Mother-son type window cleaning machine system

Abstract

The invention provides a mother-son type window cleaning machine system which comprises a mother body window cleaning machine and at least one son body window cleaning machine, the at least one son body window cleaning machine can leave the mother body window cleaning machine and return to the mother body window cleaning machine, the mother body window cleaning machine drives the son body window cleaning machine to move, or the mother body window cleaning machine and the son body window cleaning machine move independently. The parent window cleaning machine is used for cleaning a to-be-cleaned surface in a first range; the sub-body window cleaning machine is used for cleaning the to-be-cleaned surface in a second range; the second range is located within the first range, or the second range intersects the first range, or the second range is located outside the first range. Based on the split design of the child window cleaning machine and the parent window cleaning machine, efficient coverage of the first range can be achieved through the large-area cleaning capacity of the parent window cleaning machine, the overall cleaning efficiency is guaranteed, and full-scene coverage of the cleaning range can be achieved by pertinently covering a cleaning blind area through the flexible operation characteristic of the child window cleaning machine.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a mother-and-child window cleaning machine system. Background Technology

[0002] With the development of technology and the improvement of living standards, people have higher and higher requirements for quality of life, and intelligent and efficient window cleaning machines are becoming increasingly popular among users. A household window cleaning machine is a cleaning tool specifically designed for home users, mainly used for cleaning windows and glass surfaces.

[0003] However, existing window cleaning machines have limitations in terms of cleaning range, which cannot meet the needs of users. For example, traditional window cleaning methods struggle to effectively clean the corners and edges of the surface.

[0004] Application content In view of this, this application proposes a mother-and-child window cleaning machine system to solve at least one of the above problems, and the specific solution is as follows: A mother-daughter window cleaning machine system includes: a mother window cleaning machine and at least one daughter window cleaning machine, wherein at least one daughter window cleaning machine can leave the mother window cleaning machine and return to the mother window cleaning machine, the mother window cleaning machine drives the daughter window cleaning machine to move, or the mother window cleaning machine and the daughter window cleaning machine can move independently. The main window cleaning machine is used to clean the first area of ​​the surface to be cleaned; The sub-body window cleaning machine is used to clean a second area of ​​the surface to be cleaned; The second range is located within the first range, or the second range intersects with the first range, or the second range is located outside the first range.

[0005] In some specific embodiments, when the mother window cleaning machine and the daughter window cleaning machine move independently, the mother window cleaning machine may move at the same speed or at a different speed than the daughter window cleaning machine, or the mother window cleaning machine and the daughter window cleaning machine may move in the same direction or in different directions.

[0006] In some specific embodiments, the second range intersects with the first range, or the second range is located outside the first range, including the following specific situations: When the mother window cleaning machine identifies a cleaning blind spot on the surface to be cleaned, at least one of the daughter window cleaning machines is controlled to run into the cleaning blind spot for cleaning, so that the second range intersects with the first range, or the second range is outside the first range.

[0007] In some specific embodiments, the second range is located within the first range, or the second range intersects with the first range, including the following specific situations: After the mother window cleaning machine cleans the surface to be cleaned, at least one of the daughter window cleaning machines is controlled to run into the cleaned area of ​​the surface to be cleaned for cleaning, or to clean the edge of the cleaned area of ​​the surface to be cleaned, so that the second range is within the first range, or the second range intersects with the first range.

[0008] In some specific embodiments, the second range intersects with the first range, or the second range is located outside the first range, including the following specific situations: When there are obstacles on the surface to be cleaned, the sub-body window cleaning machine is controlled to perform the cleaning task around the obstacle, while the main body window cleaning machine cleans other areas.

[0009] In some specific embodiments, the second range intersects with the first range, or the second range is located outside the first range, including the following specific situations: Determine the target cleaning range of at least one of the said sub-body window cleaning machines. The specific window cleaning machine to perform the target cleaning range is determined based on the positional relationship between each sub-machine and the main machine, and the positional relationship between the target cleaning range and the main machine.

[0010] In some specific embodiments, determining the daughter window cleaning machine to perform the target cleaning range based on the positional relationship between each daughter window cleaning machine and the parent window cleaning machine, and the positional relationship between the target cleaning range and the parent window cleaning machine, includes: Establish a network map showing the relationships between the daughter window cleaning machine, the mother window cleaning machine, and the target cleaning area; The corresponding relationship network is invoked based on the current position of the child window cleaning machine, the current position of the parent window cleaning machine, and the target cleaning range; The window cleaning machine is controlled to move to the target cleaning area and perform cleaning based on the relationship network.

[0011] In some specific embodiments, Both the mother window cleaning machine and the daughter window cleaning machine are equipped with negative pressure adsorption modules; When the daughter window cleaning machine returns to the mother window cleaning machine, at least one of the negative pressure adsorption modules of the mother window cleaning machine and the daughter window cleaning machine will operate to improve the overall adsorption stability. When the daughter window cleaning machine leaves the mother window cleaning machine, the negative pressure adsorption modules of the mother window cleaning machine and the daughter window cleaning machine operate respectively to improve the stability of their respective adsorption.

[0012] In some specific embodiments, The daughter window cleaning machine is also equipped with a return positioning module, which receives the positioning signal sent by the mother window cleaning machine and guides the daughter window cleaning machine to the docking position of the mother window cleaning machine.

[0013] In some specific embodiments, when the daughter window cleaning machine returns to the parent window cleaning machine, the parent window cleaning machine is used to provide resources to the daughter window cleaning machine; The resources provided by the mother window cleaning machine include power supply and cleaning liquid supply.

[0014] In some specific embodiments, the mother window cleaning machine includes a main body and two cleaning discs disposed on the main body, with a receiving area formed between the two cleaning discs, and at least one daughter window cleaning machine is located within the receiving area.

[0015] Beneficial effects: This application provides a mother-daughter window cleaning machine system. Based on the separate design of the mother and daughter window cleaning machines, it can achieve efficient coverage of the first area through the large-area cleaning capability of the mother window cleaning machine, ensuring overall cleaning efficiency. At the same time, it can target cleaning blind spots through the flexible operation characteristics of the daughter window cleaning machine, achieving full-scene coverage of the cleaning range. It can flexibly switch according to the area, shape, and obstacle distribution of the surface to be cleaned, adapting to the efficient cleaning of large areas of regular glass, and meeting the precise cleaning needs of small areas and irregular shapes. This significantly broadens the applicable scenarios of the window cleaning machine system and achieves a synergistic improvement in cleaning efficiency, coverage integrity, and ease of use. Attached Figure Description

[0016] Figure 1 This is an example diagram of a circular window cleaning machine. Figure 2 yes Figure 1 Example diagram of the combination of neutron body window cleaning machine and mother body window cleaning machine; Figure 3 This is a structural example diagram of a square window cleaning machine; Figure 4 yes Figure 3 Example diagram of the combination of neutron body window cleaning machine and mother body window cleaning machine; Figure 5 This is a schematic diagram showing the three positional relationships between the first and second ranges; Figure 6 This is a schematic diagram showing the cleaning range of the sub-body window cleaning machine for blind spots; Figure 7 This is a schematic diagram of the cleaning and wiping marks left by the sub-body window cleaning machine; Figure 8 This is a schematic diagram of the sub-body window cleaning machine cleaning obstacles; Figure 9 This is an example diagram showing the location distribution of multiple sub-type window cleaning machines; Figure 10 This is an example diagram of a daughter window cleaning machine returning to its parent window cleaning machine. Figure 11 This is a structural disassembly diagram of the main window cleaning machine; Figure 12 This is a structural disassembly diagram of the sub-body window cleaning machine; Figure 13 This is a schematic diagram of the electromagnetic positioning component; Figure 14 This is a schematic diagram of the water storage and water delivery structure of a mother-and-child window cleaning machine system.

[0017] Reference numerals: 1-Main unit window cleaning machine; 2-Daughter unit window cleaning machine; 11-Top cover; 12-Fan; 13-Water tank module; 14-Electromagnetic charging module; 15-Bottom shell; 16-Cleaning unit; 21-Daughter unit top cover; 22-Daughter unit battery; 23-Daughter unit water tank assembly; 24-Daughter unit fan assembly; 25-Daughter unit bottom shell; 26-Walking auxiliary wheel; 27-Daughter unit cleaning component; 31-Main unit magnet; 32-Daughter unit magnet; 33-Positioning pin; 34-Positioning port; 41-Daughter unit water tank; 42-Daughter unit water tank one-way valve; 43-Main unit one-way positioning valve; 44-Water supply pipe; 45-Water pump; 46-Main unit water tank. Detailed Implementation

[0018] The various embodiments disclosed herein will be described more fully below. This application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed herein to the specific embodiments disclosed herein, but rather this application should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments disclosed herein.

[0019] This application discloses a mother-and-child type window cleaning machine system. The specific solution is as follows: A mother-daughter window cleaning machine system includes: a mother window cleaning machine 1 and at least one daughter window cleaning machine 2, wherein the at least one daughter window cleaning machine 2 can leave the mother window cleaning machine 1 and return to the mother window cleaning machine 1, the mother window cleaning machine 1 drives the daughter window cleaning machine 2 to move, or the mother window cleaning machine 1 and the daughter window cleaning machine 2 can move independently; the mother window cleaning machine 1 is used to clean a first area of ​​the surface to be cleaned; the daughter window cleaning machine 2 is used to clean a second area of ​​the surface to be cleaned; the second area is located within the first area, or the second area intersects with the first area, or the second area is located outside the first area.

[0020] This application, through a modular design of a main window cleaning machine 1 and a detachable secondary window cleaning machine 2, breaks through the functional limitations of traditional single-unit window cleaning machines, achieving synergistic optimization of cleaning efficiency, coverage, and battery life. Both the main window cleaning machine 1 and the secondary window cleaning machine 2 have cleaning functions, and the secondary window cleaning machine 2 can detach from the main window cleaning machine 1 and return to the main window cleaning machine 1 after completing its cleaning task.

[0021] In some embodiments, the main window cleaning machine 1 includes a main body and two cleaning discs disposed on the main body, with a receiving area formed between the two cleaning discs, and at least one secondary window cleaning machine 2 located within the receiving area. This ensures both the large-area cleaning efficiency of the main window cleaning machine 1 and provides a stable storage and docking reference for the secondary window cleaning machine 2.

[0022] Two cleaning discs are symmetrically distributed on both sides of the main body. During operation, they achieve large-area cleaning by rotating or wiping, and their coverage area directly constitutes the first cleaning range of the main window cleaning machine 1. The naturally formed receiving area between the two cleaning discs is precisely matched to the volume of the secondary window cleaning machine 2, with a width slightly larger than the body of the secondary window cleaning machine 2 and a depth just enough to accommodate the thickness of the secondary window cleaning machine 2, ensuring that the secondary window cleaning machine 2 will not wobble when placed in it, and at the same time, it will not exceed the overall outline of the main window cleaning machine 1.

[0023] Under normal circumstances, the sub-body window cleaning machine 2 is located within the housing area. When not in operation, it can be fixed by the electromagnetic positioning module to prevent the sub-body window cleaning machine 2 from falling off or colliding during the movement or transportation of the mother body window cleaning machine 1. This protects the cleaning module, sensors, and other precision components of the sub-body window cleaning machine 2, and also makes the whole machine easy to store and carry. When in operation, the sub-body window cleaning machine 2 can be directly detached from the housing area without additional disassembly steps, improving the operation response speed. Especially when facing blind spots or obstacles, it can quickly start independent cleaning tasks. When returning, the housing area provides a clear positioning benchmark for the sub-body window cleaning machine 2. With the help of the return positioning module and electromagnetic adsorption, the sub-body window cleaning machine 2 can be accurately embedded in it. At the same time, the pre-set charging interface and liquid replenishment interface in the housing area can be directly connected to the sub-body window cleaning machine 2, providing structural support for resource supply.

[0024] Appendix Figure 1 and attached Figure 2 A circular window cleaning machine system is demonstrated, in which the sub-machine 2 is triangular in structure and embedded between two circular cleaning discs. Figure 3 and attached Figure 4 A square window cleaning machine system is shown, wherein one corner of the daughter window cleaning machine 2 matches the corner of the mother window cleaning machine 1, and the daughter window cleaning machine 2 can be embedded in the four corners of the mother window cleaning machine 1.

[0025] The main window cleaning unit 1, as the core of the system, typically integrates a large water tank, a high-capacity battery, a main cleaning module, and a control center, boasting strong endurance and large-area cleaning capabilities. The large water tank and water storage module store cleaning fluid, providing replenishment for both the main window cleaning unit 1 and the secondary window cleaning unit 2. The battery and charging module power the main window cleaning unit 1 and also charge the secondary window cleaning unit 2. The fan and duct assembly generates negative pressure, allowing the main window cleaning unit 1 to adhere to the glass surface. The cleaning module, including a cleaning tray and a wiping cloth, is used to clean the glass surface. The electromagnetic positioning module is used for connection and positioning with the secondary window cleaning unit 2.

[0026] The secondary window cleaning robot 2 features a lightweight structure, compact size, and flexible maneuverability. Equipped with a small-capacity battery, a small cleaning module, and an independent suction module, it focuses on cleaning delicate areas or special scenarios. The secondary window cleaning robot 2 can move flexibly and adapt to different glass shapes. Guided by or autonomously controlled by the primary window cleaning robot 1, the secondary window cleaning robot 2 can detach from the primary window cleaning robot 1 to perform independent cleaning tasks, and then precisely return to the primary window cleaning robot 1 using positioning technology after completion.

[0027] When facing large, unobstructed, regular-shaped windows, the main window cleaning machine 1 can drive the secondary window cleaning machine 2 to move synchronously via mechanical connection or electromagnetic adsorption. The secondary window cleaning machine 2 follows the trajectory of the main window cleaning machine 1 to supplement cleaning, achieving efficient cleaning and avoiding repetitive work. The secondary window cleaning machine 2 can operate under the drive of the main window cleaning machine 1 to maintain the same cleaning effect. The secondary window cleaning machine 2 can also maintain relative movement with the main window cleaning machine 1 while following it, such as rotating or reciprocating relative to the main machine 1, allowing for different cleaning effects from each machine. When encountering irregularly shaped areas, obstacles, or cleaning blind spots, the secondary window cleaning machine 2 can switch to independent movement mode. The main window cleaning machine 1 continues cleaning the main area, while the secondary window cleaning machine 2 autonomously adjusts its movement path according to a preset program or real-time sensor feedback, working in areas inaccessible to the main window cleaning machine 1.

[0028] During operation, the main window cleaning machine 1 drives the secondary window cleaning machine 2, or the main machine 1 and the secondary machine 2 move independently. The main machine 1 cleans a first area of ​​the surface to be cleaned, while the secondary machine 2 cleans a second area. The second area can be within the first area, intersect with the first area, or be outside the first area. This mother-and-child design enables comprehensive cleaning of different types of glass, improving cleaning efficiency and quality. (See attached...) Figure 5In the diagram, area A is the cleaning range of the mother window cleaning machine 1, i.e., the first range, while areas a1, a2, and a3 correspond to the second ranges respectively. The second range a1 is located inside the first range A, the second range a2 intersects with the first range A, and the second range a3 is located outside the first range A.

[0029] In practical applications, the primary cleaning area covered by the main window cleaning machine 1 is typically the main body of the glass and easily cleanable areas such as regular surfaces. The secondary cleaning area covered by the secondary window cleaning machine 2 complements the primary area in three ways. When the secondary area is within the primary area, the secondary window cleaning machine 2 can perform a second, more thorough cleaning of any residual stains and tiny blind spots left by the primary cleaning machine 1, improving cleaning precision. When the secondary and primary areas intersect, the secondary window cleaning machine 2 can cover the overlapping areas of its cleaning path, avoiding omissions at boundaries, which is especially suitable for cleaning large glass panels. When the secondary area is outside the primary area, the secondary window cleaning machine 2 can perform specialized cleaning of areas that the primary window cleaning machine 1 cannot reach, such as sharp corners of the glass, gaps in the window frame, and around obstacles, achieving comprehensive, seamless coverage.

[0030] In some specific embodiments, when the main window cleaning machine 1 and the secondary window cleaning machine 2 move independently, the main window cleaning machine 1 can move at the same speed or at different speeds as the secondary window cleaning machine 2, or they can move in the same direction or in different directions. The speed and direction control of the main window cleaning machine 1 and the secondary window cleaning machine 2 when moving independently can be flexibly adapted based on the cleaning scenario requirements and the structural characteristics of both. Coordinated scheduling is achieved through short-range wireless transmission technology between the secondary window cleaning machines 2, ensuring a balance between cleaning efficiency and quality.

[0031] In terms of speed adjustment, both can move at the same or different speeds. For example, when cleaning a large, regular, unobstructed glass area, the main window cleaner 1 and the secondary window cleaner 2 move at the same speed. The main window cleaner 1 covers the main area with its large cleaning disc, while the secondary window cleaner 2 follows closely behind to fill the small gaps at the edges cleaned by the main window cleaner 1, avoiding repetitive work and improving overall cleaning efficiency. At this time, the consistent speed of both ensures the continuity of the cleaning trajectory and reduces missed or overlapping cleaning. However, when facing areas with different cleaning difficulties, the two move at different speeds. The main window cleaner 1 cleans large, flat glass surfaces quickly and efficiently, while the secondary window cleaner 2 moves at a slower speed for narrow and long areas, glass seams, and other areas that require fine cleaning. By extending the contact time between the cleaning cloth and other cleaning components and the glass, combined with the precise fit of its small cleaning module, it ensures that stains are thoroughly removed. At the same time, the small-capacity battery and lightweight structure of the secondary window cleaner 2 can also meet the low-energy consumption requirements during low-speed movement, avoiding insufficient battery life.

[0032] In terms of directional control, both can move in the same direction or in different directions. When moving in the same direction, such as both moving horizontally to the right or vertically downwards, it is suitable for cleaning long, narrow areas of wide or tall windows. The main window cleaning machine 1 opens the cleaning path in front, and the secondary window cleaning machine 2 follows behind to reinforce the cleaning, creating a progressive cleaning effect. When moving in different directions, the flexibility of the secondary window cleaning machine 2 is fully utilized. For example, the main window cleaning machine 1 cleans large areas horizontally, while the secondary window cleaning machine 2 delves into narrow, long glass passages vertically; or the main window cleaning machine 1 moves in a straight line to clean the main area, while the secondary window cleaning machine 2 moves around window handles and locks. The system moves in a circular motion around obstacles, and even when cleaning sharp corners of glass, the main window cleaning machine 1 maintains a straight line while the secondary window cleaning machine 2 adjusts to move diagonally or in a turning direction. Utilizing its 360-degree turning capability, the secondary machine precisely conforms to the contours of irregularly shaped areas. This directional adjustment is controlled in real-time by the main window cleaning machine 1's control module, which issues commands based on area information from visual and collision sensors. The secondary machine 2 responds and adjusts through its own control module, ensuring that the two machines do not interfere with each other while achieving comprehensive cleaning coverage. This flexible combination of speed and direction allows the main and secondary window cleaning machine system to handle both large-area, high-efficiency cleaning needs and intricate cleaning scenarios in special areas, fully leveraging the high-efficiency coverage of the main machine 1 and the precise adaptation of the secondary machine 2.

[0033] In some specific embodiments, the second range intersects with the first range, or the second range is located outside the first range, specifically in the following situations: when the main window cleaning machine 1 identifies a cleaning blind spot on the surface to be cleaned, at least one secondary window cleaning machine 2 is controlled to run into the cleaning blind spot for cleaning, so that the second range intersects with the first range, or the second range is located outside the first range. By using the mode of the main window cleaning machine 1 identifying blind spots and the secondary window cleaning machine 2 cleaning them specifically, the problem of cleaning blind spots on the frame caused by the machine body's properties is accurately solved. The intersection or extension of the second range covers the areas missed by the first range, achieving glass cleaning without dead angles. At the same time, the independent operation of the secondary window cleaning machine 2 allows the secondary window cleaning machine 2 and the main window cleaning machine 1 to clean different areas simultaneously, eliminating the need for the main window cleaning machine 1 to repeatedly clean the corners, thus improving the cleaning efficiency of the main window cleaning machine 1.

[0034] In the appendix Figure 6In the diagram, the shaded area represents the frame of the surface to be cleaned. Due to structural limitations, the main window cleaning machine 1 (e.g., its disc cannot fit snugly against the right-angled frame of the surface, preventing it from cleaning closely and reaching the blind spots created by the frame). In this case, the secondary window cleaning machine 2 (a2) can clean closely against the frame, forming a second area a2 that intersects with the first area A. Furthermore, because the secondary window cleaning machine 2 has a triangular structure, it can reach deep into the right-angled areas of the frame, forming a second area a3 outside the first area A. Combining the first area A and the second areas a2 and a3, a complete cleaning area covering the surface to be cleaned is formed.

[0035] To ensure adsorption stability and smooth movement, the main body of the window cleaning machine is usually designed with a regular flat structure, and the cleaning tray is also designed to fit large areas of cleaning. This structural attribute means that when it is close to the window frame, the physical interference between the outer shell of the machine and the frame, and the inability of the edge of the cleaning tray to fit tightly against the junction of the frame and the glass, will create cleaning blind spots that are difficult to cover.

[0036] The mother-body window cleaning robot 1 uses its built-in vision sensors to capture images of the surface to be cleaned in real time, accurately identifying the outline and position of the frame and its relative distance to its cleaning disc. Simultaneously, a collision sensor assists in detecting the safe distance between the robot body and the frame, preventing scratches and further confirming the blind spot area. The data collected by these sensors is transmitted to the control module of the mother-body window cleaning robot 1. The control module uses a preset algorithm to compare the cleaning disc's coverage radius with a threshold distance from the frame, quickly determining the frame blind spots outside the first range, as well as the overlapping areas where the edge of the first range overlaps with the frame but is not properly cleaned.

[0037] Once identification is complete, the control module of the main window cleaning machine 1 sends precise instructions containing blind spot coordinates and cleaning paths to at least one secondary window cleaning machine 2 via short-range wireless transmission technology. Leveraging its compact size, smaller cleaning disc, and flexible steering mechanism, the secondary window cleaning machine 2, after detaching from the main machine 1, can easily avoid interference between the frame and the main machine 1's body. It adjusts its direction of movement through its own steering and walking mechanism, precisely entering the frame's blind spot. When the secondary window cleaning machine 2 cleans a narrow area on the inside of the frame that is completely not covered by the main machine 1, its second cleaning range is outside the first range. When the secondary window cleaning machine 2 cleans the area near the frame that the edge of the main machine 1's cleaning disc has swept but not thoroughly cleaned, the second range intersects with the first range.

[0038] In some embodiments, identifying the cleaning blind spots of the main window cleaning machine 1 includes: identifying the area as a cleaning blind spot when the size of at least a portion of the surface to be cleaned is smaller than the minimum cleanable range of the main window cleaning machine 1; wherein the external dimensions of the secondary window cleaning machine 2 are smaller than the external dimensions of the main window cleaning machine 1. By comparing the size of a local area of ​​the surface to be cleaned with the minimum cleanable range of the main window cleaning machine 1, areas that the main window cleaning machine 1 cannot cover are accurately located and defined as cleaning blind spots, and then cleaning of the blind spots is achieved by relying on the smaller external dimensions of the secondary window cleaning machine 2.

[0039] The minimum cleanable area of ​​the main window cleaning machine 1 is its limit cleaning size, determined by its own structure, primarily depending on the effective coverage area of ​​the cleaning disc, the turning radius of the machine body, and the contact limit of the cleaning module. The secondary window cleaning machine 2, on the other hand, is specifically designed with a significantly smaller overall size than the main machine 1, allowing it to accommodate smaller areas to be cleaned. During actual cleaning, the main machine 1's vision sensor scans the surface to be cleaned in real time, measuring the size data of each area using image recognition technology and comparing it with its preset minimum cleanable area. When an area smaller than this range is detected, it is immediately identified as a cleaning blind spot, and a cleaning command is sent to the secondary machine 2 via the control module.

[0040] By using size-based adaptation, the main window cleaning machine 1 focuses on efficient cleaning of large areas, while the secondary window cleaning machine 2 focuses on precise coverage of small blind spots. The two have a clear division of labor and complement each other, fundamentally solving the problem of cleaning small areas caused by the size limitation of the main window cleaning machine 1. This further expands the applicable scenarios of the main and secondary window cleaning machine system. At the same time, the smaller size of the secondary window cleaning machine 2 matches its battery life and flexible movement requirements when operating independently, ensuring that it can maintain a stable operating state while cleaning small blind spots.

[0041] In some specific embodiments, the second range being located within the first range, or the second range intersecting with the first range, includes situations where, after the main window cleaning machine 1 cleans the surface to be cleaned, at least one secondary window cleaning machine 2 is controlled to move to the already cleaned area of ​​the surface to be cleaned for cleaning, or to clean the edge of the already cleaned area of ​​the surface to be cleaned, so that the second range is located within the first range, or the second range intersects with the first range. Through the secondary fine cleaning and compensation by the secondary window cleaning machine 2, the problem of internal and edge marks left after cleaning by the main window cleaning machine 1 is solved, achieving an upgrade in cleaning precision. (See attached...) Figure 7 In the process of cleaning, the mother window cleaning machine 1 generates wiping marks at the edge and inside of the first range A due to the rotation of the cleaning unit. The daughter window cleaning machine 2 cleans the marks at the edge of the first range A and the marks inside the first range A.

[0042] The main body window cleaning machine 1, with its large cleaning disc and efficient movement mode, completes the initial cleaning of the surface to be cleaned. However, due to the large coverage area of ​​the cleaning disc, the relatively fast movement speed, or the limitation of the machine's structure in the fit between the edge of the cleaning disc and the glass surface, it is easy to leave strip-shaped or sheet-like internal marks in the cleaned area, and at the same time, form discontinuous edge marks at the edges of the cleaned area. These marks are often small in area and scattered, making it difficult for the large cleaning disc of the main body window cleaning machine 1 to accurately cover and treat them.

[0043] At this time, the control module of the mother window cleaning machine 1 can detect the cleaning effect of the cleaned area in real time through the visual sensor, identify the location of the marks, and send a precise cleaning command to at least one daughter window cleaning machine 2; it can also control the daughter window cleaning machine 2 to perform secondary cleaning along the trajectory of the mother window cleaning machine 1. For internal wrinkles within the already cleaned area, the sub-body window cleaning machine 2, with its compact size and more refined cleaning disc, moves independently from the mother window cleaning machine 1 to the wrinkle area within the first range. Its small cleaning module can closely adhere to the glass surface and repeatedly wipe at a slower speed. At this time, the cleaning range of the sub-body window cleaning machine 2, i.e., the second range, is completely within the first range of the mother window cleaning machine 1, thoroughly removing internal wrinkles through localized and refined operations. For edge wrinkles in the already cleaned area, the sub-body window cleaning machine 2 moves to the edge area of ​​the first range of the mother window cleaning machine 1. Its flexible turning and walking mechanism can adjust the cleaning angle, allowing the cleaning disc to cover the edge parts already cleaned by the mother window cleaning machine 1 and extend to the small uncovered areas at the edge junction. At this time, the second range intersects with the first range, and the edge wrinkles are eliminated through overlapping cleaning of the intersecting areas.

[0044] In some specific embodiments, situations where the second range intersects with the first range, or where the second range is outside the first range, include: when there are obstacles on the surface to be cleaned, the sub-type window cleaning machine 2 is controlled to perform the cleaning task around the obstacle, while the main type window cleaning machine 1 cleans other areas. More preferably, when there are obstacles on the surface to be cleaned, the sub-type window cleaning machine 2 is selected to perform the cleaning task around the obstacle, while the main type window cleaning machine 1 cleans other areas. When there are obstacles such as window handles, locks, and glass trim on the surface to be cleaned, the mother-daughter window cleaning machine system, through the division of labor among the sub-type window cleaning machines 2, achieves the intersection or expansion of the second range with the first range, thoroughly solving the problem of cleaning dead spots around obstacles. (See attached...) Figure 8 In the process, there is an obstacle in front of the main window cleaning machine 1. The sub-window cleaning machine 2 is controlled to clean around the edge of the obstacle, while the main window cleaning machine 1 cleans the area outside the edge of the obstacle, thus achieving a comprehensive cleaning of the surface to be cleaned.

[0045] When the mother window cleaning machine 1 is working, its onboard sensors detect the area in front in real time. Once an obstacle is detected, the control module plans a cleaning path to avoid the obstacle, preventing the mother window cleaning machine 1 from colliding with the obstacle. Because the mother window cleaning machine 1 has a relatively fixed body size and cleaning disc specifications to ensure adsorption stability and cleaning coverage area, it cannot fit into irregular areas such as curves and gaps around the obstacle. Therefore, areas that the mother window cleaning machine 1 cannot clean will be formed around the obstacle. At this time, the mother window cleaning machine 1 will continue to clean other areas outside the obstacle according to the planned path, forming a first range that covers most of the unobstructed area.

[0046] At this time, the main window cleaning machine 1 sends cleaning instructions containing the location and shape of the obstacle to the secondary window cleaning machine 2. Leveraging its compact size, slim design, and 360-degree steerable walking mechanism, the secondary window cleaning machine 2 can flexibly avoid obstacles or move close to their surfaces, precisely fitting into the gaps between the obstacle and the glass that the main machine 1 cannot reach, or performing a circular cleaning around the obstacle. When the obstacle is within the first cleaning range, the cleaning range of the secondary window cleaning machine 2, i.e., the second range, intersects with the first range, covering the area around the obstacle that the main machine 1 has not cleaned. When the obstacle is close to the edge of the glass and exceeds the boundary of the first range, the second cleaning range of the secondary machine 2 is outside the first range, cleaning the small outer area of ​​the obstacle that the main machine 1 cannot cover. Throughout the cleaning process, the mother window cleaning machine 1 continuously cleans other areas without obstacles, while the daughter window cleaning machine 2 focuses on handling blind spots around obstacles. The two synchronize their position information in real time through sensors to avoid operational conflicts. This ensures the efficiency of cleaning large areas and, through the intersection or expansion of the second range with the first range, thoroughly removes stains around obstacles, achieving cleaning without dead angles.

[0047] In some specific embodiments, situations where the second range overlaps with the first range, or where the second range is outside the first range, include: determining the target cleaning range of at least one sub-type window cleaning machine 2; and determining the sub-type window cleaning machine 2 to perform the target cleaning range based on the positional relationship between each sub-type window cleaning machine 2 and the parent window cleaning machine 1, and the positional relationship between the target cleaning range and the parent window cleaning machine 1. Based on precise scheduling using position matching, and through the overall planning of the parent window cleaning machine 1, the most suitable sub-type window cleaning machine 2 is assigned to perform the task corresponding to the target cleaning range, ensuring optimal cleaning efficiency and resource utilization.

[0048] First, the target cleaning area needs to be determined. The control module of the main window cleaning machine 1 uses environmental data collected by vision and collision sensors to clarify the location coordinates, area size, and cleaning difficulty of each target cleaning area. Then, the main window cleaning machine 1 will acquire the current position of each sub-window cleaning machine 2 in real time. Based on the position sensors on the sub-window cleaning machines 2 and their own position information, a positional association logic is constructed between the sub-window cleaning machines 2, the main window cleaning machine 1, and the target area. Finally, when assigning sub-window cleaning machines 2, two key positional relationships need to be considered: the distance between the sub-window cleaning machines 2 and the main window cleaning machine 1; and the distance between the target cleaning area and the main window cleaning machine 1.

[0049] In some specific embodiments, the determination of the child window cleaning machine 2 to perform the target cleaning range based on the positional relationship between each child window cleaning machine 2 and the parent window cleaning machine 1, and the positional relationship between the target cleaning range and the parent window cleaning machine 1, includes: establishing a relationship network map of the child window cleaning machine 2, the parent window cleaning machine 1, and the target cleaning range; calling the corresponding relationship network based on the current position of the child window cleaning machine 2, the current position of the parent window cleaning machine 1, and the target cleaning range; and controlling the child window cleaning machine 2 to run to the target cleaning range for cleaning according to the relationship network.

[0050] In the appendix Figure 9 In this diagram, area D is a blind spot formed by the frame, and this area is designated as the target cleaning range. The main window cleaning machine 1 cannot clean area D independently and requires control of the subsidiary window cleaning machines 2. Three subsidiary window cleaning machines 2, z1, z2, and z3, exist around the main machine 1. z1 and z2 are located above the main machine 1, while z3 is located below it. Considering the positional relationship between the subsidiary window cleaning machines 2 and the target cleaning range, z1 and z2 are more suitable for cleaning area D. However, z1 is closer to area D than z2, and assuming the machine itself has suitable cleaning capabilities, z1 has a higher priority for cleaning area D.

[0051] By constructing a global relational network map, integrating key information such as the location of the sub-body window cleaning machine 2 and the target cleaning range attributes, and using algorithms to achieve optimal task allocation, the task allocation of the sub-body window cleaning machine 2 is made more accurate and dynamic, especially suitable for complex scenarios with multiple sub-body window cleaning machines 2 and multiple target cleaning ranges.

[0052] The construction of the relationship network map is fundamental. The control module of the mother window cleaning machine 1 first scans the complete image of the surface to be cleaned through a vision sensor, and establishes a global coordinate system that includes the overall outline of the glass, the position of obstacles, and the initial position of the mother window cleaning machine 1. Then, the initial position and real-time updated position coordinates of each daughter window cleaning machine 2 are entered into the map. At the same time, the coordinate boundaries, cleaning priority, cleaning difficulty and other parameters of each target cleaning area are marked. Finally, a relationship network map covering the relationship information of the mother window cleaning machine 1, daughter window cleaning machines 2 and target areas is formed. This map will be dynamically updated in real time as the daughter window cleaning machines 2 move and the cleaning progress is updated.

[0053] When tasks need to be assigned, the control module uses the current position of the child window cleaning machine 2, the current position of the parent window cleaning machine 1, and the currently unfinished target cleaning area to perform calculations based on the associated data in the relationship network map. The calculation logic includes: calculating the optimal movement path of each child window cleaning machine 2 to each target cleaning area; determining whether the child window cleaning machine 2 can complete the target task and return safely based on its remaining battery power; and assigning the task execution order according to cleaning priority. During the execution of tasks by the child window cleaning machine 2, the relationship network map synchronizes the position, battery consumption, and cleaning progress of the child window cleaning machine 2 in real time. If a child window cleaning machine 2 runs out of battery power or encounters a new target cleaning area, the control module will re-invoke the relationship network map and adjust the task allocation. This relationship network map-based scheduling method upgrades the allocation of child window cleaning machines 2 from simple distance judgment to multi-dimensional collaborative decision-making, ensuring accurate adaptation between the second and first areas and improving the orderliness and intelligence of multi-child window cleaning machine 2 operations, making it particularly suitable for multi-target cleaning scenarios in complex environments.

[0054] For example, if a sub-type window cleaning machine 2 runs out of power during the cleaning process, the main window cleaning machine 1 will transfer the unfinished cleaning task to a nearby sub-type window cleaning machine 2 with sufficient power, ensuring that the target cleaning area can continuously overlap with or expand outward from the first range of the main window cleaning machine 1 without interrupting the cleaning process.

[0055] In some specific embodiments, both the main window cleaning machine 1 and the secondary window cleaning machine 2 are equipped with negative pressure adsorption modules. When the secondary window cleaning machine 2 returns to the main window cleaning machine 1, at least one of the negative pressure adsorption modules of both machines operates to improve the overall adsorption stability. When the secondary window cleaning machine 2 leaves the main window cleaning machine 1, the negative pressure adsorption modules of both machines operate separately to improve their respective adsorption stability. The operating logic of the negative pressure adsorption module precisely matches the linkage or independent operation requirements of the secondary window cleaning machine 2, making full use of the structural characteristics of the negative pressure module of the secondary window cleaning machine 2.

[0056] The negative pressure adsorption module is the core structure ensuring stable operation of the window cleaning machine on glass surfaces. Its core principle is to create negative pressure by drawing air from the adsorption chamber using a fan, which then uses atmospheric pressure to tightly adhere the machine to the glass surface, preventing it from falling off during high-altitude operations. This module integrates a fan, a sealed adsorption chamber, and a pressure regulating component to ensure reliable adsorption functionality. Both the main window cleaning machine 1 and the daughter window cleaning machine 2 are equipped with negative pressure adsorption modules, solving the adsorption failure problem that easily occurs in traditional window cleaning machines when combined or separated, providing safety assurance for high-altitude cleaning and complex glass surface operations.

[0057] After the daughter window cleaner 2 completes its cleaning task and returns to the mother window cleaner 1, it achieves precise docking and fixation through electromagnetic positioning and other methods. At this time, the mother window cleaner 1 and the daughter window cleaner 2 combine to form a complete machine structure. The force-bearing area in contact with the glass changes, and the weight of the combined unit is increased compared to the individual units. If the adsorption force is insufficient, the entire unit may slip or even fall. Therefore, at least one negative pressure adsorption module needs to be kept running. In normal scenarios, the negative pressure adsorption module of the mother window cleaner 1 can operate continuously at high power. Its large-sized fan and adsorption chamber can generate sufficient negative pressure to firmly adsorb the glass surface. The negative pressure adsorption module of the daughter window cleaner 2 can be switched to low power operation or turned off to save energy consumption and extend the overall machine's operating range. In special scenarios such as high-altitude strong winds or smooth glass surfaces, the negative pressure adsorption modules of the mother window cleaner 1 and the daughter window cleaner 2 can operate at high power simultaneously. The double negative pressure superposition forms a stronger adsorption force, further improving the adhesion stability between the entire unit and the glass surface and avoiding displacement caused by external factors.

[0058] When the secondary window cleaning machine 2 operates independently detached from the primary window cleaning machine 1, the two lose the mechanical connection and each needs to maintain its own stability through a negative pressure adsorption module. The negative pressure adsorption module of the primary window cleaning machine 1 continues to operate to ensure that its fixed position on the glass surface does not shift, providing a stable reference for the subsequent return of the secondary window cleaning machine 2. Although the secondary window cleaning machine 2 is small in size and light in weight, it needs to frequently turn and move when cleaning independently, and may face changes in the contact pressure in narrow areas. Its negative pressure adsorption module will dynamically adjust the fan power based on information such as the roughness of the glass surface and the working posture fed back by its own sensors. For example, it will appropriately increase the power to enhance the adsorption force on rough glass surfaces, and maintain a moderate power to balance adsorption and movement flexibility on smooth glass surfaces. This ensures that the secondary window cleaning machine 2 is always in close contact with the glass during independent cleaning, without slippage or falling off, while ensuring effective contact between the cleaning module and the glass, avoiding a decrease in cleaning effect due to unstable adsorption.

[0059] In some specific embodiments, the daughter window cleaning machine 2 is also equipped with a return positioning module. The return positioning module receives the positioning signal sent by the mother window cleaning machine 1 and guides the daughter window cleaning machine 2 to the docking position of the mother window cleaning machine 1. The return positioning module of the daughter window cleaning machine 2 is the core component that ensures its accurate return to the mother window cleaning machine 1 after cleaning. It solves the problem of the daughter window cleaning machine 2 shifting position and failing to dock accurately after operating independently, and provides a foundation for subsequent resource replenishment and storage.

[0060] For example, the return positioning module mainly consists of a signal receiver, a signal processor, and an auxiliary positioning sensor at the daughter window cleaning machine 2. The corresponding mother window cleaning machine 1 is equipped with a signal transmitter, and the two achieve position linkage through directional signal transmission. The signal transmitter of the mother window cleaning machine 1 continuously sends positioning signals with position coordinate information to ensure that the daughter window cleaning machine 2 can still receive stably in complex cleaning scenarios.

[0061] After the daughter window cleaning machine 2 completes its independent cleaning task, its control module triggers a return command. The return positioning module immediately starts and searches for the positioning signal sent by the mother window cleaning machine 1. Through algorithm analysis, it calculates the accurate position of the mother window cleaning machine 1 and the relative distance and angle between itself and the mother window cleaning machine 1. Subsequently, the steering and walking mechanism of the daughter window cleaning machine 2 adjusts its movement direction according to the processor's instructions, gradually approaching the mother window cleaning machine 1. During the movement, the auxiliary positioning sensor provides real-time feedback on position deviations and dynamically corrects the movement trajectory to avoid route deviations caused by factors such as glass surface reflections and minor obstacles.

[0062] When the daughter window cleaning machine 2 approaches the receiving area of ​​the mother window cleaning machine 1, the electromagnetic suction positioning module of the mother window cleaning machine 1 will be activated simultaneously, generating magnetic force to attract the electromagnetic positioning block of the daughter window cleaning machine 2. At this time, the return positioning module works in conjunction with the electromagnetic positioning to guide the daughter window cleaning machine 2 to accurately embed into the docking position of the receiving area, ensuring that the supply interface of the daughter window cleaning machine 2 is completely aligned with the supply interface of the mother window cleaning machine 1, while ensuring the mechanical fixation stability of the daughter window cleaning machine 2 and the mother window cleaning machine 1. (See attached...) Figure 10 In the process, after the daughter window cleaning machine 2 completes the cleaning task, it returns to the mother window cleaning machine 1. The corresponding position of the mother window cleaning machine 1 is equipped with an electromagnetic suction positioning module for magnetically connecting the daughter window cleaning machine 2.

[0063] In some specific embodiments, when the daughter window cleaning machine 2 returns to the mother window cleaning machine 1, the mother window cleaning machine 1 provides resources for the daughter window cleaning machine 2; the resources provided by the mother window cleaning machine 1 include power supply and cleaning liquid supply. The resource supply function of the daughter window cleaning machine 2 after returning to the mother window cleaning machine 1 is the core design to solve the short operating range of the daughter window cleaning machine 2 when operating independently. It realizes a closed-loop operation of cleaning, returning, replenishing, and re-cleaning through automated replenishment, without the need for manual intervention.

[0064] Once the daughter window cleaning machine 2 is precisely docked with the mother window cleaning machine 1 via the return positioning module, the electromagnetic suction positioning module will firmly fix the daughter window cleaning machine 2 in the receiving area of ​​the mother window cleaning machine 1. At the same time, it will trigger the resource supply program of the mother window cleaning machine 1. The supply process revolves around the two core resources of electrical energy and cleaning liquid, which are carried out simultaneously or in stages to ensure that the daughter window cleaning machine 2 can quickly restore its working ability.

[0065] In terms of power supply, the battery and charging module of the main window cleaner 1 are connected to the battery and charging module of the secondary window cleaner 2. The large-capacity battery of the main window cleaner 1 provides a stable charging current for the small-capacity battery of the secondary window cleaner 2. During the charging process, the built-in voltage monitoring module monitors the charging status in real time to avoid overcharging and damaging the battery. Once the battery of the secondary window cleaner 2 reaches full charge, the charging circuit is automatically disconnected, ensuring charging safety and saving energy. This design eliminates the need for an external power source for the secondary window cleaner 2, completely freeing it from the constraints of wires and solving the problem of short battery life in traditional wireless window cleaners.

[0066] Regarding the supply of cleaning liquid, the water tank and water storage module of the main window cleaning machine 1 are connected to the one-way receiving valve of the water tank of the secondary window cleaning machine 2 via a water supply pipeline. After the water pump of the main window cleaning machine 1 starts, it generates stable pressure and accurately delivers the cleaning liquid in the large water tank to the small water tank of the secondary window cleaning machine 2. At the same time, the flow sensor monitors the replenishment amount in real time. When the water tank of the secondary window cleaning machine 2 reaches the preset capacity, the water pump stops working, and the one-way positioning valve automatically closes to prevent the cleaning liquid from leaking or flowing back. This design ensures the sealing and reliability of the replenishment process, allowing the secondary window cleaning machine 2 to continuously perform cleaning tasks without manual water addition.

[0067] The entire resource supply process relies on precise docking via electromagnetic positioning to achieve automatic interface alignment without manual assistance. This results in high replenishment efficiency and strong stability, ensuring the battery life of the secondary window cleaning machine 2 and enabling the mother-daughter window cleaning machine system to continuously meet the cleaning needs of large areas and complex scenarios, further enhancing the intelligence and practicality of the equipment.

[0068] For example, attached Figure 11The diagram shows a disassembled structural diagram of the main window cleaning machine 1. The main window cleaning machine 1 contains several core components that are adapted for large-area cleaning and support the secondary window cleaning machine 2. The top cover 11 is equipped with an air duct assembly that forms an air duct on the equipment shell. This works in conjunction with the fan 12 to create negative pressure adsorption, ensuring the stability of the mother window cleaning machine 1 on the glass surface. The water tank module 13 is a large-capacity water storage structure, including the mother machine water tank 46, water supply pipe 44, and water pump 45. It supplies cleaning liquid for the mother window cleaning machine 1 itself and can also replenish the cleaning liquid for the returning daughter window cleaning machine 2. The electromagnetic charging module 14 includes a battery and an electromagnetic suction positioning module. The battery provides power to the mother window cleaning machine 1, and the electromagnetic suction positioning module enables the positioning and fixation of the daughter window cleaning machine 2. It also integrates a charging function to replenish the power of the daughter window cleaning machine 2. The bottom shell 15 carries all components. The cleaning unit 16 includes a walking mechanism and cleaning parts, supporting the movement of the mother window cleaning machine 1 and large-area cleaning. These components together support the core functions of efficient cleaning of the mother window cleaning machine 1 and storage and replenishment of the daughter window cleaning machine 2.

[0069] For example, attached Figure 12 A structural disassembly diagram of the sub-body window cleaning machine 2 is shown. The components of the sub-body window cleaning machine 2 are designed to meet the lightweight requirements of cleaning small areas / blind spots: the electromagnetic positioning plate (including a charging plate) on the sub-machine's top cover 21 is crucial for docking with the main body window cleaning machine 1; the electromagnetic positioning plate achieves adsorption and fixation, and the charging plate receives power from the main body window cleaning machine 1; the sub-machine battery 22 provides power for the independent operation of the sub-body window cleaning machine 2; the sub-machine water tank assembly 23 is a small-capacity liquid storage structure, including the sub-machine water tank 41 and a one-way valve assembly, meeting short-range liquid usage requirements; the sub-machine fan assembly 24 generates negative pressure to ensure stable adsorption; the sub-machine bottom shell 25 is equipped with walking auxiliary wheels 26, supporting the flexible movement and steering of the sub-body window cleaning machine 2, adapting to posture adjustments around narrow areas or obstacles; the sub-machine cleaning component 27 is a wiping component smaller than the main body window cleaning machine 1, allowing for precise contact with small areas or blind spots for cleaning. The aforementioned sub-machine components support the small size, agile steering, and blind spot-specific functions of the sub-body window cleaning machine 2, forming a cleaning complement to the mother body window cleaning machine 1.

[0070] For example, attached Figure 13A schematic diagram of the electromagnetic positioning assembly of a mother-daughter window cleaning machine is shown. The mother magnet 31 is mounted on the mother window cleaning machine 1, and the daughter magnet 32 ​​is correspondingly mounted on the daughter window cleaning machine 2; these two are the core components of the electromagnetic attraction. The positioning pin 33 provides precise guidance, assisting in aligning the daughter window cleaning machine 2 with the mother window cleaning machine 1 when the daughter machine returns to its docking position, ensuring precise alignment of the interfaces between the daughter machine 2 and the mother machine 1. The positioning pin 33 is connected to a spring for auxiliary buffering or reset. The daughter window cleaning machine 2 is provided with a positioning port 34 corresponding to the positioning pin 33. When the daughter window cleaning machine 2 returns to its original position, the electromagnet of the mother window cleaning machine 1 is energized to generate magnetic force, attracting the magnet of the daughter window cleaning machine 2 to complete the adsorption and fixation. The positioning pin 33 cooperates with the positioning port 34 to achieve precise positioning. When the daughter window cleaning machine 2 needs to be separated, the electromagnet is de-energized, and the spring can assist the positioning pin 33 to reset, avoiding component jamming. This component not only achieves stable fixation of the daughter window cleaning machine 2 through electromagnetic force, but also relies on the positioning pin 33 to ensure docking accuracy, providing structural support for subsequent resource replenishment and collaborative operations.

[0071] Appendix Figure 14 The structure of the water storage and delivery components of the mother-daughter window cleaning machine is shown, with the core function being to automatically replenish the cleaning liquid between the two daughter window cleaning machines 2. The daughter machine's water tank 41 stores the cleaning liquid delivered from the mother machine 1, meeting the liquid requirements for independent cleaning by the daughter machine 2. The one-way valve assembly includes a daughter machine water tank one-way valve 42 and a mother machine one-way positioning valve 43. These two components work together to ensure one-way water delivery, preventing backflow of the cleaning liquid and ensuring a tight seal during the water delivery process to avoid leakage. A water delivery pipe 44 and a water pump 45 form the water delivery channel. The mother machine's water tank 46 serves as the water storage container for the mother machine 1, providing the cleaning liquid source for itself and the daughter machine 2. The water pump 45 acts as the power unit, delivering water from the mother machine's water tank 46 to the daughter machine's water tank 41. When the daughter machine 2 returns to the mother machine 1... When the water pump 45 starts, it uses the one-way valve assembly to transport water from the mother machine water tank 46 to the daughter machine water tank 41 for replenishment. At the same time, the spray device inside the water tank can provide cleaning liquid spray to the cleaning modules of the mother window cleaning machine 1 and the daughter window cleaning machine 2 respectively, supporting the wiping operation of both. This solves the problem of cleaning liquid supply when the daughter window cleaning machine 2 operates independently. Through automatic and sealed water supply, the liquid usage of the daughter window cleaning machine 2 is coordinated, and the continuity of the cleaning process can be guaranteed without manual intervention.

[0072] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0073] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A mother-and-child type window cleaning machine system, characterized in that, include: A mother window cleaning machine and at least one daughter window cleaning machine, wherein at least one daughter window cleaning machine can leave the mother window cleaning machine and return to the mother window cleaning machine, the mother window cleaning machine drives the daughter window cleaning machine to move, or the mother window cleaning machine and the daughter window cleaning machine can move independently; The main window cleaning machine is used to clean the first area of ​​the surface to be cleaned; The sub-body window cleaning machine is used to clean a second area of ​​the surface to be cleaned; The second range is located within the first range, or the second range intersects with the first range, or the second range is located outside the first range.

2. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, When the main window cleaning machine and the secondary window cleaning machine move independently, the main window cleaning machine may move at the same speed or at a different speed than the secondary window cleaning machine, or the main window cleaning machine and the secondary window cleaning machine may move in the same direction or in different directions.

3. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, Specific situations where the second range intersects with the first range, or where the second range is located outside the first range, include: When the mother window cleaning machine identifies a cleaning blind spot on the surface to be cleaned, at least one of the daughter window cleaning machines is controlled to run into the cleaning blind spot for cleaning, so that the second range intersects with the first range, or the second range is outside the first range.

4. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, Specific situations in which the second range is located within the first range, or where the second range intersects with the first range, include: After the mother window cleaning machine cleans the surface to be cleaned, at least one of the daughter window cleaning machines is controlled to run into the cleaned area of ​​the surface to be cleaned for cleaning, or to clean the edge of the cleaned area of ​​the surface to be cleaned, so that the second range is within the first range, or the second range intersects with the first range.

5. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, Specific situations where the second range intersects with the first range, or where the second range is located outside the first range, include: When there are obstacles on the surface to be cleaned, the sub-body window cleaning machine is controlled to perform the cleaning task around the obstacle, while the main body window cleaning machine cleans other areas.

6. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, Specific situations where the second range intersects with the first range, or where the second range is located outside the first range, include: Determine the target cleaning range of at least one of the said sub-body window cleaning machines. The specific window cleaning machine to perform the target cleaning range is determined based on the positional relationship between each sub-machine and the main machine, and the positional relationship between the target cleaning range and the main machine.

7. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, The process of determining the daughter window cleaning machine to perform the target cleaning range based on the positional relationship between each daughter window cleaning machine and the main window cleaning machine, and the positional relationship between the target cleaning range and the main window cleaning machine, includes: Establish a network map showing the relationships between the daughter window cleaning machine, the mother window cleaning machine, and the target cleaning area; The corresponding relationship network is invoked based on the current position of the child window cleaning machine, the current position of the parent window cleaning machine, and the target cleaning range; The window cleaning machine is controlled to move to the target cleaning area and perform cleaning based on the relationship network.

8. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, Both the mother window cleaning machine and the daughter window cleaning machine are equipped with negative pressure adsorption modules; When the daughter window cleaning machine returns to the mother window cleaning machine, at least one of the negative pressure adsorption modules of the mother window cleaning machine and the daughter window cleaning machine will operate to improve the overall adsorption stability. When the daughter window cleaning machine leaves the mother window cleaning machine, the negative pressure adsorption modules of the mother window cleaning machine and the daughter window cleaning machine operate respectively to improve the stability of their respective adsorption.

9. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, The daughter window cleaning machine is also equipped with a return positioning module, which receives the positioning signal sent by the mother window cleaning machine and guides the daughter window cleaning machine to the docking position of the mother window cleaning machine.

10. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, When the daughter window cleaning machine returns to the mother window cleaning machine, the mother window cleaning machine is used to provide resources for the daughter window cleaning machine; The resources provided by the mother window cleaning machine include power supply and cleaning liquid supply.

11. The mother-daughter type window cleaning machine system according to claim 1, characterized in that, The mother window cleaning machine includes a main body and two cleaning discs disposed on the main body, with a receiving area formed between the two cleaning discs, and at least one daughter window cleaning machine located within the receiving area.

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