CN-122004681-A - Cleaning control method, device, window cleaning robot, medium and product

Abstract

The application provides a cleaning control method, a cleaning control device, a window cleaning robot, a medium and a product, which relate to the technical field of cleaning equipment, the method comprises the steps of descending a first scraping bar under the condition that a window cleaning robot cleans an object to be cleaned along a first direction, so that the first scraping bar is used for scraping the surface of the object to be cleaned after being scrubbed by a rag; 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; the method combines the dynamic adjustment of the scraping strips, not only enhances the processing capacity of stubborn stains, but also reduces the dragging water marks in the scraping process and improves the cleaning effect of the window cleaning robot by the sequential operation of firstly scraping the surface of the object to be cleaned by the rag and then scraping by the scraping strips.

Inventors

• ZHAO LAIHU
• BAN YONG
• HUANG ZHUSHENG

Assignees

• 追觅创新科技(苏州)有限公司

Dates

Publication Date

20260512

Application Date

20260302

Claims (17)

1. 1. The cleaning control method is characterized by being applied to a window cleaning robot, wherein the bottom of the window cleaning robot comprises a first scraping strip, a second scraping strip and a rag, the first scraping strip and the second scraping strip are positioned on two sides of the rag, and the method comprises the following steps: Lowering the first scraping bar under the condition that the window cleaning robot cleans the object to be cleaned along a first direction so as to scrape the surface of the object to be cleaned after being scrubbed by the rag by using the first scraping bar; 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; And controlling the window cleaning robot to move along a second direction so as to scrape the surface of the cleaned object scrubbed by the rag by using the second scraping strip.
2. 2. The method of claim 1, wherein the lowering the first wiper strip comprises: And adjusting the descending height of the first scraping strip based on the dirt degree and/or the material of the area to be cleaned corresponding to the current cleaning path.
3. 3. The method of claim 2, wherein adjusting the lowering height of the first wiper strip based on the degree of soiling of the area to be cleaned corresponding to the current cleaning path comprises: lowering the first wiper strip by a first height in the event that the degree of soiling of the area to be cleaned is a first degree of soiling; lowering the first wiper strip by a second height in the event that the degree of soiling of the area to be cleaned is a second degree of soiling; and under the condition that the dirt level of the area to be cleaned is a third dirt level, the first scraping strip is lowered by a third height, the first height is less than the second height and less than the third height, and the first dirt level is less than the second dirt level and less than the third dirt level.
4. 4. The method of claim 2, wherein adjusting the lowering height of the first wiper strip based on the material of the area to be cleaned corresponding to the current cleaning path comprises: under the condition that the material of the area to be cleaned is a first material, the first scraping strip is lowered by a fourth height; And under the condition that the material of the to-be-cleaned area is a second material, the first scraping strip is lowered by a fifth height, the fourth height is smaller than the fifth height, and the surface roughness of the first material is smaller than the surface roughness of the second material.
5. 5. The method according to any one of claims 1-4, further comprising: And under the condition that the cleaning task is not started or the cleaning task is executed, controlling the first scraping strip and the second scraping strip not to contact the surface of the object to be cleaned.
6. 6. The method of claim 5, 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.
7. 7. The method of claim 6, 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.
8. 8. The method of claim 7, 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 a 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.
9. 9. The method of claim 8, wherein the controlling the lift mechanism to move a second distance in a 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.
10. 10. The method according to any one of claims 1-9, further comprising: if the window cleaning robot is in a single-scraping-bar cleaning mode, lifting a first scraping bar under the condition that the window cleaning robot moves to the edge of the object to be cleaned along a first direction, and controlling the window cleaning robot to move to the edge of the object to be cleaned along a second direction; And lowering the first scraping strip, and controlling the window cleaning robot to continuously move along a first direction so as to scrape the surface of the cleaned object after the cleaning cloth is scrubbed by using the first scraping strip.
11. 11. The method of any one of claims 1-9, wherein the window cleaning robot further comprises a water spray mechanism, the method further comprising: and under the condition that the window cleaning robot executes the cleaning task, spraying cleaning liquid to the surface of the object to be cleaned of the area to be cleaned corresponding to the current cleaning path.
12. 12. The method of claim 11, wherein the water spray mechanism comprises a first water spray assembly disposed inside the first wiper strip and a second water spray assembly disposed inside the second wiper strip, the spraying the cleaning solution onto the surface of the object to be cleaned comprising: Under the condition that the window cleaning robot cleans objects to be cleaned along a first direction, spraying cleaning liquid to the surfaces of the objects to be cleaned in the areas to be cleaned corresponding to the current cleaning paths through a second water spraying assembly; And under the condition that the window cleaning robot cleans the object to be cleaned along the second direction, spraying cleaning liquid to the surface of the object to be cleaned of the area to be cleaned corresponding to the current cleaning path through the first water spraying component.
13. 13. The method of claim 12, wherein after lifting the first wiper strip and lowering the second wiper strip, the method further comprises: controlling a second water spraying assembly to spray cleaning liquid to the surface of the object to be cleaned in the area to be cleaned corresponding to the current cleaning path; Controlling the window cleaning robot to retract a preset distance so as to scrape out the edge stains of the object to be cleaned through the second scraping strip; the first scraping strip and the second scraping strip are controlled not to be in contact with the surface of the object to be cleaned, and the window cleaning robot is controlled to move to the edge of the object to be cleaned along the first direction again, so that the scraped edge stains are recovered to the rag.
14. 14. The cleaning control device is applied to a window cleaning robot, wherein the bottom of the window cleaning robot comprises a first scraping strip, a second scraping strip and a rag, the first scraping strip and the second scraping strip are positioned on two sides of the rag, and the device comprises: The first control module is used for descending the first scraping strip under the condition that the window cleaning robot cleans an object to be cleaned along a first direction so as to scrape the surface of the object to be cleaned after the cleaning cloth is scrubbed by using the first scraping strip; The first control module is further used for lifting the first scraping strip and descending 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; And the second control module is used for controlling the window cleaning robot to move along a second direction so as to scrape the surface of the cleaned object after the cleaning cloth is scrubbed by using the second scraping strip.
15. 15. 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 1-13.
16. 16. 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 13.
17. 17. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 13.

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 technology is widely applied to window cleaning operation in high-rise buildings, commercial office buildings, residential glass curtain walls and other scenes. Along with the acceleration of the urban process, the area of the glass curtain wall of the high-rise building is continuously enlarged, and the problems of high risk, low efficiency, high cost and the like of the high-altitude operation exist in the traditional manual cleaning mode. The window cleaning robot is fixed on the surface of glass through an adsorption technology (such as magnetic attraction and vacuum adsorption), and the cleaning assembly (such as rag) is used for completing automatic cleaning, so that the cleaning efficiency and the safety are remarkably improved. However, the window cleaning device in the related art has poor cleaning effect on stubborn stains, and easily generates dragging water marks when water stains are erased, thereby affecting the cleaning effect. Disclosure of Invention 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 defects that the window cleaning robot in the related technology has poor cleaning effect on stubborn stains and is easy to generate dragging water marks when water stains are erased, and the cleaning effect is influenced. In a first aspect, the application provides a cleaning control method applied to a window cleaning robot, wherein the bottom of the window cleaning robot comprises a first scraping strip, a second scraping strip and a rag, the first scraping strip and the second scraping strip are positioned on two sides of the rag, and the method comprises the following steps: Lowering the first scraping bar under the condition that the window cleaning robot cleans the object to be cleaned along a first direction so as to scrape the surface of the object to be cleaned after being scrubbed by the rag by using the first scraping bar; 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; And controlling the window cleaning robot to move along a second direction so as to scrape the surface of the cleaned object scrubbed by the rag by using the second scraping strip. In one possible implementation, the lowering the first wiper strip includes: And adjusting the descending height of the first scraping strip based on the dirt degree and/or the material of the area to be cleaned corresponding to the current cleaning path. In one possible implementation manner, the adjusting the lowering height of the first wiper strip based on the dirt level of the area to be cleaned corresponding to the current cleaning path includes: lowering the first wiper strip by a first height in the event that the degree of soiling of the area to be cleaned is a first degree of soiling; lowering the first wiper strip by a second height in the event that the degree of soiling of the area to be cleaned is a second degree of soiling; And under the condition that the dirt level of the area to be cleaned is a third dirt level, the first scraping strip is lowered by a third height, the first height is smaller than the second height and smaller than the third height, and the first dirt level is less than the second dirt level and less than the third dirt level. In one possible implementation manner, the adjusting the descending height of the first scraping strip based on the material of the area to be cleaned corresponding to the current cleaning path includes: under the condition that the material of the area to be cleaned is a first material, the first scraping strip is lowered by a fourth height; And under the condition that the material of the to-be-cleaned area is a second material, the first scraping strip is lowered by a fifth height, the fourth height is smaller than the fifth height, and the surface roughness of the first material is smaller than the surface roughness of the second material. In one possible implementation, the method further includes: And under the condition that the cleaning task is not started or the cleaning task is executed, controlling the first scraping strip and the second scraping strip not to contact the surface of the object to be cleaned. In one possible implementation manner, 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 the control of the first scraping strip and the second scraping strip not to contact