1561results about "Window cleaners" patented technology

The invention discloses a collision identification method and system for a window cleaning robot, and relates to the technical field of robot environment perception, and the method comprises the steps: carrying out the time difference compensation and space synchronization based on a glass material type and collision detection parameters through a distributed perception collaborative analysis method, and generating a three-dimensional space vibration information matrix; enhancing the three-dimensional space vibration information matrix through a dynamic wavelet packet decomposition algorithm and a sliding window analysis method according to the type of a glass material; according to the enhanced three-dimensional space vibration information matrix, collision coordinates are calculated through a time difference positioning algorithm, the characteristic frequency of the vibration waveform is analyzed, and collision characteristic information is obtained; based on the collision feature information, combining safety parameters of glass material types, adopting a hybrid decision algorithm to analyze the collision feature information, and generating and executing a robot obstacle avoidance instruction; according to the method, the high-resolution three-dimensional vibration field is constructed through space-time collaborative modeling, and the collision coordinate calculation precision and the anti-interference capability are improved.

The invention relates to the technical field of image recognition, and discloses a surface dirty image recognition method applied to a window-cleaning robot and a related device, and the method comprises the steps: carrying out the preprocessing of a multispectral image collected by the window-cleaning robot, and obtaining a preprocessed image, meanwhile, integrating a side wheel collision signal and a falling detection signal of the window cleaning robot to obtain a window boundary safety map; performing dynamic weighted mixed attention processing and convolution multi-scale stripe pooling processing under edge constraint to obtain an enhanced feature map; edge security perception smudginess segmentation is carried out on the enhanced feature map to obtain a smudginess segmentation result and an edge security region identifier, and a cleaning strategy mapping table for smudginess at different positions is established; according to the method, a dirt density thermodynamic diagram is generated, a path planning algorithm is executed, and a safe cleaning track is generated, so that stable spectral response can be obtained under various illumination conditions, and the stability and reliability of dirt recognition in different environments are ensured.

The invention relates to the technical field of cleaning equipment, and particularly discloses a steam cleaning machine. The cleaning machine comprises a cleaning machine body, a steam generation system, a cleaning agent conveying device, a waste water suction device, a hot air device and a control device are arranged in the cleaning machine body, the cleaning machine body is connected with a multifunctional integrated spray head through a multi-channel connector and a multi-channel connecting pipe, and the multifunctional integrated spray head is of a multi-layer hierarchical structure. The steam nozzle, the cleaning agent nozzle and the spherical suction head are sequentially arranged from inside to outside; during use, steam and a cleaning agent cooperatively soften and decompose dirt, the wastewater suction device sucks sewage through a spherical suction head of the spray head, the hot air device blows out hot air for drying, and all the systems are controlled by the control device. The cleaning device integrates the functions of steam cleaning, cleaning agent assisting, waste water sucking and hot air drying, achieves closed-loop cleaning, is convenient to operate and high in efficiency, and meets the cleaning requirements of floors, furniture, tabletops, household appliance gaps and the like in families, hotels and other scenes.

The invention provides an intelligent cleaning unmanned aerial vehicle system and method based on high-pressure water jet, and relates to the technical field of unmanned aerial vehicles. The optimized path acquisition module utilizes a sensor to optimize obstacle avoidance to obtain a new path; the real-time positioning acquisition module realizes positioning by means of PTK; the cleaning area determination module determines a cleaning range according to the positioning acquisition image; and the water flow cleaning execution module starts equipment and adjusts a nozzle to complete high-pressure water jet cleaning. The technical problems that a traditional high-altitude cleaning mode is high in safety risk, low in cleaning efficiency, inaccurate in environment perception and insufficient in dynamic adaptability are solved, and safe unmanned cleaning, path optimization precision and cleaning efficiency maximization of high-rise building glass curtain wall cleaning are achieved; and therefore, the technical effects of operation reliability and intelligent level in a complex environment can be obviously improved.

The invention discloses a system and method for cleaning a double-layer glass curtain wall in a complex space environment, the cleaning system comprises a rail mechanism, a movement mechanism, a transposition mechanism, a cleaning mechanism, a monitoring mechanism and a control structure, the movement mechanism is arranged on the rail mechanism and moves along the rail mechanism, the transposition mechanism is arranged on the movement mechanism and moves along the rail mechanism, and the monitoring mechanism is arranged on the movement mechanism. The cleaning mechanism and the monitoring mechanism are arranged on the transposition mechanism, the positions and directions of the cleaning mechanism and the monitoring mechanism are changed through the transposition mechanism, the cleaning mechanism is used for cleaning the double-layer glass curtain wall, and the monitoring mechanism is used for monitoring a complex building structure between the double-layer glass curtain wall. Through cooperation of the movement mechanism, the transposition mechanism and the cleaning mechanism, automatic cleaning operation of the double-layer glass curtain wall is achieved, and the problems that in the existing cleaning process, operation is tedious, and the cleaning efficiency is low are solved.

The utility model provides a window-cleaning robot, a base station, a composite pipeline and a window cleaning system.The window-cleaning robot comprises a main machine, a window-cleaning robot and a window-cleaning robot, and the main machine can be adsorbed to a to-be-cleaned surface and can move on the to-be-cleaned surface; the adsorption part is arranged on the main machine, and the main machine can be attached to a to-be-cleaned surface through the adsorption part; the cleaning assembly comprises a liquid spraying part and a liquid sucking part which are both arranged on the main machine, the liquid spraying part can spray liquid to the surface to be cleaned, and the liquid sucking part can suck the liquid on the surface to be cleaned through negative pressure; in one linear moving direction of the window cleaning robot, the liquid suction part is located between the liquid spraying part and the adsorption part. The window cleaning robot is good in cleaning effect and high in working efficiency.

The utility model provides a surface cleaning device and a cleaning system, relates to the technical field of cleaning, and is used for solving the technical problem that pollutants on a to-be-cleaned surface are easily adhered to a walking assembly. The surface cleaning device comprises a device body, an adsorption assembly arranged on the device body, the walking assembly and a liquid scraping piece; the adsorption assembly is used for adsorbing the surface cleaning device on a to-be-cleaned surface; the walking assembly is arranged on the device body, and the device body can walk on the surface to be cleaned through the walking assembly; the liquid scraping piece is at least arranged on the front side of the walking assembly in the walking direction of the device body and detachably connected with the device body, and part of the structure of the liquid scraping piece protrudes out of the bottom wall of the device body. When the device body walks along the to-be-cleaned surface, the liquid scraping piece abuts against the to-be-cleaned surface in a sealed mode and moves along the to-be-cleaned surface, so that pollutants on the to-be-cleaned surface are prevented from making contact with the walking assembly. The device is used for preventing the walking assembly from making contact with pollutants on the to-be-cleaned surface.

The embodiment of the invention provides a cleaning aircraft, a control method, electronic equipment and a storage medium. The cleaning aircraft comprises an aircraft body, a rotor wing device, a front end adsorption device, a cleaning adsorption device and a control processor. The rotor device is arranged at the upper end of the fuselage, the front-end adsorption device is arranged on one side of the fuselage, and the cleaning adsorption device is arranged at the bottom end of the fuselage; when the control processor responds to a cleaning request of a cleaning target, the control processor is used for controlling the rotor wing device to rotate at a rotating speed so as to fly to an adjacent area of the cleaning target, and after the front-end adsorption device is adsorbed on the cleaning target, the rotating speed of the rotor wing device is controlled to be decreased until stopping; the cleaning aircraft rotates by taking the front-end adsorption device as a fixed point until the cleaning adsorption device is tightly attached to and adsorbed to the cleaning target, the front-end adsorption device is controlled to be loosened, then the cleaning adsorption device is controlled to perform movable cleaning on the cleaning target, and the cleaning efficiency and safety of the high-altitude cleaning target are improved.

The utility model belongs to the technical field of window wipers, and particularly relates to an anti-pinch window wiper. An anti-pinch window cleaner comprises a first cleaner body and a second cleaner body, a safety column is arranged on the end face of one side of the first cleaner body, a handle which extends in the axial direction to be grabbed by a user is arranged on the end face of the other side of the first cleaner body, a button is arranged at the axis position of the handle, the button is connected with a movable rod which extends into the first cleaner body and can move in the axial direction, and the movable rod is connected with the safety column. Linkage rods are arranged on the two sides of the end of the movable rod in a matched mode, each linkage rod is provided with a first elastic piece in a matched mode, and the linkage rods move close to the movable rod under the action of the first elastic pieces so that the ends of the linkage rods can make contact with the safety columns to limit the safety columns to stretch out or retract back; and when the button is pressed, the end part of the movable rod extrudes the linkage rod and moves to deviate from the end part of the movable rod, so that the end part of the linkage rod is not in contact with the safety column, and the safety column can stretch out and draw back freely. The utility model has the advantage that a user can conveniently press the button to control the extension and retraction of the safety column.

The invention relates to the technical field of curtain wall cleaning, in particular to a curtain wall cleaning unmanned aerial vehicle with a water storage tank and a flushing mechanism, the curtain wall cleaning unmanned aerial vehicle comprises a water inlet assembly arranged at the bottom of the water storage tank, and a flushing part is arranged on one side of the water inlet assembly; the supporting mechanism comprises a driving assembly arranged on one side of the water storage tank, a supporting part is arranged on one side of the driving assembly, and the supporting assembly can stably support the water storage tank and the unmanned aerial vehicle in an initial state and can be tightly adsorbed to the glass wall surface through an adsorption plate after rotating, so that firm fixation is provided for high-altitude operation; when the wiping plate makes contact with the glass wall surface, the contact amount drives an extrusion rod and a moving block to generate linkage, a pressing plate downwards extrudes a telescopic pipe, the water pressure is dynamically increased by reducing the cross section of a water source, and the cleaning requirements of different stains are precisely met; and through rotatable arrangement of the supporting assembly, dirt cleaning can be carried out on the inclined glass.

The invention relates to the technical field of cleaning robots, in particular to a curtain wall cleaning robot cleaning dead angle module which comprises a rolling brush frame, a brushing assembly and a buffering scraping assembly, a circulating water mounting box is arranged on one side of the rolling brush frame, and a cleaning long arm is arranged on one side of the circulating water mounting box through a swing control assembly. According to the device, the cleaning flexibility and adaptability are improved under the cooperation effect of the washing assembly, a buffering mechanism brought by the swing control assembly and the buffering scraping assembly with a buffering structure, the device can be attached to the surfaces of different types of sanitary dead corners such as corners, gaps and edges of a curtain wall, cleaning blind areas are eliminated, and the cleaning effect is improved. In addition, in the cleaning process, water is sprayed through the water spraying holes, water is sucked through negative pressure of the water suction holes, water resources can be fully utilized, energy is saved, the environment is protected, and meanwhile the cleaning efficiency and quality are improved.

An automatic cleaning device, includes: a mobile platform, configured to automatically move on an operating surface, wherein the mobile platform comprises a bottom housing; and a cleaning module, assembled on the bottom housing, and including: a roller brush bracket, configured to support a roller brush; a motor, arranged on a side of the roller brush bracket; and an elastic member, arranged on a side of the roller brush bracket proximal to the motor and configured to be capable of being suspended from the bottom housing through at least one end.

A hand vacuum cleaner has a cyclone having a cyclone axis of rotation that extends between the front and rear ends of the cyclone. A main body houses a suction motor. The suction motor is positioned at a lower end of the main body and forward of a battery pack provided at a lower end of a pistol grip handle.

The invention discloses a multi-air-cavity window cleaning machine and a bidirectional driving window cleaning machine. A control panel, a plurality of fans, a first cleaning piece and a second cleaning piece are arranged between a window cleaning machine base and a window cleaning machine face shell, wherein the control panel is used for controlling the multi-air-cavity window cleaning machine to act, the fans are controlled by the control panel, the first cleaning piece is arranged on one side of the window cleaning machine base and controlled by the control panel, and the second cleaning piece is arranged on the other side of the first cleaning piece and used for cleaning in a matched mode. The second cleaning piece comprises a plurality of mops and floating plates movably arranged between the window cleaning machine base and the mops. The multiple fans can enhance the adsorption capacity between the equipment and glass through distributed wind power design, the adsorption and cleaning capacity of the second cleaning piece is improved through cooperation of the floating plate and the mop during adsorption of the fans, meanwhile, the first cleaning piece controlled by the control panel is used for cleaning in a matched mode, the first cleaning piece and the second cleaning piece are arranged in a gradient mode, and the cleaning efficiency is improved. The adaptability of the window cleaning machine can be improved while the adsorption capacity and the cleaning efficiency of the window cleaning machine are guaranteed.

The invention provides a cleaning head path planning method for a glass curtain wall cleaning robot, and belongs to the technical field of glass curtain wall cleaning robots. Curtain wall images are collected through a multispectral visual sensor, and stain distribution is identified and energy consumption is predicted by using a probability graph structured prediction model; cleaning sub-regions are divided according to the stain coordinates, a grid map is established, a double-layer game optimization model with minimization of chassis movement energy consumption as an upper layer target and minimization of cleaning head operation time as a lower layer target is constructed, and two layers of paths are alternately optimized by adopting a Nash equilibrium algorithm until convergence; and through a resource constraint penalty term iteration adjustment path scheme, it is ensured that resource consumption does not exceed carrying capacity, and finally a robot chassis moving path and a cleaning head operation path are output, so that the technical problem that global optimization is difficult due to mutual coupling of the robot chassis moving path and the cleaning head operation path is solved.

Embodiments of the present disclosure provide a cleaning method, a window wiping robot, and a storage medium. According to the embodiments of the present disclosure, when a window wiping task needs to be performed, the window wiping robot firstly spins to detect a boundary of a glass window to be cleaned. If the boundary of the glass window to be cleaned is detected during spinning, the window wiping robot performs the window wiping task directly along the boundary. The cleaning mode may save the boundary detection time and help to improve the cleaning efficiency when starting to perform the window wiping task without detecting the boundary up, down, left, and right.

The utility model provides a cleaning device and a cleaning machine, the cleaning device comprises a shell, a water squeezing structure and a cleaning roller, the water squeezing structure and the cleaning roller are arranged in the shell, a water tank is defined by the water squeezing structure, the shell and the cleaning roller, the water squeezing structure or the shell is provided with a purified water port and a sewage port which are communicated with the water tank, and purified water in a purified water tank can be conveyed to the cleaning roller through the purified water port; when the cleaning roller abuts against the to-be-cleaned face to rotate, clean water can be changed into sewage, the cleaning roller and the water squeezing structure are matched to squeeze out the sewage in the cleaning roller, the sewage is arranged in the water tank, meanwhile, the clean water can flush the cleaning roller and the sewage, and the sewage is discharged into the sewage tank through the sewage opening. The to-be-cleaned surface is cleaned according to the real-time self-cleaning principle of the cleaning roller, the to-be-cleaned surface does not need to be wetted by spraying water in the cleaning process, the cleaning roller does not need to be manually washed after cleaning is completed, the cleaning roller is cleaned through clean water while the to-be-cleaned surface is cleaned through the cleaning roller, and sewage is recycled into the sewage tank and does not drop to the ground.

The invention discloses a window cleaning robot cleaning liquid supply and recovery control system and method based on intelligent perception, and belongs to the technical field of intelligent cleaning equipment. The problems that in the prior art, the supply and recovery process of cleaning liquid is extensive, self-adaption to the stain degree cannot be achieved, energy consumption is high, and potential safety hazards exist are solved. According to the technical principle, the visual detection module recognizes the grade of stains on the surface of glass, the recovery sensing module monitors the state of waste liquid and feeds back mop state signals through the negative pressure adjusting module, and the central controller adjusts the spraying amount of cleaning liquid according to the grade of the stains, judges the sewage load according to the state of the waste liquid and controls the recovery pump to operate in a continuous, intermittent or closed mode. And adjusting the rotating speed of the fan according to the mop state signal to maintain the optimal adsorption force. Intelligent cooperation of cleaning liquid supply and recovery and negative pressure adjustment is achieved, precise cleaning, energy conservation and consumption reduction are achieved, safety and reliability are improved, and control parameters are continuously optimized through the self-learning function.

The invention provides a shimmy reduction reset mechanism and a cleaning robot, the shimmy reduction reset mechanism is used for being arranged between a movable arm and a transverse moving base, the transverse moving base is arranged on a robot body in a sliding mode, the shimmy reduction reset mechanism comprises a rotating base and an elastic assembly, the rotating base is rotationally assembled on the transverse moving base, and the movable arm is assembled on the rotating base; the rotating base, the bearing seat and the elastic assembly are arranged between the machine body and the movable arm, the elastic assembly is arranged between the rotating base and the transverse moving base, and the elastic assembly elastically deforms along with rotation of the transverse moving base relative to the rotating base. Therefore, the adsorption stability of the adsorption part is improved, and the operation stability is guaranteed.

The invention relates to the technical field of door and window cleaning, and particularly discloses an aluminum alloy door and window cleaning device which comprises a frame body. The cleaning assembly comprises a mounting frame arranged on the frame body, a plurality of mounting rollers rotationally matched on the mounting frame, a crawler belt wound on the plurality of mounting rollers and a cleaning sponge used for cleaning doors and windows, the cleaning sponge is arranged on the peripheral surface of the crawler belt, and an adjusting box rotationally matched with the frame body is arranged on the frame body. The adjusting box is provided with a clamping assembly used for clamping the door and window, the frame body is provided with a driving part used for driving the clamping assembly to rotate, when the driving part drives the clamping assembly to rotate, the clamping assembly drives the door and window to rotate in the vertical direction, meanwhile, the mounting roller drives the crawler belt to rotate, and the crawler belt drives the cleaning sponge to rotate. The doors and windows are cleaned; according to the aluminum alloy door and window cleaning device, the door and window cleaning effect can be improved.

The invention discloses an obstacle-crossing curtain wall cleaning robot which comprises a robot body, and a first adsorption mechanism is arranged on the side, close to a curtain wall, of the robot body; the two ends of the telescopic stroke device are connected with a cleaning piece and a second adsorption mechanism correspondingly. The obstacle crossing stroke device is arranged on the robot body and drives the robot body and the telescopic stroke device to move in the direction parallel to the curtain wall; the switching mechanism is used for connecting the telescopic stroke device and the obstacle crossing stroke device, so that the end part of the telescopic stroke device, the corresponding cleaning piece and the second adsorption mechanism are switched between two states of being close to / away from the curtain wall; when the cleaning piece is close to the curtain wall, the obstacle crossing stroke device drives the telescopic stroke device to move back and forth in the direction parallel to the curtain wall, and the cleaning piece is driven to move back and forth to scrub the curtain wall. The cleaning part is arranged on the outer side of the robot body, the cleaning part and the second adsorption mechanism can be switched, and the obstacle crossing robot has the advantages of being more comprehensive in cleaning, higher in adsorption capacity and the like while having the obstacle crossing function.

The invention provides a cleaning device and a motion control method thereof. The cleaning device comprises a shell, a first cleaning unit, a first driving unit, a second cleaning unit, a walking unit and a second driving unit. At least part of the first cleaning unit is arranged outside the shell, the first cleaning unit comprises a cleaning disc, and the cleaning disc is provided with a central axis. At least part of the first driving unit is located in the shell, and the first driving unit is connected with the first cleaning unit and is configured to drive the first cleaning unit to rotate around the central axis. The second cleaning unit and the first cleaning unit are arranged on the same side of the shell side by side, the second cleaning unit is connected with the shell, and at least part of the second cleaning unit is arranged outside the shell. The walking unit is connected with the shell, and the second driving unit is connected with the walking unit and is configured to drive the walking unit. The cleaning device can realize a linear motion mode and a curvilinear motion mode.

The invention relates to the technical field of building doors and windows, in particular to a window and screen integrated system window which comprises a hollow window frame body, a receding hole is defined by the window frame body, and a through hole is formed in the window frame body; the hollow screen window frame is connected to the window frame body, a gauze element is connected to the screen window frame, and a plurality of air outlet holes facing the gauze element are formed in the screen window frame; the opening sash is rotationally connected with the window frame body, and the air outlet hole is located between the opening sash and the gauze element; the air supply unit is used for supplying air to the inner cavity of the screen window frame, is located in the inner cavity of the window frame body and extracts air through the through hole; the screen window has the effect that dust attached to the screen window can be prevented from entering a room while dust on the screen window is treated.

The invention provides a path optimization method for cleaning an unmanned aerial vehicle swarm and application. The method comprises the steps that position initialization is conducted on multiple unmanned aerial vehicles in a task area, a fitness function is set, and a variable Trials is recorded; the stages of employed bees, observation bees and reconnaissance bees are executed in sequence through an artificial bee colony algorithm, and path searching, probability selection, boundary processing and position updating are carried out; a reverse learning strategy, disturbance control frequency and a global factor are introduced into track initialization to improve search performance, and meanwhile, a nectar source regeneration mechanism in a scout bee stage is set. Through dynamic task allocation optimization, global collaborative path planning and a distributed elastic control architecture, the cleaning resource utilization rate, the operation efficiency and the energy consumption balance are improved, the fault-tolerant capability of the system is enhanced, and the cleaning requirement of the complex building facade is met.

The invention relates to the technical field of household appliances, and discloses a dust-gas separation device and cleaning equipment, the dust-gas separation device comprises: a dust cup having a cyclone separation cavity; the filtering assembly is arranged in the cyclone separation cavity and is used for filtering the airflow; the cleaning assembly is rotatably arranged between the filtering assembly and the cyclone separation cavity and used for cleaning dust on the filtering assembly and / or the cyclone separation cavity when driven to rotate, and the cleaning assembly is detachably assembled in the dust cup. 360-degree all-dimensional dead-corner-free cleaning can be carried out on the filtering assembly and / or the cyclone separation cavity through rotation of the cleaning assembly, the cleaning effect is better, the efficiency is higher, the cleaning assembly does not need to be arranged around the whole circumference, the occupied space is smaller, and installation and arrangement are convenient. And the cleaning assembly is detachably assembled in the dust cup, so that the cleaning assembly can be conveniently replaced when being abraded, and the problem that the cleaning structure of the dust-gas separation device in the prior art is very inconvenient to maintain and replace is effectively solved.

The invention provides a high-altitude glass curtain wall self-cleaning and detecting integrated robot, and relates to the technical field of robots, the high-altitude glass curtain wall self-cleaning and detecting integrated robot comprises a shell, the shell is of a cylindrical cavity structure, and a walking mechanism is arranged in the shell; six multi-axis mechanical arms are arranged on the walking mechanism and distributed in an annular array mode, a bionic octopus suction cup array is innovatively adopted for the six sets of vacuum suction base plates, stable suction of a complex curved glass curtain wall can be achieved, the risk that the robot falls off is greatly reduced, and the robot can be used for cleaning the glass curtain wall. A stable working platform is provided for a robot and cleaning equipment carried by the robot, equipment damage caused by shaking or instability is reduced, meanwhile, damage to ground personnel and objects due to equipment falling is avoided, and the problem that the glass curtain wall is damaged due to the irregular shape of the complex curved surface of the glass curtain wall is solved. And the robot is easily influenced by external force such as gravity and wind power in the walking process, so that the problems of unstable adsorption, shaking and even falling risks are caused.

The utility model discloses an intelligent high-altitude glass cleaning robot. The advancing mechanism is provided with the negative pressure cavity, air in the negative pressure cavity is exhausted through rotation of the fan, air pressure in the cavity is lower than that of the outside, pressure difference is generated, adsorption is achieved, and therefore the advancing mechanism advances on various smooth surfaces and is suitable for different working environments. Meanwhile, the cotton cloth cleaning mechanism achieves horizontal movement through a gear and rack transmission mechanism, rotation is achieved through a rotating shaft, a power transmission rod and a rotating shaft sleeve, cotton cloth can completely cover the surface of the glass, and efficient cleaning of the glass is achieved; and the rolling brush cleaning mechanism realizes high-speed water spraying and automatic recovery of sewage into the water circulation mechanism, so that efficient cleaning is realized, water resource waste is avoided, and environmental pollution is reduced. A plurality of cleaning robots which are connected in series and parallel through long cleaning mechanism shafts can be used for synchronous cleaning, and the cleaning efficiency is improved.

An adjustable hand-held squeegee device with reverse angle head adjustment. An elongated handle can include either a single elongated member or any plurality of members configured in telescoping fashion. A head includes a rotatable base portion supported at a forward end of the handle. A spring biased locking mechanism is integrated into the handle in proximity to the rotatable base and includes a forward projection engaging a first recess of the rotatable base in a first position. Upon retracting the mechanism via a projecting trigger portion, the rotatable base is rotated to align a second circumferentially offset recess so that, and upon releasing the trigger, the squeegee head is oriented in a reverse angular fashion relative to the handle.

The invention relates to the technical field of collision recognition, and discloses a collision recognition method and device for a window cleaning robot. The method comprises the following steps: acquiring displacement data of a radial displacement sensor mounted at a side wheel of the window cleaning robot and state data of a photoelectric drop detector mounted at the bottom of the robot to obtain original data of a bimodal sensor; generating a collision judgment result based on the original data of the bimodal sensor; obstacle avoidance path parameters suitable for the current collision condition are calculated, and a path point sequence is generated; the path point sequence is transmitted into a motion control system of the window cleaning robot in real time, the running speed and direction of the robot are adjusted in a self-adaptive mode according to path tracking errors and the window face adsorption state, and intelligent obstacle avoiding and continuous cleaning operation execution are achieved. According to the invention, the limitation of a traditional single sensing mode is overcome, high sensitivity and accuracy of collision detection are maintained under various window materials and environmental conditions, and the cleaning coverage rate and the operation continuity are improved.

The obstacle crossing robot comprises a robot body, a body adsorption assembly and an obstacle crossing adsorption assembly, and the body adsorption assembly is telescopically connected to the side, close to a curtain wall, of the robot body through a first telescopic stroke device; the obstacle crossing adsorption assembly is movably connected with the robot body through an obstacle crossing stroke device, and the obstacle crossing adsorption assembly is telescopically connected with the obstacle crossing stroke device through a second telescopic stroke device. The robot can cross obstacles on the curtain wall by alternately stretching out, drawing back and adsorbing the curtain wall and intermittently and linearly moving at the same time, so that the robot has a larger operation range and has good stability in the obstacle crossing process.