Control method of window cleaning robot, medium, window cleaning robot and control device

Abstract

The application discloses a window-cleaning robot control method, a medium, a window-cleaning robot and a control device, relates to the technical field of window-cleaning robots, and the control method comprises the following steps: in the process that a window-cleaning robot scans a work surface, vibration signals of the work surface are acquired; a current vibration risk partition is determined based on the vibration signals; and the scanning speed and / or adsorption force of the window-cleaning robot are adjusted based on the vibration risk partition. According to the control method, the vibration signals are collected in real time, the risk partition is determined, the scanning speed and the adsorption force are dynamically adjusted, the robot can automatically balance the work efficiency and the adsorption safety according to the actual vibration condition, the adsorption failure or the falling risk caused by scanning vibration is effectively inhibited, and the adsorption stability and the work safety are improved.

Description

Technical Field

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

[0002] When window cleaning robots perform cleaning tasks on vertical glass surfaces, they typically adhere to the glass surface using vacuum adsorption and use a driven scanning mechanism (such as a sensor module) to perceive and plan the work path. However, during operation, the movement of moving parts such as the scanning mechanism inevitably introduces mechanical vibrations, which are transmitted to the vacuum adsorption chamber through the robot's structure, affecting the stability of the adsorption.

[0003] Related technologies typically mitigate the impact by optimizing the mechanical structure or employing fixed-parameter control methods, such as adding vibration damping elements or setting a constant adsorption pressure. However, this approach struggles to dynamically respond to real-time changes in vibration intensity under different operating conditions. Especially when the sensor scanning mechanism is in different working states or the glass surface conditions are complex, fixed vibration damping measures or adsorption parameters cannot accurately match the actual disturbances caused by the current vibration environment to adsorption stability. This leads to a risk of decreased adsorption force due to leakage when vibration intensifies. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in related technologies. Therefore, the purpose of this application is to propose a control method, medium, window cleaning robot, and control device for a window cleaning robot. By employing a scheme that acquires vibration signals of the working surface during scanning, determines the current vibration risk zone based on the vibration signals, and adjusts the scanning speed and / or adsorption force based on the vibration risk zone, the robot can dynamically adjust its operating parameters in real time according to the actual vibration conditions. When vibration intensifies, the scanning speed is reduced to decrease disturbance sources, and the adsorption force is increased to enhance interface adhesion. When vibration is weak, normal scanning efficiency is maintained. This effectively suppresses the risk of adsorption failure or falling from height caused by scanning vibration, while avoiding the increased structural complexity and cost associated with relying on hardware vibration damping, thus improving the adsorption stability and operational safety of the window cleaning robot.

[0005] To achieve the above objectives, the first aspect of this application proposes a control method for a window cleaning robot, comprising: acquiring vibration signals of the working surface during the scanning process of the window cleaning robot; determining the current vibration risk zone based on the vibration signals; and adjusting the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone.

[0006] According to the control method of the window cleaning robot in this application embodiment, during the scanning process of the window cleaning robot on the work surface, vibration signals of the work surface are acquired, and the current vibration risk zone is determined based on the vibration signals. The scanning speed and / or adsorption force of the window cleaning robot are then adjusted based on the vibration risk zone. Therefore, by acquiring vibration signals in real time and determining risk zones, and dynamically adjusting the scanning speed and adsorption force, this method enables the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions, thereby effectively suppressing the risk of adsorption failure or falling due to scanning vibration, and improving adsorption stability and work safety.

[0007] In some embodiments of this application, determining the current vibration risk zone based on the vibration signal includes: comparing the intensity of the vibration signal with at least one zone threshold; and determining the current vibration risk zone based on the comparison result.

[0008] In some embodiments of this application, the zoning threshold includes a first threshold and a second threshold, where the first threshold is greater than the second threshold. Determining the current vibration risk zone based on the comparison result includes: determining the vibration risk zone as a first zone when the intensity of the vibration signal is greater than or equal to the first threshold; determining the vibration risk zone as a second zone when the intensity of the vibration signal is greater than or equal to the second threshold and less than the first threshold; and determining the vibration risk zone as a third zone when the intensity of the vibration signal is less than or equal to the second threshold. The risk level of the first zone is greater than that of the second zone, and the danger level of the second zone is greater than that of the third zone.

[0009] In some embodiments of this application, adjusting the scanning speed and / or adsorption force of the window cleaning robot based on vibration risk zones includes: when the vibration risk zone is a first zone, reducing the scanning speed to a first scanning speed and increasing the adsorption force to a first adsorption force; when the vibration risk zone is a second zone, reducing the scanning speed to a second scanning speed and / or increasing the adsorption force to a second adsorption force, wherein the second scanning speed is greater than the first scanning speed and the first adsorption force is greater than the second adsorption force; and when the vibration risk zone is a third zone, keeping the scanning speed and / or adsorption force unchanged.

[0010] In some embodiments of this application, the control method of the window cleaning robot described above further includes: detecting the distance between the window cleaning robot and the edge of the object to be cleaned; and reducing the scanning speed and increasing the adsorption force when the distance is less than a preset distance threshold.

[0011] In some embodiments of this application, the control method of the window cleaning robot described above further includes: acquiring the pressure change value inside the vacuum adsorption chamber of the window cleaning robot; and when the pressure change value exceeds a preset pressure threshold, reducing the scanning speed to a preset minimum speed and / or increasing the adsorption force until the pressure change value is less than the preset pressure threshold.

[0012] In some embodiments of this application, obtaining vibration signals from the working surface includes: acquiring acceleration signals from the working surface through an inertial measurement unit and using the acceleration signals as vibration signals.

[0013] To achieve the above objectives, a second aspect of this application provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the aforementioned control method for a window cleaning robot.

[0014] According to the computer-readable storage medium of the present application embodiment, the control method of the window cleaning robot described above is implemented during execution. It can dynamically adjust the scanning speed and adsorption force by collecting vibration signals in real time and determining risk zones. This enables the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions, thereby effectively suppressing the risk of adsorption failure or falling caused by scanning vibration and improving adsorption stability and work safety.

[0015] To achieve the above objectives, a window cleaning robot is proposed in the third aspect of this application, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the control method of the window cleaning robot described above.

[0016] According to the window cleaning robot of this application embodiment, by executing the above-described window cleaning robot control method, it can dynamically adjust the scanning speed and adsorption force by collecting vibration signals in real time and determining risk zones. This enables the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions, thereby effectively suppressing the risk of adsorption failure or falling caused by scanning vibration, and improving adsorption stability and work safety.

[0017] To achieve the above objectives, a fourth aspect of this application provides a control device for a window cleaning robot, comprising: a vibration acquisition module for acquiring vibration signals of the work surface during the scanning process of the window cleaning robot; a zone determination module for determining the current vibration risk zone based on the vibration signals; and a control module for adjusting the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone.

[0018] According to the control device of the window cleaning robot in this application embodiment, during the scanning process of the window cleaning robot on the work surface, the vibration acquisition module acquires the vibration signal of the work surface, and the partition determination module determines the current vibration risk zone based on the vibration signal. The control module adjusts the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone. Therefore, by acquiring vibration signals in real time and determining risk zones, the device dynamically adjusts the scanning speed and adsorption force, enabling the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions. This effectively suppresses the risk of adsorption failure or falling due to scanning vibration, improving adsorption stability and work safety.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] Figure 1 This is a flowchart of a control method for a window cleaning robot according to some embodiments of this application.

[0021] Figure 2 The flowchart shows a control method for a window cleaning robot according to some specific examples of this application.

[0022] Figure 3 This is a block diagram of a window cleaning robot according to some embodiments of this application.

[0023] Figure 4 This is a block diagram of the control device for a window cleaning robot according to some embodiments of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] To achieve stable adhesion of the robot to glass surfaces, a vacuum adsorption mechanism is typically used to generate negative pressure, causing the robot body to adhere to the working surface. This involves creating a closed vacuum cavity between the robot body and the glass using components such as a fan, relying on the pressure difference between the inside and outside atmospheres to provide the adsorption force.

[0026] However, when such robots integrate scanning mechanisms for environmental perception, such as rotating sensors for detecting glass boundaries or obstacles, the scanning mechanism needs to move at high speed or over a wide range in order to obtain more comprehensive environmental information. The mechanical vibration generated by this movement will be transmitted through the body to the vacuum adsorption chamber, which will damage the airtightness of the chamber and weaken the adsorption force. In severe cases, it may even cause the robot to slip or fall.

[0027] Through in-depth analysis, the applicant discovered that the adsorption control strategy in related technologies no longer adjusts based on real-time dynamic conditions after the adsorption pressure is set, thus failing to compensate for immediate interference introduced by the scanning mechanism. The robot lacks real-time quantitative assessment of its own vibration state and can only take remedial measures after the adsorption force has already decreased.

[0028] To address the aforementioned issues, this application collects signals characterizing the robot's current vibration state and compares these signals with preset thresholds to quantify the current vibration risk level. Based on this risk level, it proactively adjusts the scanning mechanism's movement speed and the vacuum adsorption mechanism's pressure parameters. This effectively suppresses the damage to adsorption stability caused by vibration without affecting the environmental sensing function.

[0029] The window cleaning robot of this application includes a body, a walking mechanism for moving on the work surface, a cleaning component for cleaning the surface, a vacuum adsorption unit providing adsorption and holding force, and an electronic control system. The electronic control system includes a main controller, an inertial measurement unit (IMU), a Time-of-Flight (TOF) distance sensor, a stepper motor driving the TOF sensor to rotate, and a vacuum chamber pressure sensor. The IMU is fixed to the chassis of the robot body and is used to sense and output acceleration signals reflecting the vibration state of the work surface. The TOF sensor is mounted on a rotating bracket driven by the stepper motor, which can rotate around a horizontal axis, thereby changing the angle between the sensor's light pulse emission direction and the work surface. The stepper motor receives pulse signals from the main controller and drives the TOF sensor to scan within a preset angle range. The vacuum adsorption unit includes a vacuum chamber and a fan. A vacuum chamber pressure sensor is installed inside the vacuum chamber to detect pressure changes within the chamber in real time and feed them back to the main controller.

[0030] The main controller is electrically connected to the inertial measurement unit (IMU), TOF sensor, stepper motor, vacuum chamber pressure sensor, walking mechanism, and fan. During operation, the main controller acquires acceleration signals output by the IMU and distance data returned by the TOF sensor, while simultaneously monitoring pressure fluctuations within the vacuum chamber. Through calculation and judgment, the main controller sends angle control commands to the stepper motor to adjust the detection direction, speed control commands to the walking mechanism to change the scanning speed, and drive adjustment signals to the fan to adjust the negative pressure level within the vacuum chamber, thereby altering the magnitude of the adsorption force. All sensors and actuators work collaboratively via signal lines, forming a complete sensing and control loop.

[0031] Figure 1 This is a flowchart of a control method for a window cleaning robot according to some embodiments of this application.

[0032] like Figure 1 As shown, the control method for the window cleaning robot in this application embodiment may include the following steps: S101, During the scanning process of the window cleaning robot on the work surface, the vibration signal of the work surface is acquired. The work surface refers to the object surface that the window cleaning robot is attached to and cleans, which can be glass, tiles, smooth walls, etc.; the scanning process can be the process of the window cleaning robot moving on the work surface and using the TOF sensor 108 to perceive the environment and plan its path; the vibration signal is a physical quantity that reflects the minute mechanical vibrations generated on the work surface during the robot's movement and sensor scanning.

[0033] Specifically, vibration signals can be acquired using a microelectromechanical accelerometer sensor (such as an inertial measurement unit) mounted on the wall of the vacuum adsorption chamber or the robot's frame. This accelerometer can sense minute acceleration changes generated by the rotation of the scanning mechanism or the movement of the robot. The main controller performs digital filtering on the raw acceleration data, extracting the effective or peak value representing the vibration intensity as the vibration signal. For example, in the configuration of the IMU, its sampling rate can be set to at least 100Hz to capture mechanical vibrations in the 1Hz to 50Hz frequency band. Using this method, vibration forces that are difficult to measure directly can be converted into voltage or digital signals that are easy to process and quantify.

[0034] In some embodiments, the acquisition of vibration signals can also be achieved using piezoelectric vibration sensors, laser Doppler vibrometers, or vibration sensing structures based on capacitive micromechanical ultrasonic transducers. In some embodiments, the microphone built into the window cleaning robot can be used to collect sound waves generated by vibration, and then the vibration information can be reconstructed through signal processing.

[0035] S102, determine the current vibration risk zone based on the vibration signal.

[0036] The vibration risk zone is a quantitative classification of the degree to which the robot may face adsorption stability failure under the current vibration environment, reflecting the likelihood of adsorption force attenuation or vacuum leakage caused by vibration. The main controller uses the acquired vibration signals and preset logic to determine the vibration risk zone in the current state.

[0037] Specifically, the intensity of the vibration signal can be compared with at least one zoning threshold, and the current vibration risk zone can be determined based on the comparison result. For example, a first threshold Th1 and a second threshold Th2 can be set, where the first threshold Th1 is greater than the second threshold Th2. When the intensity of the vibration signal is greater than the first threshold Th1, it indicates that the vibration is severe enough to threaten the stability of vacuum adsorption, and the vibration risk zone is determined as the first zone, with the highest risk level. When the intensity of the vibration signal is less than or equal to the second threshold Th2, it indicates that the vibration is extremely weak, and it is determined as the third zone, with the lowest risk level. When the intensity of the vibration signal is between the second threshold Th2 and the first threshold Th1, it is determined as the second zone, indicating that there is some vibration impact, but it has not reached a dangerous level.

[0038] In this application, the intensity of the vibration signal refers to any quantity that can characterize the amplitude of vibration energy, such as the root mean square value or peak value of the acceleration signal. The partition threshold is a reference value that is preset and stored in the memory, and can be obtained through experimental calibration based on the specific mechanical structure of the robot, the performance of the vacuum adsorption system, and the material of the working surface.

[0039] S103, adjust the scanning speed and / or adsorption force of the window cleaning robot based on vibration risk zones.

[0040] Here, scanning speed refers to the speed at which the window cleaning robot moves across the work surface and performs a Time-of-Flight (TOF) scan, while adsorption force refers to the force generated by the vacuum adsorption unit that holds the robot on the work surface. The main controller dynamically outputs control commands to the walking mechanism and / or fan based on the determined vibration risk zones to change the scanning speed and / or adsorption force, thereby automatically balancing work efficiency and adsorption safety under vibration disturbances. For example, in the highest risk zone (Zone 1), the scanning speed is reduced to a lower first scanning speed (e.g., 0), while the adsorption force is increased to a higher first adsorption force to minimize the risk of falling due to vibration. In Zone 2, the scanning speed can be reduced to a second scanning speed higher than the first scanning speed, and / or the adsorption force can be increased to a second adsorption force lower than the first adsorption force, achieving appropriate protection and maintaining the operation. In Zone 3, the scanning speed and adsorption force remain unchanged, allowing the robot to operate efficiently with normal parameters. This enables the system to respond appropriately to different levels of vibration, avoiding a significant decrease in work efficiency due to over-protection.

[0041] The main controller can control the speed of the walking mechanism's motor via pulse width modulation signals to adjust the scanning speed; it can also change the negative pressure in the vacuum chamber by adjusting the power supply voltage or duty cycle of the fan motor, thereby altering the adsorption force. Alternatively, a set of parameter tables corresponding to the control zones can be preset. After determining the zone, the main controller can quickly obtain the target speed and adsorption force values ​​by looking up the table, and control the corresponding actuators based on the target speed and adsorption force.

[0042] In some embodiments of this application, determining the current vibration risk zone based on the vibration signal includes: comparing the intensity of the vibration signal with at least one zone threshold; and determining the current vibration risk zone based on the comparison result.

[0043] Specifically, there can be one or more partition thresholds. For example, if there is only one partition threshold, the vibration risk partition includes partition A and partition B. If the intensity of the vibration signal is greater than or equal to the partition threshold, the current vibration risk partition is determined to be partition A, with a higher risk level. If the intensity of the vibration signal is less than the partition threshold, the current vibration risk partition is determined to be partition B, with a lower risk level.

[0044] In some embodiments of this application, the partitioning threshold includes a first threshold and a second threshold, where the first threshold is greater than the second threshold. Determining the current vibration risk partition based on the comparison result includes: determining the vibration risk partition as a first partition when the intensity of the vibration signal is greater than or equal to the first threshold; determining the vibration risk partition as a second partition when the intensity of the vibration signal is greater than or equal to the second threshold and less than the first threshold; and determining the vibration risk partition as a third partition when the intensity of the vibration signal is less than or equal to the second threshold. The risk level of the first partition is greater than that of the second partition, and the danger level of the second partition is greater than that of the third partition. The first and second thresholds can be calibrated according to actual conditions, such as based on factors like robot weight, vacuum chamber design, and the roughness of the working surface.

[0045] Specifically, the acceleration signal output by the inertial measurement unit is processed by the main controller to obtain the intensity of the vibration signal. The intensity of the vibration signal is compared with a first threshold Th1 and a second threshold Th2. When the intensity of the vibration signal is greater than the first threshold, the vibration risk zone is determined as the first zone (danger zone); when the intensity of the vibration signal is greater than or equal to the second threshold but less than the first threshold, the vibration risk zone is determined as the second zone (warning zone); and when the intensity of the vibration signal is less than or equal to the second threshold, the vibration risk zone is determined as the third zone (safe zone). By adopting a dual-threshold zoning scheme, the vibration risk can be quantitatively determined, thereby improving the accuracy and timeliness of vibration risk response and strengthening the overall fall protection safety effect.

[0046] Therefore, by setting two thresholds, vibration risk is subdivided into three levels, enabling the control system to distinguish between three states: high vibration risk, medium vibration alert, and low vibration safety, so that different control strategies can be adopted according to different states.

[0047] In some embodiments of this application, adjusting the scanning speed and / or adsorption force of the window cleaning robot based on vibration risk zones includes: when the vibration risk zone is a first zone, reducing the scanning speed to a first scanning speed and increasing the adsorption force to a first adsorption force; when the vibration risk zone is a second zone, reducing the scanning speed to a second scanning speed and / or increasing the adsorption force to a second adsorption force, wherein the second scanning speed is greater than the first scanning speed and the first adsorption force is greater than the second adsorption force; and when the vibration risk zone is a third zone, keeping the scanning speed and / or adsorption force unchanged. The first scanning speed is very small, even zero, and the first adsorption force can be the maximum value that the vacuum adsorption unit can provide.

[0048] Specifically, the strongest protective measures are implemented in the high-risk first zone: the scanning speed is reduced to a minimum while the suction force is maximized to prevent instability and falls due to significant vibration. In the cautious second zone, the scanning speed is moderately limited while the suction force is slightly increased to enhance safety margins while maintaining a certain operational rhythm. In the safe third zone, no reductions are made, maintaining normal parameters to maximize operational efficiency. Through this progressive control strategy, the system can automatically achieve a balance between safety and efficiency. For example, the main controller selects the corresponding speed and suction force commands based on the vibration risk zone. For instance, the first scanning speed can be 20% of the normal scanning speed, the second scanning speed can be 50% of the normal scanning speed, the first suction force can be the maximum suction force generated by the vacuum blower running at maximum power, and the second suction force can be the suction force generated by the blower running at 80% of its rated power. The normal scanning speed and suction force can be set by default according to the robot hardware configuration or adjusted by the user through the application.

[0049] Thus, by setting progressive strategies for reducing scanning speed and increasing adsorption force for different risk zones, a differentiated response matching the vibration intensity is achieved, enabling the robot to autonomously and smoothly achieve a balance between safety and efficiency in dynamic vibration environments.

[0050] It should be noted that among the adjustment methods in the second partition mentioned above, the scanning speed can be reduced individually, the adsorption force can be increased individually, or both can be done simultaneously. The specific choice can be determined based on the robot's real-time status or energy consumption strategy.

[0051] To address the increased risk of adsorption when the robot approaches the edge of glass due to weakened physical constraints or altered vibration patterns, some embodiments of this application include a control method for the window cleaning robot that further comprises: detecting the distance between the window cleaning robot and the edge of the object being cleaned; and reducing the scanning speed and increasing the adsorption force when the distance is less than a preset distance threshold. The preset distance threshold can be calibrated according to actual conditions.

[0052] Specifically, the TOF sensor, driven by a stepper motor, scans and obtains real-time distance data from the robot's front end to the glass edge. The main controller receives the distance data and, if it determines that the distance is less than a preset threshold (e.g., 5 cm), considers the robot to be close to the glass boundary and at risk of detachment. At this point, it actively reduces the scanning speed (e.g., 30% of the normal speed) to reduce dynamic disturbances generated by the scanning and simultaneously increases the adsorption force to counteract any potential attenuation of adsorption force at the edge, thereby effectively preventing the robot from detaching from the surface at the edge due to vibration and insufficient adsorption.

[0053] To address the issue of pressure fluctuations within the vacuum adsorption chamber caused by vibration or changes in suction cup adhesion, which in turn affect the adsorption force, in some embodiments of this application, the control method for the window cleaning robot further includes: acquiring the pressure change value within the vacuum adsorption chamber of the window cleaning robot; and, if the pressure change value exceeds a preset pressure threshold, reducing the scanning speed to a preset minimum speed and / or increasing the adsorption force until the pressure change value is less than the preset pressure threshold. The preset pressure threshold can be calibrated according to actual conditions.

[0054] Specifically, the vacuum chamber pressure sensor detects the absolute or relative pressure within the chamber in real time and outputs it to the main controller. The main controller calculates the pressure change over adjacent time periods, such as the pressure fluctuation amplitude. When this fluctuation amplitude exceeds a preset pressure threshold, it indicates an abnormal disturbance within the adsorption chamber that may affect adsorption stability. The main controller reduces the scanning speed to a preset minimum speed (or even pauses scanning) while simultaneously sending a command to the blower to increase the adsorption force. By reducing the scanning action that causes vibration and simultaneously enhancing adsorption, a closed-loop regulation is formed until the pressure fluctuation returns to below the threshold, and then normal operating parameters are gradually restored. By directly monitoring the chamber pressure changes that are directly related to the adsorption force, instantaneous changes in adsorption stability can be perceived more accurately, improving the response speed and reliability of fail-safe protection.

[0055] As a concrete example, such as Figure 2 As shown, the control method for the window cleaning robot in this application embodiment may include the following steps: S201, acquire the vibration signal of the working surface.

[0056] S202, determine whether the intensity of the vibration signal is greater than or equal to the first threshold. If yes, proceed to step S203; if no, proceed to step S205.

[0057] S203 has been identified as a danger zone.

[0058] S204, reduce the scanning speed to the first scanning speed, and increase the adsorption force to the first adsorption force.

[0059] S205, determine whether the intensity of the vibration signal is less than the second threshold. If yes, proceed to step S206; if no, proceed to step S208.

[0060] S206 has been designated as a safe zone.

[0061] S207, keep the scanning speed and / or adsorption force constant.

[0062] S208 has been designated as a restricted area.

[0063] S209, reduce the scanning speed to a second scanning speed, and / or increase the adsorption force to a second adsorption force.

[0064] Application scenario examples In a high-rise residential building, a user activates a window-cleaning robot that adheres to the surface of the living room's floor-to-ceiling windows for automatic cleaning. The robot uses a rotatable Time-of-Flight (TOF) sensor at its front and an inertial measurement unit connected to its chassis to execute control procedures, ensuring that even minor vibrations during the scanning process will not cause it to lose its grip or fall off.

[0065] After the robot is powered on, the main controller first drives the TOF sensor to continuously scan within a predetermined angle range via a stepper motor. The operation of the motor and the movement of the walking mechanism inevitably cause slight vibrations in the robot body. At this time, the inertial measurement unit collects the acceleration signal transmitted to the chassis in real time at a sampling frequency of no less than 100 Hz. The main controller performs digital bandpass filtering on the raw signal and extracts the root mean square value of acceleration, which can characterize the vibration intensity, as the vibration signal of the current working surface.

[0066] The main controller compares the intensity of the acquired vibration signal with two pre-calibrated and stored thresholds to determine the vibration risk zones. The first threshold is 0.5g, and the second threshold is 0.1g. When the vibration signal intensity is less than or equal to 0.1g, it is classified into the third zone, the lowest risk level, indicating extremely weak vibration that will not threaten adsorption stability. The robot maintains its normal scanning speed and adsorption force within this zone to perform cleaning with maximum efficiency. When the vibration signal intensity is between 0.1g and 0.5g, it is classified into the second zone, indicating some degree of vibration impact but not yet reaching a dangerous level. In this case, the main controller reduces the scanning speed to 50% of normal speed and increases the fan's adsorption force to 80% of rated power, thus maintaining operation while moderately increasing the safety margin. When the vibration signal intensity is greater than 0.5g, it is classified into the first zone, the highest risk level, indicating that the vibration is severe enough to potentially cause localized leakage or instability in vacuum adsorption. The main controller immediately reduces the scanning speed to 20% of normal speed and instructs the fan to operate at maximum power to generate maximum adsorption force, using the strongest protective measures to prevent the robot from falling.

[0067] During the cleaning process, in addition to environmental perception, the TOF sensor continuously measures the distance between the robot's front end and the edge of the window frame. When this distance is detected to be less than the preset 5 cm distance threshold, regardless of the current vibration risk zone, the main controller further reduces the scanning speed to 30% of the normal speed, and at the same time adjusts the fan to the highest level to output maximum suction force to counteract the possible attenuation of suction force when approaching the glass boundary, ensuring that the robot will not detach from the edge due to the dynamic disturbance of vibration.

[0068] Meanwhile, a pressure sensor installed inside the vacuum adsorption chamber continuously monitors pressure changes within the chamber. The main controller calculates the pressure fluctuation amplitude over a period of time in real time. When the fluctuation value exceeds the preset pressure threshold, it indicates that an abnormal disturbance that may affect stability has occurred in the adsorption chamber. At this point, the scanning speed is reduced to the preset minimum speed (or even the scanning is paused), and the fan is instructed to increase the adsorption force. Through closed-loop control, the pressure fluctuation is restored to below the threshold, and then gradually restored to normal operating parameters.

[0069] Through the aforementioned multiple mechanisms—dynamically adjusting scanning speed and adsorption force based on vibration risk zones, combining edge distance detection, and closed-loop protection against internal pressure fluctuations—the window cleaning robot maintained stable adsorption throughout the entire cleaning task of the living room's floor-to-ceiling windows, without any slippage, increased shaking, or loosening of the adsorption. Users do not need to worry about the robot falling due to internal scanning vibrations while operating at heights; the cleaning process is worry-free and safe. Furthermore, the robot maintains a high cleaning speed most of the time, ensuring overall operational efficiency.

[0070] In summary, the control method for the window cleaning robot according to the embodiments of this application acquires vibration signals of the work surface during the scanning process of the window cleaning robot, determines the current vibration risk zone based on the vibration signals, and adjusts the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone. Therefore, by acquiring vibration signals in real time and determining risk zones, and dynamically adjusting the scanning speed and adsorption force, this method enables the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions, thereby effectively suppressing the risk of adsorption failure or falling due to scanning vibration, and improving adsorption stability and work safety.

[0071] Corresponding to the above embodiments, this application also proposes a computer-readable storage medium.

[0072] The computer-readable storage medium of this application embodiment stores a program that, when executed by a processor, implements the control method of the window cleaning robot described above.

[0073] According to the computer-readable storage medium of the present application embodiment, the control method of the window cleaning robot described above is implemented during execution. It can dynamically adjust the scanning speed and adsorption force by collecting vibration signals in real time and determining risk zones. This enables the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions, thereby effectively suppressing the risk of adsorption failure or falling caused by scanning vibration and improving adsorption stability and work safety.

[0074] Corresponding to the above embodiments, this application also proposes a window cleaning robot.

[0075] like Figure 3 As shown, the window cleaning robot 300 in this application embodiment may include: a memory 310, a processor 320, and a program stored in the memory 310 and executable on the processor 320. When the processor 320 executes the program, it implements the above-described control method for the window cleaning robot.

[0076] According to the window cleaning robot of this application embodiment, by executing the above-described window cleaning robot control method, it can dynamically adjust the scanning speed and adsorption force by collecting vibration signals in real time and determining risk zones. This enables the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions, thereby effectively suppressing the risk of adsorption failure or falling caused by scanning vibration, and improving adsorption stability and work safety.

[0077] Corresponding to the above embodiments, this application also proposes a control device for a window cleaning robot.

[0078] like Figure 4 As shown, the control device 400 of the window cleaning robot of this application may include: a vibration acquisition module 410, a zone determination module 420 and a control module 430.

[0079] The vibration acquisition module 410 is used to acquire vibration signals of the working surface during the scanning process of the window cleaning robot. The zoning determination module 420 is used to determine the current vibration risk zone based on the vibration signals. The control module 430 is used to adjust the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone.

[0080] In some embodiments of this application, the partition determination module 420 determines the current vibration risk partition based on the vibration signal, specifically for: comparing the intensity of the vibration signal with at least one partition threshold; and determining the current vibration risk partition based on the comparison result.

[0081] In some embodiments of this application, the partitioning threshold includes a first threshold and a second threshold, where the first threshold is greater than the second threshold. The partitioning determination module 420 determines the current vibration risk partition based on the comparison result, specifically for: determining the vibration risk partition as the first partition when the intensity of the vibration signal is greater than the first threshold; determining the vibration risk partition as the second partition when the intensity of the vibration signal is greater than or equal to the second threshold and less than the first threshold; and determining the vibration risk partition as the third partition when the intensity of the vibration signal is less than or equal to the second threshold. Wherein, the risk level of the first partition is greater than that of the second partition, and the danger level of the second partition is greater than that of the third partition.

[0082] In some embodiments of this application, the control module 430 adjusts the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone. Specifically, it is used to: reduce the scanning speed to a first scanning speed and increase the adsorption force to a first adsorption force when the vibration risk zone is a first zone; reduce the scanning speed to a second scanning speed and / or increase the adsorption force to a second adsorption force when the vibration risk zone is a second zone; wherein the second scanning speed is greater than the first scanning speed and the first adsorption force is greater than the second adsorption force; and keep the scanning speed and / or adsorption force unchanged when the vibration risk zone is a third zone.

[0083] In some embodiments of this application, the control module 430 is also used to: detect the distance between the window cleaning robot and the edge of the object being cleaned; and reduce the scanning speed and increase the adsorption force when the distance is less than a preset distance threshold.

[0084] In some embodiments of this application, the control module 430 is further configured to: acquire the pressure change value inside the vacuum adsorption chamber of the window cleaning robot; and, if the pressure change value exceeds a preset pressure threshold, reduce the scanning speed to a preset minimum speed and / or increase the adsorption force until the pressure change value is less than the preset pressure threshold.

[0085] In some embodiments of this application, the vibration acquisition module 410 acquires the vibration signal of the working surface, specifically for: acquiring the acceleration signal of the working surface through the inertial measurement unit, and using the acceleration signal as the vibration signal.

[0086] It should be noted that for details not disclosed in the control device of the window cleaning robot in the embodiments of this application, please refer to the details disclosed in the control method of the window cleaning robot in the embodiments of this application, which will not be repeated here.

[0087] According to the control device of the window cleaning robot in this application embodiment, during the scanning process of the window cleaning robot on the work surface, the vibration acquisition module acquires the vibration signal of the work surface, and the partition determination module determines the current vibration risk zone based on the vibration signal. The control module adjusts the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone. Therefore, by acquiring vibration signals in real time and determining risk zones, the device dynamically adjusts the scanning speed and adsorption force, enabling the robot to automatically balance work efficiency and adsorption safety according to the actual vibration conditions. This effectively suppresses the risk of adsorption failure or falling due to scanning vibration, improving adsorption stability and work safety.

[0088] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0089] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0092] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0093] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0094] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A control method for a window cleaning robot, characterized in that, The method includes: During the process of the window cleaning robot scanning the work surface, the vibration signal of the work surface is acquired; The vibration risk zone is determined based on the vibration signal; The scanning speed and / or adsorption force of the window cleaning robot are adjusted based on the vibration risk zones.

2. The control method for the window cleaning robot according to claim 1, characterized in that, Determining the current vibration risk zone based on the vibration signal includes: The intensity of the vibration signal is compared with at least one partition threshold; The vibration risk zone in which the individual is currently located is determined based on the comparison results.

3. The control method for the window cleaning robot according to claim 2, characterized in that, The zoning threshold includes a first threshold and a second threshold, where the first threshold is greater than the second threshold. Determining the current vibration risk zone based on the comparison result includes: If the intensity of the vibration signal is greater than or equal to the first threshold, the vibration risk zone is determined to be the first zone; If the intensity of the vibration signal is greater than or equal to the second threshold and less than the first threshold, the vibration risk zone is determined to be the second zone. If the intensity of the vibration signal is less than or equal to the second threshold, the vibration risk zone is determined to be the third zone; wherein the risk level of the first zone is greater than that of the second zone, and the danger level of the second zone is greater than that of the third zone.

4. The control method for the window cleaning robot according to claim 3, characterized in that, The adjustment of the scanning speed and / or suction force of the window cleaning robot based on the vibration risk zone includes: When the vibration risk zone is the first zone, the scanning speed is reduced to a first scanning speed, and the adsorption force is increased to a first adsorption force; When the vibration risk zone is the second zone, the scanning speed is reduced to a second scanning speed, and / or the adsorption force is increased to a second adsorption force, wherein the second scanning speed is greater than the first scanning speed, and the first adsorption force is greater than the second adsorption force; When the vibration risk zone is the third zone, the scanning speed and / or the adsorption force remain unchanged.

5. The control method for the window cleaning robot according to claim 1, characterized in that, The method further includes: Detect the distance between the window cleaning robot and the edge of the object being cleaned; If the distance is less than a preset distance threshold, the scanning speed is reduced and the adsorption force is increased.

6. The control method for the window cleaning robot according to claim 1, characterized in that, The method further includes: Obtain the pressure change value inside the vacuum adsorption chamber of the window cleaning robot; If the pressure change exceeds a preset pressure threshold, the scanning speed is reduced to a preset minimum speed and / or the adsorption force is increased until the pressure change is less than the preset pressure threshold.

7. The control method for the window cleaning robot according to claim 1, characterized in that, The acquisition of the vibration signal of the working surface includes: The acceleration signal of the working surface is acquired by an inertial measurement unit, and the acceleration signal is used as the vibration signal.

8. A computer-readable storage medium, characterized in that, It stores a program that, when executed by a processor, implements the control method for the window cleaning robot according to any one of claims 1-7.

9. A window cleaning robot, characterized in that, include: The system includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the control method for the window cleaning robot according to any one of claims 1-7.

10. A control device for a window cleaning robot, characterized in that, include: The vibration acquisition module is used to acquire the vibration signal of the working surface during the scanning process of the window cleaning robot. The zoning determination module is used to determine the current vibration risk zone based on the vibration signal. A control module is used to adjust the scanning speed and / or adsorption force of the window cleaning robot based on the vibration risk zone.

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