Wall cleaning robot and high-altitude obstacle crossing method thereof

Abstract

The application discloses a wall cleaning robot and a high-altitude obstacle crossing method thereof, and belongs to the technical field of intelligent construction equipment. The robot body is provided with a first telescopic arm and a second telescopic arm, and is also provided with a touch sensor for sensing obstacles and an electric push rod, so that the telescopic arms cross obstacles by cooperating with each other under the control of a controller. When the touch sensor of the walking wheel shaft wall of the walking wheel encounters an obstacle, the wind speed is reduced, the second telescopic arm and the auxiliary wheel are pushed out, the robot body is pushed out of the obstacle, the robot continues to move forward to clean, and the walking wheel and the first telescopic arm cross the obstacle. When the touch sensor of the auxiliary wheel encounters an obstacle, the robot stops moving, the first telescopic arm is extended, the auxiliary wheel is retracted, the robot continues to move forward to clean, and the auxiliary wheel crosses the obstacle. When the touch sensor of the rotating wheel of the second telescopic arm encounters an obstacle, the auxiliary wheel is pushed out, the second telescopic arm is retracted, the robot continues to move forward to clean, and after the robot crosses all obstacles, the robot returns to the original working state.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology for building construction, and in particular to a wall cleaning robot and its high-altitude obstacle-crossing method. Background Technology

[0002] Existing high-altitude curtain wall cleaning robots generally move by using wheels that fit in contact with the surface to be cleaned, and when they encounter obstacles, they simply roll over them with the wheels.

[0003] However, when the height of the obstacle reaches or exceeds half the wheel diameter, the wheel cannot pass over it. The obstacle restricts the movement of the walking wheel, causing the high-altitude curtain wall cleaning robot to get stuck on the cleaning surface. This limits the operating conditions of the cleaning robot and affects its use. Summary of the Invention

[0004] The technical problem to be solved by this invention is to propose a wall cleaning robot and its high-altitude obstacle crossing method, which can automatically identify and cross obstacles when cleaning curtain walls.

[0005] To achieve this objective, the present invention adopts the following technical solution: A wall cleaning robot includes a robot body and an obstacle-crossing assembly mounted on the robot body. The robot body includes a frame, a controller, wheels mounted on the frame, a fan, a rope gripper, and sensors. The obstacle-crossing assembly includes an electric push rod and a first telescopic arm and a second telescopic arm symmetrically mounted at the upper and lower ends of the frame. Each of the first and second telescopic arms includes at least one set of booms, at least two rotating wheels, and at least one set of cleaning components. The booms are hinged to the frame, the cleaning components are installed inside the booms, and the two rotating wheels are installed on both sides of the cleaning components. One end of the electric push rod is fixed to the frame, and the other end is hinged to the boom. When the shaft end of the electric push rod is not extended, the boom is folded to the side of the frame. When the shaft end of the electric push rod is extended, the boom rotates out along the hinge end. The sensors are installed inside the shaft walls of the wheels and the rotating wheels. The sensors are used to sense obstacles and transmit signals to the controller, which is used to control the rope gripper, the fan, the electric push rod, and the cleaning components.

[0006] A preferred embodiment of the present invention is that the obstacle-crossing assembly further includes an auxiliary wheel and an electric push rod for the auxiliary wheel. The axle wall of the auxiliary wheel is equipped with a contact sensor. The auxiliary wheel is mounted on the frame and is located between the first telescopic arm and the second telescopic arm after they are extended. One end of the electric push rod for the auxiliary wheel is fixed to the frame, and the other end is connected to the auxiliary wheel.

[0007] A preferred embodiment of the present invention is that the electric push rods of the first telescopic arm and the second telescopic arm are located at point H1 on the boom and point H2 on the frame, with the height of H2 being greater than that of H1.

[0008] A preferred embodiment of the present invention is that a fixed rod is provided on the frame, and the boom is hinged to the fixed rod by a plurality of hinges; the length of the boom is less than the length of the fixed rod.

[0009] A preferred embodiment of the present invention is that the boom is configured with an upper boom frame, a lower boom frame, and a connecting frame, wherein the upper boom frame, the lower boom frame, and the connecting frame are hinged to each other; one side of the upper boom frame is hinged to the fixed rod, and the other side of the upper boom frame is hinged to the connecting frame via a hinge; one side of the lower boom frame is hinged to the fixed rod, and the other side of the lower boom frame is hinged to the connecting frame via a hinge; when the electric push rod is fully retracted, the upper boom frame and the fixed rod are located on the same vertical plane, and the lower boom frame and the connecting frame are located on the same vertical plane; when the electric push rod is fully extended, the lower boom frame and the fixed rod are perpendicular to each other, and the upper boom frame and the connecting frame are perpendicular to each other.

[0010] A preferred embodiment of the present invention is that the cleaning component is a roller brush, the roller brush is installed inside the connecting frame, the rotating wheels are installed on both sides of the connecting frame, and the electric push rod is fixed on the upper arm frame.

[0011] A preferred embodiment of the present invention is that the width of the connecting frame is E; the distance between the top end of the first telescopic arm and the center of the auxiliary wheel is B; the width of the upper arm frame is D; the distance between the lower arm frame of the first telescopic arm and the center of the auxiliary wheel is a, and B = D + E + a; the distance between the bottom end of the second telescopic arm and the center of the auxiliary wheel is C; the width of the lower arm frame is D; the distance between the upper arm frame of the second telescopic arm and the center of the auxiliary wheel is a', and C = D + E + a'.

[0012] A preferred embodiment of the present invention is that two sets of the walking wheels are installed on both sides of the frame, the controller is installed inside the frame, the fan is installed in the middle of the frame, and the center of gravity of the fan is aligned with the center of gravity of the frame. The rope grabbers are symmetrically installed on both sides of the frame, aligning with the vertical plane of the frame's center of gravity, and each rope grabber is threaded with a rope.

[0013] A preferred embodiment of the present invention is that four rope-grabbing machines are provided, namely a first rope-grabbing machine, a second rope-grabbing machine, a third rope-grabbing machine, and a fourth rope-grabbing machine. The four rope-grabbing machines are respectively located at the upper left, upper right, lower left, and lower right of the frame, and are located on the same vertical plane, which passes through the center of gravity of the frame. The center of gravity of the fan is located at the same point as the center of gravity of the frame. The first rope-grabbing machine and the third rope-grabbing machine are installed in opposite directions. The second rope-grabbing machine and the fourth rope-grabbing machine are installed in opposite directions. Each rope-grabbing machine is threaded with a rope.

[0014] This invention also discloses a method for high-altitude obstacle crossing of a wall cleaning robot, including the aforementioned wall cleaning robot. When the robot body moves forward and cleans the work surface, if the sensor on the walking wheel near the first telescopic arm detects an obstacle, it sends a signal to the controller. The controller then issues an obstacle crossing command, including the following obstacle crossing steps: S1. Control the second telescopic arm, which is away from the obstacle, to extend. The fan decelerates, and the robot body is pushed outside the obstacle. The rotating wheel of the second telescopic arm contacts the work surface, and the robot body leaves the work surface; S2. The robot body continues to move forward, and the first telescopic arm of the robot body crosses the obstacle. The robot body continues to move forward, and the cleaning component of the second telescopic arm continues to operate; S3. When the sensor on the rotating wheel of the second telescopic arm detects an obstacle, it sends a signal to the controller. The controller issues a command to extend the first telescopic arm, retract the second telescopic arm, and the robot body continues to move forward. The cleaning component of the first telescopic arm operates, and the second telescopic arm crosses the obstacle; S4. When the robot body has completely crossed the obstacle, the controller issues a command to retract the first telescopic arm, and the robot body resumes normal operation.

[0015] A preferred embodiment of the present invention is that the obstacle-crossing assembly further includes an auxiliary wheel and an electric push rod for the auxiliary wheel. One end of the electric push rod for the auxiliary wheel is fixed to the frame, and the other end is connected to the auxiliary wheel. The auxiliary wheel is installed at the middle position after the first telescopic arm and the second telescopic arm have extended. A contact sensor is installed on the axle wall of the auxiliary wheel. In step S1, the electric push rod of the second telescopic arm, which is farther from the obstacle, is extended while the electric push rod of the auxiliary wheel is extended, so that the auxiliary wheel and the rotating wheel of the second telescopic arm simultaneously contact the working surface. In step S2, the sensor of the auxiliary wheel senses the obstacle and sends a signal to the controller. The controller issues a command to stop the robot. After the electric push rod of the first telescopic arm is extended, the electric push rod of the auxiliary wheel is retracted. In step S3, the robot body moves a certain distance so that the auxiliary wheel crosses the obstacle. When the rotating wheel of the second telescopic arm senses the obstacle, it sends a signal to the controller. The controller issues a command to extend the electric push rod of the auxiliary wheel and retract the second telescopic arm. The auxiliary wheel and the rotating wheel of the first telescopic arm simultaneously contact the working surface; the robot body continues to move until the entire robot body crosses the obstacle; in step S4, the electric push rod of the first telescopic arm is retracted while the electric push rod of the auxiliary wheel is retracted.

[0016] The beneficial effects of this invention are as follows: (1) The wall cleaning robot of the present invention is provided with a first telescopic arm and a second telescopic arm on the robot body, and is also equipped with a contact sensor for sensing obstacles and an electric push rod for driving the first telescopic arm and the second telescopic arm to extend and retract. The first telescopic arm and the second telescopic arm cooperate with each other to overcome obstacles through the controller. When the robot is in use, when the first telescopic arm encounters an obstacle, the second telescopic arm is extended by the electric push rod. After the obstacle is overcome, the second telescopic arm retracts and the first telescopic arm extends. The robot returns to its previous normal working state after completely overcoming the obstacle, which makes it convenient for the robot to automatically sense obstacles and control the overcoming of obstacles.

[0017] (2) By combining the fan and the walking or rotating wheels, the roller brush presses against the cleaning surface during operation, making the cleaning cleaner and preventing the wall cleaning robot from shaking in the air.

[0018] (3) An auxiliary wheel is also provided between the first telescopic arm and the second telescopic arm. When the first telescopic arm or the second telescopic arm retracts, the auxiliary wheel can be pushed out by an electric push rod to make the robot form a tricycle structure, which is more stable.

[0019] (4) The telescopic arm is hinged to the frame so that when the electric push rod drives the telescopic arm, the telescopic arm can be pushed out or retracted to the robot body. The arm frame and the connecting frame of the telescopic arm are also hinged so that when the electric push rod pushes out the telescopic arm, the roller brush installed at the position of the connecting frame can continue to work. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. In these drawings, similar reference numerals are used to denote similar elements. The drawings described below are some embodiments of the invention, but not all embodiments. Other drawings will be readily available to those skilled in the art based on these drawings without any inventive effort.

[0021] Figure 1 This is a schematic diagram showing the first telescopic arm, the second telescopic arm, and the auxiliary wheels of the wall cleaning robot provided in a specific embodiment of the present invention fully extended; Figure 2 This is a schematic diagram of the first telescopic arm, the second telescopic arm, and the auxiliary wheels of the wall cleaning robot provided in a specific embodiment of the present invention, fully retracted. Figure 3 This is a front view of the wall cleaning robot provided in a specific embodiment of the present invention; Figure 4 This is a side view of the wall cleaning robot provided in a specific embodiment of the present invention; Figure 5 This is a side view of the wall cleaning robot provided in a specific embodiment of the present invention; Figure 6 This is a schematic diagram of the wall cleaning robot overcoming obstacles provided in a specific embodiment of the present invention; Figure 7 This is a partial schematic diagram of the wall cleaning robot provided in a specific embodiment of the present invention when the first telescopic arm, the second telescopic arm, and the auxiliary wheels are fully extended. Figure 8 This is a partial schematic diagram of the wall cleaning robot with its first telescopic arm fully retracted in a specific embodiment of the present invention. Figure 9 This is a partial schematic diagram of the telescopic arm of the wall cleaning robot provided in a specific embodiment of the present invention when it is extended; Figure 10 This is an overall schematic diagram of the second telescopic arm and auxiliary wheels of the wall cleaning robot, as well as the retraction of the first telescopic arm, provided in a specific embodiment of the present invention. Figure 11This is an overall schematic diagram of the second telescopic arm extending, the first telescopic arm retracting, and the auxiliary wheel retracting of the wall cleaning robot provided in a specific embodiment of the present invention; Figure 12 This is a diagram showing the overall structure and usage status of the wall cleaning robot installation structure body with rope configuration provided in a specific embodiment of the present invention.

[0022] In the picture: 1. Frame; 101. Fixed rod; 2. Traveling wheel; 3. Rope grabber; 31. First rope grabber; 311. First day rope; 32. Second rope grabber; 321. Second day rope; 33. Third rope grabber; 331. First ground rope; 34. Fourth rope grabber; 341. Second ground rope; 4. Fan; 5. Rope body; 6. First telescopic boom; 7. Second telescopic boom; 8. Rotating wheel; 9. Boom; 91. Upper boom frame; 92. Lower boom frame; 93. Connecting frame; 10. Roller brush; 11. Electric push rod; 12. Auxiliary wheel; 13. Hinge; 14. Auxiliary wheel electric push rod. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1 like Figure 1-11 As shown, the present invention discloses a wall cleaning robot, including a robot body and an obstacle-crossing component installed on the robot body. The robot body includes a frame 1, a controller, a fan 4, and four rope-grabbing machines 3 installed on the frame 1.

[0026] The controller and sensors are not shown in the figure. The sensors include robot body sensors and obstacle-crossing sensors. The robot body sensors further include distance sensors, angle sensors, and touch sensors. Distance sensors can be existing infrared distance sensors, photoelectric distance sensors, laser displacement distance sensors, etc., used to measure the position of the frame and the distance of frame 1 from the cleaning surface. Obstacle-crossing sensors include contact sensors and distance sensors. Contact sensors protrude 10-20mm from the walking wheels, auxiliary wheels, or rotating wheels and are used to touch obstacles. Distance sensors are used to measure the distance of the robot from the cleaning surface. These sensors transmit signals to the controller, which controls the rope gripper, fan, electric push rod, and cleaning components. The angle sensors can be existing tilt sensors (such as the Kenda Rentech RS485) or gyroscope attitude angle sensors (such as the BWT61CL), used to measure the offset angle of frame 1. The controller is used to control four sets of rope grippers 3 and several sets of fans 4, control the rope grippers 3 to tighten or loosen the rope 5, and control the fans 4 to start, decelerate or shut down at a certain speed, rotate the roller brush 10, and extend and retract the electric push rod 11.

[0027] like Figure 5 As shown, the center of gravity of frame 1 is point A, the center of frame 1. When there are four rope grabbers 3, they are located at the upper left, upper right, lower left, and lower right of frame 1, respectively, and the four rope grabbers 3 and the center of gravity point A are located on the same vertical plane P. Each rope grabber 3 is equipped with a rope 5. The rope grabber 3 pulls frame 1 to move linearly and provides driving power to the traveling wheel 2, auxiliary wheel 12, and rotating wheel 8.

[0028] The rope gripper 3 can adopt the structure disclosed in CN114105052A and CN111675164A, or the existing rope gripper 3 available in the market.

[0029] The blower 4 is installed in the middle of the frame 1, and the positions of the blower 4 are symmetrically arranged on both sides of the center of gravity of the frame 1. The blower 4 is used to apply a horizontal thrust along the working surface to the frame 1. By starting the blower 4, a horizontal thrust is applied to the frame 1, so that the traveling wheels, auxiliary wheels and rotating wheels of the frame 1 are in contact with the working surface, and the roller brush 10 is pressed against the working surface.

[0030] The obstacle-crossing assembly includes an electric push rod 11 and a first telescopic arm 6 and a second telescopic arm 7 symmetrically mounted at the upper and lower ends of the frame 1. An auxiliary wheel 12 is located in the frame 1 at the midpoint between the first telescopic arm 6 and the second telescopic arm 7 when extended. The auxiliary wheel 12 is connected to an auxiliary wheel electric push rod 14, and the center of the auxiliary wheel 12 and the auxiliary wheel electric push rod 14 are on the same horizontal line. Both the first telescopic arm 6 and the second telescopic arm 7 are equipped with at least one set of boom 9, at least two rotating wheels 8, and at least one set of cleaning components. The boom 9 is hinged to the frame 1. The cleaning components are mounted on the outside of the boom 9, and the two sets of rotating wheels 8 are mounted on both sides of the cleaning components. The boom 9 includes an upper arm frame 91, a lower arm frame 92, and a connecting frame 93. A roller brush 10 is mounted inside the connecting frame 93, and the rotating wheels 8 are mounted on both sides of the connecting frame 93. Both the upper arm frame 91 and the lower arm frame 92 are hinged to the fixed rod 101 of the frame 1 via hinges 13, allowing the upper arm frame 91 and the lower arm frame 92 to be in both perpendicular and parallel states with the frame 1. The upper arm frame 91, the lower arm frame 92, and the connecting frame 93 are hinged together via hinges 13, allowing the connecting frame 93 and the upper and lower arm frames to fold together to form both perpendicular and parallel states. An electric push rod 11 is installed on the frame 1 and the upper arm frame 91 of the first telescopic arm 6 and the second telescopic arm 7. The electric push rod 11 controls the extension or retraction of the first telescopic arm 6 and the second telescopic arm 7 to protrude from the frame 1 or remain within the frame 1, facilitating the robot to overcome obstacles by extending the first telescopic arm 6 or the second telescopic arm 7. The distance between the top of the first telescopic arm 6 and the center of the auxiliary wheel 12 (e.g., ...) is... Figure 3 As shown in B), it is equal to the width of the upper arm frame 91 (e.g., Figure 3 As shown in D), and connecting frame 93 (as shown in D) Figure 3 The width of E shown, plus the distance between the lower arm frame 92 of the first telescopic arm 6 and the center of the auxiliary wheel 12 (as shown) Figure 3 The sum of a) shown; the distance between the bottom end of the second telescopic arm 7 and the center of the auxiliary wheel 12 (as shown in the figure). Figure 3 The C shown is equal to the width of the lower arm frame 92 (e.g.) Figure 3 As shown in D), the width of the connecting frame 93 is added (e.g. Figure 3 E) as shown, plus the distance between the upper arm frame 91 of the second telescopic arm 7 and the center of the auxiliary wheel 12 (as shown). Figure 3 The sum of a' shown in the figure facilitates the retraction of the first telescopic arm 6 and the second telescopic arm 7 into the robot body.

[0031] During operation, the first telescopic arm 6 and the second telescopic arm 7 are located inside the robot body. The walking wheels 2 and the rotating wheels 8 are in contact with the working surface, and the roller brush 10 is pressed against the cleaning surface. The walking wheels 2 and the rotating wheels 8 of the robot are driven by the rope gripper 3 to walk on the working surface, and the roller brush 10 cleans while moving on the cleaning surface. When crossing obstacles, the first telescopic arm 6 or the second telescopic arm 7 is extended. At this time, the roller brush 10 of the connecting frame 93 is in contact with the working surface, which makes it easy to carry out cleaning work while crossing obstacles. After crossing the obstacle, it is retracted.

[0032] Obstacle crossing can be divided into extended-arm cleaning obstacle crossing and retracted-arm cleaning obstacle crossing. The high-altitude obstacle crossing method for extended-arm cleaning is as follows: Once the robot body is in place, the first telescopic arm 6 and the second telescopic arm 7 are hinged to the frame 1. Then, the first telescopic arm 6 and the second telescopic arm 7 are extended by the electric push rod 11. Since the electric push rod 11 is installed at an angle of 30-60° with the vertical, specifically, the point on the arm of the first telescopic arm and the point on the frame of the second telescopic arm is H1, and the point on the frame is H2. The height of H2 is greater than that of H1, forming a triangle. This reduces the required pushing force and makes the telescopic arm more stable. At this time, the first telescopic arm 6 and the second telescopic arm 7 are fully extended, the roller brush 10 is pressed against the cleaning surface, and the rotating wheel 8 is in contact with the working surface, and the cleaning work begins.

[0033] The robot moves and cleans simultaneously. When the touch sensor installed on the rotating wheel axle wall of the first telescopic arm 6 touches an obstacle (such as...) Figure 6 When the signal is sent to the controller (as shown in J), the controller sends a signal to the fan to slow down and reduce the horizontal thrust. The electric push rod 14 of the auxiliary wheel extends and pushes the auxiliary wheel 12 to the working surface to contact it. The command for the first telescopic arm 6 to retract is given, and the robot body continues to walk and clean while the first telescopic arm 6 and part of the robot body pass over the obstacle.

[0034] When the touch sensor mounted on the wall of the auxiliary wheel 12 touches an obstacle, it sends a signal to the controller. The controller then issues a command to stop the rope gripper and for the first telescopic arm 6 to extend and contact the working surface. After the command is executed, the controller issues a command to retract the electric push rod 14, the auxiliary wheel retracts, and the robot body continues to walk and clean while the auxiliary wheel 12 passes over the obstacle.

[0035] When the touch sensor installed on the rotating wheel axle wall of the second telescopic arm 7 touches an obstacle, it sends a signal to the controller. The controller then sends an electric push rod 14 to extend the auxiliary wheel 12 to contact the working surface. The second telescopic arm 7 retracts, and the robot body moves and cleans simultaneously, while the second telescopic arm 7 overcomes the obstacle.

[0036] After the robot body has cleared the obstacle, the ranging sensor installed on the top of the robot body sends a signal to the controller that the distance between the robot body and the wall has increased. The controller then issues commands to extend the second telescopic arm 7, restore the speed of the fan 4, and retract the electric push rod 14 of the auxiliary wheel. The robot body returns to its working state before clearing the obstacle.

[0037] Installation process of wall cleaning robot: Install the wall cleaning robot on the working surface of the building that needs to be cleaned, so that the wall cleaning robot can move freely on the working surface.

[0038] like Figure 12 As shown, the four sets of ropes of the wall cleaning robot are installed at the four corners of the work surface. Details are as follows.

[0039] The four rope grabbing machines 3 are respectively installed on the upper left, upper right, lower left, and lower right of the frame: a first rope grabbing machine 31, a second rope grabbing machine 32, a third rope grabbing machine 33, and a fourth rope grabbing machine 34. The first rope grabbing machine 31 is equipped with a first ground rope 311, the second rope grabbing machine 32 is equipped with a second ground rope 321, the third rope grabbing machine 33 is equipped with a first ground rope 331, and the fourth rope grabbing machine 34 is equipped with a second ground rope 341.

[0040] One end of the rope 5 is a fixed end, which is fixed to the top left corner, top right corner, bottom left corner, and bottom right corner of the work surface to be cleaned. The other end of the rope 5 is a free end, which passes through the positioning wheel assembly 71 and enters the rope gripper before hanging freely, as shown in the details. Figure 11 As shown: On the first day, the fixed end D1 of the rope 311 is tightened to the upper left side of the fixed working surface, and the other end (i.e. the free end F1) passes through the positioning wheel group and enters the first rope grabbing machine and hangs freely. The rope section from the fixed end D1 to the first rope grabbing machine 31 is the first tensioning section.

[0041] On the second day, the fixed end D2 of the rope 321 is tightened and fixed to the upper right side of the working surface, and the other end (i.e. the free end F2) passes through the positioning wheel group and enters the second rope grabbing machine 32 and hangs freely. The rope section from the fixed end D2 to the second rope grabbing machine 32 is the second tensioning section.

[0042] The fixed end D3 of the first ground cable 331 is tightened and fixed to the lower left side of the working face. An anchor can be driven into the ground first, or a counterweight or fixing nail can be installed on the working face to fix the fixed end of the first ground cable 331 to the anchor or counterweight. The other end of the first ground cable 331 (i.e., the free end F3) passes through the positioning wheel assembly and enters the third rope gripper 33, hanging freely. The section of rope from the fixed end D3 to the third rope gripper 33 is the third tensioning section.

[0043] The fixed end D4 of the second ground cable 341 is tightened and fixed to the lower right side of the working face. This can be achieved by first driving a ground anchor, or by setting a counterweight or fixing nails on the working face to secure the fixed end of the second ground cable 341 to the ground anchor or counterweight. The other end of the second ground cable 341 (i.e., the free end F4) passes through the positioning wheel assembly and enters the fourth rope gripper 34, hanging freely. The section of rope from the fixed end D4 to the fourth rope gripper 34 is the fourth tensioning section.

[0044] For ease of calculation, the fixed end of the first ground cable 331 is located on the same vertical plane as the fixed end of the first day cable 311, and the fixed end of the second ground cable 341 is located on the same vertical plane as the fixed end of the second day cable 321. This ensures that the fixed ends D1, D2, D3, and D4 together form a rectangle.

[0045] After the overhead cable is tightened, the robot leaves the ground and suspends in the air. Tightening the ground cable stabilizes the robot, and its posture is adjusted. The controller controls the rope gripper 3 to loosen and tighten the rope 5, thus controlling the length of the tension section and enabling the robot to move in space. A fan 4 generates horizontal thrust, pushing the robot against the wall (work surface), where its wheels adhere to the wall surface. Once the robot reaches the designated target location, it begins cleaning.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the article or apparatus that includes that element.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. The present invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A wall cleaning robot, characterized in that: Includes the robot body and obstacle-crossing components installed on the robot body; The robot body includes a frame, a controller, wheels mounted on the frame, a fan, a rope gripper, and sensors; The obstacle-crossing assembly includes an electric push rod and a first telescopic arm and a second telescopic arm symmetrically installed at the upper and lower ends of the frame; the obstacle-crossing assembly also includes an auxiliary wheel and an auxiliary wheel electric push rod, the sensor is also installed inside the wheel axle wall of the auxiliary wheel, and the auxiliary wheel is installed between the first telescopic arm and the second telescopic arm; one end of the auxiliary wheel electric push rod is fixed to the frame, and the other end is connected to the auxiliary wheel; Both the first telescopic boom and the second telescopic boom include at least one set of booms, at least two rotating wheels, and at least one set of cleaning components. The booms are hinged to the frame, the cleaning components are installed inside the booms, and the two rotating wheels are installed on both sides of the cleaning components. One end of the electric push rod is fixed to the frame, and the other end of the electric push rod is hinged to the boom; when the shaft end of the electric push rod is not extended, the boom is folded to the side of the frame; when the shaft end of the electric push rod is extended, the boom rotates out along the hinge end. The sensor is installed inside the shaft wall of the walking wheel and the rotating wheel. The sensor is used to sense obstacles and transmit signals to the controller. The controller is used to control the rope grabber, the fan, the electric push rod and the cleaning assembly.

2. The wall cleaning robot according to claim 1, characterized in that: The electric push rods of the first telescopic arm and the second telescopic arm are located at point H1 on the boom and point H2 on the frame, with the height of H2 being greater than that of H1.

3. The wall cleaning robot according to claim 2, characterized in that: The frame is provided with a fixed rod, and the boom is hinged to the fixed rod by a number of hinges; The length of the boom is less than the length of the fixed rod.

4. The wall cleaning robot according to claim 3, characterized in that: The boom is equipped with an upper boom frame, a lower boom frame, and a connecting frame, and the upper boom frame, the lower boom frame, and the connecting frame are hinged to each other; One side of the upper arm frame is hinged to the fixed rod, and the other side of the upper arm frame is hinged to the connecting frame via the hinge. One side of the lower arm frame is hinged to the fixed rod, and the other side of the lower arm frame is hinged to the connecting frame via the hinge. When the electric push rod is fully retracted, the upper arm frame and the fixed rod are located on the same vertical plane, and the lower arm frame and the connecting frame are located on the same vertical plane. When the electric push rod is fully extended, the lower arm frame is perpendicular to the fixed rod, and the upper arm frame is perpendicular to the connecting frame.

5. The wall cleaning robot according to claim 4, characterized in that: The cleaning component is a roller brush, which is installed inside the connecting frame. The rotating wheels are installed on both sides of the connecting frame, and the electric push rod is fixed on the upper arm frame.

6. The wall cleaning robot according to claim 4, characterized in that: The width of the connecting frame is E; The distance between the top of the first telescopic arm and the center of the auxiliary wheel is B, the width of the upper arm frame is D, and the distance between the lower arm frame of the first telescopic arm and the center of the auxiliary wheel is a. B = D + E + a. The distance between the bottom end of the second telescopic arm and the center of the auxiliary wheel is C, the width of the lower arm frame is D, and the distance between the upper arm frame of the second telescopic arm and the center of the auxiliary wheel is a', where C = D + E + a'.

7. The wall cleaning robot according to claim 1, characterized in that: Two sets of the walking wheels are installed on both sides of the frame, the controller is installed inside the frame, the fan is installed in the middle of the frame, and the center of gravity of the fan is aligned with the center of gravity of the frame. The rope grabbers are symmetrically installed on both sides of the frame, aligning with the vertical plane of the frame's center of gravity, and each rope grabber is threaded with a rope.

8. The wall cleaning robot according to claim 1, characterized in that: The rope grabbing machine is provided in four units, namely the first rope grabbing machine, the second rope grabbing machine, the third rope grabbing machine and the fourth rope grabbing machine. The four rope grabbing machines are located at the upper left, upper right, lower left and lower right of the frame, respectively, and the four rope grabbing machines are located on the same vertical plane, and the vertical plane passes through the center of gravity of the frame. Each rope grabbing machine is threaded with a rope. The center of gravity of the fan's location coincides with the center of gravity of the frame; The first rope grabber and the third rope grabber are installed in opposite directions; the second rope grabber and the fourth rope grabber are installed in opposite directions.

9. The wall cleaning robot according to claim 1, characterized in that: The sensors include robot body sensors and obstacle crossing sensors; The robot body sensor is mounted on the robot body, and the robot body sensor includes a coordinate position measurement sensor and an attitude adjustment sensor. The obstacle-crossing sensor includes a contact sensor and a distance sensor. The distance sensor is installed on the top of the robot body, and the contact sensor is installed inside the shaft wall of the walking wheel, the rotating wheel, and the auxiliary wheel. The contact sensor and the distance sensor are used to sense obstacles and measure the distance between the robot and the cleaning surface and transmit the signal to the controller.

10. A method for a wall cleaning robot to overcome obstacles at high altitudes, characterized in that: When the wall cleaning robot according to any one of claims 1 to 9 is used, during the process of the robot body moving forward to clean the work surface, when the sensor near the walking wheel of the first telescopic arm senses an obstacle, it sends a signal to the controller, and the controller issues an obstacle-crossing command, including the following obstacle-crossing steps: S1. Control the second telescopic arm away from the obstacle to extend, the fan decelerates, the robot body is pushed outside the obstacle, the rotating wheel of the second telescopic arm contacts the working surface, and the robot body leaves the working surface; S2. The robot body continues to move forward, the first telescopic arm of the robot body crosses the obstacle, the robot body continues to move forward, and the cleaning component of the second telescopic arm continues to work; S3. When the sensor on the rotating wheel of the second telescopic arm senses an obstacle, it sends a signal to the controller. The controller issues a command to extend the first telescopic arm and retract the second telescopic arm. The robot body continues to move forward, and the second telescopic arm crosses the obstacle. S4. Once the robot body has completely passed the obstacle, the controller issues a command to retract the first telescopic arm, and the robot body resumes normal operation.

11. The method for high-altitude obstacle crossing of a wall cleaning robot as described in claim 10, characterized in that: The auxiliary wheel is installed at the middle position after the first telescopic arm and the second telescopic arm are extended, and the wheel axle wall of the auxiliary wheel is equipped with a contact sensor; In step S1, while controlling the extension of the electric push rod of the second telescopic arm which is farther away from the obstacle, the electric push rod of the auxiliary wheel is also controlled to extend, so that the auxiliary wheel and the rotating wheel of the second telescopic arm simultaneously contact the working surface. In step S2, the sensor on the auxiliary wheel senses an obstacle and sends a signal to the controller, which then issues a command to stop the robot; after the electric push rod of the first telescopic arm extends, it controls the electric push rod of the auxiliary wheel to retract. In step S3, the robot body moves a certain distance so that the auxiliary wheel passes the obstacle. When the rotating wheel of the second telescopic arm senses the obstacle, it sends a signal to the controller. The controller issues a command, and the electric push rod of the auxiliary wheel extends so that the auxiliary wheel and the rotating wheel of the first telescopic arm simultaneously contact the working surface. The robot body continues to move until the entire robot body passes the obstacle. In step S4, the electric push rod of the first telescopic arm is retracted while the electric push rod of the auxiliary wheel is retracted.

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