Cleaning control method and device of window cleaning machine, window cleaning machine, medium and electronic equipment

Abstract

This application provides a cleaning control method, device, cleaning machine, medium, and electronic equipment for a window cleaning machine. The method includes: when it is detected that the cleaning fluid pipeline is not short of fluid, controlling the window cleaning machine to perform a cleaning task in a first cleaning mode; while the window cleaning machine is operating in the first cleaning mode, monitoring the liquid status of the cleaning fluid pipeline in real time; when it is detected that the cleaning fluid pipeline is short of fluid, controlling the window cleaning machine to switch from the first cleaning mode to a second cleaning mode, and performing the cleaning task in the second cleaning mode; wherein, in the first cleaning mode, the window cleaning machine performs water spraying cleaning operations during the cleaning process; in the second cleaning mode, the window cleaning machine suspends water spraying operations. The window cleaning machine of this application automatically switches to a waterless cleaning mode if it detects that it is short of fluid during the cleaning operation, and continues to perform the cleaning operation, ensuring the continuity of the cleaning process and improving the cleaning effect and user experience.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more specifically, to a cleaning control method, apparatus, window cleaning machine, medium, and electronic equipment for a window cleaning machine. Background Technology

[0002] Automatic window cleaning robots are widely used for cleaning glass and curtain walls in residential and commercial buildings. Users are placing higher demands on their intelligence and continuous cleaning capabilities, hoping to complete cleaning tasks without human intervention.

[0003] In related technologies, window cleaning machines are usually equipped with a cleaning fluid spraying module. When the cleaning fluid runs out, the window cleaning machine will issue a reminder signal and stop all cleaning operations. This "stop when the fluid runs out" operation mode has the following problems: users need to pay attention to the reminder signal at all times and cannot leave the site to handle other matters; when the equipment stops, it often only completes part of the cleaning. The areas that have been sprayed may dry naturally due to the long waiting time, leaving water stains, while the uncleaned areas are not treated at all, greatly reducing the overall cleaning effect and resulting in a poor user experience.

[0004] Therefore, it is necessary to provide a cleaning control method for window cleaning machines, which aims to solve the technical problem that existing window cleaning machines directly stop the machine and issue a warning when the cleaning fluid runs out, resulting in cleaning interruptions and a poor user experience. Summary of the Invention

[0005] The purpose of this application is to provide a cleaning control method, device, medium, and electronic equipment for a window cleaning machine, which can solve the problems of water spraying failure due to insufficient cleaning fluid in the cleaning fluid pipeline, dry scraping damaging the glass, and sudden shutdown reducing cleaning efficiency and affecting user experience during the window cleaning machine's cleaning task. The specific solution is as follows: According to a specific embodiment of this application, in a first aspect, this application provides a cleaning control method for a window cleaning machine, the method comprising: In response to the command to execute a cleaning task, the liquid status of the cleaning fluid pipeline is detected; When it is detected that the cleaning fluid pipeline is not short of fluid, the window cleaning machine is controlled to perform the cleaning task in the first cleaning mode. During the operation of the window cleaning machine in the first cleaning mode, the liquid status of the cleaning fluid pipeline is monitored in real time; When the cleaning fluid pipeline is found to be low on fluid, the window cleaning machine is controlled to switch from the first cleaning mode to the second cleaning mode and the cleaning task is performed in the second cleaning mode. In the first cleaning mode, the window cleaning machine performs water spraying cleaning during the cleaning process; in the second cleaning mode, the window cleaning machine pauses the water spraying operation and continues to perform at least part of the dry cleaning operation.

[0006] In some possible embodiments, after detecting the liquid state of the cleaning fluid pipeline in response to the execution of a cleaning task trigger command, the method further includes: When a shortage of cleaning fluid is detected in the cleaning fluid pipeline, the cleaning fluid pump of the window cleaning machine is controlled to run for a first preset time. Check the liquid status of the cleaning fluid lines again; When the cleaning fluid line is detected to be low on fluid, a low fluid alert is sent to the user and the window cleaning machine is kept stationary.

[0007] In some possible embodiments, the re-detection of the cleaning fluid line liquid status further includes: When it is detected that the cleaning fluid pipeline is not short of fluid, the cleaning fluid pump of the window cleaning machine continues to run for a second preset time, and the window cleaning machine is kept stationary.

[0008] In some possible embodiments, while the window cleaning machine remains stationary, the following operations are also performed: The system continuously monitors the liquid status of the cleaning fluid pipeline. When it detects that the cleaning fluid pipeline is not low on liquid, it controls the window cleaning machine to perform the cleaning task in the first cleaning mode.

[0009] In some possible embodiments, controlling the window cleaning machine to switch from a first cleaning mode to a second cleaning mode and performing the cleaning task in the second cleaning mode includes: The cleaning surface is divided into a first zone and a second zone; wherein, the first zone is the area where the first cleaning mode has been performed, and the second zone is the area where the first cleaning mode has not been performed; Determine the amount of stain residue in the first area; When the amount of residual stains in the first area exceeds the first preset stain amount threshold, the window cleaning machine is controlled to clean the first area again in the second cleaning mode; After the first area is cleaned, the window cleaning machine is controlled to perform cleaning on the second area in the second cleaning mode.

[0010] In some possible embodiments, the method further includes: When the amount of residual stains in the first area is not greater than the first preset stain amount threshold, the window cleaning machine is controlled to clean the second area in the second cleaning mode, and the first area is not cleaned again.

[0011] In some possible embodiments, dividing the cleaned surface into a first zone and a second zone includes: Record the real-time working position of the window cleaning machine on the cleaning surface and the corresponding cleaning path progress at the moment when the liquid shortage occurs; Based on the real-time operation location and the cleaning path progress, the cleaning surface is divided into a first zone and a second zone.

[0012] In some possible embodiments, controlling the window cleaning machine to perform cleaning on the first area again in a second cleaning mode includes: The cleaning intensity of the window cleaning machine on the first area is determined based on the amount of stain residue. Cleaning tasks are performed on the first area according to the cleaning intensity.

[0013] In some possible embodiments, the amount of stain residue in the first area is determined using at least one of the following methods: Based on the image of the wet state of the cleaned surface after the action of the cleaning liquid, which is collected by the visual sensor, the stain is identified and classified into levels in the image of the wet state to obtain the amount of stain residue in the first area. Based on the real-time turbidity changes of the wastewater recovered by the wastewater recovery pipeline and the location of the window cleaning machine at each time, the real-time turbidity changes are spatially aligned with each region, and the turbidity value corresponding to each region is mapped to the amount of stain residue in the first region. Based on the detection of the drive wheel current of the window cleaning machine in each area of ​​the first zone, areas where the drive wheel current is higher than a preset reference value are identified as areas with residual stains, and the amount of residual stains in the first zone is determined according to the load increment of the drive wheel current; wherein, the preset reference value is the drive wheel current measured by the window cleaning machine when running on a clean surface with the same parameters.

[0014] In some possible embodiments, determining the cleaning intensity of the window cleaning machine on the first area based on the amount of stain residue includes: When the number of sub-regions in the first zone with a stain residue level exceeding a second preset stain amount threshold exceeds a preset proportion threshold as a percentage of the total number of sub-regions in the first zone, perform at least two of the following operations: Increase the pressure of the cleaning cloth on the cleaning surface; Increase the pressure of the cleaning scraper on the cleaning surface; Increase the density of cleaning paths; Increase the number of times the same cleaning path is walked; Reduce the travel speed of the window cleaning machine.

[0015] In some possible embodiments, before at least two of the following operations, the method further includes: Obtain the surface roughness and / or stain type of the first region; Based on the surface roughness and / or the type of stain, determine the combination of operations to be performed from at least two operations.

[0016] In some possible embodiments, when the window cleaning machine switches from the first cleaning mode to the second cleaning mode, it continues to perform at least one of the following dry cleaning operations: Keep the drive mechanism of the window cleaning machine operational; Keep the cleaning cloth of the window cleaning machine in close contact with the surface being cleaned; Keep the window cleaning machine in contact with the surface to be cleaned.

[0017] In some possible embodiments, In the second cleaning mode, the window cleaning machine reduces its adhesion to the cleaning surface when at least one of the following operating conditions is met: The window cleaning machine performs a steering maneuver, and the steering angle exceeds a preset angle threshold. The window cleaning machine completes the cleaning of the current area and moves to the next cleaning area, and the walking path crosses the edges of known obstacles or window frames; When the drive wheel current is greater than the first preset current threshold; The window cleaning machine receives a cleaning pause command or a return command.

[0018] In some possible embodiments, the method further includes: After reducing the adsorption force, if the current of the drive wheel exceeds the second preset current threshold, the window cleaning machine will stop moving and issue a reminder. Wherein, the second preset current threshold is greater than the first preset current threshold.

[0019] According to a specific embodiment of this application, in a second aspect, this application also provides a cleaning control device for a window cleaning machine, the device comprising: The first detection and control module is used to detect the liquid status of the cleaning fluid pipeline in response to the trigger command for executing the cleaning task; The first operation control module is used to control the window cleaning machine to perform cleaning tasks in the first cleaning mode when it is detected that the cleaning fluid pipeline is not short of fluid. The second detection and control module is used to detect the liquid status of the cleaning fluid pipeline in real time when the window cleaning machine is operating in the first cleaning mode. The second operation control module is used to control the window cleaning machine to switch from the first cleaning mode to the second cleaning mode when the cleaning fluid pipeline is detected to be low on fluid, and to perform the cleaning task in the second cleaning mode. In the first cleaning mode, the window cleaning machine performs water spraying cleaning during the cleaning process; in the second cleaning mode, the window cleaning machine pauses the water spraying operation and continues to perform at least part of the dry cleaning operation.

[0020] According to a specific embodiment of this application, in a third aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the preceding claims.

[0021] According to a specific embodiment of this application, in a fourth aspect, this application also provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to perform the method as described in any of the preceding claims.

[0022] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects: When the cleaning fluid runs out, the machine doesn't immediately shut down with a warning; instead, it automatically switches to the second cleaning mode. In this mode, water spraying pauses, but wiping continues, ensuring the continuity of the cleaning task and preventing interruptions due to fluid shortage. Simultaneously, areas moistened by water in the first cleaning mode can be wiped again after switching to prevent water stains from drying out and leaving residue. The second cleaning mode can still remove some loose stains, providing better cleaning results than the mode that shuts down immediately when the fluid is low. This significantly reduces reliance on manual labor; users don't need to constantly monitor the fluid level or wait for manual refills, making the window cleaning machine more suitable for large-area or long-term cleaning tasks in unattended scenarios. Even when the cleaning fluid is depleted, it can continue cleaning using dry motion, ensuring the completion of the cleaning task and improving the user experience. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 The flowchart of the cleaning control method of the window cleaning machine shown in the embodiments of this application Figure 1 ; Figure 2 This is a flowchart illustrating the re-detection process when the cleaning fluid pipeline of the window cleaning machine is low, as shown in the embodiments of this application. Figure 3 The flowchart of the cleaning control method of the window cleaning machine shown in the embodiments of this application Figure 2 ; Figure 4 This is a block diagram illustrating one embodiment of the cleaning control device for a window cleaning machine according to an embodiment of this application; Figure 5This is a schematic diagram of the electronic device structure shown in an embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0026] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0027] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0028] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0029] In existing technologies, window cleaning machines are typically equipped with cleaning fluid storage containers and liquid detection sensors to monitor the remaining cleaning fluid level in the container in real time. During the cleaning process, when a low level of cleaning fluid is detected, the machine will issue a warning signal (such as a buzzer or app notification) and immediately stop all cleaning operations. This "stop when low on fluid" working mode has significant drawbacks. On the one hand, the machine stops as soon as a low-fluid event is triggered, requiring users to constantly pay attention to the warnings and preventing them from temporarily leaving the site to complete other tasks while the machine is cleaning, thus consuming users' time. On the other hand, when the machine stops, it often only cleans a portion of the area, mostly just a localized area: the glass surface that has been sprayed with cleaning fluid and thoroughly moistened will slowly air dry over time, easily forming stubborn water stains after evaporation; while areas not yet covered by the machine remain untouched. The combination of these two issues results in the cleaning of the entire window being abandoned halfway, significantly reducing the cleaning effect, increasing the burden of rework for users, and leading to a poor user experience.

[0030] This application addresses the issues of insufficient cleaning fluid in window cleaning machines, such as ineffective water spraying, glass damage from dry scraping, and reduced cleaning efficiency and user experience, caused by insufficient cleaning fluid. It involves checking the liquid status of the cleaning fluid lines before starting the cleaning task (low fluid detection). The system only begins cleaning when sufficient fluid is present. Furthermore, if a low fluid level is detected during cleaning, the machine switches from the first cleaning mode (wet cleaning mode) to the second cleaning mode (dry cleaning mode) to continue the cleaning task, instead of stopping and issuing a warning message.

[0031] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0032] Figure 1 The flowchart of the cleaning control method of the window cleaning machine shown in the embodiments of this application Figure 1 ,like Figure 1 As shown in the figure, this embodiment provides a cleaning control method for a window cleaning machine, which includes the following steps: S101, In response to the command to trigger the cleaning task, detect the liquid status of the cleaning fluid pipeline; For example, the main body executing the control method of the window cleaning machine can be the main control module of the window cleaning machine.

[0033] The cleaning task trigger command is the signal that initiates the entire cleaning process of the window cleaning machine. Liquid status includes normal supply and insufficient supply. Normal supply means the cleaning fluid lines are sufficiently clean (no shortage), and the window cleaning machine can spray cleaning fluid normally. In case of insufficient supply, the lines are interrupted and cleaning fluid cannot be sprayed normally.

[0034] S102. When it is detected that the cleaning fluid line is not short of fluid, control the window cleaning machine to perform the cleaning task in the first cleaning mode.

[0035] After completing the initial liquid status check of the cleaning fluid pipeline, if the main control module determines that the cleaning fluid reserve inside the pipeline is sufficient, the main control module directly issues a control command, and the window cleaning machine enters the first cleaning mode. The first cleaning mode is the equipment's normal operating mode. In this mode, the window cleaning machine can spray cleaning fluid normally according to the preset program. By spraying the cleaning fluid, the glass stains are softened and dissolved, and deep cleaning is achieved in conjunction with wiping. This is the most important operating mode in daily use. Under the premise that the cleaning fluid supply is normal, wet spray cleaning is used first to ensure the dissolution of glass stains.

[0036] S103. When the window cleaning machine is operating in the first cleaning mode, the liquid status of the cleaning fluid pipeline is monitored in real time.

[0037] During operation, the liquid status of the cleaning fluid pipeline is monitored throughout the process. If a low liquid level is detected, the system can quickly switch to a second cleaning mode, thus avoiding issues caused by the cleaning parameters of the first cleaning mode (such as the pressure of the cleaning cloth on the cleaning surface, heating, etc.). Module Ineffective operation or surface damage caused by the heating temperature not matching the current liquid shortage condition.

[0038] S104. When a shortage of cleaning fluid is detected in the cleaning fluid pipeline, the window cleaning machine is controlled to switch from the first cleaning mode to the second cleaning mode, and the cleaning task is performed in the second cleaning mode.

[0039] In the first cleaning mode, the window cleaning machine performs water spraying cleaning during the cleaning process; in the second cleaning mode, the window cleaning machine suspends water spraying and continues to perform at least part of the dry cleaning operation.

[0040] The second cleaning mode is a dry cleaning mode adapted for low liquid levels. It turns off the cleaning fluid pump and stops water output. It retains and continues to run dry cleaning operations, such as: machine movement, negative pressure adsorption fixation, cleaning cloth wiping, and machine movement in contact with the cleaning surface (such as glass).

[0041] In this embodiment, when the cleaning fluid runs out, the machine does not immediately stop with a warning, but automatically switches to the second cleaning mode. In this mode, water spraying pauses, but wiping continues, ensuring the continuity of the cleaning task and preventing interruptions due to fluid shortage. Simultaneously, areas already moistened by water spraying in the first cleaning mode can be wiped again after switching to prevent water stains from drying out and leaving residue. The second cleaning mode can still remove some loose stains, providing a better cleaning effect than the mode that stops immediately when the fluid is low. This significantly reduces reliance on manual labor; users do not need to constantly monitor the remaining cleaning fluid or wait for manual refills after shutdown, making the window cleaning machine more suitable for large-area or long-term cleaning tasks in unattended scenarios. Even when the cleaning fluid is depleted, the machine can continue cleaning using dry motion, ensuring the completion of the cleaning task and improving the user experience.

[0042] In some implementations, Figure 2 This is a flowchart illustrating the re-detection process when the cleaning fluid pipeline of the window cleaning machine is low, as shown in the embodiments of this application. Figure 2 As shown, after step S101, this embodiment further includes: S201. When a shortage of cleaning fluid is detected in the cleaning fluid pipeline, the cleaning fluid pump of the window cleaning machine is controlled to run for a first preset time.

[0043] When the main control module initially detects a lack of cleaning fluid in the pipeline, it does not immediately issue a warning. Instead, it actively drives the cleaning fluid pump to run for a preset duration (e.g., 1-3 seconds). This process removes air, bubbles, and partial flow interruptions from the pipeline, eliminating false shortages caused by brief fluid interruptions or air intake. This avoids errors from single detections and improves the accuracy of fluid shortage detection.

[0044] S202. Check the liquid status of the cleaning fluid pipeline again.

[0045] After the pump body finishes its short-term operation, the actual liquid flow status of the pipeline is reassessed.

[0046] S203. When it is detected that the cleaning fluid line is still low on fluid, a low fluid reminder is sent to the user and the window cleaning machine is kept stationary.

[0047] If the retest result still indicates a low fluid level, the system will send a low fluid reminder to the user (via a buzzer, indicator light, app pop-up, voice announcement, etc.) to prompt them to add cleaning fluid / water.

[0048] It is worth noting that this process occurs before the window cleaning machine begins its cleaning task.

[0049] Understandably, after the initial detection of low fluid levels in the pipeline, instead of immediately reporting an error and shutting down the machine, the cleaning fluid pump is first controlled to run briefly for a second check. If the low fluid level is still detected after the second check, a low fluid level reminder is then sent and the machine is stopped to avoid false triggering of low fluid levels due to sensor misjudgment or a small amount of air bubbles / air intake in the pipeline.

[0050] S204. When it is detected that the cleaning fluid pipeline is not short of fluid, continue to control the cleaning fluid pump of the window cleaning machine to run for a second preset time, and control the window cleaning machine to remain stationary.

[0051] In this scenario, if the cleaning fluid line is found to be full again, the window cleaning machine's cleaning fluid pump will continue to run for a second preset time (e.g., 5-10 seconds), and the window cleaning machine will remain stationary.

[0052] In this way, the water pump briefly operates to expel air bubbles and air from the pipeline, ensuring that subsequent water spraying is even, without dripping or intermittent water flow, and avoiding misjudgment of insufficient liquid due to residual air bubbles during subsequent cleaning.

[0053] In some embodiments, while the window cleaning machine remains stationary, the following operations are also performed: The system continuously monitors the liquid status of the cleaning fluid pipeline. When the system detects that the liquid supply is normal, it controls the window cleaning machine to perform the cleaning task in the first cleaning mode.

[0054] The window cleaning machine continuously monitors the cleaning fluid pipeline while stationary. Once the fluid supply is restored, it automatically resumes the cleaning task in the first cleaning mode (water spraying).

[0055] In this way, the window cleaning machine can automatically resume spraying water without manual intervention or restart, improving the continuity and automation of the cleaning task.

[0056] Figure 3 The flowchart of the cleaning control method of the window cleaning machine shown in the embodiments of this application Figure 3 ,like Figure 3 As shown in the figure, this embodiment provides a cleaning control method for a window cleaning machine, which includes the following steps: S301, In response to the command to trigger the execution of a cleaning task, detect the liquid status of the cleaning fluid pipeline of the window cleaning machine; The implementation steps similar to those in step S101 described above will not be repeated here.

[0057] S302. When the normal supply of cleaning fluid is detected in the pipeline, control the window cleaning machine to perform the cleaning task in the first cleaning mode. For example, the travel route of the window cleaning machine and the spraying constraints during spraying operations are determined based on the geometric features of the cleaning surface. The travel route includes multiple sequentially executed cleaning paths, extending from one boundary to the opposite boundary within the cleaning surface. The spraying constraints are the minimum distance threshold between the window cleaning machine and the edge of the cleaning surface. The geometric features of the cleaning surface are the key dimensions and contour information of the surface (e.g., glass surface), including its length, width, overall area, and edge contour shape. These serve as the basis for planning the travel route and setting the spraying constraints (e.g., large and small glass surfaces have different geometric features, resulting in different planned travel routes and spraying strategies). The travel route is the complete path planned by the window cleaning machine to complete all cleaning operations on the cleaning surface. It consists of multiple sequentially connected cleaning paths and transitional turning routes between sections, ensuring that the equipment can fully cover the cleaning surface without omissions or repeated cleaning areas, thus adapting to the automated cleaning needs of window cleaning machines and other equipment. The travel route includes at least one of the following: N-shaped path, Z-shaped path, spiral path, square path, bow-shaped path, and straight reciprocating path. A straight reciprocating path is where the window cleaning machine travels back and forth along the same straight path between relative boundaries. The cleaning path is a single main straight path within the window cleaning machine's full-coverage travel path, and is the core unit constituting the complete cleaning travel route. For example, it corresponds to the lateral path in a Z-shaped cleaning route, the vertical path in an N-shaped cleaning route, the reciprocating straight path in a bow-shaped cleaning route, and each straight travel path segment in a square-shaped cleaning route. Within a single cleaning path, the equipment always travels in a straight line in a single direction without changing its direction, focusing solely on the cleaning operation of that path segment. Two adjacent cleaning paths are connected by turning transition routes to avoid omissions or repetitions. Multiple cleaning paths and turning transition routes work together to form a complete travel route covering the entire cleaning surface. It should be noted that the core cleaning operations, such as equipment movement and cleaning fluid spraying, are mainly performed within each cleaning path. Turning transition routes are only used to connect adjacent cleaning paths and do not involve spraying or major cleaning operations. Spraying constraints are used to limit the range of cleaning fluid sprayed by the window cleaning machine. The purpose is to establish a minimum distance threshold between the window cleaning machine and the edge of the surface to be cleaned. That is, the cleaning equipment must be at least as far as this threshold away from the edge of the surface to be cleaned (such as glass) during its movement before spraying can be performed. This is to prevent cleaning fluid from being sprayed onto the window frame and to prevent leakage at the edges.

[0058] S303. When a shortage of cleaning fluid is detected in the cleaning fluid pipeline, the cleaning surface is divided into a first zone and a second zone; wherein, the first zone is the area where the first cleaning mode has been executed, and the second zone is the area where the first cleaning mode has not been executed.

[0059] The first zone comprises the cleaning path area of ​​the first cleaning mode that was completed before the liquid shortage occurred (including the portion already traversed in the current cleaning path), and the second zone comprises the cleaning path area of ​​the first cleaning mode that was not completed (including the untraversed portion of the current cleaning path and all cleaning paths that have not yet started). The first zone includes all completed cleaning paths before the liquid shortage occurred plus the portion already traversed in the current path; the second zone includes the untraversed portion of the current path plus all cleaning paths that have not yet started.

[0060] In some implementations, step S303 above may include: Record the real-time working position of the window cleaning machine on the cleaning surface and the corresponding cleaning path progress at the moment when liquid shortage occurs; The completed cleaning path can be determined based on the specific operating location of the window cleaning machine and the progress of the corresponding cleaning path when the liquid shortage event occurs (it may be multiple complete cleaning paths, or multiple complete cleaning paths plus partial cleaning paths, i.e., within a certain cleaning path).

[0061] Based on the real-time operation location and cleaning path progress, the cleaning surface is divided into Zone 1 and Zone 2.

[0062] Before the liquid shortage occurs, the window cleaning machine operates in the first cleaning mode (spraying water + wiping), and the area it traverses should be classified as Zone 1. After the liquid shortage occurs, the window cleaning machine switches to the second cleaning mode (dry cleaning), and the area not yet covered should be classified as Zone 2. However, the moment the liquid shortage occurs is not necessarily exactly at the end of a complete cleaning row or a complete zone. The window cleaning machine may be performing a cleaning task in the middle of a cleaning row. At this time, the completed part of that row belongs to Zone 1, and the unfinished part belongs to Zone 2. Therefore, knowing the specific working position of the window cleaning machine and the corresponding cleaning path progress when the liquid shortage occurs is necessary to accurately delineate the boundary between Zone 1 and Zone 2.

[0063] In this embodiment, the completed cleaning path is used as the basis for dividing the first and second zones, thus achieving precise zoning of the cleaning surface.

[0064] S304. Determine the amount of stain residue in Zone 1; For example, step S304 above may include: Detect the current of the drive wheel of the window cleaning machine in the first zone; The amount of stain residue in the first zone is determined based on the comparison between the drive wheel current and the preset reference value. The preset benchmark value is the drive wheel current measured when the window cleaning machine is running on a clean surface with the same parameters.

[0065] Understandably, by detecting the drive wheel current in each sub-zone of the window cleaning machine within the first zone, sub-zones with drive wheel current exceeding a preset benchmark value are identified as areas with residual stains, and the increase in drive wheel current is mapped to the corresponding amount of residual stains. The amount of residual stains is obtained by utilizing changes in drive wheel current or motor load. The principle behind this method is that when the window cleaning machine moves across the cleaning surface, the drive wheels need to overcome the friction between the cleaning surface and the wheels, as well as the resistance between the cleaning devices (such as cloths or scrapers) and the cleaning surface. When residual stains are present on the cleaning surface, especially sticky or uneven stains, the resistance of the window cleaning machine increases, reflected in an increase in drive wheel current or motor load. Therefore, by detecting changes in current or load, the presence and severity of stains in that area can be indirectly determined.

[0066] Furthermore, in a scenario, there can be two preset reference values: a first preset reference value for wet-state detection and a second preset reference value for dry-state detection. The first preset reference value is the drive wheel current measured by the window cleaning machine under the same parameters when the clean surface is wet (e.g., just sprayed with cleaning liquid, the cloth is wet). The second preset reference value is the drive wheel current measured by the window cleaning machine under the same parameters when the clean surface is dry. The first stain residue amount corresponding to wet-state detection and the second stain residue amount corresponding to dry-state detection are obtained respectively. When the difference between the first stain residue amount and the second stain residue amount is greater than a preset difference threshold, the second stain residue amount is determined as the final stain residue amount of the first zone; otherwise, the two are weighted and fused, and the weighted fusion result is determined as the final stain residue amount of the first zone.

[0067] For example, step S304 above may further include: Based on the images of the wet state of the cleaned surface after the action of the cleaning liquid, which are collected by the visual sensor, the stains are identified and classified into levels to obtain the amount of stain residue in the first zone.

[0068] Understandably, window cleaning machines are equipped with vision sensors, such as cameras or image sensors, to capture image information of the cleaned surface. Specifically, during or at the end of the first cleaning mode operation, the vision sensors capture images of the surface in its wet state after the cleaning solution has been applied. A wet state image refers to an image taken after the cleaning solution has been sprayed onto the surface but before it has completely dried or evaporated. In this state, the cleaning solution causes stains that might otherwise be inconspicuous to exhibit different textures, colors, or reflective features in the image compared to clean areas. This characteristic can be used to identify and classify stains based on the wet state image.

[0069] For example, step S304 above may further include: Based on the real-time turbidity changes of the wastewater recovered through the wastewater recovery pipeline and the location of the window cleaning machine at each moment, the real-time turbidity changes are spatially aligned with each area, and the turbidity value corresponding to each area is mapped to the amount of stain residue in the first area.

[0070] Understandably, window cleaning machines utilize turbidity sensors in the wastewater recovery pipeline to determine the amount of residual dirt. The principle behind this is that during the first cleaning mode, the cleaning solution is sprayed onto the surface and mixes with the dirt. The resulting wastewater is collected by a scraper or cloth and flows into the wastewater recovery pipeline. The more dissolved or suspended dirt in the wastewater, the higher its turbidity; conversely, the lower the turbidity, the lower the turbidity. Therefore, by detecting real-time changes in the turbidity of the recovered wastewater, the degree of dirt on the cleaned surface can be indirectly reflected.

[0071] The three methods described above are based on different physical principles, each with its own advantages, disadvantages, and applicable scenarios. In practical applications, one method can be selected based on the window cleaning machine's hardware configuration and cost requirements, or multiple methods can be combined to improve detection accuracy and robustness. For example, on window cleaning machines equipped with visual sensors, the visual method can be prioritized. On window cleaning machines without visual sensors but with wastewater recycling functions, a turbidity sensor method can be used. On low-end window cleaning machines with limited hardware resources and a desire to reduce costs, a drive wheel current method can be used to achieve stain detection using existing hardware.

[0072] S305. When the amount of stain residue in the first zone is greater than the first preset stain amount threshold, control the window cleaning machine to perform cleaning on the first zone again in the second cleaning mode.

[0073] When the liquid level is low, there is no need to stop the machine immediately. The window cleaning machine can continue to perform dry cleaning operations, prioritizing secondary cleaning of areas in the first zone that are not cleaned effectively, thus avoiding repeated work on already cleaned areas. The second cleaning mode is used to supplement the cleaning of the first zone, making up for any residual stains that may have been present in the first cleaning mode.

[0074] In some embodiments, step S305 above may include: The cleaning intensity of the window cleaning machine for the first zone is determined based on the amount of stain residue. Cleaning tasks will be carried out in Zone 1 according to the intensity of the cleaning work.

[0075] Cleaning intensity refers to the comprehensive quantitative index of cleaning parameters used by the window cleaning machine when performing a second cleaning task, used to characterize the degree of effort or density of cleaning. There is a positive correlation between cleaning intensity and the amount of residual stains: the higher the amount of residual stains, the greater the required cleaning intensity; the lower the amount of residual stains, the lower the required cleaning intensity. For example, when the amount of residual stains is small, the window cleaning machine can use less cloth pressure, fewer passes, and a sparser cleaning path; when the amount of residual stains is large, the window cleaning machine uses greater cloth pressure, more passes, and a denser cleaning path.

[0076] Understandably, if the actual cleaning effect of Zone 1 is not evaluated and Zone 1 is cleaned again with a fixed intensity, it may lead to unnecessary repeated cleaning of already cleaned areas, wasting time and energy; and insufficient cleaning intensity for areas with heavy residual stains, failing to effectively remove stains and affecting the overall cleaning quality.

[0077] In some embodiments, determining the cleaning intensity of the window cleaning machine on the first zone based on the amount of stain residue includes: When the number of sub-regions in the first zone with a stain residue level exceeding a second preset stain amount threshold exceeds a preset proportion threshold as a percentage of the total number of sub-regions in the first zone, perform at least two of the following operations: Increase the pressure of the cleaning cloth on the cleaning surface; Increase the pressure of the cleaning scraper on the cleaning surface; Increase the density of cleaning paths; Increase the number of times the same cleaning path is walked; Reduce the travel speed of the window cleaning machine.

[0078] This embodiment does not simply determine the cleaning intensity based on the numerical value of stain residue, but rather on the proportion of sub-areas with excessive stains in the first zone. When the proportion of sub-areas with excessive stains is large, it indicates that the stains are not scattered but rather concentrated over a large area in the first zone. In this case, a stronger cleaning strategy is required, involving multiple operations simultaneously. This allows for accurate identification of large-area concentrated stains and targeted, intensive cleaning. When large-area concentrated stains are identified, at least two operations are executed concurrently to produce a synergistic cleaning effect, which is more effective than adjusting a single parameter. The five operations cover multiple dimensions such as pressure adjustment, coverage adjustment, frequency adjustment, and speed adjustment, allowing the window cleaning machine to select the most suitable combination of operations based on the specific characteristics of the stains. This avoids resource waste. When stains are scattered, a global intensive cleaning strategy will not be triggered, thereby saving energy, reducing mechanical wear, and extending the life of the window cleaning machine.

[0079] In some embodiments, before at least two of the following operations, the method further includes: Obtain the surface roughness and / or stain type of the first zone; Based on surface roughness and / or stain type, determine the combination of operations to be performed from at least two operations.

[0080] Understandably, before performing at least two operations, the surface roughness and stain type of the first zone are first obtained. Then, based on this information, the most suitable combination of operations for the current scenario is selected from the candidate operation set. Different surface roughness and stain types correspond to different operation combinations, thus achieving differentiated cleaning strategies. Surface roughness reflects the smoothness of the surface to be cleaned, determining the feasibility and effectiveness of increasing pressure operations. Stain type reflects the adhesion characteristics and removal mechanism of the stain, determining which operations are most effective for that type of stain. Combining these two dimensions allows for more precise selection of operation combinations.

[0081] This embodiment selects the most effective combination of operations based on the physical characteristics of different surfaces and stains, avoiding ineffective or repeated cleaning due to improper operation combinations, and shortening the total cleaning time. It avoids excessive pressure on rough surfaces, preventing wasted energy. Furthermore, specialized operation combinations are used for stubborn stains, resulting in better removal; and overly aggressive operations are avoided on fragile surfaces to prevent damage to the cleaning surface.

[0082] S306. After the first zone is cleaned, control the window cleaning machine to perform cleaning on the second zone in the second cleaning mode; After completing the cleaning of the first zone, it automatically adapts to the needs of the second zone and switches to the most suitable cleaning mode to continue working.

[0083] S307. When the amount of stain residue in the first zone is not greater than the first preset stain amount threshold, the window cleaning machine is controlled to clean the second zone in the second cleaning mode, and the first zone is not cleaned again.

[0084] Understandably, if the residual amount is less than or equal to a preset residual amount threshold, the cleaning action for the first zone is skipped. The window cleaning machine then moves directly to the second zone and begins cleaning. This cleans only the areas that need cleaning, avoiding unnecessary work and improving cleaning efficiency while also enhancing the window cleaning machine's path planning and energy management capabilities.

[0085] In this embodiment, after switching to the second cleaning mode, it first determines whether the residual stain amount in the first zone is greater than a preset stain amount threshold. If so, the first zone is clean enough and does not need to be cleaned again. At this time, the window cleaning machine skips cleaning the first zone and directly performs cleaning on the second zone (the area that has not yet been cleaned by the first cleaning mode) using the second cleaning mode. Thus, cleaning resources are allocated on demand. The window cleaning machine prioritizes its limited non-water spray cleaning capacity (especially valuable when liquid is low) for areas that truly need cleaning, rather than wasting it on areas that are already clean.

[0086] In some embodiments, the cleaning control method of the window cleaning machine further includes: After the window cleaning machine switches from the first cleaning mode to the second cleaning mode, it should continue to perform at least one of the following dry cleaning operations: Keep the drive mechanism of the window cleaning machine running; Keep the cleaning cloth of the window cleaning machine in close contact with the surface being cleaned; Keep the window cleaning machine in contact with the surface being cleaned.

[0087] In this embodiment, the window cleaning machine does not stop running after running out of liquid, but switches to dry cleaning mode to continue operating, avoiding interruptions to cleaning tasks and improving task completion rate; it maintains vacuum adsorption to prevent falls from heights and eliminate safety hazards; it keeps the drive mechanism running, providing a foundation for subsequent operations; it keeps the cleaning cloth in contact with the surface, which can physically remove dry stains; and it allows flexible selection of at least one dry cleaning operation, balancing energy saving and performance. This is different from the common practice of shutting down when water is scarce in existing technologies, and achieves degraded continuous operation.

[0088] In some embodiments, the cleaning control method of the window cleaning machine further includes: In the second cleaning mode, the window cleaning machine's adhesion to the cleaning surface is gradually reduced when at least one of the following operating conditions is met: The window cleaning machine reverses direction, and the reversing angle exceeds a preset angle threshold. The window cleaning machine completes cleaning the current area and moves to the next area, with its path crossing known obstacle edges or window frames; When the drive wheel current is greater than the first preset current threshold; The window cleaning machine receives a cleaning pause command or a return command.

[0089] In this embodiment, when a specific operating condition is detected, the window cleaning machine does not immediately reduce the suction force on the cleaning surface to a minimum value, but rather gradually transitions the pressure from a higher value to a lower value. This ensures that the window cleaning machine does not slip or fall due to sudden changes in suction force, precisely finding the minimum safe suction force sufficient to complete the current obstacle crossing or turning maneuver. This avoids the impact of sudden pressure changes on the window cleaning machine's posture and suction stability, reducing the risk of the window cleaning machine going out of control or falling under critical operating conditions.

[0090] Furthermore, the cleaning control method of this window cleaning machine also includes: After reducing the suction force, if the current of the drive wheel exceeds the second preset current threshold, the window cleaning machine will stop moving and issue a reminder. The second preset current threshold is greater than the first preset current threshold.

[0091] In this embodiment, when the window cleaning machine encounters resistance beyond the normal range during its movement, the current of the drive wheel will increase. At this time, if the current exceeds the first preset threshold, a soft adjustment (reducing suction to attempt self-rescue) will be triggered. If the current exceeds the second preset threshold, a hard shutdown (cutting off power to prevent damage) will be triggered, and the user will be reminded to troubleshoot the fault.

[0092] This application also provides apparatus embodiments that follow the above embodiments, for implementing the method steps of the above embodiments. The interpretation of the same names is the same as that of the above embodiments, and they have the same technical effects as those of the above embodiments, so they will not be repeated here.

[0093] like Figure 3 As shown, this application provides a cleaning control device for a window cleaning machine, the device comprising: The first detection and control module is used to detect the liquid status of the cleaning fluid pipeline in response to the trigger command for executing the cleaning task; The first operation control module is used to control the window cleaning machine to perform cleaning tasks in the first cleaning mode when it is detected that the cleaning fluid pipeline is not short of fluid. The second detection and control module is used to detect the liquid status of the cleaning fluid pipeline in real time when the window cleaning machine is operating in the first cleaning mode. The second operation control module is used to control the window cleaning machine to switch from the first cleaning mode to the second cleaning mode when the cleaning fluid pipeline is detected to be low, and to perform the cleaning task in the second cleaning mode. In the first cleaning mode, the window cleaning machine performs water spraying cleaning during the cleaning process; in the second cleaning mode, the window cleaning machine suspends water spraying and continues to perform at least part of the dry cleaning operation.

[0094] In some implementations, the first detection control module is also used for: When a low level of cleaning fluid is detected in the cleaning fluid line, the cleaning fluid pump of the window cleaning machine is controlled to run for a first preset time; the liquid status of the cleaning fluid line is checked again. When the cleaning fluid line is detected to be low, a low fluid alert is issued to the user and the window cleaning machine is kept stationary.

[0095] In some implementations, the first detection control module is also used for: When it is detected that the cleaning fluid line is not low on fluid, the cleaning fluid pump of the window cleaning machine continues to run for a second preset time, and the window cleaning machine is kept stationary.

[0096] In some implementations, the first detection control module is also used for: The system continuously monitors the liquid level in the cleaning fluid lines. When it detects that the cleaning fluid lines are not low on liquid, it controls the window cleaning machine to perform the cleaning task in the first cleaning mode.

[0097] In some implementations, the second job control module is also used for: The surface to be cleaned is divided into a first zone and a second zone; the first zone is the area that has undergone the first cleaning mode, and the second zone is the area that has not undergone the first cleaning mode. Determine the amount of stain residue in Zone 1; When the amount of residual stains in the first zone exceeds the first preset stain amount threshold, the window cleaning machine is controlled to clean the first zone again in the second cleaning mode. After the first zone is cleaned, control the window cleaning machine to perform cleaning on the second zone in the second cleaning mode.

[0098] In some implementations, the second job control module is also used for: When the amount of stain residue in the first zone is not greater than the first preset stain amount threshold, the window cleaning machine is controlled to clean the second zone in the second cleaning mode, and the first zone is not cleaned again.

[0099] In some implementations, the second job control module is also used for: Record the real-time working position of the window cleaning machine on the cleaning surface and the corresponding cleaning path progress at the moment when liquid shortage occurs; Based on the real-time operation location and cleaning path progress, the cleaning surface is divided into Zone 1 and Zone 2.

[0100] In some implementations, the second job control module is also used for: Based on the image of the wet state of the cleaned surface after the action of the cleaning liquid, which is collected by the visual sensor, the stain is identified and classified into levels to obtain the amount of stain residue in the first zone. Based on the real-time turbidity changes of the wastewater recovered by the wastewater recovery pipeline and the location of the window cleaning machine at each time, the real-time turbidity changes are spatially aligned with each area, and the turbidity value corresponding to each area is mapped to the amount of stain residue in the first area. The current of the drive wheel of the window cleaning machine in the first zone is detected. Based on the comparison between the current of the drive wheel and a preset reference value, the amount of dirt residue in the first zone is determined. The preset reference value is the current of the drive wheel measured by the window cleaning machine when it is running on a clean surface with the same parameters.

[0101] In some implementations, the second job control module is also used for: The cleaning intensity of the window cleaning machine for the first zone is determined based on the amount of stain residue. Cleaning tasks will be carried out in Zone 1 according to the intensity of the cleaning work.

[0102] In some implementations, the second job control module is also used for: When the number of sub-regions in the first zone with a stain residue level exceeding a second preset stain amount threshold exceeds a preset proportion threshold as a percentage of the total number of sub-regions in the first zone, perform at least two of the following operations: Increase the pressure of the cleaning cloth on the cleaning surface; Increase the pressure of the cleaning scraper on the cleaning surface; Increase the density of cleaning paths; Increase the number of times the same cleaning path is walked; Reduce the travel speed of the window cleaning machine.

[0103] In some implementations, the second job control module is also used for: Obtain the surface roughness and / or stain type of the first zone; Based on surface roughness and / or stain type, determine the combination of operations to be performed from at least two operations.

[0104] In some implementations, the second job control module is also used for: Keep the drive mechanism of the window cleaning machine running; Keep the cleaning cloth of the window cleaning machine in close contact with the surface being cleaned; Keep the window cleaning machine in contact with the surface being cleaned.

[0105] In some implementations, the second job control module is also used for: In the second cleaning mode, when at least one of the following operating conditions is met, the adhesion force of the window cleaning machine to the cleaning surface is gradually reduced. The window cleaning machine reverses direction, and the reversing angle exceeds a preset angle threshold. The window cleaning machine completes cleaning the current area and moves to the next area, with its path crossing known obstacle edges or window frames; When the drive wheel current is greater than the first preset current threshold; The window cleaning machine receives a cleaning pause command or a return command.

[0106] In some implementations, the second job control module is also used for: After reducing the suction force, if the current of the drive wheel exceeds the second preset current threshold, the window cleaning machine will stop moving and issue a reminder. The second preset current threshold is greater than the first preset current threshold.

[0107] This application also provides apparatus embodiments that follow the above embodiments, for implementing the method steps of the above embodiments. The interpretation of the same names is the same as that of the above embodiments, and they have the same technical effects as those of the above embodiments, so they will not be repeated here.

[0108] This application provides a window cleaning machine, which is used to implement the steps described in the above embodiments. like Figure 5 As shown, this embodiment provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the method steps described in the above embodiment.

[0109] This application provides a non-volatile computer storage medium storing computer-executable instructions that can perform the steps described in the above embodiments.

[0110] The following is for reference. Figure 5 The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of this application. The terminal devices in these embodiments may include, but are not limited to, mobile terminals such as portable phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0111] like Figure 5 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of the electronic device. The processing unit 501, ROM 502, and RAM 503 are interconnected via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0112] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, magnetic tapes, hard disks, etc.; and communication devices 509. Communication device 509 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 5 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0113] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, it performs the functions defined in the methods of the embodiments of this application.

[0114] It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution master module, device, or apparatus. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0115] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0116] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0117] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of the main control module, method, and computer program product according to various embodiments of this application. In this regard, each block in the flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based main control module that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0118] The units described in the embodiments of this application can be implemented in software or hardware. The names of the units are not, in some cases, limiting the scope of the unit itself.

Claims

1. A cleaning control method of a window cleaning machine, characterized by, The method includes: In response to the command to execute a cleaning task, the liquid status of the cleaning fluid pipeline is detected; When it is detected that the cleaning fluid pipeline is not short of fluid, the window cleaning machine is controlled to perform the cleaning task in the first cleaning mode. During the operation of the window cleaning machine in the first cleaning mode, the liquid status of the cleaning fluid pipeline is monitored in real time; When the cleaning fluid pipeline is found to be low on fluid, the window cleaning machine is controlled to switch from the first cleaning mode to the second cleaning mode and the cleaning task is performed in the second cleaning mode. In the first cleaning mode, the window cleaning machine performs water spraying cleaning during the cleaning process; in the second cleaning mode, the window cleaning machine pauses the water spraying operation and continues to perform at least part of the dry cleaning operation.

2. The method of claim 1, wherein, After detecting the liquid state of the cleaning fluid pipeline in response to the cleaning task trigger command, the method further includes: When a shortage of cleaning fluid is detected in the cleaning fluid pipeline, the cleaning fluid pump of the window cleaning machine is controlled to run for a first preset time. Check the liquid status of the cleaning fluid lines again; When the cleaning fluid line is detected to be low on fluid, a low fluid alert is sent to the user and the window cleaning machine is kept stationary.

3. The method of claim 2, wherein, The process of re-checking the liquid status of the cleaning fluid pipeline also includes: When it is detected that the cleaning fluid pipeline is not short of fluid, the cleaning fluid pump of the window cleaning machine continues to run for a second preset time, and the window cleaning machine is kept stationary.

4. The method according to claim 3, characterized in that, While the window cleaning machine remains stationary, the following operations are also performed: The system continuously monitors the liquid status of the cleaning fluid pipeline. When it detects that the cleaning fluid pipeline is not low on liquid, it controls the window cleaning machine to perform the cleaning task in the first cleaning mode.

5. The method according to claim 1, characterized in that, The control of the window cleaning machine to switch from a first cleaning mode to a second cleaning mode, and to perform the cleaning task in the second cleaning mode, includes: The surface to be cleaned is divided into a first zone and a second zone; wherein, the first zone is the area where the first cleaning mode has been performed, and the second zone is the area where the first cleaning mode has not been performed; Determine the amount of stain residue in the first area; When the amount of residual stains in the first area exceeds the first preset stain amount threshold, the window cleaning machine is controlled to clean the first area again in the second cleaning mode; After the first area is cleaned, the window cleaning machine is controlled to clean the second area in a second cleaning mode.

6. The method according to claim 5, characterized in that, The process of dividing the cleaned surface into a first zone and a second zone includes: Record the real-time working position of the window cleaning machine on the cleaning surface and the corresponding cleaning path progress at the moment when the liquid shortage occurs; Based on the real-time operation location and the cleaning path progress, the cleaning surface is divided into a first zone and a second zone.

7. The method according to claim 5, characterized in that, The amount of stain residue in the first area is determined using at least one of the following methods: Based on the image of the wet state of the cleaned surface after the action of the cleaning liquid, which is collected by the visual sensor, the stain is identified and classified into levels in the image of the wet state to obtain the amount of stain residue in the first area. Based on the real-time turbidity changes of the wastewater recovered by the wastewater recovery pipeline and the location of the window cleaning machine at each time, the real-time turbidity changes are spatially aligned with each region, and the turbidity value corresponding to each region is mapped to the amount of stain residue in the first region. The current of the drive wheel of the window cleaning machine in the first zone is detected, and the amount of stain residue in the first zone is determined based on the comparison result of the drive wheel current and the preset reference value; wherein, the preset reference value is the drive wheel current measured by the window cleaning machine when running on a clean surface with the same parameters.

8. The method according to claim 5, characterized in that, The control of the window cleaning machine to perform cleaning on the first area again in a second cleaning mode includes: The cleaning intensity of the window cleaning machine on the first area is determined based on the amount of stain residue. Cleaning tasks are performed on the first area according to the cleaning intensity.

9. The method according to claim 8, characterized in that, Based on the amount of residual stains, the cleaning intensity of the window cleaning machine on the first area is determined, including: When the number of sub-regions in the first zone with a stain residue level exceeding a second preset stain amount threshold exceeds a preset proportion threshold as a percentage of the total number of sub-regions in the first zone, perform at least two of the following operations: Increase the pressure of the cleaning cloth on the cleaning surface; Increase the pressure of the cleaning scraper on the cleaning surface; Increase the density of cleaning paths; Increase the number of times the same cleaning path is traversed; Reduce the travel speed of the window cleaning machine.

10. The method according to claim 9, characterized in that, Before performing at least two of the following operations, it also includes: Obtain the surface roughness and / or stain type of the first region; Based on the surface roughness and / or the type of stain, determine the combination of operations to be performed from at least two operations.

11. The method according to claim 5, characterized in that, The method further includes: When the amount of residual stains in the first area is not greater than the first preset stain amount threshold, the window cleaning machine is controlled to clean the second area in the second cleaning mode, and the first area is not cleaned again.

12. The method according to claim 1, characterized in that, When the window cleaning machine switches from the first cleaning mode to the second cleaning mode, it continues to perform at least one of the following dry cleaning operations: Keep the drive mechanism of the window cleaning machine operational; Keep the cleaning cloth of the window cleaning machine in close contact with the surface being cleaned; Keep the window cleaning machine in contact with the surface to be cleaned.

13. The method according to claim 1, characterized in that, The method further includes: In the second cleaning mode, when at least one of the following operating conditions is met, the adsorption force of the window cleaning machine on the cleaning surface is controlled to decrease step by step; The window cleaning machine performs a steering maneuver, and the steering angle exceeds a preset angle threshold. The window cleaning machine completes the cleaning of the current area and moves to the next cleaning area, and the walking path crosses the edges of known obstacles or window frames; When the drive wheel current is greater than the first preset current threshold; The window cleaning machine receives a cleaning pause command or a return command.

14. The method according to claim 13, characterized in that, The method further includes: After reducing the adsorption force, if the current of the drive wheel exceeds the second preset current threshold, the window cleaning machine will stop moving and issue a reminder. Wherein, the second preset current threshold is greater than the first preset current threshold.

15. A cleaning control device for a window cleaning machine, characterized in that, The device includes: The first detection and control module is used to detect the liquid status of the cleaning fluid pipeline in response to the trigger command for executing the cleaning task; The first operation control module is used to control the window cleaning machine to perform cleaning tasks in the first cleaning mode when it is detected that the cleaning fluid pipeline is not short of fluid. The second detection and control module is used to detect the liquid status of the cleaning fluid pipeline in real time when the window cleaning machine is operating in the first cleaning mode. The second operation control module is used to control the window cleaning machine to switch from the first cleaning mode to the second cleaning mode when the cleaning fluid pipeline is detected to be low on fluid, and to perform the cleaning task in the second cleaning mode. In the first cleaning mode, the window cleaning machine performs water spraying cleaning during the cleaning process; in the second cleaning mode, the window cleaning machine pauses the water spraying operation and continues to perform at least part of the dry cleaning operation.

16. A window cleaning machine, characterized in that, The window cleaning machine is used to implement the method as described in any one of claims 1 to 14.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 14.

18. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 14.

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