Wiping robot and system thereof

Abstract

The invention provides a wiping robot. The wiping robot comprises a main body; an adsorption unit; a first cleaning assembly; the detection device comprises a detection piece capable of moving in the direction perpendicular to the to-be-wiped face relative to the main body, and the detection piece has a first working state and a second working state; the second cleaning assembly can move relative to the main body in the direction perpendicular to the surface to be wiped; when the detection part is in the first working state, the second cleaning assembly is in one of the following three working states: a first state maintained at the first position, a second state maintained at the second position and a third state switched between the first position and the second position; and when the detection piece is in the second working state, the second cleaning assembly is in one of the following two working states: a first state maintained at the first position and a second state maintained at the second position.

Description

Technical Field

[0001] This application relates to the field of intelligent cleaning technology, and specifically, to a wiping robot and its system. Background Art

[0002] A wiping robot is a type of intelligent household appliance. It can firmly adhere to the surface to be wiped by the suction force generated by evacuating the negative pressure chamber, and clean the surface to be measured through the cleaning cloth at its bottom.

[0003] In the prior art, in order to prevent the wiping robot from falling from the edge of the glass to the outside of the glass surface, a telescopic ball head is usually provided on the wiping robot, and the ball head is used to detect the edge of the glass. When the ball head is suspended outside the glass surface, it indicates that the wiping robot has traveled to the edge of the glass. At this time, the wiping robot changes its traveling direction to avoid the risk of falling.

[0004] During the process of the wiping robot cleaning the surface to be wiped (such as glass), it often sweeps the dust on the glass surface towards its edge and accumulates at the edge of the glass or in the corner of the window, resulting in unclean cleaning of the glass edge and corner. And on the other hand, the glass corner and edge are more likely to accumulate dust compared to the center of the window, so it is more difficult to clean the corner.

[0005] In the prior art, the ball head of the wiping robot usually extends outside the body shell, and in order to clean the edge and corner of the glass, a cleaning device is also provided on the ball head.

[0006] Although the cleaning device on the ball head in the prior art extends outside the body shell to clean the edge of the window, in this way, when the ball head first wipes inside the glass and then wipes the edge of the glass, or first wipes the edge of the glass and then wipes the inside of the glass, in order to avoid using the ball head that has wiped the glass to clean the glass again, it is necessary to clean or replace the ball head that has wiped the glass. Such operation is complex and the working efficiency is low. And because the cleaning device is provided on the ball head, and the cleaning device is used to clean the edge and corner of the glass, when the cleaning device is adhered with dust, the dust drops into the ball head, which is likely to affect the telescopic performance of the ball head and reduce the sensitivity of the ball head detection.

[0007] On the other hand, due to the limitation of the window frame, the wiping robot can avoid falling outside the glass surface when wiping at the edge of the framed glass, and there will be no risk of falling. However, for the frameless glass surface, if the wiping robot wipes at the edge of the frameless glass, it is likely to fall due to the lack of obstruction at the glass edge, which not only fails to achieve the purpose of cleaning the dirt at the glass edge, but also increases the danger.

[0008] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of the present disclosure, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0009] One technical problem to be solved by one aspect of the present application is how to solve the problem of improving the cleanliness of the glass edges and corners while ensuring the sensitivity of the ball head detection, and avoid cleaning or replacing the ball head that has already wiped the glass, simplify the operation process, and improve work efficiency.

[0010] Another technical problem to be solved by another aspect of the present application is how to solve the problem of cleaning the frameless glass edges and corners while ensuring safety, and avoid cleaning or replacing the ball head that has already wiped the glass, simplify the operation process, and improve work efficiency.

[0011] In addition, other aspects of the present application also aim to solve or alleviate other technical problems existing in the prior art.

[0012] The present application provides a base station of a wiping robot and a wiping robot system. Specifically, according to one aspect of the present application, there is provided:

[0013] A wiping robot, comprising:

[0014] A main body;

[0015] An adsorption unit, disposed on the main body, for adsorbing the wiping robot on the surface to be wiped;

[0016] A first cleaning assembly, disposed at the bottom of the main body, for performing a cleaning task on the surface to be wiped;

[0017] A detection device, disposed at the edge of the main body, the detection device includes a detection member that can move relative to the main body in a direction perpendicular to the surface to be wiped, the detection member has a first working state and a second working state. In the first working state, the axial projection of the detection member is located within the surface to be wiped, and the detection member abuts against the surface to be wiped. In the second working state, at least a part of the axial projection of the detection member is located outside the surface to be wiped, and the detection member falls from the frameless edge of the wiping surface;

[0018] A second cleaning assembly, disposed outside the detection member, the second cleaning assembly can move relative to the main body in a direction perpendicular to the surface to be wiped to move between a first position and a second position, and the first position is the position where the second cleaning assembly is closest to the surface to be wiped.

[0019] Optionally, when the detection device is in the first working state, the second cleaning assembly is in one of the following three working states: a first state maintained at the first position, a second state maintained at the second position, and a third state that switches between the first position and the second position; when the detection device is in the second working state, the second cleaning assembly is in one of the following two working states: a first state maintained at the first position, a second state maintained at the second position.

[0020] Optionally, the wiping robot further includes: a first driving device disposed on the main body for driving the second cleaning assembly to move in a direction perpendicular to the surface to be wiped, so that the second cleaning assembly can switch between the first position and the second position.

[0021] Optionally, the wiping robot further includes: a control device, the first driving device is connected to the control device, and the control device is configured to control the first driving device according to an external signal, so that the first driving device drives the second cleaning assembly to move in a direction perpendicular to the surface to be wiped, wherein the external signal is used to indicate whether the wiping robot moves along the edge of the surface to be wiped.

[0022] Optionally, there are two first driving devices and two second cleaning assemblies. The two first driving devices are respectively connected to the two second cleaning assemblies, and each first driving device is used to drive the corresponding second cleaning assembly to move.

[0023] Optionally, there are two second cleaning assemblies, and the two second cleaning assemblies are arranged at intervals on one side of the wiping robot along the traveling direction of the wiping robot.

[0024] Optionally, the wiping robot has at least a first cleaning mode and a second cleaning mode. In the first cleaning mode, the wiping robot traverses on the surface to be wiped, so that the first cleaning assembly cleans the surface to be wiped, and the second cleaning assembly is maintained at the second position.

[0025] Optionally, in the second cleaning mode, the wiping robot moves along the edge of the surface to be wiped. One of the two second cleaning assemblies switches from the second position to the first position and finally maintains at the first position, and the other maintains at the second position.

[0026] Optionally, in the first cleaning mode, the detection component is in the first working state. In the second cleaning mode, when the wiping robot moves along the framed edge of the surface to be wiped, the detection component is in the first working state, and when the wiping robot moves along the unframed edge of the surface to be wiped, the detection component is in the second working state.

[0027] Optionally, the second cleaning component is a cleaning ring, the cleaning ring is sleeved outside the detection device, and a first cleaning part is arranged at the bottom of the cleaning ring.

[0028] Optionally, a second cleaning part is arranged on the outer wall of the cleaning ring.

[0029] Optionally, the first cleaning part includes one of the following: a cleaning brush, a cleaning cloth, and a cleaning squeegee.

[0030] Optionally, the second cleaning component can rotate relative to the detection component.

[0031] Optionally, the wiping robot further includes: a control device, the detection component includes at least two first detection components, the control device is connected to at least two of the first detection components, and after both of the two first detection components are switched from the first working state to the second working state, the control device controls the wiping robot to move along the unframed edge of the surface to be wiped. When the wiping robot moves along the unframed edge of the surface to be wiped, the second cleaning component is located at the first position, and at least a partial axial projection of the second cleaning component is located within the surface to be wiped.

[0032] According to another aspect of the present application, the present application provides a wiping robot, including:

[0033] A main body;

[0034] An adsorption unit, arranged on the main body, for adsorbing the wiping robot on the surface to be wiped;

[0035] A first cleaning component, arranged at the bottom of the main body, for performing a cleaning task on the surface to be wiped;

[0036] A detection device is provided at the edge of the main body. The detection device includes a detection member that can move relative to the main body in a direction perpendicular to the surface to be wiped. The detection member can move relative to the main body in a direction perpendicular to the surface to be wiped. The detection member has a first working state and a second working state. In the first working state, the axial projection of the detection member is located within the surface to be wiped, and the detection member abuts against the surface to be wiped. In the second working state, at least a part of the axial projection of the detection member is located outside the surface to be wiped, and the detection member drops from the frameless edge of the wiping surface. The detection member includes at least two first detection members;

[0037] A second cleaning assembly surrounds the outside of the detection member. The second cleaning assembly can move relative to the main body in a direction perpendicular to the surface to be wiped to move between a first position and a second position. The first position is the position where the second cleaning assembly is closest to the surface to be wiped;

[0038] A control device is connected to at least two of the first detection members. After both of the two first detection members are switched from the first working state to the second working state, the control device controls the wiping robot to move along the frameless edge of the surface to be wiped. When the wiping robot moves along the frameless edge of the surface to be wiped, the second cleaning assembly is in the first position, and at least a part of the axial projection of the second cleaning assembly is located within the surface to be wiped.

[0039] Optionally, the wiping robot further includes: a first driving device provided on the main body for driving the second cleaning assembly to move in a direction perpendicular to the surface to be wiped so that the second cleaning assembly can be switched between the first position and the second position.

[0040] Optionally, the first driving device is connected to the control device. The control device is used to control the first driving device according to an external signal so that the first driving device drives the second cleaning assembly to move in a direction perpendicular to the surface to be wiped, where the external signal is used to indicate whether the wiping robot moves along the edge of the surface to be wiped.

[0041] Optionally, there are two first driving devices and two second cleaning assemblies. The two first driving devices are respectively connected to the two second cleaning assemblies, and each first driving device is used to drive the corresponding second cleaning assembly to move.

[0042] Optionally, there is one first driving device and two second cleaning components. One first driving device is connected to the two second cleaning components, and one first driving device is used to drive the two second cleaning components to move.

[0043] Optionally, there are two second cleaning components, and the two second cleaning components are arranged at intervals along the traveling direction of the wiping robot on one side of the wiping robot.

[0044] Optionally, the wiping robot has at least a first cleaning mode and a second cleaning mode. In the first cleaning mode, the wiping robot traverses on the surface to be wiped so that the first cleaning component cleans the surface to be wiped, and the second cleaning component remains in the second position.

[0045] Optionally, in the second cleaning mode, the wiping robot moves along the edge of the surface to be wiped. One of the two second cleaning components is converted from the second position to the first position and finally remains in the first position, and the other remains in the second position.

[0046] Optionally, the detection component further includes a second detection component. In the first cleaning mode, both the first detection component and the second detection component are in the first working state. In the second cleaning mode, when the wiping robot moves along the framed edge of the surface to be wiped, both the first detection component and the second detection component are in the first working state. When the wiping robot moves along the unframed edge of the surface to be wiped, the second detection component is in the second working state.

[0047] Optionally, the second cleaning component is a cleaning ring. The cleaning ring is sleeved outside the detection component, and a first cleaning part is arranged at the bottom of the cleaning ring.

[0048] Optionally, at least two first detection components are arranged at intervals along the direction perpendicular to the traveling direction of the wiping robot. When the wiping robot moves towards the unframed edge of the surface to be wiped and both first detection components are switched from the first working state to the second working state, the wiping robot moves away from the unframed edge of the surface to be wiped to avoid falling.

[0049] Optionally, at least two first detection components are arranged at intervals on one side of the wiping robot, or at least two first detection components are arranged at intervals on both sides of the wiping robot, or at least two first detection components are arranged on the diagonal of the wiping robot.

[0050] Optionally, the detection member further includes a second detection member. The first detection member and the second detection member are respectively located on adjacent sides of the wiping robot. When the wiping robot moves along the frameless edge of the surface to be wiped, the second detection member is in the second working state.

[0051] Optionally, there are two second detection members. When the wiping robot moves along the frameless edge of the surface to be wiped, the two second detection members reciprocate in a direction perpendicular to the surface to be wiped.

[0052] According to another aspect of the present application, the present application provides a wiping robot, including:

[0053] A main body;

[0054] An adsorption unit, arranged on the main body, for adsorbing the wiping robot on the surface to be wiped;

[0055] A detection device, arranged on the edge of the main body. The detection device includes a detection member that can move relative to the main body in a direction perpendicular to the surface to be wiped. The detection member can move relative to the main body in a direction perpendicular to the surface to be wiped. The detection member has a first working state and a second working state. In the first working state, the axial projection of the detection member is located within the surface to be wiped, and the detection member abuts against the surface to be wiped. In the second working state, at least a part of the axial projection of the detection member is located outside the surface to be wiped, and the detection member falls off from the frameless edge of the wiping surface. The detection member includes at least two first detection members;

[0056] A control device, the control device is connected to at least two first detection members. After both of the two first detection members are switched from the first working state to the second working state, the control device controls the wiping robot to move along the frameless edge of the surface to be wiped.

[0057] Optionally, at least two first detection members are arranged at intervals in a direction perpendicular to the traveling direction of the wiping robot. When the wiping robot moves towards the frameless edge of the surface to be wiped, and both of the two first detection members are switched from the first working state to the second working state, the wiping robot moves away from the frameless edge of the surface to be wiped to avoid falling.

[0058] Optionally, at least two first detection members are arranged at intervals on one side of the wiping robot, or at least two first detection members are arranged at intervals on both sides of the wiping robot, or at least two first detection members are arranged on the diagonal of the wiping robot.

[0059] Optionally, the detection member further includes a second detection member. The first detection member and the second detection member are respectively located on adjacent sides of the wiping robot. When the wiping robot moves along the frameless edge of the surface to be wiped, the second detection member is in the second working state.

[0060] Optionally, there are two second detection members. When the wiping robot moves along the frameless edge of the surface to be wiped, the two second detection members reciprocate in a direction perpendicular to the surface to be wiped.

[0061] According to another aspect of the present application, the present application provides a wiping robot system, which includes: the base station and the wiping robot described above, wherein the base station is used to connect to the wiping robot through a safety rope.

[0062] The advantages of the present application include:

[0063] 1. The wiping robot of the present application has a first cleaning component and a second cleaning component. The second cleaning component is arranged outside the detection member, and the detection member is arranged at the edge of the main body. Thus, when the wiping robot moves along the edge of the surface to be wiped, the second cleaning component can contact the edge and corner of the surface to be wiped, so as to clean the edge and corner of the surface to be wiped, and improve the cleanliness of the edge and corner of the surface to be wiped.

[0064] 2. The second cleaning component of the wiping robot of the present application can move relative to the main body in a direction perpendicular to the surface to be wiped, so as to move between a first position and a second position. Thus, when the wiping robot wipes inside the surface to be wiped (at non-edge and non-corner positions of the surface to be wiped), the second cleaning component is located at the second position, so that the second cleaning component does not contact the inside of the surface to be wiped, thus avoiding soiling the second cleaning component when the wiping robot wipes inside the surface to be wiped; when the wiping robot wipes at the edge and corner of the surface to be wiped, the second cleaning component is located at the first position, so that the second cleaning component contacts the edge and corner of the surface to be wiped, so as to wipe the edge and corner of the surface to be wiped through the second cleaning component; avoid using the second cleaning component that has wiped the surface to be wiped to clean the edge and corner of the surface to be wiped again, and also avoid the second cleaning component that has wiped the edge and corner from wiping the non-edge and non-corner positions of the surface to be wiped, thereby avoiding cross-contamination. Thus, only by making the second cleaning component move axially can the cleanliness of the second cleaning component be maintained before cleaning the edge and corner of the surface to be wiped, without the need to clean or replace the second cleaning component that has wiped the surface to be wiped. The operation is simple and the work efficiency is high.

[0065] 3. When the detection device of the wiping robot of the present application is in the first working state, the second cleaning component is in one of the following three working states: the first state maintained at the first position, the second state maintained at the second position, and the third state that switches between the first position and the second position; when the detection device is in the second working state, the second cleaning component is in one of the following two working states: the first state maintained at the first position, the second state maintained at the second position, that is, when the detection piece is in the first working state in contact with the surface to be wiped, the second cleaning component can move in a direction perpendicular to the surface to be wiped, or is in the first position or the second position. At this time, even if due to the movement of the second cleaning device, the dust accumulated on the second cleaning device falls between the detection piece and the main body, because the detection piece is in contact with the surface to be wiped, the surplus space between the detection piece and the main body and the entrance for the dust to enter the surplus space are small, and the dust received between the detection piece and the main body is also small, so the influence on the sensitivity of the detection piece is small; when at least part of the axial projection of the detection piece is located outside the surface to be wiped and is in the second working state, the second cleaning component cannot move in a direction perpendicular to the surface to be wiped and can only be in the first position or the second position. In this way, when the wiping robot moves to the edge of the glass and the detection piece falls from the edge of the wiping surface and hangs outside the glass surface, due to the movement of the second cleaning device, the dust accumulated on the second cleaning device falls into the surplus space between the detection piece and the main body and the entrance for the dust to enter the surplus space. Since the surplus space and the entrance for the dust to enter the surplus space are large at this time, the dust received between the detection piece and the main body is also large, so the influence on the sensitivity of the detection piece is large. In this way, while ensuring the sensitivity of the detection piece, the problem of improving the cleanliness of the glass edge and corner cleaning is solved, and the cleaning or replacement of the ball head that has wiped the glass is avoided, simplifying the operation process and improving work efficiency.

[0066] 4. The wiping robot of the present application first detects the frameless edge along the surface to be wiped by both first detection pieces switching from the first working state to the second working state, and then the control device controls the wiping robot to move along the frameless edge of the surface to be wiped. When the wiping robot moves along the frameless edge of the surface to be wiped, the second cleaning component is located at the first position, and at least part of the axial projection of the second cleaning component is located within the surface to be wiped, so that the wiping robot can avoid falling outside the glass surface when wiping the edge of the framed glass and there is no risk of falling. Therefore, the wiping robot of the present application solves the problem of cleaning the frameless glass edge and corner while ensuring safety.

[0067] 5. After both of the first detection members of the wiping robot of the present application switch from the first working state to the second working state, a frameless edge is detected, and the wiping robot can move along the frameless edge of the surface to be wiped when both of the second detection members are in the second working state, thus avoiding the risk of falling due to no occlusion at the edge of the surface to be wiped. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Referring to the accompanying drawings, the above and other features of the present application will become apparent, and it is easy for those skilled in the art to understand that: these drawings are only for illustrative purposes and are not intended to limit the protection scope of the present application. In addition, similar numbers in the figures are used to represent similar components, where

[0069] Figure 1 shows a schematic structural diagram of a wiping robot according to an embodiment of the present application;

[0070] Figure 2 shows a schematic diagram of the first working mode of a wiping robot according to an embodiment of the present application;

[0071] Figure 3 shows a schematic diagram of the second working mode of a wiping robot according to an embodiment of the present application;

[0072] Figure 4 shows a schematic diagram of the detection member of a wiping robot suspended according to an embodiment of the present application;

[0073] Figure 5 shows a schematic diagram of a wiping robot working along a frameless edge according to an embodiment of the present application;

[0074] Figure 6 shows a schematic diagram of the first working state of the detection member of a wiping robot according to an embodiment of the present application;

[0075] Figure 7 shows a schematic diagram of the second working state of the detection member of a wiping robot according to an embodiment of the present application.

[0076] DESCRIPTION OF REFERENCE NUMERALS:

[0077] 10, main body; 20, adsorption unit; 30, first cleaning assembly; 40, detection device; 50, second cleaning assembly; 60, second driving device; 101, housing; 102, bumper; 201, negative pressure chamber; 401, first connecting portion; 402, second connecting portion; 403, through hole; 404, rod body; 405, first detection member; 406, second detection member; 408, induction member; 409, protrusion; 70, surface to be wiped; 100, wiping robot. Detailed implementation manners

[0078] It is easy to understand that according to the technical solution of the present application, under the condition of not changing the essential spirit of the present application, those of ordinary skill in the art can propose various interchangeable structural manners and implementation manners. Therefore, the following detailed implementation manners and the accompanying drawings are only exemplary descriptions of the technical solution of the present application, and should not be regarded as all of the present application or as a limitation or restriction on the technical solution of the present application.

[0079] The orientation terms such as up, down, left, right, front, back, front side, back side, top, bottom, etc. mentioned or possibly mentioned in this specification are defined relative to the structures shown in the respective drawings. They are relative concepts, and thus may change accordingly depending on their different positions and different usage states. Therefore, these or other orientation terms should not be interpreted as restrictive terms. In addition, the terms "first", "second", "third", etc. or similar expressions are only used for descriptive and distinguishing purposes, and cannot be understood as indicating or implying the relative importance of the corresponding components or the sequence or assembly sequence of the components.

[0080] Reference Figure 1 , which shows a schematic structural diagram of a wiping robot 100 proposed according to an embodiment of the present application. The wiping robot 100 can be a window cleaning robot. The window cleaning robot can be used to clean surfaces such as glass surfaces, ceramic tile surfaces, and wooden board surfaces.

[0081] Reference Figures 1 to 5 . Figure 2 It is a schematic diagram observed from the inner surface of the glass surface when the wiping robot 100 proposed according to an embodiment of the present application traverses and wipes the outer surface of the framed glass surface. Figure 3 It is a schematic diagram observed from the inner surface of the glass surface when the wiping robot 100 proposed according to an embodiment of the present application wipes the edge of the outer surface of the framed glass surface. Figure 4 It is a schematic diagram observed from the inner surface of the glass surface when the wiping robot 100 proposed according to an embodiment of the present application moves to the outside of the edge of the outer surface of the frameless glass surface. Figure 5Schematic diagram observed from the inner surface of the glass surface when the wiping robot 100 proposed in an embodiment of the present application moves along the edge of the outer surface of the frameless glass surface. Further, the wiping robot 100 includes a main body 10, a suction unit 20, a first cleaning component 30, a detection device 40, and a second cleaning component 50. The main body 10 includes a housing 101 and a bumper 102. A receiving cavity for receiving components is formed inside the housing 101. The bumper 102 surrounds the outer peripheral side of the housing 101. The bumper 102 is movably arranged on the housing 101, so that the bumper 102 can move in a direction close to or away from the housing 101. When the bumper 102 collides with an external obstacle, the bumper 102 moves in a direction close to the housing 101. When the bumper 102 is away from the external obstacle, the bumper 102 moves in a direction away from the housing 101. The external obstacle can be a protrusion provided on the surface 70 to be wiped, or a window frame provided at the edge of the surface 70 to be wiped. The bumper 102 can be used to detect various environmental characteristics of the surface 70 to be wiped, so that the wiping robot 100 can perform wiping work according to the environmental characteristics, thereby improving the working efficiency of the wiping robot 100, reducing failures caused by collisions, and reducing the maintenance frequency and cost. The specific structure of the bumper 102 and the connection manner between the bumper 102 and the housing 101 can adopt relevant technical means in the prior art, so details are not described herein.

[0082] Please refer to Figure 1 As shown, exemplarily, the overall shape of the main body 10 is rectangular. Please refer to Figures 2 to 5 As shown, the suction unit 20 is arranged on the main body 10. For example, the suction unit 20 is arranged in the middle of the main body 10. The suction unit 20 is used to adsorb the wiping robot 100 on the surface 70 to be wiped. Specifically, the suction unit 20 includes a negative pressure cavity 201 arranged at the bottom of the main body 10 and a vacuum source arranged in the receiving cavity. The bottom of the housing 101 is recessed inward to form the negative pressure cavity 201. The opening of the negative pressure cavity 201 can face the surface 70 to be wiped. The vacuum source is in fluid communication with the negative pressure cavity 201. When the vacuum source evacuates the negative pressure cavity 201, a negative pressure environment can be generated in the negative pressure cavity 201, thereby adsorbing the main body 10 on the surface 70 to be wiped. The vacuum source can be, for example, a blower. Of course, the vacuum source is not limited to a blower and can also be in other forms, such as a vacuum pump, etc. This application does not make a specification in this regard. The first cleaning component 30 is arranged at the bottom of the main body 10. For example, the first cleaning component 30 is detachably mounted at the bottom of the housing 101. The first cleaning component 30 is used to seal the negative pressure cavity 201 between the surface 70 to be wiped and the housing 101. And the first cleaning member is used to clean the surface 70 to be wiped.

[0083] The second driving device 60 is used to drive the main body 10 to move. The second driving device 60 can be a crawler structure. Of course, the second driving device 60 is not limited to the crawler structure and can also be a walking wheel, and this application does not make any regulations in this regard. The second driving device 60 can be arranged inside the negative pressure chamber 201 or outside the negative pressure chamber 201.

[0084] The detection device 40 can be arranged at the edge of the main body 10. For example, the detection device 40 is arranged at the vertex angle or the side of the main body 10. The detection device 40 is used to detect the defects or edges of the surface to be wiped 70. Further, please refer to Figures 6 to 7 As shown, according to an embodiment of the present application, the detection device 40 includes a connecting portion connected to the main body 10, a moving portion penetrating through the connecting portion, and a sensing member 408 installed on the connecting portion. The connecting portion can be fixedly connected to the main body 10. For example, screw connection, bolt connection, integral molding, etc. The connecting portion is provided with a through hole 403. Specifically, the connecting portion includes a connected first connecting portion 401 and a second connecting portion 402, and the first connecting portion 401 is used to connect to the main body 10.

[0085] The second connecting portion 402 extends downward along the first connecting portion 401, and the second connecting portion 402 is a cylindrical structure.

[0086] The second connecting portion 402 is provided with a through hole 403.

[0087] The moving portion penetrates through the through hole 403. The moving portion can move axially relative to the connecting portion in the through hole 403. The moving portion includes a rod body 404 and a detection member provided at one end of the rod body 404. The detection member can be spherical or hemispherical.

[0088] A trigger portion is provided at one end of the rod body 404 away from the detection member. The sensing portion is mounted on the first connecting portion 401. The trigger portion is used to cooperate with the sensing member 408 to identify the position change of the moving portion. Furthermore, the wiping robot 100 can determine whether it is at a defective portion or an edge of the surface to be wiped 70 based on the position of the moving member, so as to perform corresponding actions in advance, avoid the wiping robot 100 from continuing to walk in the original moving direction, and prevent the wiping robot 100 from falling from the window. Specifically, the trigger portion can be a protrusion 409 provided on the rod body 404. The sensing portion can be an optocoupler assembly. Of course, the sensing portion can also be one or a combination of an infrared sensor, an ultrasonic sensor, and a laser sensor. The optocoupler assembly includes a transmitting end and a receiving end arranged oppositely. The transmitting end is used to transmit an optical signal to the receiving end. When the protrusion 409 is located between the transmitting end and the receiving end, the optical signal transmitted by the transmitting end cannot be received by the receiving end. When the protrusion 409 is not located between the transmitting end and the receiving end, the optical signal transmitted by the transmitting end can be received by the receiving end. Thus, when the moving portion moves axially and drives the protrusion 409 to move, the sensing portion can detect the state of the rod body 404. Further, the size of the protrusion 409 on the rod body 404 is larger than the size of the through hole 403. Thus, the protrusion 409 can limit the moving portion to prevent the moving portion from completely disengaging from the through hole 403.

[0089] An elastic member is sleeved outside the rod body 404. The elastic member can be, for example, a spring. The elastic member is located in the through hole 403 of the second connecting portion 402 and between the detection member and the trigger portion. When the moving portion moves in the through hole 403, the elastic member outside the rod body 404 can be compressed by the detection member, or the compressed elastic member can elongate under its own elastic force, thereby promoting the movement of the rod body 404.

[0090] The detection member can move relative to the main body 10 in a direction perpendicular to the surface to be wiped 70. For example, as Figures 2 to 5 shown, the direction perpendicular to the surface to be wiped 70 is the direction perpendicular to the paper surface. Therefore, in Figures 2 to 5 , the detection member can move relative to the main body 10 in a direction perpendicular to the paper surface. Further, when the wiping robot 100 is adsorbed on the surface to be wiped 70 and the moving portion moves axially relative to the connecting portion in the through hole 403, the detection member can move relative to the main body 10 in a direction perpendicular to the surface to be wiped 70 along with the movement of the rod body 404. Further, the detection member has a first working state and a second working state. In the first working state, as Figure 2 and Figure 3As shown, the axial projection of the detection member is located within the surface 70 to be wiped, and the detection member abuts against the surface 70 to be wiped. Specifically, the axis of the detection member is consistent with the axis (extension direction) of the moving part. When the wiping robot 100 is adsorbed on the surface 70 to be wiped, the axial projection of the detection member is the projection of the detection member in the direction perpendicular to the surface 70 to be wiped. In this first working state, the moving part abuts against the wiping surface, so that the protrusion 409 is located on the side of the sensing part away from the detection member. The protrusion 409 on the moving part is outside the transmitting end and the receiving end, and the optical signal emitted by the transmitting end can be received by the receiving end. Thus, the wiping robot 100 determines that the wiping robot 100 is not at the defective part or the edge of the surface 70 to be wiped according to the optical signal detected by the receiving end. Further, in this first working state, the elastic member is compressed by the detection member in the through hole 403. In the second working state, as Figure 4 and Figure 5 shown, at least part of the axial projection of the detection member is located outside the surface 70 to be wiped, and the detection member falls outward from the edge of the wiping surface. Specifically, in the second working state, at least part of the moving part falls from the wiping surface, so that the protrusion 409 on the moving part is located between the transmitting end and the receiving end, and the optical signal emitted by the transmitting end is blocked by the protrusion 409 and cannot be received by the receiving end. Thus, the wiping robot 100 determines whether the detection member of the wiping robot 100 is in a suspended or fallen state according to whether the receiving end can detect the optical signal, and the wiping robot 100 is at the defective part of the surface 70 to be wiped or the edge of the surface 70 to be wiped. Thus, when the detection member changes from the first working state to the second working state, the detection member changes from the state of abutting against the surface 70 to be wiped to the state of separating from the surface 70 to be wiped. Specifically, the detection member falls outward from the edge of the surface 70 to be wiped, so that the protrusion 409 on the moving part moves from outside the transmitting end and the receiving end to between the transmitting end and the receiving end, and the optical signal emitted by the transmitting end changes from being able to be received by the receiving end to being blocked by the protrusion 409 and not being able to be received by the receiving end. Thus, the wiping robot 100 determines that the detection member of the wiping robot 100 changes from the state of never being in a suspended or fallen state to the state of being in a suspended or fallen state according to whether the receiving end can detect the optical signal until the wiping robot 100 is at the defective part of the surface 70 to be wiped or the edge of the surface 70 to be wiped. Further, in this second working state, the elastic member elongates in the through hole 403.

[0091] The detection member includes at least two first detection members 405 arranged at intervals. In one embodiment, at least two first detection members 405 are arranged at intervals on one side of the wiping robot 100. For example, as Figure 4As shown, at least two first detection elements 405 are arranged at intervals on the front side along the direction perpendicular to the traveling direction of the wiping robot 100. Or at least two first detection elements 405 are arranged at intervals on the rear side along the direction perpendicular to the traveling direction of the wiping robot 100. In another embodiment, at least two first detection elements 405 are arranged at intervals on both sides of the wiping robot 100. For example, at least two first detection elements 405 are arranged at intervals on the left and right sides along the direction perpendicular to the traveling direction of the wiping robot 100. In another embodiment, at least two first detection elements 405 are arranged on the diagonal of the wiping robot 100.

[0092] As Figure 4 shown, when both first detection elements 405 switch from the first working state to the second working state, it indicates that both first detection elements 405 have changed from never being suspended or dropped to being suspended or dropped. Only when both first detection elements 405 fall or become suspended from the frameless edge of the surface to be wiped 70, will the situation where both first detection elements 405 simultaneously switch from the first working state to the second working state occur. Thus, when both first detection elements 405 switch from the first working state to the second working state, it indicates that the wiping robot 100 has moved to the frameless edge of the surface to be wiped 70.

[0093] As Figure 5As shown, the control device controls the wiping robot 100 to move along the frameless edge of the surface 70 to be wiped. Specifically, the detection member further includes a second detection member 406. The first detection member 405 and the second detection member 406 are respectively located on adjacent sides of the wiping robot 100. For example, when at least two first detection members 405 are arranged at intervals along the front side perpendicular to the traveling direction of the wiping robot 100, the second detection member 406 is located on the left or right side perpendicular to the traveling direction of the wiping robot 100. Thus, when both first detection members 405 switch from the first working state to the second working state, the wiping robot 100 rotates so that the second detection member 406 can switch from the first working state to the second working state. Thereby, the control device controls the wiping robot 100 to move forward or backward to move along the frameless edge of the surface 70 to be wiped. Further, when the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped, the second detection member 406 is in the second working state. Thus, at least a part of the second detection member 406 drops from the wiping surface, so that the second detection member 406 detects the frameless edge of the surface 70 to be wiped. Further, there are two second detection members 406. The two second detection members 406 are arranged at intervals along the direction parallel to the traveling direction of the wiping robot 100. Thus, when both second detection members 406 are in the second working state at the same time, at least a part of both second detection members 406 drops from the wiping surface. Thus, the frameless edge of the surface 70 to be wiped is detected by the two second detection members 406. In one embodiment, both second detection members 406 are arranged at the apex angles of the main body 10. Both first detection members 405 are also arranged at the apex angles of the main body 10. Thus, one of the first detection members 405 and the other second detection member 406 are the same. Of course, both second detection members 406 may not be arranged at the apex angles of the main body 10. Both first detection members 405 may also be arranged at the apex angles of the main body 10. Thus, the first detection member 405 and the second detection member 406 are independent of each other. Further, in one embodiment, the detection device 40 includes four first detection members 405 and four second detection members 406, and the four first detection members 405 are also the four second detection members 406 at the same time. That is, the four first detection members 405 are respectively arranged at the four apex angles of the main body 10.

[0094] When the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped, the two second detection members 406 reciprocate in a direction perpendicular to the surface 70 to be wiped and both second detection members 406 are maintained in the second working state. Thus, when the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped, the moving direction is not a straight line but an approximate straight line. That is, when the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped, the wiping robot 100 will simultaneously undergo torsional or swinging movement at the edge of the surface 70 to be wiped, thus preventing the negative pressure chamber 201 of the suction device from leaking air when the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped and causing a falling accident.

[0095] At least two first detection members 405 are arranged at intervals in a direction perpendicular to the traveling direction of the wiping robot 100. When the wiping robot 100 moves towards the frameless edge of the surface 70 to be wiped and both first detection members 405 are switched from the first working state to the second working state, the wiping robot 100 moves away from the frameless edge of the surface 70 to be wiped to avoid falling.

[0096] The second cleaning assembly 50 is arranged outside the detection device 40. In this embodiment, the second cleaning assembly 50 surrounds the outside of the second connecting portion 402. Specifically, the second cleaning assembly 50 is a cleaning ring. The cleaning ring is sleeved outside the detection device 40, and a first cleaning portion is arranged at the bottom of the cleaning ring. More specifically, the cleaning ring is movably sleeved outside the second connecting portion 402. The first cleaning portion includes one of the following: a cleaning brush, a cleaning cloth, a cleaning scraper strip. Further, a second cleaning portion is arranged on the outer wall of the cleaning ring. The second cleaning portion includes one of the following: a cleaning brush, a cleaning cloth, a cleaning scraper strip. The second cleaning portion is used to clean the window frame of the surface 70 to be wiped.

[0097] The second cleaning assembly 50 can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped to move between a first position and a second position. The first position is the position where the second cleaning assembly 50 is closest to the surface 70 to be wiped. For example, as Figures 2 to 5 shown, when the wiping robot 100 is adsorbed on the vertically placed surface 70 to be wiped, the second cleaning assembly 50 can move relative to the main body 10 in the horizontal direction. And when the wiping robot 100 is adsorbed on the horizontally placed surface 70 to be wiped, the second cleaning assembly 50 can move relative to the main body 10 in the vertical direction. For example, as Figure 5As shown, when the second cleaning component 50 is in the first position, the first cleaning part can be in contact with the surface 70 to be wiped, so that the surface 70 to be wiped can be cleaned through the first cleaning part. The second position is the position where the second cleaning component 50 is farthest from the surface 70 to be wiped. That is, when the wiping robot 100 is adsorbed on the horizontally placed surface 70 to be wiped, the first position is the lowest position of the second cleaning component 50. The second position is the highest position of the second cleaning component 50.

[0098] Further, the wiping robot 100 has at least a first cleaning mode and a second cleaning mode. As Figure 2 shown, in the first cleaning mode, the wiping robot 100 traverses on the surface 70 to be wiped, so that the first cleaning component 30 cleans the surface 70 to be wiped, and the second cleaning component 50 is maintained in the second position. This first cleaning mode can be, for example, a global cleaning mode, a partition cleaning mode, etc. That is, when the wiping robot 100 wipes inside the surface 70 to be wiped, the second cleaning component 50 is located in the second position, so that the second cleaning component 50 cannot contact the inside of the surface 70 to be wiped, thus preventing the wiping robot 100 from soiling the second cleaning component 50 when wiping inside the surface 70 to be wiped.

[0099] As Figure 3 shown, in the second cleaning mode, the wiping robot 100 moves along the edge of the surface 70 to be wiped, so that the second cleaning component 50 can contact the edge and corner of the surface 70 to be wiped, thereby cleaning the edge and corner of the surface 70 to be wiped and improving the cleanliness of the edge and corner of the surface 70 to be wiped. Thus, when the wiping robot 100 wipes the edge and corner of the surface 70 to be wiped, the second cleaning component 50 contacts the edge and corner of the surface 70 to be wiped, and thus the edge and corner of the surface 70 to be wiped are wiped through the second cleaning component 50; it is avoided to use the second cleaning component 50 that has wiped the surface 70 to be wiped to clean the edge and corner of the surface 70 to be wiped again. In this way, only by making the second cleaning component 50 move axially can the cleanliness of the second cleaning component 50 be maintained before cleaning the edge and corner of the surface 70 to be wiped, without the need to clean or replace the second cleaning component 50 that has wiped the surface 70 to be wiped, with simple operation and high working efficiency. This second cleaning mode can be, for example, an edge cleaning mode, a marginal cleaning mode or a corner cleaning mode.

[0100] The second cleaning component 50 may be one, two, three, four, etc. In this embodiment, there are two second cleaning components 50. The two second cleaning components 50 are arranged at intervals along the traveling direction of the wiping robot 100 on one side of the wiping robot 100. In this way, when the wiping robot 100 moves along the edge of the surface 70 to be wiped, one of the second cleaning components 50 can be used to wipe the edge of the surface 70 to be wiped; or the two second cleaning components 50 can be used to wipe the edge of the surface 70 to be wiped. And when the wiping robot 100 moves along the edge of the surface 70 to be wiped in two opposite directions, one of the second cleaning components 50 can be used to wipe the edge of the surface 70 to be wiped respectively. In this way, on the one hand, it is ensured that the edge of the surface 70 to be wiped can be cleaned, and on the other hand, when the two second cleaning components 50 wipe the edge of the surface 70 to be wiped at the same time, the pressure of the two second cleaning components 50 on the surface 70 to be wiped is too large, which may scratch the surface 70 to be wiped.

[0101] In the second cleaning mode, the wiping robot 100 moves along the edge of the surface 70 to be wiped. One of the two second cleaning components 50 is converted from the second position to the first position and finally maintained at the first position, and the other is maintained at the second position. That is, when the wiping robot 100 moves along the edge of the surface 70 to be wiped, one of the two second cleaning components 50 is used to wipe the edge of the surface 70 to be wiped, and the other is not used to wipe the edge of the surface 70 to be wiped, so as to avoid the pressure of the two second cleaning components 50 on the surface 70 to be wiped being too large and scratching the surface 70 to be wiped.

[0102] A first driving device is also provided on the main body 10. The second driving device 60 is used to drive the second cleaning component 50 to move in a direction perpendicular to the surface 70 to be wiped, so that the second cleaning component 50 can be switched between a first position and a second position. Thus, the position of the second cleaning component 50 can be automatically adjusted by the second driving device 60, avoiding the need for manual operation. Moreover, the second cleaning component 50 can be maintained at a certain position (such as the first position or the second position) by the driving of the second driving device 60, so as to avoid the second cleaning component 50 floating up and down on the surface 70 to be wiped and reducing the cleaning effect when the second cleaning component 50 cannot be maintained at a certain position. Further, the second driving device 60 may include a driving motor. The rotating shaft of the driving motor is in transmission connection with the cleaning ring, so that the cleaning ring can be driven by the driving motor to move between the first position and the second position. Or the rotating shaft of the driving motor is connected to the cleaning ring through a transmission device, so that the cleaning ring can be driven by the driving motor to move between the first position and the second position. The transmission device is used to convert the rotation of the rotating shaft of the driving motor into the linear movement of the second cleaning component 50. The transmission device may be, for example, a gear-rack mechanism, or a cam mechanism, or a crank-slider mechanism, or a screw mechanism. Further, when the second cleaning component 50 is maintained at the first position, the second cleaning component 50 can rotate relative to the detection member. That is, when the second cleaning component 50 is cleaning the surface 70 to be wiped, it can rotate relative to the detection member, thus improving the cleaning efficiency. Specifically, the rotating shaft of the driving motor is connected to the cleaning ring through a transmission device, so that first, the cleaning ring can be driven by the driving motor to move between the first position and the second position. Then, when the second cleaning component 50 is maintained at the first position, the second cleaning component 50 can be driven to rotate by the rotating shaft of the driving motor.

[0103] The control device is connected to the first driving device. The control device is used to control the first driving device according to an external signal, so that the first driving device drives the second cleaning component 50 to move in a direction perpendicular to the surface 70 to be wiped, where the external signal is used to indicate whether the wiping robot 100 is moving along the edge of the surface 70 to be wiped. Specifically, when the external signal is that the wiping robot 100 is in the second cleaning mode, the control device is used to control the first driving device according to the external signal, so that the first driving device can drive the second cleaning component 50 to move in a direction perpendicular to the surface 70 to be wiped, and further make the second cleaning component 50 in the first position. When the external signal is that the wiping robot 100 is in the first cleaning mode, the control device is used to control the first driving device according to the external signal, so that the first driving device can drive the second cleaning component 50 to move in a direction perpendicular to the surface 70 to be wiped, and further make the second cleaning component 50 in the second position.

[0104] There are two first driving devices. There are two second cleaning assemblies 50. The two first driving devices are respectively connected to the two second cleaning assemblies 50. Each first driving device is used to drive the corresponding second cleaning assembly 50 to move. In this way, by driving the two second cleaning assemblies 50 respectively with the two first driving devices, the movement interference between the two second cleaning assemblies 50 can be avoided, and the cleaning effect can be affected.

[0105] There is one first driving device. There are two second cleaning assemblies 50. One first driving device is connected to the two second cleaning assemblies 50. One first driving device is used to drive the two second cleaning assemblies 50 to move. In this way, by driving the two second cleaning assemblies 50 with one first driving device, the cost can be reduced and the weight of the wiping robot 100 can be reduced.

[0106] In the first cleaning mode, both the first detection member 405 and the second detection member 406 are in the first working state. In the second cleaning mode, when the wiping robot 100 moves along the framed edge of the surface 70 to be wiped, both the first detection member 405 and the second detection member 406 are in the first working state. When the wiping robot 100 moves along the unframed edge of the surface 70 to be wiped, the second detection member 406 is in the second working state. That is, in the first cleaning mode, both the first detection member 405 and the second detection member 406 are in contact with the surface 70 to be wiped. In the second cleaning mode, because the wiping robot 100 can detect the framed edge of the surface 70 to be wiped according to the bumper 102, when the wiping robot 100 moves along the framed edge of the surface 70 to be wiped, both the first detection member 405 and the second detection member 406 are in contact with the surface 70 to be wiped. And because the wiping robot 100 cannot detect the unframed edge of the surface 70 to be wiped according to the bumper 102, when the wiping robot 100 moves along the unframed edge of the surface 70 to be wiped, the second detection member 406 is in the second working state. In this way, the wiping robot 100 can judge whether the wiping robot 100 moves along the framed edge of the surface 70 to be wiped according to the second detection member 406.

[0107] When the detection member is in the first working state, the second cleaning assembly 50 is in one of the following three working states: the first state of maintaining at the first position, the second state of maintaining at the second position, and the third state of switching between the first position and the second position. As Figure 2 shown, when the wiping robot wipes inside the surface 70 to be wiped, the detection member is in the first working state of being in contact with the surface to be wiped, and the second cleaning device maintains the second state at the second position. In this way, the second cleaning device cannot wipe the inside of the surface 70 to be wiped. As Figure 3As shown, when the wiping robot wipes at the edge of the surface 70 to be wiped, the detecting member is in the first working state in contact with the surface to be wiped, and the second cleaning device is maintained in the second state at the first position. In this way, the second cleaning device can wipe the edge of the surface 70 to be wiped. As Figure 2 , Figure 3 shown, when the wiping robot turns from the inside of the surface 70 to be wiped to the edge of the surface 70 to be wiped, the detecting member is in the first working state in contact with the surface to be wiped, and the second cleaning device is in the second state of being converted between the first position and the second position.

[0108] When the detecting member is in the second working state, the second cleaning assembly 50 is in one of the following two working states: the first state maintained at the first position and the second state maintained at the second position. For example, as Figure 4 shown, when the detecting member falls to the edge of the surface 70 to be wiped, the detecting member is in the second working state, and the second cleaning device is maintained in the second state at the second position. As Figure 5 shown, when the wiping robot wipes along the edge of the surface 70 to be wiped, the detecting member is maintained in the first state at the first position.

[0109] When the detecting member is in the first working state in contact with the surface 70 to be wiped, the second cleaning assembly 50 can move in a direction perpendicular to the surface 70 to be wiped, or be in the first position or the second position. For example, as Figure 6 shown, when the detecting member is in the first working state in contact with the surface 70 to be wiped, the second cleaning assembly 50 is maintained in the second state at the second position. At this time, even if the second cleaning assembly 50 moves axially, causing the dust accumulated on the second cleaning device to fall between the detecting member and the main body 10, since the detecting member is in contact with the surface 70 to be wiped, the surplus space between the detecting member and the main body 10 and the entrance for the dust to enter this surplus space are small, and the dust received between the detecting member and the main body 10 is also small, thus having a small impact on the sensitivity of the detecting member; while when at least a part of the axial projection of the detecting member is located outside the surface 70 to be wiped and is in the second working state, the second cleaning assembly 50 cannot move in a direction perpendicular to the surface 70 to be wiped and can only be in the first position or the second position. For example, as Figure 7As shown, the second working state of the detection device 40 suspended above the surface 70 to be wiped, and the second state of the second cleaning assembly 50 maintained at the second position. If at this time, due to the movement of the second cleaning device, the dust accumulated on the second cleaning device falls into the surplus space between the detection member and the main body 10 and the entrance for the dust to enter this surplus space, since the surplus space and the entrance for the dust to enter this surplus space are relatively large at this time, more dust is received between the detection member and the main body 10, thus having a greater impact on the sensitivity of the detection member. Therefore, in the present application, when the detection device 40 is in the second working state, the second cleaning assembly 50 cannot move in a direction perpendicular to the surface 70 to be wiped and can only be in the first position or the second position. In this way, while ensuring the sensitivity of the detection member, the problem of improving the cleanliness of the edges and corners of the glass is solved, and the cleaning or replacement of the ball head that has already wiped the glass is avoided, simplifying the operation process and improving work efficiency.

[0110] On the other hand, the present application also provides a wiping robot 100, including: a main body 10; an adsorption unit 20 disposed on the main body 10 for adsorbing the wiping robot 100 onto the surface 70 to be wiped; a first cleaning assembly 30 disposed at the bottom of the main body 10 for performing a cleaning task on the surface 70 to be wiped; a detection device 40 disposed at the edge of the main body 10, the detection device 40 including a detection member that can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, the detection member can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, the detection member has a first working state and a second working state. In the first working state, the axial projection of the detection member is located within the surface 70 to be wiped, and the detection member abuts against the surface 70 to be wiped. In the second working state, at least part of the axial projection of the detection member is located outside the surface 70 to be wiped, and the detection member drops outwards from the frameless edge of the wiping surface. The detection member includes at least two first detection members 405 arranged at intervals; a second cleaning assembly 50 surrounding the outside of the detection member, the second cleaning assembly 50 can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped to move between a first position and a second position, the first position being the position where the second cleaning assembly 50 is closest to the surface 70 to be wiped; a control device, the control device is connected to at least two first detection members 405. After both first detection members 405 are switched from the first working state to the second working state, the control device controls the wiping robot 100 to move along the frameless edge of the surface 70 to be wiped. When the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped, the second cleaning assembly 50 is in the first position, and at least part of the axial projection of the second cleaning assembly 50 is located within the surface 70 to be wiped.

[0111] The wiping robot 100 of the present application first detects the frameless edge along the surface 70 to be wiped by both first detection members 405 switching from the first working state to the second working state. Then, the control device controls the wiping robot 100 to move along the frameless edge of the surface 70 to be wiped. When the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped, the second cleaning assembly 50 is in the first position, and at least a partial axial projection of the second cleaning assembly 50 is located within the surface 70 to be wiped. In this way, when the wiping robot 100 wipes the edge of the framed glass, it can avoid falling outside the glass surface and there is no risk of falling. Therefore, the wiping robot 100 of the present application solves the problem of cleaning the frameless edge and corners of the glass while ensuring safety.

[0112] Another aspect of the present application also provides a wiping robot 100, including: a main body 10; an adsorption unit 20 disposed on the main body 10 for adsorbing the wiping robot 100 onto the surface 70 to be wiped; a detection device 40 disposed at the edge of the main body 10, the detection device 40 including a detection member capable of moving relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, the detection member being capable of moving relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, the detection member having a first working state and a second working state. In the first working state, the axial projection of the detection member is located within the surface 70 to be wiped and the detection member abuts against the surface 70 to be wiped. In the second working state, at least a partial axial projection of the detection member is located outside the surface 70 to be wiped and the detection member falls outward from the frameless edge of the wiping surface. The detection member includes at least two first detection members 405 arranged at intervals; a control device, the control device being connected to at least two of the first detection members 405. After both of the first detection members 405 switch from the first working state to the second working state, the control device controls the wiping robot 100 to move along the frameless edge of the surface 70 to be wiped.

[0113] The wiping robot 100 of the present application first detects the frameless edge along the surface 70 to be wiped by both first detection members 405 switching from the first working state to the second working state. Then, the control device controls the wiping robot 100 to move along the frameless edge of the surface 70 to be wiped. When the wiping robot 100 moves along the frameless edge of the surface 70 to be wiped, the second cleaning assembly 50 is in the first position, and at least a partial axial projection of the second cleaning assembly 50 is located within the surface 70 to be wiped. In this way, when wiping the edge of the framed glass, it can avoid falling outside the glass surface and there is no risk of falling. Therefore, the wiping robot 100 of the present application solves the problem of cleaning the frameless edge and corners of the glass while ensuring safety.

[0114] Another aspect of the present application also provides a wiping robot 100, comprising: a main body 10; an adsorption unit 20, arranged on the main body 10, for adsorbing the wiping robot 100 onto a surface 70 to be wiped; a first cleaning component 30, arranged at the bottom of the main body 10, for performing a cleaning task on the surface 70 to be wiped; a second cleaning component 50, arranged on the outer edge of the main body 10, the second cleaning component 50 being capable of moving relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, so as to move between a first position and a second position, the first position being the position where the second cleaning component 50 is closest to the surface 70 to be wiped.

[0115] The wiping robot 100 of the present application has a first cleaning component 30 and a second cleaning component 50. The second cleaning component 50 is arranged outside a detection component, and the detection component is arranged at the edge of the main body 10. Thus, when the wiping robot 100 moves along the edge of the surface 70 to be wiped, the second cleaning component 50 can contact the edge and corners of the surface 70 to be wiped, thereby cleaning the edge and corners of the surface 70 to be wiped and improving the cleanliness of the edge and corners of the surface 70 to be wiped.

[0116] Another aspect of the present application also provides a wiping robot 100, comprising: a main body 10; an adsorption unit 20, arranged on the main body 10, for adsorbing the wiping robot 100 onto a surface 70 to be wiped; a first cleaning component 30, arranged at the bottom of the main body 10, for performing a cleaning task on the surface 70 to be wiped; a detection device 40, arranged at the edge of the main body 10, the detection device 40 including a detection member capable of moving in a direction perpendicular to the surface 70 to be wiped, the detection member having a first working state in which it abuts against the surface 70 to be wiped and a second working state in which it falls outward from the frameless edge of the wiping surface; a second cleaning component 50, surrounding the outside of the detection device 40, the second cleaning component 50 being capable of moving relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, so as to move between a first position and a second position, the first position being the position where the second cleaning component 50 is closest to the surface 70 to be wiped; the wiping robot 100 has at least a first cleaning mode and a second cleaning mode. In the first cleaning mode, the wiping robot 100 traverses on the surface 70 to be wiped, so that the first cleaning component 30 cleans the surface 70 to be wiped, and the second cleaning component 50 is in the second position; in the second cleaning mode, the second cleaning component 50 is in the first position, and the wiping robot 100 moves along the edge of the surface 70 to be wiped, so that the second cleaning component 50 can clean the edge of the surface 70 to be wiped.

[0117] In the first cleaning mode of the second cleaning component 50 of the wiping robot 100 of the present application, the wiping robot 100 traverses on the surface 70 to be wiped, so that the first cleaning component 30 cleans the surface 70 to be wiped, and the second cleaning component 50 is in the second position; in the second cleaning mode, the second cleaning component 50 is in the first position, and the wiping robot 100 moves along the edge of the surface 70 to be wiped, so that the second cleaning component 50 can clean the edge of the surface 70 to be wiped. In this way, when the wiping robot 100 wipes inside the surface 70 to be wiped, the second cleaning component 50 is located in the second position, so that the second cleaning component 50 cannot touch the inside of the surface 70 to be wiped, thus preventing the second cleaning component 50 from being soiled when the wiping robot 100 wipes inside the surface 70 to be wiped; when the wiping robot 100 wipes the edge and corner of the surface 70 to be wiped, the second cleaning component 50 is located in the first position, so that the second cleaning component 50 touches the edge and corner of the surface 70 to be wiped. In this way, the edge and corner of the surface 70 to be wiped are wiped by the second cleaning component 50; it is avoided that the second cleaning component 50 that has wiped the surface 70 to be wiped is used to clean the edge and corner of the surface 70 to be wiped again. In this way, only by moving the second cleaning component 50 axially can the cleanliness of the second cleaning component 50 be maintained before cleaning the edge and corner of the surface 70 to be wiped, without the need to clean or replace the second cleaning component 50 that has wiped the surface 70 to be wiped, with simple operation and high working efficiency.

[0118] The third aspect of the present application further provides a wiping robot 100 system, including: the wiping robot 100 and a base station as described above, wherein the base station is used to be connected to the wiping robot 100 through a safety rope.

[0119] This wiping robot 100 system has all the technical effects of the foregoing wiping robot 100, which will not be elaborated here.

[0120] It should be understood that all the above preferred embodiments are exemplary rather than restrictive, and all modifications or deformations made by those skilled in the art to the specific embodiments described above under the concept of the present application should be within the scope of legal protection of the present application.

Claims

1. A wiping robot, characterized in that: include: main body; An adsorption unit, disposed on the main body, for adsorbing the wiping robot onto the surface to be wiped; A first cleaning component, disposed at the bottom of the main body, for performing a cleaning task on the surface to be wiped; A detection device is arranged at the edge of the main body, the detection device comprises a detection member that can move relative to the main body in a direction perpendicular to the surface to be wiped, the detection member has a first working state and a second working state, in the first working state, the axial projection of the detection member is located inside the surface to be wiped, and the detection member abuts against the surface to be wiped, in the second working state, 1 the axial projection of the detection member is at least partially located outside the surface to be wiped, 2 the detection member falls from the edge of the wiping surface; The second cleaning component is arranged on the outside of the detection device. The second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped so as to move between a first position and a second position. The first position is the position of the second cleaning component closest to the surface to be wiped.

2. The wiping robot according to claim 1, characterized in that: When the detection member is in the first working state, the second cleaning component is in one of the following three working states: a first state maintained at the first position, a second state maintained at the second position, and a third state switched between the first position and the second position; When the detection member is in the second working state, the second cleaning component is in one of the following two working states: a first state maintained at the first position and a second state maintained at the second position.

3. The wiping robot according to claim 1, characterized in that: The wiping robot further includes: a first driving device, which is arranged on the main body and is used to drive the second cleaning component to move in a direction perpendicular to the surface to be wiped, so that the second cleaning component can be switched between the first position and the second position.

4. The wiping robot according to claim 3, characterized in that: The wiping robot also includes: a control device, to which the first driving device is connected, and the control device is used to control the first driving device according to an external signal so that the first driving device drives the second cleaning component to move in a direction perpendicular to the surface to be wiped, wherein the external signal is used to indicate whether the wiping robot moves along the edge of the surface to be wiped.

5. The wiping robot according to claim 3, characterized in that: There are two first driving devices and two second cleaning components. The two first driving devices are connected to the two second cleaning components respectively, and each first driving device is used to drive the corresponding second cleaning component to move.

6. The wiping robot according to claim 3, characterized in that: There are two second cleaning components, and the two second cleaning components are arranged at intervals on one side of the wiping robot along the moving direction of the wiping robot.

7. The wiping robot according to any one of claims 1 to 6, characterized in that: The wiping robot has at least a first cleaning mode and a second cleaning mode. In the first cleaning mode, the wiping robot traverses the surface to be wiped so that the first cleaning component cleans the surface to be wiped, and the second cleaning component is maintained at the second position.

8. The wiping robot according to claim 7, characterized in that: In the second cleaning mode, the wiping robot moves along the edge of the surface to be wiped, one of the two second cleaning components switches from the second position to the first position and finally remains at the first position, and the other remains at the second position.

9. The wiping robot according to claim 7, characterized in that: In the first cleaning mode, the detection member is in the first working state. In the second cleaning mode, when the wiping robot moves along the framed edge of the surface to be wiped, the detection member is in the first working state. When the wiping robot moves along the frameless edge of the surface to be wiped, the detection member is in the second working state.

10. The wiping robot according to any one of claims 1 to 6, characterized in that: The second cleaning component is a cleaning ring, which is sleeved on the outside of the detection device, and a first cleaning portion is provided at the bottom of the cleaning ring.

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