Window cleaning robot control method, window cleaning robot, device, and storage medium

Abstract

The embodiment of the application provides a window-cleaning robot control method, a window-cleaning robot, equipment and a storage medium, the window-cleaning robot is provided with a body, and a first position sensor, a second position sensor, a mechanical arm and a motor installed on the body, when the mechanical arm is located at a recovery position, the first position sensor is triggered, when the mechanical arm is located at an extended position, the second position sensor is triggered, the method comprises the following steps: determining the trigger state corresponding to the first position sensor and the second position sensor respectively; based on the trigger state, determining whether the target component is abnormal; if the target component is abnormal, controlling the motor to operate in a first direction first, and then controlling the motor to operate in a second direction, so that the target component returns to normal. By using the application, when some simple component abnormalities are encountered, the equipment can complete the detection process by itself, and when the problem is detected, it can automatically recover to normal. The manual cost consumed by sending for maintenance is saved.

Description

Technical Field

[0001] This invention relates to the field of intelligent device technology, and in particular to a window cleaning robot control method, window cleaning robot, device and storage medium. Background Technology

[0002] With the development of technology, people are increasingly relying on smart devices for household chores. For example, users now delegate sweeping and window cleaning to robotic vacuum cleaners. This saves users a lot of time and gives them more leisure time.

[0003] However, many problems inevitably arise during the use of the aforementioned window cleaning robots, such as the issue of the robotic arm getting stuck. When the robotic arm is stuck, the scraper connected to the robotic arm cannot extend or retract properly, which prevents the window cleaning robot from completing its cleaning task. For ordinary users, it is difficult to perform preliminary inspection and repair of the window cleaning robot, so they will directly send the robot for inspection to have a technician assist with repairs.

[0004] The problem with using the above approach is that the window cleaning robot cannot complete the cleaning operation, and it also increases the labor costs of sending the window for inspection and repair. Summary of the Invention

[0005] This invention provides a window cleaning robot control method, a window cleaning robot, equipment, and a storage medium to ensure the continuity of cleaning operations and reduce maintenance costs.

[0006] In a first aspect, embodiments of the present invention provide a control method for a window cleaning robot. The window cleaning robot includes a body, and a first position sensor, a second position sensor, a robotic arm, and a motor mounted on the body. The motor drives the robotic arm to reciprocate between a retracted position and an extended position relative to the body. When the robotic arm is in the retracted position, the first position sensor is triggered; when the robotic arm is in the extended position, the second position sensor is triggered. The method includes: Determine the trigger states corresponding to the first position sensor and the second position sensor respectively; Based on the trigger state, it is determined whether the target component has malfunctioned, wherein the target component is at least one of the first position sensor, the second position sensor, and the robotic arm; If the target component malfunctions, the motor is controlled to first run in a first direction, and then controlled to run in a second direction, so that the target component returns to normal; wherein the first direction and the second direction are opposite.

[0007] Optionally, determining the trigger states corresponding to the first position sensor and the second position sensor respectively includes: When a command instructing the robotic arm to retract or extend is detected, the trigger states corresponding to the first position sensor and the second position sensor are obtained after a preset time.

[0008] Optionally, determining whether the target component has malfunctioned based on the trigger state includes: If neither the first position sensor nor the second position sensor is triggered, it is determined that the robotic arm is stuck.

[0009] Optionally, determining whether the target component has malfunctioned based on the trigger state includes: If both the first position sensor and the second position sensor are triggered, it is determined that there is an anomaly in either the first position sensor or the second position sensor.

[0010] Optionally, the first direction is the current direction of the motor's rotation, and the second direction is the direction opposite to the current direction of the motor's rotation; or, The first direction is the direction opposite to the current operating direction of the motor, and the second direction is the current operating direction of the motor.

[0011] Optionally, controlling the motor to operate in the first direction includes: Control the motor to operate in the first direction at the maximum safe operating voltage or current; and / or, Controlling the motor to operate in the second direction includes: The motor is controlled to operate in the second direction at the maximum safe operating voltage or current.

[0012] Optionally, controlling the motor to operate in the first direction includes: Control the motor to run in the first direction for a first preset time; and / or, Controlling the motor to operate in the second direction includes: The motor is controlled to run in the second direction for a second preset duration.

[0013] Optionally, after controlling the motor to operate in the second direction, the method further includes: Control the robotic arm to execute commands to retract or extend; Determine the update trigger state corresponding to the first position sensor and the second position sensor respectively; Based on the update trigger status, determine whether the target component has returned to normal.

[0014] Optionally, determining whether the target component has returned to normal based on the update trigger state includes: If the first position sensor is triggered and the second position sensor is not triggered, then it is determined that the robotic arm has been normally retracted; and / or, If the first position sensor is not triggered but the second position sensor is triggered, it is determined that the robotic arm has extended normally.

[0015] Optionally, the method further includes: If it is determined based on the update trigger state that the target component has not returned to normal, then the step of controlling the motor to run in the first direction and then controlling the motor to run in the second direction is continued to be executed N times, where N is greater than or equal to the first preset threshold and less than or equal to the second preset threshold.

[0016] Optionally, the method further includes: If it is determined based on the update trigger status that the target component has not returned to normal, an alarm message is output.

[0017] Optionally, the output alarm information includes: Displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the window cleaning robot, or any one or more of these methods.

[0018] Optionally, the method further includes: If it is determined based on the update trigger status that the target component has not returned to normal, then the motor is prohibited from operating.

[0019] Secondly, embodiments of the present invention provide a window cleaning robot, the window cleaning robot comprising: a body, and a first position sensor, a second position sensor, a robotic arm, and a motor mounted on the body, the motor driving the robotic arm to reciprocate between a retracted position and an extended position relative to the body; when the robotic arm is in the retracted position, the first position sensor is triggered; when the robotic arm is in the extended position, the second position sensor is triggered; the window cleaning robot further comprises a control device, the control device including: The determination module is used to determine the trigger states corresponding to the first position sensor and the second position sensor respectively; based on the trigger states, it determines whether a target component has malfunctioned, wherein the target component is at least one of the first position sensor, the second position sensor, and the robotic arm; A self-recovery module, configured to, when an abnormality occurs in the target component, control the motor to operate in a first direction first, and then control the motor to operate in a second direction, so as to enable the target component to return to normal; wherein the first direction is opposite to the second direction.

[0020] Optionally, the determining module is configured to: when an instruction indicating retraction or extension of the mechanical arm is detected, after a preset time period, acquire trigger states respectively corresponding to the first position sensor and the second position sensor.

[0021] Optionally, the determining module is configured to: if neither the first position sensor nor the second position sensor is triggered, determine that the mechanical arm is stuck.

[0022] Optionally, the determining module is configured to: if both the first position sensor and the second position sensor are triggered, determine that an abnormality exists in the first position sensor or the second position sensor.

[0023] Optionally, the first direction is a current operating direction of the motor, and the second direction is a direction opposite to the current operating direction of the motor; or, the first direction is a direction opposite to the current operating direction of the motor, and the second direction is the current operating direction of the motor.

[0024] Optionally, the self-recovery module is configured to: control the motor to operate in the first direction under a maximum safe working voltage or current; and / or, control the motor to operate in the second direction under the maximum safe working voltage or current.

[0025] Optionally, the self-recovery module is configured to: control the motor to operate in the first direction for a first preset duration; and / or, control the motor to operate in the second direction for a second preset duration.

[0026] Optionally, the self-recovery module is further configured to: control the mechanical arm to execute a retraction or extension instruction; determine updated trigger states respectively corresponding to the first position sensor and the second position sensor; determine whether the target component has returned to normal based on the updated trigger states.

[0027] Optionally, the self-recovery module is configured to: If the first position sensor is triggered and the second position sensor is not triggered, then it is determined that the robotic arm has been normally retracted; and / or, If the first position sensor is not triggered but the second position sensor is triggered, it is determined that the robotic arm has extended normally.

[0028] Optionally, the self-recovery module is further configured to: If it is determined based on the update trigger state that the target component has not returned to normal, then the step of controlling the motor to run in the first direction and then controlling the motor to run in the second direction is continued to be executed N times, where N is greater than or equal to the first preset threshold and less than or equal to the second preset threshold.

[0029] Optionally, the device further includes an alarm module, the alarm module being used for: If it is determined based on the update trigger status that the target component has not returned to normal, an alarm message is output.

[0030] Optionally, the alarm module is used to: Displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the window cleaning robot, or any one or more of these methods.

[0031] Optionally, the alarm module is further configured to: If it is determined based on the update trigger status that the target component has not returned to normal, then the motor is prohibited from operating.

[0032] Thirdly, embodiments of the present invention provide an electronic device, including a processor and a memory, wherein the memory stores executable code, and when the executable code is executed by the processor, the processor can at least implement the window cleaning robot control method of the first aspect.

[0033] Fourthly, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code, wherein when the executable code is executed by a processor of an electronic device, the processor can at least implement the window cleaning robot control method of the first aspect.

[0034] This invention allows for the automatic detection of any abnormalities in a target component based on the trigger states of the first and second position sensors. Once an abnormality is detected, the device can automatically trigger a recovery process. In this way, the device can autonomously detect simple component malfunctions and automatically restore normal operation upon detection. Therefore, this invention helps users handle simple component problems independently, allowing the device to continue cleaning operations after successful automatic recovery. Furthermore, this invention reduces the frequency of equipment maintenance and repairs, saving on labor costs associated with such services. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a window cleaning robot provided in an embodiment of the present invention; Figure 2 A flowchart illustrating a window cleaning robot control method provided in an embodiment of the present invention; Figure 3 This invention provides a schematic diagram of a position sensor and a robotic arm moving in an embodiment. Figure 4 This is a schematic diagram illustrating the process of restoring a device to normal operation, provided as an embodiment of the present invention. Figure 5 This is a schematic diagram of another window cleaning robot provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures: 10. Window cleaning robot; 101. Body; 102. First position sensor; 103. Second position sensor; 104. Robotic arm; 105. Motor Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] 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, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0040] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0041] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0042] This invention provides a control method for a window cleaning robot, which can be applied to a window cleaning robot 10. For example... Figure 1 The diagram shows the structure of a window cleaning robot 10. The robot 10 includes a body 101, a first position sensor 102, a second position sensor 103, a robotic arm 104, and a motor 105 mounted on the body 101. The motor 105 drives the robotic arm 104 to reciprocate between a retracted position and an extended position relative to the body 101. When the robotic arm 104 is in the retracted position, the first position sensor 102 is triggered; when the robotic arm 104 is in the extended position, the second position sensor 103 is triggered. The first position sensor 102 or the second position sensor 103 can be an optocoupler, a Hall effect sensor, a capacitive sensor, etc.

[0043] Figure 2 A flowchart of a window cleaning robot control method provided in an embodiment of the present invention is shown below. Figure 2 As shown, the method includes the following steps: 201. Determine the trigger states corresponding to the first position sensor 102 and the second position sensor 103 respectively.

[0044] 202. Based on the trigger state, determine whether the target component has malfunctioned, wherein the target component is at least one of the first position sensor 102, the second position sensor 103, and the robotic arm 104.

[0045] 203. If the target component malfunctions, the control motor 105 is first moved in the first direction, and then moved in the second direction to restore the target component to normal; wherein the first direction and the second direction are opposite.

[0046] In practical applications, taking the first position sensor 102 or the second position sensor 103 as an example, it can be used in conjunction with a light-blocking plate to detect the movement position of the robotic arm 104 relative to the body 101. The light-blocking plate can be connected to the robotic arm 104. Therefore, when the robotic arm 104 moves, it can move the light-blocking plate. Figure 3 As shown, the first position sensor 102 and the second position sensor 103 are fixed. When the light-blocking plate moves to the position of the first position sensor 102, the light signal emitted by the first position sensor 102 is blocked by the light-blocking plate, thus allowing it to output a corresponding level signal. At this time, it can be considered that the first position sensor 102 is triggered, and the robotic arm 104 is in the retracted position. When the light-blocking plate moves to the position of the second position sensor 103, the light signal emitted by the second position sensor 103 is blocked by the light-blocking plate, thus allowing it to output a corresponding level signal. At this time, it can be considered that the second position sensor 103 is triggered, and the robotic arm 104 is in the extended position.

[0047] As described above, both the first position sensor 102 and the second position sensor 103 can output corresponding level signals when triggered. Therefore, the position of the light-blocking plate can be detected by detecting the level signals output by the first position sensor 102 or the second position sensor 103, thereby helping to determine the movement position of the robotic arm 104 relative to the body 101. The robotic arm 104 can be in three movement positions: retracted, extended, and in the process of moving. The robotic arm 104 can be controlled to retract, placing it in the retracted position. At this time, the light-blocking plate should move accordingly to the position of the first position sensor 102, triggering the first position sensor 102 to output a corresponding level signal. Similarly, the robotic arm 104 can be controlled to extend, placing it in the extended position. At this time, the light-blocking plate should move accordingly to the position of the second position sensor 103, triggering the second position sensor 103 to output a corresponding level signal. It is understandable that when the robotic arm 104 is in the moving process position, the light-blocking plate is not in the position of the first position sensor 102, nor in the position of the second position sensor 103, so the first position sensor 102 and the second position sensor 103 are not triggered at the same time.

[0048] It should be noted that the trigger state of the position sensor can be represented by the level signals output by the first position sensor 102 and the second position sensor 103. As can be seen from the foregoing description, the movement position of the robotic arm 104 relative to the body 101 can be determined based on the respective trigger states of the first position sensor 102 and the second position sensor 103.

[0049] By detecting the trigger states of the first position sensor 102 and the second position sensor 103, it can be determined whether the target component has malfunctioned. Optionally, the process of determining whether the target component has malfunctioned based on the trigger states can be implemented as follows: if neither the first position sensor 102 nor the second position sensor 103 is triggered, it is determined that the robotic arm 104 is stuck.

[0050] Understandably, if no command is received to retract or extend the robotic arm 104, the robotic arm 104 should be in the retracted or extended position, and one of the first position sensor 102 or the second position sensor 103 should be triggered. However, if the acquired trigger status indicates that neither the first position sensor 102 nor the second position sensor 103 has been triggered, it can be determined that the robotic arm 104 is stuck, that is, the robotic arm 104 is stuck at a certain position during movement, therefore neither the first position sensor 102 nor the second position sensor 103 can be triggered. When the robotic arm 104 is detected to be stuck, the motor 105 can be controlled to move first in the first direction, and then controlled to move in the second direction, in an attempt to automatically resolve the problem of the robotic arm 104 being stuck. The specific process of restoring normal operation will be described later and will not be elaborated here.

[0051] In some possible implementations, the process of determining the trigger states corresponding to the first position sensor 102 and the second position sensor 103 can be implemented as follows: when an instruction to instruct the robotic arm 104 to retract or extend is detected, after a preset time, the trigger states corresponding to the first position sensor 102 and the second position sensor 103 are obtained respectively.

[0052] Understandably, assuming the robotic arm 104 is currently in the extended position, a command to retract the robotic arm 104 can be sent. Upon receiving this command, the robotic arm 104 begins to move. When the robotic arm 104 begins to move, a timer can be used to time the movement. After a preset time has elapsed, the trigger states of the first position sensor 102 and the second position sensor 103 are obtained. After issuing the command to retract the robotic arm 104, a preset time can be allowed for the robotic arm 104 to react. After this preset time, the trigger states of the first position sensor 102 and the second position sensor 103 are checked again. Using the trigger states to determine whether the robotic arm 104 has malfunctioned provides a more accurate assessment. If, after the preset time, the first position sensor 102 is not triggered, it indicates that the robotic arm 104 is not in the retracted position and has failed to respond correctly to the command, thus confirming that the robotic arm 104 is stuck. Alternatively, if neither the first position sensor 102 nor the second position sensor 103 is triggered after a preset time, it can be determined that the robotic arm 104 is stuck.

[0053] Similarly, assuming the robotic arm 104 is currently in the retracted position, a command to extend the robotic arm 104 can be sent. When the robotic arm 104 receives this command, it begins to move. When the robotic arm 104 begins to move, a timer can be used to time the movement. After a preset time has elapsed, the trigger states of the first position sensor 102 and the second position sensor 103 are obtained. After issuing the command to extend the robotic arm 104, a preset time can be allowed for the robotic arm 104 to react. After this preset time, the trigger states of the first position sensor 102 and the second position sensor 103 are checked again. Using the trigger states to determine whether the robotic arm 104 has malfunctioned provides a more accurate assessment. If the second position sensor 103 is not triggered after the preset time, it indicates that the robotic arm 104 is not in the extended position and has failed to respond correctly to the command, thus indicating that the robotic arm 104 is stuck. Alternatively, if neither the first position sensor 102 nor the second position sensor 103 is triggered after the preset time, it can also be determined that the robotic arm 104 is stuck.

[0054] For example, assuming the preset duration is 8 seconds, and the robotic arm 104 is currently in the retracted position, and the window cleaning robot needs to perform window cleaning operations, a command can be sent to the robotic arm 104 to extend it. When the robotic arm 104 receives this command, it begins to move relative to the body 101, and a timer can be started at this point. After 8 seconds, if the second position sensor 103 has not been triggered, it can be determined that the robotic arm 104 has become stuck. It should be noted that the preset duration can be adjusted according to the distance and speed at which the robotic arm 104 needs to move; this embodiment of the invention simply uses 8 seconds as an example of the preset duration.

[0055] Additionally, it should be noted that when a command instructing the robotic arm 104 to retract is detected, if the first position sensor 102 is triggered but the second position sensor 103 is not triggered after a preset time, it is determined that the robotic arm 104 has retracted normally. Conversely, when a command instructing the robotic arm 104 to extend is detected, if the first position sensor 102 is not triggered but the second position sensor 103 is triggered, it is determined that the robotic arm 104 has extended normally.

[0056] It should be added that, in practical applications, besides detecting whether the robotic arm 104 is stuck through the trigger states of the first position sensor 102 and the second position sensor 103, the sticking of the robotic arm 104 can also be detected through the current value output by the motor 105. Specifically, a current threshold can be preset. The preset current threshold can be a relatively large current value, which may exceed the current value that the motor 105 would normally output during normal operation. In one possible application scenario, the preset current threshold can be set to 600mA. Of course, different preset current thresholds can also be set according to different models of the motor 105 and the current value output under its normal operating state. This embodiment of the invention does not limit this.

[0057] After setting the preset current threshold, the output current of motor 105 can be monitored in real time during operation. The output current is compared with the preset current threshold. If the output current is greater than or equal to the preset current threshold, it indicates that the robotic arm 104 is stuck, and the automatic recovery process can be initiated. For example, assuming the first output current is 610mA, it can be determined that the robotic arm 104 is stuck, and the automatic recovery process for the stuck robotic arm 104 can be initiated.

[0058] Understandably, in some cases, the robotic arm 104 may only experience a temporary jam and then recover immediately on its own, or the output current may only momentarily increase to exceed the preset current threshold due to external factors. Such situations can be disregarded as jamming. Therefore, to further ensure the accuracy of determining whether the robotic arm 104 has jammed, the duration for which the output current is greater than or equal to the preset current threshold can be determined; if the duration is greater than or equal to the preset duration threshold, then the robotic arm 104 is determined to have jammed.

[0059] For example, the preset duration threshold can be set to 5 seconds, but the value can be adjusted according to the specific application scenario. In practical applications, when the output current obtained at a certain time is detected to be greater than the preset current threshold according to the preset cycle, the output current can continue to be obtained according to the preset cycle, and then it can be checked whether the output current obtained each time is greater than or equal to the preset current threshold. If the duration for which the output current is greater than or equal to the preset current threshold is greater than or equal to the preset duration threshold, it can be determined that the robotic arm 104 is stuck; otherwise, it cannot be determined that the robotic arm 104 is stuck.

[0060] In one possible application scenario, assuming the first output current obtained is 610mA, 620mA, ... 610mA, and each time the first output current obtained exceeds the preset current threshold of 600mA, and this situation has continued for more than the preset duration threshold of 5s, then it can be determined that the robotic arm 104 has become stuck.

[0061] The above describes how to determine if the robotic arm 104 is stuck. The following describes how to determine if the first position sensor 102 or the second position sensor 103 is malfunctioning. Optionally, based on the trigger state, the process of determining whether the target component is malfunctioning can be implemented as follows: if both the first position sensor 102 and the second position sensor 103 are triggered, then it is determined that the first position sensor 102 and / or the second position sensor 103 is malfunctioning.

[0062] In practical applications, if the first position sensor 102 and the second position sensor 103 are triggered simultaneously, it indicates that the robotic arm 104 is in both the extended and retracted positions, a situation theoretically considered impossible. However, if the actual detected triggering status indicates that the first position sensor 102 and the second position sensor 103 are triggered simultaneously, it can be inferred that there is an anomaly in the first position sensor 102 and / or the second position sensor 103. It is understandable that when the first position sensor 102 and the second position sensor 103 are optocouplers, and a foreign object is inserted into the gap between the transmitter and receiver of the optocoupler, the foreign object may mistakenly trigger either the first position sensor 102 or the second position sensor 103.

[0063] When an abnormality is detected in the first position sensor 102 or the second position sensor 103, the device can automatically restore normal operation to attempt to automatically resolve the problem that the first position sensor 102 or the second position sensor 103 cannot continue to detect the movement position of the robotic arm 104 normally.

[0064] It is worth noting that the above describes the process of determining whether the robotic arm 104 is stuck or whether the first position sensor 102 and / or the second position sensor 103 are mistakenly triggered by foreign objects based on the trigger states of the first position sensor 102 and the second position sensor 103, respectively. In fact, regardless of whether the robotic arm 104 is stuck or the first position sensor 102 or the second position sensor 103 is mistakenly triggered by foreign objects, the same method can be used to automatically restore normal operation. The following will describe in detail the process of the execution device automatically restoring normal operation.

[0065] In practical applications, the process of restoring the device to normal operation may include: if the target component malfunctions, the motor 105 is controlled to run in the first direction first, and then the motor 105 is controlled to run in the second direction, so that the target component returns to normal operation; wherein, the first direction and the second direction are opposite.

[0066] Optionally, the first direction can be the current direction of the motor 105's rotation, and the second direction can be the opposite direction to the current direction of the motor 105's rotation; or, the first direction can be the opposite direction to the current direction of the motor 105's rotation, and the second direction can be the current direction of the motor 105's rotation.

[0067] In practical applications, if an abnormality is detected in the target component, the motor 105 can be controlled to move in the first direction and then in the second direction. This can be used to try to get the robotic arm 104 out of the stuck state or to push out any foreign objects that have accidentally touched the first position sensor 102 or the second position sensor 103, thereby restoring the equipment to normal operation.

[0068] Optionally, in order to achieve a better restoration effect, the process of controlling the motor 105 to run in the first direction can be implemented as follows: controlling the motor 105 to run in the first direction under the maximum safe operating voltage or current; and / or, the process of controlling the motor 105 to run in the second direction can be implemented as follows: controlling the motor 105 to run in the second direction under the maximum safe operating voltage or current.

[0069] In practical applications, the range of normal operating voltage of motor 105 can be determined, and then the maximum safe operating voltage within the normal operating voltage range can be taken. Then, motor 105 can be controlled to run in a first direction under the maximum safe operating voltage, and motor 105 can be controlled to run in a second direction under the maximum safe operating voltage.

[0070] It should be noted that when motor 105 operates at its maximum safe operating voltage, it can theoretically achieve its maximum speed. This allows motor 105 to rotate rapidly in the first and second directions when the robotic arm 104 becomes stuck or when the first position sensor 102 or the second position sensor 103 malfunctions. This can more effectively extricate the robotic arm 104 from its stuck state or dislodge any foreign objects that might cause the position sensors to malfunction. However, regardless of the voltage used, it is crucial to ensure that a safe operating voltage is applied; otherwise, motor 105 may be damaged before the device has fully recovered.

[0071] For example, assuming the operating voltage range of motor 105 is 6V to 12V, a voltage of 12V can be input to motor 105 to make it run in the first direction, and then a voltage of 12V can be input to motor 105 to make it run in the second direction. However, a voltage higher than 12V cannot be input to motor 105 to avoid damage to motor 105.

[0072] In addition to the above methods, any voltage within its normal operating voltage range can be input to the motor 105, which can also make the motor 105 run in the first or second direction, and to a certain extent, it can also make the robotic arm 104 exit the stuck state.

[0073] Alternatively, the range of normal operating current of motor 105 can be determined, and then the maximum safe operating current within the normal operating current range can be taken. Then, motor 105 can be controlled to run in a first direction under the maximum safe operating current, and motor 105 can be controlled to run in a second direction under the maximum safe operating current.

[0074] It should be noted that when motor 105 operates at its maximum safe operating current, theoretically, motor 105 can output maximum torque. This means that if the robotic arm 104 jams or if there are foreign objects causing the first position sensor 102 or the second position sensor 103 to malfunction, motor 105 can use its maximum torque to push the foreign objects out in the first and second directions, thus more effectively restoring normal operation. However, regardless of the current used, it is crucial to ensure that a safe operating current is being used; otherwise, motor 105 may be damaged before the device has completed the restoration process.

[0075] It should be noted that, in order to improve the effect of the equipment returning to normal, and to enable the robotic arm 104 to return to normal as soon as possible after jamming or the first position sensor 102 or the second position sensor 103 malfunctions, the process of controlling the motor 105 to run in the first direction can also be implemented as follows: controlling the motor 105 to run in the first direction for a first preset time; and / or, the process of controlling the motor 105 to run in the second direction can also be implemented as follows: controlling the motor 105 to run in the second direction for a second preset time.

[0076] In practical applications, the duration for which the motor 105 rotates in the first direction can be set as a first preset duration, and the duration for which the motor 105 rotates in the second direction can be set as a second preset duration. The first preset duration and the second preset duration can be the same or different, and this embodiment of the invention does not limit this.

[0077] Specifically, before actually setting the first and second preset durations, a large amount of data can be collected on the time it takes for the robotic arm 104 to push out foreign objects after it jams or when there are foreign objects causing the first position sensor 102 or the second position sensor 103 to malfunction, and the robotic arm rotates in the first direction. The collected durations are then analyzed to determine the first preset duration. This ensures that, to a large extent, the foreign object can be pushed out after the motor 105 rotates in the first direction for the first preset duration. Similarly, a large amount of data can be collected on the time it takes for the motor 105 to push out foreign objects in the second direction, and the collected durations are then analyzed to determine the second preset duration.

[0078] For example, experiments have shown that when a foreign object is present, controlling the motor 105 to rotate in the first direction for 3.5 seconds, followed by controlling the motor 105 to rotate in the second direction for 3.5 seconds, can usually push out the foreign object, thus solving the problem of foreign object presence. Therefore, the first and second preset durations can be set to 3.5 seconds. Of course, this 3.5 seconds is merely an example, and the present invention does not limit the specific method of setting the first and second preset durations.

[0079] Optionally, after controlling the motor 105 to operate in the second direction, the method provided in this embodiment of the invention may further include: controlling the robotic arm 104 to execute a retraction or extension command; determining the update trigger state corresponding to the first position sensor 102 and the second position sensor 103 respectively; and determining whether the target component has returned to normal based on the update trigger state.

[0080] Assuming the target component malfunctions, the above-described method can be used to automatically restore the device to normal operation. However, after the automatic restoration process, the malfunction of the target component may not be effectively resolved. The following method can be used to detect whether the malfunction still exists. For detection, a command can first be sent to the robotic arm 104 to perform either retraction or extension. After the robotic arm 104 executes the command, the update trigger status of the first position sensor 102 and the second position sensor 103 can be determined.

[0081] Optionally, the process of determining whether the target component has returned to normal based on the updated trigger state can be implemented as follows: if the first position sensor 102 is triggered and the second position sensor 103 is not triggered, then it is determined that the robotic arm 104 is normally retracted; and / or, if the first position sensor 102 is not triggered and the second position sensor 103 is triggered, then it is determined that the robotic arm 104 is normally extended.

[0082] In practical applications, if a command to retract is sent to the robotic arm 104, and after a preset time, the second position sensor 103 is not triggered while the first position sensor 102 is triggered, then the problem of the robotic arm 104 being stuck is determined to be resolved. Otherwise, the problem of the robotic arm 104 being stuck is determined to be unresolved.

[0083] Similarly, if the command sent to the robotic arm 104 is to extend it, and after a preset time, the first position sensor 102 is not triggered while the second position sensor 103 is triggered, then the problem of the robotic arm 104 being stuck is determined to be resolved. Otherwise, the problem of the robotic arm 104 being stuck is determined to be unresolved.

[0084] Similarly, assuming either the first position sensor 102 or the second position sensor 103 malfunctions, a device recovery process can be initiated first. Then, a command is sent to the robotic arm 104 to retract or extend the sensor. After the robotic arm 104 executes this command, the update trigger status of the first and second position sensors 102 and 103 can be determined. Normally, when a foreign object is present, both the first and second position sensors 102 are triggered. However, if the recovery is successful, a retraction command is sent to the robotic arm 104. After a preset time, the second position sensor 103 is not triggered, but the first position sensor 102 is. Simultaneously, an extension command is sent to the robotic arm 104. After a preset time, the first position sensor 102 is not triggered, but the second position sensor 103 is triggered. Otherwise, if the above conditions are not met, the device is considered to have failed to successfully recover.

[0085] It is worth noting that the device can be restored to normal using the method described above. However, if the foreign object is not expelled after one attempt, the method provided in this embodiment can be repeated to try to restore normal operation before sending the device for inspection and repair. Optionally, the method provided in this embodiment may further include: if it is determined based on the update trigger state that the target component has not been restored to normal, then the step of controlling the motor 105 to run first in the first direction and then controlling the motor 105 to run in the second direction is continued to be performed N times, where N is greater than or equal to a first preset threshold and less than or equal to a second preset threshold. The first preset threshold may be, for example, 1, and the second preset threshold may be, for example, 4.

[0086] like Figure 4 As shown, the process of restoring to normal can also be achieved as follows: 401. Set the recovery count, where the initial value of the recovery count is 1.

[0087] 402. Control motor 105 to run in the first direction.

[0088] 403. Control motor 105 to run in the second direction.

[0089] 404. Control the robotic arm 104 to execute the command to retract or extend.

[0090] 405. Determine the update trigger state corresponding to the first position sensor 102 and the second position sensor 103 respectively.

[0091] 406. Based on the update trigger status, determine whether the target component has returned to normal.

[0092] 407. If it is determined that the target component has not been restored to normal, the restoration count is incremented by 1, and it is determined whether the current restoration count is greater than or equal to the first preset threshold and less than or equal to the second preset threshold.

[0093] 408. If the current recovery count is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, proceed to step 402 to continue execution.

[0094] 409. If the current recovery count is greater than the second preset threshold, then stop the loop.

[0095] In practical applications, if an automatic recovery process fails to expel the foreign object, the recovery process can be retried until the foreign object is still not expelled after multiple attempts. In other words, if an automatic recovery process fails to expel the foreign object, steps 402-403 can be executed N times, where N is greater than or equal to a first preset threshold and less than or equal to a second preset threshold. This allows for rapid attempts at automatic recovery.

[0096] Alternatively, after each step 402-403, the process can continue with steps after step 404 to determine if the current attempt at automatic recovery has been successful. If successful, the loop can be stopped immediately. For example, if this is the third attempt at recovery, and the current recovery count is 3, first control motor 105 to rotate in the first direction, then control motor 105 to rotate in the second direction, and then control robotic arm 104 to execute the retraction command. If the first position sensor 102 and the second position sensor 103 are not triggered, it indicates that robotic arm 104 is still stuck. At this point, the recovery count can be increased by 1, so the recovery count becomes 4. It is then determined whether the current recovery count has reached the preset threshold. Assuming the preset threshold is 5, it has not yet been reached, so the loop can continue. If the robotic arm 104 is still stuck after the fifth attempt at recovery, when the recovery count is increased by 1, the recovery count becomes 6, exceeding the preset threshold, so the loop stops.

[0097] If the problem cannot be resolved through the normal recovery process, an alarm message will be output. This alarm message indicates that the device needs to be sent for inspection and repair, as the internal issues are not simple and cannot be fixed by the normal recovery process; it should be handled by more specialized technicians or organizations.

[0098] The following will introduce several different ways to output alarm information.

[0099] Optionally, the process of outputting alarm information can be implemented as one or more of the following: displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the local device.

[0100] In practical applications, assuming the device has a display panel, it can display a message such as, "A problem has been detected where the robotic arm 104 is stuck, causing the cleaning scraper to be unable to extend properly. Please contact a repair shop for inspection and repair as soon as possible." Seeing this message will help users understand the problem and what they need to do next.

[0101] Alternatively, if the device is equipped with a voice broadcasting system, it can also broadcast an alarm message such as, "A problem has been detected with your device's robotic arm 104, causing the cleaning scraper to be unable to extend normally. Please contact the relevant repair center for inspection and repair as soon as possible." Specifically, the above message can be broadcast repeatedly until the user triggers the confirmation button, or if the device is a window cleaning robot 10, the broadcasting will stop when the user removes the window cleaning robot 10 from the window.

[0102] Alternatively, alarm messages can be sent to the terminal bound to the robot vacuum. Specifically, the product is registered when a user purchases the robot vacuum or at other possible times. During registration, the terminal identifier entered by the user, such as a mobile phone number, can be obtained. After the user enters the terminal identifier, it can be uploaded to the server. If the robotic arm 104 is detected to be stuck and cannot recover on its own, an instruction message can be sent to the server. Upon receiving the instruction message, the server can obtain the terminal identifier bound to the current device and then send an alarm message to the terminal corresponding to that identifier, such as a push notification to the user's mobile phone stating, "Your device has detected a problem with robotic arm 104 being stuck, causing the cleaning scraper to be unable to extend normally. Please contact a repair shop for inspection and repair as soon as possible."

[0103] In some alternative embodiments, to protect the motor 105 from damage, when it is determined based on the updated trigger state that the target component has not returned to normal, in addition to outputting an alarm message, the motor 105 will also be controlled to stop operating. This can prevent the motor 105 from burning out or other components from being damaged due to the robotic arm 104 jamming while the motor 105 is outputting a high output current for a long time.

[0104] This invention allows for the automatic detection of any abnormalities in a target component based on the trigger states of the first and second position sensors. Once an abnormality is detected, the device can automatically trigger a recovery process. In this way, the device can autonomously detect simple component malfunctions and automatically restore normal operation upon detection. Therefore, this invention helps users handle simple component problems independently, allowing the device to continue cleaning operations after successful automatic recovery. Furthermore, this invention reduces the frequency of equipment maintenance and repairs, saving on labor costs associated with such services.

[0105] The following describes in detail one or more embodiments of the window cleaning robot of the present invention. Those skilled in the art will understand that these window cleaning robots can be configured using commercially available hardware components through the steps taught in this solution.

[0106] Figure 5 This is a schematic diagram of a window cleaning robot according to an embodiment of the present invention. The window cleaning robot includes: a body, and a first position sensor, a second position sensor, a robotic arm, and a motor mounted on the body. The motor drives the robotic arm to reciprocate between a retracted position and an extended position relative to the body. When the robotic arm is in the retracted position, the first position sensor is triggered; when the robotic arm is in the extended position, the second position sensor is triggered. The window cleaning robot also includes a control device, such as... Figure 5 As shown, the control device includes: The determining module 51 is used to determine the trigger states corresponding to the first position sensor and the second position sensor respectively; based on the trigger states, it determines whether the target component has malfunctioned, wherein the target component is at least one of the first position sensor, the second position sensor, and the robotic arm; the determining module 51 is configured to execute the processes of steps 201 and 202 in the foregoing embodiments.

[0107] The self-recovery module 52 is used to control the motor to run in a first direction and then in a second direction when the target component malfunctions, so that the target component returns to normal; wherein the first direction and the second direction are opposite. The self-recovery module 52 is configured to execute the process of step 203 in the aforementioned embodiment.

[0108] The window cleaning robot provided by this invention can automatically detect whether a target component is malfunctioning based on the trigger states of the first and second position sensors. Once an malfunction is detected, the robot can automatically trigger a recovery process. In this way, when encountering simple component malfunctions, the device can autonomously complete the detection process and automatically restore normal operation upon detection. Therefore, this invention helps users handle simple component problems independently, and after successful automatic recovery, the device can continue cleaning operations. Furthermore, this invention reduces the frequency of equipment maintenance and repairs, saving on labor costs associated with such repairs.

[0109] Optionally, module 51 is defined for: When a command to retract or extend the robotic arm is detected, the trigger states corresponding to the first and second position sensors are obtained after a preset time.

[0110] After a preset time period, the trigger status of the first and second position sensors is detected. The result of judging whether the target component is abnormal based on the trigger status is more accurate.

[0111] Optionally, module 51 is defined for: If neither the first position sensor nor the second position sensor is triggered, it is determined that the robotic arm is stuck.

[0112] Optionally, module 51 is defined for: If both the first and second position sensors are triggered, it is determined that either the first or second position sensor is malfunctioning.

[0113] Optionally, the first direction is the current direction of motor rotation, and the second direction is the direction opposite to the current direction of motor rotation; or, The first direction is the opposite direction to the current direction of motor rotation, and the second direction is the current direction of motor rotation.

[0114] Optionally, the self-recovery module 52 is used for: Control the motor to operate in the first direction at the maximum safe operating voltage or current; and / or, Control the motor to run in the second direction at the maximum safe operating voltage or current.

[0115] Controlling the motor to operate at its maximum safe operating voltage or current can increase the motor's speed or output torque, making it easier to resolve malfunctions.

[0116] Optionally, the self-recovery module 52 is used for: Control the motor to rotate in the first direction for a first preset time; and / or, Control the motor to run in the second direction for a second preset time.

[0117] Ensuring the motor runs long enough allows for more effective resolution of malfunctions.

[0118] Optionally, the self-recovery module 52 is also used for: Control the robotic arm to execute commands to retract or extend; Determine the update trigger states corresponding to the first position sensor and the second position sensor respectively; Based on the update trigger status, determine whether the target component has returned to normal.

[0119] Performing the recovery process does not necessarily resolve the anomaly. Therefore, it is possible to reacquire the update trigger states corresponding to the first and second position sensors and determine whether the anomaly has been resolved based on the update trigger states.

[0120] Optionally, the self-recovery module 52 is used for: If the first position sensor is triggered and the second position sensor is not triggered, then the robotic arm is determined to have retracted normally; and / or, If the first position sensor is not triggered but the second position sensor is triggered, it is determined that the robotic arm has extended normally.

[0121] Optionally, the self-recovery module 52 is also used for: If the target component is determined to have not returned to normal based on the update trigger status, the process of controlling the motor to run in the first direction and then controlling the motor to run in the second direction is continued to be executed N times, where N is greater than or equal to the first preset threshold and less than or equal to the second preset threshold.

[0122] Optionally, the device further includes an alarm module, which is used for: If the update trigger status determines that the target component has not returned to normal, an alarm message will be output.

[0123] Optionally, the alarm module is used for: Display alarm information, broadcast alarm information via voice, or send alarm information to the terminal bound to the window cleaning robot, or any one or more of these methods.

[0124] Optionally, the alarm module is also used for: If the update trigger status determines that the target component has not returned to normal, then the motor operation is prohibited.

[0125] Figure 5 The device shown can perform the aforementioned Figures 1 to 4 The window cleaning robot control method provided in the illustrated embodiment, for detailed execution process and technical effects, can be found in the description of the foregoing embodiments, and will not be repeated here.

[0126] In one possible design, the above Figure 5 The structure of the window cleaning robot shown can be implemented as an electronic device, such as... Figure 6 As shown, the electronic device may include a processor 91 and a memory 92. The memory 92 stores executable code, which, when executed by the processor 91, enables the processor 91 to at least perform the functions described above. Figures 1 to 4 The window cleaning robot control method provided in the illustrated embodiment.

[0127] Optionally, the electronic device may also include a communication interface 93 for communicating with other devices.

[0128] Furthermore, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code, which, when executed by a processor of an electronic device, enables the processor to at least perform the functions described above. Figures 1 to 4 The window cleaning robot control method provided in the illustrated embodiment.

[0129] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of a necessary general-purpose hardware platform, or by a combination of hardware and software. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] The window cleaning robot control method provided in this embodiment of the invention can be executed by a program / software, which can be provided by a network side. The electronic device mentioned in the foregoing embodiments can download the program / software to a local non-volatile storage medium, and when it needs to execute the aforementioned window cleaning robot control method, the CPU reads the program / software into memory, and then the CPU executes the program / software to implement the window cleaning robot control method provided in the foregoing embodiments. The execution process can be referred to the foregoing... Figures 1 to 4 The illustration is shown in the image.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a window cleaning robot, characterized in that, The window cleaning robot includes a body, a first position sensor, a second position sensor, a robotic arm, and a motor mounted on the body. The motor drives the robotic arm to reciprocate between a retracted position and an extended position relative to the body. When the robotic arm is in the retracted position, the first position sensor is triggered; when the robotic arm is in the extended position, the second position sensor is triggered. The method includes: Determine the trigger states corresponding to the first position sensor and the second position sensor respectively; Based on the trigger state, it is determined whether the target component has malfunctioned, wherein the target component is at least one of the first position sensor, the second position sensor, and the robotic arm; If the target component malfunctions, the motor is controlled to first run in a first direction, and then controlled to run in a second direction, so that the target component returns to normal; wherein the first direction and the second direction are opposite.

2. The method according to claim 1, characterized in that, Determining the trigger states corresponding to the first position sensor and the second position sensor respectively includes: When a command instructing the robotic arm to retract or extend is detected, the trigger states corresponding to the first position sensor and the second position sensor are obtained after a preset time.

3. The method according to claim 1, characterized in that, The step of determining whether the target component has malfunctioned based on the trigger state includes: If neither the first position sensor nor the second position sensor is triggered, it is determined that the robotic arm is stuck.

4. The method according to claim 1, characterized in that, The step of determining whether the target component has malfunctioned based on the trigger state includes: If both the first position sensor and the second position sensor are triggered, it is determined that there is an anomaly in either the first position sensor or the second position sensor.

5. The method according to claim 1, characterized in that, The first direction is the current direction of the motor's rotation, and the second direction is the direction opposite to the current direction of the motor's rotation; or, The first direction is the direction opposite to the current operating direction of the motor, and the second direction is the current operating direction of the motor.

6. The method according to claim 1, characterized in that, Controlling the motor to operate in the first direction includes: Control the motor to operate in the first direction at the maximum safe operating voltage or current; and / or, Controlling the motor to operate in the second direction includes: The motor is controlled to operate in the second direction at the maximum safe operating voltage or current.

7. The method according to claim 1, characterized in that, Controlling the motor to operate in the first direction includes: Control the motor to run in the first direction for a first preset time; and / or, Controlling the motor to operate in the second direction includes: The motor is controlled to run in the second direction for a second preset duration.

8. The method according to claim 1, characterized in that, After controlling the motor to operate in the second direction, the method further includes: Control the robotic arm to execute commands to retract or extend; Determine the update trigger state corresponding to the first position sensor and the second position sensor respectively; Based on the update trigger status, determine whether the target component has returned to normal.

9. The method according to claim 8, characterized in that, Determining whether the target component has returned to normal based on the update trigger state includes: If the first position sensor is triggered and the second position sensor is not triggered, then it is determined that the robotic arm has been normally retracted; and / or, If the first position sensor is not triggered but the second position sensor is triggered, it is determined that the robotic arm has extended normally.

10. The method according to claim 8, characterized in that, The method further includes: If it is determined based on the update trigger state that the target component has not returned to normal, then the step of controlling the motor to run in the first direction and then controlling the motor to run in the second direction is continued to be executed N times, where N is greater than or equal to the first preset threshold and less than or equal to the second preset threshold.

11. The method according to claim 8, characterized in that, The method further includes: If it is determined based on the update trigger status that the target component has not returned to normal, an alarm message is output.

12. The method according to claim 11, characterized in that, The output alarm information includes: Displaying alarm information, broadcasting alarm information via voice, or sending alarm information to a terminal bound to the window cleaning robot, or any one or more of these methods.

13. The method according to claim 8, characterized in that, The method further includes: If it is determined based on the update trigger status that the target component has not returned to normal, then the motor is prohibited from operating.

14. A window cleaning robot, characterized in that, The window cleaning robot includes: a body, and a first position sensor, a second position sensor, a robotic arm, and a motor mounted on the body. The motor drives the robotic arm to reciprocate between a retracted position and an extended position relative to the body. When the robotic arm is in the retracted position, the first position sensor is triggered; when the robotic arm is in the extended position, the second position sensor is triggered. The window cleaning robot also includes a control device, which includes: The determination module is used to determine the trigger states corresponding to the first position sensor and the second position sensor respectively; based on the trigger states, it determines whether a target component has malfunctioned, wherein the target component is at least one of the first position sensor, the second position sensor, and the robotic arm; The self-recovery module is used to control the motor to run in a first direction and then in a second direction when the target component malfunctions, so that the target component can return to normal operation; wherein the first direction and the second direction are opposite.

15. An electronic device, characterized in that, include: A memory and a processor; wherein the memory stores executable code, and when the executable code is executed by the processor, the processor performs the window cleaning robot control method as described in any one of claims 1-13.

16. A non-transitory machine-readable storage medium, characterized in that, The non-transitory machine-readable storage medium stores executable code, which, when executed by a processor of an electronic device, causes the processor to perform the window cleaning robot control method as described in any one of claims 1-13.

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