External facade cleaning robot

Abstract

The invention relates to the technical field of robots, in particular to a facade cleaning robot which comprises a body, the body is provided with a circulating water module, a detection module and a control module, a plurality of mechanical arms are installed on the body, and each mechanical arm is provided with a free end capable of being close to or away from a facade and a free end capable of being close to or away from the body. The free end is detachably connected with an adsorption scrubbing foot, the adsorption scrubbing foot is connected with the circulating water module through a pipeline to form a water circulation loop, the adsorption scrubbing foot is used for adsorbing and walking on an external vertical face and cleaning the external vertical face, and the detection module is used for collecting road condition information on a walking path. The detection module and the mechanical arm are both in communication connection with the control module. The obstacle crossing ability is high, the cleaning efficiency is high, and automatic obstacle crossing cleaning can be achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a facade cleaning robot. Background Technology

[0002] Currently, the cleaning of building facades such as glass curtain walls is mainly done manually, and the risks of working at heights are difficult to ignore. With the advancement of technology, some machine-based solutions have emerged to replace manual cleaning, such as drone water spraying cleaning, wheeled suction window cleaning robots, suspended robotic arm window cleaning robots, and suction cup-footed walking window cleaning robots.

[0003] Drone-based water spray cleaning cleans glass by spraying a cleaning device and then, after a period of stillness, using high-pressure water to rinse it. This technique offers advantages such as fast cleaning speed and adaptability to all glass curtain wall structures. However, its drawbacks are equally apparent. Using large amounts of cleaning fluid or foam can corrode or accelerate the aging of adhesives at curtain wall joints, and the high-pressure water rinsing generates significant amounts of wastewater. Furthermore, this technique often performs poorly when cleaning stubborn stains, failing to achieve the same results as scrapers or rollers.

[0004] The wheeled suction window cleaning robot, resembling a small cart, uses a roller brush at the head and a water-absorbing scraper at the tail. Two suction motors in the middle of the robot create negative pressure to keep it on the wall, and a safety rope is attached to the top. The advantage of this technology is high cleaning efficiency, especially for "horizontally concealed and vertically exposed" or "fully concealed" curtain wall structures. However, its disadvantages are also obvious: poor obstacle-crossing ability and limited adaptability to complex curtain wall structures.

[0005] The suspended robotic arm window cleaning robot places an industrial multi-degree-of-freedom robotic arm on a suspended platform to perform window cleaning operations, simulating human wiping motions. This technological approach offers the highest degree of anthropomorphism and can rival human efficiency in terms of work efficiency. However, it has a higher overall cost, is heavily reliant on rooftop window cleaning machines, is not well-suited for designs that don't exist for low-rise buildings, and has a longer preparation time.

[0006] The suction cup-footed window cleaning robot differs from other solutions in its walking method, using a tracked arrangement of suction cups to alternately adhere to the glass. This technology offers good adhesion and walking performance, but its obstacle-crossing ability is similar to that of wheeled suction window cleaning robots. It is suitable for "hidden frame" curtain wall structures but has poor adaptability to complex curtain wall structures.

[0007] It is evident that existing high-altitude glass cleaning solutions all have certain limitations. Summary of the Invention

[0008] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide an exterior cleaning robot with strong obstacle-crossing ability, high cleaning efficiency, and the ability to autonomously cross obstacles for cleaning.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0010] This invention provides a facade cleaning robot, comprising a body, a circulating water module, a detection module, and a control module. Multiple robotic arms are mounted on the body, each having a free end that can approach or move away from the facade and the body. Adsorption and scrubbing feet are detachably connected to the free ends. These feet are connected to the circulating water module via pipes to form a water circulation loop. The adsorption and scrubbing feet are used to adhere to and move along the facade to clean it. The detection module collects road condition information along the walking path. Both the detection module and the robotic arms are communicatively connected to the control module.

[0011] Preferably, the circulating water module includes a water tank, the interior of which is hollow to form a sealed water storage cavity. The water tank is provided with a water inlet for injecting water into the water storage cavity, a water outlet for discharging water from the water storage cavity, an air outlet for air circulation in the water storage cavity, a first suction motor located at the air outlet, a suction interface connected to the water storage cavity and used to connect to the suction pipe, a water pump for pumping water out of the water storage cavity, a filter between the inlet of the water pump and the water storage cavity, and a water outlet channel connected to the outlet of the water pump. The end of the water outlet channel away from the water pump is provided with a water outlet interface for connecting to the water outlet pipe. The number of suction interfaces and the number of water outlet interfaces are the same as the number of robotic arms. The suction pipe and the water outlet pipe are respectively connected to the adsorption and scrubbing feet.

[0012] Preferably, the body is provided with a guide rod for connecting a safety rope. The guide rod is perpendicular to the exterior facade, and the detection module is located on the end of the guide rod away from the exterior facade.

[0013] Preferably, the detection module includes a camera and radar.

[0014] Preferably, the robotic arm includes a first joint motor mounted on the body, a joint connector mounted on the shaft of the first joint motor, a second joint motor mounted on the joint connector, a first arm connected at one end to the shaft of the second joint motor, a third joint motor mounted at the other end of the first arm, and a second arm connected at one end to the shaft of the third joint motor. The other end of the second arm is a free end. The shaft of the first joint motor is perpendicular to the outer facade, and the shafts of the second and third joint motors are parallel to each other and parallel to the outer facade.

[0015] Preferably, the adsorption scrubbing foot includes a vehicle body, a walking component on the vehicle body for moving the vehicle body on the exterior facade, a roller brush on one end of the vehicle body, and a scraper on the side of the roller brush facing the exterior facade. The vehicle body is provided with a water inlet for supplying water to the roller brush and a water return inlet for discharging water from the scraper. The water inlet and water return inlet are respectively connected to a circulating water module through pipelines. The interior of the vehicle body is hollow to form a negative pressure chamber. The negative pressure chamber has an opening facing the exterior facade, and a sealing ring is provided at the edge of the opening. A through hole is provided on the side of the vehicle body away from the exterior facade, which penetrates the negative pressure chamber. A second suction motor is provided in the through hole.

[0016] Preferably, the roller brush is detachably attached to one end of the vehicle body.

[0017] Preferably, it also includes a suction cup foot, which is used to replace the adsorption scrubbing foot and is detachably connected to the free end of the robotic arm. The suction cup foot is used to adhere to the exterior facade.

[0018] Preferably, the free end of the robotic arm is provided with a foot-arm connector. One end of the foot-arm connector is hinged to the free end by a pin. The pin is parallel to the outer facade. The suction-cleaning foot / suction cup foot is provided with a connecting shaft. The connecting shaft is perpendicular to the outer facade. The other end of the foot-arm connector is rotatably connected to the connecting shaft.

[0019] Preferably, the suction and scrubbing foot / suction cup foot is provided with a limiting structure, which is used to limit the angular range of relative rotation between the foot arm connector and the connecting shaft.

[0020] Compared with the prior art, the present invention has significant progress:

[0021] The facade cleaning robot of this invention can adhere to, autonomously walk and clean facades, and autonomously overcome obstacles. It is not limited by the facade curtain wall structure or decorative strips, enabling fully unmanned operation. Without relying on manual adjustments, it autonomously plans its path to overcome obstacles and detour, demonstrating strong obstacle-crossing capabilities. It is applicable to various curtain wall structures, including "exposed frame," "horizontally exposed and vertically concealed," "horizontally concealed and vertically exposed," and "fully concealed" structures. It can perform autonomous full-coverage cleaning of "concealed frame glass," autonomous obstacle-crossing cleaning of "exposed frame glass," and autonomous obstacle-crossing cleaning of "semi-concealed frame glass." Compared to other existing technologies, the facade cleaning robot of this invention achieves more efficient facade cleaning and has a significant obstacle-crossing advantage, with its obstacle-crossing ability being significantly superior to existing obstacle-crossing cleaning equipment. Furthermore, the self-cleaning solution achieves better cleaning results, reduces the risk of damage to glass sealant strips, and the method of adhering to the facade for cleaning operations provides stronger resistance to high-altitude turbulence. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the exterior cleaning robot in the maximum cleaning width state according to the first embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the exterior cleaning robot in the minimum cleaning width state according to the first embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the body of the facade cleaning robot according to an embodiment of the present invention.

[0025] Figure 4 yes Figure 3 A diagram from another perspective.

[0026] Figure 5 This is a schematic diagram of the mechanical arm of the facade cleaning robot according to an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram of the adsorption and scrubbing foot of the facade cleaning robot according to an embodiment of the present invention.

[0028] Figure 7 yes Figure 6 A diagram from another perspective.

[0029] Figure 8 This is a schematic diagram of the exterior cleaning robot according to the second embodiment of the present invention.

[0030] Figure 9 This is a schematic diagram of the suction cup foot of the facade cleaning robot according to an embodiment of the present invention.

[0031] The reference numerals in the attached figures are explained as follows:

[0032] 1. Body; 11. Circulating water module; 110. Water tank; 1101. Suction pipe; 1102. Water outlet pipe; 111. Water inlet; 112. Water outlet; 113. Air outlet; 114. First suction motor; 115. Suction interface; 116. Water pump; 117. Filter; 118. Water outlet channel; 119. Water outlet interface; 12. Detection module; 121. Camera; 122. Radar; 13. Control module; 14. Battery; 15. Indicator light; 16. Alarm; 17. Guide rod; 170. Connection hole; 2. Robotic arm; 21. First joint 22. Motor; 23. Joint connector; 24. Second joint motor; 25. First arm; 26. Third joint motor; 27. Second arm; 28. Foot arm connector; 29. ​​Pin; 20. Adsorption and scrubbing foot; 31. Body; 310. Negative pressure chamber; 311. Water inlet; 312. Water return; 313. Sealing ring; 314. Through hole; 315. Second suction motor; 32. Walking component; 33. Roller brush; 34. Scraper; 35. First anti-collision rubber strip; 46. Suction cup foot; 41. Second anti-collision rubber strip; 51. Connecting shaft; 52. Limiting post; 53. Snap-fit ​​post. Detailed Implementation

[0033] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. These embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0034] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0037] like Figures 1 to 9 The image shows one embodiment of the facade cleaning robot of the present invention. This facade cleaning robot is used to clean the facade of a building, such as a glass curtain wall or other types of walls.

[0038] like Figure 1 , Figure 2 and Figure 3 As shown, the facade cleaning robot in this embodiment includes a body 1, a robotic arm 2, and an adsorption and scrubbing foot 3.

[0039] The body 1 is equipped with a circulating water module 11, a detection module 12, and a control module 13.

[0040] Multiple robotic arms 2 are provided, each mounted on a body 1 and spaced apart. The number of robotic arms 2 is not limited; in a preferred embodiment, four robotic arms 2 are provided, with the body 1 being square or rectangular, and the four robotic arms 2 respectively mounted at the four corners of the body 1. Each robotic arm 2 has a fixed end and a free end. The fixed end is fixed to the body 1, and the free end extends outward from the outer periphery of the body 1 and can move relative to the fixed end. In this embodiment, the free end of the robotic arm 2 can move closer to or further away from the exterior facade and the body 1. Moving closer to or further away from the exterior facade refers to displacement relative to the exterior facade in a direction perpendicular to it, while moving closer to or further away from the body 1 refers to displacement relative to the body 1 in a direction parallel to the exterior facade.

[0041] The adsorption and scrubbing feet 3 are detachably connected to the free end of the robotic arm 2, and the number of adsorption and scrubbing feet 3 matches the number of robotic arms 2. The detachable connection of the adsorption and scrubbing feet 3 to the free end of the robotic arm 2 facilitates replacement of the adsorption and scrubbing feet 3. The adsorption and scrubbing feet 3 are connected to the circulating water module 11 via pipelines to form a water circulation loop, thereby supplying cleaning water to the adsorption and scrubbing feet 3 and recovering water stains after cleaning. The adsorption and scrubbing feet 3 are used to adsorb onto and move on the exterior facade, cleaning it. By adsorbing onto the exterior facade with the adsorption and scrubbing feet 3, the entire robot can be attached to the facade. By moving on the exterior facade with the adsorption and scrubbing feet 3, the entire robot can move on the facade, and during movement, the circulating water module 11 operates, allowing the adsorption and scrubbing feet 3 to clean the exterior facade.

[0042] The free end of robotic arm 2 drives the suction and scrubbing feet 3 to move synchronously. By moving the suction and scrubbing feet 3 closer to or away from the exterior wall, the free end of robotic arm 2 can bring the suction and scrubbing feet 3 closer to or lift them relative to the exterior wall, thus enabling the suction and scrubbing feet 3 to adhere to the exterior wall and overcome obstacles. By moving the suction and scrubbing feet 3 closer to or away from the body 1, the spacing between each suction and scrubbing foot 3 can be adjusted, thereby adjusting the cleaning width range of the entire robot. For example, as... Figure 1 As shown, the two adsorption and scrubbing feet 3 located at the front in the walking direction are brought close together, while the two adsorption and scrubbing feet 3 located at the rear in the walking direction are moved away from each other to the maximum distance, and this maximum distance does not exceed the sum of the widths of the two front adsorption and scrubbing feet 3 that are brought close together. This allows the robot to have the maximum cleaning width. Figure 2 As shown, the two adsorption and scrubbing feet 3 located at the front of the walking direction are brought into contact with each other, and the two adsorption and scrubbing feet 3 located at the rear of the walking direction are brought into contact with each other, thereby enabling the robot to have the minimum cleaning width.

[0043] The detection module 12 is used to collect road condition information on the walking path in real time. Both the detection module 12 and the robotic arm 2 are communicatively connected to the control module 13. The detection module 12 transmits the collected road condition information to the control module 13. The control module 13 receives the road condition information and controls the movement of the robotic arm 2 according to the received road condition information, that is, controls the movement and adsorption of the adsorption scrubbing foot 3, so that it can complete the cleaning and obstacle crossing operations along the planned path.

[0044] Therefore, the facade cleaning robot of this embodiment can adhere to, autonomously walk and clean, and autonomously overcome obstacles on the facade, without being limited by the facade curtain wall structure and decorative strips. It can achieve fully unmanned operation, autonomously overcoming obstacles and detouring without relying on manual adjustments, and has strong obstacle-crossing capabilities. It is applicable to curtain wall structures such as "exposed frame," "horizontally exposed and vertically concealed," "horizontally concealed and vertically exposed," and "fully concealed." It can complete autonomous full-coverage cleaning of "concealed frame glass," autonomous obstacle-crossing cleaning of "exposed frame glass," and autonomous obstacle-crossing cleaning of "semi-concealed frame glass." Compared with other existing technical approaches, the facade cleaning robot of this embodiment can achieve more efficient facade cleaning and has a significant obstacle-crossing advantage. Its obstacle-crossing capability is significantly better than existing obstacle-crossing cleaning equipment. At the same time, the self-cleaning scheme can achieve better cleaning results, reduce the risk of damage to glass sealant strips, and the method of adhering to the facade for cleaning operations has a stronger ability to cope with high-altitude turbulence.

[0045] like Figure 3 As shown, in this embodiment, preferably, the body 1 has a built-in battery 14 for powering the entire robot and also supporting external wiring harness power supply. The battery 14 is located on both sides of the body 1 and can be quickly pulled out, allowing for replacement with a fully charged battery when the power is depleted, thus enabling continued operation.

[0046] In this embodiment, the control module 13 includes a controller. The type of controller is not limited; it can be a conventional controller, such as a PLC controller or a microcontroller. The control module 13 also includes an inertial navigation module for monitoring and calculating the robot's posture. The inertial navigation module is existing technology and will not be described in detail here.

[0047] Preferably, such as Figure 3 As shown, an indicator light 15 and an alarm 16 are provided on the rear side of the body 1. The indicator light 15 is preferably a dual-color flashing indicator light, and the alarm 16 is preferably a buzzer. Both the indicator light 15 and the alarm 16 are connected to the control module 13. When the inertial navigation module detects that the robot has fallen, the control module 13 controls the indicator light 15 and the alarm 16 to start and provide an audible and visual alarm to remind other participants.

[0048] like Figure 3 and Figure 4As shown, in this embodiment, preferably, the body 1 is provided with a guide rod 17 for connecting a safety rope. The guide rod 17 has a connecting hole 170. One end of the safety rope is connected to the connecting hole 170 on the guide rod 17, and the other end of the safety rope is connected to the top of the exterior facade (such as a rooftop). Thus, the safety rope is fixedly connected to the body 1 through the connecting hole 170 on the guide rod 17 to prevent the robot from falling. In one embodiment, the guide rod 17 may have a connecting hole 170. One end of the safety rope is fixedly connected to the connecting hole 170 on the guide rod 17 by a bolt, and the other end of the safety rope can be connected to an electric winch located on the top of the exterior facade, thereby receiving auxiliary pulling force from the electric winch on the top of the exterior facade. In another preferred embodiment, the guide rod 17 has two connection holes 170. One end of the safety rope passes through the two connection holes 170 in sequence, allowing a small electric winch to be built into the guide rod 17 to provide auxiliary traction for the safety rope. This eliminates the need for an electric winch on the top of the facade; only a fixed anchor point is needed to connect and secure the other end of the safety rope. When the suction and scrubbing foot 3 experiences insufficient friction or slippage, the electric winch can provide additional upward traction to keep the robot moving. In an emergency, if a robot fall is detected, the electric winch can quickly lock.

[0049] Therefore, the facade cleaning robot in this embodiment has multiple safety strategies to ensure the safety of personnel and equipment and avoid secondary injuries caused by equipment falling.

[0050] Preferably, the guide rod 17 is arranged perpendicular to the exterior facade and located on the front side of the body 1, and the detection module 12 is located on the end of the guide rod 17 away from the exterior facade (i.e., the top of the guide rod 17).

[0051] like Figure 3 and Figure 4 As shown, in this embodiment, preferably, the detection module 12 includes a camera 121 and a radar 122, both of which are communicatively connected to the controller of the control module 13.

[0052] Multiple cameras 121, such as four, are provided. At least one camera 121 is located on the front side of the top of the guide rod 17, used as a visual fusion algorithm to assist the robot in controlling its movement. At least one camera 121 is located on the rear side of the top of the guide rod 17, used to detect the cleanliness of the facade, whether there are scratches, and to analyze the health of the facade. Thus, the facade cleaning robot of this embodiment can perform facade inspection while completing the cleaning operation based on visual detection and recognition. It can provide early warning of the facade's health, generate a cleaning report based on visual detection and recognition, and simultaneously output a report on whether the facade is scratched, marking the location of the scratches for easy repair.

[0053] Radar 122 is preferably a 360° lidar for online obstacle detection and for generating an online map to determine the robot's relative position on the facade. Before the operation, feature scanning modeling of the entire facade needs to be performed to generate an offline map stored in the controller of control module 13. This scanning modeling can be completed by a 3D scanner or by remotely controlling the facade cleaning robot of this embodiment, and the data is collected by radar 122.

[0054] like Figure 3 and Figure 4As shown, in this embodiment, preferably, the circulating water module 11 includes a water tank 110, an air intake pipe 1101, and a water outlet pipe 1102. The water tank 110 has a hollow interior forming a sealed water storage chamber. The water tank 110 is equipped with a water inlet 111, a water outlet 112, an air outlet 113, a first air intake motor 114, an air intake interface 115, a water pump 116, a filter element 117, and a water outlet channel 118. The water inlet 111 is used to inject water into the water storage chamber; clean water can be injected into the water storage chamber before operation. The water outlet 112 is used to drain water from the water storage chamber; wastewater in the water storage chamber can be drained through the water outlet 112 after operation. During operation, the water inlet 111 and the water outlet 112 are sealed with plugs or caps. An air outlet 113 allows air to circulate within the water storage chamber. The air outlet 113 is located in the middle of the side of the water tank 100 away from the exterior facade. A first suction motor 114 is located at the air outlet 113. A suction inlet 115 connects to the water storage chamber and is used to connect to a suction pipe 1101, which is connected to the foot 3 for adsorption and cleaning. When the first suction motor 114 operates, air from the water storage chamber is expelled from the air outlet 113, creating a negative pressure within the water storage chamber. This allows the water residue from the foot 3 after cleaning to be drawn back into the water storage chamber through the suction inlet 115 and the suction pipe 1101. A water pump 116 pumps water out of the storage chamber. A filter element 117 is detachably installed between the inlet of the water pump 116 and the storage chamber. The filter element 117 is preferably a replaceable permeable membrane. A water outlet channel 118 is connected to the outlet of the water pump 116. An outlet port 119 is provided at the end of the water outlet channel 118 away from the water pump 116. The outlet port 119 is used to connect to an outlet pipe 1102, which is connected to the adsorption scrubbing foot 3. Water in the storage chamber is pumped by the water pump 116, filtered by the filter element 117, and then sent by the water pump 116 to the water outlet channel 118. It is then sent to the adsorption scrubbing foot 3 through the outlet port 119 and the outlet pipe 1102, providing a cleaning water source for the adsorption scrubbing foot 3. This achieves a water circulation loop formed by connecting the circulating water module 11 and the adsorption scrubbing foot 3, allowing for the supply of clean water to the adsorption scrubbing foot 3 and the recovery of water stains after cleaning. In this embodiment, the number of suction ports 115 and water outlet ports 119 provided on the water tank 110 are the same as the number of robotic arms 2, so as to be connected one-to-one with the adsorption and scrubbing feet 3 connected to the free end of each robotic arm 2.

[0055] In this embodiment, the first suction motor 114 and the water pump 116 can both be connected to the controller of the control module 13, so that the control module 13 can automatically control the first suction motor 114 and the water pump 116 to start or stop running.

[0056] like Figure 5As shown, in this embodiment, preferably, the robotic arm 2 includes a first joint motor 21, a joint connector 22, a second joint motor 23, a first support arm 24, a third joint motor 25, and a second support arm 26. The first joint motor 21 is fixed to the body 1 and serves as the fixed end of the robotic arm 2. The joint connector 22 is fixed to the shaft of the first joint motor 21, and the second joint motor 23 is fixed to the joint connector 22. One end of the first support arm 24 is connected to the shaft of the second joint motor 23, and the third joint motor 25 is fixed to the other end of the first support arm 24. One end of the second support arm 26 is connected to the shaft of the third joint motor 25, and the other end of the second support arm 26 is the free end of the robotic arm 2. The shaft of the first joint motor 21 is perpendicular to the outer surface. Rotation of the shaft of the first joint motor 21 drives all other components of the robotic arm 2, except for the first joint motor 21, to rotate synchronously around the shaft of the first joint motor 21, causing the free end of the robotic arm 2 to move closer to or further away from the body 1. The shaft of the second joint motor 23 is parallel to the exterior facade. Rotation of the second joint motor 23 drives the first arm 24 to rotate relative to the body 1 around the shaft of the second joint motor 23, causing the first arm 24 to move closer to or away from the exterior facade. The first arm 24 also drives the third joint motor 25 and the second arm 26 to move synchronously, allowing the free end of the robotic arm 2 to move closer to or away from the exterior facade. The shaft of the third joint motor 25 is parallel to the shaft of the second joint motor 23 and is also parallel to the exterior facade. Rotation of the third joint motor 25 drives the second arm 26 to rotate relative to the first arm 24 around the shaft of the third joint motor 25, causing the second arm 26 to move closer to or away from the body 1, thus allowing the free end of the robotic arm 2 to move closer to or away from the body 1. This achieves the ability for the free end of the robotic arm 2 to move closer to or away from both the exterior facade and the body 1. In this embodiment, the first joint motor 21, the second joint motor 23, and the third joint motor 25 are all communicatively connected to the controller of the control module 13. The control module 13 automatically controls the first joint motor 21, the second joint motor 23, and the third joint motor 25 to start or stop rotating and controls the rotation angle based on the detection feedback from the detection module 12.

[0057] It should be noted that the number of joint motors and the number of arms of the robotic arm 2 in this embodiment are not limited to the three and two mentioned above. Other numbers can be added or reduced, as long as the free end of the robotic arm 2 can have the degree of freedom to approach or move away from the exterior facade and the degree of freedom to approach or move away from the body 1.

[0058] like Figure 6 and Figure 7As shown, in this embodiment, preferably, the adsorption and scrubbing foot 3 includes a vehicle body 31, a traveling member 32, a roller brush 33, and a scraper 34. The traveling member 32 is mounted on the vehicle body 31 and is used to move the vehicle body 31 along the exterior surface. The traveling member 32 is preferably a drive wheel or track with a built-in wheel-side drive motor. The traveling member 32 is located on both sides of the vehicle body 31. Through friction between the traveling member 32 and the exterior surface, the adsorption and scrubbing foot 3 can move forward and backward, and differential motion can be achieved to steer the adsorption and scrubbing foot 3. The roller brush 33 is located at one end of the vehicle body 31, and the scraper 34 is located on the side of the roller brush 33 facing the exterior surface. The vehicle body 31 is equipped with a water inlet 311 for supplying water to the roller brush 33 and a water return inlet 312 for discharging water from the scraper 34. The water inlet 311 and the water return inlet 312 are respectively connected to the circulating water module 11 through pipelines. Specifically, the water inlet 311 is connected to the water outlet pipeline 1102, and the water return inlet 312 is connected to the suction pipeline 1101. The water outlet pipeline 1102 delivers cleaning water to the roller brush 33 through the water inlet 311. The roller brush 33 wets and cleans the exterior facade, and the scraper 34 removes the water stains after cleaning. The water at the scraper 34 is sucked back into the water tank 110 through the water return inlet 312 and the suction pipeline 1101, thereby achieving the effect of cleaning the exterior facade. The interior of the vehicle body 31 is hollow to form a negative pressure chamber 310. The negative pressure chamber 310 has an opening facing the outer facade. A sealing ring 313 is provided at the edge of the opening. The sealing ring 313 is preferably a sealing rubber ring. A through hole 314 is provided on the side of the vehicle body 31 away from the outer facade, which passes through the negative pressure chamber 310. A second suction motor 315 is provided in the through hole 314. The second suction motor 315 operates, which can discharge the air in the negative pressure chamber 310 through the through hole 314, forming a negative pressure in the negative pressure chamber 310. The sealing ring 313 at the edge of the opening of the negative pressure chamber 310 can form a sealing effect when it is close to the outer facade. There is a very small gap between the sealing ring 313 and the outer facade. In conjunction with the second suction motor 315, a negative pressure adsorption effect is created. The air intake at the gap between the sealing ring 313 and the outer facade is less than the air output at the through hole 314, forming an air pressure difference. Under the action of the air pressure difference, a positive pressure perpendicular to the outer facade is generated, which makes the adsorption and cleaning foot 3 adsorb onto the outer facade. At the same time, there is a gap between the sealing ring 313 and the outer facade, with almost no friction or very little friction, which allows the adsorption and cleaning foot 3 to move on the outer facade through the walking part 32.

[0059] In this embodiment, the walking component 32 and the second suction motor 315 can both be communicatively connected to the controller of the control module 13, so that the control module 13 can automatically control the walking component 32 and the second suction motor 315 to start or stop running.

[0060] In this embodiment, preferably, the roller brush 33 is detachably connected to one end of the vehicle body 31, so that roller brushes 33 and scrapers 34 of different sizes and specifications can be modularly replaced according to the needs of the actual operation scenario.

[0061] In this embodiment, preferably, the adsorption and scrubbing foot 3 is provided with a first anti-collision strip 35. The first anti-collision strip 35 is preferably disposed on the outer side of the roller brush 33. The first anti-collision strip 35 has a built-in first collision sensor. The first collision sensor is communicatively connected to the controller of the control module 13, so that the control module 13 can control the adsorption and scrubbing foot 3 to stop walking and adjust its posture when the first collision sensor detects that the adsorption and scrubbing foot 3 is colliding with an object.

[0062] like Figure 8 As shown, preferably, the facade cleaning robot of this embodiment also includes suction cup feet 4. Suction cup feet 4 are used to replace the adsorption and scrubbing feet 3 and are detachably connected to the free end of the robotic arm 2. Suction cup feet 4 are used to adhere to the facade. Suction cup feet 4 can be existing conventional electric suction cup feet, which control the adsorption and release of the suction cup feet 4 by controlling the suction negative pressure suction motor, and have a stronger adsorption force compared to the adsorption and scrubbing feet 3. Depending on the operational needs, this embodiment... Figure 1 and Figure 2 Any of the suction-cleaning feet 3 of the facade cleaning robot shown can be replaced with suction cup feet 4. For example, in extreme scenarios where a safety rope cannot be deployed, a method such as... Figure 8 The two suction cup feet 4 are shown in combination with the two adsorption and scrubbing feet 3. When the adsorption and scrubbing feet 3 are replaced with suction cup feet 4, the corresponding air intake 115 and water outlet 119 on the water tank 110 are sealed with plugs or caps.

[0063] like Figure 9 As shown, preferably, the suction cup foot 4 is provided with a second anti-collision strip 41. The second anti-collision strip 41 is preferably provided on the outer peripheral side of the suction cup foot 4. The second anti-collision strip 41 has a built-in second collision sensor. The second collision sensor is communicatively connected to the controller of the control module 13, so that the control module 13 can control the suction cup foot 4 to stop walking and adjust its posture when the second collision sensor detects that the suction cup foot 4 is colliding with an object.

[0064] like Figure 5 , Figure 6 and Figure 9As shown, in this embodiment, preferably, the free end of the robotic arm 2 is provided with a foot-arm connector 27. One end of the foot-arm connector 27 is hinged to the free end of the robotic arm 2 via a pin 271, which is parallel to the outer facade. The suction-cleaning foot 3 / suction cup foot 4 is provided with a connecting shaft 51, which is perpendicular to the outer facade. The other end of the foot-arm connector 27 is rotatably connected to the connecting shaft 51, thereby allowing the suction-cleaning foot 3 / suction cup foot 4 to rotate relative to the free end of the robotic arm 2 around the axis of the connecting shaft 51. Preferably, the suction-cleaning foot 3 / suction cup foot 4 is provided with a limiting structure, which is used to limit the angular range of relative rotation between the foot-arm connector 27 and the connecting shaft 51, that is, to limit the angular range of relative rotation between the suction-cleaning foot 3 / suction cup foot 4 and the free end of the robotic arm 2. In a preferred embodiment, the adsorption and scrubbing foot 3 / suction cup foot 4 is provided with two limiting posts 52 spaced circumferentially on the outer periphery of the connecting shaft 51, and the foot arm connector 27 is provided with a locking post 53. When the foot arm connector 27 is rotatably connected to the connecting shaft 51, the locking post 53 is located between the two limiting posts 52, and can only rotate back and forth between the two limiting posts 52 due to the obstruction of the two limiting posts 52. Therefore, the interval angle between the two limiting posts 52 is the maximum angle at which the foot arm connector 27 and the connecting shaft 51 can rotate relative to each other.

[0065] The following describes the workflow of the facade cleaning robot in this embodiment.

[0066] The facade cleaning robot in this embodiment is an automatic operation that does not require manual remote control. It can autonomously complete the facade cleaning and also supports remote takeover and remote control. It can focus on removing stains on the facade according to the operator's operation and with the real-time image transmission of the camera 121.

[0067] Before the facade cleaning robot of this embodiment can operate, it needs to perform feature scanning and modeling of the entire facade, especially the "exposed frame" glass curtain wall or other facade features, generate an offline map and navigation route, and store it in the controller of the control module 13.

[0068] Before the operation, the facade cleaning robot in this embodiment needs to be connected to the top safety rope on the guide rod 17. After the robot is attached to the task starting point on the facade, the starting point is matched with the offline map position. During the movement, an online map is built based on the camera 121 and radar 122 of the detection module 12, and the map is compared and verified with the offline map in real time, so that the robot can complete autonomous cleaning and obstacle crossing operations along the planned path.

[0069] Before starting the cleaning operation, select the appropriate size roller brush 33 and scraper 34 according to the facade characteristics, such as the width of "concealed frame," "semi-concealed frame," or "exposed frame," to maximize work efficiency. Simultaneously, add an appropriate amount of clean water or a cleaning agent mixture through the water inlet 111 on the water tank 110. When cleaning a curtain wall with a "concealed frame" structure, since there is no need to overcome obstacles, it can be done as follows... Figure 1 As shown, the two adsorption and scrubbing legs 3 located at the front of the walking direction are arranged side by side and close together, while the two adsorption and scrubbing legs 3 located at the rear of the walking direction are moved away from each other to the maximum distance, so that the robot has the maximum cleaning width, thus maximizing the cleaning width in one operation and improving work efficiency. When cleaning curtain walls with "semi-hidden frame" or "exposed frame" structures, when no "frame" is encountered, the four adsorption and scrubbing legs 3 move synchronously to complete the cleaning; when a "frame" is encountered, the two adsorption and scrubbing legs 3 closest to the "frame" complete the obstacle crossing in turn; after completing the obstacle crossing, the whole robot continues to clean until the other two adsorption and scrubbing legs 3 move to the position of the "frame" and complete the obstacle crossing in turn.

[0070] During obstacle crossing, the second suction motor 315 of the suction-cleaning foot 3 shuts off or performs low-power backflushing. The connected robotic arm 2 moves, causing the suction-cleaning foot 3 to rise a certain height above the exterior wall. The robotic arm 2 then extends forward until the suction-cleaning foot 3 clears the obstacle. The robotic arm 2 then lowers the suction-cleaning foot 3 close to the exterior wall, and the second suction motor 315 restarts, resuming suction and creating a negative pressure effect, causing the suction-cleaning foot 3 to adhere to the exterior wall. While one suction-cleaning foot 3 is crossing an obstacle, the second suction motors 315 of the other three suction-cleaning feet 3 increase their suction power to ensure the robot does not slide due to the reduced negative pressure suction of one suction-cleaning foot 3.

[0071] In extreme working conditions, where it is impossible or inconvenient to secure safety ropes to the top of a building, such as the exterior facade of a shopping mall with eaves, one or more suction cups with stronger suction (4) can be used to replace some of the suction and cleaning feet (3), for example... Figure 8 As shown, the cleaning process employs two suction cup feet 4 in conjunction with two suction and scrubbing feet 3, arranged diagonally or on the same side. Once the suction cup feet 4 are firmly attached to the exterior facade, the two suction and scrubbing feet 3 perform the cleaning operation, working in conjunction with the robotic arm 2 to clean from various angles. After cleaning one area, the suction cup feet 4 are moved sequentially according to the planned path to complete the cleaning of the entire exterior facade.

[0072] Before operation, clean water or cleaning agent can be added through the water inlet 111 on the water tank 110. After operation, the circulating wastewater can be discharged through the drain outlet 112 on the water tank 110. The filter element 117 needs to be replaced after a certain period of operation.

[0073] The facade cleaning robot in this embodiment, with the support of offline maps, can achieve fully unmanned operation without relying on manual remote control. It can autonomously plan its path to overcome obstacles and detour without manual adjustment. In case of emergencies such as opening windows, it can autonomously detour and mark the location, and resume cleaning at the subsequent breakpoint. When the battery is low, it can autonomously return to the "replenishment point" to remind the operator to replace the battery 14, and autonomously complete the breakpoint and continue cleaning. It can also operate autonomously at night, further reducing the impact on daily office work in the cleaning area.

[0074] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A facade cleaning robot, characterized in that, The device includes a body (1), which is equipped with a circulating water module (11), a detection module (12) and a control module (13). Multiple robotic arms (2) are installed on the body (1). Each robotic arm (2) has a free end that can approach or move away from the exterior facade and the body (1). An adsorption and scrubbing foot (3) is detachably connected to the free end. The adsorption and scrubbing foot (3) is connected to the circulating water module (11) through a pipeline to form a water circulation loop. The adsorption and scrubbing foot (3) is used to adsorb and walk on the exterior facade and clean the exterior facade. The detection module (12) is used to collect road condition information on the walking path. Both the detection module (12) and the robotic arm (2) are communicatively connected to the control module (13).

2. The facade cleaning robot according to claim 1, characterized in that, The circulating water module (11) includes a water tank (110), the interior of which is hollow to form a sealed water storage cavity. The water tank (110) is provided with a water inlet (111) for injecting water into the water storage cavity, a water outlet (112) for discharging water from the water storage cavity, an air outlet (113) for air circulation in the water storage cavity, a first suction motor (114) located at the air outlet (113), a suction interface (115) connected to the water storage cavity and used to connect to the suction pipe (1101), and a water pump (115) for pumping water out of the water storage cavity. 16) A filter element (117) is provided between the inlet of the water pump (116) and the water storage chamber, and a water outlet channel (118) is connected to the outlet of the water pump (116). The end of the water outlet channel (118) away from the water pump (116) is provided with a water outlet interface (119) for connecting the water outlet pipe (1102). The number of suction interfaces (115) and the number of water outlet interfaces (119) are the same as the number of robotic arms (2). The suction pipe (1101) and the water outlet pipe (1102) are respectively connected to the adsorption scrubbing foot (3).

3. The facade cleaning robot according to claim 1, characterized in that, The body (1) is provided with a guide rod (17), which is used to connect a safety rope. The guide rod (17) is perpendicular to the exterior facade. The detection module (12) is located on the end of the guide rod (17) away from the exterior facade.

4. The facade cleaning robot according to claim 1, characterized in that, The detection module (12) includes a camera (121) and a radar (122).

5. The facade cleaning robot according to claim 1, characterized in that, The robotic arm (2) includes a first joint motor (21) mounted on the body (1), a joint connector (22) mounted on the shaft of the first joint motor (21), a second joint motor (23) mounted on the joint connector (22), a first arm (24) connected at one end to the shaft of the second joint motor (23), a third joint motor (25) mounted at the other end of the first arm (24), and a second arm (26) connected at one end to the shaft of the third joint motor (25). The other end of the second arm (26) is the free end. The shaft of the first joint motor (21) is perpendicular to the outer facade, and the shafts of the second joint motor (23) and the third joint motor (25) are parallel to and parallel to the outer facade.

6. The facade cleaning robot according to claim 1, characterized in that, The adsorption scrubbing foot (3) includes a vehicle body (31), a walking component (32) provided on the vehicle body (31) for moving the vehicle body (31) on the exterior surface, a roller brush (33) provided on one end of the vehicle body (31), and a scraper (34) provided on the side of the roller brush (33) facing the exterior surface. The vehicle body (31) is provided with a water inlet (311) for supplying water to the roller brush (33) and a water return inlet (312) for discharging water from the scraper (34). The water inlet (311) and the water return (312) are respectively connected to the circulating water module (11) through pipelines. The interior of the vehicle body (31) is hollow to form a negative pressure chamber (310). The negative pressure chamber (310) has an opening facing the outer facade. A sealing ring (313) is provided at the edge of the opening. A through hole (314) is provided on the side of the vehicle body (31) away from the outer facade, which passes through the negative pressure chamber (310). A second suction motor (315) is provided in the through hole (314).

7. The facade cleaning robot according to claim 6, characterized in that, The roller brush (33) is detachably connected to one end of the vehicle body (31).

8. The facade cleaning robot according to any one of claims 1 to 7, characterized in that, It also includes a suction cup foot (4), which is used to replace the adsorption and scrubbing foot (3) and is detachably connected to the free end of the robotic arm (2). The suction cup foot (4) is used to adhere to the exterior surface.

9. The facade cleaning robot according to claim 8, characterized in that, The free end of the robotic arm (2) is provided with a foot-arm connector (27). One end of the foot-arm connector (27) is hinged to the free end through a pin (271). The pin (271) is parallel to the outer surface. The suction-cleaning foot (3) / suction cup foot (4) is provided with a connecting shaft (51). The connecting shaft (51) is perpendicular to the outer surface. The other end of the foot-arm connector (27) is rotatably connected to the connecting shaft (51).

10. The facade cleaning robot according to claim 9, characterized in that, The adsorption scrubbing foot (3) / the suction cup foot (4) is provided with a limiting structure, which is used to limit the relative rotation angle range between the foot arm connector (27) and the connecting shaft (51).

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