A cleaning method for a window cleaning robot

Abstract

The application relates to the technical field of cleaning equipment, and provides a cleaning method of a window-cleaning robot, which comprises the following steps: controlling a first cleaning disc and a second cleaning disc to rotate relative to each other so as to adjust the position of a machine body relative to a corner area; confirming that the window-cleaning robot is positioned at the corner area in a preset posture, wherein the preset posture comprises the following first condition: an extension cleaning device is facing the corner area; and controlling the extension cleaning device to enter the corner area to perform cleaning. According to the application, the window-cleaning robot is controlled to clean in the preset posture based on the specific form of the corner area, so that the cleaning range of the window-cleaning robot matches the form of the corner area, and the generation of a cleaning blind area is effectively reduced.

Description

Technical Field

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

[0002] Smart home cleaning devices have gained popularity among users because they free people from tedious housework. As an important part of home cleaning, window cleaning is also gradually becoming a focus of attention.

[0003] However, most mainstream window cleaning robots on the market today have difficulty removing stains from glass edges, especially corners, creating blind spots in cleaning. Summary of the Invention

[0004] In view of the deficiencies in the existing technology, the technical solution adopted in this application is to propose a cleaning method for a window cleaning robot.

[0005] A cleaning method for a window cleaning robot, the window cleaning robot comprising a body, a first cleaning disc, a second cleaning disc, and an extended cleaning device, the cleaning method comprising:

[0006] Control the relative rotation of the first and second cleaning discs to adjust the position of the machine body relative to the corner area; Confirm that the window cleaning robot is positioned in a preset posture in the corner area, the preset posture including: first condition: the extended cleaning device is facing the corner area; Control the extended cleaning device to enter the corner area for cleaning.

[0007] In an optional embodiment, the extended cleaning device is located on the machine body, and controlling the extended cleaning device to enter the corner area for cleaning includes: Control the extended cleaning device to move outward from the main body and enter the corner area for cleaning.

[0008] In an optional embodiment, the preset posture includes: a second condition: the extended cleaning device is located on the side of the machine body near the corner area.

[0009] In an optional embodiment, the second condition specifically includes: the extended cleaning device is located on the side wall of the machine body near the corner area.

[0010] In an optional embodiment, the preset posture further includes: a third condition: the first cleaning disc is closer to the corner area relative to the second cleaning disc; The control of the extended cleaning device to enter the corner area for cleaning includes: The extended cleaning device is controlled to enter the corner area from one side of the first cleaning tray to perform cleaning.

[0011] In an optional embodiment, after confirming that the window cleaning robot is positioned in a preset posture in the corner area, the cleaning method further includes: At least control the first cleaning disc away from the corner area; When the first cleaning disc moves to a preset position and forms a preset space with the corner area, the extended cleaning device is controlled to enter the preset space for cleaning. The extended cleaning device extends outward from one side of the first cleaning disc to enter the preset space.

[0012] In an optional embodiment, determining that the window cleaning robot is positioned in a corner area with a preset posture includes: Second condition: The extended cleaning device is located on the side of the machine body near the corner area; Third condition: The first cleaning tray is closer to the corner area than the second cleaning tray; The window cleaning robot is controlled to move toward the corner area in a first posture, wherein the first posture has the same or substantially the same three conditions as the preset posture; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the corner area in a preset posture.

[0013] In an optional embodiment, confirming that the window cleaning robot is positioned in a preset posture in the corner area includes: The window cleaning robot is controlled to move toward the corner area in a non-preset posture, wherein the non-preset posture differs from the preset posture in at least one condition; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area in a preset posture.

[0014] In an optional embodiment, confirming that the window cleaning robot is positioned in a preset posture in the corner area includes: The window cleaning robot is controlled to move toward the corner area in either a second or third posture. The second posture differs from the preset posture in that the second condition is that the extended cleaning device is located on the side of the robot body away from the corner area. The third posture differs from the preset posture in that the third condition is that the first cleaning disc is away from the corner area relative to the second cleaning disc, and the first condition is that the extended cleaning device faces away from the corner area. After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area according to a preset posture.

[0015] In an optional embodiment, when the window cleaning robot is operating in a second posture, and after the first cleaning disc detects the first edge of the corner area, the second cleaning disc of the window cleaning robot is adjusted to rotate clockwise around the first cleaning disc to adjust the operating posture of the window cleaning robot. When the window cleaning robot is operating in a third posture, and after the first cleaning disc detects the first edge of the corner area, the second cleaning disc of the window cleaning robot is adjusted to rotate counterclockwise around the first cleaning disc in order to adjust the operating posture of the window cleaning robot.

[0016] In an optional embodiment, confirming that the window cleaning robot is positioned in a preset posture in the corner area includes: The window cleaning robot is controlled to move toward the corner area in a fourth posture, wherein the fourth posture differs from the preset posture in the following aspects: a third condition: the first cleaning disc is away from the corner area relative to the second cleaning disc; a second condition: the extended cleaning device is located on the side of the body away from the corner area; and a first condition: the extended cleaning device faces away from the corner area. Control the relative positions of the first cleaning disc and the second cleaning disc to change, so that the first cleaning disc is closer to the corner area relative to the second cleaning disc; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the corner area in a preset posture.

[0017] In an optional embodiment, the first cleaning disc and the second cleaning disc change their relative positions, and after the first cleaning disc identifies the first edge of the corner area, the second cleaning disc is controlled to identify the second edge of the corner area.

[0018] In an optional embodiment, after the extended cleaning device enters the corner area for cleaning, the extended cleaning device is controlled to withdraw from the corner area, and a secondary cleaning is performed during the withdrawal process.

[0019] In an optional embodiment, when the extended cleaning device reaches a predetermined position during its entry into the corner area, the extended cleaning device is controlled to spray cleaning liquid, and during the withdrawal of the extended cleaning device, the cleaned cleaning liquid is carried out.

[0020] In an optional embodiment, after the extended cleaning device is withdrawn, it is retrieved, and the window cleaning robot is controlled again to run to the corner area for re-cleaning.

[0021] Beneficial effects: This application provides a window cleaning robot cleaning method. Based on the specific shape of the corner area, the window cleaning robot is controlled to clean in a preset posture, so that the cleaning range of the window cleaning robot matches the shape of the corner area, effectively reducing the generation of cleaning blind spots. Specifically, during the cleaning of corner areas, the first and second cleaning discs are rotated relative to each other to adjust the position of the robot body relative to the corner area, and the window cleaning robot is positioned in a preset posture within the corner area, achieving a match between the position and posture of the window cleaning robot and the shape of the corner area. The extended cleaning device is controlled to extend outward from the body of the window cleaning robot, changing the cleaning coverage range of the window cleaning robot so that its cleaning coverage range is adapted to the area of ​​the corner area to be cleaned. Based on the match between the window cleaning robot's posture, position, cleaning range and the corner area to be cleaned, the extended cleaning device is used to enter the corner area for cleaning, improving the accuracy and consistency of the cleaning process, effectively optimizing the cleaning effect of the window cleaning robot, and reducing the generation of cleaning blind spots. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1A flowchart illustrating a window cleaning robot cleaning method according to one embodiment; Figure 2 An example diagram of the window cleaning robot in a preset posture, as shown in the embodiment; Figure 3 The diagram shows an example of the window cleaning robot in a first posture, as described in the embodiment. Figure 4 The window cleaning robot in this embodiment identifies the first edge motion decomposition diagram as it moves toward the corner area in a first posture; Figure 5 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and corner area while moving towards the corner area in a first posture; Figure 6 An exploded view of the window cleaning robot in the embodiment as it moves from a first posture toward the corner area to a preset position. Figure 7 This is an exploded view of the window cleaning robot cleaning the corner area in the first posture of the embodiment. Figure 8 This is an exploded view of the window cleaning robot's secondary cleaning action in the first posture of the embodiment. Figure 9 The diagram shows an example of the window cleaning robot in a second posture, as described in this embodiment. Figure 10 The window cleaning robot in this embodiment identifies the first edge motion decomposition diagram as it moves toward the corner area in a second posture; Figure 11 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and corner area as it moves toward the corner area in the second posture. Figure 12 An exploded view of the motion of the window cleaning robot in the embodiment as it moves towards the corner area in a second posture and reaches a preset position. Figure 13 An exploded view of the window cleaning robot cleaning corner areas in the second posture of the embodiment; Figure 14 This is an exploded view of the window cleaning robot's secondary cleaning action in the second posture of the embodiment. Figure 15 An example diagram of the window cleaning robot in a third posture, as shown in the embodiment; Figure 16 The window cleaning robot in this embodiment identifies the first edge motion decomposition diagram as it moves toward the corner area in a third posture; Figure 17 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and corner area as it moves toward the corner area in a third posture. Figure 18An exploded view of the window cleaning robot in the embodiment moving to a preset position while moving towards the corner area in a third posture; Figure 19 This is an exploded view of the window cleaning robot cleaning corner areas in the third posture of the embodiment. Figure 20 This is an exploded view of the window cleaning robot's secondary cleaning action in the third posture of the embodiment. Figure 21 The diagram shows an example of the window cleaning robot in its fourth posture, as described in this embodiment. Figure 22 An exploded view of the action of the window cleaning robot exchanging the positions of the first and second cleaning discs in an embodiment; Figure 23 The window cleaning robot in this embodiment identifies the first edge motion decomposition diagram as it moves toward the corner area in a fourth posture; Figure 24 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and corner area as it moves toward the corner area in the fourth posture. Figure 25 An exploded view of the window cleaning robot in the embodiment moving to a preset position in the fourth posture towards the corner area; Figure 26 An exploded view of the window cleaning robot cleaning corner areas in the fourth posture of the embodiment; Figure 27 This is an exploded view of the window cleaning robot's re-cleaning motion in the fourth posture of the embodiment. Figure 28 This is a schematic diagram of a window cleaning robot with the extended cleaning device in a retracted state, as shown in the embodiment. Figure 29 This is a schematic diagram of a window cleaning robot with the extended cleaning device in the extended state, as shown in the embodiment. Figure 30 An exploded view of the action of the extended cleaning device extending from the first cleaning disc into the preset space, as shown in the embodiment.

[0024] Reference numerals: 1-Corner area; 11-First edge; 12-Second edge; 13-Preset space; 21-First cleaning tray; 22-Second cleaning tray; 23-Body; 3-Extended cleaning device. Detailed Implementation

[0025] Various embodiments of this disclosure will be described more fully below. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0026] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of the foregoing.

[0027] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0028] The terms used in the various embodiments of this disclosure (such as "first," "second," etc.) may modify various components in the various embodiments, but do not limit the corresponding components. For example, the above terms do not limit the order and / or importance of the components. The above terms are only used for the purpose of distinguishing one component from others. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, a first component may be referred to as a second component without departing from the scope of the various embodiments of this disclosure, and similarly, a second component may also be referred to as a first component.

[0029] It should be noted that if a description is made of "connecting" one component to another, then the first component can be directly connected to the second component, and a third component can be "connected" between the first and second components. Conversely, when a component is "directly connected" to another component, it can be understood that there is no third component between the first and second components.

[0030] The term "user" as used in various embodiments of this disclosure may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0031] The terminology used in the various embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this disclosure pertain. Terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this disclosure.

[0032] See Figure 1 As shown, this application provides a cleaning method for a window cleaning robot, referring to... Figure 28 and Figure 29 As shown, the window cleaning robot includes a body 23, a first cleaning tray 21, a second cleaning tray 22, and an extended cleaning device 3. The cleaning method includes: 100, control the relative rotation of the first and second cleaning discs to adjust the position of the machine body relative to the corner area; 200, confirm that the window cleaning robot is positioned in the corner area in a preset posture. The preset posture includes: First condition: the extended cleaning device is facing the corner area; For example, in some embodiments of this application, the corner area refers to the area formed by the intersection of the edges of the surface to be cleaned in the window cleaning robot scenario, which is distributed in a triangular or fan shape on the surface to be cleaned. Due to the specific shape of the window cleaning robot, there are usually cleaning blind spots in the corner area that the window cleaning robot cannot clean.

[0033] More specifically, in some embodiments of this application, the first cleaning tray and the second cleaning tray do not specifically refer to a certain cleaning tray of the window cleaning robot, but are related to the posture of the window cleaning robot. The cleaning tray near the corner area in the preset posture is the first cleaning tray, and the cleaning tray away from the corner area in the preset posture is the second cleaning tray. When the window cleaning robot is not in the preset posture, the positions of the first cleaning tray and the second cleaning tray can be swapped so that the window cleaning robot is in the preset posture.

[0034] 300, control the extended cleaning device to enter the corner area for cleaning.

[0035] Optionally, the cleaning robot's movement can drive the extended cleaning device to clean the surface to be cleaned, or the extended cleaning device itself can move to clean the surface to be cleaned; of course, there are no specific restrictions on the cleaning method of the extended cleaning device, nor are there specific restrictions on the number of times the surface to be cleaned can be cleaned.

[0036] Optionally, after determining that the window cleaning robot is positioned in a preset posture in the corner area, the window cleaning robot can directly control the extended cleaning device to enter the corner area for cleaning, or it can enter the corner area for cleaning after the robot body and the corner area form a preset space.

[0037] Understandably, by controlling the relative rotation of the first and second cleaning discs, the position of the window cleaning robot body relative to the corner area is adjusted, and the window cleaning robot is positioned in the corner area with a preset posture. This achieves the adaptation of the window cleaning robot's cleaning position and posture to the corner area, enabling the window cleaning robot to form a good alignment relationship with the corner area. This enhances the matching degree between the window cleaning robot's posture and the shape of the corner area. The window cleaning robot's positioning in the corner area with the corresponding position and preset posture helps to improve the accuracy, repeatability, and reliability of the window cleaning robot's cleaning actions, improves the effectiveness of the window cleaning robot's cleaning effect, thereby reducing the generation of cleaning blind spots and optimizing the cleaning coverage of the window cleaning robot.

[0038] In an optional embodiment, the extended cleaning device 3 is located on the body 23, and controlling the extended cleaning device 3 to enter the corner area 1 for cleaning includes: The extended cleaning device 3 is controlled to move outward from the body 23 and enter the corner area 1 for cleaning.

[0039] For example, the extended cleaning device 3 may be disposed on one or more of the top of the body 23, the side wall of the body 23, or the bottom of the body 23.

[0040] Specifically, in some embodiments of this application, the extended cleaning device 3 is disposed on the side wall of the body 23. Of course, there is no limitation on the specific placement of the extended cleaning device 3.

[0041] More specifically, the extended cleaning device 3 is movably mounted on the body 23 to extend or retract the body 23, thereby changing the cleaning coverage of the window cleaning robot.

[0042] For example, the extended cleaning device 3 and the window cleaning robot body 23 can be connected by a hinge, specifically using a structure such as a pivot or hinge, and can be combined with a spring or magnet to provide positioning or resetting functions; the extended cleaning device 3 and the window cleaning robot body 23 can also be connected by a linkage mechanism, specifically using a planar four-bar linkage or other multi-bar hinge method, and can be combined with a motor or cylinder to drive one of the linkages; the extended cleaning device 3 and the window cleaning robot body 23 can also be connected by a sliding connection, specifically using a slider and slide rail sliding connection method, and can be combined with a motor or cylinder push rod motor or lead screw to drive the sliding, realizing the function of the extended cleaning device 3 entering the corner area and retracting the body 23.

[0043] Of course, no restrictions are placed on the specific method or structure for controlling the extended cleaning device to enter the preset space for cleaning.

[0044] In an optional embodiment, the window cleaning robot is confirmed to be positioned in a corner area with a preset posture, the preset posture including: Second condition: The extended cleaning device is located on one side of the machine body near the corner area.

[0045] Specifically, the second condition includes: the extended cleaning device is located on the side wall of the machine body near the corner area.

[0046] The side wall near the corner of the machine body can be the left or right side area with the central axis of the machine body as the dividing line. Specifically, it includes the accommodating space inside the machine body and the wall outside the machine body. For example, the drive and transmission components of the extended cleaning device can be set in the accommodating space of the machine body, while the cleaning parts such as the cleaning head are set on the wall outside the machine body.

[0047] Understandably, the extended cleaning device is located on the body, specifically on the side wall near the corners. Compared to having the extended cleaning device located on the side of the body away from the corners, this shortens the cleaning path required for the window cleaning robot to clean blind spots and reduces the likelihood of interference between the robot body and the frame, which could affect the extended cleaning device's cleaning function. This reduces the difficulty of controlling the cleaning path and helps optimize the cleaning effect of the window cleaning robot.

[0048] In an optional embodiment, the preset posture further includes: a third condition: the first cleaning disc is closer to the corner area relative to the second cleaning disc; Controlling the extended cleaning device to enter corner areas for cleaning includes: The extended cleaning device is controlled to enter the corner area from one side of the first cleaning tray to perform cleaning.

[0049] In some embodiments of this application, the distance between the first cleaning tray, the second cleaning tray, and the corner area in the third condition can be determined based on the center point of the first cleaning tray, the center point of the second cleaning tray, and the corner point of the corner area. The corner point refers to the connection point between the extension lines of the two borders of the corner area. If the distance between the center point of the first cleaning tray and the corner point is less than the distance between the center point of the second cleaning tray and the corner point, then the first cleaning tray is considered to be closer to the corner area relative to the second cleaning tray. Of course, there are no restrictions on the specific criteria for determining the third condition.

[0050] Understandably, the preset posture includes: the first cleaning disc is closer to the corner area than the second cleaning disc. This achieves control over the relative relationship between the first cleaning disc, the second cleaning disc, and the corner area during the window cleaning robot's cleaning process. This allows the window cleaning robot to maintain a consistent posture when cleaning different corner areas, thus adapting to the cleaning needs of different corner areas and reducing the difficulty of cleaning path calculation and control. Furthermore, the extended cleaning device enters the corner area from one side of the first cleaning disc, and since the first cleaning disc is closer to the corner area than the second cleaning disc, it can clean the corner area more quickly without needing to rotate significantly, which helps improve cleaning efficiency.

[0051] The addition of a second and third condition to the preset posture further improves the posture control accuracy of the window cleaning robot, achieving effective matching between the robot's posture, initial position, cleaning range, and the corner area to be cleaned. This further enhances the accuracy and consistency of the cleaning process and effectively reduces the generation of blind spots in the corner area.

[0052] Specifically, please refer to Figure 2 As shown, at this time, the window cleaning robot is in a preset posture, with the first edge 11 and the second edge 12 forming a corner area 1, which is located in the upper left corner; the first cleaning tray 21 is located above the second cleaning tray 22, and the first cleaning tray 21 is closer to the corner area 1 than the second cleaning tray 22, thus satisfying the third condition; correspondingly, after extending the first cleaning tray 21, the extended cleaning device 3 can face the corner area 1, that is, the extended cleaning device 3 is facing the corner area 1 between the first edge 11 and the second edge 12, thus satisfying the first condition; the side wall of the body 23 where the extended cleaning device 3 is located is the left side of the window cleaning robot in the figure, close to the upper left corner area 1, thus satisfying the second condition.

[0053] In an optional embodiment, after confirming that the window cleaning robot is positioned in a preset posture in the corner area, the cleaning method further includes: at least controlling the first cleaning disc to move away from the corner area; Specifically, in some embodiments of this application, the first cleaning disc is controlled to move in a direction away from the corner area.

[0054] In this design, controlling the first cleaning disc away from the corner area serves two purposes. First, it provides ample space for the extension cleaning device, reducing obstruction to its extension and facilitating subsequent adjustments. This also allows the extension cleaning device to adapt to the area of ​​the corner, ensuring the cleaning coverage of the window cleaning robot matches the size of the corner area and effectively improving cleaning coverage. Second, it enables the window cleaning robot to form a pre-defined space with the corner area, achieving both positioning of the corner area to be cleaned and calibration of the window cleaning robot's posture and position. This ensures that the extended cleaning device of the window cleaning robot can point towards the corner area after extension, thereby optimizing the cleaning effect of the extended cleaning device.

[0055] Specifically, in some embodiments of this application, both the first cleaning disc and the second cleaning disc may be controlled to be far away from the corner areas.

[0056] For reference Figure 2 As shown, when the window cleaning robot moves to the preset position, the side wall of the window cleaning robot body 23, the first edge 11, and the second edge 12 enclose the preset space 13.

[0057] Specifically, in some embodiments of this application, reference is made to Figure 4 and Figure 5 As shown, the window cleaning robot is positioned in a preset posture in the corner area, referring to... Figure 6 As shown, the first cleaning disc 21 is controlled to swing clockwise around the second cleaning disc 22 at a preset angle, so that the first cleaning disc 21 moves away from the corner area 1, and so that the window cleaning robot and the corner area 1 form a preset space 13. The preset space 13 can provide sufficient extension space for the extended cleaning device 3 to prevent interference between the extended cleaning device 3 and the edge of the surface to be cleaned during the extension process to a large extent; then the extended cleaning device 3 is controlled to extend, referring to... Figure 7 As shown, the first cleaning disc 21 is then controlled to rotate counterclockwise around the second cleaning disc 22, driving the extended cleaning device 3 into the preset space 13 for cleaning. The first cleaning disc 21 then swings clockwise around the second cleaning disc 22 again, completing the cleaning of the preset space 13. Figure 8 As shown, the extended cleaning device 3 is then retrieved. Of course, there are no specific restrictions on the cleaning method of the extended cleaning device; it can be that the movement of the window cleaning robot drives the extended cleaning device to clean the surface, or the movement of the extended cleaning device itself cleans the surface. There are also no specific restrictions on the number of times the surface is cleaned. Cleaning other corner areas can be referenced... Figure 13 , Figure 19 and Figure 26 As shown.

[0058] Reference Figures 28 to 30As shown, the extended cleaning device 3 extends gradually from the first cleaning disc 21 and rotates at a certain angle during the extension process to enter the preset space 13.

[0059] In an optional embodiment, determining that the window cleaning robot is positioned in a preset posture in a corner area includes: Second condition: The extended cleaning device is located on one side of the machine body near the corner area; Third condition: The first cleaning tray is closer to the corner area than the second cleaning tray; Control the window cleaning robot to move toward the corner area in a first posture. The first posture has the same or basically the same three conditions as the preset posture: the first cleaning disc of the window cleaning robot is closer to the corner area than the second cleaning disc, the extended cleaning device is located on the side wall of the machine body near the corner area, and the extended cleaning device is facing the corner area. The preset posture refers to the posture that the window cleaning robot needs to achieve before cleaning the blind spots in the corner area. Before reaching the preset position, the window cleaning robot can have multiple postures, which may meet one or more of the three conditions of the preset posture, or none of the three conditions may be met. During the process of the window cleaning robot moving towards the preset position in a certain posture, it gradually adjusts its posture by recognizing the first edge and the second edge so that it can present the preset posture after reaching the preset position.

[0060] Understandably, by decomposing the preset posture according to conditions, the window cleaning robot can be controlled separately for different conditions during the cleaning process. This significantly reduces the control difficulty of the window cleaning robot during the cleaning process, effectively improves the accuracy and effectiveness of the window cleaning robot's posture control, facilitates direct comparison between the actual posture of the window cleaning robot and the preset posture, thereby determining the actual posture difference of the window cleaning robot and helping to adjust the posture of the window cleaning robot.

[0061] After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the corner area in a preset posture.

[0062] The first and second edges are set at an angle, and their extension lines connect to form a corner area. The first and second edges can be directly connected or separated, depending on the specific surface to be cleaned; no restrictions are imposed on either. When the window cleaning robot moves to a preset position, it forms a preset space with the first and second edges. This preset space mainly includes the cleaning blind spots that exist within the corner area. The window cleaning robot is controlled to move towards the corner area in a preset posture. During the process of the window cleaning robot recognizing the first and second edges, the robot's operating posture is adjusted to maintain the preset posture.

[0063] Specifically, refer to Figure 3 As shown, the first cleaning disc 21 of the window cleaning robot is located near the corner area 1 relative to the second cleaning disc 22. The extended cleaning device 3 is located on the side wall of the body 23 near the corner area. The extended cleaning device 3 extends out of the first cleaning disc 21 and is at least partially facing the corner area 1, which is the same as or substantially the same as the preset posture. That is, the window cleaning robot is in the first posture. The corner area 1 in the figure mainly indicates the approximate location of the cleaning blind spot, and does not limit the specific range of the corner area 1.

[0064] The window cleaning robot may include the following during its movement towards the corner area in its initial posture: (Refer to...) Figure 4 As shown, the window cleaning robot first moves to the left to reach the left edge, that is, it identifies the first edge 11 of the corner area 1, referring to... Figure 5 As shown, the second cleaning disc 22 rotates counterclockwise around the first cleaning disc 21 to a horizontal or near-horizontal state, adjusting the operating posture of the window cleaning robot. Then, the first cleaning disc 21 and the second cleaning disc 22 alternately move upwards, so that the first cleaning disc 21 moves to the top edge, that is, the second edge 12 of the corner area is identified, confirming that the window cleaning robot has reached the corner area 1. The second cleaning disc 22 rotates clockwise around the first cleaning disc 21 to straighten, adjusting the operating posture of the window cleaning robot again, so that the window cleaning robot returns to its original posture, and the window cleaning robot is positioned in the corner area 1 with a preset posture.

[0065] Understandably, the sequential identification of the first and second edges of the corner area by the window cleaning robot serves several purposes. First, it helps determine the specific shape of the corner area, allowing the robot's posture to be compared and calibrated based on this morphological information. Second, the process of identifying the first and second edges of the corner area also effectively cleans the corner areas of the surface to be cleaned, improving the cleaning effect. Third, the identification of the first and second edges helps adjust the robot's position, ensuring it meets the cleaning needs of blind spots in the corner areas and maintaining the accuracy and consistency of its cleaning actions across different corner areas, thus guaranteeing the effectiveness of the cleaning process.

[0066] Furthermore, the identification of the first and second edges is achieved using the first and / or second cleaning discs, eliminating the need for additional sensors, thus reducing manufacturing costs and lowering the additional energy consumption of the cleaning equipment.

[0067] In an optional embodiment, refer to Figure 9 , Figure 15 and Figure 21 As shown, the window cleaning robot is confirmed to be positioned in the corner area in a preset posture, including: Control the window cleaning robot to move toward the corner area in a non-preset posture, wherein the non-preset posture differs from the preset posture in at least one condition; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area in a preset posture.

[0068] Understandably, when controlling the window cleaning robot to run towards the corner areas in a non-preset posture, adjustments to the robot's position are inserted during the process of the robot identifying the first and second edges. This helps to adjust the robot's position so that it meets the cleaning needs of blind spots in the corner areas; it also helps to adjust the robot's actual posture so that it meets the conditions of the preset posture. By adjusting and calibrating the position and posture of the window cleaning robot, the accuracy and consistency of the cleaning actions of the window cleaning robot in different corner areas of the surface to be cleaned are maintained, thereby ensuring the cleaning effect of the window cleaning robot.

[0069] Specifically, in an optional embodiment, confirming that the window cleaning robot is positioned in a preset posture in the corner area includes: The window cleaning robot is controlled to move toward the corner area in either a second or third posture. The second posture differs from the preset posture in that the second condition is that the extended cleaning device is located on the side of the robot body away from the corner area. The third posture differs from the preset posture in that the third condition is that the first cleaning disc is away from the corner area relative to the second cleaning disc, and the first condition is that the extended cleaning device faces away from the corner area. Reference Figure 9 As shown, the corner area 1 is located on the right side of the window cleaning robot, while the extended cleaning device 3 is located on the left side of the window cleaning robot. That is, the extended cleaning device 3 is located on the side of the body 23 away from the corner area 1. At this time, the window cleaning robot's posture is different from the preset posture in the second condition. Therefore, the window cleaning robot is in the second posture.

[0070] Reference Figure 15 As shown, the first cleaning disc 21 of the window cleaning robot is farther away from the corner area 1 than the second cleaning disc 22. At this time, the window cleaning robot's posture differs from the preset posture in the third condition. The corner area 1 is located on the left side of the window cleaning robot, and the extended cleaning device 3 is also located on the left side of the window cleaning robot, but the extended cleaning device 3 is not facing the corner area 1. That is, the extended cleaning device 3 is facing away from the corner area 1. At this time, the window cleaning robot's posture differs from the preset posture in the first condition. Therefore, the window cleaning robot is in the third posture.

[0071] After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area according to the preset posture.

[0072] More specifically, in an optional embodiment, after the window cleaning robot is operating in a second posture and the first cleaning disc detects the first edge of the corner area, the second cleaning disc of the window cleaning robot is adjusted to rotate clockwise around the first cleaning disc in order to adjust the operating posture of the window cleaning robot. Reference Figure 10 As shown, the window cleaning robot is in its second pose, moving to the right to reach the right side frame, that is, identifying the first edge 11 of the corner area, and then referring to... Figure 11As shown, the second cleaning disc 22 rotates around the first cleaning disc 21 towards the corner area 1, at least until the first cleaning disc 21 and the second cleaning disc 22 are horizontal or nearly horizontal, so that the extended cleaning device 3 is located on the side wall of the body 23 near the corner area 1, completing the adjustment of the window cleaning robot's operating posture. The window cleaning robot's posture is the same as or substantially the same as the three conditions of the preset posture. The window cleaning robot moves alternately with the first cleaning disc 21 and the second cleaning disc 22, and after reaching the upper frame, that is, the second edge 12 of the corner area, the window cleaning robot is positioned in the corner area 1 according to the preset posture, referring to... Figure 12 As shown, at least the first cleaning disc 21 is kept away from the corner area 1, providing ample space for the movement of the extended cleaning device 3.

[0073] When the window cleaning robot is operating in the third posture, and the first cleaning disc detects the first edge of the corner area, the second cleaning disc of the window cleaning robot is adjusted to rotate counterclockwise around the first cleaning disc in order to adjust the operating posture of the window cleaning robot.

[0074] Reference Figure 16 As shown, the window cleaning robot, in its third posture, moves to the left to reach the left edge of the frame, that is, it detects the first edge 11 of the corner area. Then, the second cleaning disc 22 rotates around the first cleaning disc 21 in a direction away from the corner area 1, at least until the first cleaning disc 21 and the second cleaning disc 22 are horizontal or nearly horizontal, thus adjusting the operating posture of the window cleaning robot. This makes the first cleaning disc 21 closer to the corner area 1 than the second cleaning disc 22, and causes the extended cleaning device 3 to gradually move towards the corner area 1. The posture of the window cleaning robot is the same as or substantially the same as the three conditions of the preset posture; refer to Figure 17 As shown, the window cleaning robot moves alternately with the first cleaning disc 21 and the second cleaning disc 22, reaching the lower edge of the frame, i.e., the second edge 12 of the corner area. At this point, the window cleaning robot is positioned in the corner area 1 according to a preset posture; refer to Figure 18 As shown, at least the first cleaning disc 21 is kept away from the corner area 1, providing ample space for the movement of the extended cleaning device 3.

[0075] In an optional embodiment, such as Figure 21 As shown, the window cleaning robot is confirmed to be positioned in the corner area in a preset posture, including: The window cleaning robot is controlled to move toward the corner area in a fourth posture. The fourth posture differs from the preset posture in the following aspects: the third condition is that the first cleaning disc is far away from the corner area relative to the second cleaning disc; the second condition is that the extended cleaning device is located on the side wall of the machine body away from the corner area; and the first condition is that the extended cleaning device faces away from the corner area. Reference Figure 21As shown, the first cleaning disc 21 of the window cleaning robot is farther away from the corner area 1 than the second cleaning disc 22. At this time, the window cleaning robot's posture differs from the preset posture in the third condition: the corner area 1 is located on the right side of the window cleaning robot, while the extended cleaning device 3 is located on the left side of the window cleaning robot. That is, the extended cleaning device 3 is located on the side of the body 23 away from the corner area 1. At this time, the window cleaning robot's posture differs from the preset posture in the second condition: the extended cleaning device 3 is not facing the corner area 1. That is, the extended cleaning device 3 is facing away from the corner area 1. At this time, the window cleaning robot's posture differs from the preset posture in the first condition. Therefore, the window cleaning robot is in the fourth posture.

[0076] Control the relative positions of the first cleaning disc and the second cleaning disc to make the first cleaning disc closer to the corner area relative to the second cleaning disc; For example, in some embodiments of this application, the relative positions of the first cleaning disc and the second cleaning disc are changed by controlling the first cleaning disc to rotate around the second cleaning disc to a horizontal state and controlling the second cleaning disc to rotate around the first cleaning disc to a vertical state, or by controlling the second cleaning disc to rotate around the first cleaning disc to a horizontal state and controlling the first cleaning disc to rotate around the second cleaning disc to a vertical state.

[0077] After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the corner area in a preset posture.

[0078] Reference Figure 22 As shown, the window cleaning robot first controls the first cleaning disc 21 to rotate counterclockwise around the second cleaning disc 22 to a horizontal position, and then controls the second cleaning disc 22 to rotate counterclockwise around the first cleaning disc 21 to a vertical position, thereby changing the relative positions of the first cleaning disc 21 and the second cleaning disc 22, so that the operating posture of the window cleaning robot meets the first, second, and third conditions; refer to Figure 23 As shown, the first cleaning disc 21 and the second cleaning disc 22 move alternately, reaching the right side frame and identifying the first edge 11 of the corner area 1; refer to Figure 24 As shown, the second cleaning disc 22 rotates counterclockwise around the first cleaning disc 21 to a horizontal or near-horizontal position, adjusting the operating posture of the window cleaning robot. Then, the first and second cleaning discs 21 and 22 move alternately downwards to the bottom edge, identifying the second edge 12 of the corner area, determining the shape information of the corner area 1, and confirming that the window cleaning robot has reached the lower right corner area 1. Then, the second cleaning disc 22 rotates clockwise around the first cleaning disc 21 to a vertical position; at this point, the window cleaning robot returns to its preset posture. (Refer to...) Figure 25 As shown, at least the first cleaning disc 21 is kept away from the corner area 1, providing ample space for the movement of the extended cleaning device 3.

[0079] Understandably, in the embodiments of this application, the window cleaning robot performs corresponding cleaning steps based on its different poses in the corner area, so that the window cleaning robot can adapt to different poses without strictly controlling the initial pose of the window cleaning robot. The initial posture of the window cleaning robot can be a first posture that basically conforms to the preset posture, or a second, third, or fourth posture that does not conform to the preset posture. When the initial posture of the window cleaning robot conforms to the preset posture, the window cleaning robot adjusts its posture during the recognition of the first and second edges to make the operating posture after the recognition is consistent with the initial posture. When the initial posture of the window cleaning robot does not conform to the preset posture, the operating trajectory of the window cleaning robot during the recognition of the first and second edges is reused. By naturally rotating the first and second cleaning discs during the recognition of the first and second edges, the operating posture of the window cleaning robot is gradually adjusted to conform to the preset posture, thereby ensuring effective cleaning of blind spots.

[0080] Furthermore, based on the differences in conditions between the second, third, and fourth postures and the preset posture, this application embodiment also adopts different posture adjustment strategies to achieve differentiated control. This enables the window cleaning robot to not only adjust its own posture but also optimize the smoothness of the recognition process of the first and second edges, thereby improving the cleaning efficiency of the window cleaning robot.

[0081] During the identification of the first and second edges, the first or second cleaning disc of the window cleaning robot needs to gradually touch the first and second edges. This effectively calibrates the robot's position and pinpoints the specific location of cleaning blind spots within the corner areas. By transforming the steps of calibrating the robot's position and locating the specific location of cleaning blind spots within the corner areas into the identification of the first and second edges, the window cleaning robot can adapt to different corner areas within the same surface to be cleaned, and different corner areas within different surfaces to be cleaned, significantly improving its adaptability to different cleaning scenarios. As mentioned earlier, the window cleaning robot can adjust its posture based on different corner areas, ensuring that its posture conforms to a preset posture. Through the identification of the first and second edges, the robot's position is calibrated and the cleaning blind spots are located. The robot's posture, position, and the location of the cleaning blind spots are determined, thereby improving the accuracy and consistency of subsequent window cleaning work and enhancing the cleaning effect on the blind spots.

[0082] In an optional embodiment, the relative positions of the first cleaning disc and the second cleaning disc are changed, and after the first cleaning disc identifies the first edge of the corner area, the second cleaning disc is controlled to identify the second edge of the corner area.

[0083] Reference Figure 22 As shown, the window cleaning robot first controls the first cleaning disc 21 to rotate counterclockwise around the second cleaning disc 22 to a horizontal position, and then controls the second cleaning disc 22 to rotate counterclockwise around the first cleaning disc 21 to a vertical position, thereby changing the relative positions of the first cleaning disc 21 and the second cleaning disc 22; combined with Figure 23 and Figure 24 As shown, the window cleaning robot identifies the first edge 11 of the corner area 1, controls the second cleaning disc 22 to rotate counterclockwise around the first cleaning disc 21 to a horizontal state, and controls the first cleaning disc 21 and the second cleaning disc 22 to move alternately, reaching the bottom frame through the second cleaning disc 22, and identifying the second edge 12 of the corner area.

[0084] Understandably, after the relative positions of the first and second cleaning discs change, the window cleaning robot's posture conforms to the preset posture. As mentioned earlier, during the cleaning of the corner area, it is necessary to control the first cleaning disc to move away from the corner area. If the first cleaning disc is controlled to continue to determine the second edge, the position of the second cleaning disc needs to be adjusted in subsequent steps. However, by directly controlling the second cleaning disc to reach and identify the second edge of the corner area, the extended cleaning device can smoothly achieve full coverage cleaning of the blind spots during the self-oscillation of the robot. Furthermore, it optimizes the effective connection of the window cleaning robot's cleaning steps and improves the smoothness of the window cleaning robot's cleaning process.

[0085] In an optional embodiment, refer to Figure 7 , Figure 13 , Figure 19 and Figure 26 As shown, after the extended cleaning device 3 enters the corner area 1 for cleaning, the extended cleaning device 3 is controlled to exit from the corner area 1, and a second cleaning is performed during the exit process.

[0086] Specifically, in some embodiments of this application, the extended cleaning device enters the corner area as the window cleaning robot swings, and exits the corner area as the window cleaning robot swings. After entering the corner area, the extended cleaning device contacts the surface to be cleaned in the corner area, thus completing the cleaning of the corner area as the window cleaning robot swings. Of course, there are no restrictions on the specific manner in which the extended cleaning device enters and exits the corner area.

[0087] Understandably, when the extended cleaning device enters the corner area for cleaning, there is a corresponding step of exiting the corner area. After the extended cleaning device enters the corner area and completes the first round of wiping, it completes the second round of wiping during the exit process. This reuses the necessary movement process of the extended cleaning device without adding extra cleaning paths or cleaning time, effectively improving the cleaning efficiency of the extended cleaning device.

[0088] The first round of wiping cleaning when the extended cleaning device enters the corner area can wipe away most of the stains, while the second round of wiping cleaning when the extended cleaning device exits the corner area can remove the particles left by the first round of wiping cleaning. If cleaning solution or water is used during the cleaning process of the extended cleaning device, the second round of wiping cleaning also helps to wipe away trace amounts of wastewater film, so as to reduce the water marks left during the subsequent drying process and optimize the cleaning effect of the window cleaning robot.

[0089] In an optional embodiment, when the extended cleaning device reaches a predetermined position during its entry into the corner area, the extended cleaning device is controlled to spray cleaning liquid, and during the withdrawal of the extended cleaning device, the cleaned cleaning liquid is carried out.

[0090] For example, in some embodiments of this application, the extended cleaning device is controlled to perform reciprocating oscillation cleaning within a preset space, and when the extended cleaning device reaches a predetermined position, the extended cleaning device is controlled to spray cleaning liquid. Before the extended cleaning device sprays cleaning liquid, the extended cleaning device performs a wiping cleaning of the preset cleaning space at least once, and after the extended cleaning device sprays cleaning liquid, the extended cleaning device performs a wiping cleaning of the preset cleaning space at least once.

[0091] Understandably, corner areas often have accumulated grime, adhesive dirt from adhesive strips, and a layer of fine dust. If cleaning fluid is sprayed directly, it is easily trapped by surface dust and cannot effectively penetrate the surface to be cleaned. Before the extended cleaning device sprays the cleaning fluid, its wiping of the preset space removes easily removable dust and loose grime, allowing the cleaning fluid to penetrate the surface, improving stain dissolution efficiency and reducing the amount of cleaning fluid needed. After the extended cleaning device sprays the cleaning fluid, it mixes thoroughly with stubborn stains, softening and dissolving them. Wiping the softened or dissolved grime further removes stubborn stains and carries away the dissolved cleaning fluid. By controlling the wiping and spraying of the cleaning fluid, the cleaning process of the preset space is effectively improved, enhancing the cleaning effect of the window cleaning robot on blind spots in corner areas.

[0092] In an optional embodiment, refer to Figure 8 , Figure 14 , Figure 20 and Figure 27 As shown, after the extended cleaning device is withdrawn, it is retracted, and the window cleaning robot is controlled again to run to the corner area for re-cleaning.

[0093] Specifically, in some embodiments of this application, taking the cleaning of a corner area as an example, one can refer to... Figure 7 and Figure 8 As shown, the first cleaning disc 21 rotates counterclockwise around the second cleaning disc 22 by a preset distance or angle, so that a missed area is formed between the first cleaning disc 21 and the extended cleaning device 3. Then, the first cleaning disc 21 rotates clockwise around the second cleaning disc 22 to reset, effectively wiping the missed area again, thus completing the cleaning of the corner area 1. The secondary cleaning process for other corner areas is the same or similar to that of this corner area, and will not be described in detail here. For specific details, please refer to [reference needed]. Figure 14 , Figure 20 and Figure 27 As shown.

[0094] The preset distance or preset angle of rotation of the first cleaning disc can be determined based on the size of the missed area, so that the first cleaning disc at least covers the missed area during the cleaning process.

[0095] Understandably, retracting the extended cleaning device reduces the cleaning coverage area of ​​the window cleaning robot, thus improving its cleaning flexibility. Furthermore, retracting the extended cleaning device prevents the cleaning fluid from being pushed back into the pre-set space during the robot's movement, thereby minimizing contamination of the cleaned area. The window cleaning robot then performs re-cleaning in corner areas, primarily to remove the cleaning fluid carried out of the pre-set space by the extended cleaning device, improving the consistency and effectiveness of the cleaning.

[0096] The embodiments of this application have at least the following beneficial effects: This application provides a window cleaning robot cleaning method. Based on the specific shape of the corner area, the window cleaning robot is controlled to clean in a preset posture, so that the cleaning range of the window cleaning robot matches the shape of the corner area, effectively reducing the generation of cleaning blind spots. Specifically, during the cleaning of corner areas, the first and second cleaning discs are rotated relative to each other to adjust the position of the robot body relative to the corner area, and the window cleaning robot is positioned in a preset posture within the corner area, achieving a match between the position and posture of the window cleaning robot and the shape of the corner area. The extended cleaning device is controlled to extend outward from the body of the window cleaning robot, changing the cleaning coverage range of the window cleaning robot so that its cleaning coverage range is adapted to the area of ​​the corner area to be cleaned. Based on the match between the window cleaning robot's posture, position, cleaning range and the corner area to be cleaned, the extended cleaning device is used to enter the corner area for cleaning, improving the accuracy and consistency of the cleaning process, effectively optimizing the cleaning effect of the window cleaning robot, and reducing the generation of cleaning blind spots.

[0097] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0098] Those skilled in the art will understand that the modules in the apparatus of the implementation scenario can be distributed within the apparatus of the implementation scenario as described, or they can be located in one or more apparatuses different from this implementation scenario, with corresponding changes. The modules of the above-described implementation scenario can be combined into one module, or they can be further divided into multiple sub-modules.

[0099] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of the implementation scenario.

[0100] The above disclosures are only a few specific implementation scenarios of this application. However, this application is not limited to these. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A cleaning method using a window cleaning robot, characterized in that, The window cleaning robot includes a body, a first cleaning tray, a second cleaning tray, and an extended cleaning device; the cleaning method includes: Control the relative rotation of the first and second cleaning discs to adjust the position of the machine body relative to the corner area; Confirm that the window cleaning robot is positioned in a preset posture in the corner area, the preset posture including: first condition: the extended cleaning device is facing the corner area; Control the extended cleaning device to enter the corner area for cleaning.

2. The cleaning method according to claim 1, characterized in that, The extended cleaning device is located on the machine body, and controlling the extended cleaning device to enter the corner area for cleaning includes: Control the extended cleaning device to move outward from the main body and enter the corner area for cleaning.

3. The cleaning method according to claim 1, characterized in that, The preset posture includes: second condition: the extended cleaning device is located on the side of the machine body near the corner area.

4. The cleaning method according to claim 3, characterized in that, The second condition specifically includes: the extended cleaning device is located on the side wall of the machine body near the corner area.

5. The cleaning method according to claim 1, characterized in that, The preset posture also includes: a third condition: the first cleaning tray is closer to the corner area relative to the second cleaning tray; The control of the extended cleaning device to enter the corner area for cleaning includes: The extended cleaning device is controlled to enter the corner area from one side of the first cleaning tray to perform cleaning.

6. The cleaning method according to claim 1, characterized in that, After confirming that the window cleaning robot is positioned in the corner area in a preset posture, the cleaning method further includes: At least control the first cleaning disc away from the corner area; When the first cleaning disc moves to a preset position and forms a preset space with the corner area, the extended cleaning device is controlled to enter the preset space for cleaning. The extended cleaning device extends outward from one side of the first cleaning disc to enter the preset space.

7. The cleaning method according to claim 1, characterized in that, Determining that the window cleaning robot is positioned in a preset posture in the corner area includes: Second condition: The extended cleaning device is located on the side of the machine body near the corner area; Third condition: The first cleaning tray is closer to the corner area than the second cleaning tray; The window cleaning robot is controlled to move toward the corner area in a first posture, wherein the first posture has the same or substantially the same three conditions as the preset posture; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the corner area in a preset posture.

8. The cleaning method according to claim 7, characterized in that, Confirming that the window cleaning robot is positioned in a preset posture in the corner area includes: The window cleaning robot is controlled to move toward the corner area in a non-preset posture, wherein the non-preset posture differs from the preset posture in at least one condition; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area in a preset posture.

9. The cleaning method according to claim 8, characterized in that, The step of confirming that the window cleaning robot is positioned in a preset posture in the corner area includes: The window cleaning robot is controlled to move toward the corner area in either a second or third posture. The second posture differs from the preset posture in that the second condition is that the extended cleaning device is located on the side of the robot body away from the corner area. The third posture differs from the preset posture in that the third condition is that the first cleaning disc is away from the corner area relative to the second cleaning disc, and the first condition is that the extended cleaning device faces away from the corner area. After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area according to a preset posture.

10. The cleaning method according to claim 8, characterized in that, When the window cleaning robot is operating in the second posture, and after the first cleaning disc detects the first edge of the corner area, the second cleaning disc of the window cleaning robot is adjusted to rotate clockwise around the first cleaning disc in order to adjust the operating posture of the window cleaning robot. When the window cleaning robot is operating in a third posture, and after the first cleaning disc detects the first edge of the corner area, the second cleaning disc of the window cleaning robot is adjusted to rotate counterclockwise around the first cleaning disc in order to adjust the operating posture of the window cleaning robot.

11. The cleaning method according to claim 8, characterized in that, The step of confirming that the window cleaning robot is positioned in a preset posture in the corner area includes: The window cleaning robot is controlled to move toward the corner area in a fourth posture, wherein the fourth posture differs from the preset posture in the following aspects: a third condition: the first cleaning disc is away from the corner area relative to the second cleaning disc; a second condition: the extended cleaning device is located on the side of the body away from the corner area; and a first condition: the extended cleaning device faces away from the corner area. Control the relative positions of the first cleaning disc and the second cleaning disc to change, so that the first cleaning disc is closer to the corner area relative to the second cleaning disc; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the corner area in a preset posture.

12. The cleaning method according to claim 11, characterized in that, The first cleaning disc and the second cleaning disc change their relative positions, and after the first cleaning disc identifies the first edge of the corner area, the second cleaning disc is controlled to identify the second edge of the corner area.

13. The cleaning method according to claim 1, characterized in that, After the extended cleaning device enters the corner area for cleaning, it is controlled to withdraw from the corner area, and a second cleaning is performed during the withdrawal process.

14. The cleaning method according to claim 1, characterized in that, When the extended cleaning device reaches a predetermined position during its entry into the corner area, the extended cleaning device is controlled to spray cleaning liquid. During the withdrawal of the extended cleaning device, the cleaning liquid is carried out with it.

15. The cleaning method according to claim 13, characterized in that, After the extended cleaning device is withdrawn, it is retrieved, and the window cleaning robot is controlled again to run to the corner area for further cleaning.

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