second path, the pressure value generated by the adsorption unit is continuously monitored. When the pressure value meets the preset leakage conditions, the surface cleaning device 100 is promptly controlled to retract a preset distance. This effectively solves the problem of potential air pressure leakage during the cleaning process, which could lead to adsorption failure. This improves the safety and reliability of the surface cleaning device 100 on complex or irregular surfaces. When the surface cleaning device 100 encounters a sudden air leak during movement, it can quickly stop and return to a safe point, preventing equipment detachment, damage, or cleaning interruption due to insufficient adsorption force. This ensures the smooth progress of the cleaning task and extends the service life of the surface cleaning device 100.

[0079] In some embodiments, this application further proposes that during the process of the controlled surface cleaning device 100 moving from the first position to the second position on the target cleaning surface, when the pressure value generated by the adsorption unit meets the preset leakage condition, after the controlled surface cleaning device 100 retracts a preset distance, the application further includes acquiring the cumulative number of times the surface cleaning device 100 retracts the preset distance; when the cumulative number exceeds a preset number threshold, a second fault warning signal is generated.

[0080] Understandably, when the surface cleaning device 100 repeatedly retracts a preset distance due to air leakage in the adsorption unit, the system can accurately acquire and accumulate the number of retractions. When the accumulated number of retractions exceeds a preset threshold, the system will promptly generate a second fault warning signal. This effectively prevents the device from falling into an ineffective cleaning cycle in the same area due to repeated air leakage, thus improving cleaning efficiency. Simultaneously, the warning signal can promptly alert users or maintenance personnel that the surface cleaning device 100 may have persistent adsorption problems, such as insurmountable gaps in the cleaning surface, aging or damage to the adsorption unit, etc., thereby prompting timely inspection and maintenance, preventing further deterioration of potential faults, and ensuring stable operation of the equipment and successful completion of the cleaning task.

[0081] refer to Figure 5 , Figure 5 This is a schematic diagram of the control device of the surface cleaning equipment provided in the embodiments of this application; as shown below. Figure 5 As shown, in some embodiments, this application provides a control device for a surface cleaning device, wherein the surface cleaning device is provided with an adsorption unit for adsorbing the surface cleaning device onto a target surface to be cleaned; the control device 500 for the surface cleaning device includes: The pressure acquisition module 510 is configured to acquire the pressure value generated by the adsorption unit during the process of the surface cleaning device adsorbing onto the target cleaning surface and moving along the first path. The position determination module 520 is configured to determine the current position as the leakage position when the pressure value generated by the adsorption unit meets the preset leakage conditions. The retraction control module 530 is configured to control the surface cleaning device to retract a preset distance from the leak location to a first position, and to detect the pressure value generated by the adsorption unit at the first position; The movement control module 540 is configured to control the surface cleaning device to move from the first position along a second path and perform a cleaning task when the pressure value generated by the detection adsorption unit in the first position meets the preset air pressure stability condition, and the second path avoids the leak location.

[0082] In some embodiments, the leakage condition includes: the pressure value generated by the adsorption unit is less than a preset working pressure threshold and greater than or equal to a preset static pressure threshold. The conditions for stable air pressure include: the pressure value generated by the detection adsorption unit in the first position is greater than or equal to the working pressure threshold; Among them, the working pressure threshold is greater than the static pressure threshold.

[0083] In some embodiments, when controlling the surface cleaning device to move from a first position along a second path, the movement control module 540 is further configured to: The area within a preset radius of the leak location is designated as the avoidance zone; Determine a second location from the candidate cleaning area located outside the avoidance zone on the target cleaning surface; Generate a second path from the first position to the second position that does not pass through the avoidance area; Control the surface cleaning equipment to move along the second path to the second position.

[0084] In some embodiments, when determining a second location from a candidate cleaning area located outside the avoidance area on the target cleaning surface, the movement control module 540 is further configured to: The first direction of movement of the surface cleaning device from the first position to the leak location is determined. The second moving direction is determined based on the first moving direction and the preset offset angle; The second location is determined from the candidate clean area based on the second direction of movement.

[0085] In some embodiments, when determining a second location from a candidate cleaning area located outside the avoidance area on the target cleaning surface, the movement control module 540 is further configured to: Based on the historical cleaning records of the surface cleaning equipment, uncleaned areas are identified from the candidate cleaning areas; A second location was identified in the un-cleaned area.

[0086] In some embodiments, during the process of controlling the surface cleaning device to move along the second path to the second position, the movement control module 540 is further configured to: Obtain the pressure value generated by the adsorption unit; When the distance between the current position of the surface cleaning device and the leak location is greater than a preset threshold, the adsorption unit is controlled to operate at the first power. When the distance between the current position of the surface cleaning device and the leak location is less than or equal to a preset threshold, the adsorption unit is controlled to operate at the second power. The second power is greater than the first power.

[0087] In some embodiments, during the process of controlling the surface cleaning device to move along the second path to the second position, the movement control module 540 is further configured to: Obtain the pressure value generated by the adsorption unit; When the distance between the current position of the surface cleaning device and the leak location is greater than a preset threshold, the surface cleaning device is controlled to move at a first speed; When the distance between the current position of the surface cleaning device and the leak location is less than or equal to a preset threshold, the surface cleaning device is controlled to move at a second speed. The second speed is less than the first speed.

[0088] In some embodiments, the control device 500 of the surface cleaning equipment is further configured to: When the pressure value generated by the detection adsorption unit in the first position is greater than the static pressure threshold but less than the working pressure threshold, a first fault warning signal is generated.

[0089] In some embodiments, during the process of controlling the surface cleaning device to move from the first position along the second path, the movement control module 540 is further configured to: When the pressure value generated by the adsorption unit meets the preset leakage conditions, the surface cleaning equipment is controlled to retract a preset distance.

[0090] In some embodiments, the control device 500 of the surface cleaning equipment is further configured to: Obtain the cumulative number of times the surface cleaning equipment retracts a preset distance; When the cumulative number of occurrences exceeds the preset threshold, a second fault warning signal is generated.

[0091] In some embodiments, the adsorption unit includes a negative pressure chamber and a vacuum source disposed inside the negative pressure chamber.

[0092] refer to Figure 6 , Figure 6 A schematic block diagram of a surface cleaning device provided in embodiments of this application; in some embodiments, in, Figure 6 The architecture of the surface cleaning device provided in the embodiments of this application is illustrated by way of example. Figure 6 As shown, the surface cleaning device 100 may include a processor 610, a video display adapter 611, a disk drive 612, an input / output interface 613, a network interface 614, and a memory 620. The processor 610, video display adapter 611, disk drive 612, input / output interface 613, network interface 614, and memory 620 can communicate with each other via a communication bus 630.

[0093] The processor 610 can be implemented using a general-purpose CPU, microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs and implement the technical solution provided in this application.

[0094] The memory 620 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 620 can store the operating system 621 for controlling the terminal's operation, and the basic input / output system (BIOS) 622 for controlling the terminal's low-level operations. Additionally, it may include storage for a web browser 623, a data storage management system 624, and a control device 500 for surface cleaning equipment, etc. The aforementioned control device can be the application program that specifically implements the aforementioned steps in this embodiment. In summary, when implementing the technical solution provided in this application through software or firmware, the relevant program code is stored in the memory 620 and executed by the processor 610.

[0095] Input / output interface 613 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0096] Network interface 614 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0097] Bus 630 includes a pathway for transmitting information between various components of the device, such as processor 610, video display adapter 611, disk drive 612, input / output interface 613, network interface 614, and memory 620.

[0098] It should be noted that although the above-described device only shows the processor 610, video display adapter 611, disk drive 612, input / output interface 613, network interface 614, memory 620, bus 630, etc., in specific implementations, the surface cleaning device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the solution of this application, and does not necessarily include all the components shown in the figures.

[0099] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer program product. This computer program product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0100] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for a surface cleaning device, wherein the surface cleaning device is provided with an adsorption unit for adsorbing the surface cleaning device onto a target surface to be cleaned; characterized in that, The method includes: During the process of the surface cleaning device adsorbing onto the target cleaning surface and moving along the first path, the pressure value generated by the adsorption unit is obtained; When the pressure value generated by the adsorption unit meets the preset leakage conditions, the current position is determined to be the leakage position. The surface cleaning device is controlled to retract a preset distance from the leak location to a first position, and the pressure value generated by the adsorption unit at the first position is detected; When the pressure value generated by the adsorption unit at the first position meets the preset air pressure stability condition, the surface cleaning device is controlled to move from the first position along the second path and perform the cleaning task, the second path bypassing the leak location.

2. The control method for the surface cleaning equipment according to claim 1, characterized in that, The leakage conditions include: the pressure value generated by the adsorption unit is less than the preset working pressure threshold and greater than or equal to the preset static pressure threshold. The pressure stabilization condition includes: detecting that the pressure value generated by the adsorption unit at the first position is greater than or equal to the working pressure threshold. Wherein, the working pressure threshold is greater than the static pressure threshold.

3. The control method for the surface cleaning equipment according to claim 2, characterized in that, The method further includes: When the pressure value generated by the adsorption unit at the first position is greater than the static pressure threshold and less than the working pressure threshold, a first fault warning signal is generated.

4. The control method for the surface cleaning equipment according to claim 1, characterized in that, The control of the surface cleaning device to move from the first position along the second path includes: The area within a preset radius of the leak location is defined as the avoidance zone; A second location is determined from a candidate cleaning area located outside the avoidance area on the target cleaning surface; Generate a second path from the first position to the second position that does not pass through the avoidance area; Control the surface cleaning device to move along the second path to the second position.

5. The control method for the surface cleaning equipment according to claim 4, characterized in that, Determining a second location from a candidate cleaning area located outside the avoidance area on the target cleaning surface includes: Obtain a first direction of movement for the surface cleaning device as it moves from the first position to the leak location; Based on the first moving direction and the preset offset angle, the second moving direction is determined; The second position is determined from the candidate cleaning area based on the second direction of movement.

6. The control method for the surface cleaning equipment according to claim 4, characterized in that, Determining a second location from a candidate cleaning area located outside the avoidance area on the target cleaning surface includes: Based on the historical cleaning records of the surface cleaning equipment, uncleaned areas are determined from the candidate cleaning areas; The second location is determined from the uncleaned area.

7. The control method for the surface cleaning equipment according to claim 4, characterized in that, During the process of controlling the surface cleaning device to move along the second path to the second position, the method further includes: Obtain the pressure value generated by the adsorption unit; When the distance between the current position of the surface cleaning device and the leak location is greater than a preset threshold, the adsorption unit is controlled to operate at a first power. When the distance between the current position of the surface cleaning device and the leak location is less than or equal to the preset threshold, the adsorption unit is controlled to operate at the second power. The second power is greater than the first power.

8. The control method for the surface cleaning equipment according to claim 4, characterized in that, During the process of controlling the surface cleaning device to move along the second path to the second position, the method further includes: Obtain the pressure value generated by the adsorption unit; When the distance between the current position of the surface cleaning device and the leak location is greater than a preset threshold, the surface cleaning device is controlled to move at a first speed; When the distance between the current position of the surface cleaning device and the air leakage location is less than or equal to the preset threshold, the surface cleaning device is controlled to move at a second speed. The second speed is less than the first speed.

9. The control method for the surface cleaning equipment according to claim 1, characterized in that, During the process of controlling the surface cleaning device to move from the first position along the second path, the method further includes: When the pressure value generated by the adsorption unit meets the preset leakage condition, the surface cleaning device is controlled to retract by the preset distance.

10. The control method for the surface cleaning equipment according to claim 9, characterized in that, The method further includes: Obtain the cumulative number of times the surface cleaning device retracts the preset distance; When the cumulative number of occurrences exceeds a preset threshold, a second fault warning signal is generated.

11. The control method for the surface cleaning equipment according to claim 1, characterized in that, The adsorption unit includes a negative pressure chamber and a vacuum source disposed inside the negative pressure chamber.

12. A control device for a surface cleaning apparatus, wherein the surface cleaning apparatus is provided with an adsorption unit for adsorbing the surface cleaning apparatus onto a target surface to be cleaned; characterized in that, The device includes: The pressure acquisition module is configured to acquire the pressure value generated by the adsorption unit during the process of the surface cleaning device adsorbing onto the target cleaning surface and moving along a first path; The location determination module is configured to determine the current location as a leak location when the pressure value generated by the adsorption unit meets the preset leakage conditions. The retraction control module is configured to control the surface cleaning device to retract a preset distance from the leak location to a first position, and to detect the pressure value generated by the adsorption unit at the first position; The movement control module is configured to control the surface cleaning device to move from the first position along a second path and perform a cleaning task when the pressure value generated by the adsorption unit at the first position meets a preset air pressure stability condition, wherein the second path bypasses the leak location.

13. A surface cleaning device, characterized in that, The surface cleaning device is provided with an adsorption unit for adsorbing the surface cleaning device onto the target surface to be cleaned, and the surface cleaning device further includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 1 to 11.

14. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program performs the steps of the method described in any one of claims 1 to 11.

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