Window cleaning machine and control method

Abstract

The invention provides a window cleaning machine and a control method. The window cleaning machine comprises a machine body and a negative pressure device. The machine body is provided with a negative pressure cavity, and the negative pressure device communicates with the negative pressure cavity and is used for conducting negative pressure pumping on the negative pressure cavity so that the machine body can be adsorbed to the to-be-cleaned face. The machine body is provided with an exhaust duct, and the exhaust duct communicates with the negative pressure device and is used for exhausting airflow generated by the negative pressure device from the machine body to the outside; the machine body is used for changing the running state of the machine body when sensing that the intensity of external airflow changes. The collision between the window cleaning machine and the obstacle is avoided, the damage to the window cleaning machine and the obstacle is avoided, and the intelligence is high.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning devices, and in particular to a window cleaning machine and a control method thereof. Background Art

[0002] An automatic window cleaner, also known as a window cleaning robot, glass cleaning robot, smart window cleaner, or intelligent window cleaner, is a type of smart home appliance. It uses a vacuum pump or fan on its base to firmly adhere to the glass. The force of its adhesion drives a cloth at the bottom of the body to wipe away dirt. Using artificial intelligence, it automatically detects the distance to the window frame and plans a cleaning path.

[0003] The existing window cleaning machine is provided with a micro switch on the machine body. When the window cleaning machine moves to the window frame, the window frame touches the micro switch to determine the position of the window cleaning machine. This type of window cleaning machine may cause damage to the window frame when cleaning the window. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a window cleaning machine and a control method. The specific technical solutions are as follows:

[0005] A window cleaning machine comprises a machine body and a negative pressure device;

[0006] The machine body is provided with a negative pressure chamber, and the negative pressure device is communicated with the negative pressure chamber and is used to pump negative pressure into the negative pressure chamber so that the machine body is adsorbed on the surface to be cleaned;

[0007] The machine body is provided with an exhaust duct, which is in communication with the negative pressure device and is used to discharge the airflow generated by the negative pressure device from the machine body to the outside;

[0008] The machine body is used to change its own operating state when it senses a change in the intensity of the external airflow.

[0009] In a specific embodiment, the exhaust duct includes a first exhaust duct, and the airflow direction of the first exhaust duct is toward the running direction of the machine body;

[0010] The machine body changes its own running state when sensing a change in the intensity of the external airflow toward the running direction of the machine body.

[0011] In a specific embodiment, the machine body is used to change its own operating state according to the change in airflow intensity when it senses that the airflow discharged from the first exhaust duct contacts an obstacle to form a reflected airflow and causes a change in airflow intensity.

[0012] In a specific embodiment, the first exhaust duct includes multiple exhaust ports, and the exhaust directions of the multiple exhaust ports have different angles with the surface to be cleaned, so that when the airflow discharged from the multiple exhaust ports contacts the obstacle, multiple reflected airflows in different directions are formed.

[0013] In a specific embodiment, the first exhaust duct includes multiple exhaust ports, and the exhaust direction of at least one of the exhaust ports forms an angle with the running direction of the body, so that the airflows discharged from the multiple exhaust ports converge and contact obstacles to form reflected airflow.

[0014] In a specific embodiment, an adjusting device is provided in the first exhaust duct, and the adjusting device is provided corresponding to the exhaust port, and is used to adjust the angle between the exhaust direction of the exhaust port and the running direction of the machine body.

[0015] In a specific embodiment, the body is configured to change its own operating state when a change in the intensity of the external airflow is sensed from the outer surface of the body;

[0016] And / or, the machine body is used to change its own operating state when a change in the intensity of the external airflow is sensed from the inside of the machine body.

[0017] In a specific embodiment, the machine body is provided with a second exhaust duct, the second exhaust duct is connected to the negative pressure device, and the airflow direction of the second exhaust duct is toward the surface to be cleaned;

[0018] The machine body is used to change its own operating state when sensing a change in the intensity of the external airflow toward the bottom of the machine body.

[0019] In a specific embodiment, the machine body is used to change its own operating state according to the change in airflow intensity when it senses that the airflow discharged from the second exhaust duct contacts the surface to be cleaned to form a reflected airflow and causes a change in airflow intensity.

[0020] In a specific embodiment, the airflow direction of the second air exhaust duct is toward the negative pressure chamber.

[0021] In a specific embodiment, an air collecting chamber is provided on the body, the cross-sectional area of ​​the first end of the air collecting chamber is larger than the cross-sectional area of ​​the second end of the air collecting chamber, the first end of the air collecting chamber is connected to the outside world, and the sensing device of the body is located at the second end of the air collecting chamber.

[0022] In a specific embodiment, it also includes:

[0023] A walking disc is rotatably connected to the machine body, and the walking disc rotates to drive the machine body to move;

[0024] The cleaning disc is arranged on the peripheral side of the traveling disc, and the cleaning disc rotates to clean the surface to be cleaned.

[0025] A control method for a window cleaning machine, the window cleaning machine comprising a machine body and a negative pressure device, the machine body being provided with a negative pressure chamber, the negative pressure device being in communication with the negative pressure chamber and configured to pump negative pressure into the negative pressure chamber so that the machine body is adsorbed on a surface to be cleaned;

[0026] The machine body is provided with a first exhaust duct, which is in communication with the negative pressure device and is used to discharge the airflow generated by the negative pressure device out of the machine body, and the airflow discharged by the first exhaust duct is in the direction of operation of the window cleaning machine;

[0027] The control method includes: when the machine body senses a change in the intensity of the external airflow, the machine body changes its own operating state.

[0028] The present invention has at least the following beneficial effects:

[0029] The present invention provides a window cleaning machine and a control method, wherein the window cleaning machine includes a machine body and a negative pressure device; the machine body is provided with a negative pressure chamber, the negative pressure device is connected to the negative pressure chamber, and is used to pump negative pressure into the negative pressure chamber so that the machine body is adsorbed on the surface to be cleaned; the machine body is provided with an exhaust duct, the exhaust duct is connected to the negative pressure device, and is used to discharge the airflow generated by the negative pressure device from the machine body to the outside; the machine body is used to change its own operating state when it senses a change in the intensity of the airflow in the outside world.

[0030] The window cleaning machine provided by the present application, when an obstacle appears near the window cleaning machine, the airflow discharged through the exhaust duct contacts the obstacle to form a reflected airflow, causing the airflow intensity outside the machine to change. By sensing the external airflow intensity, the machine can obtain information in advance that there is an obstacle near the window cleaning machine, and then change its own operating state (change the operating direction or stop operating, etc.) to avoid collision with the obstacle, thereby avoiding damage to the window cleaning machine itself and the obstacle. It is highly intelligent, does not require a micro switch to be set on the machine body, and has low production cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 Schematic diagram of the cross-sectional structure of the window cleaning machine provided in Example 1 Figure 1 ;

[0033] Figure 2Schematic diagram of the cross-sectional structure of the window cleaning machine provided in Example 1 Figure 2 ;

[0034] Figure 3 A schematic diagram of the overall structure of the window cleaning machine provided in Example 1;

[0035] Figure 4 for Figure 3 A partial enlarged view of area A in the middle;

[0036] Figure 5 Schematic diagram of the cross-sectional structure of the window cleaning machine provided in Example 1 Figure 3 ;

[0037] Figure 6 Schematic diagram of the cross-sectional structure of the window cleaning machine provided in Example 1 Figure 4 ;

[0038] Figure 7 Schematic diagram of the structure of the window cleaning machine provided in Example 2 Figure 1 ;

[0039] Figure 8 Schematic diagram of the structure of the window cleaning machine provided in Example 2 Figure 2 .

[0040] Reference numerals:

[0041] 1-machine body; 2-negative pressure device; 3-sensing device; 4-traveling disc; 5-cleaning disc; 11-negative pressure chamber; 12-first exhaust duct; 13-second exhaust duct; 14-air collecting chamber; 121-exhaust port; 1211-first exhaust port; 1212-second exhaust port; 1213-third exhaust port; X-airflow direction of the first exhaust duct; Y-machine body running direction; Z-airflow direction of the second exhaust duct. DETAILED DESCRIPTION

[0042] Hereinafter, various embodiments of the present invention will be described more fully. The present invention can have various embodiments, and modifications and variations can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present invention to the specific embodiments disclosed herein, but rather that the present invention should be construed to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present invention.

[0043] Hereinafter, the terms "include" or "may include" used in various embodiments of the present invention indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present invention, the terms "include", "have" and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0044] In various embodiments of the present invention, the expression "or" or "at least one of A or / and B" includes any or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0045] The expressions (such as "first", "second", etc.) used in the various embodiments of the present invention may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used to distinguish one element from other elements. For example, a first user device and a second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present invention, a first element may be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0046] It should be noted that, in the present invention, unless otherwise expressly specified or defined, terms such as "mounted," "connected," and "fixed" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0047] In the present invention, those skilled in the art need to understand that the terms indicating orientation or positional relationships herein are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] The terms used in various embodiments of the present invention are only used to describe the purpose of specific embodiments and are not intended to limit the various embodiments of the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise limited, all terms used here (including technical terms and scientific terms) have the same meaning as those of ordinary skill in the art generally understood by the various embodiments of the present invention. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having idealized meaning or too formal meaning, unless clearly defined in various embodiments of the present invention.

[0049] like Figure 1 、 Figure 2 and Figure 3 As shown, this embodiment provides a window cleaning machine, comprising a machine body 1 and a negative pressure device 2;

[0050] The machine body 1 is provided with a negative pressure chamber 11, and the negative pressure device 2 is connected to the negative pressure chamber 11, and is used to pump negative pressure into the negative pressure chamber 11 so that the machine body 1 is adsorbed on the surface to be cleaned;

[0051] The body 1 is provided with an exhaust duct, which is connected to the negative pressure device 2 and is used to discharge the airflow generated by the negative pressure device 2 from the body 1 to the outside;

[0052] The body 1 is used to change its own operating state when it senses a change in the intensity of the external airflow.

[0053] In the window cleaning machine provided in this embodiment, the negative pressure device 2 applies negative pressure to the negative pressure chamber 11, which causes the machine body 1 to adhere to the surface to be cleaned. Simultaneously, the airflow generated by the negative pressure device is discharged to the outside world through an exhaust duct provided on the machine body. When the operating environment of the window cleaning machine is normal, the airflow discharged from the exhaust duct will remain stable within a certain range. However, when the operating environment of the window cleaning machine changes, the stability of the airflow discharged from the exhaust duct will be affected accordingly, thereby affecting the stability of the air pressure around the window cleaning machine. A sensing device can be provided on the window cleaning machine to sense changes in the intensity of the external airflow to identify the operating environment of the window cleaning machine and to change the operating state of the window cleaning machine accordingly. For example, when an obstacle appears near the window cleaning machine, the airflow discharged through the exhaust duct contacts the obstacle, forming a reflected airflow, causing the airflow intensity around the machine body 1 to change. By sensing the external airflow intensity, the machine body 1 can obtain information about the presence of an obstacle near the window cleaning machine in advance, and then change its own operating state (such as changing the operating direction or stopping operation) to avoid collision with the obstacle. It avoids damage to the window cleaning machine itself and obstacles, has high intelligence, does not need to be provided with a micro switch on the machine body, and has low production cost.

[0054] In one embodiment, the housing 1 is configured to change its operating state when a change in the external airflow intensity is sensed from the outer surface of the housing 1. This embodiment ensures that the change in external airflow intensity sensed by the housing 1 is close to the actual change in external airflow intensity, resulting in an accurate sensing result.

[0055] Specifically, in one embodiment, a sensing device is provided on the outer surface of the body 1 , and the sensing device is used to detect the intensity of external airflow from the outer surface of the body 1 and output a signal to the body 1 .

[0056] In one embodiment, the body 1 is configured to change its own operating state when a change in the intensity of the external airflow is sensed from within the body 1 .

[0057] Specifically, in one embodiment, a sensing cavity is formed on the body 1, which is connected to the outside world. The sensing cavity is provided with a sensing device, which is used to detect the airflow intensity in the sensing cavity and output a signal to the body 1. The body 1 judges the change in the airflow intensity in the outside world based on the change in the airflow intensity in the sensing cavity.

[0058] In this embodiment, the sensing device is placed inside the housing 1, preventing the sensing device 3 from being exposed, thereby extending the service life of the sensing device 3. Furthermore, the sensing chamber is connected to the outside world, so the airflow intensity variation trend within the sensing chamber is consistent with the airflow intensity variation trend outside. This ensures that the judgment result of the housing 1 is consistent with the actual situation, making the sensing result of the housing 1 accurate.

[0059] like Figure 1 、 Figure 2 and Figure 3 As shown, in one embodiment, the exhaust duct includes a first exhaust duct 12, and the air flow direction X of the first exhaust duct is toward the running direction Y of the machine body;

[0060] The machine body 1 changes its own operating state when sensing a change in the intensity of the external airflow toward the machine body's operating direction Y.

[0061] Specifically, the airflow direction X of the first air exhaust duct refers to the direction in which the first air exhaust duct 12 exhausts the airflow.

[0062] In this embodiment, the position of the first exhaust duct 12 is rationally planned so that the airflow direction X of the first exhaust duct is toward the running direction Y of the body. When an obstacle appears in the running direction Y of the body, the airflow discharged through the first exhaust duct 12 contacts the obstacle to form a reflected airflow, and the reflected airflow flows toward the body 1, causing the airflow intensity outside the body 1 to change. Specifically, when the body 1 senses that the airflow discharged from the first exhaust duct 12 contacts the obstacle to form a reflected airflow, and causes the airflow intensity to show a significant upward trend, it means that the body 1 is moving in the direction approaching the obstacle. A preset airflow intensity can be set as needed. When the airflow intensity reaches the preset airflow intensity, the cleaning machine is controlled to change its own motion state, such as stopping movement or changing the running direction.

[0063] By sensing the strength of the external airflow, the body 1 can obtain information in advance about the presence of obstacles in the running direction, and then change its own running state (change the running direction or stop running, etc.) to avoid collision with the obstacle.

[0064] Specifically, such as Figure 2 As shown, the window cleaning machine runs in the Y direction, and the airflow discharged from the first exhaust duct 12 is directed in the X direction. The airflow discharged by the window cleaning machine does not affect the air pressure around the window cleaning machine; however, when the window cleaning machine encounters an obstacle during operation, such as a glass frame, the airflow discharged by the window cleaning machine will be reflected by the glass frame. The reflected airflow will cause airflow disturbance around the window cleaning machine, causing the air pressure around the window cleaning machine to change. After the window cleaning machine detects the change in air pressure, it can be determined that the window cleaning machine is about to reach the glass frame. The window cleaning machine can make a judgment in advance and then change its own operating state to avoid collision between the window cleaning machine and the glass frame.

[0065] When the external airflow intensity changes, this embodiment obtains information about the front direction of the window cleaning machine, and then changes the operating state of the window cleaning machine itself, avoiding collision between the window cleaning machine and obstacles, and avoiding damage to the window cleaning machine itself and obstacles. It is highly intelligent, does not require a micro switch to be set on the machine body, and has low production cost.

[0066] At the same time, this embodiment makes the airflow direction X of the first exhaust duct toward the running direction Y of the machine body, so that before the machine body 1 cleans the surface to be cleaned, the airflow discharged from the first exhaust duct 12 pre-cleans the surface to be cleaned, removes the floating dust on the surface to be cleaned, reduces the dirt to be cleaned on the surface to be cleaned, reduces the accumulation of dirt on the window cleaning machine, reduces the working intensity of the machine body, is beneficial to improving the cleaning effect of the machine body, and makes the overall cleaning effect better; and the dirt to be cleaned on the surface to be cleaned is reduced, the working intensity of the machine body is reduced, and the cleaning capacity required by the machine body is reduced (because the higher the degree of dirtiness of the surface to be cleaned, the greater the cleaning capacity required by the machine body), thereby reducing the production cost of the window cleaning machine.

[0067] like Figure 1 、 Figure 2 and Figure 3 As shown, in one embodiment, when the body 1 senses that the airflow discharged from the first exhaust duct 12 contacts an obstacle to form a reflected airflow and causes a change in the airflow intensity, the body 1 changes its own operating state according to the change in airflow intensity.

[0068] The body 1 of this embodiment changes its own operating state according to the change of airflow intensity, so as to judge the state in front of the operating direction of the body 1 through the change of airflow intensity, avoiding the influence of the change of external airflow intensity caused by natural wind or wind output by the air supply device on the judgment result, thereby making the judgment result accurate.

[0069] Specifically, when the machine body 1 senses that the airflow discharged from the first exhaust duct 12 contacts an obstacle to form a reflected airflow, and causes the airflow intensity to gradually increase, it means that the machine body 1 is moving towards the obstacle, and the machine body 1 stops running or changes its running direction.

[0070] Specifically, when the machine body 1 senses that the airflow discharged from the first exhaust duct 12 contacts the obstacle to form a reflected airflow, and causes the airflow intensity to gradually decrease, it means that the machine body 1 is moving in a direction away from the obstacle, and the machine body 1 maintains the current running direction.

[0071] Specifically, when the machine body 1 senses that the airflow discharged from the first exhaust duct 12 contacts an obstacle, forming a reflected airflow, and that the airflow intensity is gradually increasing, the machine body 1 senses the current external airflow intensity. If the current external airflow intensity does not reach the preset airflow value, the machine body 1 continues to operate. If the current external airflow intensity reaches the preset airflow value, the machine body 1 stops operating or changes its operating direction. This allows the window cleaning machine to complete the cleaning work of the surface to be cleaned to the greatest extent possible without colliding with the obstacle.

[0072] In one embodiment, a sensing device is provided on the outer surface of the housing 1. The sensing device is used to detect the external airflow intensity from the outer surface of the housing 1 and output a signal to the housing 1. In one embodiment, the sensing device is located on the side of the housing 1 that is close to the direction of movement Y of the housing. This embodiment ensures that the changes in the external airflow intensity sensed by the housing 1 are close to the actual changes in the external airflow intensity, resulting in accurate sensing results.

[0073] like Figure 1 、 Figure 2 and Figure 3As shown, in one embodiment, the body 1 is provided with an air collecting chamber 14 connected to the outside world, the open end of the air collecting chamber 14 faces the running direction of the body 1, and a sensing device 3 is provided in the air collecting chamber 14. The sensing device 3 is used to detect the air flow intensity in the air collecting chamber 14 and output a signal to the body 1. The body 1 judges the change of the air flow intensity in the outside world based on the change of the air flow intensity in the air collecting chamber 14.

[0074] In this embodiment, the sensing device 3 is disposed within the housing 1, preventing exposure to the outside world and extending the service life of the sensing device 3. Furthermore, the open end of the air collecting chamber 14 faces the direction of movement of the housing 1. Therefore, the airflow intensity variation trend within the air collecting chamber 14 is consistent with that of the outside world, ensuring that the judgment result of the housing 1 is consistent with the actual situation and that the sensing result of the housing 1 is accurate.

[0075] In one embodiment, the projection areas of the first air exhaust duct 12 and the air collecting chamber 14 on the surface to be cleaned overlap.

[0076] In one embodiment, the first end of the air collecting chamber 14 is an open end, the cross-sectional area of ​​the first end of the air collecting chamber 14 is larger than the cross-sectional area of ​​the second end of the air collecting chamber 14 , and the sensing device 3 is located at the second end of the air collecting chamber 14 .

[0077] In one embodiment, the sensing device 3 is arranged vertically relative to the surface to be cleaned.

[0078] like Figure 3 and Figure 4 As shown, in one embodiment, the first exhaust duct 12 includes multiple exhaust ports 121, and the exhaust directions of the multiple exhaust ports 121 have different angles with the surface to be cleaned, so that when the airflow discharged from the multiple exhaust ports 121 contacts the obstacle, it forms a plurality of reflected airflows in different directions.

[0079] In this embodiment, the airflow discharged through each exhaust port 121 contacts obstacles from different directions, thereby forming reflected airflows in different directions due to reflection from the obstacles, thereby increasing the range of airflow intensity changes caused by the reflected airflow, thereby making it easier for the body to sense changes in airflow intensity in the outside world.

[0080] like Figure 5As shown, in one embodiment, the exhaust directions of the multiple exhaust vents 121 are X1, X2, and X3, respectively. When the window cleaning machine encounters an inclined obstacle, the airflow in the exhaust direction X1 is reflected by the obstacle and cannot be reflected around the window cleaning machine, thereby failing to affect the air pressure around the window cleaning machine. Only the airflow in the exhaust direction X3 is reflected by the obstacle and can be reflected around the window cleaning machine, thereby changing the air pressure around the window cleaning machine, allowing the window cleaning machine to promptly identify the obstacle and change its motion state. By providing multiple exhaust vents with different exhaust directions, this embodiment ensures that when the airflow discharged by the window cleaning machine encounters obstacles of different inclinations, the airflow is reflected back around the window cleaning machine, thereby increasing the range of airflow intensity changes caused by the reflected airflow.

[0081] At the same time, the angles between the exhaust directions of the multiple exhaust vents 121 and the surface to be cleaned are different, resulting in different points at which the airflow discharged from different exhaust vents 121 contacts the surface to be cleaned. Exhaust vents 121 with a larger angle between the exhaust direction and the surface to be cleaned have their exhaust airflow contacting the surface closer to the machine body 1; exhaust vents 121 with a smaller angle between the exhaust direction and the surface to be cleaned have their exhaust airflow contacting the surface farther from the machine body 1. This embodiment allows the airflow discharged through each exhaust vent 121 to pre-clean the surface to be cleaned multiple times when no obstacles are encountered ahead in the direction X of travel of the machine body, significantly reducing the degree of dirt on the surface to be cleaned and, in turn, reducing the cleaning intensity required of the machine body 1.

[0082] In one embodiment, the multiple exhaust outlets 121 include a first exhaust outlet and a second exhaust outlet, the angle between the exhaust direction of the first exhaust outlet and the surface to be cleaned is between 5° and 45°, and the angle between the exhaust direction of the second exhaust outlet and the surface to be cleaned is between 45° and 85°.

[0083] like Figure 4 As shown, in one embodiment, the plurality of exhaust outlets 121 include a first exhaust outlet 1211, a second exhaust outlet 1212 and a third exhaust outlet 1213, the angle between the exhaust direction of the first exhaust outlet 1211 and the surface to be cleaned is between 5° and 30°, the angle between the exhaust direction of the second exhaust outlet 1212 and the surface to be cleaned is between 30° and 55°, and the angle between the exhaust direction of the third exhaust outlet 1213 and the surface to be cleaned is between 55° and 85°.

[0084] like Figure 6 As shown, in one embodiment, the body 1 is provided with a second exhaust duct 13, the second exhaust duct 13 is connected to the negative pressure device 2, and the airflow direction Z of the second exhaust duct is toward the surface to be cleaned; the body 1 is used to change its own operating state when it senses a change in the intensity of the external airflow toward the bottom of the body.

[0085] Specifically, the airflow direction Z of the second air exhaust duct refers to the direction in which the second air exhaust duct 13 discharges the airflow.

[0086] The airflow direction Z of the second exhaust duct of this embodiment is toward the surface to be cleaned, so that when the body 1 is running on the surface to be cleaned, the airflow discharged through the second exhaust duct 13 contacts and reflects the surface to be cleaned, so that the external airflow intensity at the bottom of the body is within a preset range; when the body 1 runs to the boundary of the frameless surface to be cleaned, the airflow discharged through the second exhaust duct 13 does not reflect, causing the external airflow intensity to change.

[0087] The body 1 of this embodiment obtains information about the front of the window cleaning machine's running direction (i.e., it has reached the boundary of the frameless surface to be cleaned) based on the change in the intensity of the external airflow, and then changes the running state of the window cleaning machine itself, thereby preventing the window cleaning machine from falling from the surface to be cleaned and having high safety.

[0088] In one embodiment, when the machine body 1 senses that the airflow discharged from the second exhaust duct 13 contacts the surface to be cleaned to form a reflected airflow and causes a change in airflow intensity, the machine body 1 changes its own operating state according to the change in airflow intensity.

[0089] The body 1 of this embodiment changes its own operating state according to the change of airflow intensity, so as to judge the state in front of the operating direction of the body 1 through the change of airflow intensity, avoiding the influence of the change of external airflow intensity caused by natural wind or wind output by the air supply device on the judgment result, thereby making the judgment result accurate.

[0090] Specifically, when the machine body 1 senses that the airflow discharged from the second exhaust duct 13 contacts the surface to be cleaned to form a reflected airflow, and causes the airflow intensity to show a significant downward trend, it means that the machine body 1 has reached the boundary of the frameless surface to be cleaned, and the machine body 1 stops running or changes its running direction.

[0091] In one embodiment, the airflow direction Z of the second exhaust duct is toward the negative pressure chamber 11. In this embodiment, the airflow discharged from the second exhaust duct 13 enters the negative pressure chamber 11, increasing the air flow rate within the negative pressure chamber 11. Based on the Bernoulli principle, the faster the airflow rate within the negative pressure chamber 11, the lower the pressure generated by the airflow, and the better the adsorption effect of the body 1, so that the body 1 is stably adsorbed on the surface to be cleaned.

[0092] In one embodiment, the window cleaning machine provided in this embodiment also includes: a walking disc 4, which is rotatably connected to the machine body 1, and the walking disc 4 rotates to drive the machine body 1 to move; a cleaning disc 5, which is arranged on the peripheral side of the walking disc 4, and the cleaning disc 5 rotates to clean the surface to be cleaned.

[0093] Specifically, the cleaning disk 5 is a cleaning cloth.

[0094] This embodiment also provides a control method for a window cleaning machine, wherein the window cleaning machine includes a machine body 1 and a negative pressure device 2. The machine body 1 is provided with a negative pressure chamber 11. The negative pressure device 2 is in communication with the negative pressure chamber 11 and is configured to pump negative pressure into the negative pressure chamber 11 so that the machine body 1 is adsorbed on the surface to be cleaned.

[0095] The machine body 1 is provided with a first exhaust duct 12, which is in communication with the negative pressure device 2 and is used to discharge the airflow generated by the negative pressure device 2 out of the machine body 1. The airflow direction X of the first exhaust duct is toward the running direction Y of the window cleaning machine;

[0096] The control method includes: when the machine body 1 senses that the intensity of the external airflow has changed, the machine body 1 changes its own operating state.

[0097] This embodiment provides a control method for a window cleaning machine. When the external airflow intensity changes, information about the front direction of the window cleaning machine is obtained, and the operating state of the window cleaning machine itself is changed, thereby avoiding collisions between the window cleaning machine and obstacles, and avoiding damage to the window cleaning machine itself and obstacles. The method is highly intelligent, does not require a micro switch to be set on the machine body, and has low production costs.

[0098] Example 2

[0099] like Figure 7 and Figure 8 As shown, the first exhaust duct of the window cleaning machine provided in this embodiment includes multiple exhaust ports, and the exhaust direction of at least one exhaust port forms an angle with the running direction Y of the machine body, so that the airflows discharged from the multiple exhaust ports converge and contact with obstacles to form reflected airflow.

[0100] This embodiment converges the airflow exiting each outlet, achieving maximum airflow at the convergence point. When the airflow at this convergence point is reflected by an obstacle, it significantly affects the air pressure surrounding the window cleaning machine. In practical applications, the air pressure around the window cleaning machine at the time the convergence point is reflected by the obstacle can be used as a preset value. When the window cleaning machine detects that the air pressure around the window cleaning machine has reached the preset value, the window cleaning machine's operating state is changed. This embodiment, by converging airflow, makes it easier for the window cleaning machine to detect changes in air pressure around the window cleaning machine, thereby making it easier to detect obstacles and achieving higher detection accuracy.

[0101] At the same time, this embodiment enables, when there is no obstacle in front of the machine body in the running direction X, the airflow discharged through each exhaust port converges to form a concentrated airflow with a relatively high airflow intensity, which can perform high-intensity pre-cleaning on the surface to be cleaned, thereby greatly reducing the degree of dirtiness of the surface to be cleaned, thereby reducing the cleaning intensity required for the machine body 1.

[0102] In one embodiment, an adjustment device (not shown in the figure) is provided in the first exhaust duct 12, and the adjustment device is provided corresponding to the exhaust port, and is used to adjust the angle between the exhaust direction of the exhaust port and the running direction Y of the body, and then adjust the position of the convergence point of the air flow discharged through each exhaust port 121, so that the distance between the convergence point and the body 1 can be adjusted.

[0103] In this embodiment, an adjusting device is provided to adjust the exhaust direction of the exhaust outlet. By adjusting the exhaust direction of the exhaust outlet, the distance between the convergence point of the airflow discharged from the exhaust outlet and the window cleaning machine can be adjusted. That is to say, the distance between the convergence point of the airflow discharged from the exhaust outlet and the window cleaning machine can be adjusted by the adjusting device.

[0104] When the window cleaning machine detects an obstacle, the distance between the window cleaning machine and the obstacle, that is, the distance between the convergence point and the window cleaning machine, can be understood as: by adjusting the distance from the convergence point to the window cleaning machine, the sensitivity of the window cleaning machine in detecting obstacles can be adjusted.

[0105] If the sensitivity of the window cleaning machine needs to be increased, that is, if obstacles need to be detected earlier, the convergence point can be adjusted to a position farther away from the window cleaning machine; conversely, the convergence point can be adjusted to a position closer to the window cleaning machine. In this embodiment, the adjustment device adjusts the distance between the convergence point and the window cleaning machine, thereby adjusting the sensitivity of the window cleaning machine to detect obstacles according to needs.

[0106] Specifically, each air outlet is equipped with an adjustment device.

[0107] In one embodiment, the adjustment device includes a guide plate, which is movably arranged in the first exhaust duct and adjacent to the exhaust port. The guide plate is used to move under the action of external force to change the angle between the exhaust direction of the exhaust port and the running direction Y of the machine body.

[0108] The rest of the contents of this embodiment are the same as those of Embodiment 1 and will not be repeated here.

[0109] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0110] Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the implementation scenario description, or can be modified accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module or further split into multiple submodules.

[0111] The above serial numbers of the present invention are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A window cleaning machine, characterized in that: Including a body and a negative pressure device; The machine body is provided with a negative pressure chamber, and the negative pressure device is communicated with the negative pressure chamber and is used to pump negative pressure into the negative pressure chamber so that the machine body is adsorbed on the surface to be cleaned; The machine body is provided with an exhaust duct, which is in communication with the negative pressure device and is used to discharge the airflow generated by the negative pressure device from the machine body to the outside; The machine body is used to change its own operating state when it senses a change in the intensity of the external airflow.

2. The window cleaning machine according to claim 1, characterized in that: The exhaust duct includes a first exhaust duct, wherein the airflow direction of the first exhaust duct is toward the running direction of the machine body; The machine body changes its own running state when sensing a change in the intensity of the external airflow toward the running direction of the machine body.

3. The window cleaning machine according to claim 2, characterized in that: The machine body is used to change its own operating state according to the change in airflow intensity when it senses that the airflow discharged from the first exhaust duct contacts an obstacle to form a reflected airflow and causes a change in airflow intensity.

4. The window cleaning machine according to claim 2, characterized in that: The first exhaust duct includes multiple exhaust ports, and the exhaust directions of the multiple exhaust ports have different angles with the surface to be cleaned, so that when the airflow discharged from the multiple exhaust ports contacts the obstacle, it forms a plurality of reflected airflows in different directions.

5. The window cleaning machine according to claim 2, characterized in that: The first exhaust duct includes multiple exhaust ports, and the exhaust direction of at least one of the exhaust ports forms an angle with the running direction of the body, so that the airflows discharged from the multiple exhaust ports converge and contact obstacles to form reflected airflow.

6. The window cleaning machine according to claim 5, characterized in that: An adjusting device is provided in the first exhaust duct, and the adjusting device is provided corresponding to the exhaust port, and is used to adjust the angle between the exhaust direction of the exhaust port and the running direction of the machine body.

7. The window cleaning machine according to claim 1, characterized in that: The body is used to change its own operating state when a change in the intensity of the external airflow is sensed from the outer surface of the body; And / or, the machine body is used to change its own operating state when a change in the intensity of the external airflow is sensed from the inside of the machine body.

8. The window cleaning machine according to claim 1, characterized in that: The machine exhaust duct includes a second exhaust duct, the second exhaust duct is connected to the negative pressure device, and the airflow direction of the second exhaust duct is toward the surface to be cleaned; The machine body is used to change its own operating state when sensing a change in the intensity of the external airflow toward the bottom of the machine body.

9. The window cleaning machine according to claim 8, characterized in that: The machine body is used to change its own operating state according to the change in airflow intensity when it senses that the airflow discharged from the second air exhaust duct contacts the surface to be cleaned to form a reflected airflow and causes a change in airflow intensity.

10. The window cleaning machine according to claim 8, characterized in that: The airflow direction of the second air exhaust duct is toward the negative pressure chamber.

11. The window cleaning machine according to claim 1, characterized in that: The body is provided with an air collecting cavity, the cross-sectional area of ​​the first end of the air collecting cavity is larger than the cross-sectional area of ​​the second end of the air collecting cavity, the first end of the air collecting cavity is connected to the outside world, and the sensing device of the body is located at the second end of the air collecting cavity.

12. The window cleaning machine according to claim 1, characterized in that: Also includes: A walking disc is rotatably connected to the machine body, and the walking disc rotates to drive the machine body to move; The cleaning disc is arranged on the peripheral side of the traveling disc, and the cleaning disc rotates to clean the surface to be cleaned.

13. A control method for a window cleaning machine, characterized in that: The window cleaning machine comprises a machine body and a negative pressure device, wherein the machine body is provided with a negative pressure chamber, and the negative pressure device is in communication with the negative pressure chamber and is used to pump negative pressure into the negative pressure chamber so that the machine body is adsorbed on the surface to be cleaned; The machine body is provided with a first exhaust duct, which is in communication with the negative pressure device and is used to discharge the airflow generated by the negative pressure device out of the machine body, and the airflow direction of the first exhaust duct is towards the running direction of the window cleaning machine; The control method includes: when the machine body senses a change in the intensity of the external airflow, the machine body changes its own operating state.

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