Window cleaning machine and its control method, cleaning equipment

Abstract

This application provides a window cleaning machine and its control method and cleaning equipment. The window cleaning machine includes a main body, a floating plate, a scraper, a wiping cloth assembly, and a spraying assembly. The floating plate cooperates with the main body through an adjustment device. The scraper is disposed on the floating plate, and the wiping cloth assembly is disposed on the first surface of the main body. The spraying assembly is disposed on the main body and is adapted to spray cleaning liquid onto the surface to be cleaned in front of the scraper. Thus, in the scraping mode, the wiping cloth assembly wipes the surface to be cleaned, and the floating plate is floatingly connected to the main body to scrape away dirt from the surface to be cleaned. In the cleaning liquid application mode, the floating plate is stored in the receiving tank by switching the state of the adjustment device, and the wiping cloth assembly spreads the cleaning liquid sprayed by the spraying assembly onto the surface to be cleaned evenly, allowing the cleaning liquid to remain on the surface to be cleaned for sufficient sterilization or softening of hard dirt, thereby improving the cleaning effect of the window cleaning machine and effectively enhancing its ability to clean heavily soiled surfaces.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, specifically to a window cleaning machine and its control method, and cleaning equipment. Background Technology

[0002] A window cleaning machine is an automatic cleaning device used to clean smooth surfaces such as glass. It typically achieves cleaning by using a squeegee that floats relative to the main body. During operation, the squeegee needs to maintain close contact with the surface to be cleaned and apply a large contact force to ensure effective removal of sewage and dirt.

[0003] However, in window cleaning machines using this technology, the squeegee remains in constant contact with the surface during the cleaning process, making it impossible to selectively detach from the surface as needed for specific working conditions. For example, when applying cleaning fluid, the squeegee may scrape off the freshly sprayed cleaning fluid, preventing the fluid from remaining on the surface to effectively kill bacteria or soften hard dirt, thus reducing the cleaning efficiency of the window cleaning machine. Summary of the Invention

[0004] This application provides a window cleaning machine and its control method and cleaning equipment to solve the problem that the squeegee cannot be lifted, resulting in a decrease in the cleaning effect of the window cleaning machine.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions: In a first aspect, embodiments of this application provide a window cleaning machine, comprising: a main body, a floating plate, an adjusting device, a scraper, a wiping cloth assembly, and a spraying assembly. The main body has a first surface adapted to face the surface to be cleaned; the first surface is recessed with a receiving groove; the floating plate cooperates with the main body via the adjusting device; the adjusting device is switchable between a first state and a second state; in the first state, the floating plate is floatingly connected to the main body, and at least a portion of the floating plate is located outside the receiving groove; in the second state, the floating plate is located inside the receiving groove; the scraper is disposed on the floating plate and located on the side of the floating plate opposite to the main body; the wiping cloth assembly is disposed on the first surface and detachably connected to the main body; the spraying assembly is disposed on the main body and is adapted to spray cleaning liquid onto the surface to be cleaned in front of the scraper.

[0006] In some possible implementations of the first aspect, the control device includes: an electromagnet, a permanent magnet, and a current conversion module. The electromagnet is located on the main body; the permanent magnet is located on the floating plate; the current conversion module is electrically connected to the electromagnet and is used to change the direction of the current flowing through the electromagnet, so that the control device switches between a first state and a second state.

[0007] In some possible implementations of the first aspect, the control device includes: a first electromagnet, a second electromagnet, and a permanent magnet. The first and second electromagnets are disposed in the main body; the permanent magnet is disposed in the floating plate; the first electromagnet is used to attract the permanent magnet when energized; the second electromagnet is used to repel the permanent magnet when energized.

[0008] In some possible implementations of the first aspect, the main body also has two second surfaces opposite each other in the front-rear direction of the window cleaning machine; the spraying assembly includes: a liquid reservoir, a nozzle, and a power source. The liquid reservoir is located inside the main body, and the main body has a filling port communicating with the liquid reservoir; the wall panel containing the second surfaces has mounting holes, the nozzle is mounted at the mounting holes and communicates with the liquid reservoir, and the nozzle is adapted to spray cleaning fluid onto the surface to be cleaned on the front side of the scraper; the power source is used to pump cleaning fluid from the liquid reservoir to the nozzle.

[0009] Secondly, embodiments of this application provide a cleaning device, including: a base station and a window cleaning machine according to the first aspect. The base station has a receiving cavity; the window cleaning machine has a usage state and a receiving state. In the receiving state, the window cleaning machine is located inside the receiving cavity, and in the usage state, the window cleaning machine is located outside the base station.

[0010] Thirdly, embodiments of this application provide a control method for a window cleaning machine, wherein the window cleaning machine is the window cleaning machine of the first aspect; the control method includes: receiving a deep cleaning command; controlling the control device to be in a second state, controlling the window cleaning machine to move, and controlling the spraying component to spray cleaning liquid; controlling the spraying component to stop spraying cleaning liquid; and controlling the control device to be in a first state.

[0011] In some possible implementations of the third aspect, the control device includes an electromagnet and a permanent magnet, with the electromagnet located on the main body and the permanent magnet located on the floating plate; the electromagnet includes a coil; controlling the control device to be in a second state includes: controlling the direction of the current flowing through the coil to be a first direction so that the electromagnet and the permanent magnet attract each other.

[0012] In some possible implementations of the third aspect, the control and regulation device is in a first state, including: controlling the direction of the current flowing through the coil to a second direction so that the electromagnet and the permanent magnet repel each other; the second direction is opposite to the first direction.

[0013] In some possible implementations of the third aspect, the control device includes a first electromagnet, a second electromagnet, and a permanent magnet, with the first and second electromagnets disposed on the main body and the permanent magnet disposed on the floating plate; controlling the control device to be in a second state includes: controlling the first electromagnet to be energized so that the electromagnet attracts the permanent magnet; controlling the control device to be in a first state includes: controlling the second electromagnet to be energized so that the electromagnet repels the permanent magnet.

[0014] In some possible implementations of the third aspect, the window cleaning machine is stopped from moving while the spraying component is stopped spraying cleaning liquid, and this continues for a first preset time; the window cleaning machine is moved while the control device is in the first state.

[0015] In some possible implementations of the third aspect, the window cleaning machine also includes an environmental perception module; in the steps of controlling the control and regulation device in the second state, controlling the window cleaning machine to move and controlling the spraying component to spray cleaning liquid, the control method further includes: obtaining obstacle information directly in front of the window cleaning machine's path; determining the type of obstacle based on the obstacle information; and controlling the window cleaning machine to perform corresponding operations based on the type of obstacle.

[0016] In some possible implementations of the third aspect, the obstacle information includes the height information of the obstacle; based on the obstacle information, the type of obstacle is determined, including: if the height of the obstacle is greater than or equal to a first threshold, the obstacle is determined to be a first type of obstacle; if the height of the obstacle is less than the first threshold, the obstacle is determined to be a second type of obstacle; based on the type of obstacle, the window cleaning machine is controlled to perform corresponding operations, including: if the obstacle is a first type of obstacle, the window cleaning machine is controlled to perform obstacle avoidance operations; if the obstacle is a second type of obstacle, the spraying component is controlled to increase the spraying volume within a second preset time period.

[0017] In some possible implementations of the third aspect, the spraying assembly includes a reservoir and a heater, with the heater located inside the reservoir; after receiving the deep cleaning instruction and before the control and regulation device is in the second state, controlling the window cleaning machine to move and controlling the spraying assembly to spray the cleaning liquid, the control method includes: acquiring the temperature information of the cleaning liquid in the reservoir; and controlling the heater to turn on when the temperature of the cleaning liquid is less than or equal to a first preset temperature.

[0018] The window cleaning machine, its control method, and the cleaning equipment provided in this application have the following beneficial effects: The window cleaning machine provided in this application includes: a main body, a floating plate, an adjusting device, a scraper, a wiping cloth assembly, and a spraying assembly. The main body has a first surface adapted to face the surface to be cleaned; the first surface is recessed with a receiving groove. The floating plate cooperates with the main body via the adjusting device; the adjusting device is switchable between a first state and a second state; in the first state, the floating plate is floatingly connected to the main body, and at least a portion of the floating plate is located outside the receiving groove; in the second state, the floating plate is located inside the receiving groove; the scraper is disposed on the floating plate and located on the side of the floating plate opposite to the main body; the wiping cloth assembly is disposed on the first surface and detachably connected to the main body; the spraying assembly is disposed on the main body and is adapted to spray cleaning liquid onto the surface to be cleaned in front of the scraper.

[0019] Thus, in the scraping mode, the wiping assembly wipes the surface to be cleaned, and the floating plate is floatingly connected to the main body to scrape away the dirt on the surface to be cleaned; while in the cleaning liquid application mode, the floating plate is stored in the receiving tank by switching the state of the control device, and the wiping assembly spreads the cleaning liquid sprayed by the spraying assembly onto the surface to be cleaned evenly, so that the cleaning liquid can stay on the surface to be cleaned for sufficient sterilization or softening of hard dirt, thereby improving the cleaning effect of the window cleaning machine and effectively enhancing the window cleaning machine's ability to clean heavily soiled surfaces. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a window cleaning machine provided in some embodiments of this application.

[0021] Figure 2 for Figure 1 The window cleaning machine shown is a cross-sectional view along the AA direction.

[0022] Figure 3 for Figure 2 A magnified view of section B of the window cleaning machine shown.

[0023] Figure 4 for Figure 2 A magnified view of section C of the window cleaning machine shown.

[0024] Figure 5 for Figure 1 The exploded view of the window cleaning machine shown.

[0025] Figure 6 Exploded view of a window cleaning machine provided for other embodiments of this application.

[0026] Figure 7 for Figure 1 The diagram shows the structure of the window cleaning machine after the top cover has been removed.

[0027] Figure 8 A flowchart illustrating a control method for a window cleaning machine provided in some embodiments of this application.

[0028] Figure 9 A flowchart illustrating another control method for a window cleaning machine provided in some embodiments of this application.

[0029] Figure 10 A flowchart illustrating another control method for a window cleaning machine provided in some embodiments of this application.

[0030] Explanation of reference numerals in the attached figures Window cleaning machine 1; main body 10; first surface 11; receiving groove 111; housing 12; second surface 13; mounting hole 14; top cover 15; filling port 16; Floating plate 20; scraper strip 30; Control device 40; electromagnet 41; permanent magnet 42; current conversion module 43; first electromagnet 44; second electromagnet 45; Spraying assembly 50; liquid storage tank 51; nozzle 52; heater 53; power source 54; environmental sensing module 60; cloth assembly 70. Detailed Implementation

[0031] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0032] In this application, the accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features.

[0033] Unless otherwise stated, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0034] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified. In the description of this application, "several" means one or more, unless otherwise explicitly specified.

[0035] In the description of this application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of simplifying the description of this application and do not indicate that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. In other words, they should not be construed as limitations on this application.

[0036] In the description of this application, unless otherwise expressly defined, the terms "installation," "connection," "linking," "fixing," "setting," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can also refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0037] In the description of this application, unless otherwise expressly defined, the terms "above," "over," "on top of," "below," "below," "under," or "below" for "first feature over second feature" can refer to the first and second features being in direct contact, or to the first and second features being in indirect contact through an intermediate medium. Furthermore, "above," "below," and "over" for "first feature over second feature" can mean the first feature is directly above or diagonally above the second feature, or simply indicates that the horizontal height of the first feature is higher than the horizontal height of the second feature. Similarly, "below," "below," and "below" for "first feature over second feature" can mean the first feature is directly below or diagonally below the second feature, or simply indicates that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0038] A window cleaning machine is an automatic cleaning device used to clean smooth surfaces such as glass. It typically achieves cleaning by using a squeegee that floats relative to the main body. During operation, the squeegee needs to maintain close contact with the surface to be cleaned and apply a large contact force to ensure effective removal of sewage and dirt.

[0039] However, in window cleaning machines using this technology, the squeegee remains in constant contact with the surface during the cleaning process, making it impossible to selectively detach from the surface as needed for specific working conditions. For example, when applying cleaning fluid, the squeegee may scrape off the freshly sprayed cleaning fluid, preventing the fluid from remaining on the surface to effectively kill bacteria or soften hard dirt, thus reducing the cleaning efficiency of the window cleaning machine.

[0040] To address the aforementioned problems, some embodiments of this application provide a window cleaning machine and its control method, as well as a cleaning device. The window cleaning machine includes a main body, a floating plate, a scraper, a wiping cloth assembly, and a spraying assembly. The floating plate cooperates with the main body through an adjustment device. The scraper is disposed on the floating plate, and the wiping cloth assembly is disposed on the first surface of the main body. The spraying assembly is disposed on the main body and is adapted to spray cleaning liquid onto the surface to be cleaned in front of the scraper.

[0041] Thus, in the scraping mode, the wiping assembly wipes the surface to be cleaned, and the floating plate is floatingly connected to the main body to scrape away the dirt on the surface to be cleaned; while in the cleaning liquid application mode, the floating plate is stored in the receiving tank by switching the state of the control device, and the wiping assembly spreads the cleaning liquid sprayed by the spraying assembly onto the surface to be cleaned evenly, so that the cleaning liquid can stay on the surface to be cleaned for sufficient sterilization or softening of hard dirt, thereby improving the cleaning effect of the window cleaning machine and effectively enhancing the window cleaning machine's ability to clean heavily soiled surfaces.

[0042] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0043] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of a window cleaning machine 1 provided in some embodiments of this application. Figure 2 for Figure 1 The window cleaning machine 1 shown is a cross-sectional view along the AA direction.

[0044] A window cleaning machine 1 is an automated device used to clean vertical or inclined surfaces (such as glass windows, tiled walls, etc.). For example, a window cleaning machine 1 includes window cleaning robots. Window cleaning robots typically have autonomous navigation and movement capabilities. Figure 1 and Figure 2 The embodiments shown are mainly illustrated using a window cleaning robot (i.e., a window cleaning robot) with autonomous mobility as an example, and should not be regarded as a limitation of this application.

[0045] The window cleaning machine 1 includes a main body 10 and a floating plate 20. Normally, the floating plate 20 is floatingly connected to the main body 10. The floating plate 20 is used to scrape off cleaning liquid, water stains and loose dirt from the surface to be cleaned during the movement of the window cleaning machine 1, so as to achieve the effect of cleaning and drying the surface to be cleaned.

[0046] The main body 10 includes a top cover 15 and a housing 12. The top of the housing 12 has an opening, and the top cover 15 is placed on top of the housing 12 to seal the opening. The top cover 15 and the housing 12 are detachably connected by a snap-fit ​​structure or the like, so that by removing the top cover 15, it is convenient to inspect and replace the internal components of the housing 12.

[0047] The main body 10 also includes an adsorption system, a travel system located at the bottom of the housing 12, and a control system located inside the housing 12.

[0048] The adsorption system includes a vacuum pump, sealing rings, and pressure sensors. During operation, the vacuum pump extracts air from the adsorption chamber to maintain the required negative pressure, while the pressure sensor monitors the adsorption status and actively adjusts it through the control system. This ensures that the equipment can safely and stably adsorb and move on vertical or inclined surfaces, providing a reliable foundation for cleaning operations.

[0049] The travel system includes two walking mechanisms (such as drive wheels or drive tracks), both driven by motors. The speed of the two walking mechanisms is controlled by adjusting the output shaft speeds of the two motors. When straight-line travel is required, both motors receive the same command, and the walking mechanisms rotate in the same direction at the same speed. When turning is required, the control system outputs different speed commands to the two motors. For example, to turn left, the speed of the right motor is increased, while the speed of the left motor is decreased or reversed. The speed difference between the two walking mechanisms causes the window cleaning machine 1 to rotate around an instantaneous center, achieving flexible turning.

[0050] Thus, under the control of the control system, the window cleaning machine 1 can move along a preset path or a path generated in real time on the surface to be cleaned.

[0051] The control system includes control circuits, sensors (such as gyroscopes, distance sensors, vision sensors, etc.) and other functional modules to realize functions such as storing the above-mentioned preset paths and generating movement paths in real time.

[0052] Some embodiments of this application also provide a cleaning device, which includes a base station and the aforementioned window cleaning machine 1. The base station has a receiving cavity; the window cleaning machine 1 has a usage state and a receiving state. In the receiving state, the window cleaning machine 1 is located inside the receiving cavity, and in the usage state, the window cleaning machine 1 is located outside the base station.

[0053] It should be noted that some embodiments of this application are not limited thereto, and in other embodiments, the cleaning equipment may not include a base station.

[0054] The body 10 has a first surface 11 adapted to face the surface to be cleaned. The first surface 11 is recessed with a receiving groove 111. For example, the first surface 11 may be the lower surface of the housing 12, with the opening of the receiving groove 111 facing downward.

[0055] Please see Figure 3 and Figure 4 , Figure 3 for Figure 2 A magnified view of section B of the window cleaning machine shown. Figure 4 for Figure 2 A magnified view of section C of the window cleaning machine shown.

[0056] The window cleaning machine 1 also includes: an adjustment device 40, a scraper 30, a cloth assembly 70, and a spraying assembly 50. A floating plate 20 cooperates with the main body 10 via the adjustment device 40; the adjustment device 40 is switchable between a first state and a second state; in the first state, the floating plate 20 is floatingly connected to the main body 10, and at least a portion of the floating plate 20 is located outside the receiving groove 111; in the second state, the floating plate 20 is located inside the receiving groove 111; the scraper 30 is disposed on the floating plate 20 and located on the side of the floating plate 20 facing away from the main body 10; the cloth assembly 70 is disposed on the first surface 11 and detachably connected to the main body 10; the spraying assembly 50 is disposed on the main body 10 and is adapted to spray cleaning liquid onto the surface to be cleaned in front of the scraper 30.

[0057] Thus, in the scraping mode, the wiping assembly 70 wipes the surface to be cleaned, and the floating plate 20 is floatingly connected to the main body 10 to scrape away the dirt on the surface to be cleaned; while in the cleaning liquid application mode, the floating plate 20 is stored in the receiving tank 111 by the state switching of the control device 40, and the cleaning liquid sprayed by the spraying assembly 50 onto the surface to be cleaned is evenly applied by the wiping assembly 70, so that the cleaning liquid can stay on the surface to be cleaned for sufficient sterilization or softening of hard dirt, thereby improving the cleaning effect of the window cleaning machine 1 and effectively enhancing the cleaning ability of the window cleaning machine 1 on heavily soiled surfaces.

[0058] Please see Figure 5 , Figure 5 for Figure 1 The exploded view of the window cleaning machine is shown. The control device 40 includes an electromagnet 41, a permanent magnet 42, and a current conversion module 43. The electromagnet 41 is located on the main body 10; the permanent magnet 42 is located on the floating plate 20; the current conversion module 43 is electrically connected to the electromagnet 41 and is used to change the direction of the current flowing through the electromagnet 41, so that the control device 40 switches between a first state and a second state.

[0059] Thus, when it is necessary to switch the state of the floating plate 20, the direction of the current flowing through the electromagnet 41 is changed by the current conversion module 43, causing the magnetic poles of the electromagnet 41 to change, thereby generating an attractive or repulsive force between the electromagnet 41 and the permanent magnet 42, realizing the switching between the floating plate 20 in the floating state (i.e., the floating plate 20 floats relative to the main body 10) and the stored state (i.e., the floating plate 20 is stored in the receiving groove 111). This structure is simple and reliable, providing a simple and responsive electronic control solution for the state control of the floating plate 20.

[0060] For example, the electromagnet includes an iron core and a coil; the coil is wound around the outer periphery of the iron core; the current conversion module 43 is electrically connected to the two terminals of the coil and is used to: switch the direction of the current flowing through the coil to change the direction of the magnetic poles of the iron core, thereby causing the control device 40 to switch between a first state (the magnetic poles of the adjacent ends of the iron core and the permanent magnet are the same, generating a repulsive force) and a second state (the magnetic poles of the adjacent ends of the iron core and the permanent magnet are opposite, generating an attractive force). For example, the current conversion module 43 can be implemented using an H-bridge circuit, which quickly switches the direction of the current flowing through the coil by controlling the conduction combination of four switching transistors.

[0061] Please see Figure 6 , Figure 6 This is an exploded view of a window cleaning machine provided in other embodiments of this application. The control device 40 includes a first electromagnet 44, a second electromagnet 45, and a permanent magnet 42. The first electromagnet 44 and the second electromagnet 45 are disposed on the main body 10; the permanent magnet 42 is disposed on the floating plate 20; the first electromagnet 44 is used to attract the permanent magnet 42 when energized; the second electromagnet 45 is used to repel the permanent magnet 42 when energized.

[0062] Thus, by using the first electromagnet 44 and the second electromagnet 45 to generate repulsive and attractive forces with the permanent magnet 42 respectively, and selectively switching the energized object, the state switching of the floating plate 20 can be achieved. This simplifies the control logic and circuit structure, reduces circuit complexity and cost, and helps to improve the stability and reliability of the working state of the entire window cleaning machine 1.

[0063] Please see Figure 7 , Figure 7 for Figure 1 The diagram shows the structure of the window cleaning machine after the top cover has been removed. The main body 10 also has two second surfaces 13 facing each other along the front-rear direction of the window cleaning machine 1; the spraying assembly 50 includes: a liquid storage tank 51, a nozzle 52, and a power source 54. The liquid storage tank 51 is located inside the main body 10, and the main body 10 has a filling port 16 communicating with the liquid storage tank 51; the wall panel where the second surfaces 13 are located has mounting holes 14, the nozzle 52 is installed at the mounting holes 14 and communicates with the liquid storage tank 51, and the nozzle 52 is adapted to spray cleaning liquid onto the surface to be cleaned on the front side of the scraper 30; the power source 54 is used to pump cleaning liquid from the liquid storage tank 51 to the nozzle 52.

[0064] In this way, the cleaning fluid is pumped from the reservoir 51 to the nozzle 52 by the power source 54, and sprayed from the nozzle 52 onto the surface to be cleaned in front of the scraper 30. This ensures that the cleaning fluid is always sprayed on the area that the scraper 30 is about to pass through, achieving precise matching between the cleaning fluid and the working path of the scraper 30, and avoiding waste of cleaning fluid or incomplete cleaning caused by spray position deviation.

[0065] In some embodiments, such as Figure 7As shown, the spraying assembly 50 also includes a heater 53. The heater 53 is located inside the liquid storage tank 51, or connected in series in the cleaning liquid pipeline connecting the liquid storage tank 51 and the nozzle 52. The heater 53 is used to heat the cleaning liquid when the spraying assembly 50 sprays the cleaning liquid. This increases the temperature of the cleaning liquid, enhancing its ability to kill bacteria and soften hard dirt, thereby improving the cleaning effect of the window cleaning machine 1.

[0066] In some embodiments, such as Figure 1 As shown, the window cleaning machine 1 also includes an environmental sensing module 60 and a controller. The environmental sensing module 60 is located on the second surface 13 and is used to acquire obstacle information directly in front of the window cleaning machine 1's travel path. The window cleaning machine 1 also includes a controller, which is electrically connected to the environmental sensing module 60. The controller is used to determine the type of obstacle based on the obstacle information and control the window cleaning machine 1 to perform corresponding operations based on the type of obstacle.

[0067] Thus, when the window cleaning robot 1 moves forward and sprays cleaning fluid, the environmental perception module 60 detects obstacles in front in real time. The controller distinguishes the type of obstacle based on its height or shape and executes differentiated response strategies. For example, for high window frames or handles, obstacle avoidance is performed; for low, stubborn stains, targeted treatment can be carried out by increasing the spray volume or extending the dwell time, thereby optimizing the cleaning logic while ensuring safety.

[0068] Some embodiments of this application also provide a control method for a window cleaning machine, which can be any of the window cleaning machines described in the above embodiments. This control method can, for example, be executed by the controller described above.

[0069] Please see Figure 8 , Figure 8 This is a flowchart illustrating a control method for a window cleaning machine according to some embodiments of this application. The control method includes steps S1 to S4.

[0070] In step S1, a deep cleaning command is received.

[0071] Specifically, the window cleaning machine 1 has at least two cleaning modes: a regular cleaning mode and a deep cleaning mode. In the regular cleaning mode, the control device 40 of the window cleaning machine 1 is in the first state, that is, the floating plate 20 is floatingly connected to the main body 10, and the floating plate 20 drives the scraper 30 to extend out of the receiving groove 111 and contact the surface to be cleaned. During the movement of the window cleaning machine 1, the wiping cloth assembly 70 and the scraper 30 work synchronously. The wiping cloth assembly 70 is responsible for wiping, and the scraper 30 is responsible for scraping away sewage and dirt. This mode is suitable for daily cleaning of ordinary stains. When the user needs to deal with stubborn stains, oil stains, or needs a stronger sterilization effect, a deep cleaning command can be triggered through the remote control, mobile application, or buttons on the window cleaning machine 1. After receiving the command, the controller enters the deep cleaning mode.

[0072] In step S2, the control and regulation device is in the second state, controlling the window cleaning machine to move and controlling the spraying component to spray cleaning liquid.

[0073] In deep cleaning mode, the controller first switches the control device 40 to the second state, causing the floating plate 20 to be housed in the receiving groove 111, and the scraper 30 to be raised, disengaging from the surface to be cleaned. Simultaneously, the controller controls the window cleaning machine 1 to move along a predetermined path and activates the spraying assembly 50 to spray cleaning fluid onto the surface. During this stage, the window cleaning machine 1 moves along a preset application path, for example, gradually covering the entire area to be cleaned along a zigzag path along the window surface. Because the scraper 30 is raised, the freshly sprayed cleaning fluid is not immediately scraped off, allowing the cleaning fluid to be evenly applied to the surface by the wiping assembly 70 and remain on the surface sufficiently. This stage continues until the window cleaning machine 1 has completed the cleaning fluid coverage of the entire area along the predetermined application path.

[0074] In step S3, the spraying assembly is controlled to stop spraying the cleaning liquid.

[0075] Specifically, once the window cleaning machine 1 has completed its predetermined application path, the cleaning solution application stage is complete. At this point, the controller controls the spraying assembly 50 to stop spraying the cleaning solution. In some embodiments, while stopping spraying, the controller also controls the window cleaning machine 1 to stop moving and remain in place for a first preset duration (e.g., the first preset duration is greater than or equal to 5 seconds and less than or equal to 1200 seconds) to allow the cleaning solution more sufficient time to penetrate and chemically react on the surface to be cleaned, further softening stubborn stains.

[0076] In step S4, the control and regulation device is in the first state.

[0077] After the cleaning fluid has fully acted, the control and regulation device 40 switches to the first state, causing the floating plate 20 to extend beyond the receiving groove 111, and the scraper 30 to once again make close contact with the surface to be cleaned. At this time, the window cleaning machine 1 returns to a working state similar to the regular cleaning mode, that is, the scraper 30 and the wiping cloth assembly 70 work synchronously. The controller controls the window cleaning machine 1 to move along the predetermined path again. This predetermined path can be the same as the wiping path in step S2, or it can be a different path, such as crossing from another direction to ensure that there are no dead corners in the cleaning. During the movement, the scraper 30 scrapes away the stains and sewage that have been softened and soaked by the cleaning fluid from the surface to be cleaned, and the wiping cloth assembly 70 then wipes away the remaining water stains, thereby completing the deep cleaning.

[0078] Thus, through steps S1 to S4 in the above control method, the window cleaning machine 1 automatically completes the application, softening, and scraping of cleaning liquid in deep cleaning mode, effectively avoiding the adverse effects of the scraper 30 during the application stage, allowing the cleaning liquid to fully exert its bactericidal, softening, and stain-dissolving effects, and significantly improving the cleaning ability of heavily soiled surfaces.

[0079] In some embodiments, the control device includes an electromagnet and a permanent magnet, with the electromagnet disposed on the main body and the permanent magnet disposed on the floating plate; the electromagnet includes a coil.

[0080] In step S2, the control and regulation device 40 is in a second state, which includes: controlling the direction of the current flowing through the coil to a first direction so that the electromagnet attracts the permanent magnet.

[0081] It is understood that when current flows through the coil in the first direction, the electromagnet 41 generates a magnetic field of a specific polarity, which is opposite to the polarity of the permanent magnet 42, thereby creating an attractive force between the electromagnet 41 and the permanent magnet 42. Under the action of this attractive force, the floating plate 20 is pulled towards the electromagnet 41, so that the entire floating plate 20 is housed in the receiving groove 111, and the scraper 30 is lifted and detached from the surface to be cleaned. At this time, the window cleaning machine 1 moves forward and sprays cleaning fluid. Since the scraper 30 does not contact the surface to be cleaned, the cleaning fluid can be evenly applied and remain on the surface for a sufficient time, avoiding immediate scraping by the scraper 30.

[0082] Step S4 includes: controlling the direction of the current flowing through the coil to a second direction, so that the electromagnet 41 and the permanent magnet 42 repel each other. The second direction is opposite to the first direction.

[0083] It is understandable that when the controller switches the current direction through the current conversion module 43, causing it to flow through the coil in a second direction opposite to the first direction, the polarity of the magnetic field generated by the electromagnet 41 is reversed, becoming the same as the polarity of the permanent magnet 42, thereby generating a repulsive force between the electromagnet 41 and the permanent magnet 42. Under the action of this repulsive force, the floating plate 20 is pushed out of the receiving groove 111, so that it at least partially extends out of the receiving groove 111, and the scraper 30 then re-contacts the surface to be cleaned. At this time, the window cleaning machine 1 moves forward, and the scraper 30 and the wiping cloth assembly 70 work in sync to scrape and wipe away the softened stains.

[0084] In some embodiments, the control device includes a first electromagnet, a second electromagnet, and a permanent magnet, wherein the first electromagnet and the second electromagnet are disposed on the main body, and the permanent magnet is disposed on the floating plate; In step S2, the control and regulation device 40 is in the second state, which includes: controlling the first electromagnet to be energized so that the electromagnet attracts the permanent magnet.

[0085] It is understood that when the first electromagnet 44 is energized, it generates a magnetic field of a specific polarity, which is opposite to the polarity of the permanent magnet 42, thereby creating an attractive force between the first electromagnet 44 and the permanent magnet 42. Under the action of this attractive force, the floating plate 20 is pulled towards the first electromagnet 44, so that the entire floating plate 20 is housed in the receiving groove 111, and the scraper 30 is lifted and detached from the surface to be cleaned. At this time, the window cleaning machine 1 moves forward and sprays cleaning fluid. Since the scraper 30 does not contact the surface to be cleaned, the cleaning fluid can be evenly applied and remain on the surface sufficiently.

[0086] Step S4 includes: controlling the second electromagnet to be energized so that the electromagnet repels the permanent magnet.

[0087] It is understandable that when the second electromagnet 45 is energized, it generates a magnetic field with the same polarity as the permanent magnet 42, thereby creating a repulsive force between the second electromagnet 45 and the permanent magnet 42. Under the action of this repulsive force, the floating plate 20 is pushed out of the receiving groove 111, so that it extends at least partially out of the receiving groove 111, and the scraper 30 then re-contacts the surface to be cleaned. At this time, the window cleaning machine 1 moves forward, and the scraper 30 and the wiping cloth assembly 70 work in sync to scrape and wipe away the softened stains.

[0088] Please see Figure 9 , Figure 9 This is a flowchart illustrating another control method for a window cleaning machine provided in some embodiments of this application. The control method also includes an obstacle avoidance method, which is executed synchronously with step S2 to detect obstacles and selectively perform corresponding operations during the movement of the window cleaning machine. Specifically, in step S2, the obstacle avoidance method is executed synchronously while the window cleaning machine is moving.

[0089] The obstacle avoidance method includes steps S10 to S30.

[0090] In step S10, information about obstacles directly in front of the window cleaning machine's path is obtained.

[0091] Specifically, the obstacle information may include at least the presence or absence of an obstacle, the distance between the obstacle and the window cleaning machine 1, and the height of the obstacle. The window cleaning machine also includes an environmental sensing module; for example, the environmental sensing module 60 is located on the second surface 13 of the main body 10. During the process of the window cleaning machine 1 moving along a predetermined path and spraying cleaning fluid, the environmental sensing module 60 is used to collect obstacle information directly in front of the moving path in real time. The environmental sensing module 60 can be a lidar, ultrasonic sensor, or infrared sensor, and its detection signals are sent to the controller for processing.

[0092] In step S20, the type of obstacle is determined based on the obstacle information.

[0093] For example, the obstacle information includes the height information of the obstacle. The controller compares the height data with a first threshold pre-stored in the memory: if the height of the obstacle is greater than or equal to the first threshold, the obstacle is determined to be a first type of obstacle (e.g., window frames, window handles, window frame corners, or other protruding structural components); if the height of the obstacle is less than the first threshold, the obstacle is determined to be a second type of obstacle (e.g., bird droppings, glue residue, or other stains that are difficult to soften with cleaning fluid in a short time).

[0094] For example, the first threshold can be set to any value between 1 mm and 10 mm.

[0095] In step S30, the window cleaning machine is controlled to perform the corresponding operation according to the type of obstacle.

[0096] For example, when the obstacle is a Class I obstacle, the window cleaning machine is controlled to perform obstacle avoidance operations; for instance, the window cleaning machine 1 is controlled to stop moving forward and change direction to avoid the obstacle, or the window cleaning machine 1 is controlled to retreat a certain distance and then replan its path to continue performing the cleaning operation. In this way, collisions between the window cleaning machine 1 and fixed structures such as window frames can be avoided, and the window cleaning machine can be prevented from being damaged or falling due to collisions.

[0097] Furthermore, when the obstacle is a second type of obstacle, the spraying assembly is controlled to increase the spraying volume within a second preset time period.

[0098] For example, the amount of cleaning fluid sprayed can be increased by increasing the rotational speed of the power source 54 or increasing the opening of the nozzle 52, so that more cleaning fluid can be concentrated and sprayed on the second type of obstacle of the target and the surrounding area.

[0099] This allows the window cleaning robot 1 to identify the type of obstacle and adopt differentiated response strategies during the cleaning liquid application stage of deep cleaning mode. For obstacles that may hinder its progress, it will avoid them in time to ensure safety; for low-lying stubborn stains that affect the cleaning effect, it will increase the amount of cleaning liquid to strengthen the cleaning, thereby further improving its cleaning ability on heavily soiled surfaces.

[0100] Please see Figure 10 , Figure 10 This is a flowchart illustrating another control method for a window cleaning machine provided in some embodiments of this application. After step S1 and before step S2, the control method further includes steps S100 to S200.

[0101] In step S100, the temperature information of the cleaning fluid in the storage tank is obtained.

[0102] Specifically, when the window cleaning machine 1 receives a deep cleaning command, the controller first reads the detection signal from the temperature sensor associated with the liquid storage tank 51. This temperature sensor can be located inside the liquid storage tank 51, for example, integrated into the heater 53, or installed separately on the side wall or bottom of the liquid storage tank 51. The temperature sensor detects the current temperature of the cleaning fluid in the liquid storage tank 51 in real time and sends this temperature data to the controller in the form of an electrical signal. The controller records this temperature data as the current temperature value of the cleaning fluid.

[0103] In step S200, when the temperature of the cleaning fluid is less than or equal to the first preset temperature, the heater is turned on.

[0104] Specifically, the controller compares the current temperature of the cleaning fluid with a preset first temperature. This preset temperature can be set according to the composition of the cleaning fluid, the usage environment, and the expected cleaning effect; for example, it can be set to 30℃, 40℃, or 50℃.

[0105] If the detected cleaning fluid temperature is less than or equal to the first preset temperature, it indicates that the cleaning fluid temperature is too low, and its chemical efficacy in sterilizing, softening hard dirt, or dissolving grease will be inhibited. At this time, the controller sends an activation command to the heater 53, controlling the heater 53 to start working. The heater 53 is located inside the storage tank 51; it heats up after being powered on, directly heating the cleaning fluid in the storage tank 51. The heating process continues until the cleaning fluid temperature reaches or exceeds the preset operating temperature threshold. If the detected cleaning fluid temperature is already higher than the first preset temperature, this step can be skipped, and step S2 can be executed directly.

[0106] In this way, when the window cleaning machine 1 starts in deep cleaning mode, it can automatically detect the temperature of the cleaning liquid in the liquid storage tank 51 and preheat it when the temperature is insufficient to ensure that the sprayed cleaning liquid has a suitable temperature, thereby effectively enhancing the softening and dissolving ability of the cleaning liquid on oil stains and dried stains, and improving the sterilization effect.

[0107] It is understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0108] It is understood that the various implementation methods described in this application can be implemented individually or in combination, and the embodiments of this application are not limited in this respect.

[0109] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the aforementioned method implementations, and will not be repeated here.

[0110] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A window cleaning machine (1), characterized in that, include: The body (10) has a first surface (11) adapted to face the surface to be cleaned; the first surface (11) is recessed with a receiving groove (111). A floating plate (20) and a control device (40) are provided, wherein the floating plate (20) cooperates with the main body (10) through the control device (40); the control device (40) is switchable between a first state and a second state; in the first state, the floating plate (20) is floatingly connected to the main body (10), and at least a portion of the floating plate (20) is located outside the receiving groove (111); in the second state, the floating plate (20) is located inside the receiving groove (111); Scraper (30), the scraper (30) is disposed on the floating plate (20) and located on the side of the floating plate (20) opposite to the main body (10); A cloth assembly (70) is disposed on the first surface (11) and is detachably connected to the main body (10); A spraying assembly (50) is disposed on the main body (10) and is adapted to spray cleaning liquid onto the surface to be cleaned on the front side of the scraper (30).

2. The window cleaning machine (1) according to claim 1, characterized in that, The control device (40) includes: Electromagnet (41), wherein the electromagnet (41) is disposed on the main body (10). Permanent magnet (42), the permanent magnet (42) is disposed on the floating plate (20); A current conversion module (43) is electrically connected to the electromagnet (41) and is used to change the direction of the current flowing through the electromagnet (41) so that the control device (40) switches between the first state and the second state.

3. The window cleaning machine (1) according to claim 1, characterized in that, The control device (40) includes: A first electromagnet (44) and a second electromagnet (45) are disposed on the main body (10). Permanent magnet (42), the permanent magnet (42) is disposed on the floating plate (20); The first electromagnet (44) is used to attract the permanent magnet (42) when energized; the second electromagnet (45) is used to repel the permanent magnet (42) when energized.

4. The window cleaning machine (1) according to claim 1, characterized in that, The main body (10) also has two second surfaces (13) opposite each other in the front-rear direction of the window cleaning machine (1). The spraying assembly (50) includes: A liquid storage tank (51) is located inside the main body (10), and the main body (10) is provided with a filling port (16) that communicates with the liquid storage tank (51). The nozzle (52) is mounted in the mounting hole (14) of the wall panel where the second surface (13) is located. The nozzle (52) is mounted in the mounting hole (14) and communicates with the liquid storage tank (51). The nozzle (52) is adapted to spray cleaning liquid onto the surface to be cleaned in front of the scraper (30). A power source (54) is used to pump cleaning fluid from the reservoir (51) to the nozzle (52).

5. A cleaning device, characterized in that, include: Base station, the base station having a receiving cavity; and According to any one of claims 1-4, the window cleaning machine (1) has a use state and a storage state. In the storage state, the window cleaning machine (1) is located inside the storage cavity, and in the use state, the window cleaning machine (1) is located outside the base station.

6. A control method for a window cleaning machine, characterized in that, The window cleaning machine is the window cleaning machine according to any one of claims 1-5; The control method includes: Receive deep cleaning instructions; The control device is set to the second state to control the window cleaning machine to move and the spraying assembly to spray cleaning liquid. Control the spraying assembly to stop spraying the cleaning solution; The control device is controlled to be in the first state.

7. The control method for the window cleaning machine according to claim 6, characterized in that, The control device includes an electromagnet and a permanent magnet, the electromagnet being disposed on the main body and the permanent magnet being disposed on the floating plate; the electromagnet includes a coil; The control of the regulating device to be in the second state includes: The direction of the current flowing through the coil is controlled as a first direction so that the electromagnet attracts the permanent magnet.

8. The control method for the window cleaning machine according to claim 7, characterized in that, The control of the regulating device to be in the first state includes: The direction of the current flowing through the coil is controlled to be a second direction so that the electromagnet and the permanent magnet repel each other; The second direction is opposite to the first direction.

9. The control method for the window cleaning machine according to claim 6, characterized in that, The control device includes a first electromagnet, a second electromagnet, and a permanent magnet. The first electromagnet and the second electromagnet are disposed on the main body, and the permanent magnet is disposed on the floating plate. The control of the regulating device to be in the second state includes: controlling the first electromagnet to be energized so that the electromagnet attracts the permanent magnet; Controlling the control device to be in the first state includes: controlling the second electromagnet to be energized so that the electromagnet repels the permanent magnet.

10. The control method for the window cleaning machine according to claim 6, characterized in that, While controlling the spraying component to stop spraying cleaning liquid, the window cleaning machine is also controlled to stop moving and continue for a first preset time. While controlling the control device to be in the first state, the window cleaning machine is controlled to move.

11. The control method for the window cleaning machine according to claim 6, characterized in that, The window cleaning machine also includes an environmental sensing module; In the steps of controlling the regulating device to be in the second state, controlling the window cleaning machine to move, and controlling the spraying assembly to spray cleaning liquid, the control method further includes: Obtain information about obstacles directly in front of the travel path of the window cleaning machine; Based on the obstacle information, determine the type of obstacle; The window cleaning machine is controlled to perform corresponding operations based on the type of obstacle.

12. The control method for the window cleaning machine according to claim 11, characterized in that, The obstacle information includes the height information of the obstacle; Based on the obstacle information, determine the type of obstacle, including: If the height of the obstacle is greater than or equal to a first threshold, the obstacle is determined to be a first type of obstacle; if the height of the obstacle is less than the first threshold, the obstacle is determined to be a second type of obstacle. The step of controlling the window cleaning machine to perform corresponding operations according to the type of obstacle includes: controlling the window cleaning machine to perform obstacle avoidance operation when the obstacle is the first type of obstacle; and controlling the spraying component to increase the spraying volume within a second preset time period when the obstacle is the second type of obstacle.

13. The control method for the window cleaning machine according to claim 6, characterized in that, The spraying assembly includes a liquid storage tank and a heater, with the heater located inside the liquid storage tank; After receiving the deep cleaning instruction, and before controlling the control device to be in the second state, controlling the window cleaning machine to move, and controlling the spraying assembly to spray cleaning liquid, the control method includes: Obtain the temperature information of the cleaning fluid in the storage tank; When the temperature of the cleaning fluid is less than or equal to a first preset temperature, the heater is turned on.

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