Cross-window negative pressure pneumatic adsorption type glass cleaning robot and cross-window method

Abstract

This invention discloses a window-crossing negative pressure pneumatic adsorption glass cleaning robot and a window-crossing method. This novel window cleaning robot combines a negative pressure adsorption system with a pneumatic adsorption arm for automatic cleaning of exterior glass walls in high-rise buildings and for operations across windows. By incorporating a negative pressure system into the robot's cleaning section, and using Mecanum wheels for lateral and longitudinal movement and cleaning on the glass, this invention features a retractable lateral robotic arm and multiple servo motors on the sides of the main body. This allows the robot to maintain adsorption force while automatically crossing window frames to reach adjacent window surfaces for cleaning. The control system uses sensors to detect the adsorption state and controls the suction cups and negative pressure system according to a preset sequence, enabling the robot to complete the crossing action and cleaning task.

Description

Technical Field

[0001] This invention relates to the field of high-rise building cleaning equipment technology, and in particular to a negative pressure pneumatic adsorption glass cleaning robot that can cross windows and a method for crossing windows. Background Technology

[0002] With the rapid development of the modern construction industry, high-rise buildings widely adopt glass curtain wall designs. While these designs offer both aesthetic appeal and good light transmission, long-term use can lead to the accumulation of dust and stains, affecting the building's appearance and light transmission, necessitating regular cleaning and maintenance. However, among existing glass cleaning methods, the inconvenience of cleaning across windows is particularly prominent, specifically exhibiting the following shortcomings:

[0003] Existing cleaning methods are mainly divided into two categories: manual cleaning and machine cleaning. Manual cleaning has a lower initial cost, but it requires workers to work at heights, which poses a great safety hazard. In addition, the efficiency and cleaning quality are affected by the physical strength and skills of the workers. Furthermore, manually adjusting the work position across windows is difficult and risky, making it impossible to achieve efficient and continuous window-crossing cleaning.

[0004] Among machine cleaning methods, the inconvenience of cross-window cleaning is more obvious: Adsorption-type glass cleaning robots can only work on a single glass surface and cannot cross obstacles such as window frames and dividers, thus limiting the cleaning range. Frequent manual intervention and position adjustment are required to achieve multi-window cleaning, making cross-window operation cumbersome; Drone spraying cleaning can only perform preliminary cleaning and cannot thoroughly clean, and its short battery life makes it difficult to meet the needs of large-area cross-window cleaning; Multi-legged climbing robots have complex structures, high control difficulty, high cost, and insufficient operational stability, and similarly cannot achieve convenient and stable cross-window cleaning.

[0005] In summary, the core pain point of existing cleaning methods is the inconvenience of cleaning across windows. At the same time, they have obvious shortcomings in terms of safety, cleaning range, operational stability and practicality. There is an urgent need for a high-rise building glass cleaning device that is simple in structure, stable in operation, low in energy consumption, and can easily achieve continuous cleaning across windows, in order to solve the core defects of existing technologies. Summary of the Invention

[0006] The technical problem to be solved by this invention is to address the shortcomings of existing high-rise building glass cleaning equipment, such as limited cleaning range, inability to continuously clean across windows, poor adsorption stability, and complex control. This invention provides a negative pressure pneumatic adsorption glass cleaning robot that can cross windows. By designing a pneumatic adsorption crossing structure, the problem of cleaning a single surface is solved, achieving fully automatic continuous cleaning. Negative pressure is used to improve the robot's movement stability on the glass surface and its reliability when crossing windows. Mecanum wheels are used to optimize the movement and cleaning effect on the glass surface, significantly improving the robot's adsorption stability and crossing ability, adapting to various window types, reducing energy consumption, and improving equipment operational reliability.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a negative pressure pneumatic adsorption glass cleaning robot that can cross windows, characterized in that it includes a robot body, a lateral robotic arm unit and a control system;

[0008] The robot body is a rectangular box structure with an open bottom. The inner side of its bottom is equipped with a moving mechanism, a cleaning mechanism and an adsorption mechanism. Two lateral robotic arm units are symmetrically arranged on both sides of the forward end of the robot body.

[0009] The adsorption mechanism consists of a negative pressure fan and a negative pressure shell. The negative pressure shell has through holes and is placed on the negative pressure fan. The negative pressure generated between the robot body and the glass through the through holes causes the robot body to adhere to the glass.

[0010] The moving mechanism consists of Mecanum wheels and Mecanum wheel motors, which enable the robot body to move laterally and longitudinally.

[0011] The cleaning mechanism consists of a cleaning roller and a cleaning roller motor, and the glass is cleaned by the cleaning roller.

[0012] The lateral robotic arm unit consists of a connecting rod, a vaulting suction arm, a vacuum pump, a negative pressure valve, and a vacuum suction cup. The two ends of the connecting rod are hinged to the robot body and the vaulting suction arm, respectively, and a drive servo motor is installed at the hinge. The vacuum suction cup is located on the side of the vaulting suction arm near the glass. The vacuum suction cup is connected to the vacuum pump and the negative pressure valve through a connecting pipe. The vacuum pump and the negative pressure valve are located inside the robot body.

[0013] The control system is connected to the negative pressure fan, Mecanum wheel motor, cleaning roller motor, drive servo motor, and vacuum pump via electrical signals and is uniformly scheduled by the main control module.

[0014] Furthermore, the lateral robotic arm unit is a pneumatically or electrically driven structure, and by changing the angle of the drive servo motor, the attitude and adsorption angle of the vacuum suction cup can be flexibly adjusted.

[0015] Furthermore, the robot body and the overcoming adsorption arm are equipped with pressure sensors and distance sensors that are electrically connected to the control system to monitor the adsorption status and obstacle position in real time, so as to realize the coordinated control of the robot's adsorption, walking, obstacle crossing and cleaning actions. When insufficient adsorption is detected, the negative pressure fan is controlled to increase the speed or the vacuum suction cup is re-adsorbed and an alarm is triggered.

[0016] Furthermore, the robot body and the overturning suction arm are equipped with redundant suction cups. The redundant suction cups are connected to the vacuum pump through pipelines. When insufficient suction pressure is detected, the redundant suction cups can be controlled to adsorb and trigger an alarm. At the same time, an emergency brake is configured to prevent the robot from falling off in case of suction failure.

[0017] Furthermore, there are four Mecanum wheels, and each Mecanum wheel is independently driven by a Mecanum wheel motor, enabling the robot to move laterally, longitudinally, and turn on the glass surface.

[0018] Furthermore, the negative pressure shell is located in the middle of the robot body, and four Mecanum wheels are arranged around the negative pressure shell.

[0019] To solve the above-mentioned technical problems, the present invention provides the following technical solution: According to the cleaning and window-crossing method of the cleaning robot described above, the steps are as follows:

[0020] S1. Start the cleaning robot. The control system schedules the negative pressure fan to work. Outside air enters through the through hole and forms a negative pressure area in the sealed cavity between the negative pressure shell and the robot body. The robot body is firmly adsorbed onto the glass surface to be cleaned. The pressure sensor confirms that the adsorption status meets the standard.

[0021] S2. The control system schedules the moving mechanism and the cleaning mechanism to work together. The Mecanum wheel motor drives the Mecanum wheel to move the robot body laterally, longitudinally or rotating along the current glass surface. The cleaning roller motor drives the cleaning roller to wipe and clean the glass surface simultaneously.

[0022] S3. The distance sensor detects the distance between the robot body and the window frame and the separator in real time. When the detected distance reaches the preset threshold, the window crossing process is triggered, and the control system controls the moving mechanism and cleaning mechanism to stop working.

[0023] S4. The control system schedules the lateral robotic arm units to start sequentially, driving the servo motor to extend the two articulated links, so that the vacuum suction cup on the flip-over suction arm moves to the adjacent window glass surface. At the same time, the control system controls the vacuum pump to provide negative pressure to the small vacuum suction cup, and the pressure sensor confirms that the vacuum suction cup is firmly attached.

[0024] S5. After confirming that the vacuum suction cup is firmly attached, the control system schedules the negative pressure fan to gradually release the suction force of the vacuum suction cup on the current glass surface. At the same time, the control system adjusts the posture and angle of the lateral robotic arm by driving the servo motor. The robotic arm's supporting force is used to drive the robot body to cross the window frame or partition and move to the adjacent window glass surface.

[0025] S6. After the robot body moves to the adjacent window, the control system restarts the negative pressure fan, so that the robot body is firmly attached to the new glass surface. After the pressure sensor confirms that the attachment is up to standard, the drive servo motor drives the lateral robotic arm to retract to the initial position in sequence.

[0026] S7. The control system restarts the moving mechanism and the cleaning mechanism. The robot body begins to clean the adjacent window glass. Repeat steps S3 to S6 to achieve continuous cross-window cleaning of multiple windows until the preset cleaning area is completed.

[0027] Furthermore, the adsorption pressure is monitored in real time by a pressure sensor. When the adsorption pressure is detected to be lower than the preset threshold, the negative pressure fan is controlled to increase its speed or the vacuum suction cup is re-adsorbed and an alarm is triggered. If the adsorption fails to meet the standard after multiple attempts, the redundant suction cup is controlled to adsorb and an alarm is triggered. At the same time, an emergency brake is configured to prevent the robot from falling off in case of adsorption failure.

[0028] Furthermore, the two ends of the connecting rod are hinged to the robot body and the vaulting suction arm, respectively, and a drive servo motor is provided at the hinge. By adjusting the angle of the two servo motors, the posture and suction angle of the vacuum suction cup can be flexibly adjusted to adapt to window frames, dividers and windows with different heights and height differences.

[0029] Furthermore, during the process of the robot crossing the window, the control system monitors the support status of the lateral robotic arm and the adsorption status of the vacuum suction cup in real time through the rotation angle of the drive servo motor and pressure sensors. If the adsorption becomes loose or the support is unstable, the window crossing action is stopped immediately, the robotic arm posture is readjusted, and the adsorption is reinforced.

[0030] The beneficial effects of this invention are as follows:

[0031] This invention utilizes a pneumatically driven suction arm to achieve flexible window-crossing capability for a window cleaning robot, offering the following advantages compared to existing technologies:

[0032] (1) Strong adsorption stability: The negative pressure adsorption system combined with the sealed cavity and multiple sets of vacuum suction cups enhances the robot's adsorption capacity on the vertical glass surface, effectively reduces the risk of slipping, solves the problem of easy slipping of traditional wheeled or roller brush robots, and improves the robot's operating stability under complex working conditions.

[0033] (2) Flexible window crossing capability: The lateral pneumatic adsorption robotic arm can flexibly adjust its posture and adsorption angle, enabling it to cross window frames, partitions and height differences of different heights, allowing the robot to continuously clean multiple window units, greatly expanding the cleaning range, reducing manual intervention and significantly improving cleaning efficiency; and the two lateral pneumatic adsorption robotic arms move back and forth in sequence to increase the adsorption strength, solving the hidden danger that the robot body may not adhere firmly to the glass and fall off due to the change in the center of gravity caused by the movement of the lateral robotic arms.

[0034] (3) Energy saving and rapid response: The pneumatic adsorption arm is pneumatically driven, which is lighter, more efficient and has lower energy consumption than motor drive. It also has a fast response speed and can quickly complete actions such as extension, adsorption and retraction, improving the continuity of operation.

[0035] (4) High safety: The flexible nature of the pneumatic adsorption arm can reduce the impact on the glass surface and avoid damage to the glass; at the same time, it is equipped with redundant suction cups, emergency braking system and real-time adsorption detection mechanism to ensure adsorption reliability, prevent the robot from falling off and improve the safety of high-altitude operations.

[0036] (5) Highly practical: The overall structure is simple, the control logic is clear, it is compatible with cleaning of various window types, the manufacturing and maintenance costs are low, and the operation is stable and energy consumption is low. It greatly improves the automation level, adaptability and safety of cleaning the exterior walls of high-rise buildings and has broad application prospects.

[0037] To make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only five of the drawings in this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 A schematic diagram of the structure of a window cleaning robot;

[0040] Figure 2 A structural diagram showing a window cleaning robot adhering to the glass for cleaning.

[0041] Figure 3 A structural diagram of a window cleaning robot using a vaulting suction arm to attach to the current glass.

[0042] Figure 4 A diagram showing the structure of another suction arm of the window cleaning robot as it attaches to adjacent glass.

[0043] Figure 5 A diagram showing the structure of a window cleaning robot with two flip-over suction arms adhering to adjacent glass panes.

[0044] In the diagram: 1-Negative pressure fan, 2-Flipping suction arm, 3-Vacuum suction cup, 4-Servo motor connecting the connecting rod and suction arm, 5-Connecting rod, 6-Servo motor connecting the connecting rod and cleaning body, 7-Mecanum wheel, 8-Negative pressure outer shell, 9-Mecanum wheel motor, 10-Cleaning roller, 11-Cleaning roller motor, 12-Robot body. Detailed Implementation

[0045] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0048] Example 1

[0049] like Figure 1-5 As shown, this embodiment provides a negative pressure pneumatic adsorption glass cleaning robot that can cross windows, including a robot body 12, a lateral robotic arm unit and a control system, which fully corresponds to the structural definition of claim 1.

[0050] The robot body 12 adopts a lightweight aluminum alloy frame and has a rectangular box structure with an open bottom, which reduces the overall weight while ensuring structural strength. The bottom inner side is equipped with a moving mechanism, a cleaning mechanism and an adsorption mechanism; two lateral robotic arm units are symmetrically arranged on both sides of the forward end of the robot body 12.

[0051] The adsorption mechanism consists of a negative pressure fan and a negative pressure housing 8. The negative pressure housing 8 has a through hole and is placed on the negative pressure fan. Outside air enters through the through hole, forming a sealed cavity between the negative pressure housing 8 and the robot body 12, thereby generating a negative pressure area. This negative pressure allows the robot body 12 to be stably adsorbed onto the glass surface.

[0052] The lateral robotic arm unit consists of a connecting rod 5, a vaulting suction arm 2, a vacuum pump, a negative pressure valve, and a vacuum suction cup 3. The vacuum pump and negative pressure valve are both located within the robot body 12. The two ends of the connecting rod 5 are hinged to the robot body 12 and the vaulting suction arm 2, respectively, and drive servos (i.e., servo 4 connecting the connecting rod to the vaulting suction arm and servo 6 connecting the connecting rod to the robot body 12) are respectively installed at the hinge points. The vacuum suction cup 3 is located on the side of the vaulting suction arm 2 near the glass and is connected to the vacuum pump and negative pressure valve within the robot body 12 via a connecting pipe. This lateral robotic arm unit can be pneumatically or electrically driven. The preferred method is pneumatic drive, which uses a small pneumatic pump to provide power, reducing energy consumption by more than 30% compared to electric drive and shortening the response time to less than 0.5s. By adjusting the angle of the two drive servo motors, the posture and adsorption angle of the vacuum suction cup 3 can be flexibly adjusted to adapt to window frames of different heights and complex window shapes. The mechanical arm formed by the hinge of the connecting rod 5 and the flip-over adsorption arm 2 can flexibly extend to the front of the robot, with an extension length range of 0.5-1.2m, adapting to window frames of different widths. The servo motors 4 and 6 are high-precision servo motors with an adjustment accuracy of ±1°, further improving the adjustment flexibility.

[0053] The mobile mechanism consists of four sets of Mecanum wheels 7 and four Mecanum wheel motors 9. Each Mecanum wheel 7 is independently driven by its corresponding Mecanum wheel motor 9, enabling the robot to move laterally, longitudinally, and turn on the glass surface. The moving speed is adjustable, ranging from 0.1 to 0.3 m / s. The negative pressure shell 8 is located in the middle of the robot body 12. The four Mecanum wheels 7 are arranged symmetrically around the negative pressure shell 8, which ensures balanced adsorption and support on both sides, improves the robot's posture stability when running in a vertical plane, and avoids uneven loading and tipping.

[0054] The cleaning mechanism consists of two sets of cleaning rollers 10 and a cleaning roller motor 11. The surface of the cleaning rollers 10 is covered with flexible cleaning cotton and is driven to rotate by the cleaning roller motor 11. It can effectively remove dust and stains from the glass surface. The rotation speed of the cleaning rollers 10 can be adjusted according to the cleaning needs, ranging from 50 to 150 r / min. The cleaning rollers 10 can thoroughly clean the glass, which is in accordance with the definition of the cleaning mechanism in claim 1.

[0055] The control system uses an STM32 embedded processor as the main control module. It is connected to the negative pressure fan, Mecanum wheel motor 9, cleaning roller motor 11, drive servo motor, and vacuum pump via electrical signals and is uniformly scheduled by the main control module. The control system also connects to a drive control module, a negative pressure control module, an obstacle-crossing execution control module, and a safety detection module. The drive control module controls the operation of the Mecanum wheel motor 9 and the cleaning roller motor 11 to achieve robot movement and cleaning actions. The negative pressure control module controls the opening and closing of the vacuum pump and negative pressure valve, as well as the speed of the negative pressure fan, adjusts the negative pressure, and monitors the adsorption pressure. The obstacle-crossing execution module... The control module controls the movements of servo motors 4 and 6 and the suction cup at the end of the robotic arm to complete the window crossing process. The safety detection module includes a pressure sensor and a distance sensor, which are respectively installed on the robot body 12 and the climbing suction arm 2 and are electrically connected to the control system. The pressure sensor is used to detect the suction pressure of the vacuum suction cup 3 and the redundant suction cups, and the distance sensor is used to detect the position of obstacles such as window frames and dividers. Each module feeds back the detection data to the main control module in real time to realize the coordinated control of the robot's suction, walking, obstacle crossing and cleaning actions. When insufficient suction is detected, the negative pressure fan is controlled to increase the speed or the vacuum suction cup is re-adsorbed and an alarm is triggered.

[0056] Example 2

[0057] like Figure 1-5 As shown, redundant suction cups and alarm functions are added based on Embodiment 1.

[0058] Four sets of vacuum suction cups 3 are evenly arranged on the flip-over adsorption arm 2. The vacuum suction cups 3 are connected to the vacuum pump and negative pressure valve through corrosion-resistant connecting pipes. At the same time, two additional sets of redundant suction cups are set to deal with sudden adsorption failures. The redundant suction cups are also set on the robot body 12. When the adsorption pressure is still insufficient even if the speed of the negative pressure fan 1 is increased, the redundant suction cups can be controlled to adsorb the glass. At the same time, when the redundant suction cups are in use, an emergency brake is applied and an alarm is triggered to prevent the robot from falling off in case of adsorption failure. The alarm is an audible and visual alarm set on the robot body 12.

[0059] The working process of the overall technical solution formed by the above embodiments is another technical solution disclosed in this application. The cleaning and cross-window working process is as follows:

[0060] 1) Starting the cleaning robot: The control system schedules the negative pressure fan to work, and outside air enters through the through hole of the negative pressure shell 8, forming a negative pressure area in the sealed cavity between the negative pressure shell 8 and the robot body 12, which firmly adsorbs the robot body 12 onto the glass surface to be cleaned. The pressure sensor detects the adsorption pressure in real time. After confirming that the adsorption status meets the standard, a start signal is issued. If the adsorption pressure is detected to be lower than the preset threshold, the control system controls the negative pressure fan to increase the speed or the vacuum suction cup 3 to re-adsorb and trigger an alarm. If the adsorption still fails to meet the standard after multiple adsorptions, the redundant suction cup is controlled to adsorb and trigger an alarm. At the same time, the emergency brake is activated to prevent the robot from falling off.

[0061] 2) Cleaning Movement: The control system coordinates the movement mechanism and the cleaning mechanism. Mecanum wheel motor 9 drives Mecanum wheels 7, propelling the robot body 12 to move laterally, longitudinally, or rotate along the current glass surface. Cleaning roller motor 11 drives the cleaning roller 10 to simultaneously wipe and clean the glass surface, avoiding cleaning dead zones. Figure 2 As shown.

[0062] 3) Obstacle detection and window crossing trigger: The distance sensor detects the distance between the robot body 12 and the window frame and the partition strip in real time. When the detected distance reaches the preset threshold (5-10cm) and the glass has been cleaned, the window crossing process is triggered, and the control system controls the moving mechanism and the cleaning mechanism to stop working.

[0063] 4) Extension of the robotic arm and adsorption of adjacent window: The control system schedules the start of the lateral robotic arm unit, drives the servo motor to extend the two-section hinged connecting rod 5 and the overturning adsorption arm 2, so that the vacuum suction cup 3 on the overturning adsorption arm 2 moves to the surface of the adjacent window glass. At the same time, the control system controls the vacuum pump in the robot body 12 to provide negative pressure to the vacuum suction cup 3. The pressure sensor detects the adsorption pressure of the end vacuum suction cup 3 to confirm that the vacuum suction cup 3 is firmly adsorbed.

[0064] First, one of the lateral robotic arm units is activated, driving the servo motor to extend the two hinged connecting rods 5 and the overturning suction arm 2 backward, causing the vacuum suction cup 3 on the overturning suction arm 2 to move to the surface of the window glass. Simultaneously, the vacuum pump inside the robot body 12 provides negative pressure to the vacuum suction cup 3. A pressure sensor detects the suction pressure of the end vacuum suction cup 3 to confirm a stable adhesion. Figure 3 As shown; then, another lateral robotic arm unit starts up again, driving the servo motor to extend the two-section hinged connecting rod 5 and the overturning suction arm 2 forward, so that the vacuum suction cup 3 on the overturning suction arm 2 moves to the adjacent window glass surface. At the same time, the vacuum pump in the robot body 12 is controlled to provide negative pressure to the vacuum suction cup 3. The pressure sensor detects the suction pressure of the end vacuum suction cup 3 to confirm that the vacuum suction cup 3 is firmly attached. Figure 4As shown; finally, the first activated lateral robotic arm unit gradually reduces the suction force of the vacuum suction cup and drives the servo motor to retract the lateral robotic arm to its initial position and extend it forward, moving the vacuum suction cup 3 on the flip-over suction arm 2 to the adjacent window glass surface. Simultaneously, the vacuum pump inside the robot body 12 provides negative pressure to the vacuum suction cup 3, and the pressure sensor detects the suction pressure of the end vacuum suction cup 3 to confirm that the vacuum suction cup 3 is firmly attached. Figure 5 As shown, the two lateral robotic arm units are activated sequentially to increase the adsorption strength and solve the potential problem of the robot body 12 not adhering firmly to the glass and falling off due to the change in the center of gravity caused by the movement of the lateral robotic arms.

[0065] 5) Main body crossing the window: After confirming that the vacuum suction cup 3 is firmly attached, the control system schedules the negative pressure fan to gradually release the suction force on the current glass surface. At the same time, by adjusting the angle of the two drive servos (servos 4 and 6), the posture and suction angle of the vacuum suction cup 3 are flexibly adjusted. Using the supporting force of the robotic arm, the robot body 12 is driven to cross the window frame or partition and move to the glass surface of the adjacent window. During the window crossing process, the control system monitors the support status of the lateral robotic arm and the suction status of the vacuum suction cup 3 in real time through the rotation angle of the drive servos and pressure sensors. If the suction becomes loose or the support is unstable, the window crossing action is stopped immediately, the posture of the robotic arm is readjusted and the suction is reinforced to adapt to the window crossing requirements of different heights of window frames, partitions and height differences.

[0066] First, one of the lateral robotic arm units is activated, driving a servo motor to retract the lateral robotic arm to its initial position. The servo motor then drives the two hinged connecting rods 5 and the overturning suction arm 2 to extend backward, causing the vacuum suction cup 3 on the overturning suction arm 2 to move to the surface of the window glass. Simultaneously, the vacuum pump inside the robot body 12 provides negative pressure to the vacuum suction cup 3. A pressure sensor detects the suction pressure of the end vacuum suction cup 3 to confirm that the vacuum suction cup 3 is firmly attached. Figure 4 As shown; then, another lateral robotic arm unit starts up again, gradually reducing the suction force of the vacuum suction cup, driving the servo motor to retract the lateral robotic arm to its initial position, as shown. Figure 3 As shown; finally, the first activated lateral robotic arm unit restarts, gradually reducing the suction force of the vacuum suction cup, driving the servo motor to retract the lateral robotic arm to its initial position, as shown. Figure 2 As shown.

[0067] 6) Re-adhesion and robotic arm retraction: After the robot body 12 moves to the adjacent window, the control system schedules the negative pressure fan to restart, so that the robot body 12 is firmly adsorbed on the new glass surface. After the pressure sensor confirms that the adsorption is up to standard, the drive servo motor drives the lateral robotic arm to retract to the initial position; if insufficient adsorption pressure is detected, the emergency method in step 1 is followed.

[0068] 7) Cyclic operation: The control system restarts the moving mechanism and the cleaning mechanism, and the robot body 12 begins to clean the adjacent window glass. Steps 3) to 6) are repeated to achieve continuous cross-window cleaning of multiple windows until the preset cleaning area is completed.

[0069] The robot body 12 is also equipped with a power module to provide power so that all electrical components can work properly.

[0070] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A negative pressure pneumatic adsorption glass cleaning robot capable of crossing windows, characterized in that, Includes the robot body, the lateral robotic arm unit, and the control system; The robot body is a rectangular box structure with an open bottom. The inner side of its bottom is equipped with a moving mechanism, a cleaning mechanism and an adsorption mechanism. Two lateral robotic arm units are symmetrically arranged on both sides of the forward end of the robot body. The adsorption mechanism consists of a negative pressure fan and a negative pressure shell. The negative pressure shell has through holes and is placed on the negative pressure fan. The negative pressure generated between the robot body and the glass through the through holes causes the robot body to adhere to the glass. The moving mechanism consists of Mecanum wheels and Mecanum wheel motors, which enable the robot body to move laterally and longitudinally. The cleaning mechanism consists of a cleaning roller and a cleaning roller motor, and the cleaning roller cleans the glass. The lateral robotic arm unit consists of a connecting rod, a vaulting suction arm, a vacuum pump, a negative pressure valve, and a vacuum suction cup. The two ends of the connecting rod are hinged to the robot body and the vaulting suction arm, respectively, and a drive servo motor is installed at the hinge. The vacuum suction cup is located on the side of the vaulting suction arm near the glass. The vacuum suction cup is connected to the vacuum pump and the negative pressure valve through a connecting pipe. The vacuum pump and the negative pressure valve are located inside the robot body. The control system is connected to the negative pressure fan, Mecanum wheel motor, cleaning roller motor, drive servo motor, and vacuum pump via electrical signals and is uniformly scheduled by the main control module.

2. The negative pressure pneumatic adsorption glass cleaning robot capable of crossing windows according to claim 1, characterized in that, The lateral robotic arm unit is a pneumatically or electrically driven structure. By changing the angle of the drive servo motor, the attitude and adsorption angle of the vacuum suction cup can be flexibly adjusted.

3. The negative pressure pneumatic adsorption glass cleaning robot capable of crossing windows according to claim 1, characterized in that, The robot body and the overcoming suction arm are equipped with pressure sensors and distance sensors that are electrically connected to the control system. These sensors monitor the suction status and obstacle positions in real time, enabling coordinated control of the robot's suction, walking, obstacle crossing, and cleaning actions. When insufficient suction is detected, the negative pressure fan is controlled to increase its speed or the vacuum suction cup is used to re-adsorb and trigger an alarm.

4. The negative pressure pneumatic adsorption glass cleaning robot capable of crossing windows according to claim 3, characterized in that, The robot body and the overturning suction arm are also equipped with redundant suction cups. The redundant suction cups are connected to the vacuum pump through pipelines. When insufficient suction pressure is detected, the redundant suction cups can be controlled to adsorb and trigger an alarm. At the same time, an emergency brake is configured to prevent the robot from falling off in case of suction failure.

5. The negative pressure pneumatic adsorption glass cleaning robot capable of crossing windows according to claim 1, characterized in that, There are four Mecanum wheels, and each Mecanum wheel is independently driven by a Mecanum wheel motor, enabling the robot to move laterally and longitudinally and turn on the glass surface.

6. The negative pressure pneumatic adsorption glass cleaning robot capable of crossing windows according to claim 1, characterized in that, The negative pressure shell is located in the middle of the robot body, and four Mecanum wheels are arranged around the negative pressure shell.

7. The cleaning and window-crossing method of the cleaning robot according to any one of claims 1-6, wherein the steps are: S1. Start the cleaning robot. The control system schedules the negative pressure fan to work. Outside air enters through the through hole and forms a negative pressure area in the sealed cavity between the negative pressure shell and the robot body. The robot body is firmly adsorbed onto the glass surface to be cleaned. The pressure sensor confirms that the adsorption status meets the standard. S2. The control system schedules the moving mechanism and the cleaning mechanism to work together. The Mecanum wheel motor drives the Mecanum wheel to move the robot body laterally, longitudinally or rotating along the current glass surface. The cleaning roller motor drives the cleaning roller to wipe and clean the glass surface simultaneously. S3. The distance sensor detects the distance between the robot body and the window frame and the separator in real time. When the detected distance reaches the preset threshold, the window crossing process is triggered, and the control system controls the moving mechanism and cleaning mechanism to stop working. S4. The control system schedules the lateral robotic arm units to start sequentially, driving the servo motor to extend the two articulated links, so that the vacuum suction cup on the flip-over suction arm moves to the adjacent window glass surface. At the same time, the control system controls the vacuum pump to provide negative pressure to the small vacuum suction cup, and the pressure sensor confirms that the vacuum suction cup is firmly attached. S5. After confirming that the vacuum suction cup is firmly attached, the control system schedules the negative pressure fan to gradually release the suction force of the vacuum suction cup on the current glass surface. At the same time, the control system adjusts the posture and angle of the lateral robotic arm by driving the servo motor. The robotic arm's supporting force is used to drive the robot body to cross the window frame or partition and move to the adjacent window glass surface. S6. After the robot body moves to the adjacent window, the control system restarts the negative pressure fan, so that the robot body is firmly attached to the new glass surface. After the pressure sensor confirms that the attachment is up to standard, the drive servo motor drives the lateral robotic arm to retract to the initial position in sequence. S7. The control system restarts the moving mechanism and the cleaning mechanism. The robot body begins to clean the adjacent window glass. Repeat steps S3 to S6 to achieve continuous cross-window cleaning of multiple windows until the preset cleaning area is completed.

8. The cleaning and window-crossing method according to claim 7, characterized in that, The adsorption pressure is monitored in real time by a pressure sensor. When the adsorption pressure is detected to be lower than the preset threshold, the negative pressure fan is controlled to increase the speed or the vacuum suction cup is re-adsorbed and an alarm is triggered. If the adsorption fails to meet the standard after multiple adsorptions, the redundant suction cup is controlled to adsorb and an alarm is triggered. At the same time, an emergency brake is configured to prevent the robot from falling off in case of adsorption failure.

9. The cleaning and window-crossing method according to claim 7, characterized in that, In step S5, the two ends of the connecting rod are hinged to the robot body and the flipping suction arm, respectively, and a drive servo motor is set at the hinge. By adjusting the angle of the two servo motors, the posture and suction angle of the vacuum suction cup can be flexibly adjusted to adapt to the needs of window frames, partitions and windows with different heights and height differences.

10. The cleaning and window-crossing method according to claim 7, characterized in that, In step S5, during the process of the robot body crossing the window, the control system monitors the support status of the lateral robotic arm and the adsorption status of the vacuum suction cup in real time through the rotation angle of the drive servo motor and the pressure sensor. If the adsorption becomes loose or the support is unstable, the window crossing action is stopped immediately, the robotic arm posture is readjusted and the adsorption is reinforced.

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