Window cleaning machine, control method and control device thereof and non-temporary storage medium

Abstract

The invention is suitable for the technical field of cleaning electric appliances, and provides a window cleaning machine, a control method and device thereof and a non-temporary storage medium, the window cleaning machine comprises a machine body and a cleaning assembly, the cleaning assembly is movably arranged on the machine body in the second direction, and the cleaning assembly can move towards any side of the machine body in the second direction. The second direction is perpendicular to the advancing direction of the machine body, and when the machine body turns towards one side, the cleaning assembly can move towards the side of the machine body, so that the cleaning assembly can avoid the edge of a to-be-cleaned area, the space needed for turning of the machine body is reduced, meanwhile, cleaning blind areas are reduced, and even no cleaning blind areas exist; the machine body does not need to be subjected to collision test and direction adjustment frequently, and on the whole, the window cleaning machine is good in cleaning effect, small in turning radius and high in turning efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning appliances, in particular to a window cleaning machine, a control method and device thereof, and a non-transitory storage medium. BACKGROUND

[0002] At present, the common window cleaning machines on the market mainly include two types of circular and square models, each of which has obvious shortcomings in actual use.

[0003] One of the main problems of the square machine is that it occupies a large space when turning, which is due to its structural characteristics. When the square machine performs a turning operation, the required space is a circular area with the distance from the center of the machine body to the farthest corner as the radius. Second, the square machine is extremely cumbersome when turning at the inner right angle. In order to accurately detect the distance to the window edge, it needs to frequently trigger the collision sensor, and after each touch, it needs to move backward to adjust the position and repeatedly probe to complete the turning, which reduces the overall work efficiency and prolongs the cleaning time.

[0004] In the circular window cleaning machine, in order to improve the turning flexibility, the cleaning head is usually designed in a circular shape consistent with the machine body. However, this design has the defect that the cleaning blind area is difficult to avoid. Especially at the right angle of the window, the circular cleaning head cannot completely fit the corner, and there will always be a small area that is not cleaned, affecting the cleaning effect.

[0005] Neither the low turning efficiency of the square machine nor the incomplete cleaning of the circular machine can meet the user's demand for efficient and clean window cleaning. Therefore, it is necessary to develop a new type of window cleaning machine that can flexibly turn and improve work efficiency, and can fully cover the cleaning area and ensure the cleaning effect. SUMMARY

[0006] The purpose of the embodiments of the present application is to provide a window cleaning machine that can meet the requirements of flexible turning and good cleaning effect at the same time.

[0007] The embodiments of the present application are implemented as follows. A window cleaning machine comprises:

[0008] a machine body; and

[0009] a cleaning assembly moving along a second direction provided on the machine body, the cleaning assembly being capable of moving to any side of the machine body along the second direction, and the second direction being perpendicular to the advancing direction of the machine body.

[0010] In some embodiments, the window cleaning machine further comprises a driving assembly connected between the machine body and the cleaning assembly, and the driving assembly is used to drive the cleaning assembly to move relative to the machine body along the second direction.

[0011] In some embodiments, the driving assembly comprises a driving member and a transmission assembly, the driving member is fixedly arranged on the body, and the transmission assembly is arranged on the body and connected to the output end of the driving member and the cleaning assembly.

[0012] In some embodiments, the transmission assembly comprises a gear and a rack, the rack is fixedly arranged on the cleaning assembly along the second direction, the output end of the driving member is connected to the gear, and the gear is engaged with the rack.

[0013] Alternatively, the transmission assembly comprises a screw rod and a nut, the nut is engaged with the screw rod, the screw rod is arranged along the second direction, one of the screw rod and the nut is rotatably arranged on the body and connected to the driving member, and the other of the screw rod and the nut is arranged on the cleaning assembly.

[0014] Alternatively, the transmission assembly comprises a crank slider mechanism, a crank of the crank slider mechanism is connected to the output end of the driving member, and a slider of the crank slider mechanism is connected to the cleaning assembly.

[0015] In some embodiments, the cleaning device further comprises:

[0016] a collision sensor arranged at both ends of the cleaning assembly along the second direction, for detecting obstacles; and

[0017] a control device communicatively connected to the collision sensor and the driving assembly, for controlling the driving assembly to drive the cleaning assembly to move along the second direction based on the obstacle signal detected by the collision sensor.

[0018] In some embodiments, the cleaning device further comprises:

[0019] a reset member, the reset member comprises a first reset member and a second reset member, the first reset member is arranged at a first end of the cleaning assembly along the second direction and abuts against the body and the first end respectively;

[0020] the second reset member is arranged at a second end of the cleaning assembly along the second direction and abuts against the body and the second end respectively, and the first end and the second end are oppositely arranged along the second direction.

[0021] In some embodiments, the body is provided with a sliding guide portion, the cleaning assembly is provided with a sliding fitting portion, the sliding fitting portion is slidably connected to the sliding guide portion along the second direction, and one of the sliding guide portion and the sliding fitting portion is a sliding rail and the other is a sliding groove.

[0022] In some embodiments, the extension direction of the cleaning assembly is the second direction, and the cleaning assembly is arranged at the front end of the body along the advancing direction.

[0023] In some embodiments, the cleaning assembly has a width along the second direction that is less than or equal to a width of the body along the second direction.

[0024] In some embodiments, the front end of the body has two sides along the second direction, and each of the two sides has an arc convex surface.

[0025] Another object of the embodiments of the present application is to provide a control method applied to the window cleaning robot as described in the above embodiments, which comprises:

[0026] controlling the driving assembly to drive the cleaning assembly to move along the second direction towards the other side when it is detected that one side of the body along the second direction has an obstacle; and

[0027] controlling the body to turn towards the other side along the second direction.

[0028] In some embodiments, before the controlling the driving assembly to drive the cleaning assembly to move along the second direction towards the other side, the control method further comprises:

[0029] controlling the body to swing towards the first side along the second direction by a first angle when it is detected that the front end of the body along the advancing direction has an obstacle, and detecting whether the first side has an obstacle.

[0030] In some embodiments, the control method further comprises:

[0031] controlling the body to swing towards the second side along the second direction by the first angle when it is detected that the first side does not have an obstacle, and detecting whether the second side has an obstacle.

[0032] In some embodiments, before the controlling the body to swing towards the first side along the second direction by a first angle, the control method further comprises:

[0033] controlling the body to retreat by a first distance in a direction opposite to the advancing direction.

[0034] Still another object of the embodiments of the present application is to provide a control device applied to the window cleaning robot, which comprises a memory and a processor, the memory stores a computer program executable on the processor, and the processor implements the steps of the control method as described in the above embodiments when executing the computer program.

[0035] Still another object of the embodiments of the present application is to provide a non-transitory storage medium, which, when executed on the window cleaning robot, causes the window cleaning robot to implement the steps of the control method as described in the above embodiments.

[0036] The window cleaning machine and the control method, the control device and the non-transitory storage medium have the beneficial effects that:

[0037] The window cleaning machine has the beneficial effects that: BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0039] Figure 1 is a perspective view of the window cleaning machine provided by the embodiments of the present application;

[0040] Figure 2 is a top view of the window cleaning machine provided by the embodiments of the present application;

[0041] Figure 3 is a bottom view of the window cleaning machine provided by the embodiments of the present application;

[0042] Figure 4 is a side view of the window cleaning machine provided by the embodiments of the present application;

[0043] Figure 5 is a structural schematic view of the cleaning assembly and the driving assembly in the window cleaning machine provided by the embodiments of the present application;

[0044] Figure 6 is a structural schematic view of the cleaning assembly and the driving assembly in the window cleaning machine provided by the embodiments of the present application;

[0045] Figure 7 is another structural schematic view of the cleaning assembly of the window cleaning machine provided by the embodiments of the present application;

[0046] Figure 8 is a step flow chart of the control method of the window cleaning machine provided by the embodiments of the present application;

[0047] Figure 9 is a schematic view of step T1 of the turning process of the window cleaning machine provided by the embodiments of the present application;

[0048] Figure 10 is a schematic view of step T2 of the turning process of the window cleaning machine provided by the embodiment of the present application;

[0049] Figure 11 is a schematic view of the right swing in step T3 of the turning process of the window cleaning machine provided by the embodiment of the present application;

[0050] Figure 12 is a schematic view of the left swing in step T3 of the turning process of the window cleaning machine provided by the embodiment of the present application;

[0051] Figure 13 is a schematic view of step T4 of the turning process of the window cleaning machine provided by the embodiment of the present application;

[0052] Figure 14 is a schematic view of step T5 of the turning process of the window cleaning machine provided by the embodiment of the present application;

[0053] Figure 15 and Figure 16 is a schematic view of step T6 of the turning process of the window cleaning machine provided by the embodiment of the present application;

[0054] Figure 17 is a schematic view of step T7 of the turning process of the window cleaning machine provided by the embodiment of the present application;

[0055] Figure 18 is a schematic view of the control device of the window cleaning machine provided by the embodiment of the present application.

[0056] The meanings of the marks in the figures are as follows:

[0057] 100 - window cleaning machine;

[0058] 10 - machine body, 11 - machine body body, 111 - first end, 112 - arc convex surface, 12 - moving assembly, 13 - second collision sensor, 14 - first collision sensor, 15 - driving assembly, 151 - driving piece, 152 - transmission assembly, 1521 - gear, 1522 - rack, 1523 - screw rod, 1524 - nut, 16 - reset piece, 161 - first reset piece, 162 - second reset piece, 17 - sliding guide part;

[0059] 20 - cleaning assembly, 23 - sliding fit part;

[0060] 30 - control device, 31 - memory, 32 - processor. DETAILED DESCRIPTION

[0061] In order to make the objects, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0062] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly or indirectly fixed or set on the other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the patent. The terms "first", "second" are only for the convenience of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0063] In the description of the present application, unless otherwise specified, " / " represents that the objects before and after the " / " are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be single or multiple. And in the description of the present application, "at least one of the following" or similar expressions means any combination of the items, including any combination of single or multiple items, for example, at least one of a, b and c, which can represent: a, b, c, a+b, a+c, b+c, a+b+c, where a, b, c can be single or multiple, and for example, at least one of a, b or c, which can represent: a, b, c, a+b, a+c, b+c, a+b+c, where a, b, c can be single or multiple.

[0064] In order to illustrate the technical solutions described in the present application, the following will be described in detail in combination with specific drawings and embodiments.

[0065] Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown in the drawings, the embodiment of the present application first provides a window cleaning machine 100, which comprises a machine body 10 and a cleaning assembly 20 arranged on the machine body 10. Among them, as shown in Figure 3 and Figure 4As shown in the figure, the machine body 10 comprises a machine body 11 and a moving assembly 12 arranged at the bottom of the machine body 11, the moving assembly 12 is used to drive the machine body 11 and the cleaning assembly 20 to move together on the working surface (hereinafter taking the window surface as an example). The cleaning assembly 20 is arranged on the machine body 11, and when the machine body 11 is driven by the moving assembly 12 to move, the cleaning assembly 20 can clean the window surface.

[0066] Three directions perpendicular to each other are defined on the window cleaning machine 100, which are the first direction, the second direction and the third direction. Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown in the figure, the part of the machine body 11 along the side of the first direction is the first end 111 of the machine body 11, and the cleaning assembly 20 is arranged at the first end 111 of the machine body 11. When the machine body 11 is driven by the moving assembly 12 to move to the side of the first direction, the cleaning assembly 20 can clean the area located on the side of the first direction of the machine body 11. The first direction and the second direction are directions parallel to the working surface, and the third direction is a direction perpendicular to the working surface.

[0067] In addition, in order to further facilitate understanding and description of the directions, the first direction, the second direction and the third direction can also correspond to the front-rear direction, the left-right direction and the up-down direction of the window cleaning machine 100 respectively. The front-rear direction is also the forward direction of the machine body 10. The up-down direction is the thickness direction of the machine body 11, the left-right direction is the width direction of the machine body 10, and the front-rear direction is the length direction of the machine body 11.

[0068] It should be understood that in most cases, for example, the working surface such as the window surface is a surface arranged vertically or close to vertically, and when the window cleaning machine 100 works on the window surface, the up-down direction thereof is not equal to the up-down direction determined based on the direction of gravity. The up-down direction determined based on the direction of gravity is not involved in this article.

[0069] The first end 111 referred to herein refers to the part of the machine body 11 closer to the front, i.e. the front part of the window cleaning machine 100 in the forward direction.

[0070] In addition, it should be noted that during the working process of the window cleaning machine 100, the moving assembly 12 is configured to not only drive the machine body 11 to move forward, but also to drive the machine body 11 to move in other directions, such as leftward, rightward, backward, etc., and can also control the machine body 11 to rotate.

[0071] In the embodiments of the present application, the cleaning assembly 20 is arranged to move along the second direction relative to the machine body 10, and the cleaning assembly 20 is capable of moving to any side of the machine body 10 along the second direction. Here, a first position and a plurality of second positions of the cleaning assembly 20 relative to the machine body 11 along the width direction are defined. In the first position, the width center line of the cleaning assembly 20 is aligned with the width center line of the machine body 10, i.e., the two center lines are collinear. In the second positions, the width center line of the cleaning assembly 20 is offset from the width center line of the machine body 10.

[0072] In the first position, the cleaning assembly 20 and the machine body 11 are symmetrical or substantially symmetrical. In the second positions, the cleaning assembly 20 is offset to one side along the second direction. The purpose of such arrangement is that, when the window cleaning machine 100 is rotating, such as when the window cleaning machine 100 is turning, the distance from the edge of the cleaning assembly 20 along the second direction to the center of rotation of the machine body 10 is reduced, the area swept by the overall rotation of the window cleaning machine 100 is reduced, and the machine body 10 of the window cleaning machine 100 can be as close as possible to the edge of the window (for example, the window frame), especially at the inner right angle, so that the cleaning blind area can be reduced, and even no cleaning blind area can be achieved. In addition, due to the movement of the cleaning assembly 20, the machine body 11 does not need to frequently collide with the edge of the window for testing and orientation adjustment. Overall, the window cleaning machine 100 has good cleaning effect, small turning radius, and high turning efficiency.

[0073] A manner in which the cleaning assembly 20 is capable of moving to any side of the machine body 10 along the second direction is provided.

[0074] In some embodiments, the cleaning assembly 20 is passively moved. That is, the edge of the cleaning assembly 20 along the width direction is moved by the pushing of the window frame. Specifically, the cleaning assembly 20 is arranged to slide along the width direction of the machine body 11. The window cleaning machine 100 further comprises a restoring member 16 arranged on the machine body 11 and connected to the cleaning assembly 20, and configured to provide a restoring force along the width direction and directed to the width center of the cleaning assembly 20. When the window cleaning machine 100 is turning, the cleaning assembly 20 abuts against the window frame, and the cleaning assembly 20 is pushed by the window frame to move along the width direction, so that the window cleaning machine 100 sweeps a smaller area. When the turning of the window cleaning machine 100 is basically completed, the cleaning assembly 20 no longer abuts against the window frame, and is automatically restored outward under the action of the restoring member 16. The restoring member 16 can be a spring.

[0075] In this embodiment, the cleaning assembly 20 is an integral moving member, and the entire cleaning assembly 20 is capable of reciprocating along the left-right direction.

[0076] In this embodiment, the restoring member 16 is configured to provide a restoring force to the left of the cleaning assembly 20 and a restoring force to the right of the cleaning assembly 20.

[0077] As Figure 7As shown, in some embodiments of the present application, the restoring member 16 includes a first restoring member 161 and a second restoring member 162. The first restoring member 161 is arranged at the first end of the cleaning assembly 20 along the second direction, and respectively abuts against the main body 11 and the first end of the cleaning assembly 20; the second restoring member 162 is arranged at the second end of the cleaning assembly 20 along the second direction, and respectively abuts against the main body 11 and the second end of the cleaning assembly 20, and the first end and the second end are arranged relative to each other along the second direction.

[0078] Taking the example of first return member 161 being located on the right side, when the window frame is located to the right of cleaning assembly 20, the window frame abuts the right end of cleaning assembly 20, pushing the right end of cleaning assembly 20 to the left in the second direction. First return member 161 is compressed, and second return member 162 moves leftward, or lengthens, in tandem with the right end of cleaning assembly 20. In the case where second return member 162 is elongated, the initial state of second return member 162 can be set so that it remains compressed even when elongated. After the leftward rotation of the main body 10 is completed, the right end of cleaning assembly 20 is further away from the window frame and no longer abutted by the window frame, automatically returning to the right under the action of first return member 161.

[0079] Another method is provided in which the cleaning assembly 20 can move toward any side of the body 10 along the second direction.

[0080] like Figure 5 and Figure 6 As shown, in some embodiments of the present application, the window cleaning machine 100 further includes a driving assembly 15 , which is connected between the body 11 and the cleaning assembly 20 , and is used to drive the cleaning assembly 20 to move in the width direction relative to the body 10 .

[0081] like Figure 5 and Figure 6 As shown, in some embodiments of the present application, the driving assembly 15 includes a driving member 151 and a transmission assembly 152. The driving member 151 is fixed to the body 11, and the transmission assembly 152 is provided in the body 11 and connected to the output end of the driving member 151 and the cleaning assembly 20. The transmission assembly 152 is used to convert the torque output by the driving member 151 into the power of the linear motion of the cleaning assembly 20.

[0082] The transmission assembly 152 can be in various forms.

[0083] In an optional embodiment, if Figure 5As shown, the transmission assembly 152 comprises a gear 1521 and a rack 1522, the rack 1522 is fixedly arranged along the width direction on the cleaning assembly 20, the output end of the driving member 151 is connected to the gear 1521, and the gear 1521 is engaged with the rack 1522. When the driving member 151 drives the gear 1521 to rotate, the gear 1521 drives the rack 1522 to move along a straight line.

[0084] In an alternative embodiment, as shown in Figure 6 As shown, the transmission assembly 152 comprises a screw rod 1523 and a nut 1524, the nut 1524 is engaged with the screw rod 1523, the screw rod 1523 is arranged along the width direction, one of the screw rod 1523 and the nut 1524 is rotatably arranged on the machine body 11 and connected to the driving member 151, and the other of the screw rod 1523 and the nut 1524 is arranged on the cleaning assembly 20. The nut 1524 moves along the screw rod 1523, so that the cleaning assembly 20 moves relative to the machine body 11 along the width direction.

[0085] Alternatively, the screw rod 1523 and the driving member 151 are both arranged on the machine body 11, and the nut 1524 is connected to the cleaning assembly 20.

[0086] In other alternative embodiments, the transmission assembly 152 comprises a crank slider mechanism (not shown), a crank in the crank slider mechanism is connected to the output end of the driving member 151, and a slider in the crank slider mechanism is connected to the cleaning assembly 20. The crank is fixedly connected to the output end of the driving member 151. A connecting rod is further arranged between the crank and the slider, one end of the connecting rod is rotatably and eccentrically arranged on the crank, the other end of the connecting rod is rotatably connected to the slider, and the slider is connected to the cleaning assembly 20. When the crank rotates with the driving member 151, the connecting rod drives the slider to displace along the width direction, and the slider further drives the cleaning assembly 20 to move along the width direction.

[0087] In some embodiments, the cleaning assembly 20 is a whole moving member. The whole moves along the width direction under the driving of the driving assembly 15. When the left end of the cleaning assembly 20 moves to the right, the right end will further protrude, and vice versa, when the right end of the cleaning assembly 20 moves to the left, the left end will further protrude. Since the window cleaning machine 100 only involves the interference between one end and the window frame in the width direction when turning, the protrusion of the other side of the cleaning assembly 20 in the width direction will not affect the turning of the window cleaning machine 100.

[0088] In some embodiments of the present application, please refer to Figure 9As shown, the window cleaning machine 100 further comprises a first collision sensor 14 and a control device (not shown), the first collision sensor 14 is arranged on both sides of the width direction of the cleaning assembly 20, the control device is arranged in the interior of the machine body 11 and connected with the first collision sensor 14, and the control device is further in communication connection with the driving assembly 15. The control device is used for controlling the driving assembly 15 to drive the cleaning assembly 20 to move along the second direction based on the obstacle signal detected by the first collision sensor 14.

[0089] When the control device receives the first trigger signal from the first collision sensor 14 on one side of the width direction, it indicates that the side of the machine body 10 in the width direction has an obstacle.

[0090] Please combine Figure 9 As shown, in the embodiments of the present application, the window cleaning machine 100 further comprises a second collision sensor 13, the second collision sensor 13 is arranged on the first end 111 of the cleaning assembly 20 and connected with the control device. When the machine body 10 itself moves forward (M line indicates the forward and backward movement direction), the second collision sensor 13 collides with an obstacle such as a window frame and sends a second trigger signal to the control device. Figure 9

[0091] When the control device receives the second trigger signal from the second collision sensor 13, it indicates that the front side of the machine body 10 has an obstacle.

[0092] The first collision sensor 14 and the second collision sensor 13 can respectively comprise one or more collision sensors. The collision sensor can comprise one or more of a micro switch, a pressure sensor.

[0093] As Figure 5 As shown, in some embodiments of the present application, the machine body 11 is provided with a sliding guide part 17, and the cleaning assembly 20 is provided with a sliding fitting part 23, the sliding fitting part 23 is matched with the sliding guide part 17 along the width direction. Through the sliding fitting part 23 and the sliding guide part 17, it can be ensured that the cleaning assembly 20 always moves along the width direction.

[0094] One of the sliding guide part 17 and the sliding fitting part 23 is a sliding rail, and the other is a sliding groove. It should be noted that the form of the sliding rail and the sliding groove is not limited, as long as the form can limit the movement of the sliding rail in other directions and make the sliding rail move along the width direction.

[0095] The width of the sliding guide part 17 along the second direction is less than the width of the sliding fitting part 23 along the second direction. Such arrangement makes the sliding fitting part 23 and the sliding guide part 17 always slide in connection, and when the cleaning assembly 20 moves left and right along the second direction, the sliding guide part 17 will not exceed the sliding fitting part 23, which ensures the avoidance space when turning. ​

[0096] In some alternative embodiments, the window cleaning machine 100 further comprises a guide wheel (not shown) arranged between the slide rail and the slide groove, the guide wheel is rotationally mounted on the slide rail and is in rolling contact with the inner wall of the slide groove. The purpose of such arrangement is to convert the sliding friction between the slide rail and the slide groove into rolling friction, thereby reducing the friction and facilitating the smooth movement of the cleaning assembly 20 along the width direction.

[0097] As shown in Figure 2 and Figure 3 , in some embodiments of the present application, the width of the cleaning assembly 20 is less than or equal to the width of the body 11. The purpose of such arrangement is to ensure the passability of the body 10 when moving, for example, when the window frame is substantially parallel and the spacing between the window frames is small, the body 10 can smoothly pass through without the cleaning assembly 20 being stuck, in addition, the width of the cleaning assembly 20 can be as close as possible to the width of the body 10 to ensure that the cleaning assembly 20 has the largest possible cleaning area and improves the cleaning efficiency.

[0098] As shown in Figure 1 , in some embodiments of the present application, the front end of the body 11, i.e. the first end 111, has an arc convex surface 112 on both sides of the width direction. The purpose of such arrangement is to further reduce the area swept by the body 11 when the window cleaning machine 100 turns. That is, the first end 111 with the arc convex surface 112 will not interfere with the window frame. When the cleaning assembly 20 is in the first position, the arc convex surface 112 is recessed relative to both ends of the cleaning assembly 20 in the width direction.

[0099] Optionally, the arc convex surface 112 described above is a circular arc surface with the center of rotation of the body 11 as the center.

[0100] In some alternative embodiments, the edge of the cleaning assembly 20 is a right-angled edge. The right-angled edge here includes a 90° edge and also includes an edge close to 90°. The purpose of such arrangement is that the cleaning assembly 20 can adapt to the right-angled edges of the window frame in most cases and can clean the right-angled edges of the window frame completely, thereby improving the cleaning effect at the corners of the window frame.

[0101] As shown in Figure 8 , the embodiments of the present application further provide a control method of a window cleaning machine 100, which is applied to the window cleaning machine 100 as described in the above embodiments. Specifically, the control method is applied to the turning control of the window cleaning machine 100. Specifically, the control method is applied to the turning control of the window cleaning machine 100 at the inner right angle.

[0102] Please refer to Figure 8 , Figure 10 and Figure 11 , the control method comprises:

[0103] Step S7, when detecting that one side of the machine body 10 along the second direction has an obstacle, controlling the driving assembly 15 to drive the cleaning assembly 20 to move along the second direction to the other side; and

[0104] Controlling the machine body 10 to turn to the other side along the second direction.

[0105] In this embodiment, when the machine body 10 turns to the other side along the second direction, the cleaning assembly 20 moves along the second direction to the other side and avoids, the area swept by the overall window cleaning machine 100 is reduced, the machine body 10 of the window cleaning machine 100 can be as close to the edge of the window as possible, especially at the inner right angle, the cleaning blind area can be reduced, and even no cleaning blind area can be achieved; the machine body 11 does not need to frequently collide with the edge of the window for testing and orientation adjustment, and overall, the window cleaning machine 100 has good cleaning effect, small turning radius and high turning efficiency.

[0106] When the control device receives the first trigger signal from the first collision sensor 14 on one side (for example, the left side) along the width direction, it indicates that the left side of the machine body 10 has an obstacle, and vice versa.

[0107] When the control device does not receive any first trigger signal, it indicates that there is no obstacle on the left side and the right side of the machine body 10, and the control device controls the moving assembly 12 to perform other action programs, such as moving backward and turning 180°, etc.

[0108] As shown in FIG. 1, before controlling the driving assembly 15 to drive the cleaning assembly 20 to move along the second direction to the other side, the control method further comprises: Figure 8

[0109] Step S1, detecting that the front side of the machine body along the advancing direction has an obstacle; and

[0110] Step S3, when detecting that the front end of the machine body 10 along the advancing direction has an obstacle, controlling the machine body 10 to swing to the first side along the second direction by a first angle, and detecting whether the first side has an obstacle.

[0111] This is to determine whether there is an obstacle on the left and right sides of the machine body 10. When detecting that the first side of the machine body 10 along the second direction has an obstacle, the machine body 10 is controlled to turn to the second side along the second direction. Here, the first side and the second side are two opposite sides of the machine body 10 along the width direction, and are not limited to specific orientations. For example, the first side can be the left side, and the second side can be the right side. When detecting that the left side has an obstacle, the above-mentioned "when detecting that one side of the machine body 10 along the second direction has an obstacle" is "when detecting that the left side of the machine body 10 has an obstacle", and accordingly, the machine body 10 is controlled to turn to the right side. Conversely, the same applies.​

[0112] As shown in Figure 8 , the control method further comprises: when it is detected that the first side has no obstacle, controlling the body 10 to swing the first angle towards the second side in the second direction, and detecting whether the second side has an obstacle.

[0113] When it is detected that the first side of the body 10 in the second direction has no obstacle, but the second side has an obstacle, the body 10 is controlled to rotate towards the first side in the second direction. Specifically, when it is detected that the left side of the body 10 has no obstacle, but the right side has an obstacle, the body 10 is controlled to rotate towards the left side.

[0114] In some embodiments, as shown in Figure 11 , when it is detected that the front side of the body 10 has an obstacle, the body 10 is controlled to swing the first angle α towards the first side in the second direction.

[0115] In some embodiments, as shown in Figure 12 , when it is detected that the first side has no obstacle, the body 10 is controlled to swing the first angle α towards the second side in the second direction. Figure 11 and Figure 12 , the N line refers to the width center line of the body 11.

[0116] Please refer to Figure 11 and Figure 12 , before the step of controlling the body 10 to swing the first angle α towards the second side in the second direction when it is detected that the first side has no obstacle, the control method further comprises: controlling the body 10 to swing the first angle α towards the second side in the second direction, so that the body 10 returns to the initial position.

[0117] After the step of controlling the body 10 to swing the first angle α towards the second side in the second direction and detecting that the second side has an obstacle, the control method further comprises: step S5, controlling the body 10 to swing the first angle α towards the first side in the second direction, so that the body 10 returns to the initial position.

[0118] Specifically, as shown in Figure 15 and Figure 16 , in some specific embodiments, the body 10 is controlled to rotate the second angle β towards the other side in the second direction.

[0119] The rotation center of the body 11 is generally in the relatively middle area of the body 11, and is a certain distance from the cleaning assembly 20 in the front-back direction, so that when swinging, because the cleaning assembly 20 is arranged at the first end 111 of the body 11, the arc length of the cleaning assembly 20 is larger, and compared with the body 11, the cleaning assembly 20 will first collide with the obstacle on one side in the width direction.

[0120] In some embodiments of the present application, asFigure 11 As shown, before controlling the fuselage 10 to swing toward the first side of the second direction by the first angle α, the control method further includes, step S2, controlling the fuselage 10 to move a first distance D1 in the opposite direction of the forward direction.

[0121] Specifically, the control method further includes, before controlling the fuselage 10 to swing toward the first side of the second direction by the first angle α, controlling the fuselage 10 to move backward by a first distance D1.

[0122] like Figure 10 As shown, the control device controls the moving assembly 12 to cause the main body 10 to move backward a first distance D1. At this point, the distance between the first end 111 of the cleaning assembly 20 and the obstacle in front of the main body 10 is the first distance D1. This first distance D1 reserves sufficient space for the main body 10 to swing, and in particular, for the cleaning assembly 20 to swing.

[0123] In some embodiments of the present application, Figure 11 As shown, after detecting that there is an obstacle on one side of the fuselage 10 along the second direction and before controlling the fuselage 10 to rotate toward the other side of the second direction, the control method also includes: step S6, controlling the fuselage 10 to move a second distance D2 toward one side of the forward direction; the second distance D2 is less than or equal to the first distance D1.

[0124] Specifically, when an obstacle is detected on one side of the fuselage 10 in the width direction, the fuselage 10 is controlled to move a second distance D2 toward one side in the forward direction before being controlled to rotate toward the other side in the width direction.

[0125] The purpose of this arrangement is to minimize the gap between the machine body 10 and the obstacle after the window cleaning machine 100 completes the turn. Figure 14 As shown, after the fuselage 10 moves forward the second distance D2, the distance between the fuselage 10 and the obstacle in front is the third distance D3, and the third distance D3 is the difference between the first distance D1 and the second distance D2. Figure 7 As shown, after the turn is completed, there may be a fourth distance D4 between the fuselage 10 and the obstacle (the original obstacle in front). Therefore, the smaller the third distance D3 is, the smaller the fourth distance D4 is.

[0126] In some embodiments of the present application, the second rotation angle is 90°. The first rotation angle can be set to be smaller, preferably for tentative touch. In some optional embodiments, the first rotation angle can be less than or equal to 45°. Further optionally, the first rotation angle can be less than or equal to 30°.

[0127] In some optional embodiments, the first rotation angle may be greater than or equal to 10°. In some optional embodiments, the first rotation angle may be greater than or equal to 20°. It is understood that in actual applications, the fuselage 10 may be hit by an obstacle on the left or right side when the swing angle is less than the first angle α.

[0128] like Figure 8 As shown, in some embodiments of the present application, the control method further includes, after controlling the body 10 to rotate toward the other side of the second direction, in step S8, controlling the driving assembly 15 to drive the cleaning assembly 20 to move toward one side along the second direction. In this way, the cleaning assembly 20 returns to its first position in the second direction.

[0129] See also Figures 9 to 17 As shown, the turning process of the window cleaning machine 100 is as follows:

[0130] like Figure 9 As shown, in step T1 , the window cleaning machine 100 moves forward and collides with an obstacle in front (a first obstacle); the second collision sensor 13 is triggered.

[0131] like Figure 10 As shown, in step T2, the moving assembly 12 of the window cleaning machine 100 is activated, and the window cleaning machine 100 as a whole moves backward a first distance D1.

[0132] like Figure 11 and Figure 12 As shown, in step T3, the moving assembly 12 of the window cleaning machine 100 moves, and with this position as the initial position, the window cleaning machine 100 swings to the left as a whole at a first angle α to detect whether there is an obstacle on the left side. Figure 12 It is shown that the window cleaning machine 100 as a whole swings to the right by a first angle α.

[0133] In step T3, the order in which the window cleaning machine 100 swings to one side along the width direction is not limited, and may be first to the left and then to the right, or vice versa, until an obstacle is detected on one side of the width direction.

[0134] In the following, it is taken as an example that the window cleaning machine 100 collides with an obstacle (second obstacle) on the right side during the process of swinging to the right.

[0135] like Figure 13 As shown, in step T4, the window cleaning machine 100 stops swinging and rotates to the initial position.

[0136] like Figure 14 As shown, in step T5, the moving assembly 12 of the window cleaning machine 100 is activated, and the window cleaning machine 100 as a whole moves forward a second distance D2. At this time, the distance between the first end 111 of the cleaning assembly 20 and the first obstacle is a third distance D3.

[0137] As Figure 15 and Figure 16 shown, step T6, the cleaning assembly 20 is controlled to move to the other side of the width direction until it reaches its second position; meanwhile, the moving assembly 12 is controlled to act, and the machine body 10 is rotated to the other side of the width direction until it turns through a second angle β.

[0138] As Figure 17 shown, step T7, the cleaning assembly 20 is controlled to move to the side of the width direction to return to its first position.

[0139] As Figure 18 shown, the embodiment of the application further provides a control device 30 applied to the window cleaning machine 100 of the above-mentioned embodiments. The control device 30 comprises a memory 31 and a processor 32, the memory 31 stores a computer program capable of running on the processor 32, and the processor 32 implements the steps of the control method of the above-mentioned embodiments when executing the computer program.

[0140] In application, the control device 30 can be a central processing unit (CPU), and the control device can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0141] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional modules is taken as an example for illustration, and in actual application, the above-mentioned functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. Each functional module in the embodiment can be integrated in one processing module, or each module can exist physically, or two or more modules can be integrated in one module, and the integrated module can be realized in the form of hardware or in the form of software function module. In addition, the specific name of each functional module is only for the convenience of mutual distinction, and does not limit the protection scope of the application. The specific working process of the module in the device can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0142] Finally, the embodiment of the present application also provides a non-transitory storage medium. When the non-transitory storage medium is run on the window cleaning machine 100, the window cleaning machine 100 executes the steps of the control method described in the above embodiments. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk (HDD) or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above types of memory.

[0143] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A window cleaning machine, characterized in that: include: body; as well as A cleaning component is arranged on the fuselage and moves along a second direction. The cleaning component can move to any side of the fuselage along the second direction, and the second direction is perpendicular to the forward direction of the fuselage.

2. The window cleaning machine according to claim 1, wherein: The window cleaning machine further includes a driving assembly connected between the machine body and the cleaning assembly, and the driving assembly is used to drive the cleaning assembly to move relative to the machine body along the second direction.

3. The window cleaning machine according to claim 2, characterized in that: The driving assembly includes a driving member and a transmission assembly. The driving member is fixed to the body. The transmission assembly is arranged on the body and connected to the output end of the driving member and the cleaning assembly.

4. The window cleaning machine according to claim 3, characterized in that: The transmission assembly includes a gear and a rack, the rack is fixed to the cleaning assembly along the second direction, the output end of the driving member is connected to the gear, and the gear is meshed with the rack; Alternatively, the transmission assembly includes a screw and a nut, the nut is engaged with the screw, the screw is arranged along the second direction, one of the screw and the nut is rotatably arranged on the body and connected to the driving member, and the other of the screw and the nut is arranged on the cleaning assembly; Alternatively, the transmission assembly includes a slider-crank mechanism, a crank in the slider-crank mechanism is connected to the output end of the driving member, and a slider in the slider-crank mechanism is connected to the cleaning assembly.

5. The window cleaning machine according to claim 2, characterized in that: Also includes: collision sensors, disposed at both ends of the cleaning assembly along the second direction, for detecting obstacles; as well as The control device is in communication with the collision sensor and the driving assembly, and is used to control the driving assembly to drive the cleaning assembly to move along the second direction based on the obstacle signal detected by the collision sensor.

6. The window cleaning machine according to claim 1, wherein: Also includes: A restoring member, the restoring member comprising a first restoring member and a second restoring member, the first restoring member being provided at the first end of the cleaning assembly along the second direction and respectively resting against the body and the first end; The second restoring member is arranged at the second end of the cleaning assembly along the second direction and respectively abuts against the body and the second end. The first end and the second end are arranged opposite to each other along the second direction.

7. The window cleaning machine according to any one of claims 1 to 6, characterized in that: A sliding guide portion is provided on the body, and a sliding fitting portion is provided on the cleaning assembly. The sliding fitting portion is slidably connected to the sliding guide portion along the second direction; one of the sliding guide portion and the sliding fitting portion is a slide rail, and the other is a slide groove.

8. The window cleaning machine according to any one of claims 1 to 6, characterized in that: The extending direction of the cleaning component is the second direction, and the cleaning component is arranged at the front end of the body along the forward direction.

9. The window cleaning machine according to claim 8, characterized in that: The width of the cleaning component along the second direction is less than or equal to the width of the body along the second direction.

10. The window cleaning machine according to claim 8, wherein: The front end of the body has arc convex surfaces on both sides along the second direction.

11. A control method for a window cleaning machine according to any one of claims 2 to 5, characterized in that: The control method includes: When it is detected that there is an obstacle on one side of the body along the second direction, controlling the driving assembly to drive the cleaning assembly to move toward the other side along the second direction; and The fuselage is controlled to rotate toward the other side of the second direction.

12. The control method of the window cleaning machine according to claim 11, characterized in that: Before controlling the driving assembly to drive the cleaning assembly to move along the second direction toward the other side, the control method further includes: When it is detected that there is an obstacle at the front end of the fuselage along the forward direction, the fuselage is controlled to swing toward the first side of the second direction by a first angle to detect whether there is an obstacle on the first side.

13. The control method of the window cleaning machine according to claim 12, characterized in that: The control method further includes: When it is detected that there is no obstacle on the first side, the fuselage is controlled to swing toward the second side of the second direction by the first angle to detect whether there is an obstacle on the second side.

14. The control method of the window cleaning machine according to claim 12, characterized in that: Before controlling the body to swing toward the first side of the second direction by a first angle, the control method further includes: The fuselage is controlled to retreat a first distance in a direction opposite to the forward direction.

15. A control device for a window cleaning machine, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the control method according to any one of claims 11 to 14 are implemented.

16. A non-transitory storage medium, characterized in that: When the non-transitory storage medium is run on the window cleaning machine, the window cleaning machine is enabled to execute the steps of implementing the control method according to any one of claims 11 to 14.

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