A cleaning device and a method of cleaning a roof surface

Abstract

This application provides a cleaning apparatus, including a longitudinal mechanism, a transverse mechanism, a cleaning mechanism, and a control system. The transverse mechanism is hinged to the longitudinal mechanism and is equipped with a walking unit with a step-crossing function, enabling it to move smoothly along the roof surface of a building following the longitudinal mechanism, or to cross roof surfaces of different heights. The cleaning mechanism has the ability to automatically adjust the height of the cleaning unit, continuously maintaining the cleaning unit's pressure and fit against the roof surface, thereby achieving the cleaning operation. This application also provides a method for cleaning the roof surface of a building using the aforementioned cleaning apparatus.

Description

Technical Field

[0001] This application relates to the field of building surface cleaning technology, and in particular to a cleaning apparatus and a method for cleaning the roof surface of a building using the cleaning apparatus. Background Technology

[0002] Modern society places increasing demands on the aesthetics and environmental friendliness of building interiors and exteriors, leading to the widespread use of translucent ceilings in commercial and residential buildings. After enclosing the roof of a building, translucent ceilings not only provide the traditional functions of windproofing, rainproofing, and insulation, but also increase interior lighting efficiency and enrich the building's exterior design. However, because translucent ceilings are in direct contact with the external environment, dust accumulation over time causes surface dirt, affecting both aesthetics and usability. While manual outdoor cleaning is possible, it is difficult and expensive. Currently, only some commercial properties can afford regular manual cleaning, while residential buildings, such as family sunrooms, cannot afford professional manual cleaning services and the associated safety guarantees due to their usage environment and maintenance requirements.

[0003] To better address the cleaning problem of translucent ceilings, Chinese invention patent CN108505757B and Chinese utility model patent CN209772811U have disclosed various cleaning devices for sunroom roofs. However, these devices can only clean horizontal and flat ceiling surfaces and are not suitable for translucent ceiling structures with different heights (such as folding sunrooms). Summary of the Invention

[0004] The purpose of this application is to provide a cleaning device that achieves parallel movement of the lateral mechanism through the cooperation of a longitudinal mechanism and a walking unit with step-crossing function. Utilizing the hinged relationship between the lateral and longitudinal mechanisms, and the height adjustment function of the adjusting unit on the cleaning unit, it enables the cleaning of building roof surfaces of varying heights. This application also provides a method for cleaning building roof surfaces using the aforementioned cleaning device.

[0005] One of the objectives of this application is to provide a cleaning apparatus, comprising:

[0006] A longitudinal mechanism has a first track that matches the length of the building surface, is installed along the length of the building surface, and has a first traveling unit that slides along the first track;

[0007] The transverse mechanism has a second track that matches the width of the building surface, is installed along the width of the building surface, is driven by a first traveling unit, and has a second traveling unit that slides along the second track.

[0008] Cleaning facilities for cleaning building surfaces include:

[0009] The main body is connected to the second traveling unit so that it moves with the second traveling unit;

[0010] Cleaning units are brought into contact with building surfaces to perform cleaning.

[0011] The adjustment unit, which is connected to the main body and the cleaning unit respectively, is used to adjust the distance between the cleaning unit and the building surface;

[0012] The pipeline unit has an input end connected to external power and water supply equipment, and an output end located at the main body.

[0013] The control system is communicatively connected to the first walking unit, the second walking unit, the adjustment unit, and the pipeline unit, respectively.

[0014] in,

[0015] One end of the second track is hinged to the first walking unit, and the other end is connected to the third walking unit;

[0016] The third walking unit adopts a triangular planetary wheel structure, which can roll along the building surface or traverse building surfaces at different heights.

[0017] When the third walking unit traverses building surfaces at different heights, the angle between the second track and the first walking unit changes, thus altering the distance between the cleaning unit and the building surface. The adjustment unit moves the cleaning unit to adjust the distance between the cleaning mechanism and the building surface, ensuring that the cleaning mechanism remains in contact with the building surface.

[0018] The cleaning device provided in this application comprises a first traveling unit driving a transverse mechanism (including a cleaning mechanism) to move longitudinally, and a second traveling unit driving a cleaning mechanism to move laterally. By utilizing the weight of the cleaning mechanism itself and the adjustment unit to adjust the height of the cleaning unit, the cleaning unit can maintain contact with the building surface, thereby achieving the cleaning operation. To match the flatness, slope, and other conditions of the building surface, a hinged connection is used, giving the transverse mechanism a degree of freedom of movement in the direction perpendicular to the building surface. This degree of freedom is limited by the overall weight of the transverse mechanism and will not be excessive.

[0019] To coordinate with the first traveling unit's longitudinal movement of the transverse mechanism, this application employs an existing triangular wheeled stair-climbing structure as a third traveling unit connected to the other end of the second track. This third traveling unit follows the first traveling unit, providing stable support to the second track and enabling the cleaning mechanism to move smoothly across the building surface. Simultaneously, because the wheeled stair-climbing structure used in the third traveling unit has the ability to traverse uneven surfaces, when the first traveling unit drives the transverse mechanism across uneven building surfaces, one end of the transverse mechanism rotates relative to the longitudinal mechanism / first track / first traveling unit via a hinged structure, while the other end changes height via the third traveling unit. Through this coordinated movement at both ends, the transverse mechanism (and the cleaning mechanism attached to it) successfully traverses uneven building surfaces.

[0020] This application employs a third traveling unit to support the second track, resulting in a T-shaped overall structure. The longitudinal mechanism, positioned along the length of the building surface, can be considered the transverse structure of the T; the transverse mechanism, positioned along the width of the building surface, can be considered the vertical structure of the T. Moving the vertical structure of the T from one end of the transverse structure to the other fills a square area. Therefore, compared to existing products using a frame structure, this application has a simpler structure, is easier to install, and obstructs less space on the building surface and occupies less area when cleaning or left unattended.

[0021] In one embodiment provided in this application, the first walking unit includes:

[0022] The moving body is controlled by the control system and slides along the first track;

[0023] The hinged seat is fixed to one side of the moving body and has a pivot for movable connection with the second track.

[0024] In this application, the first traveling unit is movably connected to the second track via a hinged seat. Simple assembly and disassembly of both allows for rapid assembly and disassembly of the longitudinal and transverse mechanisms, facilitating adaptation to different processes such as transportation and installation.

[0025] In one embodiment provided in this application, the cleaning mechanism further includes:

[0026] A height sensor, fixed to the bottom of the main body, is used to measure the distance between the bottom of the main body and the building surface;

[0027] The microcontroller communicates with the height sensor, adjustment unit, and pipeline unit.

[0028] In one embodiment provided in this application, the main body of the cleaning mechanism has a counterweight structure.

[0029] In this application, the cleaning mechanism utilizes its adjustment unit to ensure that the surface of its cleaning unit adheres to the building surface; the greater the adhesion, the better the cleaning effect. However, increased adhesion inevitably subjectes the cleaning unit to an upward force perpendicular to the building surface, causing it to tend to detach from the surface. To mitigate this tendency, this application employs a counterweight structure to increase the weight of the main body of the cleaning mechanism. This counterweight structure can be achieved through the material and shape of the main body itself, or through conventional counterweight structures and methods that can be freely added or removed, or through the mass of cleaning water and other substances introduced into the main body via pipeline units.

[0030] In one embodiment provided in this application, the adjustment unit includes:

[0031] The first motor is connected to the microcontroller via communication.

[0032] The gear set is driven to rotate by the first motor;

[0033] The drive shaft rotates in conjunction with the gear set.

[0034] The clamping arms are fixed to both ends of the drive shaft and rotate with the drive shaft; the cleaning unit is movably clamped between the clamping arms.

[0035] In one embodiment provided in this application, the cleaning unit includes:

[0036] The roller is movably connected to the clamping arm;

[0037] The brush roller is fixed between the clamping arms by a roller shaft;

[0038] The rolling direction of the brush roller matches the moving direction of the second traveling unit.

[0039] In this application, the first motor in the adjustment unit drives the gear set to rotate, controlling the rotation angle of the clamping arms, thereby adjusting the height of the brush roller fixed between the clamping arms for cleaning the building surface. The operating condition of the first motor is precisely controlled by a microcontroller. Based on pre-stored data related to the adjustment unit / cleaning unit, and data received from a height sensor located below the main body for calibrating the distance between the main body and the building surface, the microcontroller processes the data to generate and execute control commands and actions for the first motor. This causes the clamping arms to rotate to a specific angle so that the brush roller maintains a specific degree of contact with the building surface. By setting the measurement frequency of the height sensor, the microcontroller continuously controls the first motor, matching it to special surface conditions such as the flatness and height difference of the building surface, thus ensuring a good cleaning effect of the cleaning unit on the building surface.

[0040] In one embodiment provided in this application, the cleaning unit further includes:

[0041] The second motor is connected to the microcontroller and is used to drive the brush roller.

[0042] In this application, the addition of a second motor to actively drive the brush roller improves the cleaning effect of the cleaning unit. The operating conditions of this second motor are controlled by a microcontroller to match the movement state of the cleaning mechanism.

[0043] In one embodiment provided in this application, the pipeline unit includes: electrical wiring for powering the cleaning unit and the regulating unit and providing communication connections;

[0044] The water supply pipeline, used to supply water to the cleaning unit, has several electrically controlled valves and water supply nozzles;

[0045] The electrical circuits and electrically controlled valves are respectively connected to the microcontroller for communication.

[0046] This application uses a relatively conventional liquid cleaning medium (such as water) to clean the building surface. The cleaning medium can be introduced from the outside through the pipeline unit, which helps to reduce the load on the cleaning mechanism at the beginning of operation and reduce the energy load on the first and second walking units. At the same time, it also helps to realize continuous cleaning and one-time cleaning of the building surface.

[0047] In this application, an electrically controlled valve controlled by a microcontroller was added to the water supply pipeline to control the delivery of the cleaning medium, and an electrical circuit was installed to provide power to the cleaning mechanism, the working terminal.

[0048] In addition, the first and second traveling units can also be powered by electrical circuits to extend their operating time.

[0049] To ensure the safety and smooth operation of cleaning work, cable chains can be used to position, isolate, and retract electrical lines and water supply lines in a timely manner. This also helps to keep the building surface clean during the cleaning process or while it is in a stagnant state.

[0050] To match the cable chain, the water supply pipeline is preferably made of wear-resistant and flexible material, such as water hose or plastic water pipe.

[0051] In one embodiment provided in this application, the microcontroller is communicatively connected to the control system.

[0052] In one embodiment of this application, a microcontroller is installed at the cleaning mechanism to facilitate the nearby and rapid control of various action execution mechanisms (such as the first motor, the second motor, and the electrically controlled valves) during the cleaning operation; the control system is installed outside the cleaning mechanism and is mainly used to regulate the first and second walking units. At the same time, it communicates with the microcontroller via a communication line to coordinate the displacement and cleaning status of the cleaning mechanism.

[0053] The second objective of this application is to provide a method for cleaning the roof surface of a building using the aforementioned cleaning device.

[0054] The cleaning apparatus according to any one of claims 1-9 specifically includes the following steps:

[0055] S1. Adjust the first track and the second track to match the length and width of the building's top surface. Install and fix the first track along the length of the building's top surface to one side of the building's top surface. Place the first walking unit at one end of the first track, so that the second track is located at one end of the building's top surface. Make the second walking unit close to the first walking unit and the third walking unit close to the other end of the building's top surface so that it can move smoothly along the building's top surface.

[0056] S2. The control system regulates the second walking unit to drive the main body to move along the second track, and the cleaning unit, under the action of the adjustment unit and pipeline unit, adheres to the top surface of the building and performs cleaning.

[0057] S3. When the cleaning unit approaches the third walking unit, the control system controls the second walking unit to move in the opposite direction along the second track to the starting point. At the same time, the control system controls the adjustment unit to lift the cleaning unit to detach it from the top surface of the building.

[0058] S4. The control system controls the first walking unit to move a certain distance along the first track. The second track, with the cooperation of the first and third walking units, is brought to the uncleaned area on the top surface of the building. Steps S2 and S3 are repeated until the cleaning of the top surface of the building is completed.

[0059] S5. When the control system adjusts the first walking unit to move along the first track to a position of different heights on the top surface of the building, the third unit will climb over using a triangular planetary gear structure; after climbing over, repeat steps S2 and S3 until the cleaning of the top surface of the building is completed.

[0060] This application controls the dwell position and time of the lateral mechanism through a first traveling unit, and controls the cleaning area and cleaning process of the cleaning mechanism through a second traveling unit. By utilizing data measured by a height sensor within the cleaning mechanism and the processing capabilities of a microcontroller, the adjustment unit adjusts and maintains the degree of contact between the cleaning unit and the building's roof surface, thereby completing the cleaning of specific areas on the building's roof surface. After completing one cleaning area, the first and third traveling units work together to move the lateral mechanism to the next cleaning area, where the cleaning mechanism then performs the cleaning operation. By setting the single displacement data of the first traveling unit, the cleaning areas can be connected to form a continuous strip, thus completing the cleaning of the entire area of ​​the building's roof surface. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the installation structure in one embodiment of the present application.

[0063] Figure 2 This is a schematic diagram of the structure of this application in one embodiment.

[0064] Figure 3 This is a partial structural diagram of the cleaning mechanism of this application in one embodiment.

[0065] Figure 4 This is a partial structural diagram of the adjustment unit and cleaning unit of this application in one embodiment.

[0066] Figure 5 This is a schematic diagram of the communication structure of this application in one embodiment.

[0067] Explanation of reference numerals in the attached figures:

[0068] 1. Vertical mechanism,

[0069] 11. First track; 12. First traveling unit; 120. Hinge seat;

[0070] 2. Lateral mechanism,

[0071] 21. Second track; 22. Second walking unit; 23. Third walking unit;

[0072] 3. Cleaning equipment,

[0073] 31. Main body, 32. Cleaning unit,

[0074] 321. Roller shaft, 322. Brush roller, 323. Water supply nozzle,

[0075] 33. Adjustment unit,

[0076] 331. First motor; 332. Gear set; 333. Drive shaft; 334. Clamping arm.

[0077] 34. Piping unit,

[0078] 340. Electrically controlled valves,

[0079] 35. Height sensor; 36. Microcontroller; 37. Second motor;

[0080] 4. Control system;

[0081] 9. Sunroom. Detailed Implementation

[0082] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the embodiments of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0083] This embodiment provides a cleaning device for solving the cleaning problem of building roofs with uneven surfaces. In this embodiment, the building is a movable, foldable sunroom.

[0084] like Figure 1 As shown, the cleaning device includes a longitudinal mechanism 1, a transverse mechanism 2, a cleaning mechanism 3, and a control system 4. During cleaning, the movable end of the sunroom 9 is pulled out from the fixed section to extend other telescopic sections, ultimately presenting a complete sunroom structure with roof surfaces of varying heights. The longitudinal mechanism 1 spans each section of the sunroom 9 and is fixed to one side of the top surface of the sunroom 9. A transverse mechanism 2 matching the width of the sunroom roof is selected and hinged to the longitudinal mechanism 1. The cleaning mechanism 3 is then connected and fixed to the transverse mechanism 2. After pipeline connection and arrangement, the control system 4 activates the aforementioned mechanisms and inputs the corresponding operating parameters, such as the movement frequency and amplitude of the longitudinal / transverse mechanisms.

[0085] like Figure 2As shown, the longitudinal mechanism includes a first track 11 and a first traveling unit 12; the transverse mechanism includes a second track 21, a second traveling unit 22, and a third traveling unit 23. The first track 11 is suspended from the roof surface of the sunroom via bases at both ends. The first traveling unit 12 slides along the first track 11, and its moving body has a hinge seat 120 on its inner side. One end of the second track 21 is hinged to this hinge seat by a shaft. The other end of the second track 21 is fixed to a third traveling unit 23 that moves near the other side of the top surface of the sunroom 9. This third traveling unit 23 employs a triangular planetary gear structure. When the first traveling unit 12 moves along the first track 11, the second track 21 and its attachments (the second traveling unit 22, the cleaning mechanism 3, etc.) are driven by the first traveling unit 12, which in turn drives the third traveling unit 23. The two planetary gears in the triangular planetary gear structure of the third traveling unit 23 roll in contact with the roof surface of the sunroom to cooperate with the sliding of the first traveling unit 12. When the first traveling unit 12 crosses an extension section (uneven height surface) with roofs of different heights, a planetary wheel of the third traveling unit 23 first contacts the step formed by the roof surface of the extension section, either passing smoothly or being blocked and unable to pass. If it cannot pass, the other planetary wheel adjacent to that planetary wheel will rotate around the central axis of the third traveling unit 23 (i.e., the point where the third traveling unit 23 is connected to the second track 21) and then enter the roof surface of another extension section, thus achieving the crossing of uneven height surfaces.

[0086] like Figure 3 , Figure 4 As shown, the cleaning mechanism is fixed at the second traveling unit 12 and includes a main body 31, a cleaning unit 32, an adjustment unit 33, and a pipeline unit 34. The main body 31 is a vehicle structure with an internal accommodating space, through which the water supply pipeline in the pipeline unit 34 is connected. The cleaning unit 32 is connected to the movable end of the adjustment unit 33. A height sensor 35 is also provided at the bottom of the main body 31, which is communicatively connected to a microcontroller 36 also located on the main body 31. The electrical circuitry in the pipeline unit 34 provides power to the cleaning unit, adjustment unit, height sensor, microcontroller, and water supply pipeline.

[0087] Furthermore, the adjustment unit includes a first motor 331, a gear set 332, a drive shaft 333, and a set of clamping arms 334 fixed to both ends of the drive shaft 333. The first motor 331 is connected to an I / O port of a microcontroller to execute drive commands. The gear set 332 adopts an existing structure and installation method, connected to the first motor 331 and the drive shaft 333, to convert the kinetic energy of the first motor 331 and drive the drive shaft 333 to rotate, thereby causing the clamping arms 334 to rotate accordingly, thus changing the distance between their ends and the horizontal plane. The roller shaft 321 of the cleaning unit passes through and is movably fixed at the clamping arms 334, allowing a fixed brush roller 322 to be placed between the two clamping arms and rotate with the roller shaft 321. By rotating the clamping arms 334, the height of the brush roller 322 is adjusted, allowing the brush roller 322 to conform to the surface of the sunroom roof. A water supply nozzle 323 is also fixed to the clamp arm 334. The water supply nozzle 323 is arranged along the length of the brush roller 322 and has multiple nozzle structures at the bottom facing the surface of the brush roller 322. It is connected to the water supply line through a pipeline to spray the cleaning medium onto the surface of the brush roller 322 and a portion of the sunroom surface. In this example, a second motor 37 is also fixed to one of the clamp arms, with its drive end connected to one end of the roller shaft 321. The second motor 37 is also connected to an I / O port of a microcontroller to execute drive commands. In this embodiment, the roller shaft 321 rotates under the drive of the second motor 37, thereby driving the brush roller 322 to rotate, thus actively rolling and cleaning the surface of the sunroom roof.

[0088] like Figure 5 As shown, at the cleaning mechanism, the height sensor 35 is communicatively connected to the microcontroller 36 to transmit measurement data. The first motor 331, the second motor 37, and the electrically controlled valve 340 of the water supply pipeline are also communicatively connected to the microcontroller 36 to execute action commands. The microcontroller 36 is then communicatively connected to the control system 4; simultaneously, the control system 4 is also communicatively connected to the first walking unit 12 and the second walking unit 22 to coordinate and control the position and working status of the cleaning mechanism that follows the movement of the second walking unit 22.

[0089] In actual use, the following steps are used to clean the surface of the sunroom roof:

[0090] (1) Installation and debugging:

[0091] Select the first and second tracks of corresponding lengths, so that the first track can span all the expansion sections of the sunroom and be suspended and installed on one side of the sunroom through supports;

[0092] The second track is hinged at the first traveling unit, so that the third traveling unit is as close as possible to the other side of the sunroom;

[0093] The main body of the cleaning mechanism is fixedly connected to the second walking unit. External power and water supply equipment is connected through pipelines and the pipelines are arranged. The control system activates the microcontroller and related execution components, so that the first walking unit moves to one end of the first track and the second walking unit moves to the end of the second track that is hinged to the first track. The microcontroller controls the rotation of the clamping arm so that the brush roller fits against the surface of the sunroom roof.

[0094] (2) Cleaning of the initial cleaning area:

[0095] The first walking unit is controlled by the control system to move to the starting cleaning point. The second track moves in coordination with the first and third walking units. Then, the second walking unit is controlled by the control system to move, and the microcontroller controls the second motor to drive the brush roller to rotate and the electronically controlled valve to release clean water from the water supply pipeline. The cleaning mechanism follows the second walking unit along the second track to the other end, completing a single cleaning of the starting cleaning area.

[0096] After the second walking unit moves to the other side of the second track, the microcontroller controls the simultaneous closing of the electronically controlled valve and the second motor, and the starting of the first motor to drive the brush roller to detach from the roof surface of the sunroom.

[0097] The second walking unit is reset by the control system.

[0098] Repeat the above steps 3-5 times to complete the cleaning of the initial cleaning area;

[0099] (3) Switching between cleaning areas and cleaning the roof surface of a certain expansion section:

[0100] After the initial cleaning area is cleaned, the control system controls the movement of the first traveling unit, which in turn controls the movement distance of the second track, so that the cleaned area after the movement is connected to or partially overlaps with the initial cleaning area.

[0101] Repeat step (2) to complete the cleaning operation of the moved cleaning area;

[0102] Repeat the above steps in this section until the cleaning of the roof surface of a certain expansion section is completed;

[0103] (4) Switching between cleaning zones of varying heights and overall cleaning of the sunroom:

[0104] When the cleaning area switch occurs in different telescopic sections, the movement of the first traveling unit is unrestricted and it travels from the roof surface of one telescopic section to the roof surface of another telescopic section.

[0105] In order to adapt to the change in the height of the roof surface of the telescopic section, the second track and the hinged end of the first traveling unit rotate through the hinge. When the third traveling unit at the other end of the second track comes into contact with the steps formed by the uneven surfaces, it can either switch smoothly or complete the overturning through the switching of planetary gears. In this way, in conjunction with the hinge rotation, the second track can also smoothly travel from the roof surface of one telescopic section to the roof surface of another telescopic section.

[0106] After the height sensor of the cleaning mechanism measures the distance, it transmits the data to the microcontroller. The microcontroller processes the data and gives the first motor a new action command, changing the rotation angle of the clamping arm so that the brush roller can still adhere to the surface of the sunroom roof with a certain holding force.

[0107] Repeat step (4) to complete the cleaning of the roof surface of the unequal height expansion joint;

[0108] Repeat the above steps until all the expansion joints of the sunroom roof surface are cleaned.

Claims

1. A cleaning device for cleaning the roof of a sunroom with surfaces of varying heights, characterized in that, include: A longitudinal mechanism having a first track that matches the length of the building surface and is installed along the length direction of the building surface, and having a first traveling unit that slides along the first track; A transverse mechanism has a second track that matches the width of the building surface, is installed along the width direction of the building surface, is driven by the first walking unit, and has a second walking unit that slides along the second track; Cleaning facilities for cleaning building surfaces include: The main body is connected to the second walking unit so as to move with the second walking unit; A cleaning unit is attached to the building surface to perform cleaning. An adjustment unit, connected to the main body and the cleaning unit respectively, is used to adjust the distance between the cleaning unit and the building surface; The pipeline unit has an input end connected to external power and water supply equipment, and an output end located at the main body. The control system is communicatively connected to the first walking unit, the second walking unit, the adjustment unit, and the pipeline unit, respectively. A height sensor, fixed to the bottom of the main body, is used to measure the distance between the bottom of the main body and the building surface; The microcontroller is communicatively connected to the height sensor, the adjustment unit, and the pipeline unit. in, One end of the second track is hinged to the first walking unit, and the other end is connected to the third walking unit; The third walking unit adopts a triangular planetary gear structure, which can traverse building surfaces of different heights; When the third walking unit traverses building surfaces at different heights, the angle between the second track and the first walking unit changes, thereby changing the distance between the cleaning unit and the building surface; the adjustment unit drives the cleaning unit to move in order to adjust the distance between the cleaning mechanism and the building surface, so that the cleaning mechanism remains in contact with the building surface; The first walking unit includes: The moving body is controlled by the control system and slides along the first track; A hinged seat, fixed to one side of the movable body, has a pivot and is movably connected to the second track; The adjustment unit includes: The first motor is communicatively connected to the microcontroller. The gear set is driven to rotate by the first motor; The drive shaft rotates in conjunction with the gear set. The clamping arms are fixed to both ends of the drive shaft and rotate with the drive shaft; the cleaning unit is movably clamped between the clamping arms.

2. The cleaning device according to claim 1, characterized in that, The main body has a counterweight structure.

3. The cleaning device according to claim 1, characterized in that, The cleaning unit includes: The roller shaft is movably connected to the clamping arm; The brush roller is fixed between the clamping arms by the roller shaft; The rolling direction of the brush roller is matched with the moving direction of the second walking unit.

4. The cleaning device according to claim 3, characterized in that, The cleaning unit also includes: The second motor is connected to the microcontroller and is used to drive the brush roller.

5. The cleaning device according to claim 1, characterized in that, The pipeline unit includes: electrical wiring for powering the cleaning unit and the regulating unit and providing communication connections; A water supply pipeline, used to supply water to the cleaning unit, has several electrically controlled valves and water supply nozzles; The electrical circuits and the electrically controlled valves are respectively connected to the microcontroller for communication.

6. The cleaning apparatus according to any one of claims 1 to 5, characterized in that, The microcontroller is communicatively connected to the control system.

7. A method for cleaning the surface of a building roof with unequal heights, characterized in that, The cleaning apparatus according to any one of claims 1-6 specifically includes the following steps: S1. Adjust the first track and the second track to match the length and width of the building's top surface, install and fix the first track along the length of the building's top surface to one side of the building's top surface, place the first walking unit at one end of the first track, place the second track at one end of the building's top surface, and make the second walking unit close to the first walking unit and the third walking unit close to the other end of the building's top surface so that it can move smoothly along the building's top surface; S2. The control system regulates the second walking unit to drive the main body to move along the second track, and the cleaning unit, under the action of the adjustment unit and the pipeline unit, adheres to the top surface of the building and performs cleaning; S3. When the cleaning unit approaches the third walking unit, the control system controls the second walking unit to move in the opposite direction along the second track to the starting point. At the same time, the control system controls the adjustment unit to lift the cleaning unit to detach it from the top surface of the building. S4. The control system controls the first walking unit to move a certain distance along the first track. The second track is carried to the uncleaned area on the top surface of the building by the cooperation of the first walking unit and the third walking unit. Steps S2 and S3 are repeated until the cleaning of the top surface of the building is completed. S5. When the control system adjusts the first walking unit to move along the first track to a position of different heights on the top surface of the building, the third walking unit will climb over using the triangular planetary gear structure; after climbing over, steps S2 and S3 are repeated until the cleaning of the top surface of the building is completed.

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