Window cleaning robot and cleaning method thereof

Abstract

The invention relates to a window cleaning robot and a cleaning method of the window cleaning robot. The window cleaning robot includes: a main body; the first detection components are arranged on the edge of the main body, every two adjacent first detection components are jointly tangent to a first tangent plane, and the first tangent planes are located on the sides, away from the main body, of the first detection components and are parallel to the height direction of the main body; the cleaning mechanism comprises a first cleaning assembly; in the first cleaning state, the orthographic projection of the first cleaning assembly in the height direction of the main body partially coincides with the orthographic projection of the first tangent plane in the height direction of the main body; in the first lifting state, the orthographic projection of the first cleaning assembly in the height direction of the body is located on the side, close to the body, of the orthographic projection of the first tangent plane in the height direction of the body. According to the window cleaning robot, through state switching of the first cleaning assembly, the corner areas of the surface to be cleaned can be effectively cleaned, and the cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to window cleaning robots and methods for cleaning windows using these robots. Background Technology

[0002] With the increasing prevalence of high-rise buildings and the upgrading of home cleaning needs, window cleaning robots have become common equipment in both residential and commercial cleaning sectors because they can replace manual window cleaning and reduce safety risks. In related technologies, to achieve boundary detection and collision protection, window cleaning robots typically have impact plates, ball heads, or similar detection and protection components on their main body edges. However, because these detection and protection components often protrude from the outside of the main body, window cleaning robots have difficulty reaching the corner areas of the glass, resulting in poor cleaning effects on stains in these areas. Summary of the Invention

[0003] Therefore, it is necessary to provide a window cleaning robot and a cleaning method for addressing the problem of window cleaning robots not cleaning thoroughly.

[0004] A window cleaning robot, the window cleaning robot comprising:

[0005] main body;

[0006] A plurality of first detection components are disposed on the edge of the main body, and two adjacent first detection components are tangent to a first cutting surface. The first cutting surface is located on the side of the first detection component away from the main body and is parallel to the height direction of the main body.

[0007] A cleaning mechanism, the cleaning mechanism including a first cleaning component, the first cleaning component being movably connected to the side of the main body where the first detection component is provided, the first cleaning component having a first cleaning state and a first lifting state;

[0008] In the first cleaning state, the orthographic projection of the first cleaning component in the height direction of the main body and the orthographic projection of the first cross-section in the height direction of the main body partially overlap;

[0009] In the first raised state, the orthographic projection of the first cleaning component in the height direction of the main body is located on the side of the orthographic projection of the first cross-section in the height direction of the main body closer to the main body.

[0010] In one embodiment, during the first cleaning state, at least a portion of the structure of the first cleaning component is not higher than the bottom surface of the first detection component in the body height direction;

[0011] In the first raised state, the first cleaning component is higher than the bottom surface of the first detection component in the height direction of the main body.

[0012] In one embodiment, the first cleaning component is configured to move in a straight line relative to the body, and the direction of movement of the first cleaning component is inclined to the height direction of the body;

[0013] And / or, in the body height direction, the height of the end of the first cleaning component away from the body is lower than the height of the end of the first cleaning component near the body.

[0014] In one embodiment, the cleaning mechanism further includes a second cleaning component. The window cleaning robot includes a plurality of second detection components disposed on the edge of the main body. Two adjacent second detection components are tangent to a second cross-section. The second cross-section is located on the side of the second detection component away from the main body and is parallel to the height direction of the main body. The second cleaning component is movably connected to the side of the main body where the second detection components are disposed. The second cleaning component has a second cleaning state and a second lifting state.

[0015] In the second cleaning state, the orthographic projection of the second cleaning component in the height direction of the main body and the orthographic projection of the second cross-section in the height direction of the main body partially overlap;

[0016] In the second raised state, the orthographic projection of the second cleaning component in the height direction of the main body is located on the side of the orthographic projection of the second cross-section in the height direction of the main body closer to the main body.

[0017] In one embodiment, the first cleaning component and the second cleaning component are respectively disposed on the front and rear sides of the main body along the travel direction of the window cleaning robot.

[0018] In one embodiment, when the window cleaning robot moves in a direction from the first cleaning component toward the second cleaning component, the first cleaning component is in the first cleaning state and the second cleaning component is in the second lifting state;

[0019] When the window cleaning robot moves from the second cleaning component toward the first cleaning component, the first cleaning component is in the first lifted state and the second cleaning component is in the second cleaning state.

[0020] In one embodiment, the cleaning mechanism includes:

[0021] Mounting base, the mounting base being connected to the main body;

[0022] A drive assembly, comprising a drive component and a transmission component, wherein the drive component is connected to the mounting base and the drive component is drivenly connected to the transmission component;

[0023] A first cleaning component, comprising a first movable component and a first cleaning component connected sequentially from the main body to the farthest point, wherein the first movable component is movably connected to the mounting base;

[0024] The transmission component contacts the first movable component. The transmission component is configured to move toward the first movable component in a first direction under the driving action of the driving component, and drive the first movable component and the first cleaning component to move in a second direction, wherein the second direction is different from the first direction.

[0025] In one embodiment, the first direction is perpendicular to the height direction of the body.

[0026] In one embodiment, the transmission member has a first transmission surface inclined in the first direction, the first movable member has a first contact surface inclined in the second direction, and the first contact surface slides in contact with the first transmission surface.

[0027] In one embodiment, the first cleaning component further includes a first elastic element connected to the first movable element and the mounting base, the first elastic element being used to apply force to the first movable element to make the first movable element contact the transmission element.

[0028] In one embodiment, the first cleaning component further includes a first guide member connected to the mounting base, the first guide member extending along the second direction, and the first movable member sleeved on the first guide member and slidable relative to the first guide member.

[0029] In one embodiment, the cleaning mechanism further includes a second cleaning component, which includes a second movable member and a second cleaning member connected in sequence from near to far from the main body, and the second movable member is movably connected to the mounting base;

[0030] The transmission component contacts the second movable component. The transmission component is configured to move toward the second movable component in a first direction under the driving action of the driving component, and drive the second movable component and the second cleaning component to move in a third direction, wherein the third direction is different from the first direction.

[0031] In one embodiment, the transmission member has a second transmission surface inclined to the first direction, and the second movable member has a second contact surface inclined to the third direction, and the second contact surface slides in contact with the second transmission surface.

[0032] In one embodiment, the second cleaning component further includes a second elastic member connected to the second movable member and the mounting base, the second elastic member being used to apply force to the second movable member to make the second movable member contact the transmission member.

[0033] In one embodiment, the second cleaning component further includes a second guide member connected to the mounting base, the second guide member extending in the third direction, and the second movable member sleeved on the second guide member and slidable relative to the second guide member.

[0034] In one embodiment, the plane of symmetry between the second direction and the third direction is perpendicular to the first direction.

[0035] In one embodiment, the window cleaning robot further includes a cleaning component connected to the bottom of the main body and disposed between the first cleaning component and the second cleaning component;

[0036] And / or, the window cleaning robot further includes a spray nozzle disposed on at least one of the front and rear sides of the main body along the direction of travel of the window cleaning robot.

[0037] A window cleaning robot cleaning method, implemented based on any one of the above-described window cleaning robots, the cleaning method comprising the following steps:

[0038] The control unit moves on the surface to be cleaned;

[0039] The position of the main body is detected by the first detection component;

[0040] Based on the detection results of the first detection component, the movement of the first cleaning component relative to the main body is controlled, so that the first cleaning component switches between a first cleaning state and a first lifting state.

[0041] In one embodiment, the cleaning method includes the following steps:

[0042] The control unit moves on the surface to be cleaned;

[0043] The position of the main body is detected by the first detection component and the second detection component;

[0044] Based on the detection results of the first detection component, the movement of the first cleaning component relative to the main body is controlled, so that the first cleaning component switches between a first cleaning state and a first lifting state.

[0045] Based on the detection results of the second detection component, the movement of the second cleaning component relative to the main body is controlled, so that the second cleaning component switches between a second cleaning state and a second lifting state.

[0046] In one embodiment, controlling the movement of the first cleaning component relative to the main body based on the detection result of the first detection component, thereby switching the first cleaning component between a first cleaning state and a first lifting state, includes:

[0047] When the first detection component detects that the main body has reached the boundary of the surface to be cleaned, it controls the main body to stop moving;

[0048] Control the movement of the first cleaning component relative to the main body to put the first cleaning component in a first cleaning state, and simultaneously control the movement of the second cleaning component relative to the main body to put the second cleaning component in a second lifting state;

[0049] Control the main body to move in the direction from the first cleaning component toward the second cleaning component.

[0050] In one embodiment, controlling the movement of the second cleaning component relative to the main body based on the detection result of the second detection component, thereby switching the second cleaning component between a second cleaning state and a second lifting state, includes:

[0051] When the second detection component detects that the main body has reached the boundary of the surface to be cleaned, it controls the main body to stop moving;

[0052] Control the movement of the second cleaning component relative to the main body to put the second cleaning component into a second cleaning state, and at the same time control the movement of the first cleaning component relative to the main body to put the first cleaning component into a first lifting state;

[0053] Control the main body to move in a direction from the second cleaning component toward the first cleaning component.

[0054] In the aforementioned window cleaning robot and its cleaning method, in the first cleaning state, the orthographic projection of the first cleaning component partially overlaps with the orthographic projection of the first cross-section shared by the two adjacent first detection components. This allows the first cleaning component to extend to or beyond the first cross-section, meaning it can extend to the outer edge of the main body, close to the boundary of the surface to be cleaned. This allows the first cleaning component to clean the corner areas of the surface. Furthermore, in the first lifted state, the first cleaning component retracts to the side of the first detection component closest to the main body, i.e., it retracts into the main body. This avoids collisions or friction between the first cleaning component and boundary structures such as window frames during the main body's movement, ensuring smooth movement of the main body for cleaning operations. Therefore, by switching the state of the first cleaning component, the window cleaning robot can effectively clean the corner areas of the surface to be cleaned, improving the comprehensiveness of cleaning and achieving better cleaning results, thus solving the problem of difficult-to-clean corner areas. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the overall structure of a window cleaning robot according to an embodiment of this application.

[0056] Figure 2 for Figure 1 A schematic diagram of the bottom structure of the structure shown.

[0057] Figure 3 This is a schematic diagram of the internal structure of a window cleaning robot according to an embodiment of this application.

[0058] Figure 4 for Figure 3 A schematic diagram of the bottom structure of the structure shown.

[0059] Figure 5 for Figure 3 The diagram shows a top view of the structure.

[0060] Figure 6 for Figure 5 A schematic diagram of the cross-sectional structure of the AA plane.

[0061] Figure 7 for Figure 6 A magnified structural diagram at point M.

[0062] Figure 8 for Figure 6 A magnified structural diagram at point N.

[0063] Figure 9 This is a schematic diagram of the structure of a cleaning mechanism according to an embodiment of this application.

[0064] Figure 10 This is a schematic diagram of the structure of a first cleaning component according to an embodiment of this application.

[0065] Figure 11 This is an exploded structural diagram of a first cleaning component according to an embodiment of this application.

[0066] Figure 12 This is a schematic diagram of the structure of a driving component according to an embodiment of this application.

[0067] Figure 13 This is an exploded view of a drive component according to an embodiment of this application.

[0068] Figure 14 This is a flowchart illustrating a window cleaning robot cleaning method according to an embodiment of this application.

[0069] Figure 15 This is a flowchart illustrating a window cleaning robot cleaning method according to another embodiment of this application.

[0070] Figure 16 This is a flowchart of a window cleaning robot according to another embodiment of this application.

[0071] Figure 17 This is a flowchart of a window cleaning robot according to another embodiment of this application.

[0072] Icon labels:

[0073] 1. Window cleaning robot;

[0074] 10. Cleaning services;

[0075] 100. Mounting base; 110. First limiting hole;

[0076] 200. Drive assembly; 210. Drive component; 220. Transmission component; 221. Transmission body; 2211. First transmission surface; 2212. Second transmission surface; 2213. Rack structure; 2214. Guide hole; 222. Protrusion; 230. Limiting component;

[0077] 300, First cleaning component; 310, First moving part; 311, First contact surface; 312, Positioning groove; 313, Lubricating layer; 320, First cleaning element; 321, First connecting section; 322, First cleaning scraper; 330, First elastic element; 340, First guide element;

[0078] 400, Second cleaning component; 410, Second movable component; 411, Second contact surface; 420, Second cleaning element; 430, Second elastic element; 440, Second guide element;

[0079] 20. Main body;

[0080] 31. First detection component; 32. Second detection component;

[0081] 40. Cleaning parts;

[0082] 50. Spray nozzle. Detailed Implementation

[0083] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0084] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0085] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0087] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0088] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0089] Please see Figures 1 to 13 As shown, this application embodiment provides a window cleaning robot 1 and a cleaning method for the window cleaning robot 1. The window cleaning robot 1 of this application embodiment can move on the surface of a window glass to be cleaned and is used to clean contaminants on the surface. Specifically, the window cleaning robot 1 of this application embodiment includes a main body 20, a first detection component 31, and a cleaning mechanism 10. Of course, the window cleaning robot 1 may also include conventional components of existing window cleaning robots 1 such as wheels and batteries. During the cleaning process, the window cleaning robot 1 of this application embodiment can effectively clean the corner areas of the surface to be cleaned, improving the comprehensiveness of cleaning and achieving better cleaning results.

[0090] See Figures 1 to 13 As shown, the window cleaning robot 1 includes a main body 20, several first detection components 31, and a cleaning mechanism 10. The main body 20 serves as the basic load-bearing structure of the window cleaning robot 1, and can integrate existing modules such as a power module, control module, and suction module. Several first detection components 31 are positioned at the edges of the main body 20, with their outer edges protruding from the sides of the main body 20, specifically the sides of the first detection components 31 furthest from the main body 20. The first detection components 31 are used to detect the position of the main body 20 on the surface to be cleaned (e.g., window glass) in real time. For example, the first detection components 31 can employ infrared sensors, pressure sensors, etc., to accurately identify the boundaries of the surface to be cleaned (e.g., the edge of a window frame). Figure 5 and Figure 7As shown, two adjacent first detection components 31 are tangent to the first cutting surface Q1, that is, the first cutting surface Q1 is tangent to the outer edge of the first detection component 31. The first cutting surface Q1 is located on the side of the first detection component 31 away from the main body 20, and the first cutting surface Q1 is parallel to the height direction of the main body. The cleaning mechanism 10 includes a first cleaning component 300, which is movably connected to the side of the main body 20 where the first detection component 31 is located, so that the first cleaning component 300 can move relative to the main body 20 to adjust the position of the first cleaning component 300 relative to the main body 20.

[0091] During its movement relative to the main body 20, the first cleaning component 300 has at least a first cleaning state and a first lifting state. In the first cleaning state, the orthographic projection of the first cleaning component 300 in the height direction of the main body 20 partially overlaps with the orthographic projection of the first cross-section Q1 in the height direction of the main body 20. In the first lifting state, the orthographic projection of the first cleaning component 300 in the height direction of the main body 20 is located on the side of the orthographic projection of the first cross-section Q1 in the height direction of the main body 20 closer to the main body 20, that is, the orthographic projection of the first cleaning component 300 in the height direction of the main body 20 does not overlap with the orthographic projection of the first cross-section Q1 in the height direction of the main body 20 at all. The height direction of the main body 20 is the direction perpendicular to the surface to be cleaned.

[0092] Through the above structural design, in the first cleaning state, the orthographic projection of the first cleaning component 300 partially overlaps with the orthographic projection of the common first cross-section Q1 of the two adjacent first detection components 31. This allows the first cleaning component 300 to extend to or beyond the first cross-section Q1, that is, the first cleaning component 300 can extend to the outer edge of the main body 20, close to the boundary of the surface to be cleaned. This allows the first cleaning component 300 to clean the corner areas of the surface to be cleaned. Furthermore, in the first lifted state, the first cleaning component 300 retracts to the side of the first detection component 31 closest to the main body 20, that is, the first cleaning component 300 retracts into the main body 20. This avoids collisions or friction between the first cleaning component 300 and boundary structures such as window frames during the movement of the main body 20, ensuring smooth movement of the main body 20 for cleaning operations. Therefore, the window cleaning robot 1 of this embodiment, through the state switching of the first cleaning component 300, can effectively clean the corner areas of the surface to be cleaned, improving the comprehensiveness of cleaning and achieving better cleaning results, thereby solving the problem of difficult-to-clean corner areas.

[0093] Furthermore, in some embodiments, in the first cleaning state, at least a portion of the structure of the first cleaning component 300 is not higher than the bottom surface of the first detection component 31 in the height direction of the main body 20. The bottom surface of the first detection component 31 refers to the end face of the first detection component 31 facing the surface to be cleaned, i.e., the bottom surface of the first detection component 31 is used to contact the surface to be cleaned. Specifically, at least a portion of the structure of the first cleaning component 300 may be at the same height as the bottom surface of the first detection component 31, or the height of at least a portion of the structure of the first cleaning component 300 may be lower than the bottom surface of the first detection component 31. Thus, in the first cleaning state, the at least a portion of the structure of the first cleaning component 300 can contact the surface to be cleaned, thereby cleaning the surface.

[0094] In the first raised state, the first cleaning component 300 is higher than the bottom surface of the first detection component 31 in the height direction of the main body 20. The first cleaning component 300 is then far away from the surface to be cleaned, and a gap is formed between them. This can prevent the first cleaning component 300 from rubbing against the surface to be cleaned when the main body 20 moves, thus avoiding wear on the first cleaning component 300.

[0095] Furthermore, in some embodiments, the first cleaning component 300 is configured to move linearly relative to the body 20, and the direction of movement of the first cleaning component 300 is inclined to the height direction of the body 20. Moreover, in the height direction of the body 20, the height of the end of the first cleaning component 300 away from the body 20 is lower than the height of the end of the first cleaning component 300 near the body 20; that is, the first cleaning component 300 is generally inclined, and the end of the first cleaning component 300 away from the body 20 is the portion that contacts the surface to be cleaned. Specifically, see [reference needed]. Figures 6 to 7 As shown, the first cleaning component 300 moves in the Y-direction, and the height direction of the main body 20 is the vertical direction in the figure, where the Y-direction is inclined to the vertical direction. Therefore, the first cleaning component 300 can move relative to the main body 20 along the Y-direction, which is inclined to the height direction of the main body 20. This allows for flexible adjustment of the position of the end of the first cleaning component 300 away from the main body 20, so that the first cleaning component 300 can extend from the main body 20 to accurately cover corner areas, while also facilitating the retraction of the first cleaning component 300 back into the main body 20.

[0096] Furthermore, in some embodiments, see [reference] Figures 1 to 13 As shown, the window cleaning robot 1 includes several second detection components 32, which are disposed along the edge of the main body 20. The second detection components 32 and the first detection components 31 are respectively disposed on different sides of the main body 20. The structure and function of the second detection components 32 can be the same as those of the first detection components 31, and they are used to cooperate with the first detection components 31 to detect the position of the main body 20. Figure 5 and Figure 8As shown, two adjacent second detection components 32 are tangent to the second cutting surface Q2, that is, the second cutting surface Q2 is tangent to the outer edge of the second detection component 32. The second cutting surface Q2 is located on the side of the second detection component 32 away from the main body 20, and the second cutting surface Q2 is parallel to the height direction of the main body 20. The cleaning mechanism 10 also includes a second cleaning component 400, which is movably connected to the side of the main body 20 where the second detection component 32 is located. For example, the second cleaning component 400 can be connected to the side of the main body 20 where the second detection component 32 is located through the same movable connection method as the first cleaning component 300.

[0097] The second cleaning component 400 has a second cleaning state and a second lifting state. In the second cleaning state, the orthographic projection of the second cleaning component 400 in the height direction of the main body 20 partially overlaps with the orthographic projection of the second cut surface Q2 in the height direction of the main body 20. In the second lifting state, the orthographic projection of the second cleaning component 400 in the height direction of the main body 20 is located on the side of the orthographic projection of the second cut surface Q2 in the height direction of the main body 20 closer to the main body 20, that is, the orthographic projection of the second cleaning component 400 in the height direction of the main body 20 does not overlap with the orthographic projection of the second cut surface Q2 in the height direction of the main body 20 at all. Therefore, the first cleaning component 300 and the second cleaning component 400 can clean the edge areas on different sides of the main body 20 respectively, further expanding the cleaning range of the corners and improving the comprehensiveness of the cleaning.

[0098] Furthermore, in some embodiments, see [reference] Figures 1 to 13 As shown, the first cleaning component 300 and the second cleaning component 400 are respectively disposed on the front and rear sides of the main body 20 along the traveling direction of the window cleaning robot 1. The traveling direction refers to the direction in which the window cleaning robot 1 moves normally on the surface to be cleaned. Specifically, when the window cleaning robot 1 travels from the first cleaning component 300 towards the second cleaning component 400, the second detection component 32 is located at the front edge of the main body 20 along the traveling direction, while the first detection component 31 is located at the rear edge of the main body 20 along the traveling direction. When the window cleaning robot 1 travels from the second cleaning component 400 towards the first cleaning component 300, the first detection component 31 is located at the front edge of the main body 20 along the traveling direction, while the second detection component 32 is located at the rear edge of the main body 20 along the traveling direction. The first cleaning component 300 and the second cleaning component 400 are adapted to the travel direction of the window cleaning robot 1, so that the window cleaning robot 1 can make the most of the first cleaning component 300 and the second cleaning component 400 to remove dirt from the surface to be cleaned when it moves, effectively avoiding the problem of repeated cleaning or missed cleaning caused by misalignment of the cleaning components and the travel direction.

[0099] Furthermore, in some embodiments, when the window cleaning robot 1 moves from the first cleaning component 300 towards the second cleaning component 400, the first cleaning component 300 located behind the main body 20 is in a first cleaning state, and the second cleaning component 400 located in front of the main body 20 is in a second raised state. When the window cleaning robot 1 moves from the second cleaning component 400 towards the first cleaning component 300, the first cleaning component 300 located in front of the main body 20 is in the first raised state, and the second cleaning component 400 located behind the main body 20 is in the second cleaning state. For example, when the window cleaning robot 1 moves to a corner area, the first cleaning component 300 is controlled to descend so that it contacts the corner area of ​​the surface to be cleaned. Then, the window cleaning robot 1 is controlled to move away from the corner area. At this time, the first cleaning component 300 is located behind the main body 20 and is in the first cleaning state. As the window cleaning robot 1 moves away from the corner area, the first cleaning component 300 can remove the dirt from the corner area, thereby improving the cleaning effect.

[0100] Furthermore, in some embodiments, see [reference] Figures 3 to 13As shown, the cleaning mechanism 10 includes a mounting base 100, a drive assembly 200, and a first cleaning assembly 300. The mounting base 100 is connected to the main body 20. For example, the mounting base 100 can be a plate-like or frame-like structure. The mounting base 100 can be integrally formed with the main body 20 or fixed by bolts or clips. The drive assembly 200 includes a drive member 210 and a transmission member 220. The drive member 210 is connected to the mounting base 100, and the drive member 210 and transmission member 220 are driven together. For example, the drive member 210 can be a motor with forward and reverse rotation functions, which can drive the transmission member 220 to move in a specific direction. The first cleaning assembly 300 includes a first movable member 310 and a first cleaning member 320 connected sequentially from near to far from the main body 20. The first movable member 310 is movably connected to the mounting base 100, and the first cleaning member 320 is used to contact the surface to be cleaned to perform a cleaning function. The transmission component 220 contacts the first movable component 310. The transmission component 220 is configured to move towards the first movable component 310 in a first direction under the driving action of the driving component 210, and drive the first movable component 310 and the first cleaning component 320 to move in a second direction. The second direction is different from the first direction, that is, the movement direction of the first movable component 310 and the first cleaning component 320 is different from the movement direction of the transmission component 220. Therefore, during the process of the drive member 210 driving the first movable member 310 and the first cleaning member 320 to move through the transmission member 220 to switch the state of the first cleaning component 300, since the movement direction of the first movable member 310 and the first cleaning member 320 is different from the movement direction of the transmission member 220, the transmission member 220 and the first cleaning component 300 can be set at a certain angle on the main body 20, thereby optimizing the overall structural layout of the cleaning mechanism 10 so that the cleaning mechanism 10 can better adapt to the internal structure of the main body 20, and thus facilitates the flexible setting of the movement direction of the first cleaning component 300 relative to the main body 20, so as to control the movement of the first cleaning component 300 and clean the corner area.

[0101] Furthermore, in some embodiments, the first direction is perpendicular to the height direction of the main body 20. See also... Figures 6 to 8 As shown, the first direction is the X direction in the figure, and the height direction of the main body 20 is the vertical direction in the figure, that is, the first direction is parallel to the horizontal direction. Since the size of the window cleaning robot 1 in the horizontal direction is generally larger than its size in the height direction, the transmission component 220 is set to move in the horizontal direction, so that the movement space of the transmission component 220 is larger, which is beneficial to drive the first moving component 310 to move through the transmission component 220.

[0102] Furthermore, in some embodiments, see [reference] Figures 9 to 13As shown, the transmission component 220 has a first transmission surface 2211, which is planar and inclined in a first direction. The first movable component 310 has a first contact surface 311, which is also planar and inclined in a second direction. The first contact surface 311 slides in contact with the first transmission surface 2211, that is, the first transmission surface 2211 and the first contact surface 311 are in contact. When the transmission component 220 and the first movable component 310 move relative to each other, the first transmission surface 2211 and the first contact surface 311 will slide relative to each other. Thus, when the transmission component 220 moves along the first direction, the first transmission surface 2211 applies a lateral force to the first contact surface 311 through sliding contact, pushing the first movable component 310 to move along the second direction. Therefore, the direction conversion from the first direction to the second direction can be completed through the sliding contact between the inclined first contact surface 311 and the first transmission surface 2211, which helps to simplify the transmission structure between the transmission component 220 and the first movable component 310.

[0103] Furthermore, in some embodiments, see [reference] Figures 12 to 13 As shown, the transmission component 220 includes a transmission body 221 and at least one protrusion 222. The transmission body 221 is drivenly connected to the driving component 210 and can move along a first direction. The protrusion 222 is connected to the end of the transmission body 221. For example, the protrusion 222 is a strip-shaped or sheet-shaped protrusion. The protrusion 222 can be integrally formed with the transmission body 221 or connected by welding or other methods. The side of the protrusion 222 away from the transmission body 221 forms a first transmission surface 2211, thereby making the area of ​​the first transmission surface 2211 smaller, which helps to reduce the frictional resistance between the first transmission surface 2211 and the first contact surface 311, and ensures that the movement of the transmission body 221 is accurately transmitted to the first moving component 310.

[0104] Optionally, the number of protrusions 222 can be multiple, such as two, three, four or more. The multiple protrusions 222 are arranged in parallel and spaced apart. The sides of the multiple protrusions 222 away from the transmission body 221 are spliced ​​together to form the first transmission surface 2211 to improve transmission stability.

[0105] Furthermore, in some embodiments, see [reference] Figures 9 to 11As shown, the first movable member 310 is provided with a positioning groove 312, and at least a portion of the bottom surface of the positioning groove 312 constitutes a first contact surface 311. For example, the positioning groove 312 can be a rectangular groove, and the positioning groove 312 is formed on the side of the first movable member 310 facing the transmission member 220. At least a portion of the bottom surface of the positioning groove 312 is a plane, which is the first contact surface 311, used for sliding contact with the first transmission surface 2211 of the transmission member 220. The positioning groove 312 can limit the contact position between the transmission member 220 and the first movable member 310, preventing lateral displacement when the two slide relative to each other, ensuring that the first transmission surface 2211 and the first contact surface 311 are always in contact, and ensuring transmission stability.

[0106] Furthermore, in some embodiments, see [reference] Figures 9 to 11 As shown, the midpoint of the first movable member 310 in the length direction is located within the positioning groove 312. That is, the positioning groove 312 is located at the middle of the first movable member 310, allowing the transmission member 220 to directly apply force to the middle of the first movable member 310, thereby driving the first movable member 310 to move synchronously along the second direction. Furthermore, the bottom surface of the positioning groove 312 is provided with a lubrication layer 313, such as a Teflon coating or other solid lubricant coating, to reduce the frictional resistance when the first transmission surface 2211 and the first contact surface 311 slide in contact. This helps to reduce the energy consumption of the drive assembly 200, while also reducing wear on the transmission member 220 and the first movable member 310, thus extending the service life of the drive assembly 200.

[0107] Furthermore, in some embodiments, see [reference] Figure 3 , Figures 5 to 9 As shown, the first contact surface 311 is parallel to the first transmission surface 2211, allowing the first transmission surface 2211 and the first contact surface 311 to fully fit together and distribute force evenly, thereby improving the smoothness of the relative sliding between the transmission component 220 and the first movable component 310. Furthermore, the angle between the transmission component 220 and the first movable component 310 is an obtuse angle. Therefore, after the transmission component 220 is placed inside the main body 20, it can drive the first movable component 310 to move away from the interior of the main body 20, allowing the first movable component 310 to drive the first cleaning component 320 to reach into corner areas to clean dirt. Moreover, the first movable component 310 is slidably connected to the mounting base 100. This slidable connection limits the movement trajectory of the first movable component 310, preventing it from deviating from the preset direction and ensuring the positional accuracy of the first cleaning component 300 during state switching, further improving cleaning reliability.

[0108] Furthermore, in some embodiments, see [reference] Figures 6 to 7 , Figures 10 to 11As shown, the first cleaning component 300 also includes a first elastic element 330, which is connected to the first movable element 310 and the mounting base 100 respectively. The first elastic element 330 is used to apply force to the first movable element 310 to make the first movable element 310 contact the transmission element 220. For example, the first elastic element 330 can be a compression spring, with one end connected to the first movable element 310 and the other end connected to the mounting base 100. The first elastic element 330 is always in a pre-compressed state to apply a continuous force to the first movable element 310, ensuring that the first movable element 310 and the transmission element 220 always remain in contact. Therefore, when the driving member 210 drives the transmission member 220 away from the first movable member 310 in the first direction, the transmission member 220 gradually releases the squeezing force on the first movable member 310. At this time, the first elastic member 330 can use its elastic force to drive the first movable member 310 to stick tightly to the transmission member 220, and at the same time, it can cause the first movable member 310 to retract into the body 20, ensuring that the first movable member 310 and the first cleaning member 320 are stably reset.

[0109] Furthermore, in some embodiments, see [reference] Figure 7 , Figures 9 to 11 As shown, the first cleaning component 320 includes a first connecting section 321 and a first cleaning scraper 322. For example, the first connecting section 321 can be a cylindrical rod-shaped structure, and the first cleaning scraper 322 can be a long strip-shaped structure made of rubber or silicone to avoid damaging the surface to be cleaned when scraping away dirt. The mounting base 100 is provided with a first limiting hole 110, and the first connecting section 321 passes through the first limiting hole 110 to prevent the first connecting section 321 from shifting during movement. The first connecting section 321 is connected between the first movable component 310 and the first cleaning scraper 322, that is, one end of the first connecting section 321 is fixedly connected to the first movable component 310, and the other end is connected to the first cleaning scraper 322. The first elastic component 330 is sleeved on the first connecting section 321, and both ends of the first elastic component 330 are respectively connected to the first movable component 310 and the mounting base 100, so that the elastic force of the first elastic component 330 can be accurately applied to the axial direction of the first movable component 310, thereby improving transmission stability.

[0110] Furthermore, in some embodiments, see [reference] Figure 7As shown, the end of the first cleaning scraper 322 away from the first connecting section 321 is bent towards the side closer to the first movable member 310. That is, the end of the first cleaning scraper 322 that contacts the surface to be cleaned is bent towards the side closer to the first movable member 310, forming an inwardly bent arc-shaped structure. On the one hand, the bent portion of the first cleaning scraper 322 can conform to the sidewall of the corner area, which is conducive to cleaning the dirt in the corner and improving the cleaning effect of the corner. On the other hand, when the bent portion of the first cleaning scraper 322 contacts the surface to be cleaned, the bent portion and the surface to be cleaned form a space with a certain height, so that the first cleaning scraper 322 can accommodate and scrape off more dirt during the cleaning process.

[0111] Furthermore, in some embodiments, see [reference] Figure 3 , Figure 7 , Figures 9 to 11 As shown, the first cleaning component 300 also includes a first guide member 340, which is connected to the mounting base 100 and extends along a second direction. For example, the first guide member 340 can be a cylindrical rod structure, and its extension direction is consistent with the second direction. A through hole matching the first guide member 340 is provided on the first movable member 310. The first movable member 310 is sleeved on the first guide member 340 through this through hole and can slide relative to the first guide member 340, achieving a movable connection relative to the mounting base 100. Thus, by limiting the movement trajectory of the first movable member 310 through the first guide member 340, deviation of the first movable member 310 during movement can be avoided, ensuring the displacement accuracy of the first cleaning component 300. Simultaneously, the cooperation between the first guide member 340 and the first movable member 310 can also share the force on the first movable member 310, which helps protect the first movable member 310 and extend its service life.

[0112] Furthermore, in some embodiments, there are multiple first guide members 340, and the transmission member 220 contacts a portion of the first movable member 310 located between at least two first guide members 340. For example, see [reference needed]. Figures 9 to 11 As shown, there are two first guide members 340. The transmission member 220 contacts the first movable member 310 located between the two first guide members 340. The transmission member 220 acts on the middle position of the first movable member 310, making the force on the first movable member 310 more balanced. At the same time, the guiding effect of the first guide members 340 can ensure that the movable member moves smoothly in the second direction, thereby ensuring that the first cleaning component 300 can be accurately positioned when switching states.

[0113] Furthermore, in some embodiments, see [reference] Figures 3 to 13As shown, the cleaning mechanism 10 also includes a second cleaning component 400. The second cleaning component 400 includes a second movable member 410 and a second cleaning member 420 connected sequentially from near to far from the main body 20. The second movable member 410 is movably connected to the mounting base 100, and the second cleaning member 420 is used to contact the surface to be cleaned to perform a cleaning function. The transmission member 220 contacts the second movable member 410. The transmission member 220 is configured to move towards the second movable member 410 in a first direction under the driving action of the driving member 210, and drive the second movable member 410 and the second cleaning member 420 to move in a third direction. The third direction is different from the first direction, that is, the movement direction of the second movable member 410 and the second cleaning member 420 is different from the movement direction of the transmission member 220. Specifically, the transmission member 220 maintains contact with both the first movable member 310 and the second movable member 410. When the driving member 210 drives the transmission member 220 to move towards the second movable member 410 in the first direction, the transmission member 220 pushes the second movable member 410 to move in the third direction, thereby driving the second cleaning member 420 to move synchronously, enabling the second cleaning assembly 400 to switch between the second cleaning state and the second lifting state. Thus, the first cleaning assembly 300 and the second cleaning assembly 400 can be driven simultaneously by a single transmission member 220, which helps to simplify the structure of the driving assembly 200 of the cleaning mechanism 10.

[0114] Furthermore, in some embodiments, the cleaning mechanism 10 has a first cleaning state and a second cleaning state. In the first cleaning state, the transmission member 220 moves towards the first movable member 310 along a first direction, causing the first movable member 310 to move away from the transmission member 220 along a second direction, while the second movable member 410 moves towards the transmission member 220 along a third direction. In the second cleaning state, the transmission member 220 moves towards the second movable member 410 along the first direction, causing the second movable member 410 to move away from the transmission member 220 along a third direction, while the first movable member 310 moves towards the transmission member 220 along the second direction. Thus, the reverse state switching of the first cleaning component 300 and the second cleaning component 400 can be achieved through the unidirectional movement of the transmission member 220, which simplifies the control logic of the first cleaning component 300 and the second cleaning component 400 and reduces control costs. Simultaneously, since the state switching process of the first cleaning component 300 and the second cleaning component 400 is synchronized, it helps reduce the failure rate, ensures uninterrupted cleaning during the movement of the window cleaning robot 1, and further improves cleaning efficiency.

[0115] Furthermore, in some embodiments, see [reference] Figures 9 to 13As shown, the transmission member 220 has a second transmission surface 2212, which is planar and inclined in the first direction. The second movable member 410 has a second contact surface 411, which is also planar and inclined in the third direction. The second contact surface 411 slides in contact with the second transmission surface 2212, that is, the second contact surface 411 and the second transmission surface 2212 are in contact. When the transmission member 220 and the second movable member 410 move relative to each other, the second contact surface 411 and the second transmission surface 2212 will slide relative to each other. Thus, when the transmission member 220 moves along the first direction, the second transmission surface 2212 applies a lateral force to the second contact surface 411 through sliding contact, pushing the second movable member 410 to move along the third direction. Therefore, the direction conversion from the first direction to the third direction can be completed through the sliding contact between the inclined second contact surface 411 and the second transmission surface 2212, which helps to simplify the transmission structure between the transmission member 220 and the second movable member 410.

[0116] Furthermore, in some embodiments, see [reference] Figures 6 to 7 , Figures 10 to 11 As shown, the second cleaning assembly 400 also includes a second elastic member 430, which is connected to both the second movable member 410 and the mounting base 100. The second elastic member 430 applies force to the second movable member 410 to bring it into contact with the transmission member 220. For example, the second elastic member 430 can be a compression spring, with one end connected to the second movable member 410 and the other end connected to the mounting base 100. The second elastic member 430 is always in a pre-compressed state to apply a continuous force to the second movable member 410, ensuring that the second movable member 410 and the transmission member 220 remain in contact at all times. Therefore, when the driving member 210 drives the transmission member 220 away from the second movable member 410 in the first direction, the transmission member 220 gradually releases the squeezing force on the second movable member 410. At this time, the second elastic member 430 can use its elastic force to drive the second movable member 410 to stick tightly to the transmission member 220, and at the same time, it can cause the second movable member 410 to retract into the body 20, ensuring that the second movable member 410 and the second cleaning member 420 are stably reset.

[0117] Furthermore, in some embodiments, see [reference] Figure 3 , Figure 7 , Figures 9 to 11As shown, the second cleaning component 400 also includes a second guide member 440, which is connected to the mounting base 100 and extends along a third direction. For example, the second guide member 440 can be a cylindrical rod-like structure similar to the first guide member 340, and its extension direction is consistent with the third direction. The second movable member 410 has a through hole matching the second guide member 440. The second movable member 410 is sleeved on the second guide member 440 through this through hole and can slide relative to the second guide member 440, achieving a movable connection relative to the mounting base 100. Thus, by limiting the movement trajectory of the second movable member 410 through the second guide member 440, deviation of the second movable member 410 during movement can be avoided, ensuring the displacement accuracy of the second cleaning component 400. Simultaneously, the cooperation between the second guide member 440 and the second movable member 410 can also share the force on the second movable member 410, which helps protect the second movable member 410 and extend its service life.

[0118] Furthermore, in some embodiments, see [reference] Figures 5 to 6 As shown, the plane of symmetry for the second and third directions is perpendicular to the first direction. The second direction is the Y-axis, the third direction is the Z-axis, and the plane of symmetry is the plane bisecting the angle between the second and third directions. That is, the straight line extending along the movement direction of the first cleaning component 300 and the straight line extending along the movement direction of the second cleaning component 400 are symmetrical about the plane perpendicular to the first direction. This ensures that the first and second cleaning components 300 and 400 have the same tilt angle relative to the main body 20, giving them the same cleaning effect and improving overall cleaning effectiveness. It also facilitates the synchronous switching of the first and second cleaning components 300 and 400 between their corresponding states via the drive component 200, reducing the difficulty of driving them.

[0119] Furthermore, in some embodiments, see [reference] Figure 13 As shown, the transmission component 220 is provided with a rack structure 2213, which extends along the first direction. A gear is mounted on the output end of the drive component 210, and the output end of the drive component 210 meshes with the rack structure 2213 for transmission. Therefore, by driving the gear to rotate forward and backward by the drive component 210, the transmission component 220 can be driven to reciprocate along the first direction, ensuring effective synchronous movement of the first movable component 310 and the second movable component 410.

[0120] Furthermore, in some embodiments, see [reference] Figure 9 , Figure 12 and Figure 13As shown, the drive assembly 200 also includes a limiting member 230. The transmission member 220 has a guide hole 2214, and the limiting member 230 passes through the guide hole 2214 and is fixed to the mounting base 100. For example, the transmission member 220 has a U-shaped guide hole 2214, the length of which extends along a first direction. The limiting member 230 can be a cylindrical structure such as a screw, passing through the guide hole 2214 and connected to the mounting base 100 by threads. The limiting member 230 restricts the transmission member 220 to move only along the first direction, preventing lateral deviation and transmission failure, thus ensuring the operational stability of the cleaning mechanism 10.

[0121] Furthermore, in some embodiments, see [reference] Figure 3 , Figure 5 , Figure 9 , Figure 12 and Figure 13 As shown, the transmission component 220 has a U-shaped structure. This U-shaped structure can effectively drive the first movable component 310 and the second movable component 410, while also avoiding the suction components of the window cleaning robot 1. This ensures that the drive assembly 200 does not affect the internal structural layout of the window cleaning robot 1 as much as possible, while making full use of the internal space of the main body 20.

[0122] Furthermore, in some embodiments, see [reference] Figure 1 and Figure 2 As shown, the window cleaning robot 1 also includes a cleaning component 40, which is connected to the bottom of the main body 20 and positioned between the first cleaning component 300 and the second cleaning component 400. For example, the cleaning component 40 can be a cloth, with its bottom surface contacting the surface to be cleaned to ensure effective wiping and removal of dirt. Furthermore, the window cleaning robot 1 also includes a spray nozzle 50, which is positioned on at least one side of the main body 20 along its travel direction. For example, the spray nozzle 50 can be an atomizing nozzle, connected via a pipe to a cleaning fluid storage tank inside the main body 20, and can spray cleaning fluid onto the surface to be cleaned under the command of the control module. Thus, the cleaning fluid sprayed by the nozzle 50 softens stains, which are then wiped by the cleaning component 40, and stubborn stains are scraped off by the first and second cleaning components 300, further improving the cleaning effect on stubborn stains.

[0123] See Figure 14 As shown, another embodiment of this application provides a cleaning method for a window cleaning robot 1, implemented based on any of the above embodiments of the window cleaning robot 1. The cleaning method includes the following steps:

[0124] S100, the control body 20 moves on the surface to be cleaned. For example, the control module built into the body 20 sends a command to the power module, driving the body 20 to move along a preset path on the surface to be cleaned.

[0125] S200: The position of the main body 20 is detected by the first detection component 31. For example, the position of the main body 20 is detected in real time by the first detection component 31. Specifically, the position of the main body 20 can be determined by detecting the distance between the main body 20 and the boundary of the surface to be cleaned, and the detection signal is transmitted to the control module.

[0126] S300: Based on the detection result of the first detection component 31, control the first cleaning component 300 to move relative to the main body 20, so that the first cleaning component 300 switches between a first cleaning state and a first lifting state. For example, based on the detection result of the first detection component 31, the control module sends a command to the drive component 200, which drives the first cleaning component 300 to move relative to the main body 20, so that the first cleaning component 300 switches between a first cleaning state and a first lifting state.

[0127] The window cleaning robot 1 of this embodiment achieves comprehensive cleaning through an automated process of controlling the movement of the main body 20, detecting the position of the main body 20, and controlling the real-time switching of the state of the first cleaning component 300. Furthermore, the state of the first cleaning component 300 can be switched in real-time based on the position detection of the main body 20, ensuring that the window cleaning robot 1 can flexibly adjust the state of the first cleaning component 300 according to the actual position. For example, when the main body 20 reaches the boundary, the first cleaning component 300 can be switched to extend to cover the corners, thereby effectively improving the cleaning effect.

[0128] Furthermore, in some embodiments, see [reference] Figure 15 As shown, the cleaning method includes the following steps:

[0129] S100, the control body 20 moves on the surface to be cleaned. For example, the control module built into the body 20 sends a command to the power module, driving the body 20 to move along a preset path on the surface to be cleaned.

[0130] S200: The position of the main body 20 is detected by the first detection component 31 and the second detection component 32. For example, the position of the main body 20 is detected in real time by the first detection component 31 and the second detection component 32. Specifically, the position of the main body 20 can be determined by detecting the distance between the main body 20 and the boundary of the surface to be cleaned, and the detection signal is transmitted to the control module.

[0131] S300: Based on the detection result of the first detection component 31, control the first cleaning component 300 to move relative to the main body 20, so that the first cleaning component 300 switches between a first cleaning state and a first lifting state. For example, based on the detection result of the first detection component 31, the control module sends a command to the drive component 200, which drives the first cleaning component 300 to move relative to the main body 20, so that the first cleaning component 300 switches between a first cleaning state and a first lifting state.

[0132] S400: Based on the detection result of the second detection component 32, control the movement of the second cleaning component 400 relative to the main body 20, so that the second cleaning component 400 switches between a second cleaning state and a second lifting state. For example, based on the detection result of the second detection component 32, the control module sends a command to the drive component 200, which drives the second cleaning component 400 to move relative to the main body 20, so that the second cleaning component 400 switches between a second cleaning state and a second lifting state.

[0133] The window cleaning robot 1 of this embodiment achieves comprehensive cleaning through an automated process of controlling the movement of the main body 20, detecting the position of the main body 20, and controlling the real-time switching of the states of the first cleaning component 300 and the second cleaning component 400. Furthermore, the real-time switching of the states of the first cleaning component 300 and the second cleaning component 400 based on the position detection of the main body 20 ensures that the window cleaning robot 1 can flexibly adjust the states of the first cleaning component 300 and the second cleaning component 400 according to the actual position. For example, when the main body 20 reaches a boundary, the corresponding cleaning component can be switched to extend and cover the corners, thereby effectively improving the cleaning effect.

[0134] Furthermore, in some embodiments, see [reference] Figure 16 As shown, based on the detection result of the first detection component 31, the first cleaning component 300 is controlled to move relative to the main body 20, so that the first cleaning component 300 switches between a first cleaning state and a first lifting state. That is, step S300 includes:

[0135] S310. When the first detection component 31 detects that the main body 20 has reached the boundary of the surface to be cleaned, the main body 20 is controlled to stop moving. For example, when the first detection component 31 detects that the main body 20 has reached the boundary of the surface to be cleaned (such as a window frame), the first detection component 31 sends a signal to the control module; after receiving the corresponding signal, the control module immediately sends a stop command to the power module to control the main body 20 to stop moving and avoid the main body 20 colliding with the boundary.

[0136] S320: Control the first cleaning component 300 to move relative to the main body 20, so that the first cleaning component 300 is in a first cleaning state; simultaneously control the second cleaning component 400 to move relative to the main body 20, so that the second cleaning component 400 is in a second lifting state. For example, the control module sends a switching command to the drive component 200, which drives the first cleaning component 300 to extend outside the main body 20 and contact the surface to be cleaned, while simultaneously driving the second cleaning component 400 to switch to the second lifting state, so that the second cleaning component 400 retracts into the main body 20.

[0137] S330, the control body 20 moves in the direction from the first cleaning component 300 toward the second cleaning component 400. For example, after the state switching of the first cleaning component 300 and the second cleaning component 400 is completed, the control module sends a reverse movement command to the power module, and the control body 20 moves in the direction from the first cleaning component 300 toward the second cleaning component 400. At this time, the first cleaning component 300 is in the cleaning state and cleans the corner area.

[0138] The cleaning method of this embodiment, through the steps of stopping the main body 20, switching the states of the first cleaning component 300 and the second cleaning component 400, and the main body 20 moving in the reverse direction, ensures that the main body 20 can accurately switch the states of the first cleaning component 300 and the second cleaning component 400 when it reaches the boundary, so that the corresponding cleaning components can cover the corner areas, thereby effectively cleaning the corners. Furthermore, when the main body 20 moves from the first cleaning component 300 towards the second cleaning component 400, since the first cleaning component 300 is located behind the main body 20, the window cleaning robot 1 can retract after the first cleaning component 300 has removed the corner dirt, thereby using the cleaning components 40 such as the cloth provided on the main body 20 to wipe away the removed dirt, thus improving the cleaning effect.

[0139] Furthermore, in some embodiments, see [reference] Figure 17 As shown, based on the detection result of the second detection component 32, the second cleaning component 400 is controlled to move relative to the main body 20, so that the second cleaning component 400 switches between a second cleaning state and a second lifting state. That is, step S400 includes:

[0140] S410. When the second detection component 32 detects that the main body 20 has reached the boundary of the surface to be cleaned, the main body 20 is controlled to stop moving.

[0141] S420: Control the second cleaning component 400 to move relative to the main body 20, so that the second cleaning component 400 is in a second cleaning state, and at the same time control the first cleaning component 300 to move relative to the main body 20, so that the first cleaning component 300 is in a first lifting state.

[0142] S430, the control body 20 moves in the direction from the second cleaning component 400 toward the first cleaning component 300.

[0143] The cleaning method of this embodiment uses the second detection component 32 to detect the position of the main body 20. Therefore, when the side of the main body 20 equipped with the second cleaning component 400 is near a corner area, the second cleaning component 400 is controlled to move relative to the main body 20, thereby effectively cleaning the corner area. Combined with step S300, the cleaning method of this embodiment ensures that regardless of which direction the main body 20 reaches the boundary, the corner area can be cleaned using the corresponding cleaning component, further improving the comprehensiveness of the cleaning.

[0144] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0145] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A window cleaning robot, characterized in that, The window cleaning robot includes: main body; A plurality of first detection components are disposed on the edge of the main body, and two adjacent first detection components are tangent to a first cutting surface. The first cutting surface is located on the side of the first detection component away from the main body and is parallel to the height direction of the main body. A cleaning mechanism, the cleaning mechanism including a first cleaning component, the first cleaning component being movably connected to the side of the main body where the first detection component is provided, the first cleaning component having a first cleaning state and a first lifting state; In the first cleaning state, the orthographic projection of the first cleaning component in the height direction of the main body and the orthographic projection of the first cross-section in the height direction of the main body partially overlap; In the first raised state, the orthographic projection of the first cleaning component in the height direction of the main body is located on the side of the orthographic projection of the first cross-section in the height direction of the main body closer to the main body.

2. The window cleaning robot according to claim 1, characterized in that, In the first cleaning state, at least a portion of the structure of the first cleaning component is not higher than the bottom surface of the first detection component in the body height direction; In the first raised state, the first cleaning component is higher than the bottom surface of the first detection component in the height direction of the main body.

3. The window cleaning robot according to claim 1, characterized in that, The first cleaning component is configured to move in a straight line relative to the main body, and the direction of movement of the first cleaning component is inclined to the height direction of the main body; And / or, in the body height direction, the height of the end of the first cleaning component away from the body is lower than the height of the end of the first cleaning component near the body.

4. The window cleaning robot according to claim 1, characterized in that, The cleaning mechanism further includes a second cleaning component. The window cleaning robot includes a plurality of second detection components, which are disposed on the edge of the main body. Two adjacent second detection components are tangent to a second sectional surface. The second sectional surface is located on the side of the second detection component away from the main body and is parallel to the height direction of the main body. The second cleaning component is movably connected to the side of the main body where the second detection components are disposed. The second cleaning component has a second cleaning state and a second lifting state. In the second cleaning state, the orthographic projection of the second cleaning component in the height direction of the main body and the orthographic projection of the second cross-section in the height direction of the main body partially overlap; In the second raised state, the orthographic projection of the second cleaning component in the height direction of the main body is located on the side of the orthographic projection of the second cross-section in the height direction of the main body closer to the main body.

5. The window cleaning robot according to claim 4, characterized in that, The first cleaning component and the second cleaning component are respectively disposed on the front and rear sides of the main body along the travel direction of the window cleaning robot.

6. The window cleaning robot according to claim 5, characterized in that, When the window cleaning robot moves from the first cleaning component toward the second cleaning component, the first cleaning component is in the first cleaning state and the second cleaning component is in the second lifting state. When the window cleaning robot moves from the second cleaning component toward the first cleaning component, the first cleaning component is in the first lifted state and the second cleaning component is in the second cleaning state.

7. The window cleaning robot according to any one of claims 1-6, characterized in that, The cleaning facility includes: Mounting base, the mounting base being connected to the main body; A drive assembly, comprising a drive component and a transmission component, wherein the drive component is connected to the mounting base and the drive component is drivenly connected to the transmission component; A first cleaning component, comprising a first movable component and a first cleaning component connected sequentially from the main body to the farthest point, wherein the first movable component is movably connected to the mounting base; The transmission component contacts the first movable component. The transmission component is configured to move toward the first movable component in a first direction under the driving action of the driving component, and drive the first movable component and the first cleaning component to move in a second direction, wherein the second direction is different from the first direction.

8. The window cleaning robot according to claim 7, characterized in that, The first direction is perpendicular to the height direction of the main body.

9. The window cleaning robot according to claim 7, characterized in that, The transmission component has a first transmission surface that is inclined in the first direction, and the first movable component has a first contact surface that is inclined in the second direction, and the first contact surface slides in contact with the first transmission surface.

10. The window cleaning robot according to claim 7, characterized in that, The first cleaning component further includes a first elastic element, which is connected to the first movable element and the mounting base respectively. The first elastic element is used to apply force to the first movable element to make the first movable element contact the transmission element.

11. The window cleaning robot according to claim 7, characterized in that, The first cleaning component further includes a first guide member connected to the mounting base, the first guide member extending along the second direction, and the first movable member sleeved on the first guide member and slidable relative to the first guide member.

12. The window cleaning robot according to claim 7, characterized in that, The cleaning mechanism further includes a second cleaning component, which includes a second movable component and a second cleaning component connected in sequence from near to far from the main body, and the second movable component is movably connected to the mounting base. The transmission component contacts the second movable component. The transmission component is configured to move toward the second movable component in a first direction under the driving action of the driving component, and drive the second movable component and the second cleaning component to move in a third direction, wherein the third direction is different from the first direction.

13. The window cleaning robot according to claim 12, characterized in that, The transmission component has a second transmission surface that is inclined to the first direction, and the second movable component has a second contact surface that is inclined to the third direction. The second contact surface slides in contact with the second transmission surface.

14. The window cleaning robot according to claim 12, characterized in that, The second cleaning component further includes a second elastic element, which is connected to the second movable element and the mounting base respectively. The second elastic element is used to apply force to the second movable element to make the second movable element contact the transmission element.

15. The window cleaning robot according to claim 12, characterized in that, The second cleaning component further includes a second guide member connected to the mounting base and extending along the third direction. The second movable member is fitted onto the second guide member and can slide relative to the second guide member.

16. The window cleaning robot according to claim 12, characterized in that, The plane of symmetry between the second direction and the third direction is perpendicular to the first direction.

17. The window cleaning robot according to claim 4, characterized in that, The window cleaning robot also includes a cleaning component, which is connected to the bottom of the main body and disposed between the first cleaning component and the second cleaning component; And / or, the window cleaning robot further includes a spray nozzle disposed on at least one of the front and rear sides of the main body along the direction of travel of the window cleaning robot.

18. A cleaning method using a window cleaning robot, characterized in that, Based on the window cleaning robot according to any one of claims 1-17, the cleaning method includes the following steps: The control unit moves on the surface to be cleaned; The position of the main body is detected by the first detection component; Based on the detection results of the first detection component, the movement of the first cleaning component relative to the main body is controlled, so that the first cleaning component switches between a first cleaning state and a first lifting state.

19. The cleaning method according to claim 18, characterized in that, The cleaning method includes the following steps: The control unit moves on the surface to be cleaned; The position of the main body is detected by the first detection component and the second detection component; Based on the detection results of the first detection component, the movement of the first cleaning component relative to the main body is controlled, so that the first cleaning component switches between a first cleaning state and a first lifting state. Based on the detection results of the second detection component, the movement of the second cleaning component relative to the main body is controlled, so that the second cleaning component switches between a second cleaning state and a second lifting state.

20. The cleaning method according to claim 19, characterized in that, The step of controlling the movement of the first cleaning component relative to the main body based on the detection result of the first detection component, thereby switching the first cleaning component between a first cleaning state and a first lifting state, includes: When the first detection component detects that the main body has reached the boundary of the surface to be cleaned, it controls the main body to stop moving; Control the movement of the first cleaning component relative to the main body to put the first cleaning component in a first cleaning state, and simultaneously control the movement of the second cleaning component relative to the main body to put the second cleaning component in a second lifting state; Control the main body to move in the direction from the first cleaning component toward the second cleaning component.

21. The cleaning method according to claim 19, characterized in that, The step of controlling the movement of the second cleaning component relative to the main body based on the detection result of the second detection component, thereby switching the second cleaning component between a second cleaning state and a second lifting state, includes: When the second detection component detects that the main body has reached the boundary of the surface to be cleaned, it controls the main body to stop moving; Control the movement of the second cleaning component relative to the main body to put the second cleaning component into a second cleaning state, and at the same time control the movement of the first cleaning component relative to the main body to put the first cleaning component into a first lifting state; Control the main body to move in a direction from the second cleaning component toward the first cleaning component.

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