2084results about "Window cleaners" patented technology

An automatic cleaning device includes: a mobile platform configured to automatically move on an operation surface and including a cover plate; and a button assembly assembled on the cover plate, the button assembly including a button cap and a bracket, and the button cap being assembled on the bracket, wherein the bracket and the cover plate are integrally formed.

Provided are: an aircraft that can fly stably even when water is discharged from a hose installed on the airframe thereof; and an aircraft system that uses the aircraft. This aircraft system comprises: a master aircraft 10; three slave aircrafts 20; and a remote control device 30 that is for making the aircraft fly as a unit. Each slave aircraft 20 has: four rotary blade portions that have propellers 221; and a suspending means 23 that is for suspending a prescribed part of a hose 50 that is for discharging water. The master aircraft has: four first rotary blade portions that have first propellers 121 that have been arranged to rotate in a horizontal plane; four second rotary blade portions that have second propellers 131 that have been arranged to rotate in a vertical plane; and a nozzle 15 on which a tip end part of the hose 50 is installed. The direction of the center axis of the nozzle 15 is parallel to the direction of the rotational axes of the second propellers 131.

The invention relates to the technical field of high polymer materials and preparation thereof, and discloses a wet anti-slip bionic friction pad on a glass surface, which is inspired by a micro-nano structure of toe pads of organisms such as tree frogs and long-horned grasshoppers with wet friction increasing characteristics, and a bulge array is added on the surface of a high-friction material, so that the friction coefficient of the friction pad is increased; the microstructure arrays can discharge a water film on the surface of the friction pad under the capillary action in a wet environment, and the effective contact area between solids is increased, so that the friction pad and a friction surface are always kept in a dry friction state, and stable friction force is ensured. The friction pad comprises a connecting layer, a supporting layer and a tail end protruding straight column array, a tail end contact layer is in a hexagonal straight column shape, the diameter of an inscribed circle of a hexagonal micro-column structure ranges from 5 micrometers to 5000 micrometers, column bodies are densely arranged in a hexagonal mode, the height of the column bodies ranges from 10 micrometers to 1500 micrometers, the tail ends of the column bodies are planes, the interval between every two column bodies ranges from 2 micrometers to 600 micrometers, and tight drainage grooves are formed.

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.

An automatic cleaning apparatus, including a first rolling brush including a first brush member, and a second rolling brush arranged substantially in parallel to the first rolling brush and including a second brush member. As the first rolling brush and the second rolling brush rotate, the first brush member and the second brush member rotate to a position where the first brush member and the second brush member approach each other, and a point where the first brush member and the second brush member approach each other moves dynamically in a predetermined direction.

A body for a squeegee or wiper, a squeegee and a wiper as well as a method for squeegeeing or wiping a surface. A swivel joint is arranged between the handle and the head section of corresponding devices. This is combined with a telescopic handle, whereby the swivel joint and the telescopic handle complement each other synergistically.

A multi-positional cleaning device includes a handle body having a first longitudinal axis, a head configured to receive a blade, and a pivoting assembly to rotate the blade. A plane extending through a center of the head, parallel to the blade. The head is rotatable about a pivot axis relative to the head. An orientation of the plane of the head remains constant relative to the longitudinal axis as the blade moves along the path of movement.

A modular caddy for carrying window cleaning accessories includes a main bag and at least one modular unit attachable to the main bag. The main bag has a back panel and a cover sheet, with securing means arranged on the back panel for releasably securing the main bag to a garment. Strips of webbing are arranged on the outer surface and fixed at regular intervals to form a series of gaps. Attachment means are dimensioned to correspond to said gaps and configured for releasably attaching modular units to the strips of webbing.The modular units also have strips of webbing for attaching to the main bag and for mounting further modular units thereon.

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 discloses a cleaning device, a cleaning robot, a cleaning system, a control method of the cleaning robot and a storage medium. The cleaning device comprises a rolling brush shell, a driving assembly, a rolling brush assembly, a shielding assembly and a lifting assembly. The rolling brush shell is arranged on a machine body of the cleaning robot and provided with a suction inlet, and the suction inlet is used for allowing garbage on a to-be-cleaned face to enter the rolling brush shell. The driving assembly is arranged on the rolling brush shell or the machine body. The rolling brush assembly is at least partially arranged in the rolling brush shell, and the rolling brush assembly is connected with the driving assembly. The shielding assembly is connected with the driving assembly. The lifting assembly is connected with the driving assembly and the rolling brush shell. The driving assembly is used for driving the rolling brush assembly to rotate so as to clean the to-be-cleaned face, driving the shielding assembly to move so as to change the opening size of the suction inlet and driving the lifting assembly to move so as to drive the rolling brush shell to move, and therefore the rolling brush assembly is driven to ascend and descend relative to the machine body. According to the cleaning robot, the cleaning device can execute multiple functions, the applicability of the cleaning robot is higher, and the cleaning effect is better.

The invention discloses a mooring type high-pressure six-axis curtain wall cleaning unmanned aerial vehicle, and belongs to the technical field of curtain wall cleaning equipment. The water storage bin is vertically mounted below the center of the six-axis unmanned aerial vehicle, and a transfer pipe is mounted below the water storage bin; the high-definition camera is mounted above the fuselage of the six-axis unmanned aerial vehicle; the flushing device is fixed below the fuselage of the six-axis unmanned aerial vehicle, and the flushing device is communicated with the water storage bin; the atomizing and foam throwing unit is installed below the six-axis unmanned aerial vehicle and located on one side of the water storage bin, and an integrated water bin is fixed to one side of the flushing device; a six-axis unmanned aerial vehicle is adopted as the main rack layout, the atomization foam throwing angle can be automatically adjusted through the mainly-arranged atomization foam throwing unit, a foam water agent is evenly sprayed in a large area or centrifugally thrown out in a high-strength mode through a foam throwing disc, and stains on the surface of a curtain wall are flushed; the flushing device can linearly spray out high-pressure water through an alloy direct spray rod, and the efficient cleaning effect on the curtain wall is achieved.

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 belongs to the technical field of curtain walls, and particularly relates to a solar building integrated heating, heat preservation and ventilation curtain wall which comprises a frame, a positioning frame is fixedly mounted on the frame, a supporting block is fixedly mounted in the frame, a photovoltaic module is fixedly mounted on the supporting block, a supporting frame is arranged in the frame, and curtain wall glass is fixedly mounted in the supporting frame. A positioning assembly is arranged on the frame, a wind power assembly is arranged in the supporting block, and a storage groove is formed in the supporting block. According to the solar building integrated heating, heat preservation and ventilation curtain wall, curtain wall glass can be conveniently and rapidly disassembled and assembled through the arranged concave groove and the arranged threaded barrel, the output end of the driving motor rotates to drive the threaded rod to rotate, the threaded rod rotates to enable the threaded barrel to move, the supporting frame can be conveniently and rapidly disassembled, and after the replaced curtain wall glass is placed at an installation site, the replaced curtain wall glass can be conveniently and rapidly disassembled. And the adjusting assembly moves in the reverse direction, the position of the strip-shaped block can be adjusted, the supporting frame can be limited, and the purpose of rapidly disassembling and assembling the curtain wall glass is achieved.

A handheld extraction cleaner includes a unitary body including a suction source and defining a front side and a receiving cavity extending inwardly from the front side. A recovery unit defines a recovery flow path extending between a suction inlet defined on a first end of the recovery unit and an outlet port positionable in communication with the suction source. The recovery unit includes a tank defining a collection chamber having an open top side and a front face on an exterior of the collection chamber and a lid positionable over the open top side of the tank to enclose the collection chamber and having a front portion extending along the front face of the tank.

The invention provides an aerial cleaning robot system and a control method, and aims to solve the problems of high danger, low coverage rate of a wall-climbing robot, poor mobility and inaccurate system positioning in a cleaning process when a glass curtain wall of a high-rise building is cleaned manually in the prior art. The system is composed of a six-rotor unmanned aerial vehicle and a cleaning device. The unmanned aerial vehicle main body comprises a special rack, a power system and a control system, the power system is composed of a servo motor, a rotor wing, a motor and a battery, and the control system is integrated with a flight control and GPS module. The cleaning device comprises a sensing module, a three-connecting-rod mechanical arm and a cleaning system. Through the integrated design, the flying capability of the unmanned aerial vehicle is combined with the cleaning function, and the safety and efficiency of high-altitude cleaning are improved. The special arm design enables the unmanned aerial vehicle to realize front and back power output without adjusting the attitude, and the positioning and control process is simplified. The mechanical arm adopts an inner and outer ring control method, high-precision position control and excellent anti-interference performance are achieved, and it is ensured that cleaning work is stable and reliable.

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 invention relates to a cleaning robot which comprises a robot body and a cleaning assembly, and the cleaning assembly comprises a driving unit, a cleaning part and a lifting unit; the lifting unit comprises a first transmission part and a second transmission part. The first transmission part is fixedly connected with an output shaft of the driving unit so as to be controlled by the output shaft to rotate. The second transmission part is constructed to be fixedly connected with the cleaning part and rotationally connected with the driving unit through the limiting shaft sleeve, and the second transmission part is constructed to be in guide fit in the limiting shaft sleeve in the axial direction; wherein one of the first transmission piece and the second transmission piece is provided with a matching part, the other one of the first transmission piece and the second transmission piece is provided with an extension track, and the extension track comprises an inclined section which obliquely extends in the height direction along the side wall of the first transmission piece or the second transmission piece; the first transmission part is constructed to enable the matching part to move along the extending track in the rotating process so as to drive the second transmission part to move between the cleaning position and the avoiding position in the height direction.

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 invention discloses a marine louver cleaning device with a circulating water utilization function, and relates to the technical field of cleaning devices. Comprising a filtering system, a control system and a rack, a driving motor is installed on the upper side of the rack, a waste water tank is arranged on the lower side of the rack, a plurality of conveying wheels are installed above the waste water tank, the conveying wheels make contact with shutters, a cam is installed below the driving motor, a spraying barrel is installed on the outer side of the cam, and a scrubbing cover is installed on one side of the spraying barrel. A scrubbing plate is installed in the scrubbing cover, a drying cover is installed on one side of the scrubbing cover, an air suction cover is installed on one side of the drying cover, the waste water tank is connected with the filtering system through a pipeline, the conveying wheel conveys shutters, the drying cover and the air suction cover are matched to dry the shutters, and the filtering system filters waste water in the waste water tank. And the spraying cylinder and the scrubbing cover are used for washing and scrubbing the blind window respectively, so that the cleaning effect of the blind window is improved.

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 is suitable for the technical field of hollow glass, and provides anti-fogging sound insulation hollow glass which comprises a sound insulation hollow glass body, and a frame body is fixedly installed on the sound insulation hollow glass body. The first vertical plate is fixedly installed on the frame body, a sliding groove is formed in the first vertical plate, and a sliding rod is fixedly installed on the inner wall of the sliding groove; the sliding block is installed on the sliding rod in a sliding mode, and a frame plate is fixedly installed on one side of the sliding block; the sponge strip is mounted on the frame plate in a sliding manner and is used for wiping water mist; the cover plate is hinged to the frame plate, a plurality of first springs are fixedly installed on the cover plate, and the same pressing plate used for extruding a sponge strip is fixedly installed at one ends of the first springs. According to the anti-fogging sound-insulation hollow glass provided by the scheme, the problems that existing anti-fogging sound-insulation tempered hollow glass consumes more electricity cost in demisting work, and mist on the surface of the hollow glass cannot be removed by a damaged heating lamp are solved.

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 a cleaning robot and a cleaning assembly, the cleaning robot comprises a machine body, the cleaning assembly and a reset elastic piece, and the cleaning assembly is integrally and rotatably connected to the machine body and comprises a cleaning mechanism and a movement mechanism; the cleaning mechanism comprises a cleaning part, the moving mechanism is configured to drive the cleaning assembly to move between a first position and a second position, when the moving mechanism is located at the first position, the edge of the cleaning part is located within the range of the edge of the machine body, and when the moving mechanism is located at the second position, at least part of the edge of the cleaning part exceeds the edge of the walking range of the machine body; the reset elastic piece is arranged between the machine body and the cleaning assembly. The cleaning assembly is configured to move relative to the machine body under the action of external force and reset under the action of the reset elastic piece after the external force is removed. When the cleaning piece collides with an obstacle, the cleaning assembly can integrally rotate relative to the machine body under the action of external force, so that the obstacle is avoided, and the impact force is buffered through the reset elastic piece.

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.

The invention relates to a control method for obstacle crossing of cleaning equipment and related equipment. The method comprises the steps that in the process that curtain wall cleaning equipment ascends along a curtain wall, first distance information of a first guide wheel and a front curtain wall area in the ascending direction is obtained in real time through a first distance sensing module; according to the first distance information, whether the front curtain wall area has an obstacle face or not is judged, and the obstacle face is a windowsill protruding out of the curtain wall; when the obstacle surface exists, a first control strategy is obtained according to the first distance information, and the first control strategy is used for controlling the first thrust device to drive the first guide wheel to be away from the curtain wall; when the first guide wheel crosses the barrier surface, a second control strategy is obtained according to the first distance information, and the second control strategy is used for controlling the first thrust device to drive the first guide wheel to make contact with the curtain wall. The distance information is acquired in real time, and the position of the guide wheel is adjusted according to the existence of the obstacle surface, so that the cleaning equipment effectively adapts to the obstacle on the complex wall surface.

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.

The utility model relates to the technical field of cleaning robots, in particular to wall surface cleaning equipment. The wall surface cleaning equipment comprises a wall surface obstacle crossing device, an obstacle detection module arranged on the wall surface obstacle crossing device and a glass cleaning robot connected with the wall surface obstacle crossing device. The obstacle detection module is used for detecting obstacle information. The wall surface obstacle crossing device is suitable for being attached and fixed to the wall surface and can ascend and descend relative to the wall surface in an obstacle crossing mode. The glass cleaning robot can be attached to the wall face to work and can cross protruding obstacles on the wall face in the obstacle crossing mode along with the wall face obstacle crossing device. The obstacle detection module is used for detecting obstacle information on the wall surface and controlling whether the wall surface obstacle crossing device enters the obstacle crossing mode or not, and in the obstacle crossing mode, the wall surface obstacle crossing device can ascend and descend relative to the wall surface to drive the glass cleaning robot to be away from or close to the wall surface, so that the glass cleaning robot can be driven to cross obstacles, manual carrying is not needed, and time and labor are saved. The smoothness of the operation process is improved, and the working efficiency is improved.