CN-121987083-A - Window cleaning control method of window cleaning robot and window cleaning robot

CN121987083ACN 121987083 ACN121987083 ACN 121987083ACN-121987083-A

Abstract

The application discloses a window cleaning control method of a window cleaning robot and the window cleaning robot, the method comprises the steps of obtaining environmental historical weather information of the window cleaning robot for the last time the window cleaning operation is finished; and if the window cleaning robot has a rain stain easy generation scene in the environment in the time period until the last cleaning operation of the target window is finished, controlling the window cleaning robot to clean the target window in a rain stain cleaning mode. According to the application, whether a rain stain easy-to-generate scene exists is judged through the environmental historical weather information, and the window cleaning robot is controlled to execute a targeted window cleaning strategy aiming at the rain stain easy-to-generate scene, so that a visual sensor is not required to be additionally mounted, and a large amount of operation resources are not required to be consumed to execute frame-by-frame image analysis.

Inventors

LIU JIACHUN
LIN WEI
HUANG TAIMING

Assignees

珠海一微科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20241031

Claims (10)

1. The window cleaning control method of the window cleaning robot is characterized by comprising the following steps of: Acquiring environmental historical weather information of a window cleaning robot for cleaning a window of a target after the last cleaning operation is finished; judging whether a rain stain easy-to-generate scene exists in the environment within a time period from the last cleaning work of the target window cleaning robot to the end of the last cleaning work based on environmental historical weather information; if rain stains are easy to generate in the environment within the time period when the window cleaning robot finishes the latest cleaning work on the target window, the window cleaning robot is controlled to clean the target window in a rain stain cleaning mode.
2. The window cleaning control method of the window cleaning robot according to claim 1, wherein the determining whether a rain stain easy generation scene exists based on the historical weather information specifically comprises: Judging whether rainfall weather exists in the environment within a time period until the last cleaning of the target window is finished by the window cleaning robot; If the rainfall weather exists in the environment in the period of time from the last cleaning of the target window by the window cleaning robot to the present, determining that the environment in the period of time from the last cleaning of the target window by the window cleaning robot to the present has a rain stain easy generation scene; If no rainfall weather exists in the environment in the period of time until the window is cleaned last time by the window cleaning robot, determining that no rain stain easily-generated scene exists in the environment in the period of time until the window is cleaned last time by the window cleaning robot.
3. The window cleaning control method of the window cleaning robot according to claim 2, wherein the determining whether a rain stain easy generation scene exists based on the historical weather information further comprises: if the window cleaning robot cleans the target window for the latest time, and rainfall weather exists in the environment within the period of time until the window cleaning robot cleans the target window for the latest time, judging whether the duration of the rainfall weather reaches the preset rainfall duration; If the duration of the rainfall weather reaches the preset rainfall duration, determining that a scene which is easy to generate rain stains exists in the environment within a time period until the latest cleaning work of the window is finished by the window cleaning robot; if rainfall weather exists in the environment in the period of time until the window is cleaned last time by the window cleaning robot, but the duration of the rainfall weather does not reach the preset rainfall duration, determining that no rain stain easy-to-generate scene exists in the environment in the period of time until the window cleaning robot finishes the window cleaning last time.
4. The window cleaning control method of the window cleaning robot according to claim 2, wherein the determining whether a rain stain easy generation scene exists based on historical weather, further comprises: If the window cleaning robot cleans the target window for the latest time, and rainfall weather exists in the environment within the period of time until the window cleaning robot cleans the target window for the latest time, judging whether high-dust-content weather exists after the rainfall weather appears; If the raining weather is high in dust content, determining that a raining easy-to-generate scene exists in the environment within a time period until the latest cleaning work of the window wiping robot on the target is finished; If rainfall weather exists in the environment in the period of time until the window is cleaned by the window cleaning robot for the target last time, but high dust content weather does not exist after the rainfall weather appears, determining that no rain stain easy-to-generate scene exists in the environment in the period of time until the window cleaning robot finishes the window cleaning for the target last time.
5. The window cleaning control method of the window cleaning robot according to claim 2, wherein the determining whether a rain stain easy generation scene exists based on historical weather, further comprises: if the window cleaning robot cleans the environment in the period of time up to the present last time, judging whether the air dust content in the period of time of occurrence of the rainfall weather reaches a preset air dust content high value; If the air dust content in the period of the occurrence of the rainfall weather reaches a preset air dust content high value, determining that a rain stain easily-generated scene exists in the environment in the period of time until the latest cleaning work of the window by the window cleaning robot is finished; If rainfall weather exists in the environment in the period of time until the window cleaning robot cleans the window last time, but the air dust content in the period of time when the rainfall weather occurs does not reach the preset air dust content high value, determining that no rain stain easy-to-generate scene exists in the environment in the period of time until the window cleaning robot finishes the latest cleaning work.
6. The window cleaning control method of the window cleaning robot according to claim 1, wherein the window cleaning robot is controlled to perform cleaning work on a target window in a rain stain cleaning mode, and specifically comprises: Controlling the window cleaning robot to adjust the cleaning gear to be a powerful cleaning gear in a rain stain cleaning mode; controlling the window cleaning robot to perform traversing wiping operation on a target window by adopting a powerful cleaning gear; the cleaning gear of the window cleaning robot is divided into a powerful cleaning gear, a conventional cleaning gear and a soft cleaning gear.
7. The window cleaning control method of a window cleaning robot according to claim 1, further comprising: Acquiring the latest cleaning time of a target window to be wiped; judging whether the latest cleaning time of the target window reaches a preset time threshold or not; And if the latest cleaning time of the target window reaches the preset time threshold, controlling the cleaning robot to clean the target window in a hybrid cleaning mode.
8. The window cleaning control method of the window cleaning robot according to claim 7, wherein the controlling the cleaning robot performs cleaning work on the target window using a hybrid cleaning mode, specifically comprising: Controlling the window cleaning robot to perform flushing cleaning operation on the target window cleaning window, and flushing away particles attached to the target window cleaning window by using water flow; When the window cleaning robot finishes the flushing cleaning operation on the target window, the window cleaning robot is controlled to perform the traversing wiping operation on the target window by adopting the powerful cleaning gear.
9. The window cleaning control method of the window cleaning robot according to claim 8, wherein the controlling the cleaning robot performs cleaning work on the target window using a hybrid cleaning mode, further comprising: When the window cleaning robot finishes the flushing cleaning operation on the target cleaning window, controlling the window cleaning robot to perform the traversing cleaning operation on the target cleaning window by adopting a soft cleaning gear, and spraying the cleaning liquid in the cleaning process, so that the window cleaning robot drives the cleaning liquid to cover the whole target cleaning window based on the traversing cleaning operation of the soft cleaning gear, and the cleaning liquid infiltrates the target cleaning window; When the window cleaning robot finishes performing traversing wiping operation on the target window by adopting the soft cleaning gear, after the preset time, controlling the window cleaning robot to perform traversing wiping operation on the target window by adopting the powerful cleaning gear.
10. A window cleaning robot, characterized in that the window cleaning robot is provided with a chip, a processor and a window cleaning component, a computer program stored in the chip is used for controlling the window cleaning robot to execute the window cleaning control method according to any one of claims 1 to 9 when being run by the processor, and the cleaning gear of the window cleaning component is divided into a powerful cleaning gear, a normal cleaning gear and a soft cleaning gear.

Description

Window cleaning control method of window cleaning robot and window cleaning robot Technical Field The application relates to the field of window cleaning robots, in particular to a window cleaning control method of a window cleaning robot and the window cleaning robot. Background The window cleaning robot is also called an automatic window cleaning machine, a glass cleaning robot, an intelligent window cleaning machine or an intelligent window cleaner, and is a common household service robot at present. After rainy days, rain stains are usually left on the window, and for window cleaning work with rain stains, a window cleaning robot usually has the technical problem that the window cannot be completely cleaned if adopting a conventional cleaning strategy. The Chinese patent application number is CN201811619079.0, the patent application name is a control system and a method of a window cleaning robot, and the window cleaning robot is used for shooting a working environment by using a shooting unit and performing window cleaning work based on an environment image. The window cleaning robot has the advantages that the hardware to be carried is more, more operation resources are occupied by the window cleaning robot due to the need of image analysis, and the use experience of a user is poor. How to optimize the window cleaning effect of a window cleaning robot based on the rain stain problem is a technical problem to be solved urgently. Disclosure of Invention The application provides a window cleaning control method of a window cleaning robot, which comprises the following steps of obtaining environmental historical weather information of the window cleaning robot for a target window after the last cleaning operation is finished; and if the window cleaning robot has a rain stain easy generation scene in the environment in the time period until the last cleaning operation of the target window is finished, controlling the window cleaning robot to clean the target window in a rain stain cleaning mode. The method comprises the steps of judging whether a rain stain easily-generated scene exists in the environment in a period of time from the last cleaning of a target window by a window cleaning robot to the end of the last cleaning of the target window, determining that the rain stain easily-generated scene exists in the environment in the period of time from the last cleaning of the target window by the window cleaning robot to the end of the last cleaning of the target window if the rain stain exists in the environment in the period of time from the last cleaning of the target window to the end of the last cleaning of the target window by the window cleaning robot, and determining that the rain stain easily-generated scene does not exist in the environment in the period of time from the last cleaning of the target window by the window cleaning robot to the end of the last cleaning of the target window if the rain stain easily-generated scene does not exist in the environment in the period of time from the last cleaning of the target window to the end of the last cleaning of the target window by the window cleaning robot. Further, judging whether a rain stain easy generation scene exists or not based on historical weather information, and judging whether the duration of the rain weather reaches a preset rain duration or not if the rain weather exists in the environment in the period from the last time the window is cleaned to the present time by the window cleaning robot, determining that the rain stain easy generation scene exists in the environment in the period from the last time the window cleaning robot finishes the last cleaning work of the target window to the present time if the duration of the rain weather reaches the preset rain duration, and determining that the rain stain easy generation scene does not exist in the environment in the period from the last time the window cleaning robot finishes the last cleaning work of the target window to the present time if the rain weather does not reach the preset rain duration. Further, whether a rain stain easy generation scene exists or not is judged based on historical weather, and the method further comprises the steps of judging whether high-dust-content weather exists after the occurrence of the rain weather if the rain weather exists in the environment in the period from the last time when the window cleaning robot cleans the target window to the present, determining that the rain stain easy generation scene exists in the environment in the period from the last time when the window cleaning robot cleans the target window to the end of the last time if the high-dust-content weather exists after the occurrence of the rain weather, and determining that the rain stain easy generation scene does not exist in the environment in the period from the last time when the window cleaning robot cleans the target window to the end of the last time when the rain weather