CN-121987084-A - Cleaning control method, device, window cleaning robot, medium and product

CN121987084ACN 121987084 ACN121987084 ACN 121987084ACN-121987084-A

Abstract

The application provides a cleaning control method, a cleaning control device, a window cleaning robot, a medium and a product, and relates to the technical field of cleaning equipment. The method comprises the steps of spraying cleaning liquid to the edge area of an object to be cleaned, controlling the window cleaning robot to move along a first direction again, lifting the first scraping bar when the window cleaning robot moves to the edge again, descending the second scraping bar, controlling the window cleaning robot to move along a second direction so as to scrape the surface of the object to be cleaned sprayed with the cleaning liquid by using the second scraping bar, and after the window cleaning robot is retracted, spraying the cleaning liquid to the edge area and then moving to the edge again to scrape the edge.

Inventors

ZHAO LAIHU
BAN YONG
HUANG ZHUSHENG
XU DAWEI
YAN GUIXIANG
Zou Guangjia

Assignees

追觅创新科技(苏州)有限公司

Dates

Publication Date: 20260508
Application Date: 20260302

Claims (14)

1. The cleaning control method is characterized by being applied to a window cleaning robot, the window cleaning robot comprises a water spraying mechanism, a first scraping strip, a second scraping strip and a rag, wherein the first scraping strip, the second scraping strip and the rag are arranged at the bottom, the first scraping strip and the second scraping strip are positioned at two sides of the rag, and the method comprises the following steps: controlling the window cleaning robot to retract under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the first direction so as to scrub the surface of the object to be cleaned by using the rag; Spraying cleaning liquid to the edge area of the object to be cleaned, and controlling the window cleaning robot to move along the first direction again; lifting the first scraping strip and lowering the second scraping strip under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the first direction again; And controlling the window cleaning robot to move along a second direction so as to scrape the surface of the cleaning object sprayed with the cleaning liquid by using the second scraping strip.
2. The method of claim 1, wherein the window cleaning robot further comprises a first detection device and a second detection device, the water spraying mechanism comprises a first water spraying component and a second water spraying component, the first water spraying component is arranged outside the first detection device corresponding to the first scraping strip, the second water spraying component is arranged outside the second detection device corresponding to the second scraping strip, the first detection device and the second detection device are used for detecting whether the window cleaning robot moves to the edge of an object to be cleaned, and the cleaning liquid is sprayed to the edge area of the object to be cleaned, and the method comprises the following steps: spraying cleaning liquid to the edge area of the object to be cleaned through the second water spraying component under the condition that the window cleaning robot retreats after moving to the edge of the object to be cleaned along the first direction; and under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the second direction and then retreats, spraying cleaning liquid to the edge area of the object to be cleaned through the first water spraying assembly.
3. The method of claim 1 or 2, wherein the controlling the window cleaning robot to retract comprises: and controlling the window cleaning robot to retract by a preset distance.
4. The method according to claim 1, wherein the method further comprises: And under the condition that the window cleaning robot cleans the object to be cleaned along the first direction, the first scraping strip is lowered so as to scrape the surface of the object to be cleaned after the cleaning cloth is scrubbed by using the first scraping strip.
5. The method according to claim 1, wherein the method further comprises: Controlling the first scraping strip and the second scraping strip not to contact the surface of the object to be cleaned in the process that the window cleaning robot moves to the edge of the object to be cleaned along the first direction again; Or alternatively, the first and second heat exchangers may be, Lowering the first scraping strip so that the first scraping strip is in contact with the surface of the object to be cleaned.
6. The method according to claim 1, wherein the method further comprises: in the process of retreating the window cleaning robot, controlling the first scraping strip and the second scraping strip not to contact the surface of the object to be cleaned; Or alternatively, the first and second heat exchangers may be, Lifting the first scraping strip and lowering the second scraping strip so that the second scraping strip is in contact with the surface of the object to be cleaned.
7. The method of claim 5 or 6, wherein the window cleaning robot further comprises a lifting mechanism, wherein two sides of the lifting mechanism are respectively connected with the first scraping strip and the second scraping strip, and wherein controlling the first scraping strip and the second scraping strip not to contact the surface of the object to be cleaned comprises: when the first scraping strip is in a descending state and the second scraping strip is in an ascending state, controlling one side of the lifting mechanism connected with the first scraping strip to be lifted, so that the first scraping strip and the second scraping strip are not contacted with the surface of the object to be cleaned; And under the condition that the first scraping strip is in a rising state and the second scraping strip is in a falling state, controlling the lifting mechanism to be connected with the lifting of the other side of the second scraping strip so as to enable the first scraping strip and the second scraping strip not to be in contact with the surface of the object to be cleaned.
8. The method of claim 7, wherein controlling the lifting of the side of the lifting mechanism to which the first wiper strip is attached comprises: Controlling the lifting mechanism to move a first distance from a first end position to an initial position along a third direction so as to lift the first scraping strip, wherein the third direction is perpendicular to the first direction; Correspondingly, the controlling the lifting mechanism to be connected with the lifting of the other side of the second scraping strip comprises the following steps: And controlling the lifting mechanism to move a first distance from a second end position to the initial position along the reverse direction of the third direction so as to enable the second scraping strip to be lifted.
9. The method of claim 8, wherein the raising the first wiper strip and lowering the second wiper strip comprises: And controlling the lifting mechanism to move a second distance from the first end position to the second end position along the third direction so as to enable the first scraping strip to be lifted, and enabling the second scraping strip to descend to be in contact with the surface of the object to be cleaned, wherein the second distance is larger than the first distance.
10. The method of claim 9, wherein the controlling the lift mechanism to move a second distance in the third direction from the first end position to the second end position comprises: Controlling the lifting mechanism to move a first distance from the first end position to the initial position along a third direction so as to enable the first scraping strip to be lifted, and enabling the second scraping strip to keep the current height; and controlling the lifting mechanism to continuously move a third distance from the initial position to the second end position along the third direction so as to enable the first scraping strip to keep the current height, enabling the second scraping strip to descend to be in contact with the surface of the object to be cleaned, and enabling the sum of the first distance and the third distance to be the second distance.
11. The cleaning control device is characterized by being applied to a window cleaning robot, the window cleaning robot comprises a water spraying mechanism, a first scraping strip, a second scraping strip and a rag, wherein the first scraping strip, the second scraping strip and the rag are arranged at the bottom, the first scraping strip and the second scraping strip are positioned at two sides of the rag, and the device comprises: the first control module is used for controlling the window cleaning robot to retract under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the first direction so as to enable the rag to scrub the surface of the object to be cleaned; the second control module is used for spraying cleaning liquid to the edge area of the object to be cleaned and controlling the window cleaning robot to move along the first direction again; The third control module is used for lifting the first scraping strip and lowering the second scraping strip under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the first direction again; The first control module is also used for controlling the window cleaning robot to move along a second direction so as to scrape the surface of the cleaning object sprayed with the cleaning liquid by using the second scraping strip.
12. A window cleaning robot, comprising: A memory; A processor; wherein the memory stores computer-executable instructions; The processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1-10.
13. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 10.
14. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 10.

Description

Cleaning control method, device, window cleaning robot, medium and product Technical Field The application relates to the technical field of cleaning equipment, in particular to a cleaning control method and device, a window cleaning robot, a medium and a product. Background The window cleaning robot is widely applied to scenes such as high-rise buildings, commercial complexes, residential glass curtain walls and the like, and has the core function of realizing efficient cleaning of glass surfaces through an automatic moving and cleaning module. In practical applications, a user typically deploys a robot on a surface of an object to be cleaned (such as a glass surface), fixes and drives a window cleaning robot to move through an adsorption device, and scrapes or cleans the surface of the object to be cleaned by using a cleaning component such as a scraping strip and a rag. However, the conventional window cleaning robot has poor cleaning effect on the edges of objects to be cleaned, and the edges are easy to form stubborn stains and cleaning blind areas. Disclosure of Invention The embodiment of the application provides a cleaning control method, a cleaning control device, a window cleaning robot, a medium and a product, which are used for solving the problems that the edge of an object to be cleaned in the related technology has poor cleaning effect and is easy to form stubborn stains and cleaning blind areas. In a first aspect, the application provides a cleaning control method applied to a window cleaning robot, the window cleaning robot comprises a water spraying mechanism, a first scraping strip, a second scraping strip and a rag, wherein the first scraping strip, the second scraping strip and the rag are arranged at the bottom, and the first scraping strip and the second scraping strip are positioned at two sides of the rag, and the method comprises the following steps: Controlling the window cleaning robot to retract under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the first direction so as to scrub the surface of the object to be cleaned by using the rag; spraying cleaning liquid to the edge area of the object to be cleaned, and controlling the window cleaning robot to move along the first direction again; Lifting the first scraping strip and lowering the second scraping strip under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the first direction again; The window cleaning robot is controlled to move along a second direction so as to scrape the surface of the cleaning object sprayed with the cleaning liquid by using a second scraping strip. In one possible implementation, the window cleaning robot further includes a first detection device and a second detection device, the water spraying mechanism includes a first water spraying component and a second water spraying component, the first water spraying component is disposed at the outer side of the first detection device corresponding to the first scraping strip, the second water spraying component is disposed at the outer side of the second detection device corresponding to the second scraping strip, the first detection device and the second detection device are used for detecting whether the window cleaning robot moves to the edge of the object to be cleaned, and spraying cleaning liquid to the edge area of the object to be cleaned includes: Spraying cleaning liquid to the edge area of the object to be cleaned through the second water spraying component under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the first direction and retreats; and under the condition that the window cleaning robot moves to the edge of the object to be cleaned along the second direction and then retreats, the cleaning liquid is sprayed to the edge area of the object to be cleaned through the first water spraying component. In one possible implementation, controlling a window cleaning robot to roll back includes: And controlling the window cleaning robot to retract by a preset distance. In one possible implementation, the method further includes: In the case that the window cleaning robot cleans the object to be cleaned in the first direction, the first scraping bar is lowered to scrape the surface of the object to be cleaned after scrubbing with the rag. In one possible implementation, the method further includes: And in the process that the window cleaning robot moves to the edge of the object to be cleaned along the first direction again, controlling the first scraping strip and the second scraping strip not to contact the surface of the object to be cleaned, or lowering the first scraping strip so as to enable the first scraping strip to contact the surface of the object to be cleaned. In one possible implementation, the method further comprises controlling the first wiper strip and the second wiper strip not to co