CN111820825A - Wall surface cleaning device and method - Google Patents
Wall surface cleaning device and method Download PDFInfo
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- CN111820825A CN111820825A CN201910327341.2A CN201910327341A CN111820825A CN 111820825 A CN111820825 A CN 111820825A CN 201910327341 A CN201910327341 A CN 201910327341A CN 111820825 A CN111820825 A CN 111820825A
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- 238000000034 method Methods 0.000 title claims abstract description 38
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
- A47L1/05—Hand apparatus with built-in electric motors
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4075—Handles; levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Cleaning In General (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses a wall surface cleaning device and method, and belongs to the field of intelligent electrical appliances. The device includes: the movable cleaning module can be adsorbed on the target wall surface; the guiding mechanism is connected with one end of the cleaning module, which is far away from the target wall surface; a force sensor located on the guide mechanism; the control unit is integrated on the cleaning module and is in signal connection with both the cleaning module and the force sensor; the control unit is configured to: acquiring a first signal of a force sensor; and sending a second signal to the cleaning module based on the first signal, wherein the second signal is used for indicating the cleaning module to adjust at least one of the moving parameter, the adsorption parameter and the cleaning parameter so as to control the cleaning operation of the cleaning module on the target wall surface. Can make the washing module produce the helping hand that adsorbs, remove, wash at least one kind in corresponding direction through artificial control guiding mechanism, this not only does benefit to and effectively washs the target wall, still can stride across the barrier, makes the device have good washing experience effect.
Description
Technical Field
The application relates to the field of intelligent electrical appliances, in particular to a wall surface cleaning device and method.
Background
The wall surfaces such as glass, walls, and floors are easily stained with dirt such as dust, and when a manual window cleaner or a manual mop is used for cleaning, a large force is required to be applied by the arms of a person, and the cleaning efficiency is low. In view of the foregoing, there is a need for an automatic or semi-automatic wall cleaning apparatus.
The related art provides an automatic wall surface cleaning apparatus, which includes: the mobile cleaning module can be adsorbed on the wall surface of a target, the infrared sensor is positioned on the cleaning module, and the terminal is in signal connection with the cleaning module and the infrared sensor. When the infrared inductor senses that the place ahead has the barrier, the terminal gathers the first signal of infrared inductor, and the terminal sends the second signal to wasing the module based on first signal, washs the module and adjusts the direction based on the second signal. Moreover, the cleaning effect of the device on the target wall surface is the same.
The device can automatic adjustment direction when meetting the barrier, can not stride across the barrier, needs artifical transport, and the device is the same to the cleaning performance of target wall face moreover, can not effectively wash the dirt of different degrees, and this makes the cleaning experience effect of device relatively poor.
Content of application
The embodiment of the application provides a wall surface cleaning device and a wall surface cleaning method, which can solve the technical problem. The technical scheme is as follows:
in one aspect, an embodiment of the present application provides a wall surface cleaning device, where the device includes: the movable cleaning module can be adsorbed on the wall surface;
the guiding mechanism is connected with one end of the cleaning module, which is far away from the target wall surface;
a force sensor located on the guide mechanism;
a control unit integrated on the cleaning module and in signal connection with the cleaning module and the force sensor, the control unit configured to: acquiring a first signal of the force sensor, wherein the first signal is used for representing the force magnitude and the force direction of the guide mechanism; and sending a second signal to the cleaning module based on the first signal, wherein the second signal is used for instructing the cleaning module to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning module to clean the target wall surface.
Optionally, the free end of the guide mechanism is sleeved with a handle;
the force sensor is located between the grip and the guide mechanism.
Optionally, the guide mechanism comprises: a first bar and a second bar;
the first rod piece, the force sensor, the second rod piece and the cleaning module are connected in sequence.
Optionally, the guiding mechanism is movably connected with one end of the cleaning module, which is away from the target wall surface.
Optionally, the guide mechanism is adjustable in length.
Optionally, the cleaning module comprises: the device comprises a cleaning component, an adsorption component and a moving component;
the cleaning assembly is provided with a communicated cavity, and one end of the cleaning assembly, which is in contact with the target wall surface, is a flexible end;
the adsorption component and the moving component are both positioned in the cavity, and the flexible end face protrudes out of the moving component towards the target wall face;
one end of at least one of the cleaning assembly, the adsorption assembly and the moving assembly, which is far away from the target wall surface, is connected with the guide mechanism;
the cleaning assembly, the adsorption assembly or the moving assembly are integrated with the control unit, and the cleaning assembly, the adsorption assembly and the moving assembly are in signal connection with the control unit.
Optionally, the cleaning assembly comprises: a cleaning member and a water spraying member;
the cleaning piece is provided with the cavity, and one end of the cleaning piece, which is in contact with the target wall surface, is the flexible end;
the water spraying piece is positioned on the outer wall of the cleaning piece and is in signal connection with the control unit.
Optionally, the moving assembly comprises: the device comprises a power part, a bracket and a plurality of omnidirectional wheels;
the power part, the bracket and the omnidirectional wheels are all sleeved in the cavity;
the power part is positioned on the bracket, is in transmission connection with the omnidirectional wheels and is in signal connection with the control unit;
the omnidirectional wheels are positioned on one side of the support facing the target wall surface, and the flexible end faces the target wall surface and protrudes out of the omnidirectional wheels.
Optionally, the cleaning component, the adsorption component and the moving component are of an integrated structure.
In one aspect, an embodiment of the present application provides a wall surface cleaning method, where the method includes:
acquiring a first signal of a force sensor, wherein the first signal is used for representing the stress magnitude and direction of a guide mechanism;
and sending a second signal to a cleaning module based on the first signal, wherein the second signal is used for indicating the cleaning module to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module on the target wall surface.
Optionally, the second signal comprises: the first sub-signal and the second sub-signal, the second signal is sent to a cleaning module based on the first signal, and the second signal is used for instructing the cleaning module to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module on a target wall surface, including:
determining the stress magnitude and direction of the guide mechanism based on the first signal;
and if the force applied to the guide mechanism in the direction parallel to the target wall surface is increased, sending the first sub-signal and the second sub-signal to the cleaning module, wherein the first sub-signal is used for indicating the adsorption component to reduce the adsorption force on the target wall surface, and the second sub-signal is used for indicating the moving component to move in the stress direction of the guide mechanism.
Optionally, the second signal comprises: a third sub-signal and a fourth sub-signal, where the second signal is sent to a cleaning module based on the first signal, and the second signal is used to instruct the cleaning module to adjust at least one of a movement parameter, an adsorption parameter, and a cleaning parameter, so as to control a cleaning operation of the cleaning module on a target wall surface, and the method includes:
determining the stress magnitude and direction of the guide mechanism based on the first signal;
and if the force applied to the guide mechanism in the direction parallel to the target wall surface is reduced, sending a third sub-signal and a fourth sub-signal to the cleaning module, wherein the third sub-signal is used for indicating the adsorption component to increase the adsorption force on the target wall surface, and the fourth sub-signal is used for indicating the moving component to reduce the moving speed or stop moving.
Optionally, the second signal further includes a fifth sub-signal, and the sending the second signal to the cleaning module based on the first signal further includes:
and sending a fifth sub-signal to the cleaning module based on the first signal, wherein the fifth sub-signal is used for indicating the cleaning assembly to increase or decrease the cleaning force.
Optionally, the second signal comprises: a sixth sub-signal and a seventh sub-signal, where the second signal is sent to a cleaning module based on the first signal, and the second signal is used to instruct the cleaning module to adjust at least one of a movement parameter, an adsorption parameter, and a cleaning parameter, so as to control a cleaning operation of the cleaning module on a target wall surface, and the method includes:
determining the stress magnitude and direction of the guide mechanism based on the first signal;
if the force applied to the guide mechanism in the direction pointing to the target wall surface is increased, the sixth sub-signal and the seventh sub-signal are sent to the cleaning module, the sixth sub-signal is used for indicating the adsorption component to increase the adsorption force on the target wall surface, and the seventh sub-signal is used for indicating the cleaning component to increase the cleaning force on the target wall surface.
Optionally, the second signal comprises: an eighth sub-signal and a ninth sub-signal, where the second signal is sent to a cleaning module based on the first signal, and the second signal is used to instruct the cleaning module to adjust at least one of a moving parameter, an adsorption parameter, and a cleaning parameter, so as to control a cleaning operation of the cleaning module on a target wall surface, and the method includes:
determining the stress magnitude and direction of the guide mechanism based on the first signal;
if the force applied to the guide mechanism in the direction pointing to the target wall surface is reduced, the eighth sub-signal and the ninth sub-signal are sent to the cleaning module, the eighth sub-signal is used for indicating an adsorption component to reduce the adsorption force on the target wall surface, and the ninth sub-signal is used for indicating the cleaning component to reduce the cleaning force on the target wall surface.
Optionally, before the acquiring the first signal of the force sensor, the method further comprises:
and sending a third signal to the cleaning module, wherein the third signal is used for indicating the cleaning module to adjust the adsorption parameter so that the cleaning module is adsorbed on the target wall surface.
In one aspect, an embodiment of the present application provides a wall surface cleaning device, where the device includes:
the first acquisition module is used for acquiring a first signal of the force sensor, and the first signal is used for representing the stress magnitude and the stress direction of the guide mechanism;
the first sending module is used for sending a second signal to the cleaning module based on the first signal, and the second signal is used for indicating the cleaning module to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module on the target wall surface.
In one aspect, embodiments of the present application provide a wall surface cleaning apparatus, which includes a processor and a memory, where the memory stores at least one instruction, and the instruction is loaded and executed by the processor to implement any one of the wall surface cleaning methods mentioned above.
In one aspect, the present disclosure provides a computer-readable storage medium, where at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the wall surface cleaning method according to any one of the above-mentioned embodiments.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
the wall surface cleaning device provided by the embodiment of the application can enable the force sensor positioned on the guide mechanism to sense the stress magnitude and direction of the guide mechanism through the manual control of the guide mechanism. The first signal of the force sensor is acquired through the control unit, the second signal is sent to the cleaning module based on the first signal, so that the cleaning module adjusts at least one of adsorption parameters, moving parameters and cleaning parameters according to the second signal, and further the cleaning module can correspondingly clean based on the stress magnitude and direction of the guide mechanism, namely the guide mechanism is manually controlled to enable the cleaning module to generate at least one assistance force for adsorption, moving and cleaning in the corresponding direction, so that the wall cleaning device is favorable for effectively cleaning a target wall and can cross over obstacles, and the wall cleaning device has a good cleaning experience effect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a wall washer according to an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating the connection between the guide mechanism, force sensor, and grip according to an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating the connection between the guide mechanism, the force sensor, and the cleaning module according to one exemplary embodiment;
FIG. 4 is a side view of a cleaning module shown in accordance with an exemplary embodiment;
FIG. 5 is a schematic diagram illustrating the construction of a wash assembly according to one exemplary embodiment;
FIG. 6 is a schematic diagram illustrating the structure of a moving assembly according to an exemplary embodiment;
FIG. 7 is a flow chart illustrating a wall cleaning method according to an exemplary embodiment;
FIG. 8 is a schematic diagram of a wall washer according to an exemplary embodiment;
fig. 9 is a schematic structural diagram illustrating a first sending module according to an exemplary embodiment.
Detailed Description
Unless defined otherwise, all technical terms used in the examples of the present application have the same meaning as commonly understood by one of ordinary skill in the art. To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The wall surfaces of glass, walls, floors and the like are easy to adhere with dirt such as dust, and the like, and the automatic or semi-automatic wall surface cleaning device can efficiently and quickly clean the dirt on the wall surfaces at present. Use and adopt automatic wall belt cleaning device (intelligence window cleaning robot) to wash the glass wall for the example, wherein, intelligence window cleaning robot includes: the mobile cleaning module can be adsorbed on the wall surface of a target, the infrared sensor is positioned on the cleaning module, and the terminal is in signal connection with both the cleaning module and the infrared sensor. When there is the barrier in infrared inductor the place ahead, infrared inductor senses first signal, and the terminal acquires infrared inductor's first signal to send the second signal to wasing the module based on first signal, wash the module and adjust the direction based on the second signal. But have the glass frame usually between glass and the glass, when the infrared inductor sensed the glass frame, the cleaning module can not cross the glass frame and wash other glass, needs the manual work to carry the cleaning module. In addition, the intelligent window cleaning robot has the same cleaning effect on the target wall surface, and can not effectively clean dirt with different degrees, so that the intelligent window cleaning robot has poor cleaning experience. Based on this, this application embodiment provides a wall cleaning device and method.
FIG. 1 is a schematic diagram of a wall cleaning apparatus according to an exemplary embodiment, as shown in FIG. 1, including: a movable cleaning module 1 which can be adsorbed on the target wall surface; the guide mechanism 2 is connected with one end of the cleaning module 1, which is far away from the target wall surface; a force sensor 3 located on the guide mechanism 2; a control unit (not shown) integrated on the cleaning module 1 and in signal connection with both the cleaning module 1 and the force sensor 3. Wherein the control unit is configured to: acquiring a first signal of the force sensor 3, wherein the first signal is used for representing the stress magnitude and direction of the guide mechanism 2; and sending a second signal to the cleaning module 1 based on the first signal, wherein the second signal is used for indicating the cleaning module 1 to adjust at least one of the moving parameter, the adsorption parameter and the cleaning parameter so as to control the cleaning operation of the cleaning module 1 on the target wall surface.
The control unit can be electrically connected with the cleaning module 1 and the force sensor 3, and can be in wifi (Wireless-Fidelity) connection or Bluetooth connection.
The working principle of the wall surface cleaning device provided by the embodiment of the application is explained as follows:
the wall surface cleaning device can be used for cleaning wall surfaces such as walls, tiles, boards, floors and glass. When the cleaning device is used, the guiding mechanism 2 is controlled by a hand, the force sensor 3 senses the stress size and the stress direction of the guiding mechanism 2, the control unit acquires a first signal of the force sensor 3, the control unit sends a second signal to the cleaning module 1 based on the first signal, and the cleaning module 1 adjusts at least one of an adsorption parameter, a moving parameter and a cleaning parameter based on the second signal so as to clean a target wall surface.
For example, if the control unit determines that the force applied to the guiding mechanism 2 in the direction parallel to the target wall surface is increased based on the first signal, the control unit sends a second signal to the cleaning module 1, so that the cleaning module 1 reduces the adsorption force on the target wall surface, and the cleaning module 1 moves along the force applied direction of the guiding mechanism 2. So, when meetting the barrier, through hand push guiding mechanism 2, make wash module 1 along thrust direction production helping hand, and then make wash module 1 easily stride across the barrier.
If the control unit determines that the force applied to the guide mechanism 2 in the direction parallel to the target wall surface is reduced, the control unit sends a second signal to the cleaning module 1, so that the cleaning module 1 increases the adsorption force on the target wall surface, and the movement rate of the cleaning module 1 is reduced or the movement is stopped.
If the control unit determines that the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface is increased, the control unit sends a second signal to the cleaning module 1, so that the cleaning module 1 increases the adsorption force on the target wall surface, and the cleaning module 1 increases the cleaning force on the target wall surface.
If the control unit determines that the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface is reduced, the control unit sends a second signal to the cleaning module 1, so that the cleaning module 1 reduces the adsorption force on the target wall surface, and the cleaning module 1 reduces the cleaning force on the target wall surface.
It should be noted that, when the cleaning module 1 increases the adsorption force on the target wall surface, the contact area between the cleaning module 1 and the target wall surface is increased, and the cleaning force of the cleaning module 1 on the target wall surface can be increased. When the cleaning module 1 reduces the adsorption force to the target wall surface, the contact area between the cleaning module 1 and the target wall surface is reduced, and then the cleaning force of the cleaning module 1 to the target wall surface can be reduced.
The wall surface cleaning device provided by the embodiment of the application can enable the force sensor 3 positioned on the guide mechanism 2 to sense the stress size and the direction of the guide mechanism 2 by artificially controlling the guide mechanism 2. The first signal of the force sensor 3 is acquired through the control unit, the second signal is sent to the cleaning module 1 based on the first signal, so that the cleaning module 1 adjusts at least one of adsorption parameters, moving parameters and cleaning parameters according to the second signal, and further the cleaning module 1 can correspondingly perform cleaning operation based on the stress size and direction of the guide mechanism 2, namely, the guide mechanism 2 can be manually controlled to enable the cleaning module 1 to generate at least one assistance force for adsorption, moving and cleaning in the corresponding direction, so that the target wall surface can be effectively cleaned, obstacles can be spanned, and the wall surface cleaning device has good cleaning experience effect.
It can be understood that the wall surface cleaning device can easily clean the target wall surface and cross an obstacle under the control of the hand, and the somatosensory flexible control technology can be realized.
The embodiment of the present application gives the following two examples of the manner of arrangement between the guide mechanism 2 and the force sensor 3:
as a first example, as shown in fig. 2, the free end of the guide mechanism 2 is sleeved with a grip 4; the force sensor 3 is located between the grip 4 and the guide mechanism 2.
When holding the grip 4, the force is transmitted to the force sensor 3 through the grip 4, and the force sensor 3 can sense the force magnitude and direction of the guide mechanism 2.
The above arrangement is simple and the force sensor 3 can sense signals of forces in a plurality of different directions.
Furthermore, the grip 4 may have a plurality of grooves adapted to the fingers to avoid slipping when holding the grip 4.
Wherein, force transducer 3 can be the loop configuration, and force transducer 3, handle 4 suit are in proper order at the free end of guiding mechanism 2.
As a second example, as shown in fig. 3, the guide mechanism 2 includes: a first rod 201 and a second rod 202; the first rod 201, the force sensor 3, the second rod 202 and the cleaning module 1 are connected in sequence.
When the guide mechanism 2 is pushed or pulled by a hand in a direction toward the target wall surface, the force sensor 3 can sense a pressure signal or a tension signal. When the guide mechanism 2 is pushed or pulled by hand in a direction parallel to the target wall surface, the force sensor 3 can sense the force direction of the guide mechanism 2 because the force transmission between the first rod 201 and the second rod 202 is realized by the force sensor 3.
In this application embodiment, force sensor 3 can detect mechanical quantities such as tension, pulling force, pressure, weight, moment of torsion, internal stress and strain, and the control unit can accurately assay out the hand action according to the first signal that force sensor 3 responded to, sends the second signal to washing module 1 again based on this to control washing module 1 washs the operation.
As an example, the guiding mechanism 2 is movably connected with one end of the cleaning module 1 away from the target wall surface.
Therefore, the cleaning module 1 can be pushed and pulled along a plurality of directions by controlling the guide mechanism 2.
The embodiments of the present application give the following examples regarding the manner in which the guide mechanism 2 is movably connected to the upper end of the wash module 1:
the upper end of the cleaning module 1 is provided with a first connecting lug, and the first connecting lug is provided with two first connecting holes which are oppositely arranged; the lower end of the guide mechanism 2 is provided with a second connecting lug, and the second connecting lug is provided with two second connecting holes which are oppositely arranged; through the first end that makes the round pin axle simultaneously with a first connecting hole and a second connecting hole rotatable coupling, make the second end of round pin axle simultaneously with another first connecting hole and another second connecting hole rotatable coupling, realize guiding mechanism 2 and wash the upper end swing joint of module 1.
As an example, the length of the guide mechanism 2 is adjustable.
So, do benefit to control and wash module 1 and wash the target wall of distance or eminence.
The length of the guiding mechanism 2 can be adjusted in various ways, for example, the guiding mechanism 2 includes a plurality of hollow rod bodies nested in sequence. And the two adjacent hollow rod bodies are relatively fixed through friction force.
The embodiment of the present application gives the following example as to the structure of the cleaning module 1:
as shown in fig. 4, the cleaning module 1 includes: a cleaning component 101, an adsorption component 102 and a moving component 103; the cleaning component 101 is provided with a communicated cavity, and one end of the cleaning component 101, which is contacted with the target wall surface, is a flexible end; the adsorption component 102 and the moving component 103 are both positioned in the cavity, and the flexible end faces towards the target wall face and protrudes out of the moving component 103; one end of at least one of the cleaning component 101, the adsorption component 102 and the moving component 103, which is far away from the target wall surface, is connected with the guide mechanism 2; the cleaning assembly 101, the adsorption assembly 102 or the moving assembly 103 are integrated with a control unit, and the cleaning assembly 101, the adsorption assembly 102 and the moving assembly 103 are all in signal connection with the control unit.
It is understood that the adsorption unit 102 provides the cleaning module 1 with an adsorption function, the moving unit 103 provides the cleaning module 1 with a moving function, and the cleaning unit 101 provides the cleaning module 1 with a cleaning function. When the parameters of the cleaning assembly 101 are not adjusted, the flexible end of the cleaning assembly 101 is able to clean the target wall surface because it is against the target wall surface.
The adsorption component 102 can make the cleaning module 1 be adsorbed on the target wall surface, and the cleaning module 1 is prevented from being separated from the target wall surface. The moving assembly 103 can move the cleaning module 1 to different positions on the target wall surface, and is beneficial to the cleaning module 1 to clean different positions on the target wall surface. During the moving or stopping process of the cleaning module 1, the cleaning assembly 101 can clean the target wall surface. When the suction unit 102 is firmly sucked to the target wall surface, the cleaning unit 101 is closely attached to the target wall surface, and the target wall surface can be sufficiently and effectively cleaned. When the suction force of the suction unit 102 to the target wall surface is small, the cleaning force of the cleaning unit 101 to the target wall surface is small.
The embodiment of the present application gives the following example as to the structure of the cleaning assembly 101:
as shown in fig. 5, the cleaning assembly 101 includes: cleaning members 1011 and water spray members 1012; the cleaning piece 1011 is provided with a cavity, and one end of the cleaning piece 1011, which is in contact with the target wall surface, is a flexible end; the water spraying member 1012 is located on the outer wall of the cleaning member 1011, and the water spraying member 1012 is in signal connection with the control unit.
When the cleaning element 1011 cleans the target wall surface, the control unit can control the water spraying element 1012 to spray water, so that the cleaning element 1011 can effectively clean the target wall surface.
The cleaning element 1011 may be a high-frequency wiper, a wiper strip, a vacuum cleaner, etc. When the cleaning element 1011 is a high-frequency wiping element or a dust suction element, the cleaning element 1011 is in signal connection with the control unit.
It should be noted that the lower end of the cleaning member 1011 is a flexible end, and the flexible end not only can effectively clean the target wall surface, but also can not abrade the target wall surface.
The present embodiment gives the following example as to the structure of the moving assembly 103:
as shown in fig. 6, the moving assembly 103 includes: a power member 1031, a frame 1032, a plurality of omni wheels 1033; the power member 1031, the support 1032 and the plurality of omnidirectional wheels 1033 are all sleeved in the cavity; the power members 1031 are positioned on the support 1032, the power members 1031 are in transmission connection with the omnidirectional wheels 1033, and the power members 1031 are in signal connection with the control unit; a plurality of omni wheels 1033 are positioned on a side of the frame 1032 facing the target wall surface, and a flexible end projects from the plurality of omni wheels 1033 facing the target wall surface.
The control unit controls the power member 1031 to drive the plurality of omni wheels 1033 to adjust the rotating direction and the rotating speed so as to move the cleaning module 1 in different directions.
Wherein, the number of omniwheel 1033 can be three, and three omniwheel 1033 is triangle-shaped and arranges, so do benefit to this washing module 1 and can remove to different directions. The power member 1031 may be a servo motor.
In the embodiment of the present application, the suction assembly 102 may be provided in various forms, for example, the suction assembly 102 may include a suction fan, or the suction assembly 102 may include a suction cup connected to a suction opening of the suction fan.
So, can will wash module 1 through atmospheric pressure difference and adsorb at the target wall to avoid washing module 1 and break away from the target wall, do benefit to the effective washing of washing module 1 to the target wall.
The following two examples are given in the embodiment of the present application with respect to the connection manner among the cleaning assembly 101, the adsorption assembly 102, and the moving assembly 103:
as a first example, the cleaning assembly 101, the adsorption assembly 102, and the moving assembly 103 are of an integrated structure.
Therefore, the connection between the cleaning module 1 and the guide mechanism 2 is convenient, and the production and the manufacture of the wall surface cleaning device are facilitated.
As a second example, the cleaning assembly 101, the adsorption assembly 102, and the moving assembly 103 are detachably connected.
Thus, the cleaning assembly 101, the adsorption assembly 102 and the moving assembly 103 are convenient to disassemble and assemble.
For example, the suction component 102 is clamped in the cavity of the cleaning component 101, and the moving component 103 is connected to an end of the suction component 102 facing the target wall surface through a bolt component.
In the embodiment of the present application, the control unit may be integrated with the cleaning assembly 101, the adsorption assembly 102, or the moving assembly 103, or may be separately provided, which is not particularly limited.
FIG. 7 is a flow chart illustrating a wall cleaning method according to an exemplary embodiment, as shown in FIG. 7, the method including:
and step 71, acquiring a first signal of the force sensor 3, wherein the first signal is used for representing the stress magnitude and the stress direction of the guide mechanism 2.
When the guide mechanism 2 is held by hand, the force sensor 3 senses a first signal, and the control unit acquires the first signal of the force sensor 3.
The control unit may acquire the first signal of the force sensor 3 in real time, or may acquire the first signal of the force sensor 3 at intervals of a reference time. For example, the reference time may be 1 second, 1.5 seconds, 2 seconds, 2.5 seconds, 3 seconds, and the like.
And 72, sending a second signal to the cleaning module 1 based on the first signal, wherein the second signal is used for instructing the cleaning module 1 to adjust at least one of the moving parameter, the adsorption parameter and the cleaning parameter so as to control the cleaning operation of the cleaning module 1 on the target wall surface.
Optionally, step 72 includes, but is not limited to, the following sub-steps:
and step 721, determining the stress magnitude and direction of the guide mechanism 2 based on the first signal.
The first signal is used for expressing the stress size and the direction of the guide mechanism 2, the control unit analyzes the first signal, the stress size and the direction of the guide mechanism 2 can be determined, the hand behaviors can be analyzed, and the cleaning operation which accords with the hand behaviors is favorably controlled by the cleaning module 1.
The force applied direction of the guide mechanism 2 may be various, such as a force having a component in a direction parallel to the target wall surface, a direction toward or away from the target wall surface.
When the control unit determines the magnitude of the force applied to the guide mechanism 2 based on the first signal, the current force applied to the guide mechanism 2 may be compared with the previous force applied thereto.
Step 722, the second signal includes a first sub-signal and a second sub-signal, if the force applied to the guiding mechanism 2 in the direction parallel to the target wall surface increases, the first sub-signal and the second sub-signal are sent to the cleaning module 1, the first sub-signal is used for indicating the adsorption component 102 to reduce the adsorption force on the target wall surface, and the second sub-signal is used for indicating the moving component 103 to move in the direction of the force applied to the guiding mechanism 2.
When the hand pushes or pulls the guide mechanism 2 in a direction parallel to the target wall surface, the force sensor 3 senses a first signal. The control unit acquires the first signal and analyzes: if the force applied to the guiding mechanism 2 in the direction parallel to the target wall surface increases, a first sub-signal and a second sub-signal are transmitted to the cleaning module 1. The cleaning module 1 adjusts the adsorption parameter of the adsorption component 102 based on the first sub-signal, so that the cleaning module 1 reduces the adsorption force on the target wall surface, and the cleaning module 1 adjusts the moving parameter of the moving component 103 based on the second sub-signal, so that the cleaning module 1 moves along the stress direction of the guide mechanism 2.
It can be understood that when the suction force of the cleaning module 1 to the target wall surface is reduced, it can be more easily moved in the force receiving direction of the guide mechanism 2.
It should be noted that, the time sequence for the control unit to send the first sub-signal and the second sub-signal to the cleaning module 1 is not limited, and the cleaning module 1 can effectively control the cleaning module 1 to adjust the adsorption parameter and the movement parameter based on the first sub-signal and the second sub-signal, so as to satisfy the hand behavior.
In step 722, the cleaning module 1 can also adjust the cleaning parameters to change the cleaning force on the target wall.
Optionally, after the step 721, the control unit may further perform the step 723, where the second signal includes a third sub-signal and a fourth sub-signal, and if the force applied to the guiding mechanism 2 in the direction parallel to the target wall surface is reduced, the third sub-signal and the fourth sub-signal are sent to the cleaning module 1, where the third sub-signal is used to instruct the adsorbing component 102 to increase the adsorbing force on the target wall surface, and the fourth sub-signal is used to instruct the moving component 103 to reduce the moving rate or stop moving.
When the force of the hand pushing and pulling the guide mechanism 2 in the direction parallel to the target wall surface is reduced, the force sensor 3 senses a first signal, and the control unit analyzes the first signal: and if the force applied to the guiding mechanism 2 along the direction parallel to the target wall surface is reduced, sending a third sub-signal and a fourth sub-signal to the cleaning module 1. The cleaning module 1 makes the adsorption component 102 adjust the adsorption parameter based on the third sub-signal, so that the cleaning module 1 increases the adsorption force on the target wall surface, and the cleaning module 1 makes the moving component 103 adjust the moving parameter based on the fourth sub-signal, so that the cleaning module 1 reduces the moving speed or stops moving.
It can be understood that, when the adsorption force of the cleaning module 1 on the target wall surface is increased, the moving speed thereof is reduced or stopped, and the cleaning force of the cleaning module 1 on the target wall surface is increased.
Optionally, regarding step 722 and step 723, the second signal further includes a fifth sub-signal, and the second signal is sent to the cleaning module 1 based on the first signal, and further includes:
a fifth sub-signal is sent to the cleaning module 1 based on the first signal, the fifth sub-signal being used to instruct the cleaning assembly 101 to increase or decrease the cleaning force.
Optionally, after the step 721 is executed by the control unit, the step 724 may be further executed, where if the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface is increased, the sixth sub-signal and the seventh sub-signal are sent to the cleaning module 1, the sixth sub-signal is used for instructing the adsorbing component 102 to increase the adsorbing force on the target wall surface, and the seventh sub-signal is used for instructing the cleaning component 101 to increase the cleaning force on the target wall surface.
When the hand pushes the guiding mechanism 2 in the direction pointing to the target wall surface, the force applied to the guiding mechanism 2 in the direction pointing to the target wall surface is increased, and the force sensor 3 senses the first signal. The control unit analyzes the first signal: and if the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface is increased, sending a sixth sub-signal and a seventh sub-signal to the cleaning module 1. The cleaning module 1 adjusts the adsorption parameter of the adsorption component 102 based on the sixth sub-signal, so that the cleaning module 1 increases the adsorption force on the target wall surface. The cleaning module 1 adjusts the cleaning parameters of the cleaning assembly 101 based on the seventh sub-signal, so that the cleaning module 1 increases the cleaning force on the target wall surface.
Optionally, after the step 721 is executed, the control unit may further execute the step 725, where the second signal includes an eighth sub-signal and a ninth sub-signal, and if the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface decreases, the eighth sub-signal and the ninth sub-signal are sent to the cleaning module 1, where the eighth sub-signal is used to instruct the adsorbing assembly 102 to decrease the adsorbing force on the target wall surface, and the ninth sub-signal is used to instruct the cleaning assembly 101 to decrease the cleaning force on the target wall surface.
When the hand pulls the guide mechanism 2 in the direction pointing to the target wall surface, the force applied to the guide mechanism 2 in the direction pointing to the target wall surface is reduced, and the force sensor 3 senses the first signal. The control unit analyzes the first signal: and if the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface is reduced, sending an eighth sub-signal and a ninth sub-signal to the cleaning module 1. The cleaning module 1 makes the adsorption component 102 adjust the adsorption parameter based on the eighth sub-signal so that the cleaning module 1 reduces the adsorption force to the target wall surface, and the cleaning module 1 makes the cleaning component 101 adjust the cleaning parameter based on the ninth sub-signal so that the cleaning module 1 reduces the cleaning force to the target wall surface.
Optionally, before the control unit executes step 71, the wall surface cleaning method provided in the embodiment of the present application further includes:
and sending a third signal to the cleaning module 1, wherein the third signal is used for indicating the cleaning module 1 to adjust the adsorption parameter so as to enable the cleaning module 1 to be adsorbed on the target wall surface.
Before the control unit executes step 71, the control unit sends a third signal to the cleaning module 1, and the cleaning module 1 receives the third signal and makes the adsorption component 102 adjust the adsorption parameter based on the third signal so as to adsorb on the target wall surface, thereby preventing the cleaning module 1 from separating from the target wall surface.
Optionally, the control unit may further send a fourth signal to the cleaning module 1, where the fourth signal is used to instruct the cleaning module 1 to adjust the cleaning parameters.
The control unit may have a button to send a fourth signal to the cleaning module 1, and the cleaning module 1 receives the fourth signal and adjusts the cleaning parameters of the cleaning component 101 based on the fourth signal to effectively clean the target wall surface.
According to the wall surface cleaning method provided by the embodiment of the application, the force sensor 3 positioned on the guide mechanism 2 can sense the stress magnitude and direction of the guide mechanism 2 by artificially controlling the guide mechanism 2. The first signal of the force sensor 3 is acquired through the control unit, the second signal is sent to the cleaning module 1 based on the first signal, at least one of adsorption parameters, moving parameters and cleaning parameters is adjusted by the cleaning module 1, and then the cleaning module 1 can correspondingly perform cleaning operation based on the stress size and the direction of the guide mechanism 2, namely, at least one of adsorption, moving and cleaning assistance can be generated in the corresponding direction through the manual control of the guide mechanism 2, so that the effective cleaning of the target wall surface is facilitated, obstacles can be spanned, and the wall surface cleaning method has a good cleaning experience effect.
FIG. 8 illustrates a wall wash apparatus according to an exemplary embodiment, as shown in FIG. 8, including:
the first obtaining module 81 is configured to obtain a first signal of the force sensor 3, where the first signal is used to indicate a force magnitude and a force direction of the guiding mechanism 2.
The first sending module 82 is configured to send a second signal to the cleaning module 1 based on the first signal, where the second signal is used to instruct the cleaning module 1 to adjust at least one of the moving parameter, the adsorption parameter, and the cleaning parameter, so as to control the cleaning operation of the cleaning module 1 on the target wall surface.
Optionally, the second signal comprises: the first and second sub-signals, as shown in fig. 9, the first transmitting module 82 includes:
a first determination unit 91 for determining the force magnitude and direction of the guide mechanism 2 based on the first signal;
the first sending unit 92 is configured to send a first sub-signal and a second sub-signal to the cleaning module 1 if the force applied to the guiding mechanism 2 in the direction parallel to the target wall surface is increased, where the first sub-signal is used to indicate that the adsorption component 102 reduces the adsorption force on the target wall surface, and the second sub-signal is used to indicate that the moving component 103 moves in the direction of the force applied to the guiding mechanism 2.
Optionally, the second signal comprises: a third sub-signal and a fourth sub-signal, a first transmitting module 82, comprising:
a first determination unit 91 for determining the force magnitude and direction of the guide mechanism 2 based on the first signal;
and the second sending unit 93 is configured to send a third sub-signal and a fourth sub-signal to the cleaning module 1 if the force applied to the guiding mechanism 2 in the direction parallel to the target wall surface is reduced, where the third sub-signal is used to instruct the adsorption component 102 to increase the adsorption force on the target wall surface, and the fourth sub-signal is used to instruct the moving component 103 to reduce the moving rate or stop moving.
Optionally, the second signal further includes a fifth sub-signal, and the first sending module 82 is further configured to:
a fifth sub-signal is sent to the cleaning module 1 based on the first signal, the fifth sub-signal being used to instruct the cleaning assembly 101 to increase or decrease the cleaning force.
Optionally, the second signal comprises: sixth and seventh sub-signals, the first transmitting module 82, includes:
a first determination unit 91 for determining the force magnitude and direction of the guide mechanism 2 based on the first signal;
the third sending unit 94 is configured to send a sixth sub-signal and a seventh sub-signal to the cleaning module 1 if the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface increases, where the sixth sub-signal is used to instruct the adsorption component 102 to increase the adsorption force on the target wall surface, and the seventh sub-signal is used to instruct the cleaning component 101 to increase the cleaning force on the target wall surface.
Optionally, the second signal comprises: eighth and ninth sub-signals, a first transmitting module 82, comprising:
a first determination unit 91 for determining the force magnitude and direction of the guide mechanism 2 based on the first signal;
and a fourth sending unit 95, configured to send an eighth sub-signal and a ninth sub-signal to the cleaning module 1 if the force applied to the guiding mechanism 2 along the direction pointing to the target wall surface decreases, where the eighth sub-signal is used to indicate that the adsorption component 102 decreases the adsorption force on the target wall surface, and the ninth sub-signal is used to indicate that the cleaning component 101 decreases the cleaning force on the target wall surface.
Optionally, before the first obtaining module 81 obtains the first signal of the force sensor 3, the wall surface cleaning apparatus provided in the embodiment of the present application further includes:
and the second sending module is used for sending a third signal to the cleaning module 1, and the third signal is used for indicating the cleaning module 1 to adjust the adsorption parameter so that the cleaning module 1 is adsorbed on the target wall surface.
The wall surface cleaning device provided by the embodiment of the application can enable the force sensor 3 positioned on the guide mechanism 2 to sense the stress size and the direction of the guide mechanism 2 by artificially controlling the guide mechanism 2. Acquire force sensor 3's first signal through first acquisition module 81, send the second signal to washing module 1 based on this through first sending module 82, make and wash module 1 adjustment adsorption parameter, move at least one among the parameter, wash the parameter, and then make and wash module 1 and can carry out corresponding washing operation based on guiding mechanism 2's atress size and direction, can produce the absorption in corresponding direction through artificial control guiding mechanism 2 promptly, remove, wash at least helping hand, this not only does benefit to and effectively washs the target wall, still can stride across the barrier, make this wall belt cleaning device have good washing experience effect.
In an exemplary embodiment, an embedded device is also provided, the embedded device comprising a processor and a memory, the memory having at least one instruction stored therein. At least one instruction is configured to be executed by one or more processors to implement the above-described wall cleaning method.
In an exemplary embodiment, a computer device is also provided, the computer device comprising a processor and a memory, the memory having at least one instruction stored therein. At least one instruction is configured to be executed by one or more processors to implement the above-described wall cleaning method.
In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one instruction is stored, and the at least one instruction, when executed by a processor of a computer device, implements the wall cleaning method described above.
Alternatively, the computer-readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
All the above optional technical solutions may be combined arbitrarily to form the optional embodiments of the present disclosure, and are not described herein again.
The above description is only exemplary of the present application and should not be taken as limiting the scope of the present application, and any modifications, equivalents, improvements and the like that are within the spirit and principle of the present application should be included in the scope of the present application.
Claims (17)
1. A wall cleaning apparatus, comprising: a movable cleaning module (1) which can be adsorbed on the target wall surface;
the guiding mechanism (2) is connected with one end of the cleaning module (1) departing from the target wall surface;
a force sensor (3) located on the guide mechanism (2);
a control unit integrated on the cleaning module (1) and in signal connection with both the cleaning module (1) and the force sensor (3), the control unit being configured to: acquiring a first signal of the force sensor (3), wherein the first signal is used for representing the stress magnitude and direction of the guide mechanism (2); and sending a second signal to the cleaning module (1) based on the first signal, wherein the second signal is used for instructing the cleaning module (1) to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module (1) on the target wall surface.
2. The device according to claim 1, characterized in that the free end of the guide means (2) is sheathed with a grip (4);
the force sensor (3) is located between the grip (4) and the guide mechanism (2).
3. The device according to claim 1, characterized in that said guide means (2) comprise: a first stem (201) and a second stem (202);
the first rod piece (201), the force sensor (3), the second rod piece (202) and the cleaning module (1) are connected in sequence.
4. Device according to claim 1, characterized in that the guide means (2) are movably connected to the end of the washing module (1) facing away from the target wall.
5. Device according to claim 1, characterized in that the length of the guide means (2) is adjustable.
6. Device according to any one of claims 1 to 5, characterized in that said cleaning module (1) comprises: a cleaning component (101), an adsorption component (102) and a moving component (103);
the cleaning assembly (101) is provided with a communicated cavity, and one end, which is in contact with the target wall surface, of the cleaning assembly (101) is a flexible end;
the adsorption component (102) and the moving component (103) are both positioned in the cavity, and the flexible end face protrudes out of the moving component (103) towards the target wall face;
one end of at least one of the cleaning component (101), the adsorption component (102) and the moving component (103) which is far away from the target wall surface is connected with the guide mechanism (2);
the control unit is integrated on the cleaning component (101), the adsorption component (102) or the moving component (103), and the cleaning component (101), the adsorption component (102) and the moving component (103) are in signal connection with the control unit.
7. The device according to claim 6, characterized in that said washing assembly (101) comprises: a cleaning member (1011) and a water spray member (1012);
the cleaning piece (1011) is provided with the cavity, and one end of the cleaning piece (1011) contacting with the target wall surface is the flexible end;
the water spraying piece (1012) is positioned on the outer wall of the cleaning piece (1011), and the water spraying piece (1012) is in signal connection with the control unit.
8. The device according to claim 6, wherein the moving assembly (103) comprises: a power member (1031), a bracket (1032), a plurality of omni wheels (1033);
the power piece (1031), the bracket (1032) and the omnidirectional wheels (1033) are sleeved in the cavity;
the power member (1031) is located on the support frame (1032), the power member (1031) is in transmission connection with the omnidirectional wheels (1033), and the power member (1031) is in signal connection with the control unit;
the plurality of omni wheels (1033) are located on a side of the frame (1032) facing the target wall surface, and the flexible end projects from the plurality of omni wheels (1033) toward the target wall surface.
9. The device according to claim 6, characterized in that the washing assembly (101), the suction assembly (102) and the moving assembly (103) are of a one-piece construction.
10. A method of cleaning a wall surface, the method comprising:
acquiring a first signal of a force sensor (3), wherein the first signal is used for representing the stress magnitude and direction of a guide mechanism (2);
and sending a second signal to a cleaning module (1) based on the first signal, wherein the second signal is used for instructing the cleaning module (1) to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module (1) on the target wall surface.
11. The method of claim 10, wherein the second signal comprises: the first sub-signal and the second sub-signal, the second signal is sent to the cleaning module (1) based on the first signal, and the second signal is used for instructing the cleaning module (1) to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module (1) on the target wall surface, and the method comprises the following steps:
determining the stress magnitude and direction of the guide mechanism (2) based on the first signal;
if the force applied to the guide mechanism (2) along the direction parallel to the target wall surface is increased, the first sub-signal and the second sub-signal are sent to the cleaning module (1), the first sub-signal is used for indicating the adsorption component (102) to reduce the adsorption force on the target wall surface, and the second sub-signal is used for indicating the moving component (103) to move along the force-bearing direction of the guide mechanism (2).
12. The method of claim 10, wherein the second signal comprises: a third sub-signal and a fourth sub-signal, wherein the second signal is sent to the cleaning module (1) based on the first signal, and the second signal is used for instructing the cleaning module (1) to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module (1) on the target wall surface, and the method includes:
determining the stress magnitude and direction of the guide mechanism (2) based on the first signal;
if the force applied to the guide mechanism (2) along the direction parallel to the target wall surface is reduced, the third sub-signal and the fourth sub-signal are sent to the cleaning module (1), the third sub-signal is used for indicating the adsorption component (102) to increase the adsorption force on the target wall surface, and the fourth sub-signal is used for indicating the moving component (103) to reduce the moving speed or stop moving.
13. The method according to claim 11 or 12, wherein the second signal further comprises a fifth sub-signal, wherein the sending of the second signal to the cleaning module (1) based on the first signal further comprises:
-sending the fifth sub-signal to the cleaning module (1) based on the first signal, the fifth sub-signal being used for instructing the cleaning assembly (101) to increase or decrease the cleaning force.
14. The method of claim 10, wherein the second signal comprises: a sixth sub-signal and a seventh sub-signal, the second signal is sent to the cleaning module (1) based on the first signal, and the second signal is used for instructing the cleaning module (1) to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module (1) on the target wall surface, and the method includes:
determining the stress magnitude and direction of the guide mechanism (2) based on the first signal;
if the force applied to the guide mechanism (2) along the direction pointing to the target wall surface is increased, the sixth sub-signal and the seventh sub-signal are sent to the cleaning module (1), the sixth sub-signal is used for indicating an adsorption component (102) to increase the adsorption force on the target wall surface, and the seventh sub-signal is used for indicating a cleaning component (101) to increase the cleaning force on the target wall surface.
15. The method of claim 10, wherein the second signal comprises: an eighth sub-signal and a ninth sub-signal, the second signal is sent to the cleaning module (1) based on the first signal, and the second signal is used for instructing the cleaning module (1) to adjust at least one of a moving parameter, an adsorption parameter and a cleaning parameter so as to control the cleaning operation of the cleaning module (1) on the target wall surface, and the method includes:
determining the stress magnitude and direction of the guide mechanism (2) based on the first signal;
if the force applied to the guide mechanism (2) along the direction pointing to the target wall surface is reduced, the eighth sub-signal and the ninth sub-signal are sent to the cleaning module (1), the eighth sub-signal is used for indicating an adsorption component (102) to reduce the adsorption force on the target wall surface, and the ninth sub-signal is used for indicating a cleaning component (101) to reduce the cleaning force on the target wall surface.
16. The method according to claim 10, characterized in that before said acquiring a first signal of a force sensor (3), the method further comprises:
and sending a third signal to the cleaning module (1), wherein the third signal is used for indicating the cleaning module (1) to adjust adsorption parameters so that the cleaning module (1) is adsorbed on the target wall surface.
17. A wall washing apparatus comprising a processor and a memory, the memory having stored therein at least one instruction that is loaded and executed by the processor to implement the wall washing method of any of claims 10-16.
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| CN201910327341.2A CN111820825B (en) | 2019-04-23 | 2019-04-23 | Wall surface cleaning device and method |
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| CN201910327341.2A CN111820825B (en) | 2019-04-23 | 2019-04-23 | Wall surface cleaning device and method |
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| JP2001037682A (en) * | 1999-07-27 | 2001-02-13 | Matsushita Electric Works Ltd | Cleaning device |
| JP2006240361A (en) * | 2005-03-01 | 2006-09-14 | Toshiba Corp | Operation force assist system and vacuum cleaner |
| CN205433586U (en) * | 2015-12-31 | 2016-08-10 | 天津禹汀科技有限公司 | Robot for cleaning glass |
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