Safety wiping control method and system for window wiping robot based on negative pressure adaptive adjustment

Abstract

The present application relates to the technical field of intelligent window cleaning robot control, in particular to a window cleaning robot safety wiping control method and system based on negative pressure adaptive adjustment, comprising the following steps: collecting negative pressure cavity adsorption pressure, body posture data, wiping motor current, wiping disc rotating speed, walking driving current and edge detection signal, generating contact surface stain resistance parameters, combining pressure deviation, posture deviation, resistance difference and edge detection signal to obtain the working scene state, generating target adsorption negative pressure value and negative pressure adjustment amount according to the working scene state, controlling the negative pressure fan to drive the walking driving mechanism and wiping mechanism in parallel, and outputting a warning instruction or executing locking when the abnormal condition is established. The present application makes the adsorption control, walking control and wiping control cooperate according to the same working cycle through multi-source process signals participating in scene judgment and negative pressure compensation, so that the abnormal protection has pressure, posture and edge state basis.

Description

Technical Field

[0001] This invention relates to the field of intelligent window cleaning robot control technology, and in particular to a safe window cleaning robot wiping control method and system based on negative pressure adaptive adjustment. Background Technology

[0002] The field of intelligent window cleaning robot control technology revolves around mobile cleaning equipment attached to glass surfaces, focusing on sensor acquisition, status judgment, process control, and motion coordination. This involves signal transmission and command coordination between components such as negative pressure fans, wheels or tracks, wiping discs, pressure sensors, attitude sensors, motor drive circuits, controllers, and power supplies. The controller generates control commands for fan operation, movement, and wiping based on information such as adsorption pressure, body tilt angle, movement position, motor current, and cleaning path. Traditional window cleaning robot safety wiping control methods and systems refer to technical solutions for controlling the robot's adsorption, movement, and wiping processes during glass surface cleaning. Generally, pressure sensors detect the pressure in the suction cup or negative pressure chamber, attitude sensors detect the body tilt, and the controller determines the operating status based on a preset negative pressure range, edge detection signals, movement path, and wiping motor operating status, sending start / stop, speed, or direction control commands to the negative pressure fan, movement drive mechanism, and wiping mechanism.

[0003] Traditional window cleaning robots control adsorption, movement, and wiping by setting a negative pressure zone and a fixed walking path. Pressure sensors, posture sensors, and motor operating status are mostly used as the basis for starting, stopping, or alarming. When working on curved glass surfaces, uneven stain thickness, and window edges, there is a lack of unified process judgment between changes in adsorption pressure, changes in body posture, and changes in contact resistance. The control rhythm of the negative pressure fan, walking drive mechanism, and wiping mechanism is separated, resulting in fluctuations in local adhesion, insufficient matching between wiping trajectory and adsorption state, and a single basis for triggering safety protection. Summary of the Invention

[0004] The purpose of this invention is to provide a safe wiping control method and system for a window cleaning robot based on negative pressure adaptive adjustment. The method uses the negative pressure chamber adsorption pressure, robot posture data, wiping motor current, wiping disc speed, walking drive current, and edge detection signals during the window cleaning robot's operation on the glass surface as the basis for process control. It performs correlated control of negative pressure adsorption, walking drive, wiping actions, and abnormal protection, reducing the problems of inconsistent adhesion and single protection triggering basis caused by the separation of negative pressure control and walking wiping actions in traditional window cleaning robots operating on curved glass surfaces, uneven stain thickness, and window edges.

[0005] To achieve the above objectives, this invention employs a safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment, comprising the following steps: Data such as negative pressure chamber adsorption pressure, body posture, wiping motor current, wiping disc speed, walking drive current, and edge detection signal are collected during the operation of the window cleaning robot. The contact surface dirt resistance parameters are generated from the increment of the wiping motor current, the decrease of the wiping disc speed, and the increment of the walking drive current.

[0006] Based on the pressure deviation between the negative pressure chamber adsorption pressure and the preset safe negative pressure range, the attitude deviation between the body attitude data and the preset fitting attitude range, the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous working cycle, and the edge detection signal, a comprehensive judgment is made on the pressure state, attitude state, resistance state, and edge state to obtain the current working scenario state.

[0007] The corresponding negative pressure compensation amount is invoked according to the current working scenario status, and the negative pressure compensation amount is superimposed with the preset benchmark adsorption negative pressure to generate a target adsorption negative pressure value. The current negative pressure chamber adsorption pressure is compared with the target adsorption negative pressure value to obtain the negative pressure adjustment amount.

[0008] The speed or duty cycle of the negative pressure fan is controlled according to the negative pressure adjustment amount. The increment of the target adsorption negative pressure value relative to the preset benchmark adsorption negative pressure and the stain resistance parameter of the contact surface are input into the walking and wiping linkage rules to generate the walking speed parameters of the walking drive mechanism and the wiping speed parameters of the wiping mechanism, so that the negative pressure fan, the walking drive mechanism and the wiping mechanism perform linkage control in the same work cycle.

[0009] When the deviation between the adsorption pressure of the negative pressure chamber and the target adsorption negative pressure value exceeds the abnormal deviation threshold and the duration reaches the abnormal duration, or when the body posture data exceeds the preset fitting posture range and the edge detection signal is established, an early warning command is output, and the walking drive mechanism is stopped or the self-locking actuator is locked.

[0010] Furthermore, when generating the contact surface stain resistance parameters, the wiping motor current, wiping disc speed, and walking drive current collected within the same work cycle are used as synchronous calculation objects. When the wiping motor current is higher than the reference current, the wiping disc speed is lower than the target speed, and the walking drive current is higher than the reference drive current, the corresponding current increment, speed decrease, and drive current increment are written into the resistance parameter calculation sequence. When any synchronous calculation object does not meet the corresponding change condition and the synchronous calculation object that does not meet the condition has a valid historical component, the corresponding component from the previous work cycle is used to participate in the generation of the contact surface stain resistance parameters. When the synchronous calculation object that does not meet the condition does not have a valid historical component, the corresponding increment or decrease is set to zero and participates in the generation of the contact surface stain resistance parameters.

[0011] Furthermore, the resistance parameter calculation sequence is aligned according to the acquisition time of the wiping motor current increment, the wiping disk speed decrease, and the walking drive current increment; when the change direction of any component in an adjacent work cycle is inconsistent with the change direction of the other two components, the component with inconsistent change direction is discarded and the remaining component is used to generate the contact surface stain resistance parameter; when the change directions of the three components are consistent, the three components are used together to generate the contact surface stain resistance parameter.

[0012] Furthermore, when comprehensively determining the pressure state, posture state, resistance state, and edge state, in each work cycle, the comparison result of whether the negative pressure chamber adsorption pressure falls into, is below, or is above the preset safe negative pressure range is converted into an adsorption state flag; the comparison result of whether the body posture data falls into or exceeds the preset fitting posture range is converted into a fitting state flag; the comparison result of whether the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous work cycle falls into or exceeds the resistance change range is converted into a resistance state flag; the detection result of whether the edge detection signal is established or not is converted into an edge state flag; and a work scene status word is generated according to the preset position order of the adsorption state flag, the fitting state flag, the resistance state flag, and the edge state flag. The current work scene status is obtained by calling the scene status mapping table based on the work scene status word.

[0013] Further, after generating the work scene status word, the edge status flag and the adsorption status flag are read first. When the edge status flag indicates that the edge detection signal is established and the adsorption status flag indicates that the adsorption pressure of the negative pressure chamber is lower than the preset safe negative pressure range, the current work scene status is written into the safety limit status. When the edge status flag does not indicate that the edge detection signal is established, or the adsorption status flag does not indicate that the adsorption pressure of the negative pressure chamber is lower than the preset safe negative pressure range, the adhesion status flag and the resistance status flag are read again, and the reading results are input into the scene status mapping table to obtain the current work scene status.

[0014] Furthermore, when invoking the negative pressure compensation amount, candidate values ​​for the negative pressure compensation amount are read from a preset compensation table based on the current operating scenario status; the deviation direction of the machine body posture data relative to the preset fitting posture range is taken as the posture compensation direction, and the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous operating cycle is taken as the resistance compensation amplitude; when the posture compensation direction indicates insufficient machine body fitting, the candidate values ​​for the negative pressure compensation amount are positively incrementally corrected according to the resistance compensation amplitude; when the posture compensation direction does not indicate insufficient machine body fitting, the candidate values ​​for the negative pressure compensation amount are used as the negative pressure compensation amount.

[0015] Furthermore, before superimposing the negative pressure compensation amount with the preset benchmark adsorption negative pressure, the corrected negative pressure compensation amount is compared with the preset compensation upper limit; when the corrected negative pressure compensation amount does not exceed the preset compensation upper limit, the corrected negative pressure compensation amount is used to generate the target adsorption negative pressure value; when the corrected negative pressure compensation amount exceeds the preset compensation upper limit, the compensation value corresponding to the preset compensation upper limit is used to generate the target adsorption negative pressure value.

[0016] Furthermore, when inputting the increment of the target adsorption negative pressure value and the contact surface stain resistance parameter into the walking and wiping linkage rule, it is first determined whether the increment of the target adsorption negative pressure value corresponds to a pressure increase state, a pressure decrease state, or a holding state; when the increment of the target adsorption negative pressure value corresponds to a pressure increase state, the walking speed parameter of the walking drive mechanism is reduced, and the wiping speed parameter of the wiping mechanism is increased according to the contact surface stain resistance parameter; when the increment of the target adsorption negative pressure value corresponds to a pressure decrease state, the walking speed parameter of the walking drive mechanism and the wiping speed parameter of the wiping mechanism are restored to the preset basic operating parameters; when the increment of the target adsorption negative pressure value corresponds to a holding state, the linkage control command of the previous work cycle is maintained.

[0017] Furthermore, before outputting the warning command, the deviation between the negative pressure chamber adsorption pressure and the target adsorption negative pressure value is written into the abnormal timing window, and the duration of the deviation is accumulated within the continuous operation cycle; when the deviation exceeds the abnormal deviation threshold and the deviation duration reaches the abnormal duration, a stop walking command is generated and the wiping speed parameter update is paused; when the machine body posture data exceeds the preset fitting posture range and the edge detection signal is established, the stop walking command is switched to a lock command, and the self-locking actuator is controlled to lock; when the deviation does not exceed the abnormal deviation threshold or the deviation duration does not reach the abnormal duration, the negative pressure adjustment amount and linkage control command of the current operation cycle are maintained.

[0018] This invention also provides a safe wiping control system for a window cleaning robot based on negative pressure adaptive adjustment. The system is used to implement the aforementioned safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment. The system includes a pressure sensor, an attitude sensor, a wiping motor detection component, a walking motor detection component, an edge detection component, a controller, a negative pressure fan, a walking drive mechanism, a wiping mechanism, an early warning component, and a self-locking actuator. The pressure sensor, attitude sensor, wiping motor detection component, walking motor detection component, and edge detection component are respectively connected to the controller to output the negative pressure chamber adsorption pressure, the robot body attitude data, the wiping motor current, the wiping disk rotation speed, the walking drive current, and the edge detection signal to the controller. The controller adjusts the wiping motor current increment and the wiping disk... The decrease in rotational speed and the increase in the walking drive current generate the contact surface stain resistance parameter, and the current working scene state is obtained based on the pressure deviation, the posture deviation, the resistance difference, and the edge detection signal; the controller calls the corresponding negative pressure compensation amount according to the current working scene state, and superimposes the negative pressure compensation amount with the preset benchmark adsorption negative pressure to generate the target adsorption negative pressure value, and obtains the negative pressure adjustment amount from the current negative pressure chamber adsorption pressure and the target adsorption negative pressure value; the controller controls the rotational speed or duty cycle of the negative pressure fan according to the negative pressure adjustment amount, controls the walking drive mechanism and the wiping mechanism according to the increment of the target adsorption negative pressure value relative to the preset benchmark adsorption negative pressure and the contact surface stain resistance parameter, and drives the warning component or the self-locking actuator when abnormal conditions are met.

[0019] Compared with the prior art, the advantages and positive effects of the present invention are as follows: In this invention, by collecting data on the negative pressure chamber adsorption pressure, machine posture, motor operation data, and edge detection signals, and by forming contact surface stain resistance parameters from current increment, speed reduction, and drive current increment, the operational status determination simultaneously reflects adsorption, adhesion, resistance, and edge changes. The negative pressure compensation amount is invoked based on the operational scenario status to generate a target adsorption negative pressure value, ensuring that the negative pressure fan control corresponds to changes in glass operating conditions. By incorporating the target adsorption negative pressure value change and contact surface stain resistance parameters into the walking and wiping linkage rules, the walking speed, wiping speed, and negative pressure adjustment are coordinated within the same operational cycle. Warnings or lockouts are triggered by deviation duration, posture exceeding limits, and edge detection signals, providing clear triggering criteria for abnormal handling. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the accompanying drawings without creative effort.

[0021] Figure 1 This is the main flowchart of the safe wiping control of the present invention; Figure 2 This is a data flow diagram of the contact surface stain resistance parameters of the present invention; Figure 3 This is a diagram showing the generation of status words for the work scenario in this invention; Figure 4 This is a feedback diagram of negative pressure compensation and linkage control in this invention; Figure 5 This is a logic diagram of the anomaly warning and system collaboration of the present invention. Detailed Implementation

[0022] The following describes feasible implementation methods and systems for safe wiping control of window cleaning robots based on negative pressure adaptive adjustment, in conjunction with the technical solutions described in this invention. The following implementations use the negative pressure chamber adsorption pressure, robot posture data, wiping motor current, wiping disc rotation speed, walking drive current, and edge detection signals as unified inputs during the window cleaning robot's operation on the glass surface. The unified processing results or outputs are the contact surface stain resistance parameters, current operating scene status, target adsorption negative pressure value, negative pressure adjustment amount, walking speed parameters, wiping rotation speed parameters, warning commands, and locking commands. The preset safe negative pressure range, preset contact posture range, preset reference adsorption negative pressure, preset compensation table, preset compensation upper limit, abnormal deviation threshold, and abnormal duration involved in the following implementations can all be saved in the controller's preset storage area and recalled within the operating cycle. Specific values ​​can be determined within the range supported by the technical solution based on the window cleaning robot model, negative pressure chamber structure, wiping mechanism specifications, and glass operating conditions.

[0023] Please see Figures 1 to 5 This embodiment provides a safe wiping control method and system for a window cleaning robot based on negative pressure adaptive adjustment. The method is executed by the controller of the window cleaning robot. The controller receives detection data from pressure sensors, posture sensors, wiping motor detection components, walking motor detection components, and edge detection components, and outputs control commands to the negative pressure fan, walking drive mechanism, wiping mechanism, early warning component, and self-locking actuator, respectively. The method uses the work cycle as the processing unit, forming a closed loop within each work cycle, from status acquisition, scene determination, negative pressure compensation, linkage control to abnormal protection.

[0024] S1 collects data on the negative pressure chamber adsorption pressure, body posture, wiping motor current, wiping disc speed, walking drive current, and edge detection signal during the operation of the window cleaning robot. It also generates the contact surface dirt resistance parameters from the wiping motor current increment, the wiping disc speed decrease, and the walking drive current increment.

[0025] In S1, the pressure sensor collects the adsorption pressure of the negative pressure chamber and sends it to the controller; the attitude sensor collects the body attitude data and sends it to the controller; the wiping motor detection component collects the wiping motor current and wiping disc speed and sends them to the controller; the walking motor detection component collects the walking drive current and sends it to the controller; and the edge detection component collects the edge detection signal and sends it to the controller. The controller sets a common cycle identifier for the detection data received within the same work cycle and uses the wiping motor current, wiping disc speed, and walking drive current with the same cycle identifier as synchronous calculation objects. Before entering subsequent calculations, synchronous calculation objects must meet the following conditions: complete data fields, collection time belonging to the same work cycle, and data format that can be parsed by the controller. If any synchronous calculation object lacks collection time or field content within the current work cycle, the controller marks the synchronous calculation object as a replacement object.

[0026] S111, the controller reads the wiping motor current, wiping disc speed, and travel drive current within the same work cycle, and compares them with the reference current, target speed, and reference drive current, respectively. The reference current characterizes the current reference of the wiping mechanism in the reference contact state, the target speed characterizes the speed reference of the wiping disc in the reference contact state, and the reference drive current characterizes the current reference of the travel drive mechanism in the reference travel state. The controller generates the wiping motor current increment based on the difference between the wiping motor current and the reference current, the wiping disc speed decrease based on the difference between the wiping disc speed and the target speed, and the travel drive current increment based on the difference between the travel drive current and the reference drive current.

[0027] S112, when the wiping motor current is higher than the reference current, the wiping disc speed is lower than the target speed, and the travel drive current is higher than the reference drive current, the controller writes the corresponding wiping motor current increment, wiping disc speed decrease, and travel drive current increment into the resistance parameter calculation sequence. The resistance parameter calculation sequence is a data sequence constructed by the controller within the current work cycle. The data sequence records the acquisition time, component type, and component value status of the three types of components, which are used to form the contact surface dirt resistance parameters.

[0028] S113, when any synchronous calculation object fails to meet the corresponding change condition and a valid historical component exists for the failed synchronous calculation object, the controller uses the corresponding component from the previous work cycle to participate in the generation of the contact surface stain resistance parameter. A valid historical component refers to a component that has completed data acquisition time alignment, field integrity verification, and abnormal component removal in the previous work cycle. If no corresponding valid historical component exists in the current work cycle, the controller sets the increment or decrease corresponding to the failed synchronous calculation object to zero, and writes the zeroed component along with the remaining components that meet the condition into the resistance parameter calculation sequence.

[0029] S114, the resistance parameter calculation sequence is aligned according to the acquisition time of the wiping motor current increment, the wiping disc speed decrease, and the travel drive current increment. During acquisition time alignment, the controller uses the cycle identifier within the same work cycle as the first screening condition, and the acquisition time difference of the three components being within the same control sampling window as the second screening condition. Components satisfying the first and second screening conditions are then checked for change direction. If the change direction of any component in an adjacent work cycle is inconsistent with the change directions of the other two components, the controller discards the inconsistent component and uses the remaining component to generate the contact surface stain resistance parameter. When the change directions of the three components are consistent, the controller uses all three components together to generate the contact surface stain resistance parameter. After the contact surface stain resistance parameter is formed, it is written to the current work cycle state cache and used as input to S2 and S4.

[0030] The contact surface stain resistance parameter generated by S1 reflects the change in resistance between the wiping mechanism and the glass contact surface, based on the motor's operating status and speed variations. This parameter is not directly generated by a single current or speed, but rather by the wiping motor current, wiping disc speed, and travel drive current within the same work cycle, after synchronization, compensation, alignment, and direction verification. The controller can verify the output status of S1 by checking if the generated contact surface stain resistance parameter exists in the state buffer and if a valid component exists in the resistance parameter calculation sequence.

[0031] S2, based on the pressure deviation between the negative pressure chamber adsorption pressure and the preset safe negative pressure range, the attitude deviation between the machine body attitude data and the preset fitting attitude range, the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous working cycle, and the edge detection signal, performs a comprehensive judgment of the pressure state, attitude state, resistance state, and edge state to obtain the current working scenario state.

[0032] In S2, the controller reads the negative pressure chamber adsorption pressure, machine body posture data, contact surface dirt resistance parameters, and edge detection signals from the current work cycle state cache, and reads the resistance parameters from the previous work cycle state cache. The controller first generates a pressure deviation, then an posture deviation, and finally a resistance difference, using the edge detection signal as the edge state determination input. The pressure deviation is formed by the interval relationship between the negative pressure chamber adsorption pressure and the preset safe negative pressure range; the posture deviation is formed by the interval relationship between the machine body posture data and the preset fitting posture range; and the resistance difference is formed by the change relationship between the contact surface dirt resistance parameters and the resistance parameters from the previous work cycle.

[0033] S211, within each work cycle, the controller converts the comparison result of whether the adsorption pressure in the negative pressure chamber falls within, is below, or exceeds the preset safe negative pressure range into an adsorption status flag. If the adsorption pressure in the negative pressure chamber falls within the preset safe negative pressure range, the adsorption status flag is recorded as within the range; if the adsorption pressure in the negative pressure chamber is below the preset safe negative pressure range, the adsorption status flag is recorded as a low negative pressure state; if the adsorption pressure in the negative pressure chamber is above the preset safe negative pressure range, the adsorption status flag is recorded as a high negative pressure state. The adsorption status flag is used as the first type of status bit in the status word of subsequent work scenarios.

[0034] S212, the controller converts the comparison result of the fuselage attitude data falling within or exceeding the preset fitting attitude range into a fitting status flag. When the fuselage attitude data falls within the preset fitting attitude range, the fitting status flag records the state as within the fitting range; when the fuselage attitude data exceeds the preset fitting attitude range, the fitting status flag records the state as fitting deviation. The fitting status flag is used to characterize the attitude matching state between the fuselage and the glass surface, and serves as the second type of status bit in the operation scenario status word.

[0035] S213, the controller converts the comparison result of the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous work cycle, whether the difference falls within or exceeds the resistance change range, into a resistance status flag. When the resistance difference falls within the resistance change range, the resistance status flag is recorded as a resistance change limited state; when the resistance difference exceeds the resistance change range, the resistance status flag is recorded as a resistance increase state or an abnormal resistance change state. The resistance status flag is used to characterize the change in contact resistance during the wiping process and serves as the third type of status bit in the work scenario status word.

[0036] S214, the controller converts the detection result of whether the edge detection signal is true or false into an edge status flag. When the edge detection signal is true, the edge status flag is recorded as an edge-true state; when the edge detection signal is false, the edge status flag is recorded as a non-edge state. The edge status flag serves as the fourth type of status bit in the work scenario status word.

[0037] S215, the controller generates a work scenario status word according to the preset position order of the adsorption status flag, adhesion status flag, resistance status flag, and edge status flag, and retrieves the current work scenario status by calling the scenario status mapping table based on the work scenario status word. The scenario status mapping table is stored in the controller's preset storage area, using the work scenario status word as the query entry and the current work scenario status as the output. If the work scenario status word matches multiple matching results, the controller arbitrates the results in the following order: safety restrictions first, adsorption status second, adhesion status third, and resistance status last.

[0038] S216: After generating the work scenario status word, the controller first reads the edge status flag and the adsorption status flag. When the edge status flag indicates that the edge detection signal is established and the adsorption status flag indicates that the adsorption pressure in the negative pressure chamber is lower than the preset safe negative pressure range, the controller writes the current work scenario status into the safety limit status. When the edge status flag does not indicate that the edge detection signal is established, or the adsorption status flag does not indicate that the adsorption pressure in the negative pressure chamber is lower than the preset safe negative pressure range, the controller continues to read the adhesion status flag and the resistance status flag, and inputs the reading results into the scenario status mapping table to obtain the current work scenario status. After the current work scenario status is formed, it is written into the current work cycle status cache and used as the input for S3 and S4.

[0039] The current operational scenario state generated by S2 is simultaneously affected by adsorption pressure, fuselage attitude, contact resistance, and edge state. The controller can verify that the comprehensive judgment process has been completed by checking the operational scenario state word, the query results of the scenario state mapping table, and the current operational scenario state record in the state cache.

[0040] S3: Based on the current working scenario, call the corresponding negative pressure compensation amount, and calculate the negative pressure compensation amount by superimposing it with the preset benchmark adsorption negative pressure to generate the target adsorption negative pressure value. Compare the current negative pressure chamber adsorption pressure with the target adsorption negative pressure value to obtain the negative pressure adjustment amount.

[0041] In S3, the controller uses the current operating scenario status as the query entry point and reads candidate values ​​for negative pressure compensation from the preset compensation table. The preset compensation table uses the operating scenario status field as the index field and the candidate values ​​for negative pressure compensation as the output field, and can simultaneously save the compensation direction field and the compensation upper limit field. After reading the candidate values ​​for negative pressure compensation, the controller makes corrections based on the fuselage attitude data and the contact surface dirt resistance parameters.

[0042] S311, the controller uses the deviation direction of the fuselage attitude data from the preset fit attitude range as the attitude compensation direction. If the fuselage attitude data indicates that the fuselage is moving away from the fit range, the attitude compensation direction is recorded as the direction of insufficient fuselage fit; if the fuselage attitude data does not indicate insufficient fuselage fit, the attitude compensation direction is recorded as the direction of non-insufficient fit.

[0043] S312, the controller uses the difference between the contact surface stain resistance parameter and the resistance parameter of the previous work cycle as the resistance compensation amplitude. The resistance compensation amplitude is used to limit the correction strength of the negative pressure compensation quantity candidate value, and to prevent the negative pressure compensation quantity from being output directly based on the current work scenario state without reflecting the current resistance change.

[0044] S313: When the attitude compensation direction indicates insufficient fuselage fit, the controller performs a positive incremental correction on the candidate value of the negative pressure compensation amount according to the drag compensation amplitude, obtaining the corrected negative pressure compensation amount. When the attitude compensation direction does not indicate insufficient fuselage fit, the controller uses the candidate value of the negative pressure compensation amount as the negative pressure compensation amount. After the negative pressure compensation amount is formed, it enters the compensation upper limit verification.

[0045] S314, before superimposing the negative pressure compensation amount with the preset baseline adsorption negative pressure, the controller compares the corrected negative pressure compensation amount with the preset compensation upper limit. When the corrected negative pressure compensation amount does not exceed the preset compensation upper limit, the controller uses the corrected negative pressure compensation amount to generate the target adsorption negative pressure value. When the corrected negative pressure compensation amount exceeds the preset compensation upper limit, the controller uses the compensation value corresponding to the preset compensation upper limit to generate the target adsorption negative pressure value.

[0046] In step S315, the controller superimposes the negative pressure compensation amount (after upper limit verification) with the preset baseline adsorption negative pressure to generate the target adsorption negative pressure value. This target adsorption negative pressure value is not directly generated by superimposing the current negative pressure chamber adsorption pressure, but rather by superimposing the negative pressure compensation amount onto the preset baseline adsorption negative pressure. Subsequently, the controller compares the current negative pressure chamber adsorption pressure with the target adsorption negative pressure value to obtain the negative pressure adjustment amount. This adjustment amount indicates the direction and magnitude of the negative pressure fan's speed or duty cycle adjustment, and serves as the control input for step S4.

[0047] The target adsorption negative pressure value and negative pressure adjustment amount generated by S3 can convert the working scene status, attitude deviation direction, and resistance compensation magnitude into control inputs that can be sent to the negative pressure fan. The controller can verify the processing chain of S3 by querying records from the preset compensation table, negative pressure compensation amount correction records, preset compensation upper limit verification records, and negative pressure adjustment amount output records.

[0048] S4 controls the speed or duty cycle of the negative pressure fan based on the negative pressure adjustment amount, and inputs the increment of the target adsorption negative pressure value relative to the preset benchmark adsorption negative pressure and the contact surface stain resistance parameter into the walking and wiping linkage rules to generate the walking speed parameters of the walking drive mechanism and the wiping speed parameters of the wiping mechanism, so that the negative pressure fan, walking drive mechanism and wiping mechanism perform linkage control in the same work cycle.

[0049] In S4, the controller converts the negative pressure adjustment into a speed adjustment command or duty cycle adjustment command for the negative pressure fan. After the speed adjustment command or duty cycle adjustment command is sent to the negative pressure fan, the negative pressure fan changes the negative pressure state within the adsorption chamber. At the same time, the controller inputs the increment of the target adsorption negative pressure value relative to the preset benchmark adsorption negative pressure and the contact surface dirt resistance parameter into the walking and wiping linkage rules.

[0050] S411, the controller first determines whether the increment of the target adsorption negative pressure value relative to the preset reference adsorption negative pressure corresponds to a pressure increase state, a pressure decrease state, or a holding state. When the target adsorption negative pressure value is higher than the preset reference adsorption negative pressure and forms a positive increment, the controller determines the increment of the target adsorption negative pressure value as a pressure increase state; when the target adsorption negative pressure value is lower than the preset reference adsorption negative pressure and forms a negative increment, the controller determines the increment of the target adsorption negative pressure value as a pressure decrease state; when the target adsorption negative pressure value does not form the increment that needs adjustment relative to the preset reference adsorption negative pressure, the controller determines the increment of the target adsorption negative pressure value as a holding state.

[0051] S412, when the increase in the target adsorption negative pressure value corresponds to a pressurization state, the controller reduces the walking speed parameter of the walking drive mechanism and increases the wiping speed parameter of the wiping mechanism according to the dirt resistance parameter of the contact surface. The reduction in the walking speed parameter is used to prolong the unit contact time between the wiping mechanism and the contact surface during the increase in negative pressure, and to improve the stability of the machine's operation on the contact surface. The increase in the wiping speed parameter is used to ensure that the wiping mechanism maintains the corresponding wiping action when the dirt resistance parameter increases. Both the walking speed parameter and the wiping speed parameter are simultaneously written into the linkage control command for the current work cycle.

[0052] S413, when the increase in the target adsorption negative pressure value corresponds to a pressure reduction state, the controller restores the walking speed parameters of the walking drive mechanism and the wiping speed parameters of the wiping mechanism to the preset basic operating parameters. The preset basic operating parameters are stored in the controller's preset storage area and are used as the restoration benchmark for walking and wiping when the negative pressure adjustment demand decreases.

[0053] S414, when the increment of the target adsorption negative pressure value corresponds to the holding state, the controller maintains the linkage control command of the previous work cycle. If there is a valid record of the linkage control command of the previous work cycle, the controller uses the walking speed parameters and wiping speed parameters of the previous work cycle; if there is no valid linkage control command of the previous work cycle, the controller calls the preset basic operating parameters as the walking speed parameters and wiping speed parameters of the current work cycle.

[0054] In step S415, the controller sends the walking speed parameter to the walking drive mechanism and the wiping speed parameter to the wiping mechanism. It also binds the negative pressure fan speed adjustment command or duty cycle adjustment command, the walking speed parameter, and the wiping speed parameter to the same work cycle identifier. The negative pressure fan, walking drive mechanism, and wiping mechanism perform coordinated control within the same work cycle according to the command corresponding to the same work cycle identifier. After execution, the pressure sensor, attitude sensor, wiping motor detection component, and walking motor detection component continue to collect detection data in the next work cycle to form a feedback input.

[0055] With S4, the negative pressure fan, the walking drive mechanism, and the wiping mechanism are no longer separate entities, but are jointly driven by the negative pressure adjustment, the target adsorption negative pressure increment, and the contact surface dirt resistance parameters within the same work cycle. The controller can verify whether the linkage control is completed through linkage control commands, work cycle identifiers, and post-execution feedback data.

[0056] S5, when the deviation between the negative pressure chamber adsorption pressure and the target adsorption negative pressure value exceeds the abnormal deviation threshold and the duration reaches the abnormal duration, or when the body posture data exceeds the preset fitting posture range and is accompanied by the establishment of the edge detection signal, output a warning command and control the walking drive mechanism to stop or control the self-locking actuator to lock.

[0057] In S5, before outputting a warning command, the controller writes the deviation between the negative pressure chamber adsorption pressure and the target adsorption negative pressure value into the abnormal timing window, and accumulates the duration of the deviation within a continuous operating cycle. The abnormal timing window records whether the deviation exceeds the abnormal deviation threshold in a working cycle, and records the continuous state of the deviation. If the deviation does not exceed the abnormal deviation threshold within a certain working cycle, the controller interrupts the continuous accumulation state in that abnormal timing window and continues to maintain the negative pressure adjustment amount and linkage control command of the current working cycle.

[0058] S511, when the deviation exceeds the abnormal deviation threshold and the deviation duration reaches the abnormal duration, the controller generates a stop walking command and pauses the wiping speed parameter update. After the stop walking command is issued to the walking drive mechanism, the walking drive mechanism stops moving. After pausing the wiping speed parameter update, the controller will no longer increase or decrease the wiping speed parameter based on the new contact surface dirt resistance parameter until the abnormal timing window state is cleared or the lockout process is entered.

[0059] S512: When the fuselage attitude data exceeds the preset fitting attitude range and the edge detection signal is established, the controller switches the stop walking command to a lock command and controls the self-locking actuator to lock. The triggering condition for the lock command is composed of both the fuselage attitude data and the edge detection signal, avoiding locking based solely on a single negative pressure deviation or a single edge detection signal. After receiving the lock command, the self-locking actuator enters the lock state, and the lock state is returned to the controller as an observable execution result or recorded by the controller in the abnormal state cache.

[0060] S513, when the deviation does not exceed the abnormal deviation threshold or the deviation duration does not reach the abnormal duration, the controller maintains the negative pressure adjustment and linkage control command of the current work cycle. This process allows short-term fluctuations that do not meet the abnormal handling conditions to continue to be executed according to the current closed-loop control, instead of directly entering stop or lockout.

[0061] With S5, anomaly handling is triggered jointly by the magnitude of the deviation, the duration of the deviation, fuselage attitude data, and edge detection signals. The controller can verify whether the anomaly handling chain is complete through the anomaly timing window, stop travel commands, lock commands, the locking status of the self-locking actuator, and subsequent feedback data.

[0062] Corresponding to the above method, this embodiment also provides a safety wiping control system for a window cleaning robot based on negative pressure adaptive adjustment. The system is used to implement the aforementioned safety wiping control method for a window cleaning robot based on negative pressure adaptive adjustment. The system includes a pressure sensor, an attitude sensor, a wiping motor detection component, a walking motor detection component, an edge detection component, a controller, a negative pressure fan, a walking drive mechanism, a wiping mechanism, an early warning component, and a self-locking actuator. The pressure sensor, attitude sensor, wiping motor detection component, walking motor detection component, and edge detection component are respectively connected to the controller to output negative pressure chamber adsorption pressure, robot posture data, wiping motor current, wiping disc speed, walking drive current, and edge detection signal to the controller. The controller generates contact surface dirt resistance parameters based on the wiping motor current increment, the wiping disc speed decrease, and the walking drive current increment, and obtains the current operating scenario state based on pressure deviation, attitude deviation, resistance difference, and edge detection signal. The controller calls upon the corresponding negative pressure compensation amount based on the current operating scenario. This compensation amount is then superimposed on a preset baseline adsorption negative pressure to generate a target adsorption negative pressure value. The negative pressure adjustment amount is derived from the current adsorption pressure in the negative pressure chamber and the target adsorption negative pressure value. The controller controls the speed or duty cycle of the negative pressure fan based on the negative pressure adjustment amount. It also controls the walking drive mechanism and wiping mechanism based on the increment of the target adsorption negative pressure value relative to the preset baseline adsorption negative pressure and the contact surface dirt resistance parameters. Furthermore, it activates the warning component or self-locking actuator when abnormal conditions are detected.

[0063] During system operation, pressure sensors correspond to the negative pressure chamber, serving as the data acquisition entry point for the adsorption pressure of the negative pressure chamber; attitude sensors correspond to the robot body, serving as the data acquisition entry point for the body's attitude data; the wiping motor detection component corresponds to the wiping mechanism, serving as the data acquisition entry point for the wiping motor current and wiping disc rotation speed; the walking motor detection component corresponds to the walking drive mechanism, serving as the data acquisition entry point for the walking drive current; and the edge detection component corresponds to the glass edge detection process, serving as the data acquisition entry point for the edge detection signal. The controller, as the execution entity for data reception, rule processing, and control output, outputs corresponding control commands to the negative pressure fan, walking drive mechanism, wiping mechanism, warning component, and self-locking actuator. The negative pressure fan responds with speed or duty cycle control, the walking drive mechanism responds with walking speed parameters or a stop command, the wiping mechanism responds with wiping speed parameters or a pause / update status, the warning component responds with a warning command, and the self-locking actuator responds with a lock command.

[0064] The system forms a complete signal closed loop within each work cycle. First, the sensor-side controller receives inputs from the negative pressure chamber adsorption pressure, machine posture data, wiping motor current, wiping disc speed, walking drive current, and edge detection signals. Second, based on these inputs, the controller generates parameters for the contact surface dirt resistance, the current work scenario status, the target adsorption negative pressure value, and the negative pressure adjustment amount. Third, the controller converts the negative pressure adjustment amount into the speed or duty cycle control of the negative pressure fan, and converts the increment of the target adsorption negative pressure value relative to the preset benchmark adsorption negative pressure and the contact surface dirt resistance parameters into walking speed parameters and wiping speed parameters. Fourth, the execution side completes the coordinated response of the negative pressure fan, walking drive mechanism, and wiping mechanism, and returns the feedback status based on the data collected in the next work cycle. Fifth, when an abnormal state is established, the controller outputs a warning command, a stop walking command, or a lock command, causing the warning component, walking drive mechanism, or self-locking actuator to enter the corresponding execution state.

[0065] In this embodiment, the integrity of the detection data, the alignment of acquisition time, the verification of the direction of change, the generation of scene status words, the verification of the upper limit of compensation amount, the binding of linkage control instructions, and the recording of abnormal timing windows together constitute a traceable execution chain. The execution chain can be verified by the cycle identifier, status cache, resistance parameter calculation sequence, work scene status word, negative pressure compensation amount record, target adsorption negative pressure value record, negative pressure adjustment amount record, linkage control instructions, and abnormal timing window status stored in the controller. The input and output relationships between each step are clearly defined within the controller. The resistance parameters, effective historical components, and linkage control instructions of the previous work cycle are only invoked when the corresponding trigger conditions are met, and do not participate in unconditional substitution.

[0066] The specific processes, data fields, state transitions, judgment conditions, control outputs, execution responses, and system component collaboration relationships described in the above embodiments are used to illustrate the possible implementations of the present invention and should not be construed as limiting the present invention to the specific embodiments described above. Without departing from the scope of the technical solutions described in this invention, any equivalent substitutions, equivalent modifications, equivalent combinations, order adjustments, module-to-module replacements, equivalent transformations of field names, equivalent acceptance of execution entities, or equivalent changes in carrier forms that can be conceived by those skilled in the art should fall within the scope of protection of this patent; however, the substantive correspondence between technical objects must not be altered through changes in name, designation, or carrier.

Claims

1. A safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment, characterized in that, The negative pressure chamber adsorption pressure, body posture data, wiping motor current, wiping disk speed, walking drive current and edge detection signal are collected during the operation of the window cleaning robot. The contact surface dirt resistance parameters are generated from the wiping motor current increment, the wiping disk speed decrease and the walking drive current increment. Based on the pressure deviation between the negative pressure chamber adsorption pressure and the preset safe negative pressure range, the attitude deviation between the body attitude data and the preset fitting attitude range, the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous working cycle, and the edge detection signal, a comprehensive judgment of the pressure state, attitude state, resistance state, and edge state is made to obtain the current working scenario state. According to the current working scenario status, the corresponding negative pressure compensation amount is called, and the negative pressure compensation amount is superimposed with the preset benchmark adsorption negative pressure to generate the target adsorption negative pressure value. The current negative pressure chamber adsorption pressure is compared with the target adsorption negative pressure value to obtain the negative pressure adjustment amount. The speed or duty cycle of the negative pressure fan is controlled according to the negative pressure adjustment amount, and the increment of the target adsorption negative pressure value relative to the preset benchmark adsorption negative pressure and the contact surface stain resistance parameter are input into the walking and wiping linkage rules to generate the walking speed parameters of the walking drive mechanism and the wiping speed parameters of the wiping mechanism, so that the negative pressure fan, walking drive mechanism and wiping mechanism perform linkage control in the same work cycle; When the deviation between the adsorption pressure of the negative pressure chamber and the target adsorption negative pressure value exceeds the abnormal deviation threshold and the duration reaches the abnormal duration, or when the body posture data exceeds the preset fitting posture range and is accompanied by the establishment of an edge detection signal, an early warning command is output, and the walking drive mechanism is stopped or the self-locking actuator is locked.

2. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 1, characterized in that, When generating the contact surface stain resistance parameters, the wiping motor current, the wiping disc speed and the walking drive current collected within the same work cycle are used as synchronous calculation objects. When the wiping motor current is higher than the reference current, the wiping disk speed is lower than the target speed, and the walking drive current is higher than the reference drive current, the corresponding wiping motor current increment, wiping disk speed decrease, and walking drive current increment are written into the resistance parameter calculation sequence. When any synchronous calculation object does not meet the corresponding change condition and the synchronous calculation object that does not meet the condition has a valid historical component, the corresponding component of the previous operation cycle is used to participate in the generation of the contact surface stain resistance parameter. When a synchronous calculation object that does not meet the conditions does not have a valid historical component, the corresponding increment or decrease is set to zero and participates in the generation of the contact surface stain resistance parameter.

3. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 2, characterized in that, The resistance parameter calculation sequence is aligned according to the acquisition time of the wiping motor current increment, the wiping disk speed decrease, and the walking drive current increment; When the direction of change of any component in an adjacent work cycle is inconsistent with the direction of change of the other two components, the component with inconsistent direction of change is removed and the contact surface stain resistance parameter is generated from the remaining component. When the three components change in the same direction, the three components are used together to generate the contact surface stain resistance parameter.

4. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 1, characterized in that, When making a comprehensive judgment on the pressure state, the posture state, the resistance state and the edge state, the comparison result of whether the adsorption pressure of the negative pressure chamber falls into, is lower than or higher than the preset safe negative pressure range is converted into an adsorption state indicator in each working cycle. The comparison result of the fuselage attitude data falling into or exceeding the preset fitting attitude range is converted into a fitting status flag; The comparison result of the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous working cycle falling within or exceeding the resistance change range is converted into a resistance status indicator. The detection results of whether the edge detection signal is true or false are converted into edge status flags; The operation scene status word is generated according to the preset position order of the adsorption status mark, the adhesion status mark, the resistance status mark and the edge status mark, and the current operation scene status is obtained by calling the scene status mapping table according to the operation scene status word.

5. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 4, characterized in that, After generating the work scenario status word, first read the edge status flag and the adsorption status flag. When the edge status flag indicates that the edge detection signal is established and the adsorption status flag indicates that the adsorption pressure of the negative pressure chamber is lower than the preset safe negative pressure range, write the current work scenario status into the safety limit status. When the edge status flag does not indicate that the edge detection signal is established, or the adsorption status flag does not indicate that the adsorption pressure of the negative pressure chamber is lower than the preset safe negative pressure range, the fitting status flag and the resistance status flag are read again, and the reading results are input into the scene status mapping table to obtain the current operation scene status.

6. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 1, characterized in that, When the negative pressure compensation amount is invoked, the candidate value of the negative pressure compensation amount is read from the preset compensation table according to the current working scenario status; The deviation direction of the fuselage attitude data relative to the preset fitting attitude range is taken as the attitude compensation direction, and the resistance difference between the contact surface stain resistance parameter and the resistance parameter of the previous working cycle is taken as the resistance compensation amplitude. When the attitude compensation direction indicates insufficient fuselage fit, the candidate value of the negative pressure compensation amount is positively incrementally corrected according to the resistance compensation amplitude; When the attitude compensation direction does not indicate insufficient fuselage fit, the candidate value of the negative pressure compensation amount is used as the negative pressure compensation amount.

7. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 6, characterized in that, Before calculating by superimposing the negative pressure compensation amount with the preset benchmark adsorption negative pressure, compare the corrected negative pressure compensation amount with the preset compensation upper limit. When the corrected negative pressure compensation amount does not exceed the preset compensation upper limit, the corrected negative pressure compensation amount will be used to generate the target adsorption negative pressure value. When the corrected negative pressure compensation exceeds the preset compensation limit, the compensation value corresponding to the preset compensation limit is used to generate the target adsorption negative pressure value.

8. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 1, characterized in that, When the increment of the target adsorption negative pressure value and the contact surface stain resistance parameter are input into the walking and wiping linkage rule, it is first determined whether the increment of the target adsorption negative pressure value corresponds to a pressure increase state, a pressure decrease state, or a holding state. When the increment of the target adsorption negative pressure value corresponds to the pressurization state, the walking speed parameter of the walking drive mechanism is reduced, and the wiping speed parameter of the wiping mechanism is increased according to the contact surface dirt resistance parameter. When the increment of the target adsorption negative pressure value corresponds to the pressure reduction state, the walking speed parameter of the walking drive mechanism and the wiping speed parameter of the wiping mechanism are restored to the preset basic operating parameters. When the increment of the target adsorption negative pressure value corresponds to the maintenance state, the linkage control command of the previous operation cycle is maintained.

9. The safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment according to claim 1, characterized in that, Before outputting the warning command, the deviation between the negative pressure chamber adsorption pressure and the target adsorption negative pressure value is written into the abnormal timing window, and the duration of the deviation is accumulated within the continuous operation cycle. When the deviation exceeds the abnormal deviation threshold and the duration of the deviation reaches the abnormal duration, a stop walking command is generated and the wiping speed parameter update is paused. When the fuselage posture data exceeds the preset fitting posture range and the edge detection signal is established, the stop walking command is switched to a lock command, and the self-locking actuator is controlled to lock. When the deviation does not exceed the abnormal deviation threshold or the deviation duration does not reach the abnormal duration, the negative pressure adjustment amount and linkage control command of the current work cycle are maintained.

10. A safe wiping control system for a window cleaning robot based on negative pressure adaptive adjustment, characterized in that, The system is used to implement the safe wiping control method for a window cleaning robot based on negative pressure adaptive adjustment as described in any one of claims 1-9, and the system includes: Pressure sensor, attitude sensor, wiping motor detection component, walking motor detection component, edge detection component, controller, negative pressure fan, walking drive mechanism, wiping mechanism, early warning component and self-locking actuator; The pressure sensor, the attitude sensor, the wiping motor detection component, the walking motor detection component, and the edge detection component are respectively connected to the controller to output the negative pressure chamber adsorption pressure, the body attitude data, the wiping motor current, the wiping disk speed, the walking drive current, and the edge detection signal to the controller. The controller generates the contact surface dirt resistance parameters based on the wiping motor current increment, the wiping disk speed decrease, and the walking drive current increment, and obtains the current working scene status based on the pressure deviation, posture deviation, resistance difference, and edge detection signal; The controller calls the corresponding negative pressure compensation amount according to the current working scenario status, and superimposes the negative pressure compensation amount with the preset benchmark adsorption negative pressure to generate the target adsorption negative pressure value. The negative pressure adjustment amount is obtained from the current negative pressure chamber adsorption pressure and the target adsorption negative pressure value. The controller controls the speed or duty cycle of the negative pressure fan based on the negative pressure adjustment amount, controls the walking drive mechanism and wiping mechanism based on the increment of the target adsorption negative pressure value relative to the preset benchmark adsorption negative pressure and the contact surface dirt resistance parameter, and drives the warning component or self-locking actuator when abnormal conditions are met.

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