Cleaning robot and control method therefor, cleaning base station, cleaning system, and readable storage medium

Abstract

A cleaning robot and a control method and apparatus therefor, a cleaning base station, a cleaning system, a device and a readable storage medium. The cleaning base station comprises at least a base (100), a suction member (200) and an operating accessory (300), wherein the suction member (200) is connected to the bottom end of the base (100), and the suction member (200) is configured to come into contact with a fixed surface (400) and enclose a suction space (500) with the fixed surface (400); the operating accessory (300) is connected to the upper portion of the base (100), the operating accessory (300) is connected to the suction member (200) by means of an opening and closing assembly (600), and the operating accessory (300) has a first position and a second position under the action of an external force; when the operating accessory (300) switches from the first position to the second position, the operating accessory (300) drives the opening and closing assembly (600) to operate, thus communicating the suction space (500) with the external environment. Flexible switching between fixed and non-fixed states of the cleaning base station can be realized, while improving usage safety.

Description

Cleaning robot and control method thereof, cleaning base station, cleaning system, and readable storage medium

[0001] This application claims priority to Chinese Patent Application No. 202411067246.0, filed on August 2, 2024, entitled “Cleaning base station and cleaning system,” No. 202411116813.7, filed on August 14, 2024, entitled “Control method, device, and equipment of facade cleaning robot and readable storage medium,” No. 202411388836.3, filed on September 30, 2024, entitled “Cleaning robot,” No. 202411095359.1, filed on August 9, 2024, entitled “Control method of facade cleaning robot and facade cleaning robot,” the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of cleaning equipment, in particular to a cleaning robot and a control method and device thereof, a cleaning base station, a cleaning system, an equipment, and a readable storage medium. BACKGROUND

[0003] With the rapid development of computer technology, Internet technology, and artificial intelligence technology, various smart home devices have gradually been applied in various aspects of work and life. Based on people's increasing demand for cleaning quality, traditional cleaning tools have gradually faded from people's sight. A large number of facade cleaning robots such as window cleaning robots, floor sweeping machines, and floor washing machines have entered user homes. After years of development, facade cleaning robots have shown a development trend of automation, functionalization, diversification, and specialization, and have been widely used in daily life. People can use facade cleaning robots to complete corresponding cleaning work of facade media.

[0004] A window cleaning robot is an intelligent cleaning device designed specifically for automatically cleaning window glass. They are suitable for use in various scenarios such as homes, offices, and commercial buildings, especially for high-rise buildings or hard-to-reach windows, providing great convenience and safety. In the prior art, if an abnormality occurs during the travel of the window cleaning robot on the facade medium, the window cleaning robot will stop working and stay in place, waiting for the user to remove it. If the user does not timely remove the window cleaning robot from the facade medium, there is a risk of falling, damaging the facade cleaning robot, and poor user experience.

[0005] In order to avoid the situation that the window cleaning robot falls from a high altitude and the base station connected with the window cleaning robot is also taken away, the prior art fixes the base station to a fixed object through a safety rope, so that the safety rope holds the base station to prevent the base station from being taken away.

[0006] However, in the above-mentioned way, the user needs to manually fasten the safety rope every time the window cleaning robot cleans the window, which increases the user's use burden and leads to poor user experience. On the other hand, the user often forgets to operate the fastening of the safety rope, thereby increasing the safety hazard of the window cleaning robot working.

[0007] In addition, the window cleaning robot must be tightly adsorbed on the glass surface when working. In order to achieve this purpose, a fan is arranged in the window cleaning robot, which sucks the gas between the adsorption surface and the working surface to form an adsorption cavity between the adsorption surface and the working surface. The air pressure in the adsorption cavity is lower than the atmospheric pressure to form a negative pressure, thereby adsorbing the window cleaning robot on the glass surface.

[0008] However, when the adsorption cavity leaks, if the window cleaning robot continues to walk, there is a risk of falling. Therefore, the window cleaning robot stops working and alarms to avoid falling, which leads to the failure to complete the cleaning task.

[0009] Further, in order to achieve high cleaning degree of glass, most window cleaning robots have left and right water spraying functions. Since the existing water spraying structure has water spraying through holes at both ends, when the machine runs in a certain posture, water will seep out of the water spraying through hole due to its own gravity, causing the phenomenon of water dripping from the water spraying through hole, which ultimately affects the window cleaning effect and user experience.

[0010] Therefore, the technical problem to be solved in the art is how to improve a cleaning robot to improve the window cleaning effect while ensuring the safe use of the cleaning robot and improving the user experience. SUMMARY

[0011] In order to solve the above-mentioned technical problems, the present application provides a cleaning robot, a control method and device thereof, a cleaning base station, a cleaning system, and a readable storage medium.

[0012] In one aspect, the present application provides a cleaning base station, which at least comprises a base, a suction accessory and an operation accessory; the suction accessory is connected with the bottom end of the base, and is used to contact with a fixed surface and form an adsorption space with the fixed surface; the operation accessory is connected with the upper part of the base, and is connected with the suction accessory through an on-off component, and has a first position and a second position under the action of an external force; wherein when the operation accessory is switched from the first position to the second position, the operation accessory drives the on-off component to work, so that the adsorption space is in communication with the external environment.

[0013] The application also provides a cleaning system, which comprises at least a cleaning base station and a cleaning device, wherein the cleaning base station is connected with the cleaning device through a second connecting element, the cleaning base station comprises at least a base, a suction accessory and an operating accessory, the suction accessory is connected with the bottom end of the base, the suction accessory is used to contact with a fixed surface and form a suction space with the fixed surface, the operating accessory is connected with the upper part of the base, the operating accessory is connected with the suction accessory through a switching element, and the operating accessory has a first position and a second position under the action of an external force, when the operating accessory is switched from the first position to the second position, the operating accessory drives the switching element to switch the suction space to be in communication with the external environment.

[0014] The application also provides a cleaning base station, which comprises at least a base, a suction accessory and an operating accessory, the suction accessory is connected with the bottom end of the base, the suction accessory is used to contact with a fixed surface and form a suction space with the fixed surface, the operating accessory is rotatably connected with the base, the operating accessory is directly connected with the edge of the suction accessory through a first connecting element, and the operating accessory has a first position and a second position under the action of an external force, when the operating accessory is switched from the first position to the second position in a rotating manner, one end of the first connecting element rotates with the operating accessory, and the other end of the first connecting element pulls the edge corner of the suction accessory to deform, so that the suction space is switched to be in communication with the external environment.

[0015] The application also provides a cleaning base station, which comprises at least a base, a suction accessory, a switching element and an operating accessory, the suction accessory is connected with the bottom end of the base, the suction accessory is used to contact with a fixed surface and form a suction space with the fixed surface, the switching element comprises a deflation element, a rotating element and a torsional spring, the deflation element is connected with the edge of the suction accessory, the rotating element is rotatably connected with the base through the middle part of the rotating element, the other end of the rotating element is located on the side of the deflation element away from the center line of the suction accessory, the deflation element is located on the rotating path of the other end of the rotating element, and the torsional spring is used to provide a restoring force for the movement of the other end of the rotating element away from the deflation element, the operating accessory is connected with the upper part of the base, the operating accessory is connected with one end of the rotating element through a first connecting element, the operating accessory is rotated from a first position to a second position under the action of an external force, when the external force is removed, the operating accessory is driven to switch from the second position to the first position under the action of gravity, and / or the restoring force of the torsional spring drives the operating accessory to switch from the second position to the first position through the rotating element and the pulling force of the first connecting element.

[0016] The application also provides a control method of a facade cleaning robot, which comprises:

[0017] controlling a fan of the facade cleaning robot to operate at a second rotational speed during the facade cleaning robot travels in the first direction, the second rotational speed being greater than or equal to a first rotational speed, the first rotational speed being a rotational speed of the fan when the facade cleaning robot is adsorbed on a working surface and is in a static state;

[0018] increasing the rotational speed of the fan in response to a gas leakage event, the gas leakage event referring to an event that triggers a gas leakage of a suction cavity after the facade cleaning robot travels onto a gas leakage obstacle, the suction cavity being a cavity for the fan to suck a gas between an adsorption surface and the working surface of the facade cleaning robot;

[0019] avoiding the gas leakage obstacle to travel.

[0020] In one embodiment, the increasing the rotational speed of the fan in response to the gas leakage event includes:

[0021] controlling the fan to operate at a third rotational speed or a fourth rotational speed in response to the gas leakage event, the third rotational speed being greater than the second rotational speed and less than the fourth rotational speed, the fourth rotational speed being a maximum rotational speed of the fan.

[0022] In one embodiment, the avoiding the gas leakage obstacle to travel includes:

[0023] controlling the facade cleaning robot to travel in a second direction to avoid the gas leakage obstacle, the second direction being opposite to the first direction.

[0024] In one embodiment, the increasing the rotational speed of the fan in response to the gas leakage event includes:

[0025] controlling the facade cleaning robot to stop moving in response to the gas leakage event;

[0026] controlling the fan to operate at a third rotational speed or a fourth rotational speed, the third rotational speed being greater than the second rotational speed and less than the fourth rotational speed, the fourth rotational speed being a maximum rotational speed of the fan.

[0027] In one embodiment, the avoiding the gas leakage obstacle to travel includes:

[0028] detecting a negative pressure value of the suction cavity;

[0029] controlling the facade cleaning robot to travel in a second direction to avoid the gas leakage obstacle when the negative pressure value of the suction cavity is higher than a preset negative pressure value, the second direction being opposite to the first direction.

[0030] In one embodiment, the increasing the rotational speed of the fan in response to the gas leakage event includes:

[0031] determining a power supply mode of the facade cleaning robot in response to the air leakage event;

[0032] controlling the fan to operate at a fourth rotating speed when the power supply mode is the mains power supply, the fourth rotating speed being a maximum rotating speed of the fan.

[0033] In one embodiment, the method further comprises:

[0034] controlling the facade cleaning robot to return to a pickup position in response to a cleaning end signal, the pickup position being an initial position where the facade cleaning robot initially adheres to the working surface or a position close to an edge frame where a user places the facade cleaning robot.

[0035] In one embodiment, the controlling the facade cleaning robot to return to a pickup position in response to a cleaning end signal comprises:

[0036] determining a plurality of displacement segments, the plurality of displacement segments comprising each displacement segment generated by a turning movement of the facade cleaning robot in a horizontal direction within a target time period, a starting point of the target time period being a time point when the facade cleaning robot detects an upper edge frame and adjusts to a horizontal movement posture, an ending point of the target time period being a time point when an edge detection event occurs, and at least one air leakage event occurring within the target time period; the facade cleaning robot performing horizontal movement after vertically moving from the initial position to detect an upper edge or a lower edge;

[0037] determining a first displacement and a second displacement from the plurality of displacement segments, the first displacement and the second displacement being two displacement segments with opposite directions in the turning movement in the horizontal direction;

[0038] controlling the facade cleaning robot to return to the pickup position from an ending position in response to a cleaning end signal according to the first displacement and the second displacement, the ending position being a position of the facade cleaning robot when the cleaning end signal is received.

[0039] In one embodiment, the controlling the facade cleaning robot to return to the pickup position from an ending position in response to a cleaning end signal according to the first displacement and the second displacement comprises:

[0040] controlling the facade cleaning robot to perform horizontal left movement by a first horizontal distance when the ending position is located at a right edge frame of the working surface and the edge detection event detects the right edge frame, and controlling the facade cleaning robot to perform vertical downward movement by a first vertical distance after detecting an upper edge frame.

[0041] The first horizontal distance is the difference between the sum of the first type of displacement and the sum of the second type of displacement, and the first vertical distance is the displacement of the facade cleaning robot vertically upward from the initial position to the upper edge.

[0042] In one embodiment, the air leakage barrier is an object with a height lower than a preset height, and the preset height is the lowest height of an obstacle that can be recognized by an obstacle detection sensor of the facade cleaning robot; or the air leakage barrier is a groove on the working surface.

[0043] In one embodiment, the method further comprises:

[0044] Controlling the facade cleaning robot to travel in a third direction under the restriction of a rope, one end of the rope being fixed and the other end being connected to the facade cleaning robot, the rope being a safety rope or a power line of the facade cleaning robot;

[0045] When the facade cleaning robot reaches the farthest position under the restriction of the rope, controlling the facade cleaning robot to travel in a fourth direction after downward detection, the third direction and the fourth direction being opposite, and the angle formed by the trajectory of the facade cleaning robot traveling in the third direction and the trajectory of downward detection being at most a right angle.

[0046] In one embodiment, before the facade cleaning robot reaches the farthest position under the restriction of the rope, the method further comprises:

[0047] Determining whether the posture of the facade cleaning robot changes from a first posture to a second posture during the travel of the facade cleaning robot in the third direction;

[0048] When the posture of the facade cleaning robot changes from the first posture to the second posture, determining that the facade cleaning robot reaches the farthest position under the restriction of the rope.

[0049] In one embodiment, before the facade cleaning robot reaches the farthest position under the restriction of the rope, the method further comprises:

[0050] Determining whether the driving current of the driving wheel of the facade cleaning robot is greater than a preset current during the travel of the facade cleaning robot in the third direction;

[0051] When the driving current of the driving wheel is greater than the preset current, determining that the facade cleaning robot reaches the farthest position under the restriction of the rope.

[0052] The application also provides a control method of a facade cleaning robot, comprising:

[0053] controlling a fan of the facade cleaning robot to operate at a second rotating speed during the facade cleaning robot travels in a first direction, the second rotating speed being greater than or equal to a first rotating speed, the first rotating speed being a rotating speed of the fan when the facade cleaning robot is adsorbed on a working surface and in a static state;

[0054] in response to a gas leakage event, controlling the fan of the facade cleaning robot to operate at the second rotating speed, and controlling the facade cleaning robot to travel in a second direction, the second direction being opposite to the first direction, the gas leakage event referring to an event that an adsorption cavity leaks gas after the facade cleaning robot travels onto a gas leakage obstacle, the adsorption cavity being a cavity for the fan to suck gas between an adsorption surface and a working surface of the facade cleaning robot.

[0055] The application also provides a control device integrated in a facade cleaning robot, the control device comprising:

[0056] a control module configured to control a fan of the facade cleaning robot to operate at a second rotating speed during the facade cleaning robot travels in a first direction, the second rotating speed being greater than or equal to a first rotating speed, the first rotating speed being a rotating speed of the fan when the facade cleaning robot is adsorbed on a working surface and in a static state;

[0057] a processing module configured to increase the rotating speed of the fan in response to a gas leakage event, the gas leakage event referring to an event that an adsorption cavity leaks gas after the facade cleaning robot travels onto a gas leakage obstacle, the adsorption cavity being a cavity for the fan to suck gas between an adsorption surface and a working surface of the facade cleaning robot;

[0058] a traveling module configured to travel away from the gas leakage obstacle.

[0059] The application also provides a control device integrated in a facade cleaning robot, the control device comprising:

[0060] a control module configured to control a fan of the facade cleaning robot to operate at a second rotating speed during the facade cleaning robot travels in a first direction, and control the facade cleaning robot to travel in a second direction, the second rotating speed being greater than or equal to a first rotating speed, the first rotating speed being a rotating speed of the fan when the facade cleaning robot is adsorbed on a working surface and in a static state;

[0061] The processing module is configured to control the facade cleaning robot to move in a second direction opposite to the first direction in response to a leakage event, the leakage event being an event that triggers leakage of the suction chamber after the facade cleaning robot moves onto a leakage obstacle, the suction chamber being a cavity for enabling the fan to suck air between the suction surface and the working surface of the facade cleaning robot.

[0062] In another aspect, the present application provides a facade cleaning robot, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to enable the facade cleaning robot to implement the facade cleaning robot control method.

[0063] In another aspect, the present application provides a non-volatile computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and the computer instructions are executable on a processor to implement the facade cleaning robot control method.

[0064] In another aspect, the present application provides a computer program product comprising a computer program, wherein the computer program is executable on a processor to implement the facade cleaning robot control method.

[0065] In another aspect, the present application provides a cleaning robot, comprising:

[0066] a body configured to move on a working surface, the body being configured to have a first movement posture for moving in a height direction on the working surface, and a second movement posture for moving in a horizontal direction;

[0067] a liquid storage device disposed in the body, the liquid storage device being provided with at least a first water outlet and a second water outlet in communication with an inner cavity of the liquid storage device, and a blocking device disposed adjacent to the first water outlet in the liquid storage device;

[0068] In a case where the body is switched from the second movement posture to the first movement posture, the blocking device is configured to prevent liquid from flowing back into the inner cavity of the liquid storage device through the first water outlet.

[0069] In an embodiment, the blocking device is configured to form a cavity enclosing the first water outlet and having an open end, and the first water outlet is configured to communicate with the inner cavity of the liquid storage device through the open end.

[0070] In an embodiment, in the first movement posture, the first water outlet is configured to be located above the second water outlet, and the open end of the cavity is configured to be located higher than the first water outlet, so as to prevent liquid from flowing back into the inner cavity of the liquid storage device through the first water outlet.

[0071] In one embodiment, when in the second movement posture, the opening end of the cavity is configured to face away from the first water outlet in the horizontal direction; and the liquid in the liquid storage device is configured to flow to the second water outlet and to the first water outlet through the opening end.

[0072] In one embodiment, when in the first movement posture, the first water outlet and the second water outlet are configured to be located on the upper and lower sides of the body, respectively; and the liquid in the liquid storage device is configured to have a tendency to flow to the second water outlet.

[0073] In one embodiment, when in the second movement posture, the liquid storage device is configured to be located above the first water outlet and the second water outlet; and the liquid in the liquid storage device is configured to have a tendency to flow to the first water outlet and the second water outlet under the action of gravity.

[0074] In one embodiment, the body is configured to switch between the first movement posture and the second movement posture.

[0075] When in the second movement posture, the first water outlet and the second water outlet are located on the two sides of the liquid storage device in the horizontal direction.

[0076] In one embodiment, the cleaning robot further comprises a liquid outlet device, the liquid outlet device comprising at least a first liquid outlet assembly and a second liquid outlet assembly, the first liquid outlet assembly and the second liquid outlet assembly being oppositely arranged on the two sides of the body; the first liquid outlet assembly is configured to be in communication with the first water outlet; the second liquid outlet assembly is configured to be in communication with the second water outlet; and the liquid in the liquid storage device is configured to flow out of the first liquid outlet assembly and / or the second liquid outlet assembly.

[0077] In one embodiment, the cleaning robot further comprises a control unit, when in the first movement posture, the control unit is configured to control only the second liquid outlet assembly to be powered on during the downward movement of the cleaning robot, so as to perform liquid outlet on the working surface below the cleaning robot; and to control the first liquid outlet assembly and the second liquid outlet assembly to be powered off during the upward movement of the cleaning robot.

[0078] In one embodiment, the cleaning robot further comprises a control unit, when in the second movement posture, the control unit is configured to control the first liquid outlet assembly to be powered on when the cleaning robot moves in the direction of the side where the first liquid outlet assembly is located; and to control the second liquid outlet assembly to be powered on when the cleaning robot moves in the direction of the side where the second liquid outlet assembly is located.

[0079] In one embodiment, the first liquid outlet assembly comprises a first liquid outlet seat having a first liquid outlet hole, a first adapter seat abutting the first liquid outlet seat, and a first atomizing sheet located between the first adapter seat and the first liquid outlet seat; the first atomizing sheet is configured to atomize liquid in an energized state and spray out from the first liquid outlet hole;

[0080] The second liquid outlet assembly comprises a second liquid outlet seat having a second liquid outlet hole, a second adapter seat abutting the second liquid outlet seat, and a second atomizing sheet located between the second adapter seat and the second liquid outlet seat; the second atomizing sheet is configured to atomize liquid in an energized state and spray out from the second liquid outlet hole.

[0081] In one embodiment, the liquid storage device comprises a main body, when in the first movement posture, the open end is located on the upper side of the main body and is configured to face the upper side of the main body.

[0082] In one embodiment, the main body is configured to extend outward at a position adjacent to the first water outlet to form an extension chamber in communication with the chamber of the main body, the blocking device is configured to extend from the position of the chamber of the main body into the extension chamber, and the open end is configured to be located in the extension chamber.

[0083] In one embodiment, the first water outlet is provided on the side wall of the liquid storage device, the blocking device comprises a semi-enclosed enclosing side wall, a bottom wall and a top wall, and the side wall of the liquid storage device is enclosed by the enclosing side wall, the bottom wall and the top wall to form the cavity; the enclosing side wall in a semi-enclosed manner forms the open end between its free end and the side wall of the liquid storage device.

[0084] In one embodiment, the liquid storage device comprises an upper shell and a lower shell; after the upper shell and the lower shell are buckled together, the upper shell, the blocking device and the lower shell are configured to be enclosed together to form the cavity.

[0085] Another aspect of the present application also provides a cleaning robot, comprising:

[0086] A body configured to move on a working surface, the body being configured to have a first movement posture moving in a height direction on the working surface;

[0087] A liquid storage device provided in the body, at least a first water outlet and a second water outlet being provided on the liquid storage device and in communication with the inner cavity thereof; a blocking device is provided in the liquid storage device adjacent to the first water outlet, the blocking device being configured to form a cavity enclosing the first water outlet and having an open end; the first water outlet is configured to be in communication with the inner cavity of the liquid storage device through the open end;

[0088] In the first motion state, the first water outlet is configured to be located above the second water outlet, and the open end of the cavity is configured to be located higher than the first water outlet to prevent liquid from flowing back into the inner cavity of the liquid storage device through the first water outlet.

[0089] In one embodiment, the body is configured to have a second motion state in which the body moves horizontally on the working surface; the body is configured to switch between the first motion state and the second motion state.

[0090] In the second motion state, the first water outlet and the second water outlet are located on both sides of the liquid storage device in the horizontal direction, and the open end of the cavity is configured to be directed away from the first water outlet in the horizontal direction; the liquid in the inner cavity of the liquid storage device is configured to flow to the second water outlet and to the first water outlet through the open end.

[0091] In one embodiment, when the body switches from the second motion state to the first motion state, the barrier device is configured to prevent liquid from flowing back into the inner cavity of the liquid storage device through the first water outlet.

[0092] In one embodiment, the first water outlet is provided on the side wall of the liquid storage device, and the barrier device includes a semi-enclosed enclosing side wall, a bottom wall, and a top wall, and the side wall of the liquid storage device and the enclosing side wall, the bottom wall, and the top wall enclose the cavity; the semi-enclosed enclosing side wall forms the open end between its free end and the side wall of the liquid storage device.

[0093] Another aspect of the present application also provides a control method of a facade cleaning robot, the method comprising:

[0094] controlling the facade cleaning robot to travel on a facade medium according to a specified travel route from a robot starting point;

[0095] determining a return reference distance of the facade cleaning robot according to travel information of the facade cleaning robot relative to the robot starting point;

[0096] controlling the facade cleaning robot to return to a robot ending point according to the return reference distance in response to a return signal, wherein the robot ending point is a position on the facade medium that is adapted for a user to perform a picking operation.

[0097] In one embodiment, the control of the facade cleaning robot to travel on the facade medium according to the specified travel route from the robot starting point further comprises:

[0098] determine a first distance between the robot start point and a first edge and a second distance between the robot start point and a second edge based on the travel information of the facade cleaning robot relative to the robot start point, wherein the first edge and the second edge are two edges parallel to the facade medium.

[0099] In one embodiment, the controlling the facade cleaning robot to return to the robot end point based on the return reference distance comprises:

[0100] In a case that the first distance is less than the second distance, controlling the facade cleaning robot to return to the robot start point based on the return reference distance and to continue to travel towards the first edge for a first set distance to the robot end point, wherein the robot end point is at a distance from the first edge less than or equal to the first distance.

[0101] In one embodiment, the controlling the facade cleaning robot to return to the robot end point based on the return reference distance comprises:

[0102] In a case that the first distance is less than the second distance, determining a robot end point on the facade medium, wherein the robot end point is at a distance from the first edge less than or equal to the first distance;

[0103] determining an updated return distance of the facade cleaning robot based on the robot end point and the return reference distance;

[0104] controlling the facade cleaning robot to travel to the robot end point based on the updated return distance.

[0105] In one embodiment, the determining a first distance between the robot start point and a first edge and a second distance between the robot start point and a second edge based on the travel information of the facade cleaning robot relative to the robot start point comprises:

[0106] controlling the facade cleaning robot to travel from the robot start point towards the first edge, and recording an edge distance between the robot start point and the first edge upon detecting that the facade cleaning robot reaches the first edge;

[0107] controlling the facade cleaning robot to turn from the first edge towards a third edge, wherein the third edge is an edge adjacent to the first edge;

[0108] determining a total edge distance between the first edge and the second edge based on a travel distance towards the second edge upon detecting that the facade cleaning robot turns from facing the third edge to facing the second edge;

[0109] determining a second distance between the robot start point and the second edge according to the total edge distance and the first distance.

[0110] In one embodiment, the method further comprises:

[0111] determining a distance difference between the first distance and the second distance;

[0112] calculating a ratio between the distance difference and the second distance, and when an absolute value of the ratio is greater than a deviation threshold, performing the controlling the facade cleaning robot to return to the robot end point according to the return reference distance, wherein the robot end point is closer to the first edge than the robot start point.

[0113] In one embodiment, the facade medium comprises a first edge and a second edge parallel to the first edge; and the robot end point is closer to the first edge than the robot start point when the robot start point is closer to the first edge than to the second edge.

[0114] In one embodiment, the method further comprises:

[0115] determining a region of the facade medium where the robot start point is located, wherein the region of the facade medium comprises adjacent first and second regions, and an edge of the facade medium close to the first region is a first edge and an edge of the facade medium close to the second region is a second edge;

[0116] if the robot start point is located in the first region, the robot end point is closer to the first edge than the robot start point;

[0117] if the robot start point is located in the second region, the robot end point is closer to the second edge than the robot start point.

[0118] In one embodiment, the facade medium comprises first, second and third regions, the second region is a region in a middle of the facade medium, and the first and third regions are regions close to any edge.

[0119] if the robot start point of the facade cleaning robot is located in the first or third region, performing a close-to-edge control, and if the robot start point of the facade cleaning robot is located in the second region, performing an operation of returning to the robot start point, wherein the close-to-edge control is to make the robot end point of the facade cleaning robot returned to be closer to an edge corresponding to a region where the robot end point is located than the robot start point.

[0120] In one embodiment, the controlling the facade cleaning robot to return to the robot end point according to the return reference distance comprises:

[0121] reading height information of the facade medium in the space;

[0122] in the case that the height information exceeds the distance threshold, controlling the facade cleaning robot to return to the robot start point according to the return reference distance, and controlling the facade cleaning robot to continue to travel a second set distance towards the lower edge of the facade medium to the robot end point, wherein the distance between the robot end point and the lower edge is less than the first distance threshold;

[0123] in the case that the height information is less than the distance threshold, controlling the facade cleaning robot to return to the robot start point according to the return reference distance, and controlling the facade cleaning robot to continue to travel a third set distance towards the upper edge of the facade medium to the robot end point, wherein the distance between the robot end point and the upper edge is less than the second distance threshold.

[0124] In one embodiment, the facade cleaning robot and the base station are connected through a cable; the method further comprises:

[0125] determining whether the facade cleaning robot is travelling towards the robot end point according to the travelling direction of the facade cleaning robot;

[0126] if yes, controlling the base station to perform a take-up action, wherein the take-up speed of the take-up action in a unit time is less than the displacement distance of the facade cleaning robot in the unit time;

[0127] in the case that the facade cleaning robot is detected to return to the robot end point, continuing to perform the take-up action until the take-up is completed.

[0128] In one embodiment, the method further comprises:

[0129] in the case that the return signal is detected, detecting the working parameter of the facade cleaning robot;

[0130] controlling the facade cleaning robot to give a return voice prompt according to the working parameter.

[0131] In one embodiment, the method further comprises:

[0132] in the case that the return signal is detected, giving a return voice prompt by using a gradual change in volume from small to large.

[0133] In one embodiment, the working parameter comprises a current working time of the facade cleaning robot; and the controlling the facade cleaning robot to give the return voice prompt according to the working parameter comprises:

[0134] If the current working time is less than a first time threshold, the facade cleaning robot is controlled to give the return voice prompt at a first volume;

[0135] If the current working time is not less than the first time threshold, the facade cleaning robot is controlled to give the return voice prompt at a second volume, wherein the second volume is greater than the first volume.

[0136] In one embodiment, the working parameter comprises a current working time of the facade cleaning robot; and the controlling the facade cleaning robot to give the return voice prompt according to the working parameter comprises:

[0137] If the current working time is less than a second time threshold, the facade cleaning robot is controlled to give the return voice prompt at a third volume;

[0138] If the current working time is not less than the second time threshold, the facade cleaning robot is controlled to give the return voice prompt at a fourth volume;

[0139] wherein the third volume is a gradually changing volume, and the fourth volume is a constant volume.

[0140] In one embodiment, the predetermined travel route comprises an edge distance detection route; and the determining the return reference distance of the facade cleaning robot according to the travel information of the facade cleaning robot relative to the robot starting point comprises:

[0141] controlling the facade cleaning robot to travel on the facade medium based on the edge distance detection route, wherein the edge distance detection route comprises a travel route towards at least two edges, and the at least two edges comprise two edges that are connected;

[0142] recording a detection distance of the facade cleaning robot travelling towards the at least two edges;

[0143] determining an edge distance of a corresponding edge according to the detection distance, and taking the determined edge direction and edge distance as the return reference distance.

[0144] In one embodiment, the robot end point is the same as the robot start point, the return reference distance comprises a first distance between the robot start point and a first edge, and a third distance between the robot start point and a third edge, the first edge and the third edge being adjacent; and the controlling the facade cleaning robot to return to the robot end point according to the return reference distance comprises:

[0145] controlling the facade cleaning robot to travel from the current position to the first edge, and to back off from the first edge to a first intermediate position by the first distance;

[0146] controlling the facade cleaning robot to travel from the first intermediate position to the third edge, and to back off from the third edge to the robot end point by the third distance.

[0147] In one embodiment, the robot end point is the same as the robot start point, the return reference distance comprises a third distance between the robot start point and a third edge, and a first travel distance towards a first edge, the first edge and the third edge being adjacent; and the controlling the facade cleaning robot to return to the robot end point according to the return reference distance comprises:

[0148] obtaining the first travel distance of the facade cleaning robot towards the first edge, and controlling the facade cleaning robot to back off from the first travel distance to a second intermediate position;

[0149] controlling the facade cleaning robot to back off from the second intermediate position to the robot end point by the third distance.

[0150] In one embodiment, the return reference distance comprises a distance between a current position of the facade cleaning robot in response to a return signal and the robot end point; and the controlling the facade cleaning robot to return to the robot end point according to the return reference distance comprises:

[0151] obtaining direction information between the current position and the robot end point;

[0152] controlling the facade cleaning robot to travel from the current position to the robot end point according to the direction information and the return reference distance.

[0153] In one embodiment, the method further comprises:

[0154] obtaining a third distance between the robot start point and a third edge, and a first travel distance towards a first edge;

[0155] determining a distance between the current position and the robot end point, and direction information between the current position and the robot end point according to the first travel distance and the third distance.

[0156] In one embodiment, the robot end point is the same as the robot start point, and the return reference distance further comprises a third distance between the robot start point and a third edge; and the controlling the facade cleaning robot to return to the robot end point according to the return reference distance comprises:

[0157] controlling the facade cleaning robot to move from the current position to the third intermediate position according to the direction information and the return reference distance;

[0158] moving from the third intermediate position to the third edge and retreating from the third edge to the robot end point by the third distance.

[0159] In one embodiment, the robot end point is the same as the robot start point, and the return reference distance comprises a second moving distance of the facade cleaning robot in a current moving direction; and the controlling the facade cleaning robot to return to the robot end point according to the return reference distance comprises:

[0160] acquiring the second moving distance of the facade cleaning robot in the current moving direction when the edge distance is not acquired;

[0161] controlling the facade cleaning robot to retreat to the robot end point by the second moving distance.

[0162] Another aspect of the present application further provides a control unit of a facade cleaning robot, the control unit comprising:

[0163] a moving module configured to control the facade cleaning robot to move on a facade medium from a robot start point according to a specified moving route;

[0164] a determining module configured to determine a return reference distance of the facade cleaning robot according to moving information of the facade cleaning robot relative to the robot start point;

[0165] a controlling module configured to control the facade cleaning robot to return to a robot end point according to the return reference distance in response to a return signal, wherein the robot end point is a position on the facade medium adapted for a user to perform a picking operation.

[0166] Another aspect of the present application further provides a facade cleaning robot, comprising:

[0167] a body,

[0168] a driving module arranged in the body and configured to drive the body to move;

[0169] an executing module arranged in the body and configured to perform a work task.

[0170] a memory and a processor;

[0171] The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions, so as to implement the steps of the control method of the facade cleaning robot.

[0172] In another aspect, the present application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the control method of the facade cleaning robot.

[0173] In another aspect, the present application also provides a computer program product comprising computer programs / instructions, which, when executed by a processor, implement the steps of the control method of the facade cleaning robot.

[0174] In another aspect, the present application also provides a control method of a facade cleaning robot, which controls the facade cleaning robot to travel on a facade medium according to a specified travel route from a robot starting point; determines a return reference distance of the facade cleaning robot according to travel information of the facade cleaning robot relative to the robot starting point; and controls the facade cleaning robot to return to a robot ending point according to the return reference distance in response to a return signal, wherein the robot ending point is a position on the facade medium suitable for a user to perform a picking operation. BRIEF DESCRIPTION OF DRAWINGS

[0175] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0176] FIG. 1 is a structural schematic diagram of a cleaning base station provided by an embodiment of the present application;

[0177] FIG. 2 is a structural schematic diagram of a cleaning base station with an operating accessory in a first position provided by an embodiment of the present application;

[0178] FIG. 3 is a structural schematic diagram of a cleaning base station with an operating accessory in a second position provided by an embodiment of the present application;

[0179] FIG. 4 is a semi-partial structural schematic diagram of a connection between an operating accessory and a base provided by an embodiment of the present application;

[0180] FIG. 5 is a first side structural schematic diagram of a cleaning base station provided by an embodiment of the present application;

[0181] Fig. 6 is a partial cross-sectional view of a cleaning base station according to an embodiment of the present application;

[0182] Fig. 7 is an exploded view of a cleaning base station according to an embodiment of the present application;

[0183] Fig. 8 is a top view of a cleaning base station according to an embodiment of the present application;

[0184] Fig. 9 is an exploded view of a cleaning base station according to another embodiment of the present application;

[0185] Fig. 10 is a view of a connection state of a switching assembly and a suction accessory according to an embodiment of the present application;

[0186] Fig. 11 is a view of a structure of a switching assembly according to an embodiment of the present application;

[0187] Fig. 12 is a view of a connection state of a switching assembly and a suction accessory according to another embodiment of the present application;

[0188] Fig. 13 is a view of a structure of a cleaning system according to an embodiment of the present application.

[0189] Fig. 14a is a perspective view of a facade cleaning robot according to an embodiment of the present application;

[0190] Fig. 14b is a bottom view of a facade cleaning robot according to an embodiment of the present application;

[0191] Fig. 15 is a flowchart of a control method of a facade cleaning robot according to an embodiment of the present application;

[0192] Fig. 16 is a view of one scenario of a control method of a facade cleaning robot according to an embodiment of the present application;

[0193] Fig. 17 is a view of another scenario of a control method of a facade cleaning robot according to an embodiment of the present application;

[0194] Fig. 18 is a view of yet another scenario of a control method of a facade cleaning robot according to an embodiment of the present application;

[0195] Fig. 19 is a view of yet another scenario of a control method of a facade cleaning robot according to an embodiment of the present application;

[0196] Fig. 20 is a view of an arch-shaped cleaning mode in a control method of a facade cleaning robot according to an embodiment of the present application;

[0197] Fig. 21a is a view of one scenario of a control method of a facade cleaning robot according to an embodiment of the present application;

[0198] Fig. 21b is a view of one scenario of a control method of a facade cleaning robot according to an embodiment of the present application;

[0199] FIG. 21c is a schematic diagram of a control method of the facade cleaning robot according to an embodiment of the present application;

[0200] FIG. 21d is a schematic diagram of a control method of the facade cleaning robot according to an embodiment of the present application;

[0201] FIG. 22 is another flow chart of a control method of the facade cleaning robot according to an embodiment of the present application;

[0202] FIG. 23 is another schematic diagram of a control method of the facade cleaning robot according to an embodiment of the present application;

[0203] FIG. 24 is another schematic diagram of a control method of the facade cleaning robot according to an embodiment of the present application;

[0204] FIG. 25 is another schematic diagram of a control method of the facade cleaning robot according to an embodiment of the present application;

[0205] FIG. 26 is another schematic diagram of the facade cleaning robot according to an embodiment of the present application;

[0206] FIG. 27 is another schematic diagram of the facade cleaning robot according to an embodiment of the present application;

[0207] FIG. 28 is a schematic diagram of a control device according to an embodiment of the present application;

[0208] FIG. 29 is a schematic diagram of a structure of the facade cleaning robot according to an embodiment of the present application.

[0209] FIG. 30 is a schematic diagram of a specific structure of the cleaning robot according to an embodiment of the present application;

[0210] FIG. 31 is a schematic diagram of a specific structure of the liquid storage device and the liquid outlet device according to an embodiment of the present application;

[0211] FIG. 32 is a schematic diagram of a specific structure of the liquid storage device and the liquid outlet device according to an embodiment of the present application;

[0212] FIG. 33 is an exploded schematic diagram of the liquid storage device and the liquid outlet device according to an embodiment of the present application;

[0213] FIG. 34 is an enlarged schematic diagram of the circle in FIG. 33;

[0214] FIG. 35 is a schematic diagram of the liquid storage device and the liquid outlet device in a first movement posture according to an embodiment of the present application;

[0215] FIG. 36 is a schematic diagram of the liquid storage device and the liquid outlet device in a second movement posture according to an embodiment of the present application;

[0216] FIG. 37 is a schematic diagram of the cleaning robot according to an embodiment of the present application.

[0217] FIG. 38 is a flowchart of a control method of a facade cleaning robot according to an embodiment of the present application;

[0218] FIG. 39a is a schematic diagram of a travel route of a first facade cleaning robot according to an embodiment of the present application traveling on a facade medium;

[0219] FIG. 39b is a schematic diagram of a travel route of a second facade cleaning robot according to an embodiment of the present application traveling on a facade medium;

[0220] FIG. 39c is a schematic diagram of a travel route of a third facade cleaning robot according to an embodiment of the present application traveling on a facade medium;

[0221] FIG. 39d is a schematic diagram of a travel route of a fourth facade cleaning robot according to an embodiment of the present application traveling on a facade medium;

[0222] FIG. 39e is a schematic diagram of a travel route of a fifth facade cleaning robot according to an embodiment of the present application traveling on a facade medium;

[0223] FIG. 39f is a schematic diagram of a travel route of a sixth facade cleaning robot according to an embodiment of the present application traveling on a facade medium;

[0224] FIG. 39g is a schematic diagram of a travel route of a seventh facade cleaning robot according to an embodiment of the present application traveling on a facade medium;

[0225] FIG. 39h is a schematic diagram of a travel route of a first facade cleaning robot according to an embodiment of the present application returning to a robot end point;

[0226] FIG. 39i is a schematic diagram of a travel route of a second facade cleaning robot according to an embodiment of the present application returning to a robot end point;

[0227] FIG. 39j is a schematic diagram of a travel route of a third facade cleaning robot according to an embodiment of the present application returning to a robot end point;

[0228] FIG. 39k is a schematic diagram of a travel route of a fourth facade cleaning robot according to an embodiment of the present application returning to a robot end point;

[0229] FIG. 39l is a schematic diagram of a travel route of a fifth facade cleaning robot according to an embodiment of the present application returning to a robot end point;

[0230] FIG. 39m is a schematic diagram of a travel route of a sixth facade cleaning robot according to an embodiment of the present application returning to a robot end point;

[0231] FIG. 39n is a schematic diagram of a facade medium according to an embodiment of the present application;

[0232] Fig. 39o is a schematic view of another facade medium according to an embodiment of the present application;

[0233] Fig. 39p is a schematic view of a space in which a facade medium according to an embodiment of the present application is located;

[0234] Fig. 39q is a schematic view of a facade cleaning robot falling from a facade medium according to an embodiment of the present application;

[0235] Fig. 40a is a flow chart of a process of a control method of a facade cleaning robot according to an embodiment of the present application;

[0236] Fig. 40b is a schematic view of a process interface of a control method of a facade cleaning robot according to an embodiment of the present application;

[0237] Fig. 41 is a schematic view of a structure of a control unit of a facade cleaning robot according to an embodiment of the present application;

[0238] Fig. 42 is a block diagram of a facade cleaning robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0239] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe embodiments of the present application with reference to the accompanying drawings. The terms such as "upper", "above", "lower", "below", "first end", "second end", "one end", "the other end", and the like expressing spatial relative positions are used for the purpose of convenient description to describe the relationship of one unit or feature relative to another unit or feature as shown in the drawings. The terms of spatial relative positions can be intended to include different orientations of the device in use or operation other than the orientation shown in the drawings. For example, if the device in the drawings is turned over, the unit described as "below" or "under" other units or features will be "above" other units or features. Therefore, the exemplary term "below" can encompass both above and below orientations. The device can be oriented in other ways (rotated 90 degrees or other orientations), and the spatial-related descriptions used herein are interpreted accordingly.

[0240] In addition, the terms "mount", "provide", "provided with", "connect", "slidably connect", "fix", and "socket" should be interpreted broadly. For example, "connect" can be fixed connection, detachable connection, or integral configuration; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium, or internal communication between two devices, elements, or components. Those skilled in the art can understand the specific meanings of the above terms in the present application according to specific circumstances.

[0241] With the improvement of people's living standards, more and more families begin to use various cleaning equipment, such as sweeping robots, window cleaning robots and other equipment to reduce labor intensity and improve the quality of life. Taking the window cleaning robot as an example, the window cleaning robot usually works with the base station. The window cleaning robot is used to clean the surface of the window, and the base station is connected with the window cleaning robot through the cable to provide power supply for the window cleaning robot and allow the window cleaning robot to charge when needed.

[0242] In order to avoid the situation that the window cleaning robot falls from the high altitude and the base station connected with the window cleaning robot is also taken away, the prior art is to fix the base station with a fixed object (such as a railing and a wall, etc.) through a safety rope, so as to pull the base station through the safety rope to prevent the base station from being taken away, and pull the window cleaning robot to avoid the window cleaning robot falling directly. However, the above-mentioned method also causes the user to manually tie the safety rope every time the window is cleaned, which on the one hand increases the user's use burden and causes poor user experience; on the other hand, the user often forgets to operate the safety rope, thereby increasing the safety risk of the window cleaning robot. And due to the softness of the safety rope, there is a certain movement space between the base station and the fixed object. When the window cleaning robot falls, the window cleaning robot will not take the base station down together, but will also make the base station move and collide with the fixed object, thereby affecting the service life of the base station.

[0243] In view of the above problems, the present application attempts to set an suction accessory on the bottom of the base station, and set a deflation valve for controlling the suction accessory on-off on the suction accessory, and control whether the suction accessory is adsorbed to the ground by controlling the deflation valve, so as to ensure the safety in use. However, when the automatic control mode is adopted, the electric device for controlling the opening and closing of the deflation valve needs to be set on the base station, and the window cleaning robot is linked with the electric device, which is high in cost; when the manual control mode is adopted, the user needs to manually open and close the valve. The valve is closed when the window cleaning robot works, and the valve needs to be opened when the window cleaning robot does not work. Not only the use experience is poor, but also the user is easy to forget to close the valve, which causes the base station to have no safety adsorption function when the window cleaning robot works, and there is a safety risk.

[0244] In order to effectively solve the problem of high cost and the security vulnerability, the application proposes an innovative solution. The solution still adopts a manual operation mode to reduce operating costs, but the on-off of the suction space formed by the suction accessory and the external environment is linked to the position of the handle on the base station. Specifically, when the base station is unattended, the handle remains in a natural drooping position, and the suction accessory is tightly attached and adsorbed to the ground due to the gravity of the base station. Once the user needs to lift the base station, the handle will switch from the drooping position to the lifting position, and during this process, as the handle rises, the suction space of the suction accessory gradually communicates with the external environment, thereby realizing the automatic detachment of the suction accessory. In short, the application closely links the suction state of the suction accessory to the position of the handle. At the same time, it can be understood that the user moves the cleaning base station by lifting the base station through the handle. That is, the position of the handle of the base station directly reflects the user's movement of the base station, that is, when the user needs to move the base station, the position of the handle will inevitably change. For example, when the cleaning base station is in a normal working state, the base station is adsorbed on the fixed surface to pull the cleaning equipment to prevent it from falling, and the user usually does not need to move the base station, and the handle is in a drooping position under its own gravity. When the cleaning area of the cleaning equipment is too large, and the cleaning range of the existing base station fixed position cannot be reached, the user needs to move the base station to the vicinity of the uncleaned area, at this time, the user lifts the handle to a vertical position, the suction space of the suction accessory gradually communicates with the external environment, realizing the automatic detachment of the suction accessory, and then the user can easily lift the base station through the handle and move it. Furthermore, when the base station is finished, the user also needs to lift the handle to a vertical position, the suction space of the suction accessory gradually communicates with the external environment, thereby realizing the automatic detachment of the suction accessory, and then the user can easily lift the base station through the handle and move it to the storage area. Obviously, this design not only realizes non-inductive adsorption, greatly reduces the cost of safe adsorption, but also significantly improves the user's experience and safety performance.

[0245] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings. Obviously, the embodiments described in the application are only part of the embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0246] Please refer to FIG. 1 to FIG. 3, in an embodiment, the cleaning base station A can at least include a base 100, a suction accessory 200 and an operation accessory 300. The base 100 is used as the basic carrier of the cleaning base station A, and the base 100 is used to support and protect other components on the cleaning base station A. The suction accessory 200 is connected to the bottom end of the base 100, and the suction accessory 200 is used to contact the fixed surface 400 and form a suction space 500 together with the fixed surface 400. When the cleaning base station A is placed on the fixed surface 400, the suction accessory 200 contacts the fixed surface 400, and the gravity of the base 100 is applied to the suction accessory 200 to extrude the suction accessory 200 to produce elastic deformation, thereby at least partially extruding the air in the suction space 500 to form a low-pressure area in the suction space 500. The atmospheric pressure of the external environment is relatively high, which will generate an inward pressure on the suction accessory 200, so that the suction accessory 200 generates a suction force and is firmly fixed on the fixed surface 400. It should be pointed out that when the gravity of the base 100 is insufficient to extrude the air in the suction space 500 as much as possible to make the suction accessory 200 firmly adsorbed on the fixed surface 400, the user can also press the base 100 manually or use other pressing parts to press the base 100 to assist the base 100 to be firmly adsorbed on the fixed surface 400 through the suction accessory 200. The fixed surface 400 refers to a relatively smooth plane, which can be the surface of the ground, the surface of the table or the surface of other heavy objects, etc.

[0247] In actual application, the specific structure of the suction accessory 200 can refer to the existing suction disc structure. The suction accessory 200 can be connected to the bottom surface of the base 100, and the suction accessory 200 can also be connected to the bottom of the side surface of the base 100. Both of the above two ways can realize that when the cleaning base station A is placed on the fixed surface 400, the suction accessory 200 can be adsorbed on the fixed surface 400 under the action of the gravity of the base 100. However, in order to make the gravity of the base 100 mainly applied to the suction accessory 200, so that the suction accessory 200 can be more firmly adsorbed on the fixed surface 400, the application preferably connects the suction accessory 200 to the bottom surface of the base 100.

[0248] In the embodiment, the operation accessory 300 is connected to the upper part of the base 100, the operation accessory 300 is connected to the suction accessory 200 through the on-off assembly 600, and the operation accessory 300 has a first position and a second position under the action of an external force. When the operation accessory 300 is switched from the first position to the second position, the operation accessory 300 drives the on-off assembly 600 to work, so that the suction space 500 is communicated with the external environment, thereby releasing the suction of the suction accessory 200 to the fixed surface 400. That is, the application associates the suction state of the suction accessory 200 with the position of the operation accessory 300, controls whether the suction accessory 200 is suctioned or not by adjusting the position of the operation accessory 300, so that the suction control end of the suction accessory 200 is transferred to the upper part of the base 100, which can facilitate the user to control whether the suction accessory 200 is suctioned or not, that is, to realize flexible switching of the cleaning base between the fixed and non-fixed states, and improve the user experience. At the same time, the control end of whether the cleaning base A is fixed is located at the upper part of the base 100, that is, at a conspicuous position which is easy to observe, which can remind the user to fix the cleaning base A at any time, reduce the possibility that the user forgets to fix the cleaning base A, thereby reducing the safety hazard of work and improving the use safety.

[0249] It is worth mentioning that, compared with the mode that the cleaning base A is directly buckled on the fixed object by a safety rope, the cleaning base A of the application is suctioned and fixed on the fixed surface 400, and there is no relative movement space between the cleaning base A and the fixed surface 400. In this way, when the cleaning equipment falls, the cleaning base A always remains stationary relative to the fixed surface 400, thereby avoiding that the cleaning base A moves with the cleaning equipment and collides with external objects to be damaged, and further improving the service life of the cleaning base A.

[0250] In actual application, the above-mentioned operation accessory 300 can be connected to the top surface of the base 100, or the operation accessory 300 can be connected to the top of the side surface of the base 100, which is not specifically limited herein. The cleaning base A of the application is usually used in cooperation with the cleaning equipment, that is, the cleaning base A works cooperatively with the cleaning equipment. The cleaning equipment can be a window cleaning robot or other equipment for high-altitude operation. In order to facilitate understanding of the specific working principle of the cleaning base A, taking the cleaning equipment as a window cleaning robot as an example, the cleaning base 100 is connected to the window cleaning robot, and when the window cleaning robot works, the cleaning base A is placed in a safe area and is suctioned and fixed on the fixed surface 400 by the suction accessory 200, so that the window cleaning robot is pulled by the cleaning base A to prevent the window cleaning robot from falling from a high altitude. When the window cleaning robot completes the work, the user adjusts the position of the operation accessory 300 to release the suction state of the suction accessory 200, thereby facilitating the movement of the cleaning base A.

[0251] In the embodiment of the present application, the operation accessory 300 is used not only to control the suction and release of the suction accessory 200 and the fixed surface 400, but also to provide a user with a force application position for extracting the cleaning base A, that is, the user can also extract the cleaning base A by operating the operation accessory 300. In this way, during the extraction of the cleaning base A, the operation accessory 300 is switched from the first position to the second position, and the operation accessory 300 drives the on-off assembly 600 to work, so that the suction space 500 is in communication with the external environment, thereby releasing the suction of the suction accessory 200 and the fixed surface 600. In this way, the lifting of the cleaning base A and the release of the suction operation can be realized at the same time through one action of extracting the operation accessory 300, thereby realizing the release of the suction without feeling and improving the user experience.

[0252] In actual application, when the user places the cleaning base A on the fixed surface 400 by operating the operation accessory 300, the operation accessory 300 naturally falls to the first position under the action of its own gravity as the user releases the operation accessory 300, and at the same time, the cleaning base A presses the suction accessory 200 by its own gravity, so that the suction accessory 200 is suctioned to the fixed surface 400. When the user lifts the cleaning base A by operating the operation accessory 300, the operation accessory 300 is switched from the first position to the second position, and the user lifts the cleaning base A by operating the operation accessory 300, and at the same time, the operation accessory 300 pulls the on-off assembly 600 to make the suction space 500 in communication with the external environment, thereby releasing the suction of the suction accessory 200. In this way, the placing of the cleaning base A and the stable suction of the cleaning base A to the fixed surface 400 can be realized at the same time through one action of placing the cleaning base A, and the lifting of the cleaning base A and the release of the suction operation can be realized at the same time through one action of lifting and pulling the operation accessory 300, thereby realizing the automatic suction and release of the suction, avoiding the safety hazard caused by the user forgetting to fix the cleaning base A, and realizing the suction without feeling, greatly reducing the cost of safe suction, and more significantly improving the user experience and safety performance.

[0253] The operation accessory 300 can be switched between the first position and the second position by rotating, and details are described again with reference to FIGS. 1 to 3. In the embodiment of the present application, the operation accessory 300 is rotationally connected with the base 100, and the operation accessory 300 is connected with the on-off assembly 600 through the first connecting piece 710. When the operation accessory 300 is switched from the first position to the second position by rotating, one end of the first connecting piece 710 rotates with the operation accessory 300, thereby pulling the other end of the first connecting piece 710 to pull the on-off assembly 600 to make the suction space 500 in communication with the external environment, so as to release the suction state of the suction accessory 200.

[0254] In practical application, the first connecting member 710 should be a flexible long strip member, so that the first connecting member 710 can be wound on the rotating shaft of the operating accessory 300 or a member driven by the rotating shaft along with the rotation of the operating accessory 300, wherein the first connecting member 710 can be a string or a wire.

[0255] As to the specific structure of the operating accessory 300 switched between the first position and the second position by rotation, the present application provides two implementable embodiments for reference, but not limited thereto.

[0256] Embodiment one: as shown in FIG. 2 and FIG. 3, the operating accessory 300 can be used as a handle. Specifically, the operating accessory 300 spans the base 100, one end of the operating accessory 300 is rotationally connected with the first side 110 of the base 100, the other end of the operating accessory 300 is rotationally connected with the second side 120 of the base 100, and the first side 110 and the second side 120 are oppositely arranged. When the operating accessory 300 is in the first position, the operating accessory 300 is located below the top surface of the base 100 (as shown in FIG. 2), and when the operating accessory 300 is in the second position, the operating accessory 300 is partially located above the top surface of the base 100 (as shown in FIG. 3).

[0257] In this embodiment, the rotation axis of one end of the operating accessory 300 and the rotation axis of the other end of the operating accessory 300 should be located on the same straight line, so as to ensure that the operating accessory 300 as a whole can rotate relative to the base 100. Correspondingly, one end of the first connecting member 710 is connected with the outer peripheral wall of the rotating shaft of one end of the operating accessory 300, or connected with a member driven by the rotating shaft of one end of the operating accessory 300 to rotate along with the rotating shaft, so that the first connecting member 710 can be wound or released along with the rotation of the operating accessory 300.

[0258] In practical application, when the user places the cleaning base A on the fixed surface 400, along with the user releasing the operating accessory 300, the operating accessory 300 rotates from the second position to the first position under the action of its own gravity, the first connecting member 710 wound by one end of the operating accessory 300 is released, the first connecting member 710 changes from the tension state to the relaxed state, the first connecting member 710 does not have pulling force on the on-off assembly 600, the on-off assembly 600 returns to the initial state, and at the same time, the suction accessory 200 is adsorbed to the fixed surface 400 under the gravity of the base 100. When the cleaning base A is in the non-use state, the user needs to lift the cleaning base A by the operating accessory 300, the user lifts the operating accessory 300 from the first position to the second position, at the same time, the operating accessory 300 pulls the on-off assembly 600 to make the adsorption space 500 communicate with the external environment, and the adsorption of the suction accessory 200 is released. Then, the user lifts the cleaning base A by the operating accessory 300, so that the cleaning base A is smoothly lifted.

[0259] The operation accessory 300 can be configured as a U-shaped structure or an arc-shaped structure, and of course, the operation accessory 300 can also be any curved structure with an upward arch shape.

[0260] As shown in FIG. 4, in the embodiment of the present application, the cleaning base station A can further include a transfer wheel 720. The transfer wheel 720 is rotationally connected to the first side 110 of the base 100, and the rotation axis of the transfer wheel 720 coincides with the rotation axis of one end of the operation accessory 300. One end of the first connecting member 710 is connected to the outer peripheral wall of the transfer wheel 720. One end of the operation accessory 300 is connected to the transfer wheel 720, and when the operation accessory 300 switches between the first position and the second position, the transfer wheel 720 can rotate with the operation accessory 300, so that the transfer wheel 720 can wind or release the first connecting member 710.

[0261] Further, the outer peripheral wall of the transfer wheel 720 is formed with a winding groove 721, and the first connecting member 710 is connected to the groove wall of the winding groove 721. When the transfer wheel 720 winds the first connecting member 710, the first connecting member 710 can be accommodated in the winding groove 721, avoiding the dislocation of the first connecting member 710 affecting the rotation of the operation accessory 300, and ensuring the stable operation of the cleaning base station A.

[0262] It should be pointed out that the first side 110 of the base 100 can be any one of the left side, the right side, the front side and the rear side. When the first side 110 is the left side, correspondingly, the second side 120 is the right side. Similarly, when the first side 110 is the front side, the second side 120 is the rear side.

[0263] In actual application, one end of the operation accessory 300 can be provided with a limiting block, and the transfer wheel 720 is provided with a limiting groove corresponding to the limiting block. The operation accessory 300 is connected to the transfer wheel 720 by inserting the limiting block into the limiting groove, so that when the operation accessory 300 rotates, the operation accessory 300 can drive the transfer wheel 720 to rotate together through the cooperation of the limiting block and the limiting groove. Of course, one end of the operation accessory 300 can be connected to the transfer wheel 720 by screwing and bonding, and the present application does not make specific limitation thereto.

[0264] In the embodiment, the inner diameter of the winding groove 721 should be greater than the diameter of the rotating shaft of one end of the operation accessory 300, so that compared with the connection mode of the first connecting member 710 and the rotating shaft of one end of the operation accessory 300, the first connecting member 710 can have a larger moving stroke in the rotation process of the operation accessory 300, so as to pull the on-off assembly 600 to make the suction space 500 communicate with the external environment.

[0265] In order to further avoid the first connecting member 710 from being scattered and dislocated during movement, as shown in FIG. 5 and FIG. 6, in an embodiment, the first side 110 of the base 100 can further be provided with a right-angle guide seat 730 and at least one limiting member 740. The limiting member 740 is located between the right-angle guide seat 730 and the adapter wheel 720, and the first connecting member 710 is connected with the on-off assembly 600 under the guidance of the limiting member 740 and the right-angle guide seat 730, so as to avoid the dislocation of the first connecting member 710 when it is conducted from the upper part to the bottom end of the base 100. Meanwhile, the right-angle guide seat 730 can convert the movement direction of the first connecting member 710, so that the first connecting member 710 driven by the adapter wheel 720 originally moves vertically and is changed to move horizontally. Such a design can be matched with the horizontally placed on-off assembly 600 to realize the control function thereof.

[0266] In actual application, the angle of the right-angle guide seat 730 should be smoothly transitioned to reduce the friction between the right-angle guide seat 730 and the first connecting member 710. Of course, the right-angle guide seat 730 can also be replaced by a pulley, and the movement and reversing of the first connecting member 710 can be realized by the pulley. The cleaning base A usually further includes a shell for covering the outer side of the base 100 to ensure the overall aesthetics of the cleaning base A. The above-mentioned first connecting member 710, adapter wheel 720, right-angle guide seat 730 and limiting member 740 should be covered by the shell to avoid being exposed to the outer side of the cleaning base A, so as to ensure the aesthetics and prevent the user from touching the first connecting member 710 by mistake to cause the failure of the suction effect of the suction accessory 200.

[0267] Embodiment II: As shown in FIG. 7 and FIG. 8, the operation accessory 300 can be used as a fastener. Specifically, the operation accessory 300 is located on the top surface of the base 100, and the operation accessory 300 is rotationally connected with the base 100 through a rotating shaft 750. The operation accessory 300 extends outward from the rotating shaft 750 in the radial direction of the rotating shaft 750, so that the rotating shaft 750 can be driven to rotate by flipping the operation accessory 300. In actual application, the user can flip the operation accessory 300 to switch the operation accessory 300 between a first position and a second position. When the operation accessory 300 is located at the first position, the operation accessory 300 is substantially flush with the top surface of the base 100. When the operation accessory 300 is located at the second position, the operation accessory 300 is partially located above the top surface of the base 100, so as to facilitate the user to grasp the operation accessory 300 and lift the cleaning base A through the operation accessory 300.

[0268] In the embodiment of the present application, one end of the rotating shaft 750 extends to the first side 110, and one end of the first connecting member 710 is connected with the outer peripheral wall of one end of the rotating shaft 750. When the operation accessory 300 rotates, the operation accessory 300 can drive one end of the first connecting member 710 to rotate together with the operation accessory 300 through the rotating shaft 750.

[0269] In another embodiment of the present application, one end of the rotating shaft 750 extends to the first side 110 and is connected with the adapter wheel 720, and one end of the first connecting member 710 is connected with the outer peripheral wall of the adapter wheel 720 to drive the one end of the first connecting member 710 to rotate along with the operation accessory 300 through the adapter wheel 720.

[0270] Further, the outer peripheral wall of the adapter wheel 720 is formed with a winding groove 721, and one end of the first connecting member 710 is connected with the groove wall of the winding groove 721. When the adapter wheel 720 winds the first connecting member 710, the first connecting member 710 can be accommodated into the winding groove 721 to avoid the dislocation of the first connecting member 710 affecting the rotation of the operation accessory 300, and ensure the stable operation of the cleaning base station A.

[0271] In the embodiment, the operation accessory 300 can be configured as an arc structure or a U-shaped structure, and two ends of the operation accessory 300 are connected with the rotating shaft 750. Among them, the operation accessory 300 should be arranged close to the middle position of the top surface of the base 100. In this way, when the user lifts the cleaning base station A through the operation accessory 300, the cleaning base station A can be smoothly lifted, avoiding the deflection of the cleaning base station A, and improving the user experience.

[0272] In actual application, the top surface of the base 100 can be provided with a containing groove, and the operation accessory 300 is located in the containing groove. When the operation accessory 300 is located in the first position, the operation accessory 300 is accommodated in the containing groove, so that when the operation accessory 300 is not used, the operation accessory 300 does not protrude outward from the base 100, ensuring the aesthetics of the cleaning base station A.

[0273] The above operation accessory 300 can also be switched between the first position and the second position through linear motion. For example, as shown in FIG. 9, the operation accessory 300 can be used as a hanging ear. Among them, there can be two hanging ears, and the two hanging ears are respectively located at both ends of the top surface of the base 100. The user can lift the cleaning base station A by simultaneously pulling the two hanging ears. Among them, before lifting the base 100 through the hanging ear, the position of the hanging ear is the first position, and after lifting the base 100 through the hanging ear, the position of the hanging ear is the second position. One of the hanging ears is connected with the on-off assembly 600 through the first connecting member 710, so that when the hanging ear is lifted, the hanging ear can also pull the on-off assembly 600 through the first connecting member 710 to make the suction space 500 communicate with the external environment and release the suction state of the suction accessory 200.

[0274] Of course, the above hanging ear can also be provided with only one, which is arranged close to the first side and connected with the on-off assembly 600 through the first connecting member 710.

[0275] In actual application, in order to avoid that the force applied by the ear hook on the first connecting member 710 when the user lifts the base 100 by the ear hook, the first connecting member 710 is damaged. Therefore, the ear hook can also be connected with the base 100 through a lifting belt, and the ear hook can have a predetermined movement stroke relative to the base 100 in which the ear hook can pull the on-off assembly 600 through the first connecting member 710 to make the suction space 500 communicate with the external environment and release the suction state of the suction member 200. When the movement stroke of the ear hook is consistent with the predetermined movement stroke, the ear hook can lift the base 100 through the lifting belt, so that the force applied by the ear hook on the base 100 can be transferred to the base 100 through the lifting belt, avoiding that the force applied by the ear hook on the base 100 is applied on the first connecting member 710, and ensuring the service life of the first connecting member 710. The ear hook can be configured as a D-shaped structure or a circular ring structure, etc.

[0276] Regarding the specific structure of the on-off assembly 600, two implementable embodiments are provided for reference, but are not limited thereto.

[0277] Embodiment one: the on-off assembly 600 communicates the suction space 500 with the external environment by driving the suction member 200 to deform, and releases the suction state of the suction member 200.

[0278] Specifically, please refer to FIGS. 2, 10 and 11, in the embodiment of the present application, the on-off assembly 600 can include a deflation piece 610, the deflation piece 610 is connected with the suction member 200, and the deflation piece 610 is arranged close to the edge of the suction member 200 and extends upward from the suction member 200. The other end of the first connecting member 710 can be directly connected with the deflation piece 610, when the operating member 300 is switched from the first position to the second position, one end of the first connecting member 710 is wound, thereby driving the other end of the first connecting member 710 to pull the deflation piece 610 vertically upward, so that the deflation piece 610 drives the corner of the suction member 200 to arch upward and deform, thereby communicating the suction space 500 with the external environment and releasing the suction state of the suction member 200. In another alternative embodiment of the present application, the other end of the first connecting member 710 pulls the deflation piece 610 upward and moves obliquely toward one side of the suction member 200, so that the deflation piece 610 drives the corner of the suction member 200 to arch upward and deform toward one side of the suction member 200, forming a similar "rolled edge", thereby communicating the suction space 500 with the external environment and releasing the suction state of the suction member 200.

[0279] In actual application, the guiding wheel or guiding groove structure can be arranged to change the pulling direction of the other end of the first connecting member 710 to the deflation pushing member 610, so as to change the moving direction of the deflation pushing member 610. The deflation pushing member 610 can be integrally formed with the suction accessory 200, or can be separately designed from the suction accessory 200 and then connected by means of gluing or screwing, which is not limited in the application.

[0280] Of course, in another alternative embodiment of the application, the on-off assembly 600 can further include a rotating member 620, and the other end of the first connecting member 710 can be connected with the rotating member 620 and drive the deflation pushing member 610 to move to deform the suction accessory 200, so as to communicate the suction space 500 with the external environment and release the suction state of the suction accessory 200. Specifically, the rotating member 620 is rotatably connected with the base 100 through the middle part thereof, one end of the rotating member 620 is connected with the other end of the first connecting member 710, and the other end of the rotating member 620 is located on the side of the deflation pushing member 610 away from the center line L of the suction accessory 200, and the deflation pushing member 610 is located on the rotation path of the other end of the rotating member 620.

[0281] In the embodiment, when the operation accessory 300 is switched from the first position to the second position, one end of the first connecting member 710 is wound to pull the rotating member 620 towards the outside of the base 100, so that one end of the rotating member 620 is rotated towards the direction away from the suction accessory 200, and the other end of the rotating member 620 is rotated towards the suction accessory 200. During the rotation of the other end of the rotating member 620, since the deflation pushing member 610 is located on the rotation path of the other end of the rotating member 620, the other end of the rotating member 620 will inevitably contact with the deflation pushing member 610 and drive the deflation pushing member 610 to move towards the suction accessory 200, so as to make the corners of the suction accessory 200 be deformed to be raised towards the side of the suction accessory 200 to form a similar "rolled edge", thereby communicating the suction space 500 with the external environment and releasing the suction state of the suction accessory 200.

[0282] Preferably, during the rotation of the other end of the rotating member 620, the other end of the rotating member 620 drives the deflation pushing member 610 to move towards the center line L of the suction accessory 200, so that the corners of the suction accessory 200 can be more easily deformed to ensure the stability of releasing the suction effect of the suction accessory 200.

[0283] In actual application, one end of the rotating member 620 and the right-angle guide seat 730 should be misaligned, and the right-angle guide seat 730 is located on the side of the one end of the rotating member 620 close to the rotating axis of the rotating member 620. In this way, when the first connecting member 710 pulls one end of the rotating member 620, the first connecting member 710 can drive the rotating member 620 to rotate.

[0284] In the embodiment of the present application, the on-off assembly 600 can further include a torsional spring 630 connected between the base 100 and the rotating member 620, and the torsional spring 630 is configured to drive the rotating member 620 to rotate, so that the other end of the rotating member 620 moves away from the deflation knob 610, thereby driving the rotating member 620 to reset when the one end of the rotating member 620 is not pulled by the first connecting member 710 or the pulling force of the first connecting member 710 on the one end of the rotating member 620 is less than the torsional force of the torsional spring 630 on the rotating member 620. In actual application, the torsional spring 630 is sleeved on the rotating shaft of the rotating member 620, one end of the torsional spring 630 abuts against the rotating member 620, and the other end of the torsional spring 630 abuts against the base 100.

[0285] In addition, it is worth mentioning that the torsional spring 630 drives the rotating member 620 to reset at the same time, and also pulls the first connecting member 710 to reset through the rotating member 620, so as to pull the operating accessory 300 from the second position to the first position by the first connecting member 710. That is, the operating accessory 300 can be driven from the second position to the first position by the torsional force of the torsional spring 630.

[0286] Of course, the operating accessory 300 is switched from the first position to the second position under the action of external force, and when the external force is removed, the operating accessory 300 can also be switched from the second position to the first position by the torsional force of the torsional spring 630 and / or the gravity of the operating accessory 300 itself. For example, taking the operating accessory 300 from the second position to the first position by the combined action of the torsional force of the torsional spring 630 and the gravity of the operating accessory 300 as an example, in the process of switching the operating accessory 300 from the second position to the first position, the operating accessory 300 is first driven by the torsional force of the torsional spring 630 to rotate a certain angle to a downward tilting state, and the gravity of the operating accessory 300 can act on the operating accessory 300 to make the operating accessory continue to move to the first position, at this time, the operating accessory 300 can be switched to the first position by the gravity of the operating accessory 300 alone, or the combined action of the torsional force of the torsional spring 630 and the gravity of the operating accessory 300.

[0287] The first connecting member 710 can be a nylon rope or other rope with certain elastic properties. When the user switches the operation accessory 300 from the first position to the second position, the first connecting member 710 is stretched by the pulling force and stores a certain elastic force. When the external force applied by the user to the operation accessory 300 disappears, the elastic force is released, thereby cooperating with the torsional force of the torsional spring 630 and the gravity of the operation accessory 300 to switch the operation accessory 300 from the second position to the first position. That is, at least one of the pulling force of the first connecting member 710 driven by the torsional spring 630 through the rotating member 620, the gravity of the operation accessory 300, and the elastic force of the first connecting member can be used to drive the operation accessory 300 from the second position to the first position.

[0288] In addition, the torsional spring 630 not only drives the rotating member 620 to reset, but also pulls the first connecting member 710 to reset, and can also make the first connecting member 710 maintain a proper tightness, avoid the first connecting member 710 from being too loose and causing the first connecting member 710 to be tangled or disordered, and ensure the stable operation of the cleaning base station A.

[0289] In the embodiment of the present application, the top end of the deflation knob 610 is provided with a first curved hook portion 611, and the other end of the rotating member 620 is provided with a second curved hook portion 621. The plane where the first curved hook portion 611 of the deflation knob 610 is located is not parallel to the plane where the second curved hook portion 621 of the rotating member 620 is located. When the other end of the rotating member 620 drives the deflation knob 610 to move towards the suction accessory 200, the first curved hook portion 611 of the deflation knob 610 and the second curved hook portion 621 of the rotating member 620 are hooked with each other to prevent the deflation knob 610 from being separated from the rotating member 620 under the influence of the deformation of the suction accessory 300 during the movement of the other end of the rotating member 620 to drive the deflation knob 610 towards the suction accessory 200, thereby affecting the communication between the suction space 500 and the external environment, and ensuring the stability of the release of the suction effect on the suction accessory 200.

[0290] In the embodiment of the present application, the suction accessory 200 should be located on the center line of the base 100, and the orthographic projection of the suction accessory 200 on the base 100 is located in the bottom surface of the base 100, so that the suction accessory 200 can not only bear most of the gravity of the base 100 and be adsorbed by the fixing surface 400, but also not be exposed when the cleaning base station A is placed on the fixing surface 400, thereby improving the aesthetic appearance of the cleaning base station A.

[0291] Preferably, the center line L of the suction accessory 200 should coincide with the center line of the base 100, so as to ensure that the gravity of the base 100 can be uniformly applied to the suction accessory 200, and ensure the stability of the adsorption of the suction accessory 200 and the fixing surface 400.

[0292] In the embodiment of the present application, the base 100 can also have a receiving space 130, the bottom surface of the base 100 is formed with a clearance hole 140, the clearance hole 140 is in communication with the receiving space 130, the deflation member 610 extends into the receiving space 130 through the clearance hole 140, and the rotating member 620 and the torsion spring 630 are both located in the receiving space 130. In this way, the overall structure of the cleaning base A can be more compact, and the rotating member 620 and the torsion spring 630 are arranged inside the base 100, which can effectively reduce the distance between the bottom surface of the base 100 and the fixing surface 400, so that the center of gravity of the cleaning base A is more biased downward, thereby ensuring the stability of the cleaning base A placed on the fixing surface 400.

[0293] As shown in FIGS. 11 and 12, in order to drive the deflation member 610 to generate a certain movement stroke to make the corners of the suction accessory 200 deform, the clearance hole 140 should at least extend along the movement path of the deflation member 610 to avoid interference between the deflation member 610 and the clearance hole 140 during the movement of the deflation member 610, so that the clearance hole 140 has a clearance space along the movement path of the deflation member 610 to allow the movement of the deflation member 610 to drive the corners of the suction accessory 200 to deform.

[0294] In the second embodiment, the on-off assembly 600 is in communication with the suction space 500, and the communication between the suction space 500 and the external environment is controlled by controlling whether the on-off assembly 600 is in communication with the external environment. Specifically, as shown in FIG. 12, the suction accessory 200 is provided with a through hole 210, the through hole 210 is in communication with the external environment and the suction space 500, and the on-off assembly 600 is arranged at the through hole 210 and controls the opening or closing of the through hole 210. When the operating accessory 300 is switched from the first position to the second position, one end of the first connecting member 710 rotates with the operating accessory 300 and drives the other end of the first connecting member 710 to pull the on-off assembly 600 to open the through hole 210, so as to connect the suction space 500 and the external environment. When the operating accessory 300 is switched from the second position to the first position, one end of the first connecting member 710 is released, the pulling force of the other end of the first connecting member 710 on the on-off assembly 600 disappears, and the on-off assembly 600 returns to the initial state to block the through hole 210, so as to disconnect the suction space 500 and the external environment.

[0295] Specifically, the on-off assembly 600 can include a guide sleeve 640, a sealing member 650, and a return spring 660. The guide sleeve 640 is connected to the suction accessory 200 and communicates with the suction space 500 through the through hole 210. The sealing member 650 is connected to the other end of the first connecting member 710. When the operating accessory 300 is switched from the first position to the second position by rotation, the other end of the first connecting member 710 pulls the sealing member 650 to move, so that the suction space 500 is communicated with the external environment through the guide sleeve 640, and the suction state of the suction accessory 200 is released. The return spring 660 is located at the end of the sealing member 650 away from the through hole 210 along the extension direction of the guide sleeve 640. In this way, when the sealing member 650 is pulled by the first connecting member 710, the sealing member 650 presses the return spring 660 to deform elastically. When the sealing member 650 is not pulled by the first connecting member 710, the compressed return spring 660 tries to restore the initial state, thereby driving the sealing member 650 to block the guide sleeve 640 to seal the through hole 210, so that the suction space 500 is isolated from the external environment, and the suction accessory 200 can be in the suction state.

[0296] In actual application, the suction accessory 200 will deform during the suction process. In order to avoid the through hole 210 being blocked by the suction accessory 200 after deformation and affecting the on-off control of the on-off assembly 600 on the suction space 500 and the external environment, in an embodiment, the suction accessory 200 includes a support portion 220 and a fitting portion 230. The support portion 220 is connected to the bottom end of the base 100, and the fitting portion 230 surrounds the support portion 220 and extends downward and outward from the support portion 220. The through hole 210 is arranged on the support portion 220, so that the support portion 220 does not deform during the suction process of the suction accessory 200, thereby avoiding the through hole 210 being blocked. Correspondingly, the guide sleeve 640 is connected to the support portion 220, so that the guide sleeve 640 does not shake and the stability of the guide sleeve 640 is ensured. The sealing member 650 can be a rubber plug, and can also be other soft or hard sealing materials, which are not limited in the present application.

[0297] In the embodiment, the guide sleeve 640 includes a first section 641 and a second section 642 that are in communication with each other. The first section 641 extends upward from the through hole 210, and the second section 642 is perpendicular to the first section 641. The second section 642 communicates with the through hole 210 through the first section 641, and the sealing member 650 is located in the second section 642. That is, the guide sleeve 640 is configured as a right-angle structure, thereby reducing the vertical height of the on-off assembly 600, making the structure of the cleaning base A more compact, reducing the volume of the cleaning base A, and realizing product miniaturization.

[0298] Please refer to Fig. 12 again, in an embodiment, the second section 642 has a straight channel 6421 and a tapered channel 6422, the straight channel 6421 communicates with the first section 641 through the tapered channel 6422, and the diameter of the tapered channel 6422 gradually decreases from the straight channel 6421 to the first section 641. The on-off assembly 600 can further include a guide seat 670 and a guide rod 680. The guide seat 670 is connected with the second section 642, the guide seat 670 cooperates with the guide rod 680, and the guide seat 670 is used for guiding the guide rod 680 to extend and retract in the second section 642 under the guidance of the guide seat 670. One end of the guide rod 680 close to the tapered channel 6422 is fixedly connected with the sealing element 650, and the diameters of the guide rod 680 and the sealing element 650 are both smaller than the diameter of the straight channel 6421, and the diameter of the sealing element 650 is larger than the minimum diameter of the tapered channel 6422. In this way, when the guide rod 680 pushes the sealing element 650 to move towards the tapered channel 6422, the sealing element 650 can block the tapered channel 6422 to seal the through hole 210; when the sealing element 650 is separated from the tapered channel 6422, the adsorption space 500 communicates with the external environment through the through hole 210, the tapered channel 6422, the gap between the sealing element 650 and the straight channel 6421, and the gap between the guide rod 680 and the straight channel 6421 in sequence.

[0299] In the embodiment, the other end of the guide rod 680 is connected with the first connecting element 710, and the reset spring 660 is located between the other end of the guide rod 680 and the guide seat 670. When the first connecting element 710 pulls the guide rod 680, the sealing element 650 moves away from the tapered channel 6422 along with the guide rod 680, so that the adsorption space 500 communicates with the external environment through the gap between the guide rod 680 and the straight channel 6421, and the guide rod 680 extrudes the reset spring 660 to make the reset spring 660 generate compression deformation. When the guide rod 680 is not pulled by the first connecting element 710, the reset spring 660 tries to recover from the compressed state to the initial state, and the reset spring 660 drives the guide rod 680 to move towards the tapered channel 6422, so that the sealing element 650 moves towards the tapered channel 6422 along with the guide rod 680 and blocks the guide sleeve 640 to seal the through hole 210.

[0300] In the embodiment, the other end of the guide rod 680 can be provided with a flow guide channel, the circumferential surface of the guide rod 680 is provided with a flow guide hole in communication with the flow guide channel, and the flow guide hole is close to the sealing element 650. In this way, when the first connecting element 710 pulls the guide rod 680, the sealing element 650 can move away from the tapered channel 6422 along with the guide rod 680, and at this time, the adsorption space 500 can communicate with the external environment through the gap between the guide rod 680 and the straight channel 6421, the flow guide hole and the flow guide channel in sequence.

[0301] Based on the same inventive concept, the application further provides a cleaning base station A, which comprises at least a base 100, a suction accessory 200, and an operation accessory 300. The suction accessory 200 is connected to the bottom end of the base 100, and is used to contact and surround a fixed surface 400 to form a suction space 500. The operation accessory 300 is rotationally connected to the upper part of the base 100, and is connected to the edge of the suction accessory 200 through a first connecting piece 710. The operation accessory 300 has a first position and a second position. When the operation accessory 300 is switched from the first position to the second position by rotation, one end of the first connecting piece 710 rotates with the operation accessory 300, and the other end of the first connecting piece 710 pulls the corner of the suction accessory 200 to deform, so as to connect the suction space 500 with the external environment. That is, the operation accessory 300 can be directly connected to the edge of the suction accessory 200 through the first connecting piece 710, and then pull the corner of the suction accessory 200 to deform.

[0302] It should be noted that the specific structure of the base 100, the suction accessory 200, the operation accessory 300, and the first connecting piece 710 can refer to the content described in the above embodiments, which will not be repeated here.

[0303] As shown in FIG. 13, based on the same inventive concept, the application further provides a cleaning system, which comprises at least a cleaning base station A and a cleaning device 800. The cleaning base station A is connected to the cleaning device 800 through a second connecting piece 900, and the cleaning base station A comprises at least a base 100, a suction accessory 200, and an operation accessory 300. The suction accessory 200 is connected to the bottom end of the base 100, and is used to contact and surround a fixed surface 400 to form a suction space 500. The operation accessory 300 is connected to the upper part of the base 100, and is connected to the suction accessory 200 through a switching assembly 600. The operation accessory 300 has a first position and a second position. When the operation accessory 300 is switched from the first position to the second position, the operation accessory 300 pulls the switching assembly 600 to connect the suction space 500 with the external environment.

[0304] In the embodiment, the cleaning device 800 can be a window-cleaning robot or other high-altitude operation device. The second connecting member 900 is used to connect the cleaning device 800 and the cleaning base station A, and the specific structure of the second connecting member 900 can be set according to the specific structure of the cleaning device 800. For example, when the cleaning device 800 is built-in with an energy storage component, the second connecting member 900 can be a safety rope, which is used to pull the cleaning device 800 to prevent the cleaning device 800 from falling, and plays a safety protection role for the cleaning device 800. When the cleaning device 800 is externally connected with a power supply, the second connecting member 900 can be a cable, and correspondingly, the cleaning base station A is internally provided with an energy storage component, one end of the cable is connected with the energy storage component, and the other end of the cable is connected with the cleaning device 800, so as to supply power to the cleaning device 800 through the cable. Of course, the cable can also pull the cleaning device 800 to prevent the cleaning device 800 from falling, and plays a safety protection role for the cleaning device 800.

[0305] Further, the operation accessory 300 has a use state and a non-use state. When the operation accessory 300 is in the non-use state, the operation accessory 300 is located at the first position. When the operation accessory 300 is in the use state, the operation accessory 300 is located at the second position to lift the cleaning base station A by the operation accessory 300.

[0306] It should be pointed out that the specific structure of the base 100, the suction accessory 200 and the operation accessory 300 can refer to the content described in the above embodiments, which will not be repeated here.

[0307] The following will be described in detail in combination with a specific application scenario, taking the cleaning base station cooperating with the window-cleaning robot as an example.

[0308] Application scenario one

[0309] A user purchases a window-cleaning robot, and the window-cleaning robot is also configured with a specially designed cleaning base station. The bottom end of the cleaning base station is provided with a suction accessory for adsorption and fixation, and the upper part of the cleaning base station is provided with a handle for lifting the cleaning base station. The handle is connected with the rotating member through the first connecting member to drive the rotating member to rotate. The suction accessory is connected with the deflation piece, and the deflation piece is located on the rotating path of the rotating member. When the rotating member rotates, the rotating member can drive the deflation piece to drive the suction accessory to deform.

[0310] When the user uses the window-cleaning robot to clean a floor-to-ceiling window, the user first lifts the cleaning base station to the floor-to-ceiling window by the handle. With the cleaning base station placed on the ground, the handle automatically turns down under the action of gravity, and at the same time, the suction accessory adsorbs the ground to complete the fixation of the cleaning base station, so as to realize non-sensing adsorption, avoid the safety hidden danger caused by the user forgetting to fix the cleaning base station, and more significantly improve the user experience and safety performance.

[0311] Then, the user takes out the window cleaning robot from the cleaning base station and places the window cleaning robot on the floor window to perform cleaning work. The cleaning base station pulls the window cleaning robot through the second connecting piece to prevent the window cleaning robot from falling accidentally.

[0312] When the window cleaning robot finishes work, the user again puts the window cleaning robot into the cleaning base station. Then, the handle is extracted. During the extraction of the handle by the user, the handle drives the rotating piece to rotate through the first connecting piece, thereby actuating the deflation actuator to drive the suction accessory to deform, so that the suction space of the suction accessory is in communication with the external environment, the suction state is released, and the user can smoothly lift the cleaning base station, the suction release is realized without feeling, and the user experience is further improved.

[0313] Therefore, the technical scheme provided by the present application sets the operation accessory on the upper part of the base and sets the suction accessory on the bottom end of the base. The operation accessory is connected through the on-off assembly. When the operation accessory is switched from the first position to the second position, the operation accessory can pull the on-off assembly to make the suction space in communication with the external environment, thereby releasing the suction effect of the suction accessory on the fixed surface. That is, the present application associates the suction state of the suction accessory with the position of the operation accessory, controls the suction of the suction accessory by adjusting the position of the operation accessory, and thus the suction control end of the suction accessory is transferred to the upper part of the base, which can facilitate the user to control whether the suction accessory is suctioned, that is, to realize the flexible switching of the fixed and non-fixed states of the cleaning base station, and improve the user experience. At the same time, the control end of whether the cleaning base station is fixed is located on the upper part of the base, that is, in a conspicuous position that is easy to observe, which can remind the user to fix the cleaning base station at all times, reduce the possibility that the user forgets to fix the cleaning base station, thereby reducing the safety hazard of work and improving the use safety.

[0314] In addition, compared with the mode that the cleaning base station is directly tied to the fixed object through the safety rope, the cleaning base station of the present application is suctioned and fixed on the fixed surface through the suction accessory, and there is no relative movement space between the cleaning base station and the fixed surface. In this way, when the cleaning device falls, the cleaning base station always remains stationary relative to the fixed surface, thereby avoiding the cleaning base station moving with the cleaning device and colliding with foreign objects to be damaged, and further improving the service life of the cleaning base station.

[0315] In addition, the operation accessory can also be used to provide a force application position for the user to extract the cleaning base station, that is, the user can also extract the cleaning base station through the operation accessory. In this way, during the extraction of the cleaning base station, the operation accessory is switched from the first position to the second position, the operation accessory drives the on-off assembly to work, so that the suction space is in communication with the external environment, thereby releasing the suction between the suction accessory and the fixed surface. In this way, through one action of the operation accessory, the cleaning base station can be lifted and the suction release operation can be realized at the same time, thereby realizing the suction release without feeling and improving the user experience.

[0316] In addition, the window-cleaning robot can autonomously move on the glass, be adsorbed on the glass surface by negative pressure generated by a fan, and be driven by a track installed at the bottom to autonomously move on the glass surface, thereby completing cleaning.

[0317] However, the obstacle recognition sensor of the window-cleaning robot has a blind area. For example, the mechanical bump plate can only recognize obstacles with a certain thickness and cannot recognize low obstacles. When a low obstacle that cannot be recognized by the mechanical bump plate is encountered, the window-cleaning robot does not avoid the obstacle but directly proceeds, resulting in a gap between the adsorption surface and the working surface, and external air enters the adsorption cavity, thereby reducing the negative pressure value of the adsorption cavity. At this time, the window-cleaning robot stops working and alarms, reminding the user to remove the window-cleaning robot to avoid falling, which causes the window-cleaning robot to fail to complete the cleaning task.

[0318] Based on this, the embodiments of the present application provide a control method, device and equipment of a facade cleaning robot and a readable storage medium. When the adsorption cavity leaks, the fan speed is increased to restore the vacuum degree of the adsorption cavity, thereby reducing the frequency of the facade cleaning robot alarming due to low negative pressure value, and enabling the facade cleaning robot to be adsorbed on the working surface for as long as possible, achieving the purpose of improving the safety of the facade cleaning robot while completing the cleaning task.

[0319] The facade cleaning robot provided by the embodiments of the present application can be a window-cleaning robot, a solar panel cleaning robot, etc., and can be adsorbed on various surfaces such as windows, walls, solar panels, etc. by negative pressure generated by the adsorption cavity. In the following, the facade cleaning robot is taken as a window-cleaning robot as an example to describe the facade cleaning robot of the present application in detail.

[0320] FIG. 14a is a perspective view of the facade cleaning robot provided by the embodiments of the present application. FIG. 14b is a bottom view of the facade cleaning robot provided by the embodiments of the present application. Please refer to FIG. 14a and FIG. 14b. The facade cleaning robot provided by the embodiments of the present application includes a shell 11 and a body 12, and the shell 11 cooperates with the body 12 to cover the body 12. The shell 11 is provided with a handle 111, a switch 112, a safety rope mounting hole 114, a power cord mounting hole 115, a voice output port 116, a water filling port 117, etc. The side surface of the shell 11 is also provided with a mechanical bump plate 113, etc. The handle 111 is used for the user to conveniently "grab" the facade cleaning robot, the switch 112 is used for starting or shutting down, the mechanical bump plate 113 cooperates with an infrared sensor, a radar, etc. to detect obstacles. The safety rope mounting hole 114 is used for mounting a safety rope, and the other end of the safety rope is fixed on a railing, a table and a chair by the user to prevent the facade cleaning robot from accidentally falling, the power cord mounting hole 115 is used for connecting an adapter to connect the power supply, and the water filling port 117 is used for filling water, cleaning liquid, etc. As an optional embodiment, one power cord is used to realize power supply and the function of the safety rope at the same time.

[0321] The bottom surface of the body 12 is closed, for example, in the shape of a mouth, and is also referred to as an adsorption surface, which is used to be adsorbed on a working surface. The bottom of the body 12 is provided with a driving wheel 121, a fan 122, a guide wheel 123, a power switch 124, a cleaning cloth 125, and the like. The driving wheel 121 is designed in the form of a track, and the guide wheel 123 can be provided with an inductor or the like to sense obstacles or surface information at corresponding positions.

[0322] As an optional embodiment, the facade cleaning robot further comprises a fixing device 13 and a safety rope 14 or the like for preventing falling.

[0323] During operation, the user connects the facade cleaning robot and the fixing device 13 through the safety rope 14, presses or moves the power switch 124 to turn on the power supply of the facade cleaning robot, and then places the facade cleaning robot on a working surface, keeps the bottom surface in parallel contact with the working surface, and presses the switch 112 to trigger the fan 122 to work. Then, the fan 122 rotates to suck the air in the adsorption cavity formed between the adsorption surface and the working surface, so that the air pressure in the adsorption cavity is lower than the atmospheric pressure to form a negative pressure, thereby adsorbing the window cleaning robot on the glass. At the same time, the driving wheel 121 drives the facade cleaning robot to move forward or backward, and by controlling the differential speed of the driving wheels on both sides, the robot can be controlled to perform steering and the like. As an optional embodiment, the direction of movement of the robot can also be controlled through a guide structure. During the movement of the facade cleaning robot, the cleaning cloth 125 wipes the working surface. Optionally, the bottom of the facade cleaning robot can also be provided with a dust scraping strip (not shown in the figure) or the like.

[0324] Please refer to FIG. 14b, the bottom surface of the facade cleaning robot is shown in the dashed box, which is also referred to as an adsorption surface. Part of the adsorption surface is attached to the working surface to form a cavity, and the gas in the cavity is sucked by the fan 122 to generate a negative pressure and form an adsorption cavity, thereby adsorbing the facade cleaning robot on the working surface. Among them, part of the adsorption surface refers to the part of the adsorption surface that is recessed inward.

[0325] Those skilled in the art can understand that the structure of the facade cleaning robot shown in FIGS. 14a and 14b does not constitute a limitation, and the facade cleaning robot can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0326] Next, based on the description of FIGS. 14a and 14b, the control method of the facade cleaning robot according to the embodiments of the present application will be described in detail. For example, please refer to FIG. 15.

[0327] FIG. 15 is a flowchart of the control method of the facade cleaning robot according to the embodiments of the present application. The execution subject of the present embodiment is the facade cleaning robot, and the present embodiment comprises:

[0328] 201. During the process of the facade cleaning robot moving in the first direction, the fan of the facade cleaning robot is controlled to run at a second speed, the second speed being greater than or equal to the first speed, the first speed being the speed of the fan when the facade cleaning robot is attached to the working surface and is in a stationary state.

[0329] In this embodiment, the fan, also known as a negative pressure fan, is used to draw gas from the adsorption chamber to create negative pressure, so as to adsorb the facade cleaning robot onto the working surface.

[0330] Generally, the higher the fan speed, the greater the negative pressure, meaning a higher vacuum and negative pressure value in the adsorption chamber. For example, the fan has four speed ranges: a first speed, a second speed, a third speed, and a fourth speed. The first speed is the fan speed when the wall cleaning robot is adsorbed onto the work surface and stationary; the second speed is the fan speed when the wall cleaning robot is moving on the work surface; the third speed is the fan speed when a leak occurs, and this speed is often higher to quickly restore the vacuum in the adsorption chamber; the fourth speed is the fan's maximum speed. The order is: First speed ≤ Second speed ≤ Third speed ≤ Fourth speed.

[0331] In this embodiment, unless otherwise specified, the first direction refers to the direction in which the facade cleaning robot is currently moving normally. For example, if the user attaches the facade cleaning robot to its initial position and the robot moves vertically upward to detect the top frame, then the first direction is the vertically upward direction. As another example, if the facade cleaning robot detects the top frame and then moves horizontally to the left to detect the left frame, then the first direction is the horizontally to the left direction. Furthermore, if the facade cleaning robot traverses the work surface in a bow-shaped pattern and is currently moving towards the right frame, then the first direction is the horizontally to the right direction.

[0332] During normal travel, the fan operates at the second speed to generate the negative pressure required for travel on the working surface.

[0333] 202. In response to an air leakage event, increase the speed of the fan.

[0334] The air leakage event refers to the event that triggers air leakage in the adsorption chamber after the facade cleaning robot moves onto an air leakage obstacle.

[0335] Generally, a facade cleaning robot is provided with mechanical bumpers, radars, infrared sensors and other sensors for identifying obstacles. During travel, if an obstacle is identified, the robot will avoid the obstacle; if no obstacle is identified, the robot will continue to travel. However, such sensors for identifying obstacles can only identify obstacles with a height greater than a preset height, but cannot identify low obstacles, grooves on the working surface and the like, which are referred to as leakage obstacles below. The preset height is determined according to the performance of the sensor, for example, 2 millimeters (mm) or the like, and the embodiments of the present application do not limit this.

[0336] When the facade cleaning robot encounters a leakage obstacle during travel, the leakage obstacle is between the suction surface and the working surface. This situation is referred to as the facade cleaning robot riding on the leakage obstacle below. Referring to FIG. 14b, part of the leakage obstacle 15 is between the working surface and the suction surface, and another part is on the working surface, i.e., the facade cleaning robot rides on the leakage obstacle. At this time, the suction surface and the working surface are no longer in close contact but have a gap. External gas enters the suction chamber through the gap, causing the vacuum degree in the suction chamber to decrease, i.e., the negative pressure decreases.

[0337] When a leakage event occurs, the facade cleaning robot increases the rotational speed of the fan to attempt to increase the negative pressure of the suction chamber.

[0338] 203, travel while avoiding the leakage obstacle.

[0339] When a leakage event occurs, the facade cleaning robot increases the rotational speed of the fan and re-plans a path to travel while avoiding the leakage obstacle to continue cleaning the working surface or to perform a return, prompt, standby or other work task.

[0340] The control method of the facade cleaning robot provided in the embodiments of the present application controls the fan of the facade cleaning robot to operate at a second rotational speed during travel of the facade cleaning robot in a first direction. When a leakage event occurs, the rotational speed of the fan is increased to suck the gas in the suction chamber with greater suction force, thereby attempting to increase the vacuum degree of the suction chamber, and a path is re-planned to avoid the leakage obstacle, and the facade cleaning robot travels according to the re-planned path to continue cleaning the working surface. With this scheme, when the suction chamber leaks, the rotational speed of the fan is increased to restore the vacuum degree of the suction chamber, which reduces the frequency of alarm due to low negative pressure of the facade cleaning robot, allows the facade cleaning robot to be adsorbed on the working surface for as long as possible, and achieves the purpose of improving the safety of the facade cleaning robot while achieving the purpose of completing the cleaning task.

[0341] Next, the control method of the facade cleaning robot when a leakage event occurs is described in detail.

[0342] Method A: After the air leakage event occurs, the robot stops moving and increases the fan speed to a third speed. After the negative pressure is restored, the robot travels in the opposite direction to avoid the obstacle.

[0343] For example, once the facade cleaning robot identifies the air leakage of the suction cavity, it is assumed that the robot is currently riding on the air leakage obstacle, and therefore immediately stops traveling. For another example, the facade cleaning robot monitors the negative pressure of the suction cavity. If the negative pressure is greater than or equal to a preset safe negative pressure, it is considered that the facade cleaning robot is not riding on the air leakage obstacle, and therefore continues to travel and work; if the negative pressure is less than the safe negative pressure, it is considered that the facade cleaning robot is riding on the air leakage obstacle, and therefore stops traveling. The facade cleaning robot can detect the negative pressure of the suction cavity through an internal air pressure gauge.

[0344] The negative pressure is also called the negative pressure value, and is positively correlated with the vacuum degree, that is, the greater the negative pressure, the higher the vacuum degree of the suction cavity, and the smaller the negative pressure, the lower the vacuum degree. Therefore, the facade cleaning robot can also determine whether it is riding on the air leakage obstacle by detecting the vacuum degree. For example, when the vacuum degree is greater than or equal to a preset vacuum degree, it is considered that the facade cleaning robot is not riding on the air leakage obstacle; when the vacuum degree is less than the preset vacuum degree, it is considered that the facade cleaning robot is riding on the air leakage obstacle.

[0345] In method A, if the facade cleaning robot confirms that an air leakage event has occurred, it immediately stops traveling and adjusts the fan speed to a third speed to restore the negative pressure, and detects the negative pressure value in the suction cavity. When the negative pressure value meets the preset condition, the facade cleaning robot is controlled to travel in a second direction to avoid the air leakage obstacle, and the second direction is opposite to the first direction.

[0346] By increasing the fan speed and detecting the negative pressure value, the fan speed can be basically matched with the negative pressure value required by the current robot, avoiding additional energy consumption. In the case of battery-powered robots, the robot's endurance is improved, and the user has more time to eliminate the safety risk of the robot.

[0347] Method B: After the air leakage event occurs, the robot stops moving and increases the fan speed to a fourth speed. After the negative pressure is restored, the robot travels in the opposite direction to avoid the obstacle.

[0348] The difference between the above method A and method B is that in method B, if an air leakage event occurs, the robot stops traveling and adjusts the fan speed to a fourth speed, i.e., the maximum speed. Directly adjusting the fan speed to the maximum speed can further improve the safety of the robot when an air leakage event occurs. As an optional embodiment, the type of power supply of the robot is determined, and when the robot is powered by mains power, the fan is directly operated at the maximum speed, i.e., the fourth speed.

[0349] With the above two schemes, when a leakage event occurs, the traveling is stopped and the rotating speed of the fan is adjusted to the third rotating speed or the fourth rotating speed to quickly restore the negative pressure of the adsorption cavity, so as to achieve the purpose of completing the cleaning task as much as possible while improving the safety of the facade cleaning robot.

[0350] As an optional embodiment, when a leakage event occurs, the facade cleaning robot determines the power supply mode. When the power supply mode of the facade cleaning robot is mains power supply, the facade cleaning robot is controlled to stop moving, and the fan is controlled to operate at the fourth rotating speed. Then, the facade cleaning robot travels away from the leakage obstacle after the negative pressure is restored. That is, for the facade cleaning robot with mains power supply, when a leakage event occurs, the above-mentioned way B is adopted to restore the negative pressure and avoid the leakage obstacle. With this scheme, for the facade cleaning robot with mains power supply, the rotating speed is directly increased to the fourth rotating speed, which facilitates the fastest recovery of the negative pressure of the adsorption cavity.

[0351] Although it is herein described that the facade cleaning robot with mains power supply adopts the above-mentioned way B to restore the negative pressure and avoid the leakage obstacle when a leakage event occurs, however, the embodiments of the present application are not limited thereto, and the facade cleaning robot with mains power supply can also adopt way A, way C, way D, etc. when a leakage event occurs.

[0352] The facade cleaning robot detects the negative pressure value by using a barometer or the like. If the negative pressure value is lower than the preset negative pressure value, the facade cleaning robot remains in the stationary state. If the negative pressure value is greater than or equal to the preset negative pressure value, the facade cleaning robot travels in the second direction to avoid the leakage obstacle.

[0353] It can be understood that the facade cleaning robot can immediately adjust the rotating speed of the fan to the third rotating speed or the fourth rotating speed after detecting the leakage event, or can increase the rotating speed of the fan after the facade cleaning robot stops. With this scheme, by detecting the negative pressure value of the adsorption cavity, the facade cleaning robot travels after the negative pressure is restored, so as to achieve the purpose of improving the safety of the facade cleaning robot.

[0354] Since the negative pressure required by the robot during walking is greater than the negative pressure in the stationary state, when a leakage event occurs, the robot is first stopped and then the rotating speed of the negative pressure motor is increased, so as to ensure that the robot can be firmly adsorbed and the efficiency of restoring the negative pressure can be improved. If the rotating speed of the fan is directly increased when a leakage event is detected, the efficiency of restoring the negative pressure is slightly lower.

[0355] In the above-mentioned way A and way B, in order to reduce the risk of falling caused by low obstacles encountered by the facade cleaning robot during walking, the scheme of "first stopping, then increasing the pressure, and detecting the negative pressure value" is adopted, and the facade cleaning robot travels in the second direction only when the negative pressure value is greater than or equal to the preset negative pressure value.

[0356] However, for battery-powered facade cleaning robots, if the negative pressure cannot be maintained, the robot will remain stationary, and the fan speed will be relatively high, leading to rapid battery depletion and the machine falling. To prevent this, in the event of an air leak, the negative pressure can be restored as quickly as possible using methods C and D.

[0357] Method C: After an air leak occurs, proceed in the second direction and simultaneously increase the fan speed to the third speed.

[0358] In this method, once an air leak occurs, the facade cleaning robot is controlled to move in a second direction to avoid the leaking obstacle. Simultaneously, the fan speed is increased from a second speed to a third speed. This approach reduces energy waste.

[0359] Method D: After an air leak occurs, move in the second direction while increasing the fan speed to the fourth speed.

[0360] In this method, if an air leak occurs, the facade cleaning robot is controlled to move in the second direction to avoid the leaking obstacle. Simultaneously, the fan speed is increased from the second speed to the fourth speed. This approach maximizes the probability of stable adsorption by the robot.

[0361] The first and second directions mentioned above are opposite. The first and second directions can be on the same straight line or not, i.e., they are offset. When the first and second directions are on the same straight line, the travel trajectory of the first direction coincides with the travel trajectory of the second direction. In the event of an air leak, since the travel position before the leak occurred must have been on a normal working surface, allowing the robot to successfully adhere, the robot will be able to retreat from the leaking obstacle to a safe position.

[0362] When the first direction and the second direction are not on the same straight line, once an air leak occurs, the facade cleaning robot will detect downwards (including directly downwards or diagonally downwards) and then move along the second direction to avoid the air leak obstacle, ensuring that the movement trajectory of the second direction does not overlap with the movement trajectory of the first direction, thereby improving cleaning efficiency.

[0363] Optionally, after the facade cleaning robot successfully detects the upper edge, the facade cleaning robot first detects the left edge and then detects the right edge. If the left edge is detected and a gas leakage obstacle is encountered, i.e., a gas leakage obstacle is encountered during the first direction of leftward movement, the second direction is used for movement, the second direction is opposite to the first direction and on the same straight line. If the right edge is detected after the left edge is detected and a gas leakage obstacle is encountered, i.e., a gas leakage obstacle is encountered during the first direction of rightward movement, the second direction is used for movement, the second direction is a direction toward the left edge, and the second direction and the first direction are not on the same straight line. If the upper edge is detected, and a gas leakage obstacle is encountered during cleaning in a certain cleaning mode after the left and right edges are successfully detected, the second direction is used for movement, the second direction is opposite to the first direction before the gas leakage obstacle is encountered and not on the same straight line.

[0364] Due to the great difference in the position, shape, thickness, etc. of the actual gas leakage obstacle, when the robot encounters a gas leakage obstacle, it cannot be ensured that the negative pressure can be successfully restored in any case. By using the C and D schemes, when a gas leakage event occurs, the robot immediately retreats away from the gas leakage obstacle and adjusts the speed of the fan to the third speed or the fourth speed to quickly restore the negative pressure of the suction chamber. Since the position before the gas leakage event occurs necessarily belongs to the normal working surface, the robot can be smoothly adsorbed, and the robot retreats from the position of the gas leakage obstacle and necessarily retreats to a safe position. Therefore, by using the C and D schemes, the purpose of improving the safety of the facade cleaning robot can be further achieved.

[0365] Optionally, in the above embodiment, the gas leakage obstacle is an object with a height lower than a preset height, and the preset height is the lowest height of the obstacle that can be recognized by the mechanical bumper of the facade cleaning robot; or the gas leakage obstacle is a groove on the working surface.

[0366] In the embodiment of the present application, any object that can trigger the gas leakage of the suction chamber and cannot be recognized by the obstacle recognition sensor is referred to as a gas leakage obstacle. The gas leakage obstacle mainly includes two types. One is a low obstacle, i.e., an object with a height lower than a preset height, for example, 2 mm, 3 mm, etc., which is not limited in the embodiment of the present application. The other is a groove, for example, a groove is chiseled on the working surface, the depth of the groove is, for example, 2 mm, 3 mm, etc., and the width of the groove is, for example, 2 mm, 1 mm, etc.

[0367] By using this scheme, when the obstacle with a height lower than the preset height or the groove causes the gas leakage of the suction chamber, the facade cleaning robot increases the speed of the fan to attempt to restore the negative pressure, achieving the purpose of covering multiple scenarios.

[0368] Generally, the working surface is a rectangular glass or the like. When the working surface needs to be cleaned, the user places the facade cleaning robot on the working surface, keeps the bottom surface in contact with and parallel to the working surface, turns on the power supply and presses the switch, and then the fan starts to work to suck the gas in the suction cavity. After a period of time, for example, 2 seconds, the air pressure in the suction cavity is lower than the external air pressure, thereby forming a negative pressure, so that the facade cleaning robot is adsorbed on the working surface. Then, the facade cleaning robot travels upward to detect the upper edge frame. After detecting the upper edge frame, the facade cleaning robot travels along the edge to detect the left and right edge frames. After detecting the left and right edge frames, the facade cleaning robot travels according to the set cleaning mode to continue cleaning the working surface.

[0369] Next, the scenarios of the facade cleaning robot encountering a gas leakage obstacle when detecting the upper edge frame, encountering a gas leakage obstacle when detecting the left and right edge frames, and encountering a gas leakage obstacle in the process of cleaning the working surface in the set cleaning mode are described in detail.

[0370] First, the facade cleaning robot encounters a gas leakage obstacle in the process of detecting the upper edge frame.

[0371] If the facade cleaning robot encounters a gas leakage obstacle that cannot be recognized by the obstacle sensor such as a mechanical baffle when detecting the upper edge frame, as an embodiment, the facade cleaning robot stops traveling and increases the rotation speed of the fan. When the negative pressure value of the suction cavity is higher than a preset negative pressure value, the facade cleaning robot first retreats by a preset distance and then detects the left and right edge frames, and then cleans the working surface according to the set cleaning mode.

[0372] FIG. 16 is a schematic diagram of one scenario of a control method of a facade cleaning robot according to an embodiment of the present application. Please refer to FIG. 16. The working surface is a rectangular glass, and the oblique line filled part is a gas leakage obstacle. The gas leakage obstacle is an object with a height lower than a preset height. The preset height is the lowest height of an obstacle that can be recognized by the mechanical baffle or the like of the facade cleaning robot. The gas leakage obstacle is, for example, a frame for fixing the glass, and the height of the gas leakage obstacle is usually relatively low.

[0373] Please refer to FIG. 16. The taking position of the facade cleaning robot is shown by the dashed line in the figure. When the negative pressure of the suction cavity is greater than a preset negative pressure, the user releases the facade cleaning robot, and the facade cleaning robot is adsorbed on the working surface. Then, the facade cleaning robot travels upward under the action of the driving wheel to detect the upper edge frame. The traveling track is shown by track ① in the figure.

[0374] If the upper edge frame is an edge frame with a height higher than the preset height, that is, there is no gas leakage obstacle in FIG. 16, when the mechanical baffle of the facade cleaning robot touches the upper edge frame, the baffle signal triggers the facade cleaning robot to retreat by a first distance, and then the facade cleaning robot adjusts to a horizontal posture and travels along the edge.

[0375] When the facade cleaning robot encounters the air leakage obstacle, the suction cavity leaks air. At this time, the facade cleaning robot detects the negative pressure or vacuum degree of the suction cavity. When the negative pressure of the suction cavity is lower than the safe negative pressure, the facade cleaning robot stops moving and increases the rotating speed of the fan, and the fan sucks the air in the suction cavity more strongly to increase the negative pressure of the suction cavity. After the negative pressure of the suction cavity is higher than the preset negative pressure, the facade cleaning robot retreats, and the retreat trajectory is shown as trajectory ② in the figure. It can be understood that the trajectory ① and the trajectory ② in FIG. 16 are staggered, and the purpose is to clearly show the trajectory ① and the trajectory ②. In actual, the trajectory ① and the trajectory ② are coincident or partially coincident. During the process of detecting the upper frame, the direction in which the facade cleaning robot moves along the trajectory ① is a first direction, and the direction in which the facade cleaning robot moves along the trajectory ② is a second direction.

[0376] After the facade cleaning robot retreats by the preset distance, the facade cleaning robot is rotated to a horizontal posture again. The preset distance is at least enough to ensure that the facade cleaning robot rotates from the vertical posture to the horizontal posture and leaves the air leakage obstacle, and the preset distance is greater than the first distance. Then, the facade cleaning robot moves horizontally to detect the left and right frames. For example, the facade cleaning robot moves horizontally to the left to detect the left frame, and the moving trajectory is shown as trajectory ③ in the figure.

[0377] After the facade cleaning robot detects the left frame, the facade cleaning robot retreats to detect the right frame, and the retreat trajectory is shown as trajectory ④ in the figure. In the embodiments of the present application, the process in which the facade cleaning robot is rotated to a horizontal posture, then moves forward to detect the left frame, and then retreats to detect the right frame is called an upper edge. It can be understood that the trajectory ③ and the trajectory ④ in FIG. 16 are staggered, and the purpose is to clearly show the trajectory ③ and the trajectory ④. In actual, the trajectory ③ and the trajectory ④ are coincident or partially coincident. The advantage of the coincidence of the trajectory ③ and the trajectory ④ is to avoid incomplete cleaning.

[0378] When the facade cleaning robot detects the left frame and the right frame, the facade cleaning robot moves according to the set cleaning mode to continue cleaning the working surface. When the set cleaning mode is a “Z” type cleaning, the moving trajectory of the facade cleaning robot is shown in FIG. 16.

[0379] In FIG. 16, after the facade cleaning robot is rotated to a horizontal posture, the facade cleaning robot detects the left frame first and then detects the right frame. However, the embodiments of the present application are not limited thereto. For example, after the facade cleaning robot is rotated to a horizontal posture, the facade cleaning robot can detect the right frame first and then detect the left frame.

[0380] By using the scheme, if the facade cleaning robot detects the upper frame and encounters the air leakage obstacle to cause the suction cavity to leak air, the rotating speed of the fan is increased to restore the negative pressure of the suction cavity, and the facade cleaning robot retreats by a preset distance to detect the left and right frames again, so that the facade cleaning robot can complete the cleaning task as much as possible when the facade cleaning robot detects the upper frame and the suction cavity leaks air.

[0381] Secondly, the case that the facade cleaning robot encounters the air leakage obstacle when detecting the left or right frame is described.

[0382] If the facade cleaning robot encounters the air leakage obstacle when detecting the left frame after successfully detecting the upper frame, the facade cleaning robot stops moving and increases the rotating speed of the fan to restore the negative pressure of the suction chamber. When the negative pressure of the suction chamber is higher than the preset negative pressure, the facade cleaning robot moves downward to the right to detect the right frame. The direction of detecting the left frame is the first direction, and the direction of detecting the right frame is the second direction. The first direction and the second direction are opposite directions and not on the same straight line, that is, staggered with each other.

[0383] FIG. 17 is another scene diagram of the control method of the facade cleaning robot according to an embodiment of the present application. Please refer to FIG. 17. The working surface is a rectangular glass, and the oblique line filled part is an air leakage obstacle, which is an object with a height lower than a preset height. The air leakage obstacle is, for example, a sticker hook, etc.

[0384] Please refer to FIG. 17. The initial position of the facade cleaning robot is shown by the dotted line in the figure. When the negative pressure of the suction chamber is greater than the preset negative pressure, the user releases the facade cleaning robot, and the facade cleaning robot is adsorbed on the working surface. Then, the facade cleaning robot moves upward under the action of the driving wheel to detect the upper frame, and the moving track is shown by track ① in the figure.

[0385] The facade cleaning robot successfully detects the upper frame and adjusts to a horizontal posture. Then, the facade cleaning robot moves to the left to detect the left frame, and the first direction is, for example, horizontally to the left. The moving track is shown by track ② in the figure. In the process of detecting the left frame, the facade cleaning robot encounters the air leakage obstacle, which causes the suction chamber to leak air. At this time, the facade cleaning robot detects the negative pressure or vacuum degree of the suction chamber. When the negative pressure value of the suction chamber is lower than the safety negative pressure value, the facade cleaning robot stops moving and increases the rotating speed of the fan, so that the fan more strongly sucks the air in the suction chamber to increase the negative pressure of the suction chamber. After the negative pressure value of the suction chamber is higher than the preset negative pressure value, the facade cleaning robot moves downward to detect.

[0386] In one way, the downward detection is downward detection to the oblique lower side, and the detection track is shown by track ③ in FIG. 17. Then, the facade cleaning robot moves horizontally to the right to detect the right frame, and the second direction is a horizontally right direction, and the moving track is shown by track ④ in the figure. Track ③ and track ④ are not on the same straight line. Based on this kind of detection, the track ② of the facade cleaning robot moving horizontally to the left and the detection track ③ form an acute angle. Obviously, the track ② of the facade cleaning robot moving horizontally to the left and the track ④ of the facade cleaning robot moving horizontally to the right are not on the same straight line.

[0387] In another way, the downward detection refers to downward detection to the vertical lower side, and the track ② of the facade cleaning robot moving horizontally to the left and the detection track are perpendicular.

[0388] After the facade cleaning robot finishes downward detection, it continues to retreat or advance to detect the right edge, which is related to the direction when the facade cleaning robot finishes downward detection. After detecting the right edge, it advances according to the set cleaning mode to continue cleaning the working surface. The advancing track of the facade cleaning robot is shown in FIG. 17 when the set cleaning mode is "Z" type cleaning.

[0389] FIG. 17 describes a scenario in which the facade cleaning robot encounters a gas leakage obstacle when it successfully detects the upper edge and then moves left along the edge. Next, a scenario in which the facade cleaning robot encounters a gas leakage obstacle when it successfully detects the upper edge and the left edge and then detects the right edge is described in detail.

[0390] FIG. 18 is another scenario diagram of the control method of the facade cleaning robot according to an embodiment of the present application. Referring to FIG. 18, the facade cleaning robot adjusts to a horizontal posture after successfully detecting the upper edge. Then, the facade cleaning robot horizontally moves left along the edge, and the first direction is, for example, horizontal left. The advancing track is shown as track ② in the figure. After successfully detecting the left edge, the facade cleaning robot horizontally moves right along the edge to detect the right edge, and the retreating track is shown as track ③ in the figure. It can be understood that the track ② and the track ③ in FIG. 18 are staggered, and the purpose is to clearly show the track ② and the track ③. In actuality, the track ② and the track ③ are coincident or partially coincident.

[0391] The facade cleaning robot encounters a gas leakage obstacle during horizontal right movement, which causes the suction cavity to leak. At this time, the facade cleaning robot detects the negative pressure value or the vacuum degree of the suction cavity. When the negative pressure value of the suction cavity is lower than the safe negative pressure value, the facade cleaning robot stops moving and increases the rotating speed of the fan, which more strongly sucks the air in the suction cavity to increase the negative pressure value of the suction cavity. After the negative pressure value of the suction cavity is higher than the preset negative pressure value, the facade cleaning robot detects downward. The process of detecting downward can be referred to the description of FIG. 17 above, which is not repeated here.

[0392] With this scheme, when the facade cleaning robot successfully detects the upper edge and then moves along the edge in the first direction, if a gas leakage obstacle is encountered, the rotating speed of the fan is increased to restore the negative pressure of the suction cavity, and then the facade cleaning robot moves in the second direction after detecting downward. This avoids the facade cleaning robot from stopping working due to the leakage of the suction cavity when it detects the left and right edges, so that the facade cleaning robot can complete the cleaning task as much as possible.

[0393] Optionally, in the above embodiment, if the gas leakage obstacle is encountered during the facade cleaning robot detects the upper edge, or if the gas leakage obstacle is encountered when the facade cleaning robot successfully detects the upper edge and then detects the left or right edge, the facade cleaning robot returns to the target position after completing the cleaning of the working surface, and the target position is located at the lower left corner or the lower right corner of the working surface.

[0394] For example, in the scenarios shown in FIGS. 16-18, the facade cleaning robot does not complete the upper edge. Therefore, when the facade cleaning robot finishes cleaning the work surface, it does not know where the initial position is. At this time, the facade cleaning robot can get "lost" in the work surface, fail to finish the work in time, and the like. The pickup position is the initial position at which the facade cleaning robot initially adheres to the work surface or a position close to the edge of the work surface on which the user places the facade cleaning robot.

[0395] In the embodiment of the present application, when the facade cleaning robot finishes cleaning the work surface without completing the upper edge, the facade cleaning robot returns to a target position, which is the lower left corner or the lower right corner of the work surface. For example, the target position is the lower right corner, and in FIG. 16, the facade cleaning robot is located at the lower right corner after finishing cleaning the work surface. In FIGS. 17 and 18, the facade cleaning robot is located at the lower left corner after finishing cleaning the work surface.

[0396] With this scheme, when the facade cleaning robot does not complete the upper edge, the facade cleaning robot returns to the target position after finishing cleaning the work surface, thereby avoiding the situation that the facade cleaning robot does not know the initial position and cannot return to the initial position, so as to get "lost" in the work surface, and achieving the purpose of improving the cleaning efficiency of the facade cleaning robot.

[0397] Finally, the situation in which the facade cleaning robot encounters a gas leakage obstacle when cleaning the work surface after successfully detecting the upper edge and the left and right edges is described.

[0398] If the gas leakage obstacle is encountered by the facade cleaning robot when it is running on the work surface according to the set cleaning mode after successfully detecting the upper edge and completing the upper edge, when the negative pressure value of the suction cavity is higher than the preset negative pressure value, the facade cleaning robot is controlled to detect downward, and then continues to run according to the set cleaning mode to continue cleaning the work surface.

[0399] FIG. 19 is another scenario diagram of the control method of the facade cleaning robot according to an embodiment of the present application. Referring to FIG. 19, the work surface is a rectangular glass, and the work surface has a gas leakage obstacle A and a gas leakage obstacle B. The gas leakage obstacle A is an object with a height lower than a preset height, and the gas leakage obstacle B is a groove, i.e., a gap.

[0400] Referring to FIG. 19, the initial position of the facade cleaning robot is shown by the dashed line. When the negative pressure of the suction cavity is greater than the preset negative pressure, the user releases the facade cleaning robot, and the facade cleaning robot adheres to the work surface. Then, the facade cleaning robot autonomously runs upward to detect the upper edge under the action of the driving wheel, and the running track is shown by track ①.

[0401] After the facade cleaning robot successfully detects the upper edge, it adjusts to a horizontal posture. The right figure in FIG. 19 is a schematic diagram of the facade cleaning robot in a horizontal posture. Then, the facade cleaning robot moves horizontally to the left and upward along the edge to detect the left edge, and the moving track is shown as track ② in the figure. After the facade cleaning robot successfully detects the left edge, it moves backward to detect the right edge, and the moving track is shown as track ③ in the figure. After the facade cleaning robot successfully detects the right edge, it continues to clean the working surface according to the set cleaning mode. The moving track of the facade cleaning robot is shown in FIG. 19 when the set cleaning mode is "Z" type cleaning.

[0402] In this embodiment, the facade cleaning robot successfully detects the upper edge, the left edge and the right edge, which means that the facade cleaning robot has normally completed the upper edge. After normally completing the upper edge, the facade cleaning robot continues to clean the working surface according to the set cleaning mode, for example, the facade cleaning robot performs "Z" type cleaning in the middle of the working surface. The facade cleaning robot encounters the air leakage obstacle A, which causes the air leakage of the suction cavity. At this time, the facade cleaning robot detects the negative pressure value or vacuum degree of the suction cavity. When the negative pressure value of the suction cavity is lower than the safety negative pressure value, the facade cleaning robot stops moving and increases the rotating speed of the fan, so that the fan can suck the air in the suction cavity more intensively to increase the negative pressure of the suction cavity. After the negative pressure value of the suction cavity is higher than the preset negative pressure value, the facade cleaning robot detects downward, and the moving track is shown as track ④ in the figure. Then, the facade cleaning robot moves to the left, and the moving track is shown as track ⑤ in the figure.

[0403] Similarly, the facade cleaning robot encounters the air leakage obstacle B, which causes the air leakage of the suction cavity. When the negative pressure value of the suction cavity is lower than the safety negative pressure value, the facade cleaning robot stops moving and increases the rotating speed of the fan, so that the fan can suck the air in the suction cavity more intensively to increase the negative pressure value of the suction cavity. After the negative pressure value of the suction cavity is higher than the preset negative pressure value, the facade cleaning robot detects downward, and the moving track is shown as track ⑥ in the figure. Then, the facade cleaning robot moves to the right, and the moving track is shown as track ⑦ in the figure. The way of detecting downward can refer to the description of FIG. 17 above, which will not be described here.

[0404] By using this scheme, if the facade cleaning robot successfully completes the upper edge and encounters an air leakage obstacle when cleaning the working surface, the facade cleaning robot detects downward after increasing the rotating speed of the fan to restore the negative pressure value of the suction cavity, and then continues to clean the working surface, so as to avoid the facade cleaning robot stopping working due to the air leakage of the suction cavity, and make the facade cleaning robot complete the cleaning task as much as possible.

[0405] Optionally, in the above embodiment, when the facade cleaning robot finishes cleaning the work surface, the facade cleaning robot returns to the taking position, which is the initial position where the facade cleaning robot initially adheres to the work surface or a position close to the edge frame where the user places the facade cleaning robot.

[0406] In the embodiment of FIG. 19, the facade cleaning robot successfully completes the upper edge, and thus, after the facade cleaning robot finishes cleaning the entire work surface, the facade cleaning robot can know the initial position, i.e., the facade cleaning robot can determine the position where the facade cleaning robot initially adheres to the work surface and travels upward to detect the upper edge frame.

[0407] With this scheme, if the facade cleaning robot successfully completes the upper edge, the facade cleaning robot returns to the taking position after cleaning the work surface, and the taking position is the initial position or a position close to the initial position. This can facilitate the user to timely and conveniently take down the facade cleaning robot, achieving the purpose of providing convenience for the user.

[0408] Optionally, in the above embodiment, the set cleaning mode includes any one of the following modes: an arch-shaped mode, a "Z"-shaped mode, an "N"-shaped mode, a back-shaped mode, and a circular arc-shaped mode.

[0409] In the above embodiments of FIGS. 16-19, the "Z"-shaped cleaning is taken as an example to describe the embodiments of the present application. However, the embodiments of the present application are not limited thereto, and in other feasible implementation manners, the set cleaning mode can also be an arch-shaped mode, an "N"-shaped mode, a back-shaped mode, or a circular arc-shaped mode, etc.

[0410] FIG. 20 is a schematic diagram of an arch-shaped cleaning mode in a control method of a facade cleaning robot according to an embodiment of the present application. Referring to FIG. 20, when the facade cleaning robot detects the right edge frame to the right and encounters a gas leakage obstacle, the facade cleaning robot leaks, and then increases the fan speed to restore the negative pressure value of the suction chamber and detects downward, and then the facade cleaning robot performs arch-shaped cleaning on the work surface.

[0411] With this scheme, the facade cleaning robot can clean the work surface in any set cleaning mode, which is high in flexibility.

[0412] It should be noted that although in the above embodiments of FIGS. 16-20, the facade cleaning robot is stopped, pressurized, and then detected to restore the negative pressure after the gas leakage event occurs, i.e., the above-mentioned mode A or mode B is taken as an example for description. However, the embodiments of the present application are not limited thereto, and in other feasible implementation manners, the facade cleaning robot can also restore the negative pressure value and avoid the obstacle through mode C or mode D when the gas leakage event occurs.

[0413] Optionally, in the above embodiments, when the adsorption cavity leaks, the facade cleaning robot detects the negative pressure value or vacuum degree of the adsorption cavity. If the negative pressure value is lower than the safe negative pressure value, the fan speed is increased to try to restore the negative pressure value. After a period of time, such as 3 seconds, if the negative pressure value of the adsorption cavity is higher than the preset negative pressure value, the facade cleaning robot re-plans a path that can avoid the air leakage obstacle. Then, the facade cleaning robot travels according to the re-planned path to continue cleaning the work surface. After a period of time, if the negative pressure of the adsorption cavity is lower than the preset negative pressure value, the facade cleaning robot will have a risk of falling if it is forced to run. Therefore, the facade cleaning robot stops working and sends an alarm signal through voice, light, etc. to prompt the user to take down the facade cleaning robot.

[0414] Optionally, the facade cleaning robot also controls the facade cleaning robot to return to the taking position in response to the cleaning end signal, the taking position being the initial position where the facade cleaning robot is initially adsorbed on the work surface or a position close to the edge frame where the user places the facade cleaning robot.

[0415] In the embodiments of the present application, whether the facade cleaning robot completes the edge cleaning or not, the facade cleaning robot will return to the taking position after receiving the cleaning end signal. For example, the facade cleaning robot cleans the entire work surface and then returns to the taking position. For another example, the facade cleaning robot cleans half of the work surface, and the user sends a cleaning end signal through an APP or the like, and then the facade cleaning robot returns to the taking position.

[0416] With this scheme, the facade cleaning robot returns to the taking position after receiving the cleaning end signal, avoiding the facade cleaning robot stopping at a position that the user cannot reach, facilitating the user to take down the facade cleaning robot in time, and achieving the purpose of improving the safety of the facade cleaning robot.

[0417] Optionally, after the facade cleaning robot travels vertically to the upper edge or the lower edge from the taking position in the above embodiments, the facade cleaning robot travels horizontally to the left edge or the right edge. In order to prevent the facade cleaning robot from failing to return to the taking position due to the incomplete upper edge in FIGS. 16-18, in the embodiments of the present application, the facade cleaning robot determines a plurality of displacements, the plurality of displacements including each displacement of the facade cleaning robot in the horizontal direction caused by the turning movement in a target time period, the start point of the target time period being the time point at which the facade cleaning robot detects the upper frame and adjusts the horizontal travel posture, the end point of the target time period being the time point at which the edge detection event occurs, and at least one air leakage event occurring in the target time period; and the facade cleaning robot travels vertically to the upper edge or the lower edge from the initial position, and then travels horizontally to the left edge or the right edge. Then, the facade cleaning robot determines a first displacement and a second displacement from the plurality of displacements, the first displacement and the second displacement being two displacements in the horizontal direction with opposite directions. After that, when receiving a cleaning end signal, the facade cleaning robot returns to the taking position from an end position in response to the cleaning end signal according to the first displacement and the second displacement, the end position being the position of the facade cleaning robot when receiving the cleaning end signal.

[0418] For example, during the process of detecting the left frame or the right frame by the facade cleaning robot, the facade cleaning robot may detect the left frame or the right frame after a plurality of air leakage events. The facade cleaning robot records each displacement of the turning movement in a target time period, i.e., from the time point at which the facade cleaning robot detects the upper frame and adjusts the horizontal travel posture to the time point at which the edge detection event occurs, and records each displacement in the target time period, determines the distance between the initial position and the left frame or the right frame according to the displacements, and determines the displacement between the initial position and the upper frame when the facade cleaning robot detects the upper frame from the initial position.

[0419] In this way, the facade cleaning robot can determine the horizontal coordinate (i.e., the first horizontal distance) and the vertical coordinate (i.e., the first vertical distance) of the initial position in the working surface, wherein the horizontal coordinate is the distance of the initial position from the left frame or the right frame, and the vertical coordinate is the distance of the initial position from the upper frame. When the cleaning end signal is received, the facade cleaning robot can return to the pickup position regardless of the position of the facade cleaning robot in the working surface. The pickup position can be consistent with the initial position, or can be based on the initial position to place the robot closer to one end of the frame of the user. For example, the facade cleaning robot is located at the lower left corner when the cleaning is completed, and assuming that the horizontal coordinate of the initial position is the distance of the initial position from the left frame, the facade cleaning robot travels horizontally to the right from the left frame by the first horizontal distance, and then vertically upwards until the upper frame is detected. Then, the facade cleaning robot travels vertically downwards by the first vertical distance to reach the pickup position, i.e., the initial position. For another example, the user places the initial position of the facade cleaning robot closer to the right frame and the upper frame, and the pickup position to which the facade cleaning robot returns is closer to the right frame and / or the upper frame of the working surface than the initial position. When the pickup position is close to the right frame and the upper frame of the working surface, the pickup position to which the robot returns can be the upper right corner of the working surface.

[0420] With this scheme, the pickup position is determined according to the turning displacement between the start of the upper edge and the successful detection of the frame, which has high accuracy and ensures that the facade cleaning robot can return to the pickup position even if the upper edge is not completed, facilitating the timely removal of the facade cleaning robot and achieving the purpose of improving the safety of the facade cleaning robot.

[0421] Optionally, in the above embodiment, when the end position is located at the right frame of the working surface and the edge detection event detects the right frame, the facade cleaning robot is controlled to travel horizontally to the left by the first horizontal distance, and then the facade cleaning robot is controlled to detect the upper frame and then travel vertically downwards by the first vertical distance; when the end position is located at the left frame of the working surface and the edge detection event detects the right frame, the facade cleaning robot is controlled to travel horizontally to the right to the right frame, and then the facade cleaning robot is controlled to travel horizontally to the left by the first horizontal distance, and then the facade cleaning robot is controlled to detect the upper frame and then travel vertically downwards by the first vertical distance. The first horizontal distance is the difference between the sum of the first type of displacement and the sum of the second type of displacement, and the first vertical distance is the displacement of the facade cleaning robot from the pickup position vertically upwards to the upper frame.

[0422] For example, in the process of detecting the left or right frame by the facade cleaning robot, the left or right frame can be detected after multiple air leakage events. The first detected frame can be the right frame or the left frame. Moreover, the end position, i.e. the position of the facade cleaning robot when the cleaning end signal is received, can be the lower left corner or the lower right corner of the working surface, or any position. The following embodiments are described in detail.

[0423] Fig. 21a is a schematic diagram of a control method of the facade cleaning robot according to an embodiment of the present application. Referring to Fig. 21a, the pickup position is shown by the dashed line. The facade cleaning robot travels vertically upward from the pickup position to detect the upper frame, as shown by trajectory ①. After successfully detecting the upper frame, the facade cleaning robot records the first vertical distance, i.e. the length of trajectory ①. Meanwhile, the facade cleaning robot rotates to a horizontal posture and travels horizontally left to detect the left frame. After traveling a distance, an air leakage event occurs, i.e. a low obstacle is encountered, as shown by trajectory ②. Then, the facade cleaning robot travels downward and travels horizontally right until the right frame is detected, as shown by trajectory ③. Assuming that the length of trajectory ② is x2, the length of trajectory ③ is x3, and the length of trajectory ① is y1 (the first vertical distance), the distance between the pickup position and the right frame is x3-x2 (the first horizontal distance), and the distance between the pickup position and the upper frame is y1 (the first vertical distance). If the upper right corner of the working surface is taken as the origin, the coordinates of the pickup position are (x3-x2, y1).

[0424] When the end position is located at the right frame of the working surface, such as the lower right corner, after the facade cleaning robot recognizes the cleaning end signal, the facade cleaning robot travels left by the first horizontal distance x3-x2, travels vertically upward until the upper frame is detected, and then travels vertically downward by y1 to return to the pickup position, which is the initial position in this embodiment.

[0425] Fig. 21b is a schematic diagram of a control method of the facade cleaning robot according to an embodiment of the present application. Compared with Fig. 21a, in Fig. 21b, two air leakage events occur, i.e. the facade cleaning robot encounters two low obstacles, i.e. low obstacle A and low obstacle B. Low obstacle A is the first encountered low obstacle. From the horizontal posture after detecting the upper frame to detecting the left frame, the horizontal left displacement includes trajectory ② and trajectory ④, and the horizontal right displacement includes trajectory ③. Assuming that the lengths of trajectory ②, trajectory ③, trajectory ④ and trajectory ① are x2, x3, x4 and y1 respectively, the distance between the pickup position and the left frame is x4+x2-x3 (the first horizontal distance), and the distance between the pickup position and the upper frame is y1 (the first vertical distance). If the upper left corner of the working surface is taken as the origin, the coordinates of the pickup position are (x4+x2-x3, y1).

[0426] When the end point position is located at the right edge of the working surface, such as the lower right corner position, after the facade cleaning robot recognizes the cleaning end signal, it travels to the left edge of the working surface, then travels to the right by a first horizontal distance x4+x2-x3, then travels vertically upward until the upper edge is detected, and then travels vertically downward by y1 to return to the pickup position.

[0427] Figure 21c is a schematic diagram of a control method of a facade cleaning robot according to an embodiment of the present application. Compared with Figure 21a, in Figure 21c, three air leakage events occur, i.e., the facade cleaning robot encounters three low obstacles, low obstacle A, low obstacle B and low obstacle C. Low obstacle A is the first encountered low obstacle. From the start of adjusting to the horizontal travel posture after detecting the upper edge to detecting the left edge, the horizontal left displacement includes trajectory ② and trajectory ④, and the horizontal right displacement includes trajectory ③ and trajectory ⑤. Assuming that the lengths of trajectory ②, trajectory ③, trajectory ④, trajectory ⑤ and trajectory ① are x2, x3, x4, x5 and y1 respectively, the distance between the pickup position and the right edge is x5+x3-x4-x2 (a first horizontal distance), and the distance between the pickup position and the upper edge is y1 (a first vertical distance). If the upper right corner of the working surface is taken as the origin, the coordinates of the pickup position are (x5+x3-x4-x2, y1).

[0428] When the end point position is located at the right edge of the working surface, such as the lower right corner position, after the facade cleaning robot recognizes the cleaning end signal, it travels to the left edge of the working surface, then travels to the right by a first horizontal distance x4+x2-x3, then travels vertically upward until the upper edge is detected, and then travels vertically downward by y1 to return to the pickup position.

[0429] Figure 21d is a schematic diagram of a control method of a facade cleaning robot according to an embodiment of the present application. Compared with Figure 21c, after the facade cleaning robot detects the right edge, it detects downward, and then travels horizontally to the left to detect the left edge. After detecting the left edge, the horizontal left displacement includes trajectory ②, trajectory ④ and trajectory ⑥, and the horizontal right displacement includes trajectory ③ and trajectory ⑤. Assuming that the lengths of trajectory ②, trajectory ③, trajectory ④, trajectory ⑤, trajectory ⑥ and trajectory ① are x2, x3, x4, x5, x6 and y1 respectively, the distance between the pickup position and the left edge is x6+x4+x2-x5-x3 (a first horizontal distance), and the distance between the pickup position and the upper edge is y1 (a first vertical distance). If the upper left corner of the working surface is taken as the origin, the coordinates of the pickup position are (x5+x3-x4-x2, y1).

[0430] The embodiment of the present application further provides a control method of the facade cleaning robot. In the method, during the facade cleaning robot moving in a first direction, a fan of the facade cleaning robot is controlled to operate at a second rotating speed, the second rotating speed being greater than or equal to a first rotating speed, the first rotating speed being the rotating speed of the fan when the facade cleaning robot is adsorbed on a working surface and is in a static state. Then, in response to a gas leakage event, the fan of the facade cleaning robot is controlled to operate at the second rotating speed, and the facade cleaning robot is controlled to move in a second direction, the second direction being opposite to the first direction, the gas leakage event being an event that the adsorption cavity of the facade cleaning robot leaks gas after the facade cleaning robot moves onto a gas leakage obstacle, the adsorption cavity being a cavity for the fan to suck the gas between the adsorption surface and the working surface of the facade cleaning robot.

[0431] In the scheme, during the facade cleaning robot detecting the upper frame, detecting the left and right frames, successfully detecting the upper frame and the left and right frames, and cleaning according to the preset cleaning mode, if a gas leakage obstacle is encountered, the facade cleaning robot moves in a second direction, the second direction being opposite to the first direction before the gas leakage obstacle is encountered. The first direction and the second direction can be on the same straight line or on different straight lines. Moving in the second direction is also called retreating. During the moving in the second direction, the facade cleaning robot controls the rotating speed of the fan to be the second rotating speed.

[0432] By using the scheme, after the facade cleaning robot encounters a gas leakage obstacle during the moving in the first direction, the rotating speed of the fan is controlled to be the second rotating speed and the facade cleaning robot retreats, so as to ensure the safety of the facade cleaning robot.

[0433] The above mainly describes the control method of the facade cleaning robot after encountering a gas leakage obstacle. In the following, the control method of the facade cleaning robot when being restricted by a rope is described in detail.

[0434] Please refer to FIG. 14a and FIG. 14b. In order to avoid the facade cleaning robot falling from a high altitude, a safety rope mounting hole 114 is arranged on the shell 11 of the facade cleaning robot, and a fixing device 13 or other fixing devices such as a fence, a table and a chair are arranged in a room, the facade cleaning robot is connected with the fixing device 13 through a safety rope 14, which is beneficial to ensure the safety of the facade cleaning robot. Optionally, when the facade cleaning robot is powered by an external power supply, a power line mounting hole 115 is further arranged on the shell 11 of the facade cleaning robot, the facade cleaning robot is connected with the external power supply through a power line, so that the external power supply supplies power to the facade cleaning robot.

[0435] However, the length of the rope is usually fixed, but the width and height of the working surface are often different in different scenarios. When the facade cleaning robot is limited by the rope, that is, when the facade cleaning robot is connected with the fixing device 13 through the safety rope 14 and / or connected with the external power supply through the power line, if the length of the rope is less than the width of the working surface, the wire jamming phenomenon is likely to occur. For example, the fixing device 13 is arranged near the left frame at a distance of 0.5 meters from the left frame, the horizontal distance between the left frame and the right frame is 5 meters, and the length of the safety rope 14 is 3 meters. When the facade cleaning robot travels horizontally to the right for 2.5 meters from the left frame, the safety rope 14 is taut, so that the facade cleaning robot enters the wire jamming state.

[0436] A conventional method is that the facade cleaning robot pauses the current cleaning task after entering the wire jamming state, prompts the user to remove the facade cleaning robot through voice, light effect or application (APP), and gives up the current cleaning task.

[0437] Another method is that the user is prompted to use the remote control function to complete the subsequent cleaning task through voice, light effect or APP. Obviously, both methods need human intervention and have poor intelligence.

[0438] In order to avoid human intervention when the facade cleaning robot is in the wire jamming state, the embodiment of the present application also provides a control method of the facade cleaning robot. For example, refer to FIG. 22, which is another flowchart of the control method of the facade cleaning robot provided by the embodiment of the present application. The embodiment includes:

[0439] Step 901, controlling the facade cleaning robot to travel in a third direction under the limitation of a rope.

[0440] Wherein, the rope is a safety rope or a power line of the facade cleaning robot, one end of the rope is fixed, and the other end is connected with the facade cleaning robot.

[0441] Step 902, when the facade cleaning robot reaches the farthest position under the limitation of the rope, controlling the facade cleaning robot to travel in a fourth direction after downward detection.

[0442] Wherein, the third direction and the fourth direction are opposite, and the angle formed by the trajectory of the facade cleaning robot traveling in the third direction and the trajectory of downward detection is at most a right angle.

[0443] In the steps 901 and 902, the third direction can be any one of upward, downward, leftward, and rightward, and the fourth direction is opposite to the third direction. That is, when the facade cleaning robot is moving upward, downward, leftward, rightward, or backward in any direction, and the line is stuck, the facade cleaning robot detects downward, and the trajectory of the downward detection forms an angle with the trajectory corresponding to the third direction, and the angle is at most 90 degrees. The specific manner of the downward detection can be referred to the description of the embodiment of FIG. 17, and will not be described herein.

[0444] When the facade cleaning robot does not reach the farthest position under the restriction of the rope, the facade cleaning robot continues to move in the third direction.

[0445] With this scheme, when the facade cleaning robot is stuck in the line during the movement in the third direction under the restriction of the rope, the facade cleaning robot detects downward and then moves in the fourth direction, so that the facade cleaning robot can complete the cleaning task as much as possible without manual intervention, and the purpose of improving the cleaning quality is achieved.

[0446] Optionally, in the above embodiment, the facade cleaning robot can flexibly determine whether the current is in the stuck state, that is, whether the facade cleaning robot is stuck in the line and cannot continue to move in the third direction.

[0447] In one manner, the facade cleaning robot determines whether the posture of the facade cleaning robot changes from a first posture to a second posture during the movement of the facade cleaning robot in the third direction. When the posture of the facade cleaning robot changes from the first posture to the second posture, it is determined that the facade cleaning robot reaches the farthest position of the restriction of the rope. When the facade cleaning robot continuously maintains the first posture, it is considered that the facade cleaning robot does not reach the farthest position.

[0448] For example, the facade cleaning robot is internally provided with a posture sensor, and the like. When the facade cleaning robot is not stuck in the line, the facade cleaning robot is in the first posture. Once the facade cleaning robot is stuck in the line and cannot continue to move in the third direction, the facade cleaning robot switches to the second posture. Therefore, the facade cleaning robot can determine whether the current is in the stuck state by identifying the current posture.

[0449] With this scheme, the facade cleaning robot can determine whether the current is in the stuck state by detecting the posture, and the manner is simple and accurate.

[0450] In another approach, the facade cleaning robot determines whether the driving current of the driving wheel of the facade cleaning robot is greater than a preset current during the facade cleaning robot moving in the third direction. When the driving current of the driving wheel is greater than the preset current, it is determined that the facade cleaning robot reaches the farthest position of the rope limit. When the driving current is less than or equal to the preset current, it is considered that the farthest position is not reached at present.

[0451] For example, a current sensor is arranged inside the facade cleaning robot to detect the driving current of the driving wheel. Generally, when the facade cleaning robot is not pulled by the safety rope, the driving current is less than or equal to the preset current. Once the facade cleaning robot is pulled by the safety rope into the wire-entangled state, the driving current is greater than the preset current. Therefore, the facade cleaning robot can determine whether the farthest position is reached, i.e., whether the facade cleaning robot is in the wire-entangled state at present, by detecting the driving current.

[0452] With this scheme, the facade cleaning robot can determine whether the wire-entangled state is reached at present by detecting the driving current, which is simple and highly accurate.

[0453] FIG. 23 is another scenario diagram of the control method of the facade cleaning robot according to an embodiment of the present application. Please refer to FIG. 23. The working surface is rectangular, the facade cleaning robot is located on the working surface, the dashed line represents the safety rope, and the dashed arc line represents the farthest position that the facade cleaning robot can reach.

[0454] In FIG. 23, the activity range of the facade cleaning robot under the restriction of the safety rope is the left part of the working surface. When the facade cleaning robot moves from left to right, the third direction is the right direction, and the fourth direction is the left direction. The control method of the facade cleaning robot includes the following steps:

[0455] Step 1: The facade cleaning robot moves from left to right to the farthest position and is pulled by the safety rope to cause the facade cleaning robot to be unable to continue moving to the right.

[0456] Step 2: The facade cleaning robot detects that it is in the wire-entangled state according to the driving current or the pose.

[0457] Step 3: The facade cleaning robot moves in the fourth direction after downward detection.

[0458] After the facade cleaning robot detects the left frame, the facade cleaning robot moves in the third direction after downward detection, and repeats steps 1-3 to complete the cleaning of the working surface.

[0459] FIG. 24 is another scenario diagram of the control method of the facade cleaning robot according to an embodiment of the present application. In this embodiment, the activity range of the facade cleaning robot under the restriction of the safety rope is the middle area of the working surface.

[0460] When the facade cleaning robot travels and cleans from left to right, the third direction is the right direction, and the fourth direction is the left direction. When the facade cleaning robot travels and cleans from right to left, the third direction is the left direction, and the fourth direction is the right direction. The control method of the facade cleaning robot comprises the following steps:

[0461] Step 1: The facade cleaning robot travels from left to right to the farthest position and is pulled by the safety rope, causing it to be unable to continue to travel to the left.

[0462] Step 2: The facade cleaning robot detects that it is in a wire jam state according to the driving current or pose.

[0463] Step 3: The facade cleaning robot travels in the fourth direction after downward detection.

[0464] Step 4: The facade cleaning robot travels from right to left to the farthest position and is pulled by the safety rope, causing it to be unable to continue to travel to the right.

[0465] Step 5: The facade cleaning robot detects that it is in a wire jam state according to the driving current or pose.

[0466] Step 6: The facade cleaning robot travels in the fourth direction after downward detection.

[0467] The facade cleaning robot travels in the fourth direction after downward detection each time it reaches the farthest position, and repeats steps 1-6 to complete the cleaning of the working surface.

[0468] FIG. 25 is another scenario diagram of the control method of the facade cleaning robot according to an embodiment of the present application. In this embodiment, the activity range of the facade cleaning robot under the restriction of the safety rope is the right part of the working surface. When the facade cleaning robot travels and cleans from right to left, the third direction is the left direction, and the fourth direction is the right direction. The control method of the facade cleaning robot comprises the following steps:

[0469] Step 1: The facade cleaning robot travels from right to left to the farthest position and is pulled by the safety rope, causing it to be unable to continue to travel to the right.

[0470] Step 2: The facade cleaning robot detects that it is in a wire jam state according to the driving current or pose.

[0471] Step 3: The facade cleaning robot travels in the fourth direction after downward detection.

[0472] The facade cleaning robot travels in the third direction after downward detection after detecting the right frame, and repeats steps 1-3 to complete the cleaning of the working surface.

[0473] In the above embodiments shown in FIGS. 23-25, the process of detecting the upper frame and the left and right frames by the facade cleaning robot is not described.

[0474] The control method of the facade cleaning robot is described in detail below in combination with specific application scenarios.

[0475] Application scenario one:

[0476] FIG. 26 is another scene schematic diagram of the facade cleaning robot provided by the embodiment of the application. Please refer to FIG. 26. The facade cleaning robot is cleaning a working surface outdoors, and the initial position of the facade cleaning robot is as shown by the dashed line facade cleaning robot in the figure. When the negative pressure value of the suction cavity is greater than the preset negative pressure value, the user releases the facade cleaning robot, and the facade cleaning robot is adsorbed on the working surface. Then, the facade cleaning robot autonomously travels upward under the action of the driving wheel to detect the upper edge. After successfully detecting the upper edge, the facade cleaning robot adjusts to a horizontal posture. Then, the facade cleaning robot travels along the edge in a first direction, for example, horizontally to the left. After successfully detecting the left edge, the facade cleaning robot travels along the edge in a second direction to detect the right edge, and the second direction is to the right.

[0477] After the facade cleaning robot travels from left to right to the farthest position, it is pulled by the safety rope and cannot continue to travel to the right. The facade cleaning robot detects that it is in a wire jam state according to the driving current or the pose. Then, the facade cleaning robot detects downward to the left and travels to the left.

[0478] When the facade cleaning robot cleans the working surface according to the set working mode, it encounters a gas leakage obstacle during the rightward travel, resulting in gas leakage of the suction cavity. At this time, the facade cleaning robot detects the negative pressure value or the vacuum degree of the suction cavity. When the negative pressure value of the suction cavity is lower than the safety negative pressure value, the facade cleaning robot stops traveling and increases the rotating speed of the fan, so that the fan more intensively sucks the air in the suction cavity to increase the negative pressure of the suction cavity. After the negative pressure value of the suction cavity is higher than the preset negative pressure value, the facade cleaning robot detects downward to the left and travels to the left to continue cleaning the working surface.

[0479] After the facade cleaning robot cleans the working surface under the restriction of the rope, it returns to the picking position because it successfully detects the upper edge. In this scenario, the picking position is the initial position of the robot.

[0480] Application scenario two:

[0481] Fig. 27 is another scenario of the facade cleaning robot according to the embodiment of the present application. Referring to Fig. 27, the initial position of the facade cleaning robot is shown as the position of the dashed facade cleaning robot. When the negative pressure value of the suction cavity is greater than the preset negative pressure value, the user releases the facade cleaning robot, and the facade cleaning robot is adsorbed on the working surface. Then, the facade cleaning robot autonomously travels upward under the action of the driving wheel to detect the upper edge. Due to the short rope and high working surface, the facade cleaning robot reaches the farthest position without detecting the upper edge, and is pulled by the safety rope to stop further upward travel. The facade cleaning robot detects that it is in the wire stuck state according to the driving current or pose. Then, the facade cleaning robot retreats by a preset distance and adjusts to a horizontal pose.

[0482] Then, the facade cleaning robot travels along the edge in a first direction, for example, horizontally left. The facade cleaning robot travels from right to left to the farthest position, and is pulled by the safety rope to stop further left travel. The facade cleaning robot detects that it is in the wire stuck state according to the driving current or pose. Then, the facade cleaning robot detects downward to the right and travels to the right.

[0483] The facade cleaning robot travels from left to right to the farthest position, and is pulled by the safety rope to stop further right travel. The facade cleaning robot detects that it is in the wire stuck state according to the driving current or pose. Then, the facade cleaning robot detects downward to the left and travels to the left.

[0484] When the facade cleaning robot cleans the working surface according to the set working mode, the facade cleaning robot encounters a gas leakage obstacle during left travel, resulting in gas leakage of the suction cavity. At this time, the facade cleaning robot detects the negative pressure or vacuum degree of the suction cavity. When the negative pressure value of the suction cavity is lower than the safety negative pressure value, the facade cleaning robot stops traveling and increases the speed of the fan, and the fan more strongly sucks the air in the suction cavity to increase the negative pressure of the suction cavity. After the negative pressure value of the suction cavity is higher than the preset negative pressure value, the facade cleaning robot detects to the right and travels to the right to continue cleaning the working surface.

[0485] After the facade cleaning robot cleans the working surface under the restriction of the rope, the facade cleaning robot returns to the lower left corner or the lower right corner of the target area. The target area is an area surrounded by the edge formed by the farthest position and the lower edge of the working surface, and the edge formed by the farthest position is shown as a dashed arc in the figure.

[0486] The following is an apparatus embodiment of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the apparatus embodiments of the present application, please refer to the method embodiments of the present application.

[0487] Fig. 28 is a schematic diagram of a control device according to an embodiment of the present application. The control device 1500 is integrated on a facade cleaning robot, and the control device 1500 comprises a control module 151, a processing module 152, and a travel module 153.

[0488] The control module 151 is configured to control the fan of the facade cleaning robot to operate at a second rotating speed during the facade cleaning robot travels in a first direction, the second rotating speed being greater than or equal to a first rotating speed, the first rotating speed being the rotating speed of the fan when the facade cleaning robot is adsorbed on a working surface and is in a stationary state.

[0489] The processing module 152 is configured to increase the rotating speed of the fan in response to a gas leakage event, the gas leakage event being an event that triggers the gas leakage of the adsorption cavity after the facade cleaning robot travels onto a gas leakage obstacle, the adsorption cavity being a cavity for the fan to suck the gas between the adsorption surface and the working surface of the facade cleaning robot.

[0490] The travel module 153 is configured to travel away from the gas leakage obstacle.

[0491] In an implementation, the processing module 152 is configured to control the fan to operate at a third rotating speed or a fourth rotating speed in response to the gas leakage event, the third rotating speed being greater than the second rotating speed and less than the fourth rotating speed, the fourth rotating speed being the maximum rotating speed of the fan.

[0492] In an implementation, the travel module 153 is configured to control the facade cleaning robot to travel in a second direction to avoid the gas leakage obstacle, the second direction being opposite to the first direction.

[0493] In an implementation, the processing module 152 is configured to control the facade cleaning robot to stop moving in response to the gas leakage event; and control the fan to operate at a third rotating speed or a fourth rotating speed, the third rotating speed being greater than the second rotating speed and less than the fourth rotating speed, the fourth rotating speed being the maximum rotating speed of the fan.

[0494] In an implementation, the processing module 152 is further configured to detect a negative pressure value of the adsorption cavity.

[0495] The travel module 153 is configured to control the facade cleaning robot to travel in a second direction to avoid the gas leakage obstacle when the negative pressure value of the adsorption cavity is higher than a preset negative pressure value, the second direction being opposite to the first direction.

[0496] In a possible implementation, the processing module 152 is configured to determine a power supply mode of the facade cleaning robot in response to the air leakage event; when the power supply mode is mains power supply, control the facade cleaning robot to stop moving; and control the fan to operate at a fourth rotating speed, the fourth rotating speed being a maximum rotating speed of the fan.

[0497] In a possible implementation, the processing module 152 is further configured to control the facade cleaning robot to return to a pickup position in response to the cleaning end signal, the pickup position being an initial position at which the facade cleaning robot is initially adsorbed on the working surface or a position close to an edge frame on which the facade cleaning robot is placed by a user.

[0498] In a possible implementation, the processing module 152 is configured to determine a plurality of displacements, the plurality of displacements including each displacement generated by a turning-back movement of the facade cleaning robot in a horizontal direction within a target time period, a start point of the target time period being a time point at which the facade cleaning robot detects an upper edge frame and adjusts to a horizontal moving posture, an end point of the target time period being a time point at which an edge detection event occurs, and at least one air leakage event occurring within the target time period; the facade cleaning robot moves horizontally after vertically moving from the pickup position to detect an upper edge or a lower edge; and the processing module 152 is configured to determine a first type of displacement and a second type of displacement from the plurality of displacements, the first type of displacement and the second type of displacement being two types of displacements in the horizontal direction and having opposite directions; and the processing module 152 is configured to control the facade cleaning robot to return to the pickup position from an end position in response to the cleaning end signal, the end position being a position of the facade cleaning robot when the cleaning end signal is received.

[0499] In a possible implementation, the processing module 152 is configured to control the facade cleaning robot to return to the pickup position from the end position in response to the cleaning end signal according to the first type of displacement and the second type of displacement, when the end position is located at a right edge frame of the working surface and the edge detection event detects the right edge frame, control the facade cleaning robot to move horizontally to the left by a first horizontal distance, and control the facade cleaning robot to vertically move downward by a first vertical distance after detecting the upper edge frame; the first horizontal distance is a difference between a sum of the first type of displacement and a sum of the second type of displacement, and the first vertical distance is a displacement of the facade cleaning robot from the pickup position to the upper edge frame.

[0500] In a possible implementation, the air leakage obstacle is an object with a height lower than a preset height, the preset height being a minimum height of an obstacle that can be identified by an obstacle detection sensor of the facade cleaning robot; or the air leakage obstacle is a groove on the working surface.

[0501] In a possible implementation, the control module 151 is further configured to control the facade cleaning robot to move in a third direction under the restriction of a rope, the rope being a safety rope or a power line of the facade cleaning robot, one end of the rope being fixed and the other end being connected to the facade cleaning robot; when the facade cleaning robot reaches a farthest position under the restriction of the rope, control the facade cleaning robot to move in a fourth direction after detecting downward, the third direction being opposite to the fourth direction, and an angle formed by a trajectory of the facade cleaning robot moving in the third direction and a trajectory of the facade cleaning robot detecting downward being at most a right angle.

[0502] In a possible implementation, the processing module 152 is further configured to determine whether a pose of the facade cleaning robot changes from a first pose to a second pose during the movement of the facade cleaning robot in the third direction; and determine that the facade cleaning robot reaches the farthest position under the restriction of the rope when the pose of the facade cleaning robot changes from the first pose to the second pose.

[0503] In a possible implementation, the processing module 152 is further configured to determine whether a driving current of a driving wheel of the facade cleaning robot is greater than a preset current during the movement of the facade cleaning robot in the third direction; and determine that the facade cleaning robot reaches the farthest position under the restriction of the rope when the driving current of the driving wheel is greater than the preset current.

[0504] In a possible implementation, the control module 151 is further configured to control a fan of the facade cleaning robot to operate at a second rotating speed during the movement of the facade cleaning robot in the first direction, the second rotating speed being greater than or equal to a first rotating speed, the first rotating speed being a rotating speed of the fan when the facade cleaning robot is adsorbed on a working surface and is in a static state.

[0505] The processing module 152 is further configured to control the fan of the facade cleaning robot to operate at a second rotating speed and control the facade cleaning robot to move in a second direction in response to a gas leakage event, the second direction being opposite to the first direction, the gas leakage event being an event of triggering gas leakage of an adsorption cavity after the facade cleaning robot moves onto a gas leakage obstacle, the adsorption cavity being a cavity for enabling the fan to suck gas between an adsorption surface and a working surface of the facade cleaning robot.

[0506] The control device provided by the embodiments of the present application can perform the actions of the facade cleaning robot in the above embodiments, and the implementation principles and technical effects are similar, which will not be described here again.

[0507] FIG. 29 is a structural schematic diagram of a facade cleaning robot according to an embodiment of the present application. As shown in FIG. 29, the facade cleaning robot 1600 includes:

[0508] a processor 161 and a memory 162;

[0509] The memory 162 stores computer instructions.

[0510] The processor 161 executes the computer instructions stored in the memory 162, so that the processor 161 performs the control method implemented by the facade cleaning robot.

[0511] The specific implementation process of the processor 161 can refer to the above method embodiments, which have similar implementation principles and technical effects, and will not be described here in detail.

[0512] Optionally, the facade cleaning robot 1600 further includes a communication component 163. The processor 161, the memory 162, and the communication component 163 can be connected through a bus 164.

[0513] The present application also provides a computer readable storage medium, which stores computer instructions. The computer instructions are executed by a processor to implement the control method implemented by the facade cleaning robot.

[0514] The present application also provides a computer program product, which includes a computer program. The computer program is executed by a processor to implement the control method implemented by the facade cleaning robot.

[0515] Further, the present application also provides a cleaning robot, which can be applied in a household or commercial scene. The cleaning robot can be a window cleaning robot for cleaning windows or glass facades. The cleaning robot provided by the present application includes a body and a liquid storage device. The body is configured to move on a working surface and has a first movement posture of moving in a height direction on the working surface and a second movement posture of moving in a horizontal direction on the working surface. The first movement posture is that the cleaning robot moves in an upward or downward direction on the working surface, and the second movement posture is that the cleaning robot moves in a left or right direction on the working surface.

[0516] The liquid storage device is arranged in the machine body, and the cleaning liquid is arranged in the liquid storage device. When the cleaning robot works, the working surface is cleaned by the cleaning liquid in the liquid storage device. In addition, the first water outlet and the second water outlet are arranged on the liquid storage device, and the first water outlet and the second water outlet are in communication with the liquid storage device. The cleaning liquid in the liquid storage device is output through the first water outlet and the second water outlet to clean the working surface. The barrier device is arranged in the liquid storage device adjacent to the first water outlet. The barrier device encloses the first water outlet to form a cavity, and the cavity has an open end. The first water outlet is in communication with the inner cavity of the liquid storage device through the open end.

[0517] When the machine body is in the first motion posture, that is, during the upward or downward movement of the cleaning robot on the working surface, the first water outlet is always located on the upper side of the second water outlet, and the open end of the cavity is located at a position higher than the first water outlet, thereby preventing the cleaning liquid from flowing back to the inner cavity of the liquid storage device through the first water outlet.

[0518] By arranging the barrier device in the liquid storage device, when the cleaning robot moves in the upward or downward direction on the working surface, the barrier device can prevent the liquid flowing back to the inner cavity of the liquid storage device through the first water outlet, so that the first water outlet always maintains a full water state, the inner and outer atmospheres of the first water outlet are blocked, and gas is prevented from entering the inner cavity of the liquid storage device from the first water outlet. Therefore, the atmospheric pressure inside the second water outlet is higher than the outward pressure of the liquid inside the second water outlet, effectively preventing the second water outlet from dripping. When the cleaning robot moves in the left or right direction on the working surface, there is liquid at the first water outlet and the second water outlet, so that the inner and outer atmospheres of the liquid storage device are blocked. The inward atmospheric pressure at the first water outlet and the second water outlet is higher than the outward pressure of the liquid inside the first water outlet and the second water outlet, thereby preventing the first water outlet and the second water outlet from dripping.

[0519] In order to facilitate understanding, the specific structure of the cleaning robot of the present application and its working principle will be described in detail below with reference to FIGS. 30-37 in combination with an embodiment.

[0520] As shown in FIGS. 30, 33 and 34, the cleaning robot provided by the present application comprises a body 1 and a liquid storage device 2. The body 1 is configured to move on a working surface, and the body 1 is configured to have a first movement posture in which the body 1 moves in a height direction on the working surface. The liquid storage device 2 is arranged in the body 1, and the liquid storage device 2 is provided with at least a first water outlet 3 and a second water outlet 4 which are in communication with an inner cavity of the liquid storage device 2. A barrier device 5 is arranged in the liquid storage device 2 adjacent to the first water outlet 3, and the barrier device 5 is configured to form a cavity 13 which surrounds the first water outlet 3 and has an open end 12. The first water outlet 3 is configured to communicate with the inner cavity of the liquid storage device 2 through the open end 12. When the body 1 is in the first movement posture, the first water outlet 3 is configured to be located above the second water outlet 4, and the open end 12 of the cavity 13 is configured to be located at a position higher than the first water outlet 3, so as to prevent liquid from flowing back to the inner cavity of the liquid storage device 2 through the first water outlet 3.

[0521] Specifically, as shown in FIGS. 30 and 37, the cleaning robot provided by the present application comprises a body 1 and a liquid storage device 2. The body 1 can be provided with walking wheels on a side in contact with a working surface. The walking wheels can not only drive the cleaning robot to move in parallel on the working surface, but also drive the cleaning robot to perform rotational movement on the working surface, so that the cleaning robot can move to various positions on the working surface and clean the entire working surface. In addition, the body 1 is further provided with a cleaning assembly in the form of a cloth tray or the like for cleaning the working surface. When the cleaning robot is a window cleaning robot, the body 1 can be further provided with a vacuum assembly which forms a negative pressure to thereby adsorb the window cleaning robot on a window. In the embodiment, the shape of the body 1 can be set according to actual needs, and the body 1 can be square or circular, which is not limited herein.

[0522] As shown in FIG. 35, the body 1 is further configured to have a first movement posture in which the body 1 moves in a height direction on the working surface. In the movement posture, the walking wheels on the body 1 drive the cleaning robot to move in an upward or downward direction, the body 1 is adsorbed on the working surface by the vacuum assembly, and the cleaning assembly cleans along the movement path of the cleaning robot.

[0523] The liquid storage device 2 is arranged in the machine body 1, and cleaning liquid is arranged in the liquid storage device 2. When the cleaning robot works, the cleaning surface is cleaned by the cleaning liquid in the liquid storage device 2 cooperating with the cleaning assembly. In addition, the first water outlet 3 and the second water outlet 4 are arranged at two ends of the liquid storage device 2, and the first water outlet 3 and the second water outlet 4 are in communication with the liquid storage device 2. The cleaning liquid in the liquid storage device 2 is output through the first water outlet 3 and the second water outlet 4 to clean the working surface. As shown in FIG. 34, the barrier device 5 is arranged in the liquid storage device 2 adjacent to the first water outlet 3, and the barrier device 5 encloses the first water outlet 3 to form a cavity 13, and the cavity 13 has an open end 12, and the first water outlet 3 is in communication with the inner cavity of the liquid storage device 2 through the open end 12.

[0524] As shown in FIG. 35, when the machine body 1 is in the first motion posture, that is, during the upward or downward movement of the cleaning robot on the working surface, the first water outlet 3 is always located on the upper side of the second water outlet 4, and the open end 12 of the cavity 13 is located at a position higher than the first water outlet 3, thereby preventing the liquid flowing through the first water outlet 3 from flowing back to the inner cavity of the liquid storage device 2, so that the first water outlet 3 always maintains a full water state, thereby blocking the atmosphere inside and outside the first water outlet 3, avoiding the gas entering the inner cavity of the liquid storage device 2 from the first water outlet 3, and thereby making the atmospheric pressure inside the second water outlet 4 higher than the pressure of the liquid inside the second water outlet 4, thereby effectively preventing the second water outlet 4 from dripping.

[0525] As shown in FIGS. 31-33, in an embodiment of the present application, the cleaning robot further comprises a liquid outlet device 6, and the liquid outlet device 6 comprises at least a first liquid outlet assembly 61 and a second liquid outlet assembly 62. The first liquid outlet assembly 61 and the second liquid outlet assembly 62 are oppositely arranged on two sides of the machine body 1. The first liquid outlet assembly 61 is configured to communicate with the first water outlet 3. The second liquid outlet assembly 62 is configured to communicate with the second water outlet 4. The liquid in the liquid storage device 2 is configured to flow out from the first liquid outlet assembly 61 and / or the second liquid outlet assembly 62.

[0526] Specifically, as shown in FIG. 30 and FIG. 33, the first liquid outlet assembly 61 and the second liquid outlet assembly 62 are arranged at the edge positions of the two sides of the body 1 respectively, and the first liquid outlet assembly 61 and the second liquid outlet assembly 62 are configured to spray the cleaning liquid on the working surface. Among them, the first liquid outlet assembly 61 is in communication with the first water outlet 3, the second liquid outlet assembly 62 is in communication with the second water outlet 4, and the cleaning liquid in the liquid storage device 2 will flow out from the first liquid outlet assembly 61 and / or the second liquid outlet assembly 62. When the cleaning robot is in the first motion state, when the cleaning robot moves upwards along the working surface, because the blocking device 5 prevents the liquid from flowing back to the inner cavity of the liquid storage device 2 through the first water outlet 3, the first water outlet 3 always maintains a full water state, and the atmosphere inside and outside the first water outlet 3 is blocked, in order to make the first water outlet 3 always maintain a full water state, the first liquid outlet assembly 61 and the second liquid outlet assembly 62 are both set to not spray liquid, thereby avoiding the gas entering the inner cavity of the liquid storage device 2 from the first water outlet 3, and thereby making the atmospheric pressure inside the second water outlet 4 higher than the pressure of the liquid inside the second water outlet 4 to the outside, effectively preventing the second liquid outlet assembly 62 from dripping. When the cleaning robot moves downwards along the working surface, the first liquid outlet assembly 61 does not spray liquid, and the liquid in the liquid storage device 2 flows out from the second liquid outlet assembly 62, and the second liquid outlet assembly 62 sprays liquid. In this way, after the second liquid outlet assembly 62 sprays cleaning liquid on the working surface to wet the working surface, the cleaning assembly can clean the part of the working surface to remove the dirt on the working surface.

[0527] It can be understood that when the cleaning robot of the present application works in other states, the liquid in the liquid storage device 2 will flow out from the first water outlet 3 and the second water outlet 4 and be sprayed from the corresponding spray ports to spray the liquid on the working surface. When the cleaning robot switches from this state to the first motion state, the liquid remaining in the first water outlet 3 or the pipeline between the first water outlet 3 and the corresponding liquid outlet hole has the tendency to flow back to the liquid storage device 2, at this time, because the passage between the first water outlet 3 and the liquid storage device 2 is blocked by the above-mentioned cavity 13, that is, the liquid will still remain in the pipeline between the first water outlet 3 and the corresponding liquid outlet hole, thereby blocking the gas passage between the first water outlet 3 and the inner cavity of the liquid storage device 2, thereby forming a certain negative pressure environment in the inner cavity of the liquid storage device 2.

[0528] As shown in FIG. 33, in an embodiment of the present application, the first liquid outlet assembly 61 includes a first liquid outlet seat 63 with a first liquid outlet hole, a first adapter seat 65 that is in butt joint with the first liquid outlet seat 63, and a first atomizing sheet 67 located between the first adapter seat 65 and the first liquid outlet seat 63; the first atomizing sheet 67 is configured to atomize liquid in a powered state and spray out from the first liquid outlet hole; the second liquid outlet assembly 62 includes a second liquid outlet seat 64 with a second liquid outlet hole, a second adapter seat 66 that is in butt joint with the second liquid outlet seat 64, and a second atomizing sheet 68 located between the second adapter seat 66 and the second liquid outlet seat 64; the second atomizing sheet 68 is configured to atomize liquid in a powered state and spray out from the second liquid outlet hole.

[0529] Specifically, the first liquid outlet assembly 61 includes a first liquid outlet seat 63 with a first liquid outlet hole, a first adapter seat 65 that is in butt joint with the first liquid outlet seat 63, and a first atomizing sheet 67 located between the first adapter seat 65 and the first liquid outlet seat 63. The first liquid outlet seat 63 is in communication with the first water outlet 3 through the first water inlet pipeline 7, and the first atomizing sheet 67 is arranged between the first adapter seat 65 and the first liquid outlet seat 63. The number of the first atomizing sheet 67 can be set according to actual needs. In this embodiment, two groups of first atomizing sheets 67 are arranged in the first liquid outlet assembly 61. Each group of first atomizing sheets 67 is composed of a metal sheet and a ceramic sheet. A plurality of first liquid outlet holes are arranged on the metal sheet, and a signal line 11 is connected to the first atomizing sheet 67. When the first atomizing sheet 67 is powered through the signal line 11, the cleaning liquid enters the first atomizing sheet 67 of the first liquid outlet assembly 61 from the first water outlet 3. The ceramic sheet in the first atomizing sheet 67 drives the metal sheet to vibrate through high-frequency vibration, so as to quickly decompose the liquid into small water droplets, which are then sprayed out through the first liquid outlet hole, thereby realizing the liquid outlet function. In this embodiment, the spray axes of each group of first atomizing sheets 67 can be arranged to radiate outward from the outside of the machine body 1 and away from each other. In this way, the cleaning liquid sprayed by each group of first atomizing sheets 67 does not interfere with each other, thereby effectively prolonging the spray distance of the cleaning liquid and reducing the spray blind area. At the same time, since the spray ranges of adjacent first atomizing sheets 67 partially overlap, the amount of cleaning liquid at the edge and the center of the spray range tends to be consistent, which ensures the uniformity of the cleaning liquid mist coverage on the working surface, improves the cleaning efficiency of the cleaning robot, and optimizes the user experience.

[0530] The first liquid outlet assembly 61 further comprises a first adapter seat 65 that is in abutment with the first liquid outlet seat 63. The first adapter seat 65 is in communication with the first water outlet 3 through the first water inlet pipe 7 and conveys the cleaning liquid from the first water inlet pipe 7 into the first liquid outlet assembly 61. Moreover, the first adapter seat 65 is matched in shape with the first liquid outlet seat 63 to ensure that they can be closely and accurately abutted, which not only facilitates assembly and disassembly, but also guarantees the sealing and stability of the connection, thereby improving the working efficiency and reliability of the entire liquid outlet assembly. In this embodiment, the interface parts of the first adapter seat 65 and the first liquid outlet seat 63 adopt a complementary design, such as concave-convex fitting, buckle structure or other forms of mechanical locking mechanism, to ensure that they can be accurately aligned and firmly fixed during installation. The first atomizing sheet 67 is located between the first adapter seat 65 and the first liquid outlet seat 63. When powered, the cleaning liquid enters the first liquid outlet assembly 61 through the first adapter seat 65 and is converted into fine mist droplets by the first atomizing sheet 67, and is uniformly sprayed out through the first liquid outlet hole. The specific structure and working principle of the second liquid outlet seat 64, the second adapter seat 66 and the second atomizing sheet 68 can refer to the first liquid outlet seat 63, the first adapter seat 65 and the first atomizing sheet 67, and will not be described here.

[0531] In the embodiment of the present application, since the liquid is atomized and sprayed out by means of vibration of the atomizing sheet, the liquid outlet holes of the two liquid outlet assemblies are always in a state of communication with the inner cavity of the liquid storage device 2. The liquid in the liquid storage device 2 has a tendency to flow in the direction of the corresponding liquid outlet hole under the action of its own gravity or in a natural state, and the atomized liquid is sprayed out under the vibration action of the atomizing sheet. At this time, if the cleaning robot is switched to the first movement posture from other postures, the liquid in the first water outlet 3 of the first liquid outlet assembly 61 located above will flow back to the inner cavity of the liquid storage device 2, so that the liquid storage device 2 is in a state of communication with the outside atmosphere through the first liquid outlet hole of the first liquid outlet assembly 61. Then, the liquid will flow out from the second liquid outlet hole of the second liquid outlet assembly 62 under the action of gravity, causing the problem of dripping or leaking.

[0532] As shown in FIGS. 31-35, in an embodiment of the present application, when in the first movement posture, the first water outlet 3 and the second water outlet 4 are respectively located on the upper and lower sides of the body 1, and the liquid in the inner cavity of the liquid storage device 2 is configured to have a tendency to flow to the second water outlet 4.

[0533] Specifically, when the machine body 1 is in the first motion posture, the cleaning robot moves in the upward or downward direction on the working surface, at this time, the first water outlet 3 and the second water outlet 4 are respectively located on the upper and lower sides of the machine body 1, under the action of gravity, the cleaning liquid in the inner cavity of the liquid storage device 2 is configured to flow to the second water outlet 4. Because the barrier device 5 is arranged in the liquid storage device 2, the liquid in the first water outlet 3 cannot flow back to the inner cavity of the liquid storage device 2, so that air cannot enter the first water outlet 3, thereby ensuring that the air pressure inward of the second water outlet 4 is greater than the outward pressure of the liquid in the second water outlet 4, thereby preventing the second water outlet 4 from dripping.

[0534] As shown in FIG. 36, in an embodiment of the present application, the machine body 1 is configured to switch between the first motion posture and the second motion posture; when in the second motion posture, the first water outlet 3 and the second water outlet 4 are located on both sides of the liquid storage device 2 in the horizontal direction.

[0535] Specifically, the machine body 1 also has a second motion posture of moving in the horizontal direction on the working surface, that is, the cleaning robot can move in the left or right direction on the working surface. When the machine body 1 is in the second motion posture, the first water outlet 3 and the second water outlet 4 are located on both sides of the liquid storage device 2 in the horizontal direction, and the first liquid outlet assembly 61 and the second liquid outlet assembly 62 are respectively located on both sides of the machine body 1 in the horizontal direction. In this way, when the cleaning robot moves left or right in the horizontal direction, there is cleaning liquid in the first liquid outlet assembly 61 and the second liquid outlet assembly 62, so that the air inside and outside the liquid storage device 2 is blocked, and there is an inward atmospheric pressure at the hole diameter of the first liquid outlet hole and the second liquid outlet hole, which is higher than the outward pressure of the liquid inside the first liquid outlet hole and the second liquid outlet hole, which can effectively prevent the first liquid outlet assembly 61 and the second liquid outlet assembly 62 from dripping.

[0536] In an embodiment of the present application, in the case where the machine body 1 switches from the second motion posture to the first motion posture, the barrier device 5 is configured to prevent liquid from flowing back to the inner cavity of the liquid storage device 2 through the first water outlet 3.

[0537] Specifically, when the cleaning robot of the present application is in the process of switching from the second motion posture to the first motion posture, the liquid in the liquid storage device 2 will flow out from the first water outlet 3 and the second water outlet 4, and the liquid remaining in the first water outlet 3 or the pipeline between the first water outlet 3 and the corresponding liquid outlet hole has a tendency to flow back into the liquid storage device 2. At this time, the liquid storage device 2 contains a small amount of cleaning liquid. Since the passage between the first water outlet 3 and the liquid storage device 2 is blocked by the above-mentioned cavity 13, a small amount of cleaning liquid will still remain in the pipeline between the first water outlet 3 and the corresponding liquid outlet hole, thereby blocking the gas passage between the first water outlet 3 and the inner cavity of the liquid storage device 2, so as to form a certain negative pressure environment in the inner cavity of the liquid storage device 2, which can still play a good liquid sealing role and prevent the occurrence of liquid dripping phenomenon.

[0538] As shown in FIG. 36, in an embodiment of the present application, when located in the second motion posture, the liquid storage device 2 is configured to be located above the first water outlet 3 and the second water outlet 4, and the liquid in the liquid storage device 2 is configured to have a tendency to flow to the first water outlet 3 and the second water outlet 4 under the action of its own gravity.

[0539] Specifically, when the body 1 is located in the second motion posture, the liquid storage device 2 is located above the first water outlet 3 and the second water outlet 4. During the working process, the cleaning robot moves in the horizontal direction to the left or to the right, and the cleaning liquid in the liquid storage device 2 flows to the first liquid outlet assembly 61 and the second liquid outlet assembly 62, respectively, under the action of gravity, so that the cleaning robot can smoothly discharge liquid during the working process and ensure the continuity of the cleaning process.

[0540] As shown in FIG. 34 and FIG. 36, in an embodiment of the present application, when located in the second motion posture, the opening end 12 of the cavity 13 is configured to be directed in the horizontal direction away from the first water outlet 3; the liquid in the inner cavity of the liquid storage device 2 is configured to flow to the second water outlet 4 and to the first water outlet 3 through the opening end 12.

[0541] Specifically, when the body 1 is located in the second motion posture, the opening end 12 of the cavity 13 is directed in the horizontal direction to the outside of the liquid storage device 2, i.e. the opening end 12 is located on the left side of the entire cavity 13. When the cleaning robot moves in the horizontal direction, the cleaning liquid in the inner cavity of the liquid storage device 2 flows to the first water outlet 3 through the opening end 12 and enters the first liquid outlet assembly 61, and flows to the first water outlet 3 through the opening end 12. When the cleaning robot moves to the left, the first liquid outlet assembly 61 sprays cleaning liquid to the working surface, and the cleaning assembly cleans the part of the working surface.

[0542] As shown in FIG. 35, in one embodiment of the present application, the cleaning robot further comprises a control unit, which is configured to control only the second liquid outlet assembly 62 to be powered on during the downward movement of the cleaning robot, so as to perform liquid outlet on the working surface below the cleaning robot; and control the first liquid outlet assembly 61 and the second liquid outlet assembly 62 to be powered off during the upward movement of the cleaning robot.

[0543] Specifically, the cleaning robot is further provided with a control unit for controlling the power-on and power-off of the first liquid outlet assembly 61 and the second liquid outlet assembly 62. When the body 1 is in the first movement posture, the cleaning robot moves upward or downward. During the downward movement of the cleaning robot, the control unit controls the second liquid outlet assembly 62 to be powered on and the first liquid outlet assembly 61 to be powered off, so that the second liquid outlet assembly 62 can perform liquid outlet on the working surface below the cleaning robot. During the upward movement of the cleaning robot, the control unit controls the first liquid outlet assembly 61 and the second liquid outlet assembly 62 to be powered off, so that neither of them performs liquid outlet, thereby avoiding the gas entering the inner cavity of the liquid storage device 2 from the first liquid outlet assembly 61, and further making the atmospheric pressure inside the second liquid outlet assembly 62 higher than the pressure of the liquid inside the second liquid outlet assembly 62, so as to effectively prevent the second liquid outlet assembly 62 from dripping.

[0544] In combination with the above-mentioned embodiment in which each liquid outlet assembly performs liquid outlet in the form of atomization vibration, the power-on of the atomization piece causes the atomization piece to vibrate and thereby atomize the liquid and spray it out of the corresponding liquid outlet hole; and the power-off of the atomization piece causes the liquid to stay in the affected pipeline and not to be sprayed out of the corresponding liquid outlet hole.

[0545] As shown in FIG. 36, in one embodiment of the present application, the cleaning robot further comprises a control unit, which is configured to control the first liquid outlet assembly 61 to be powered on when the cleaning robot moves in the direction of the side where the first liquid outlet assembly 61 is located; and control the second liquid outlet assembly 62 to be powered on when the cleaning robot moves in the direction of the side where the second liquid outlet assembly 62 is located.

[0546] Specifically, when the robot body 1 is in the second motion posture, the control unit can control the power-on and power-off of the first liquid outlet assembly 61 and the second liquid outlet assembly 62 according to the travel direction of the cleaning robot. For example, the first liquid outlet assembly 61 is arranged on the left side of the robot body 1, when the cleaning robot moves to the left side, the control unit controls the first liquid outlet assembly 61 to be powered on, the first liquid outlet assembly 61 performs liquid outlet on the working surface on the left side of the cleaning robot, and the cleaning assembly performs cleaning on the working surface after liquid outlet. The second liquid outlet assembly 62 is arranged on the right side of the robot body 1, when the cleaning robot moves to the right side, the control unit controls the second liquid outlet assembly 62 to be powered on, the second liquid outlet assembly 62 performs liquid outlet on the working surface on the right side of the cleaning robot, and the cleaning assembly performs cleaning on the working surface after liquid outlet.

[0547] The cleaning robot of the present application can work on a glass surface in the first motion posture, for example, moving upwards or downwards on the glass surface and cleaning the glass surface in the process of movement; or work on the glass surface in the second motion posture, for example, moving to the left or right on the glass surface and cleaning the glass surface in the process of movement. When the cleaning robot works in the second motion posture, the two liquid outlet assemblies are located on the left and right sides of the cleaning robot, when the cleaning robot moves to the left, the liquid outlet assembly located on the left side is controlled to perform liquid outlet on the working surface on the left side of the cleaning robot; when the cleaning robot moves to the right, the liquid outlet assembly located on the right side is controlled to perform liquid outlet on the working surface on the right side of the cleaning robot. When the cleaning robot walks to a predetermined position on the glass surface or is controlled to turn according to the corresponding control logic, the cleaning robot switches to the first motion posture, at this time, the first water outlet 3 is located on the upper side of the cleaning robot, and the second water outlet 4 is located on the lower side of the cleaning robot, so that the liquid in the first liquid outlet assembly 61 to the first water outlet 3 can be prevented from flowing back to the liquid storage device 2 through the cavity 13, thereby avoiding liquid leakage from the second liquid outlet assembly 62 located below.

[0548] As shown in FIGS. 31-34, in an embodiment of the present application, the first water outlet 3 is arranged on the side wall of the liquid storage device 2, the blocking device 5 includes a semi-enclosing enclosing side wall 51, a bottom wall and a top wall, and the side wall of the liquid storage device 2 and the enclosing side wall 51, the bottom wall and the top wall enclose the cavity 13; the semi-enclosing enclosing side wall 51 forms an open end 12 between the free end thereof and the side wall of the liquid storage device 2.

[0549] Specifically, the first water outlet 3 is arranged on the side wall of the liquid storage device 2 and communicates with the inner cavity of the liquid storage device 2. The barrier device 5 is arranged adjacent to the liquid storage device 2, and the barrier device 5 includes a semi-enclosing enclosing side wall 51, a bottom wall and a top wall, and the side wall of the liquid storage device 2 and the enclosing side wall 51, the bottom wall and the top wall of the barrier device 5 jointly enclose the cavity 13. The free end of the enclosing side wall 51 and the side wall of the liquid storage device 2 form an open end 12, so that, as shown in FIG. 35, when the machine body 1 is in the first posture, the liquid in the first water outlet 3 can only flow back into the cavity 13 and cannot flow back into the inner cavity of the liquid storage device 2 from the open end 12 of the cavity 13, so that the first water outlet 3 always maintains a full water state, blocks the atmosphere inside and outside the first water outlet 3, avoids the gas entering the inner cavity of the liquid storage device 2 from the first water outlet 3, and further makes the atmospheric pressure inside the second water outlet 4 higher than the pressure of the liquid inside the second water outlet 4 to the outside, thereby effectively preventing the second water outlet 4 from dripping.

[0550] As shown in FIGS. 31-32, in an embodiment of the present application, the liquid storage device 2 includes an upper shell 23 and a lower shell 24; after the upper shell 23 and the lower shell 24 are buckled together, the upper shell 23, the barrier device 5 and the lower shell 24 are configured to be enclosed together to form the cavity 13.

[0551] Specifically, the liquid storage device 2 is composed of the upper shell 23 and the lower shell 24 buckled together. The barrier device 5 can be arranged in part in the upper shell 23 and in part in the lower shell 24, which helps to ensure the stability and sealing of the internal structure of the liquid storage device 2, and at the same time, by reasonably distributing the position of the barrier device 5, the flow and distribution of the cleaning liquid can be effectively managed and controlled, and the overall performance of the liquid storage device 2 can be improved. For example, the upper shell 23 and the lower shell 24 can be connected by ultrasonic welding, and the barrier device 5 located in the upper shell 23 and the lower shell 24 is configured to be enclosed together to form a sealed cavity 13, thereby blocking the gas passage between the first water outlet 3 and the inner cavity of the liquid storage device 2. In another embodiment of the present application, the barrier device 5 can also be arranged as a separate one-piece structure, and a sealing assembly is arranged at the part enclosed by the barrier device 5, the upper shell 23 and the lower shell 24, thereby improving the sealing of the liquid storage device 5.

[0552] As shown in FIGS. 31-36, in an embodiment of the present application, the liquid storage device 2 includes a main box body 21, which is configured to be arranged on one side of the machine body 1; when in the first movement posture, the open end 12 is located on the upper side of the main box body 21 and is configured to face the upper side of the main box body 21.

[0553] Specifically, the liquid storage device 2 comprises a main tank 21 and an extension tank 22 which are in communication with each other. When the machine body 1 is in the first movement posture, the main tank 21 is arranged at one side of the machine body 1, and a first liquid outlet assembly 61 is arranged at a position corresponding to the main tank 21 at the side. The first liquid outlet assembly 61 is in communication with the first water outlet 3 through the first water inlet pipeline 7. The main tank 21 is further provided with a liquid injection hole 9 and a liquid injection plug 10. The liquid injection hole 9 is configured to inject cleaning liquid into the main tank 21, and the liquid injection plug 10 is configured to cooperate with the liquid injection hole 9 to ensure that the liquid injection hole 9 can be sealed when not injecting liquid, preventing the cleaning liquid from leaking or foreign matter from entering. The extension tank 22 extends from the main tank 21 to the other side of the machine body 1. A second liquid outlet assembly 62 is arranged at the side of the machine body 1 opposite the first liquid outlet assembly 61 and is in communication with the second water outlet 4 on the extension tank 22 through the second water inlet pipeline 8.

[0554] In an embodiment of the present application, the connection between the extension tank 22 and the main tank 21 is arranged in an arc shape, so that the extension tank 22 and the main tank 21 have a certain height, and the cleaning liquid has a tendency to flow from the main tank 21 to the extension tank 22 under the action of gravity, which is conducive to the collection of the cleaning liquid in the extension tank 22.

[0555] When in the first movement posture, the main tank 21 is located at the upper side of the machine body 1, and the open end 12 is located at the upper side of the main tank 21 and faces the upper side of the main tank 21. The cleaning liquid in the main tank 21 flows to the extension tank 22 under the action of gravity and flows out of the second water outlet 4 of the extension tank 22, enters the second liquid outlet assembly through the second water inlet pipeline 8, and the second liquid outlet assembly discharges liquid to the working surface below the machine body 1, and the cleaning assembly cleans the part of the working surface. In this movement posture, the first water outlet 3 has a tendency to backflow, but since the open end 12 faces the upper side of the main tank 21, and the top of the open end 12 is higher than the top of the first water outlet 3, so that the liquid in the first water outlet 3 cannot flow out of the open end 12 and flow into the inner cavity of the main tank 21, thereby separating the inner and outer atmospheres of the first water outlet 3, preventing gas from entering the inner cavity of the liquid storage device 2 from the first water outlet 3, and thereby making the atmospheric pressure inside the second water outlet 4 higher than the pressure of the liquid inside the second water outlet 4, effectively preventing liquid from dripping from the second water outlet 4.

[0556] As shown in FIGS. 31-32, in an embodiment of the present application, the position of the main tank 21 adjacent to the first water outlet 3 is configured to extend outward to form an extension chamber 212 in communication with the main tank chamber 211, the blocking device 5 is configured to extend from the position of the main tank chamber 211 into the extension chamber 212, and the open end 12 is configured to be located in the extension chamber 212.

[0557] Specifically, the main box body 21 includes a main box body chamber 211 and an extension chamber 212, the extension chamber 212 is arranged at a position adjacent to the first water outlet 3 of the main box body 21, the extension chamber 212 extends outward relative to the main box body 21, the baffle device 5 extends from the position of the main box body chamber 211 into the extension chamber 212, and the opening end 12 is located in the extension chamber 212. In this way, when the machine body 1 is in the first movement posture, the extension chamber 212 is located at the upper end of the main box body chamber 211, the liquid in the main box body chamber 211 has a downward flow tendency, at this time, the extension chamber 212 has air, therefore, on the basis of the cavity 13 blocking the reflux of the liquid from the first water outlet 3 to the liquid storage device, the negative pressure environment in the cavity 13 of the liquid storage device can be further improved, and then the dripping of the second liquid outlet assembly 62 is prevented.

[0558] As shown in FIGS. 30, 34-36, in another embodiment of the present application, the cleaning robot includes a machine body 1 and a liquid storage device 2, the machine body 1 is configured to move on a working surface, the machine body 1 is constructed to have a first movement posture of moving in a height direction on the working surface, and a second movement posture of moving in a horizontal direction; the liquid storage device 2 is arranged in the machine body 1, at least a first water outlet 3 and a second water outlet 4 are arranged on the liquid storage device 2 and communicate with the inner cavity thereof; a baffle device 5 is arranged in the liquid storage device 2 and adjacent to the first water outlet 3; in the case that the machine body 1 switches from the second movement posture to the first movement posture, the baffle device 5 is constructed to prevent the liquid from refluxing into the inner cavity of the liquid storage device 2 through the first water outlet 3.

[0559] Specifically, the cleaning robot provided by the present application includes a machine body 1 and a liquid storage device 2, the machine body 1 has two movement postures on a working surface, the two movement postures are respectively a first movement posture of moving in a height direction on the working surface, and a second movement posture of moving in a horizontal direction. A first water outlet 3 and a second water outlet 4 are further arranged at two ends of the liquid storage device 2, the first water outlet 3 and the second water outlet 4 both communicate with the liquid storage device 2, and the cleaning liquid in the liquid storage device 2 is output through the first water outlet 3 and the second water outlet 4 to clean the working surface. When the machine body 1 switches from the second movement posture to the first movement posture, since the height of the opening end 12 of the cavity 13 formed by the baffle device 5 is higher than the height of the first water outlet 3, the baffle device 5 can block the atmosphere inside and outside the first water outlet 3, avoid the gas entering the inner cavity of the liquid storage device 2 through the first water outlet 3, and then make the atmospheric pressure inside the second water outlet 4 higher than the pressure of the liquid inside the second water outlet 4, effectively preventing the second water outlet 4 from dripping.

[0560] As shown in FIG. 34, in another embodiment of the present application, the baffle device 5 is constructed to form a cavity 13 surrounding the first water outlet 3 and having an opening end 12; the first water outlet 3 is constructed to communicate with the inner cavity of the liquid storage device 2 through the opening end 12.

[0561] Specifically, the blocking device 5 is arranged in the liquid storage device 2 adjacent to the first water outlet 3, and the blocking device 5 encloses the first water outlet 3 to form a cavity 13, and the cavity 13 has an open end 12, and the first water outlet 3 is connected with the inner cavity of the liquid storage device 2 through the open end 12.

[0562] As shown in FIG. 35, in another embodiment of the present application, when the robot 1 is in the first movement posture, the first water outlet 3 is configured to be located above the second water outlet 4, and the open end 12 of the cavity 13 is configured to be located higher than the first water outlet 3, so as to prevent liquid from flowing back into the inner cavity of the liquid storage device 2 through the first water outlet 3.

[0563] As shown in FIG. 35, when the robot 1 is in the first movement posture, i.e. during the upward or downward movement of the cleaning robot on the working surface, the first water outlet 3 is always located above the second water outlet 4, and the open end 12 of the cavity 13 is located higher than the first water outlet 3, so as to prevent liquid from flowing back into the inner cavity of the liquid storage device 2 through the first water outlet 3. The first water outlet 3 is always kept full of water, thereby blocking the atmosphere inside and outside the first water outlet 3, avoiding the gas entering the inner cavity of the liquid storage device 2 from the first water outlet 3, and further making the atmospheric pressure inside the second water outlet 4 higher than the pressure of the liquid inside the second water outlet 4, thereby effectively preventing the second water outlet 4 from dripping.

[0564] The cleaning robot provided in the present application can prevent liquid from flowing back into the inner cavity of the liquid storage device through the first water outlet by arranging the blocking device in the liquid storage device, when the cleaning robot moves in the upward or downward direction on the working surface, so as to keep the first water outlet always full of water, block the atmosphere inside and outside the first water outlet, avoid the gas entering the inner cavity of the liquid storage device from the first water outlet, and further make the atmospheric pressure inside the second water outlet higher than the pressure of the liquid inside the second water outlet, thereby effectively preventing the second water outlet from dripping. When the cleaning robot moves in the left or right direction on the working surface, there is liquid at the first water outlet and the second water outlet, so as to block the atmosphere inside and outside the liquid storage device, and there is atmospheric pressure inside the first water outlet and the second water outlet, and the atmospheric pressure is higher than the pressure of the liquid inside the first water outlet and the second water outlet, thereby preventing the first water outlet and the second water outlet from dripping.

[0565] In the present application, a control method of a facade cleaning robot is also provided, and the present application also relates to a control unit of a facade cleaning robot, a facade cleaning robot, a computer readable storage medium, and a computer program product, which are described in detail one by one in the following embodiments.

[0566] Referring to FIG. 38, FIG. 38 shows a flow chart of a control method of a facade cleaning robot according to an embodiment of the present application, which specifically includes the following steps 102-106.

[0567] Step 102: Control the facade cleaning robot to travel on the facade medium according to the prescribed travel route from the robot starting point.

[0568] Specifically, the facade cleaning robot is an intelligent device capable of automatically performing a cleaning task in the height direction, such as a window cleaning robot, a wall cleaning robot, etc. The facade medium is a facade medium in the height direction, such as a window, a glass door, a wall, etc. The robot starting point is the initial position at which the user adsorbs the facade cleaning robot to the facade medium. The robot starting point refers to the position at which the user initially adsorbs the facade cleaning robot to the facade medium.

[0569] In actual implementation, the facade cleaning robot can be pre-configured with a prescribed travel route on the facade medium, and the facade cleaning robot can be controlled to travel on the facade medium according to the prescribed travel route from the robot starting point to perform a corresponding cleaning task.

[0570] Step 104: Determine the return reference distance of the facade cleaning robot according to the travel information of the facade cleaning robot relative to the robot starting point.

[0571] The travel information includes actual travel information of the robot actually traveled, and also includes predicted travel information obtained by the robot through non-contact ranging sensors such as optical or acoustic sensors.

[0572] It should be noted that, in order to facilitate the facade cleaning robot to return to the robot ending point, the return reference distance of the facade cleaning robot can be determined according to the travel information of the facade cleaning robot relative to the robot starting point during the travel, so as to return to the robot ending point based on the return reference distance, wherein the facade medium includes multiple edges such as the upper edge, the lower edge, the left edge, the right edge, etc., and the return reference distance can be the travel distance of the facade cleaning robot towards an edge, and / or the edge distance between the robot starting point and the edge of the facade medium.

[0573] In an optional embodiment of the present embodiment, the prescribed travel route includes an edge distance detection route; and the determination of the return reference distance of the facade cleaning robot according to the travel information of the facade cleaning robot relative to the robot starting point includes:

[0574] Control the facade cleaning robot to travel on the facade medium based on the edge distance detection route, wherein the edge distance detection route includes a travel route towards at least two edges, and the at least two edges include two edges connected to each other.

[0575] Record the detection distance of the facade cleaning robot as it travels toward at least two edges;

[0576] The edge distance of the corresponding edge is determined based on the detection distance, and the determined edge direction and edge distance are used as the return reference distance.

[0577] Specifically, the designated travel route is divided into an edge distance detection route and a cleaning work route. The edge distance detection route is used to detect the edge distances from the robot's starting point to the edges of the facade medium, such as the edge distances from the robot's starting point towards the left and top edges, and the edge distances towards the right and top edges, etc. Furthermore, the detection order of edge distances between different edges can be configured based on actual needs or selected randomly.

[0578] For example, suppose we need to detect the distance from the robot's starting point to the left edge and the distance from the robot's starting point to the top edge. The edge distance detection route could include moving towards the left edge, obtaining the distance from the left edge, moving towards the top edge, obtaining the distance from the top edge; or, the edge distance detection route could also include moving towards the top edge, obtaining the distance from the top edge, moving towards the left edge, obtaining the distance from the left edge.

[0579] It should be noted that during the process of detecting edge distance based on the edge distance detection route, cleaning operations can be performed simultaneously, or cleaning operations can be performed without performing cleaning operations, and cleaning operations can be performed according to the cleaning work route after edge detection is completed. This embodiment does not limit this.

[0580] In practical implementation, the facade cleaning robot can be controlled to travel on the facade medium based on an edge distance detection route. The detection distance of the facade cleaning robot traveling towards at least two edges is recorded to obtain the edge distance between the robot's starting point and at least two edges. Specifically, the facade cleaning robot travels from its starting point towards the first edge and continuously records the travel distance. If the facade cleaning robot reaches the first edge, the recorded detection distance is the first distance between the robot's starting point and the first edge. Then, the facade cleaning robot is controlled to change its direction of travel and travel towards the third edge, and the travel distance is continuously recorded. If the facade cleaning robot reaches the third edge, the recorded detection distance is the second distance between the robot's starting point and the third edge. Here, the first edge and the third edge are two adjacent edges, such as the left edge and the top edge, the right edge and the top edge, etc.

[0581] Additionally, if the facade cleaning robot moves toward a certain edge but does not reach it, the edge distance between the robot's starting point and that edge cannot be obtained. In this case, only the distance the facade cleaning robot travels toward that edge is recorded.

[0582] For example, FIG. 39a is a schematic diagram of a travel route of a first kind of facade cleaning robot provided by an embodiment of the present application on a facade medium. As shown in FIG. 39a, the user adsorbs the facade cleaning robot to a robot starting point. It is assumed that the edge distance detection route includes traveling upward to the upper edge and then traveling leftward to the left edge. At this time, the facade cleaning robot can be controlled to travel upward from the robot starting point. During the travel, the detection distance of the upward travel is recorded. When the facade cleaning robot travels to the upper edge, the upper edge distance between the robot starting point and the upper edge can be obtained and recorded as the detection distance Y of the upward travel. Then, the facade cleaning robot can be controlled to travel leftward from the current position. The detection distance of the leftward travel is recorded. When the facade cleaning robot travels to the left edge, the left edge distance between the robot starting point and the left edge can be obtained and recorded as the detection distance X of the leftward travel. At this time, the upper edge-edge distance Y and the left edge-edge distance X can be obtained as the return reference distances.

[0583] In addition, FIG. 39b is a schematic diagram of a travel route of a second kind of facade cleaning robot provided by an embodiment of the present application on a facade medium. As shown in FIG. 39b, the user adsorbs the facade cleaning robot to a robot starting point. It is assumed that the edge distance detection route includes traveling upward to the upper edge and then traveling leftward to the left edge. At this time, the facade cleaning robot can be controlled to travel upward from the robot starting point. During the travel, the detection distance of the upward travel is recorded. When the facade cleaning robot travels to the upper edge, the upper edge distance between the robot starting point and the upper edge can be obtained and recorded as the detection distance Y of the upward travel. Then, the facade cleaning robot can be controlled to travel leftward from the current position. The detection distance of the leftward travel is recorded. It is assumed that the facade cleaning robot does not travel to the left edge and cannot continue to travel to the left edge due to low battery or other abnormal reasons. At this time, the travel distance X' of the leftward travel can be recorded. At this time, the upper edge-edge distance Y and the leftward travel-travel distance X' can be obtained as the return reference distances.

[0584] Further, FIG. 39c is a schematic diagram of a travel route of a third kind of facade cleaning robot provided by an embodiment of the present application on a facade medium. As shown in FIG. 39c, the user adsorbs the facade cleaning robot to a robot starting point. It is assumed that the edge distance detection route includes traveling upward to the upper edge and then traveling leftward to the left edge. At this time, the facade cleaning robot can be controlled to travel upward from the robot starting point. During the travel, the detection distance of the upward travel is recorded. It is assumed that the facade cleaning robot does not travel to the upper edge and cannot continue to travel to the upper edge due to low battery or other abnormal reasons. At this time, the travel distance Y' of the upward travel can be recorded. The edge distance of the left edge cannot be obtained. At this time, the upward travel-travel distance Y' is obtained as the return reference distance.

[0585] It should be noted that the facade cleaning robot first controls the facade cleaning robot to travel based on the edge distance detection route, records the detection distance of the facade cleaning robot traveling towards the at least two edges, determines the edge distance of the corresponding edge through the detection distance, detects the edge distance between the starting point of the robot and the edge of the facade medium, and then performs the cleaning task according to the set cleaning work route. In the process of performing the cleaning task according to the set cleaning work route, the travel distance can not be recorded to save processing resources.

[0586] In the embodiments of the present application, the edge distance between the starting point of the robot and the edge of the facade medium can be detected based on the edge distance detection route first, and / or the travel distance towards a certain edge can be recorded as a return reference distance, so as to facilitate subsequent control of the facade cleaning robot to travel from the current position to the end point of the robot based on the return reference distance. In this way, the facade cleaning robot can be controlled to return to the end point of the robot based on the return reference distance, without the need to record the position, travel direction, travel distance and other travel parameters of the facade cleaning robot in real time during the entire cleaning work process, thereby greatly saving processing resources.

[0587] In an optional embodiment of the present embodiment, the facade cleaning robot is controlled to travel on the facade medium according to the specified travel route from the starting point of the robot, and further comprises:

[0588] According to the travel information of the facade cleaning robot relative to the starting point of the robot, a first distance between the starting point of the robot and a first edge, and a second distance between the starting point of the robot and a second edge are determined, wherein the first edge and the second edge are two parallel edges of the facade medium.

[0589] In actual implementation, the first distance between the starting point of the robot and the first edge, and the second distance between the starting point of the robot and the second edge can be determined according to the travel information of the facade cleaning robot relative to the starting point of the robot during the travel process, and the first edge and the second edge are two parallel edges of the facade medium. The first distance and the second distance can be used to determine which side edge the starting point of the robot is closer to.

[0590] In actual implementation, the first edge and the second edge can be two edges parallel in the horizontal direction, i.e., the left edge and the right edge, to determine whether the starting point of the robot of the facade cleaning robot is closer to the left edge or the right edge; or the first edge and the second edge can also be two edges parallel in the vertical direction, i.e., the upper edge and the lower edge, to determine whether the starting point of the robot of the facade cleaning robot is closer to the upper edge or the lower edge.

[0591] In the embodiments of the present application, the facade cleaning robot may not be able to accurately return to the actual robot starting point due to various reasons such as slipping, resulting in the user being unable to pick up the facade cleaning robot, affecting the user experience. Therefore, it can be determined that the robot starting point is closer to which side edge, indicating that the side edge is the edge that facilitates the user to perform the picking operation, so as to facilitate subsequent control of the robot to return to a position closer to the side edge, facilitating user operation.

[0592] In an optional embodiment of the present embodiment, according to the travel information of the facade cleaning robot relative to the robot starting point, the first distance between the robot starting point and the first edge, and the second distance between the robot starting point and the second edge are determined, including:

[0593] The facade cleaning robot is controlled to travel from the robot starting point towards the first edge, and after detecting that the facade cleaning robot reaches the first edge, the first distance between the robot starting point and the first edge is recorded;

[0594] The facade cleaning robot is controlled to turn from the first edge towards the third edge, wherein the third edge is an edge connected with the first edge;

[0595] After detecting that the turning from the third edge to the second edge, the total edge distance between the first edge and the second edge is determined according to the travel distance towards the second edge;

[0596] According to the total edge distance and the first distance, the second distance between the robot starting point and the second edge is determined.

[0597] In a possible implementation manner, the facade cleaning robot can be directly controlled to travel from the robot starting point towards the first edge, after detecting that the facade cleaning robot reaches the first edge, the first distance between the robot starting point and the first edge is recorded, the facade cleaning robot is controlled to turn from the first edge towards the third edge, after detecting that the turning from the third edge to the second edge, the total edge distance between the first edge and the second edge is determined according to the travel distance towards the second edge, and the second distance can be obtained by subtracting the first distance from the total edge distance.

[0598] In specific implementation, when the facade cleaning robot travels towards the first edge, it may not directly travel to the first edge, and may experience multiple turns in between. At this time, the single travel distance towards the first edge and the number of travels towards the first edge can be recorded. After reaching the first edge, the first distance between the robot starting point and the first edge is determined according to the single travel distance and the number of travels.

[0599] Of course, in actual implementation, the facade cleaning robot can also directly travel towards the first edge from the robot starting point, after reaching the first edge, turn towards the third edge, and after turning from towards the third edge to towards the second edge, can not directly travel to the second edge but undergo multiple turns, at this time, the single travel distance towards the second edge and the number of travels towards the second edge can also be recorded, and after reaching the second edge, the total edge distance between the first edge and the second edge can be determined according to the single travel distance and the number of travels.

[0600] For example, FIG. 39d is a schematic diagram of a travel route of a fourth facade cleaning robot provided in an embodiment of the present application on a facade medium, as shown in FIG. 39d, the facade robot travels along an arch-shaped route. The facade cleaning robot travels towards the left edge from the robot starting point, after traveling to the left edge, the first distance X1 between the facade cleaning robot and the left edge can be obtained. Then, after traveling towards the upper edge by a distance Y1, the facade cleaning robot travels towards the right edge, after traveling to the right edge, the total edge distance Xz between the left edge and the right edge of the facade medium can be obtained, and the second distance X2 between the facade cleaning robot and the right edge can be obtained by subtracting the first distance X1 from the total edge distance Xz.

[0601] For example, FIG. 39e is a schematic diagram of a travel route of a fifth facade cleaning robot provided in an embodiment of the present application on a facade medium, as shown in FIG. 39e, the facade robot travels along an arch-shaped route. The facade cleaning robot travels towards the left edge from the robot starting point, after traveling to the left edge, the first distance X1 between the facade cleaning robot and the left edge can be obtained. Then, after traveling towards the upper edge to reach the upper edge, the facade cleaning robot travels towards the right edge by X3, and then travels towards the lower edge, after reaching the lower edge, the facade cleaning robot continues to travel towards the right edge by X3, where X3 is the single travel distance towards the right edge. As shown in FIG. 39e, the number of travels towards the right edge is 8 times, and 8*X3 is the total edge distance Xz between the left edge and the right edge of the facade medium, and the second distance X2 between the facade cleaning robot and the right edge can be obtained by subtracting the first distance X1 from the total edge distance Xz.

[0602] For example, FIG. 39f is a schematic diagram of a travel route of a sixth facade cleaning robot provided in an embodiment of the present application on a facade medium, as shown in FIG. 39f, the facade robot travels along a Z-shaped route. The facade cleaning robot travels towards the left edge from the robot starting point, after traveling to the left edge, the first distance X1 between the facade cleaning robot and the left edge can be obtained. Then, the facade cleaning robot travels towards the right edge in a Z-shaped manner, after reaching the right edge, the facade cleaning robot travels towards the left edge, and after reaching the left edge, the total edge distance Xz between the left edge and the right edge of the facade medium can be obtained, and the second distance X2 between the facade cleaning robot and the right edge can be obtained by subtracting the first distance X1 from the total edge distance Xz.

[0603] For example, FIG. 39g is a schematic diagram of a travel route of a seventh facade cleaning robot provided in an embodiment of the present application when traveling on a facade medium. As shown in FIG. 39g, the facade cleaning robot travels from the robot starting point towards the left edge, and after traveling to the left edge, a first distance X1 between the facade cleaning robot and the left edge can be obtained. Then, the facade cleaning robot travels towards the upper edge, and after reaching the upper edge, the facade cleaning robot travels towards the lower edge in a zigzag manner Y2, and after reaching the lower edge, the facade cleaning robot continues to travel towards the upper edge in a zigzag manner, and records a distance Y3 between the upper and lower edges, and continues to travel in the zigzag manner until reaching the right edge. A right-angled triangle is formed between Y3, Y2 and a single travel distance X4 towards the right edge, and according to the Pythagorean theorem and Y3, Y2, the single travel distance X4 towards the right edge can be calculated. As shown in FIG. 39g, the facade cleaning robot travels towards the right edge for 4 times, and 4*X4 is the total edge distance Xz between the left edge and the right edge of the facade medium, and the total edge distance Xz minus the first distance X1 can obtain a second distance X2 between the facade cleaning robot and the right edge.

[0604] In the embodiments of the present application, the facade cleaning robot can be controlled to travel towards different edges, so as to determine a first distance between the robot starting point and a first edge, and a second distance between the robot starting point and a second edge, and then it can be determined whether the robot starting point is closer to the first edge or the second edge, so as to control the facade cleaning robot to return to a position closer to the edge with a shorter distance, and facilitate user operation. Moreover, the first distance between the robot starting point and the first edge, and the second distance between the robot starting point and the second edge can be determined in different manners according to different travel routes, so as to adapt to a plurality of different facade cleaning robots or a plurality of different travel routes, and have higher flexibility.

[0605] In another possible implementation manner, the first distance between the robot starting point and the first edge, and the second distance between the robot starting point and the second edge can be determined in the process of detecting the edge distance. Specifically, in addition to the route for detecting the distance between the robot starting point and two edges connected to each other, the route for detecting the distance between the robot starting point and two parallel edges can also be included.

[0606] For example, the edge distance detection route includes traveling upwards to the upper edge, then traveling leftwards to the left edge, and then traveling from the left edge to the right edge. The distance obtained by traveling to the left edge is the first edge distance between the robot starting point and the first edge, and the distance obtained by traveling from the left edge to the right edge is the total edge distance between the first edge and the second edge, and the total edge distance minus the first distance can obtain the second distance between the robot starting point and the second edge.

[0607] It should be noted that the first distance between the robot starting point and the first edge and the second distance between the robot starting point and the second edge can be obtained in advance through edge distance detection, without complex calculation, thereby saving processing resources.

[0608] Step 106: In response to the return signal, controlling the facade cleaning robot to return to the robot ending point according to the return reference distance, wherein the robot ending point is a position on the facade medium adapted for the user to perform a picking operation.

[0609] In actual implementation, the return signal can be a signal for the facade cleaning robot to return to the robot ending point in case of an abnormality, such as low battery, cable winding, encountering an obstacle, machine failure, etc. In addition, it should be noted that the “return signal” in the present solution does not necessarily require the robot to perform a “return” action. In the present embodiment, low battery is taken as an example for illustration.

[0610] In a possible implementation, the return signal is a low battery signal; the control unit can detect that the facade cleaning robot is adsorbed to the facade medium, control the facade cleaning robot to travel on the facade medium to perform a cleaning operation, and detect the battery level of the facade cleaning robot during the travel of the facade cleaning robot. In case the battery level is lower than a battery threshold, it is determined that the return signal is detected, so as to timely perform a corresponding safety protection operation when the battery level of the facade cleaning robot is low. The battery threshold is a preconfigured value for judging whether the battery level is too low.

[0611] In actual implementation, in case the battery level is lower than the battery threshold, the facade cleaning robot stops performing the cleaning operation. The battery threshold can be determined based on the required adsorption time in the low battery state, for example, the facade cleaning robot needs to continue to be adsorbed to the facade medium for 30 minutes after entering the low battery state, and 10% of the battery is required for adsorption on the facade medium for 30 minutes. At this time, the battery threshold can be set to 10%, and the battery is exhausted after 30 minutes, and the facade cleaning robot will fall off the facade medium.

[0612] In the present embodiment, in case the battery level is lower than the battery threshold, it indicates that the facade cleaning robot enters the low battery state and will fall off the facade medium after maintaining adsorption for a certain time. Therefore, in order to avoid falling, the user needs to timely take down the facade cleaning robot, and if the facade cleaning robot judges that the position where the battery level is lower than the battery threshold is high, the user cannot take the facade cleaning robot, which can cause the user to be unable to timely take down the facade cleaning robot, and further cause the facade cleaning robot to fall off, resulting in damage and greatly affecting the user experience.

[0613] It should be noted that when the facade cleaning robot performs a cleaning operation on the facade medium, it needs to generate negative pressure to be adsorbed on the facade medium. Generally speaking, the facade cleaning robot generates negative pressure through a negative pressure motor. The greater the speed of the negative pressure motor, the greater the negative pressure generated by the facade cleaning robot.

[0614] In actual implementation, the facade cleaning robot has many air leakage events in the running state. It often needs the negative pressure motor to operate at a higher speed to ensure stable adsorption. In the static state, it often only needs to use much smaller negative pressure than in the walking process to maintain adsorption. If the speed of the negative pressure motor is the same in the static state and the running state, it will cause excessive negative pressure and energy loss. Therefore, in the embodiments of the present application, the negative pressure motor of the facade cleaning robot operates at a first speed in the running state (in the walking or turning process), and operates at a second speed in the static state when the facade cleaning robot returns to the robot terminal. The second speed is less than or equal to the first speed. In this way, the energy loss can be reduced after the facade cleaning robot returns to the robot terminal, thereby giving the user more time to remove the facade cleaning robot, thereby improving safety.

[0615] As an optional embodiment, after the facade cleaning robot returns to the robot terminal, a static adsorption operation is performed. When the static adsorption operation is performed, the negative pressure generated by the facade cleaning robot can be reduced. One optional way to reduce the negative pressure is to reduce the speed of the negative pressure motor to a set speed corresponding to the static adsorption operation. Another optional way to reduce the negative pressure is to gradually reduce the speed of the negative pressure motor after the facade cleaning robot returns to the robot terminal. In this process, the negative pressure value of the negative pressure chamber of the facade cleaning robot can be continuously detected until the difference between the negative pressure value of the negative pressure chamber and the required negative pressure value of the static adsorption operation is less than a difference threshold value, indicating that the speed of the negative pressure motor cannot be further reduced, otherwise it will cause insufficient negative pressure and further cause the facade cleaning robot to fall.

[0616] Specifically, the speed of the negative pressure motor can be reduced based on a set step, and then the difference between the negative pressure value of the negative pressure chamber and the required negative pressure value of the static adsorption operation is detected. If the difference is greater than a difference threshold value, it indicates that the current negative pressure is excessive, and the speed of the negative pressure motor continues to be reduced based on the set step until the difference between the negative pressure value of the negative pressure chamber and the required negative pressure value of the static adsorption operation is less than or equal to the difference threshold value. It indicates that the current speed has been reduced to the minimum speed, and the negative pressure motor is controlled to operate at the current speed. With such a setting, on the one hand, energy loss can be reduced, and on the other hand, the facade cleaning robot can be firmly adsorbed to avoid the risk of falling caused by directly reducing the speed.

[0617] It should be noted that since the robot starting point is the position at which the user adsorbs the facade cleaning robot on the facade medium, the robot starting point is the position that is most convenient for the user to take the facade cleaning robot according to the height, taking habits, etc. of the user, so in the case of detecting the return signal, the facade cleaning robot can be controlled to return to the robot starting point, that is, the robot ending point and the robot starting point are the same position, which can adapt to the height, taking habits, etc. of different users, greatly facilitating the user to take down the facade cleaning robot in time, so as to facilitate the user to take down the facade cleaning robot in time, and greatly improve the user experience.

[0618] Alternatively, the facade cleaning robot can also be directly controlled to return to the position closest to the ground, that is, the robot ending point is the position closest to the ground on the facade medium, such as the lower left corner or the lower right corner of the edge of the facade medium, which reduces the falling height to a certain extent and avoids serious damage to the facade cleaning robot. In order to reduce the falling height of the facade cleaning robot from the facade medium, in one possible implementation, in the case of detecting the return signal, the current position of the facade cleaning robot can be determined, and if the current position is higher than the robot starting point, the facade cleaning robot is controlled to return to the robot starting point; if the current position is lower than the robot starting point, the facade cleaning robot is controlled to return to the set edge point, which is the position closest to the ground on the facade medium.

[0619] In one optional embodiment of the present embodiment, the robot ending point and the robot starting point are the same position, the return reference distance includes a first distance between the robot starting point and a first edge, and a third distance between the robot starting point and a third edge, the first edge and the third edge being connected; the facade cleaning robot is controlled to return to the robot ending point according to the return reference distance, including:

[0620] controlling the facade cleaning robot to travel from the current position to the first edge and to retreat from the first edge to a first intermediate position by the first distance;

[0621] traveling from the first intermediate position to the third edge and retreating from the third edge to the robot ending point by the third distance.

[0622] In actual implementation, when the robot ending point and the robot starting point are the same position, and the first distance between the robot starting point and the first edge, and the third distance between the robot starting point and the third edge are obtained, the facade cleaning robot can be controlled to retreat to the robot ending point according to the obtained first distance and third distance. In this way, based on the edge distance, the facade cleaning robot can be controlled to return to the robot ending point, without the need to record the position, travel direction, travel distance, etc. in real time during the entire cleaning process of the facade cleaning robot, greatly saving processing resources.

[0623] It should be noted that the first distance between the starting point of the robot and the first edge and the third distance between the starting point of the robot and the third edge are stored if they can be detected. The first distance between the starting point of the robot and the first edge and the third distance between the starting point of the robot and the third edge are directly read in response to the return signal, and the facade cleaning robot is controlled to retreat to the ending point of the robot based on the first distance and the third distance.

[0624] For example, assuming that the upper edge-edge distance Y and the left edge-edge distance X are obtained by pre-detection as shown in FIG. 39a, FIG. 39h is a schematic diagram of a first travel route of the facade cleaning robot returning to the ending point of the robot according to an embodiment of the present application. As shown in FIG. 39h, the facade cleaning robot can be controlled to first travel to the upper edge from the current position, then retreat Y distance from the upper edge to a first intermediate position, then travel to the left edge from the first intermediate position, and retreat X distance from the left edge to return to the ending point of the robot.

[0625] In the embodiment of the present application, when the first distance between the starting point of the robot and the first edge and the third distance between the starting point of the robot and the third edge are obtained, the facade cleaning robot can be directly controlled to travel to the first edge or the third edge, and retreat from the edge to the ending point (i.e., the starting point) of the robot based on the edge distance of the corresponding edge, so as to achieve precise control.

[0626] In an optional embodiment of the present embodiment, the ending point of the robot and the starting point of the robot are the same position, the return reference distance includes the third distance between the starting point of the robot and the third edge and the first travel distance of the robot towards the first edge, and the first edge and the third edge are connected; the facade cleaning robot is controlled to return to the ending point of the robot according to the return reference distance, including:

[0627] The first travel distance of the facade cleaning robot towards the first edge is obtained, and the facade cleaning robot is controlled to retreat the first travel distance to a second intermediate position;

[0628] The facade cleaning robot is controlled to retreat the third distance from the second intermediate position to the ending point of the robot.

[0629] It should be noted that in the process of pre-detecting the first distance between the robot starting point and the first edge and the third distance between the robot starting point and the third edge, the edge distance corresponding to each edge may not be detected. In resp...

Claims

1. A clean base station, characterized in that, The cleaning base station includes at least a base, an adsorption component, and operating accessories; The adsorption element is connected to the bottom end of the base, and the adsorption element is used to contact the fixed surface and form an adsorption space around the fixed surface; The operating accessory is connected to the upper part of the base, the operating accessory is connected to the adsorption element through a switching component, and the operating accessory has a first position and a second position under the action of external force; When the operating accessory switches from the first position to the second position, the operating accessory drives the switching component to work, so that the adsorption space is connected to the external environment.

2. The clean base station according to claim 1, characterized in that, The operating accessory is also used to provide a force application point for extracting the cleaning base station; During the process of extracting the clean base station, the operating accessory is switched from the first position to the second position.

3. The clean base station according to claim 2, characterized in that, The operating accessory is rotatably connected to the base, and the operating accessory is connected to the on / off assembly via a first connector; When the operating accessory is switched from the first position to the second position by rotation, one end of the first connector rotates with the operating accessory and drives the other end of the first connector to pull the switching component to connect the adsorption space with the external environment.

4. The clean base station according to claim 3, characterized in that, The on / off assembly includes a venting mechanism; The venting element is connected to the adsorption element, and the venting element is disposed near the edge of the adsorption element and extends upward from the adsorption element. The operating accessory is connected to the venting device via the first connector. When the operating accessory switches from the first position to the second position, the operating accessory drives the venting device via the first connector, and the venting device causes the corners of the adsorption element to deform, so as to connect the adsorption space with the external environment.

5. The clean base station according to claim 4, characterized in that, The switching assembly also includes a rotating component; The rotating component is rotatably connected to the base through the middle part of the rotating component. One end of the rotating component is connected to the other end of the first connecting component. The other end of the rotating component is located on the side of the venting device away from the center line of the adsorption device, and the venting device is located on the rotation path of the other end of the rotating component. When the first connector pulls one end of the rotating member to rotate, the other end of the rotating member drives the venting member to move toward the adsorption member, causing the corners of the adsorption member to deform, so as to connect the adsorption space with the external environment.

6. The clean base station according to claim 5, characterized in that, The switching assembly also includes a torsion spring; The torsion spring is connected between the base and the rotating member, and the torsion spring is configured to drive the rotating member to rotate so that the other end of the rotating member moves away from the venting element. When one end of the rotating component is not subjected to the tension of the first connecting member, or when the tension of one end of the rotating component subjected to the tension of the first connecting member is less than the torque applied to the rotating component by the torsion spring, the torsion spring drives the rotating component to reset.

7. The clean base station according to claim 6, characterized in that, The base has an accommodating space; The adsorption element is connected to the bottom surface of the base, and the bottom surface of the base is provided with a clearance hole communicating with the accommodating space, and the clearance hole extends at least along the movement path of the venting element. The venting element extends into the receiving space through a clearance hole, and the rotating element and the torsion spring are located within the receiving space.

8. The clean base station according to claim 5, characterized in that, The top end of the venting lever is provided with a first curved hook, and the other end of the rotating component is provided with a second curved hook. The plane where the first curved hook is located is not parallel to the plane where the second curved hook is located. When the other end of the rotating member drives the venting member to move toward the adsorption member, the first curved hook and the second curved hook hook each other.

9. The clean base station according to claim 1, characterized in that, The adsorption element is located on the center line of the base, and the orthographic projection of the adsorption element on the base is located within the bottom surface of the base.

10. The clean base station according to claim 3, characterized in that, The adsorption element has a through hole, which connects the adsorption space with the external environment. The on / off component is located at the through hole and controls the opening or closing of the through hole. When the operating accessory is switched from the first position to the second position by rotation, one end of the first connector rotates with the operating accessory and drives the other end of the first connector to pull the on / off component to open the through hole, so as to connect the adsorption space with the external environment.

11. The clean base station according to claim 10, characterized in that, The on / off assembly includes a guide sleeve, a seal, and a return spring; The guide sleeve is connected to the adsorption element, and the guide sleeve communicates with the adsorption space through the through hole; The sealing element is connected to the other end of the first connecting element. When the operating accessory is switched from the first position to the second position, the other end of the first connecting element pulls the sealing element to move, so that the adsorption space is connected to the external environment through the guide sleeve. Along the extending direction of the guide sleeve, the return spring is located at the end of the seal away from the through hole. When the seal is not subjected to the tension of the first connector, the return spring drives the seal to block the guide sleeve to seal the through hole.

12. The clean base station according to any one of claims 3 to 11, characterized in that, The operating accessory spans the base, one end of the operating accessory is rotatably connected to a first side of the base, and the other end of the operating accessory is rotatably connected to a second side of the base, with the first side and the second side of the base being disposed opposite to each other; When the operating accessory is in the first position, the operating accessory is located below the top surface of the base; when the operating accessory is in the second position, the operating accessory is partially located above the top surface of the base.

13. The clean base station according to claim 12, characterized in that, The clean base station also includes a transfer wheel; The rotating wheel is rotatably connected to the first side of the base. The rotation axis of the adapter wheel coincides with the rotation axis of one end of the operating accessory. A winding groove is formed on the outer peripheral wall of the adapter wheel. One end of the first connector is connected to the groove wall of the winding groove. One end of the operating attachment is connected to the rotating wheel. When the operating attachment switches between the first position and the second position, the adapter wheel rotates with the operating attachment so that the adapter wheel can rewind or release the first connector.

14. The clean base station according to claim 12, characterized in that, The first side is provided with a right-angle guide seat and at least one limiting member; The limiting member is located between the right-angle guide seat and the adapter wheel, and the first connecting member is connected to the on / off assembly under the guidance of the limiting member and the reverse direction of the right-angle guide seat.

15. A clean base station, characterized in that, The cleaning base station includes at least a base, an adsorption component, and operating accessories; The adsorption element is connected to the bottom end of the base, and the adsorption element is used to contact the fixed surface and form an adsorption space around the fixed surface; The operating accessory is rotatably connected to the upper part of the base, and the operating accessory is directly connected to the edge of the adsorption element through the first connector; The operating accessory has a first position and a second position under the action of external force. When the operating accessory switches from the first position to the second position by rotation, one end of the first connector rotates with the operating accessory and drives the other end of the first connector to pull the corner of the adsorption member to deform, so as to connect the adsorption space with the external environment.

16. A cleaning system, characterized in that, The cleaning system includes at least a cleaning base station and cleaning equipment. The cleaning base station is connected to the cleaning equipment via a second connector. The cleaning base station includes at least a base, an adsorption component, and operating accessories. The adsorption element is connected to the bottom end of the base, and the adsorption element is used to contact the fixed surface and form an adsorption space around the fixed surface; The operating accessory is connected to the upper part of the base. The operating accessory is connected to the adsorption element through a switching component. The operating accessory has a first position and a second position under the action of external force. When the operating accessory switches from the first position to the second position, the operating accessory drives the switching component to work so that the adsorption space is connected to the external environment.

17. The cleaning system according to claim 16, characterized in that, The operating accessory is also used to provide a force application point for extracting the cleaning base station; During the process of extracting the clean base station, the operating accessory switches from the first position to the second position, and the operating accessory drives the switching component to work, so as to release the adsorption element from the fixed surface.

18. A clean base station, characterized in that, The clean base station includes at least a base, an adsorption component, a switching component, and operating accessories; The adsorption element is connected to the bottom end of the base, and the adsorption element is used to contact the fixed surface and form an adsorption space around the fixed surface; The on / off assembly includes a venting paddle, a rotating component, and a torsion spring. The venting paddle is connected to the edge of the adsorption component. The rotating component is rotatably connected to the base through its middle portion. The other end of the rotating component is located on the side of the venting paddle away from the center line of the adsorption component, and the venting paddle is located on the rotation path of the other end of the rotating component. The torsion spring is used to provide a restoring force for the other end of the rotating component to move away from the venting paddle. The operating accessory is connected to the upper part of the base. The operating accessory is connected to one end of the rotating member through a first connecting member. The operating accessory switches from a first position to a second position under the action of an external force. When the external force is removed, the operating accessory is driven to switch from the second position to the first position under the action of gravity and / or by the torsion spring through the rotating member driving the first connecting member's tension.

19. The clean base station according to claim 18, characterized in that, The first connector has elastic properties; When the external force is removed, the operating accessory is driven to switch from the second position to the first position under the action of gravity, and / or under the pulling force of the first connecting member driven by the torsion spring through the rotating member, and / or under the elastic force of the first connecting member.

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