An extension cleaning device of a window cleaning robot, a window cleaning robot and a cleaning method

Abstract

The application relates to the technical field of cleaning equipment, and provides an extension cleaning device of a window-cleaning robot, the window-cleaning robot and a cleaning method.The extension cleaning device comprises a cleaning head and an extension device, and the extension device is used for driving the cleaning head to move; the extension device has one or at least two movement forms, so that the cleaning head has one or at least two movement forms; when the window-cleaning robot identifies that an extension cleaning area needs to be extended in a to-be-cleaned surface, the extension device is used for driving the cleaning head to extend into the extension cleaning area to perform cleaning; and the cleaning mode of the cleaning head comprises at least one of flat wiping and rotary wiping.The extension cleaning device can adjust the cleaning range of the window-cleaning robot, adapts to the extension cleaning demand of the extension cleaning area, reduces the cleaning blind area in the cleaning process of the window-cleaning robot, and optimizes the cleaning effect of the window-cleaning robot.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to an extended cleaning device for a window cleaning robot, a window cleaning robot, and a cleaning method. Background Technology

[0002] A window cleaning robot is a smart home appliance that can automatically plan cleaning paths to clean windows.

[0003] In existing technologies, when window cleaning robots need to clean extended cleaning areas, such as glass frames and corners, there are blind spots. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application proposes an extended cleaning device for a window cleaning robot, a window cleaning robot, and a cleaning method.

[0005] The first aspect of this application provides an extended cleaning device for a window cleaning robot, used in conjunction with the robot body for cleaning, including:

[0006] A cleaning head and an extension device, the extension device being used to drive the cleaning head to move; the extension device having one or at least two modes of movement, so that the cleaning head has one or at least two modes of movement; When the window cleaning robot identifies an extended cleaning area on the surface to be cleaned, the extension device is used to drive the cleaning head into the extended cleaning area for cleaning. The cleaning method of the cleaning head includes at least one of flat wiping and rotary wiping.

[0007] In an optional embodiment, the cleaning head is also used to spray cleaning liquid onto the surface to be cleaned, and when the cleaning head performs at least one of flat wiping and rotary wiping, the cleaning head may also be selected to combine wet wiping for cleaning.

[0008] In an optional embodiment, the extended cleaning device further includes: a power unit and a motion mode conversion device, wherein the power unit outputs power, and the motion mode conversion device is used to transmit the power of the power unit to the extended device; or to simultaneously change the motion mode of the power unit during the process of transmitting the power of the power unit to the extended device, so that when the extended device receives power, the extended device has one or at least two motion modes.

[0009] In an optional embodiment, the power unit outputs power, and the motion mode conversion device is used to enable the extension device to have not only a flipping motion mode but also a linear motion mode.

[0010] In an optional embodiment, the motion conversion device includes a primary conversion device and a secondary conversion device, wherein the primary conversion device is connected to the power device and the secondary conversion device is connected to the extension device; The first-stage conversion device enables the extension device to have a first type of motion, and the second-stage conversion device enables the extension device to have a second type of motion.

[0011] In an optional embodiment, the primary conversion device includes a helical conversion device, the power device rotates to output power, and the helical conversion device is used to convert the motion of the extension device into linear motion; The secondary conversion device includes a guide groove type conversion device, which also causes the extension device to have a flipping motion during the linear movement of the extension device.

[0012] In an optional embodiment, the primary conversion device is connected to the extension device via a traction member, and during the rotation of the primary conversion device, the traction member drives the extension device to move linearly. The extension device is set in the spiral guide groove of the secondary conversion device by a guide member. During the linear movement of the extension device, the guide member moves in the spiral guide groove of the secondary conversion device so that the extension device performs linear movement and flipping movement synchronously.

[0013] In an optional embodiment, the power unit and the motion conversion device are located in the same row; Alternatively, the power unit and the motion conversion device are located in two rows, and the power unit and the motion conversion device are connected by a motion transmission component.

[0014] In an optional embodiment, the cleaning head is a sheet-shaped cleaning head, which includes a connecting end and a cleaning end. The extending device is connected to the connecting end, and the cleaning end is used to perform scraping cleaning on the extended cleaning area.

[0015] In an optional embodiment, the extended cleaning area is a cleaning blind spot or an area to be deeply cleaned. When the window cleaning robot identifies the cleaning blind spot or the area to be deeply cleaned, the extending device is used to drive the cleaning head into the cleaning blind spot or the area to be deeply cleaned for cleaning.

[0016] The second aspect of this application provides a window cleaning robot, including a window cleaning robot body and an extended cleaning device as described in any one of the first aspects, the extended cleaning device being used to cooperate with the window cleaning robot body to perform cleaning.

[0017] In an optional embodiment, a cleaning tray is also included, which is mounted on the body of the window cleaning robot. The cleaning tray protrudes from the outer edge of the body of the window cleaning robot, and a placement space is formed between the protruding part of the cleaning tray and the side wall of the body of the window cleaning robot. When the extended cleaning device is in the first state, the extended cleaning device is housed in the placement space; When the extended cleaning device is in the second state, the extended cleaning device extends out of the placement space.

[0018] In an optional embodiment, the cleaning head includes a connecting end and a cleaning end, wherein when the extended cleaning device is accommodated in the placement space, the cleaning head is placed in the placement space, wherein the connecting end of the cleaning head is closer to the cleaning disc than the cleaning end, or the connecting end of the cleaning head is flush with the cleaning end. During the process of the cleaning head moving from the first state to the second state, the motion form conversion device of the extended cleaning device is used to move the cleaning head from the placement space to the surface to be cleaned, and to change the orientation of the cleaning head so that the cleaning end moves to the surface to be cleaned.

[0019] In an optional embodiment, when the extended cleaning device is in the first state, the outer edge of the cleaning head does not protrude beyond the outer edge of the cleaning disc of the window cleaning robot in both the axial and radial directions. When the extended cleaning device is in the second state, the outer edge of the cleaning head does not protrude beyond the outer edge of the cleaning disc in the axial and radial directions, or the portion of the cleaning head that protrudes beyond the outer edge of the cleaning disc is made of a flexible material.

[0020] A third aspect of this application provides a cleaning method for a window cleaning robot, the window cleaning robot comprising a robot body, a first cleaning tray, a second cleaning tray, and an extended cleaning device, the cleaning method comprising: Control the relative rotation of the first and second cleaning discs to adjust the position of the window cleaning robot body relative to the extended cleaning area; Confirm that the window cleaning robot is positioned in the extended cleaning area in a preset posture, the preset posture including: first condition: the extended cleaning device is facing the extended cleaning area; Control the extended cleaning device to enter the extended cleaning area for cleaning.

[0021] In an optional embodiment, the preset posture includes: a second condition: the extended cleaning device is located on the side of the window cleaning robot body closer to the extended cleaning area.

[0022] In an optional embodiment, the preset posture further includes: a third condition: the first cleaning tray is closer to the extended cleaning area relative to the second cleaning tray; The control of the extended cleaning device to enter the extended cleaning area for cleaning includes: The extended cleaning device is controlled to enter the extended cleaning area from one side of the first cleaning tray to perform cleaning.

[0023] In an optional embodiment, after confirming that the window cleaning robot is positioned in a preset posture within the extended cleaning area, the cleaning method further includes: At least control the first cleaning tray away from the extended cleaning area; When the first cleaning disc moves to a preset position and forms a preset space with the window cleaning robot and the extended cleaning area, the extended cleaning device is controlled to enter the preset space for cleaning. The extended cleaning device extends outward from one side of the first cleaning disc to enter the preset space.

[0024] In an optional embodiment, determining that the window cleaning robot is positioned in a preset posture within the extended cleaning area includes: Second condition: The extended cleaning device is located on the side of the window cleaning robot body closest to the extended cleaning area; Third condition: The first cleaning tray is closer to the extended cleaning area relative to the second cleaning tray; The window cleaning robot is controlled to move toward the extended cleaning area in a first posture, wherein the first posture has the same or substantially the same three conditions as the preset posture; After the first cleaning disc detects the first edge of the extended cleaning area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge; After the first cleaning disc detects the second edge of the extended cleaning area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the extended cleaning area in a preset posture.

[0025] In an optional embodiment, determining that the window cleaning robot is positioned in a preset posture within the extended cleaning area includes: Second condition: The extended cleaning device is located on the side of the window cleaning robot body closest to the extended cleaning area; Third condition: The first cleaning tray is closer to the extended cleaning area relative to the second cleaning tray; The window cleaning robot is controlled to move toward the corner area in a non-preset posture, wherein the non-preset posture differs from the preset posture in at least one condition; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area in a preset posture.

[0026] Beneficial effects: This application provides an extended cleaning device for a window cleaning robot, a window cleaning robot, and a cleaning method. The extended cleaning device can adjust the cleaning range of the window cleaning robot to adapt to the extended cleaning needs of the extended cleaning area, reduce the cleaning blind spots in the window cleaning robot during the cleaning process, and optimize the cleaning effect of the window cleaning robot. Specifically, the extended cleaning device can work in conjunction with the window cleaning robot to clean the area. When the window cleaning robot identifies an area that needs extended cleaning, the extended cleaning device can extend out of the window cleaning robot to clean the area, thus expanding the cleaning coverage of the window cleaning robot and reducing the existence of blind spots. Furthermore, the extended device has one or at least two operating modes, allowing the cleaning head to have one or at least two forms of movement to adapt to the cleaning needs of different extended cleaning areas and optimize the cleaning effect of the window cleaning robot. During the cleaning process of the extended cleaning area, the position of the window cleaning robot body relative to the extended cleaning area is first adjusted by rotating the first and second cleaning discs relative to each other, and the window cleaning robot is positioned in the extended cleaning area in a preset posture, thus achieving the matching of the window cleaning robot's position, posture and the shape of the extended cleaning area. The extended cleaning device is controlled to extend outward from the window cleaning robot body, changing the cleaning coverage range of the window cleaning robot so that its cleaning coverage range is adapted to the area of ​​the extended cleaning area to be cleaned. Based on the matching of the window cleaning robot's posture, position, cleaning range and the extended cleaning area to be cleaned, the extended cleaning device is used to enter the extended cleaning area for cleaning, improving the accuracy and consistency of the cleaning process, effectively optimizing the cleaning effect of the window cleaning robot and reducing the generation of cleaning blind spots. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the auxiliary cleaning device in the embodiment; Figure 2 This is a schematic diagram of the structure of an auxiliary cleaning device according to one embodiment; Figure 3 A schematic diagram of the auxiliary cleaning device in the extended state according to another embodiment; Figure 4 A schematic diagram of the auxiliary cleaning device in a stowed state, according to another embodiment; Figure 5 Explosion of the window cleaning robot structure in the embodiment Figure 1 ; Figure 6 Explosion of the window cleaning robot structure in the embodiment Figure 2 ; Figure 7 for Figure 5 Enlarged detail view of point A in the middle; Figure 8 This is a schematic diagram showing the relevant orientation of the cleaning tray in an embodiment. Figure 9 This is a schematic diagram showing the position of the outer edge sectional surface in the embodiment; Figure 10 The cleaning steps of the window cleaning robot in the embodiment are as follows. Figure 1 ; Figure 11 The cleaning steps of the window cleaning robot in the embodiment are as follows. Figure 2 ; Figure 12 A flowchart illustrating a window cleaning robot cleaning method according to one embodiment; Figure 13 An example diagram of the window cleaning robot in a preset posture, as shown in the embodiment; Figure 14 An example diagram of the window cleaning robot in a first posture, as shown in the embodiment; Figure 15 An exploded view of the first edge motion identification during the operation of the window cleaning robot in the example, which is moving towards the extended cleaning area in a first posture; Figure 16 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and the extended cleaning area while moving toward the extended cleaning area in a first posture; Figure 17 An exploded view of the motion of the window cleaning robot in the embodiment as it moves toward the extended cleaning area in a first posture and then to a preset position. Figure 18 This is an exploded view of the window cleaning robot cleaning the extended cleaning area in the first posture of the embodiment. Figure 19 This is an exploded view of the window cleaning robot's secondary cleaning action in the first posture of the embodiment. Figure 20 An example diagram of the window cleaning robot in a second posture, as shown in the embodiment; Figure 21An exploded view of the first edge motion identification during the operation of the window cleaning robot in the second posture toward the extended cleaning area, as shown in the embodiment. Figure 22 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and the extended cleaning area as it moves toward the extended cleaning area in the second posture. Figure 23 An exploded view of the window cleaning robot in the embodiment, moving to a preset position while facing the extended cleaning area in a second posture; Figure 24 An exploded view of the window cleaning robot cleaning the extended cleaning area in the second posture of the embodiment; Figure 25 This is an exploded view of the window cleaning robot's secondary cleaning action in the second posture of the embodiment. Figure 26 An example diagram of the window cleaning robot in a third posture, as shown in the embodiment; Figure 27 The window cleaning robot in this embodiment is shown in the exploded view of the first edge motion as it moves toward the extended cleaning area in a third posture. Figure 28 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and the extended cleaning area while moving toward the extended cleaning area in a third posture; Figure 29 An exploded view of the motion of the window cleaning robot in the embodiment as it moves to a preset position while facing the extended cleaning area in a third posture. Figure 30 An exploded view of the window cleaning robot cleaning the extended cleaning area in the third posture of the embodiment; Figure 31 This is an exploded view of the window cleaning robot's secondary cleaning action in the third posture of the embodiment. Figure 32 The diagram shows an example of the window cleaning robot in its fourth posture, as described in this embodiment. Figure 33 An exploded view of the action of the window cleaning robot exchanging the positions of the first and second cleaning discs in an embodiment; Figure 34 The window cleaning robot in this embodiment is shown in the exploded view of the first edge motion identification during its operation in the extended cleaning area in a fourth posture. Figure 35 An exploded view of the action of the window cleaning robot in the embodiment, which identifies the second edge and the extended cleaning area as it moves toward the extended cleaning area in the fourth posture. Figure 36 An exploded view of the window cleaning robot in the embodiment, moving to a preset position while in the fourth posture towards the extended cleaning area; Figure 37 An exploded view of the window cleaning robot cleaning the extended cleaning area in the fourth posture of the embodiment; Figure 38 This is an exploded view of the window cleaning robot's re-cleaning motion in the fourth posture of the embodiment. Figure 39 This is a schematic diagram of a window cleaning robot with the extended cleaning device in a retracted state, as shown in the embodiment. Figure 40 This is a schematic diagram of a window cleaning robot with the extended cleaning device in the extended state, as shown in the embodiment. Figure 41 An exploded view of the action of the extended cleaning device extending from the first cleaning disc into the preset space, as shown in the embodiment.

[0029] Figure label: 1-Cleaning head; 11-Connecting end; 12-Cleaning end; 2-Extending device; 3-Power unit; 4-Motion conversion device; 41-First-stage conversion device; 42-Second-stage conversion device; 421-Spiral guide groove; 43-Traction component; 44-Guide component; 45-Motion transmission component; 5-Window cleaning robot body; 51-Cleaning tray; 52-Placement space; 531-Outer edge cut surface; 54-Axial direction; 55-Radial direction; 6-Extended cleaning area; 61-First edge; 62-Second edge; 63-Preset space; 71-First cleaning tray; 72-Second cleaning tray; 8-Extended cleaning device. Detailed Implementation

[0030] Various embodiments of this disclosure will be described more fully below. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0031] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more combinations of the foregoing.

[0032] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

[0033] The terms used in the various embodiments of this disclosure (such as "first," "second," etc.) may modify various components in the various embodiments, but do not limit the corresponding components. For example, the above terms do not limit the order and / or importance of the components. The above terms are only used for the purpose of distinguishing one component from others. For example, a first user device and a second user device refer to different user devices, although both are user devices. For example, a first component may be referred to as a second component without departing from the scope of the various embodiments of this disclosure, and similarly, a second component may also be referred to as a first component.

[0034] It should be noted that if a description is made of "connecting" one component to another, then the first component can be directly connected to the second component, and a third component can be "connected" between the first and second components. Conversely, when a component is "directly connected" to another component, it can be understood that there is no third component between the first and second components.

[0035] The term "user" as used in various embodiments of this disclosure may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0036] The terminology used in the various embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this disclosure pertain. Terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in the context of the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this disclosure.

[0037] Example 1 See Figure 1As shown, this application embodiment provides an extended cleaning device for a window cleaning robot, used to cooperate with the window cleaning robot body 5 for cleaning. The cleaning method of the extended cleaning device is not specifically limited; it can be that the movement of the window cleaning robot drives the extended cleaning device to clean the surface to be cleaned, or it can be that the movement of the extended cleaning device itself cleans the surface to be cleaned. The extended cleaning device includes: The cleaning head 1 and the extension device 2 are used to drive the cleaning head 1 to move; the extension device 2 has one or at least two modes of movement so that the cleaning head 1 has one or at least two modes of movement. Specifically, in some embodiments of this application, the extension device 2 is used to be mounted on the body 5 of the window cleaning robot and to drive the cleaning head 1 to move, thereby realizing the movable connection between the cleaning head 1 and the body 5 of the window cleaning robot.

[0038] For example, the extension device 2 may have one or more of the following motion forms: telescopic motion, lifting motion, and rotational motion, so that the cleaning head 1 may have one or more of the following motion forms: telescopic motion extending out of or retracting from the window cleaning robot body 5, lifting motion relative to the surface to be cleaned, and rotational motion relative to the window cleaning robot body 5.

[0039] For example, the telescopic and lifting movements of the extension device 2 can be achieved by using a combination structure of a miniature lead screw and a linear guide slider, or by using a meshing structure of a gear or worm and a rack, or by using a telescopic sleeve structure; or by using a miniature push rod; the rotational movement of the extension device 2 can be achieved by using a connecting rod or rocker arm structure, or by using a small motor and a rotating structure such as a hinge or a shaft.

[0040] Of course, the above content is only some examples of the movement forms of the extension device 2 and the cleaning head 1 and the structure that realizes the corresponding movement forms. No specific restrictions are made on the movement forms of the extension device 2 and the cleaning head 1 and the structure that realizes the corresponding movement forms.

[0041] When the window cleaning robot identifies an extended cleaning area on the surface to be cleaned, the extension device 2 is used to drive the cleaning head 1 into the extended cleaning area for cleaning. The cleaning method of the cleaning head 1 includes at least one of flat wiping and rotary wiping.

[0042] Among them, the flat cleaning method refers to the cleaning mode of using flat sliding. The cleaning head 1 is flat against or abuts the surface to be cleaned, and under the drive of the window cleaning robot body 5, it slides and rubs relative to the surface to be cleaned, using positive pressure and sliding friction to remove floating dust or stains. The rotary cleaning method refers to a cleaning mode that uses rotational torque. The cleaning head 1 rotates around its own axis under power drive and rolls or tangentially rubs against the surface to be cleaned. It uses centrifugal force and shear force to break down dirt or remove particulate stains. It is suitable for removing stubborn stains, dot deposits and sticky residues.

[0043] For example, the surface to be cleaned can be an indoor or outdoor glass window, a floor-to-ceiling window, a balcony glass railing, a large curtain wall glass, a smooth tiled wall, a glass partition, etc.; the extended cleaning area within the surface to be cleaned can be, for example, at least one of the corner area, edge area, sealing strip area, or complex-shaped planar area of ​​the surface to be cleaned. Of course, there are no restrictions on the types of the surface to be cleaned and the extended cleaning area.

[0044] For another example, when the window cleaning robot identifies an extended cleaning area on the surface to be cleaned, this can be achieved through sensors installed on the window cleaning robot, such as lidar or vision sensors; alternatively, the edge of the surface to be cleaned can be detected by the negative pressure value of the window cleaning robot's negative pressure device or changes in reflected airflow, thereby obtaining the location of the extended cleaning area; or the extended cleaning area can be detected by the movement of the window cleaning robot's cleaning disc 51. Of course, there is no limitation on the specific method by which the window cleaning robot identifies the extended cleaning area, and the cleaning disc 51 can include one, two, three, or more.

[0045] Understandably, the extension device 2 of the extended cleaning device is used by the window cleaning robot to drive the cleaning head 1 into the extended cleaning area after it recognizes the extended cleaning area. Driven by the extension device 2, the extended cleaning device can extend beyond the outline of the window cleaning robot's body, supplementing the cleaning range of the window cleaning robot. This breaks through the limitations of the window cleaning robot's own shape and can eliminate cleaning blind spots in the extended cleaning area, thereby improving the cleaning coverage of the surface to be cleaned by the window cleaning robot. The extended cleaning area can include vertical areas such as the frame area, corner area, and sealing strip area. The movement of the extended cleaning device has good flexibility and can adapt to the cleaning needs of these areas, maintaining good positive pressure and friction, and improving the reliability of cleaning.

[0046] In an optional embodiment, the cleaning head 1 is also used to spray cleaning liquid onto the surface to be cleaned. When the cleaning head 1 performs at least one of flat wiping and rotary wiping, the cleaning head 1 can also choose to combine wet wiping for cleaning.

[0047] The cleaning head 1 can be used for flat wiping, rotary wiping, or a combination of both. For example, it can alternate between flat wiping and rotary wiping. In addition, wet wiping can be used in conjunction with the flat wiping, rotary wiping, or combination of both methods.

[0048] When cleaning head 1 uses the flat wiping method alone, it ensures the uniformity and completeness of the cleaning effect, achieving full cleaning coverage of the extended cleaning area. The cleaning speed is relatively fast, and it helps improve cleaning efficiency, but the cleaning effectiveness of the flat wiping method is relatively weak. When cleaning head 1 uses the rotary wiping method alone, it can break the adhesion between stubborn stains and the glass surface, achieving deep cleaning of heavily soiled areas. However, the cleaning efficiency of the rotary wiping method is lower, and the cleaning coverage is difficult to guarantee. When cleaning head 1 uses a combination of flat wiping and rotary wiping, the advantages of both methods can be complemented. For example, flat wiping can ensure cleaning coverage and efficiency, while rotary wiping can perform deep cleaning of heavily soiled areas, compensating for the shortcomings of flat wiping. Furthermore, flat wiping, when rubbing against the surface to be cleaned, can easily cause scratches if there are particulate stains. Rotary wiping can remove solid particulate stains in the extended cleaning area, reducing the impact of particulate stains on flat wiping and minimizing the possibility of scratches caused by particulate stains.

[0049] Wet wiping primarily utilizes the wetting, emulsifying, or suspending effects of the cleaning solution to soften stains and detach them from the surface to be cleaned. This further enhances the cleaning effectiveness of cleaning head 1, improves its cleaning efficiency, and reduces the risk of scratches caused by dry friction. When cleaning head 1 employs a combination of wet wiping and rotary wiping, the rotational torque generated during the rotary wiping process accelerates stain dissolution, and the shearing force effectively improves the removal of stubborn stains. When cleaning head 1 employs a combination of wet wiping and flat wiping, the frictional sliding motion during the flat wiping process covers the entire extended cleaning area, wiping away wastewater and detached stains, reducing cleaning residue.

[0050] Understandably, the cleaning head 1 features flat wiping, rotary wiping, and wet wiping modes, which can be combined to meet the cleaning needs of different types of stains and extended cleaning areas, significantly enhancing its adaptability to various cleaning scenarios. For example, when cleaning extended cleaning areas such as corners, edges, and sealing strips where stains are more severe, a combination of rotary wiping and wet wiping can be used. First, a cleaning solution is sprayed to soften the stains, and then the stains are removed by rotary wiping. Similarly, when cleaning extended cleaning areas on flat surfaces, a combination of rotary wiping and flat wiping can be used. First, local stains are removed by rotary wiping, and then a thorough cleaning is achieved by flat wiping.

[0051] In an optional embodiment, refer to Figures 2 to 4 As shown, the extended cleaning device also includes: a power unit 3 and a motion conversion device 4. The power unit 3 outputs power, and the motion conversion device 4 is used to transmit the power of the power unit 3 to the extension device 2, or to simultaneously change the power form of the power unit 3 during the process of transmitting the power of the power unit 3 to the extension device 2, so that when the extension device 2 receives power, the extension device 2 has one or at least two motion forms.

[0052] The power output of the power unit 3 can be either rotational force or driving force. When the power unit 3 uses a motor structure, the output power is rotational force; when the power unit 3 uses a push rod structure, the output power is driving force. Of course, there are no restrictions on the specific structure of the power unit 3 or the type of power output.

[0053] For example, in one embodiment of this application, the motion form conversion device 4 is used to transmit the power of the power device 3 to the extension device 2, so that the extension device 2 has a motion form; at this time, the transmission chain is relatively simple, which simplifies the structural setting of the motion form conversion device 4 and improves the stability of the motion form conversion device 4; and the trajectory of the extension device 2 is simple and predictable, which makes it easy to accurately control the final posture and position of the cleaning head 1, so that the cleaning head 1 can accurately enter the extended cleaning area.

[0054] In another embodiment of this application, the motion mode conversion device 4 synchronously changes the power mode of the power device 3 during the process of transmitting the power of the power device 3 to the extension device 2, so that the extension device 2 has at least two motion modes. At this point, the structure of the motion conversion device 4 was optimized, effectively integrating multiple motion modes of the extension device 2. Both the first and second motion modes use the same power unit 3 as the power source, achieving reuse of the power unit 3 and reducing the size and weight of the extended cleaning device. This effectively reduces the complexity of the window cleaning robot, ensuring its endurance. Furthermore, the extension device 2 has at least two motion modes, and the cleaning head 1 accordingly also has at least two motion modes. The cleaning head 1 exhibits good flexibility, enabling cleaning methods such as flat wiping and rotary wiping, effectively improving the adaptability of the extended cleaning device to different extended cleaning areas.

[0055] The extension device 2 can output only one type of motion, such as linear motion or flipping motion; or it can output both linear motion and flipping motion simultaneously. Of course, there is no restriction on the specific type of motion output by the extension device 2.

[0056] When the motion conversion device 4 synchronously changes the power form of the power unit 3 while transmitting power from the power unit 3 to the extension device 2, the motion mode of the window cleaning robot is referenced. Figure 10 As shown, the cleaning disc 51 closer to the extended cleaning device is defined as the first cleaning disc, and the cleaning disc 51 farther away from the extended cleaning device is defined as the second cleaning disc. When the window cleaning robot reaches the corner position, the second cleaning disc remains stationary, and the first cleaning disc rotates around the second cleaning disc in a direction away from the corner position to make room for the rotation of the extended cleaning device. While the second cleaning disc remains stationary, during the process of the first cleaning disc rotating back to center, the extended cleaning device gradually extends and rotates the cleaning head 1 until it reaches the receiving cleaning surface. Driven by the power device 3 or driven by the body 5 of the window cleaning robot, the corner position is cleaned.

[0057] When the motion conversion device 4 does not synchronously change the power form of the power unit 3, the motion mode of the window cleaning robot refers to... Figure 11 As shown, the cleaning disc 51 closer to the extended cleaning device is defined as the first cleaning disc, and the cleaning disc 51 farther away from the extended cleaning device is defined as the second cleaning disc. When the window cleaning robot reaches the corner position, it controls the extended cleaning device to rotate the cleaning head 1 until it contacts the surface to be cleaned. Then, it controls the rotating cleaning head 1 to extend out of the edge of the contact corner position. Driven by the power device 3 or driven by the window cleaning robot body 5, the corner position is cleaned.

[0058] In an optional embodiment of this application, the power unit 3 outputs power, and the motion mode conversion device 4 is used to enable the extension device 2 to have not only a flipping motion mode, but also a linear motion mode.

[0059] Understandably, the motion conversion device 4 is used to enable the extension device 2 to have both linear motion and flipping motion. The linear motion of the extension device 2 enables it to drive the cleaning head 1 into the extended cleaning area to clean the extended cleaning area and reduce the existence of blind spots. On the other hand, during the process of the extension device 2 driving the extended cleaning device, the extension range of the cleaning head 1 can be dynamically adjusted to adjust the cleaning coverage of the extended cleaning device and / or the window cleaning robot, so that the window cleaning robot can adapt to extended cleaning areas of different sizes. The extension device 2 has a flipping motion. On the one hand, driven by the extension device 2, the cleaning head 1 can rotate around the axis of the extension device 2, realizing the rotary cleaning function of the cleaning head 1, which works in conjunction with the flat cleaning method to improve the adaptability of the extended cleaning device to different cleaning scenarios. On the other hand, the extension device 2 drives the cleaning head 1 to flip, which can also adjust the contact part between the cleaning head 1 and the extended cleaning area. For example, there is usually a height difference between the border area and the flat area. The cleaning head 1 can contact both the flat area and the border area, realizing three-dimensional cleaning of the extended cleaning device and further improving the adaptability of the cleaning head 1 to different extended cleaning areas.

[0060] Specifically, in one optional embodiment, refer to Figure 2 and Figure 3 As shown, the motion conversion device 4 includes a primary conversion device 41 and a secondary conversion device 42. The primary conversion device 41 is connected to the power device 3, and the secondary conversion device 42 is connected to the extension device 2. The first-stage conversion device 41 enables the extension device 2 to have a first type of motion, and the second-stage conversion device 42 enables the extension device 2 to also have a second type of motion.

[0061] Understandably, the motion conversion device 4 includes a primary conversion device 41 and a secondary conversion device 42. The primary conversion device 41 receives the input from the power device 3 to generate a first motion form, specifically converting the rotational motion of the power device 3 into linear motion. The secondary conversion device 42 further converts the motion to output a second motion form, specifically converting the linear motion of the extension device 2 into a flipping motion. By decoupling the motion, the structural setup of the motion conversion device 4 is simplified, and the orderly generation of complex motions is achieved. This reduces the mutual interference between the first and second motion forms to a certain extent, facilitating their coordinated implementation. Furthermore, the separation of the primary conversion device 41 and the secondary conversion device 42 allows for flexible configuration of the motion conversion device 4, optimizes the structural layout of the extended cleaning device, and allows for adjustment based on either the first or second motion form.

[0062] The first-stage conversion device 41 includes a spiral conversion device, and the power device 3 rotates to output power. The spiral conversion device is used to convert the motion of the extension device 2 into linear motion. The secondary conversion device 42 includes a guide groove type conversion device, which also causes the extension device 2 to have a flipping motion during the linear movement of the extension device 2.

[0063] The first-stage conversion device 41 includes a spiral conversion device that converts the rotational motion output by the power unit 3 into smooth linear motion. It also uses deceleration to enhance torque and increase the force exerted by the extension device 2 on the cleaning head 1, so that the cleaning head 1 can overcome the resistance of the sealing strip area and / or the reaction force of the planar area, allowing the cleaning head 1 to stably adhere to the surface to be cleaned and achieve a good cleaning effect. The second-stage conversion device 42 includes a guide groove conversion device that converts the linear motion of the extension device 2 into a flipping motion. The guide groove conversion device directly converts the linear displacement of the extension device 2 into angular displacement through a preset groove trajectory, replacing the complex control process and reducing the consumption of computing resources. Furthermore, the guide groove conversion device used in the second-stage conversion device 42 can play a certain guiding role during the motion conversion process, enhancing the stability of the movement of the extension device 2.

[0064] More specifically, refer to Figure 2 and Figure 3 As shown, in an optional embodiment, the primary conversion device 41 is connected to the extension device 2 via a traction member 43. During the rotation of the primary conversion device 41, the traction member 43 drives the extension device 2 to move linearly. The extension device 2 is set in the spiral guide groove 421 of the secondary conversion device 42 by the guide member 44. During the linear movement of the extension device 2, the guide member 44 moves in the spiral guide groove 421 of the secondary conversion device 42 so that the extension device 2 performs linear movement and flipping movement synchronously.

[0065] Specifically, in some embodiments of this application, the traction member 43 includes a lead nut structure, the primary conversion device 41 includes a lead screw, the traction member 43 reciprocates along the length direction of the primary conversion device 41, and the traction member 43 is also provided with a connection structure for connecting to the extension device 2, so as to drive the extension device 2 to perform linear motion after connecting to the extension device 2. Of course, there are no limitations on the specific structure of the traction member 43 and the primary conversion device 41.

[0066] The traction component 43 is used to pull the extension device 2 to perform linear motion. The traction component 43 helps to overcome the spatial limitations of power transmission in the first-stage conversion device 41. Through the connection of the traction component 43, the structural layout of the power unit 3 and the extension device 2 is optimized. The traction component 43 guides the extension device 2 to the area close to the side wall of the window cleaning robot, making it easier for the cleaning head 1 to extend and flip out of the outer contour of the window cleaning robot for cleaning the extended cleaning area. The extension device 2 is set in the spiral guide groove 421 of the second-stage conversion device 42 through the guide component 44. The spiral line of the spiral guide groove 421 sets the correspondence between the linear motion distance and the flipping angle of the extension device 2, simplifying the control logic of linear motion and flipping motion. Through the movement of the guide component 44 in the spiral guide groove 421, the functions of power transmission and motion guidance are realized. The cooperation between the guide component 44 and the spiral guide groove 421 improves the motion stability of the extension device 2 and the cleaning head 1, and can limit the shaking caused by the reaction force of the surface to be cleaned during the cleaning process, so that the cleaning head 1 maintains a relatively stable cleaning state.

[0067] By cooperating with the primary conversion device 41 and the secondary conversion device 42, only a single power unit 3 is needed to enable the extension device 2 to perform synchronous linear and flipping movements, which greatly simplifies the complexity of the drive system and reduces manufacturing costs. The linear movement is used to allow the cleaning head 1 to enter or exit the extended cleaning area, while the flipping movement is used to adjust the contact force and contact area of ​​the cleaning head 1, adapting to the cleaning process of the extended cleaning device. The extension device 2 performs synchronous linear and flipping movements, meaning that the flipping angle of the cleaning head 1 corresponds to the degree of extension, which helps to ensure the consistency of the cleaning effect of the extended cleaning device under the same degree of extension. On the other hand, there is no need to control the degree of extension and the flipping angle separately, which reduces the complexity of control.

[0068] In an optional embodiment, refer to Figure 2 As shown, the power unit 3 and the motion conversion device 4 are located in the same row; Or, refer to Figure 3 and Figure 4 As shown, the power unit 3 and the motion conversion device 4 are located in two rows, and the power unit 3 and the motion conversion device 4 are connected by a motion transmission component 45.

[0069] Specifically, in some embodiments of this application, the motion transmission component 45 is a gear set for meshing transmission. Of course, there are no restrictions on the specific structure of the motion transmission component 45, as long as it satisfies the motion transmission function.

[0070] For example, when the power unit 3 and the motion conversion device 4 are located in the same row, such that the power unit 3 can be coaxially arranged with the motion conversion device 4, the power unit 3 and the motion conversion device 4 are located in the same row. The power of the power unit 3 is directly transmitted to the motion conversion device 4, which optimizes the power transmission path and reduces friction loss and power attenuation during the transmission process.

[0071] The power unit 3 and the motion conversion device 4 are connected by a motion transmission component 45. When the power unit 3 and the motion conversion device 4 are located in two rows, the motion transmission component 45 reduces the spatial limitation of linear power transmission. The power unit 3 and the motion conversion device 4 can be flexibly set up to adapt to the assembly needs of window cleaning robots of different sizes.

[0072] In an optional embodiment, such as Figure 1 As shown, the cleaning head 1 is a sheet-shaped cleaning head 1, which includes a connecting end 11 and a cleaning end 12. The extension device 2 is connected to the connecting end 11, and the cleaning end 12 is used to perform scraping cleaning on the extended cleaning area.

[0073] Specifically, in some embodiments of this application, the extension device 2 is connected to the connecting end 11. The extension device 2 is arranged along the length direction of the sheet-like cleaning head 1, so that the force of the extension device 2 can be directly transmitted along the length direction of the cleaning head 1, thereby enhancing the controllability of the extension and retraction movement of the cleaning head 1 and the stability of the flipping movement. The extension device 2 has a certain structural rigidity, which can support the cleaning head 1, maintain the shape of the cleaning head 1, and facilitate the scraping cleaning by the cleaning end 12.

[0074] Understandably, the cleaning head 1 is flat. On the one hand, the size of the cleaning head 1 is relatively compact, which improves its flexibility and helps to adapt to the cleaning needs of narrow extended cleaning areas such as corners. On the other hand, the flat shape of the cleaning head 1 helps to reduce the direct contact area between the cleaning head 1 and the surface to be cleaned, thereby increasing the pressure of the cleaning head 1. When the cleaning head 1 is used for flat wiping, the pressure is concentrated at the contact part of the cleaning head 1, which can obtain good scraping force to scrape off and peel off the stains on the surface to be cleaned, thus alleviating the problem of insufficient flat wiping cleaning efficiency to a certain extent.

[0075] In an optional embodiment, the extended cleaning area is a cleaning blind spot or an area to be deeply cleaned. When the window cleaning robot identifies a cleaning blind spot or an area to be deeply cleaned, the extension device 2 is used to drive the cleaning head 1 into the cleaning blind spot or the area to be deeply cleaned for cleaning.

[0076] For example, the extended cleaning area within the surface to be cleaned can be the corner area, border area, sealing strip area, or complex planar area of ​​the surface to be cleaned; wherein, the corner area, border area, and sealing strip area are cleaning blind spots; the complex planar area is the area to be deep cleaned, and the complex planar area can be a planar area with a relatively complex shape, or a planar area with more stains and difficult to clean.

[0077] Understandably, the extension device 2 is used to drive the cleaning head 1 into cleaning blind spots or areas requiring deep cleaning. Cleaning blind spots are mainly areas that the window cleaning robot cannot reach due to its shape. When the extension cleaning device cleans the cleaning blind spots, the cleaning head 1 extends beyond the outer contour of the window cleaning robot to expand the cleaning range of the window cleaning robot. This can compensate for the insufficient cleaning ability of the window cleaning robot in cleaning blind spots, improve the integrity of the window cleaning robot's full window coverage, and improve the actual user experience.

[0078] When cleaning head 1 cleans the area to be deep-cleaned, the extended cleaning device and the cleaning disc 51 of the window cleaning robot work together. The extended cleaning device assists in cleaning, while the cleaning disc 51 performs the deep cleaning. The extended cleaning device pre-treats the area to be deep-cleaned to reduce floating dust or particulate dirt. This reduction in particulate dirt lowers the likelihood of scratches left on the glass surface by the cleaning disc 51 due to friction. The reduction in floating dust also helps the cleaning solution penetrate the glass surface better during spraying, reducing cleaning solution consumption. Furthermore, the reduction of particulate dirt by the extended cleaning device also... This helps ensure the stain-holding capacity of the cleaning tray 51, thereby enhancing its continuous cleaning ability. The extended cleaning device is also used to clean the area to be deeply cleaned after being cleaned by the cleaning tray 51. The cleaning tray 51 can wipe away soluble stains, but it is easy to leave scratches or its cleaning effect on stubborn stains is relatively limited. When the extended cleaning device cleans again, multiple cleaning functions are achieved. The extended cleaning device can scrape away residual water stains and dirt in the area to be deeply cleaned in a flat wiping manner, reducing water marks and scratches, and achieving localized enhanced cleaning by the window cleaning robot, thereby further improving the window cleaning robot's cleaning ability on the surface to be cleaned.

[0079] This application also provides a window cleaning robot, such as... Figure 5 and Figure 6 As shown, it includes a window cleaning robot body 5 and an extension cleaning device according to any one of the first aspects, the extension cleaning device being used to cooperate with the window cleaning robot body 5 for cleaning.

[0080] The extended cleaning device works in conjunction with the window cleaning robot body 5 for cleaning. On the one hand, it extends the outer contour of the window cleaning robot body 5, expanding the cleaning coverage area and changing the shape of the window cleaning robot. It also delves deeper into and cleans blind spots, reducing their existence and compensating for the shortcomings of existing window cleaning robots with fixed shapes and the tendency to have blind spots, thus improving the cleaning coverage rate of the window cleaning robot. On the other hand, the extended cleaning device can perform front and rear cleaning with the window cleaning robot's cleaning disc 51, achieving multiple differentiated cleaning effects to reduce scratches, abrasions, and water stains, thereby improving the cleaning effect of the window cleaning robot.

[0081] Specifically, there is no specific limit to the number of extended cleaning devices. Similarly, there are no specific restrictions on the placement of multiple extended cleaning devices. For example, if there are two extended cleaning devices, they can be symmetrically positioned on either side of the window cleaning robot, centrally symmetrically positioned on either side, or positioned on the same side of the window cleaning robot, etc. When multiple extended cleaning devices are used, the window cleaning robot does not need to frequently adjust its body posture to align the extended cleaning devices with the extended cleaning area, thus improving the cleaning efficiency of the window cleaning robot.

[0082] In an optional embodiment, the window cleaning robot also includes a cleaning tray 51. Specifically, in some embodiments of this application, the window cleaning robot body 5 is provided with two cleaning discs 51. The cleaning disc 51 may specifically include a drive motor, a support disc body, and a cleaning cloth. The drive motor is located inside the window cleaning robot body 5 and is used to drive the support disc body to rotate. The cleaning cloth is sleeved on the support disc body. The window cleaning robot can be torsional or linearly moved by the alternating operation of the two cleaning discs 51 or by tilting based on the Mecanum wheel principle. The drive motor drives the support disc body and drives the cleaning cloth to rotate at high speed or reciprocate to clean the surface to be cleaned.

[0083] More specifically, in some embodiments of this application, the support plate can be made of ABS engineering plastic material, so that the cleaning plate 51 has a certain toughness and structural strength, while the cleaning cloth is made of micro-static microfiber material, which has corresponding flexibility and can absorb stains by relying on capillary effect, thereby optimizing the cleaning effect of the cleaning plate 51.

[0084] Of course, there are no specific restrictions on the number, specific structure, and corresponding materials of the cleaning discs 51, as long as they meet the cleaning function of the window cleaning machine.

[0085] Reference Figure 5 and Figure 6As shown, the cleaning tray 51 is installed on the body 5 of the window cleaning robot. The cleaning tray 51 protrudes from the outer edge of the body 5 of the window cleaning robot, and a placement space 52 is formed between the protruding part of the cleaning tray 51 and the side wall of the body 5 of the window cleaning robot. like Figure 5 As shown, when the extended cleaning device is in the first state, the extended cleaning device is housed in the placement space 52; like Figure 6 As shown, when the extended cleaning device is in the second state, the extended cleaning device extends out of the placement space 52.

[0086] Understandably, in the frame area, after the window cleaning robot body 5 comes into contact with the frame, the area between the cleaning disc 51 and the window cleaning robot body 5 is prone to forming a strip-shaped cleaning blind spot; however, the setting of the cleaning disc 51 protruding from the outer edge of the window cleaning robot body 5 allows the cleaning disc 51 to cover the annular area outside the projection range of the window cleaning robot body 5, thereby expanding the effective wiping radius of the window cleaning robot and reducing the generation of strip-shaped cleaning blind spots.

[0087] Furthermore, after the cleaning disc 51 protrudes from the outer edge of the window cleaning robot body 5, the cleaning disc 51 and the side wall of the window cleaning robot body 5 naturally form a placement space 52. Driven by the extension device 2, the extended cleaning device switches between the first state and the second state. When the extended cleaning device is in the first state, it is housed in the placement space 52, which makes the outer contour of the window cleaning robot converge, improves the flexibility of the window cleaning robot, and reduces the obstruction of operation caused by the extended cleaning device protruding from the window cleaning robot body 5. Moreover, the placement space 52 also helps to protect the extended cleaning device to a certain extent. When the extended cleaning device is in the second state, it extends out of the housing space, which can expand the cleaning range of the window cleaning robot and improve the cleaning efficiency. It can be used to clean blind spots separately, improve the comprehensiveness of the cleaning range of the window cleaning robot, and also work with the cleaning disc 51 to perform multiple cleanings on areas requiring deep cleaning, thereby improving the cleaning efficiency of the window cleaning robot and optimizing the cleaning effect of the window cleaning robot.

[0088] Furthermore, the placement of the extended cleaning device on the side wall of the window cleaning robot body 5, compared to the design where it is placed inside the window cleaning robot body 5, shortens the time required for the extended cleaning device to contact the surface to be cleaned and improves the response speed of the extended cleaning device.

[0089] Specifically, in one optional embodiment, such as Figure 7 As shown, when the extended cleaning device is housed in the placement space 52, the sheet cleaning head 1 is placed in the placement space 52, wherein the connecting end 11 of the cleaning head 1 is closer to the cleaning disc 51 than the cleaning end 12, or the connecting end 11 of the cleaning head 1 is flush with the cleaning end 12. During the process of the cleaning head 1 moving from the first state to the second state, the motion form conversion device 4 is used to move the cleaning head 1 from the placement space 52 to the surface to be cleaned, and to change the orientation of the cleaning head 1 so that the cleaning end 12 moves to the surface to be cleaned.

[0090] Understandably, the extended cleaning device is housed within the placement space 52, with the connecting end 11 of the cleaning head 1 closer to the cleaning tray 51 than the cleaning end 12, i.e., the cleaning head 1 is placed vertically or at an angle within the placement space 52; the connecting end 11 of the cleaning head 1 is flush with the cleaning end 12, i.e., the cleaning head 1 is laid flat within the placement space 52. Of course, there are no restrictions on the specific placement posture of the cleaning head 1.

[0091] When the connecting end 11 of the cleaning head 1 is closer to the cleaning disc 51 than the cleaning end 12, specifically, the side wall of the cleaning head 1 can be placed against the side wall of the window cleaning robot body 5, reducing the lateral space occupied by the cleaning head 1 and effectively reducing the possibility of interference between the cleaning head 1 and the frame area during the operation of the window cleaning robot. Moreover, during the process of the cleaning head 1 gradually flipping from the receiving space, it is not easy to interfere with the cleaning disc 51. When the connecting end 11 of the cleaning head 1 is flush with the cleaning end 12, specifically, the side wall of the cleaning head 1 can be placed against the protruding part of the cleaning disc 51, increasing the direct contact area between the cleaning head 1 and the cleaning disc 51. The cleaning disc 51 supports the cleaning head 1, making the placement state of the cleaning head 1 more stable and less likely to shake due to the reciprocating motion of the window cleaning robot, reducing the possibility of damage to the extended cleaning device.

[0092] More specifically, during the process of the cleaning head 1 moving from the first state to the second state, the motion mode conversion device 4 is used to make the cleaning head 1 move in a straight line from the placement space 52 to the surface to be cleaned; and to make the cleaning head 1 rotate to change the orientation of the cleaning head 1, so that the cleaning end 12 moves to the surface to be cleaned, thus laying the foundation for subsequent cleaning operations.

[0093] Among them, through the motion form conversion device 4, when the cleaning head 1 is moving in a straight line, it is simultaneously rotating. The extension and retraction of the cleaning head 1 are related to the rotation angle. For example, when the cleaning head 1 is extended to the limit position, the cleaning head 1 can come into contact with the surface to be cleaned, so as to shorten the adjustment time of the cleaning head 1's posture, further improve the response speed of the extended cleaning device, and improve the cleaning efficiency of the extended cleaning device.

[0094] In an optional embodiment, combined with Figure 5 , Figure 7 and Figure 8 As shown, when the extended cleaning device is in the first state, the outer edge of the cleaning head 1 does not protrude beyond the outer edge of the cleaning disc 51 in the axial and radial directions. Combination Figure 6 and Figure 9 As shown, when the extended cleaning device is in the second state, the outer edge of the cleaning head 1 does not protrude from the outer edge cut surface 531 of the cleaning disc 51 in the axial and radial directions, or the part of the cleaning head 1 that protrudes from the outer edge cut surface 531 of the cleaning disc 51 is made of flexible material.

[0095] For example, in one embodiment of this application, the axial direction 54 refers to the direction pointed to by the axis of the cleaning disc 51, specifically the direction perpendicular to the surface to be cleaned; the radial direction 55 refers to the direction pointed to by the radial line of the cleaning disc 51, specifically the direction parallel to the surface to be cleaned.

[0096] When the extended cleaning device is in the first state, the outer edge of the cleaning head 1 does not protrude beyond the outer edge of the cleaning disc 51 in the axial direction. When viewed from the side, the cleaning head 1 is located on the upper surface of the cleaning disc 51, and the outer contour of the cleaning head 1 does not protrude vertically beyond the lower surface of the cleaning disc 51. In the radial direction, the outer edge of the cleaning head 1 does not protrude beyond the outer edge of the cleaning disc 51. When viewed from the top, the cleaning head 1 is located on the upper surface of the cleaning disc 51, and the outer contour of the cleaning head 1 does not protrude laterally beyond the outer contour of the cleaning disc 51.

[0097] Understandably, when the extended cleaning device is in the first state, by restricting the posture of the cleaning head 1 in the axial direction 54 and the radial direction 55, the cleaning head 1 can be completely located within the placement space 52, further preventing the cleaning head 1 from protruding from the outer contour of the window cleaning robot, thereby reducing the impact on the operation of the window cleaning robot, and also reducing the possibility of damage to the extended cleaning device.

[0098] In addition, the outer edge of the cleaning head 1 does not protrude beyond the outer edge of the cleaning disc 51, which helps to reduce the impact on the window cleaning robot's environmental perception. For example, it can prevent the cleaning head 1 from blocking the sensor to a certain extent, and prevent the window cleaning robot from identifying the cleaning head 1 as an obstacle or the edge of the surface to be cleaned, thereby improving the accuracy of identification of the extended cleaning area.

[0099] When the extended cleaning device is in the second state, the outer edge of the cleaning head 1 does not protrude from the outer edge cut surface 531 of the cleaning disc 51 in the axial and radial directions, or the part of the cleaning head 1 that protrudes from the outer edge cut surface 531 of the cleaning disc 51 is made of flexible material.

[0100] Specifically, in some embodiments of this application, the outer edge tangent 531 of the cleaning disc 51 in the axial direction may specifically include the plane where the lower surface of the cleaning disc 51 is located, while the outer edge tangent 531 of the cleaning disc 51 in the radial direction may specifically include the plane where the outer contour tangent of the cleaning disc 51 is located, which is parallel or perpendicular to the side wall of the window cleaning robot body 5.

[0101] In the axial direction, the outer edge of the cleaning head 1 does not protrude beyond the outer edge 531 of the cleaning disc 51, so that the cleaning end 12 of the cleaning head 1 is flush with the lower surface of the cleaning disc 51. The cleaning head 1 does not protrude beyond the lower surface of the cleaning disc 51, thereby reducing the impact of the cleaning head 1 on the cleaning of the cleaning disc 51. To a certain extent, this avoids the cleaning disc 51 from failing to fully contact the surface to be cleaned due to the contact between the cleaning head 1 and the surface to be cleaned, which helps to ensure the stable operation of the window cleaning robot. It can also reduce the impact on the adsorption effect of the window cleaning robot and improve the safety and reliability of the window cleaning robot's operation.

[0102] In the radial direction, the outer edge of the cleaning head 1 does not protrude beyond the outer edge cut surface 531 of the cleaning disc 51, thereby reducing the impact of the cleaning head 1 on the operation of the cleaning disc 51. This avoids, to some extent, the cleaning head 1 protruding too much from the outer contour of the window cleaning robot, which could obstruct the robot's operation. It also helps to prevent the cleaning head 1 from prematurely touching the frame area, which could lead to misjudgment of the frame shape and position by the window cleaning robot, thus avoiding affecting the cleaning effect on the extended cleaning area. The portion of the cleaning head 1 protruding beyond the outer edge cut surface 531 of the cleaning disc 51 is made of flexible material to adapt to the movement and cleaning needs of the window cleaning robot. The flexibility reduces the obstruction to the operation of the window cleaning robot, and the flexible material has a certain cushioning effect. Furthermore, the protruding portion of the cleaning head 1 can meet the cleaning needs of three-dimensional frame areas or sealing strip areas on the surface to be cleaned, further improving the comprehensiveness of the window cleaning robot's cleaning.

[0103] The embodiments of this application have at least the following beneficial effects: This application provides an extended cleaning device for a window cleaning robot and a window cleaning robot. The extended cleaning device can adjust the cleaning range of the window cleaning robot to adapt to the extended cleaning needs of the extended cleaning area, reduce the cleaning blind spots in the window cleaning robot during the cleaning process, and optimize the cleaning effect of the window cleaning robot. Specifically, the extended cleaning device can work in conjunction with the window cleaning robot body 5 to clean. When the window cleaning robot identifies an extended cleaning area that needs to be cleaned, the extended cleaning device can extend out of the window cleaning robot body 5 to clean the extended cleaning area, thereby expanding the cleaning coverage of the window cleaning robot and reducing the existence of cleaning blind spots. Furthermore, the extension device 2 has one or at least two operating modes, so that the cleaning head 1 has one or at least two forms of movement to adapt to the cleaning needs of different extended cleaning areas and optimize the cleaning effect of the window cleaning robot.

[0104] Example 2 See Figures 12-41 As shown, this application provides a cleaning method for a window cleaning robot, referring to... Figure 39 and Figure 40As shown, the window cleaning robot includes a robot body 5, a first cleaning tray 71, a second cleaning tray 72, and an extended cleaning device 8. The cleaning method includes: 100, control the relative rotation of the first and second cleaning discs to adjust the position of the window cleaning robot body relative to the extended cleaning area; 200, confirm that the window cleaning robot is positioned in the extended cleaning area in a preset posture. The preset posture includes: First condition: The extended cleaning device is facing the extended cleaning area; For example, in some embodiments of this application, the window cleaning robot can be the window cleaning robot described in the foregoing embodiments, or it can be a window cleaning robot with other structures. The extended cleaning area refers to the area formed by the intersection of the edges of the surface to be cleaned in a window cleaning robot scenario, which is distributed in a triangular or fan shape on the surface to be cleaned. Due to the specific shape of the window cleaning robot, there are usually cleaning blind spots in the extended cleaning area that the window cleaning robot cannot clean.

[0105] More specifically, in some embodiments of this application, the first cleaning tray and the second cleaning tray do not specifically refer to a particular cleaning tray of the window cleaning robot, but are related to the posture of the window cleaning robot. The cleaning tray that is closer to the extended cleaning area in the preset posture is the first cleaning tray, and the cleaning tray that is farther away from the extended cleaning area in the preset posture is the second cleaning tray. When the window cleaning robot is not in the preset posture, the positions of the first cleaning tray and the second cleaning tray can be swapped so that the window cleaning robot is in the preset posture.

[0106] 300, control the extended cleaning device to enter the extended cleaning area for cleaning.

[0107] Optionally, the cleaning robot's movement can drive the extended cleaning device to clean the surface to be cleaned, or the extended cleaning device itself can move to clean the surface to be cleaned; of course, there are no specific restrictions on the cleaning method of the extended cleaning device, nor are there specific restrictions on the number of times the surface to be cleaned can be cleaned.

[0108] Optionally, after determining that the window cleaning robot is positioned in the extended cleaning area in a preset posture, the window cleaning robot can directly control the extended cleaning device to enter the extended cleaning area for cleaning, or it can enter the extended cleaning area for cleaning after the window cleaning robot body and the extended cleaning area form a preset space.

[0109] Understandably, by controlling the relative rotation of the first and second cleaning discs, the position of the window cleaning robot body relative to the extended cleaning area is adjusted, and the window cleaning robot is positioned in the extended cleaning area with a preset posture. This achieves the adaptation of the window cleaning robot's cleaning position and posture to the extended cleaning area, enabling the window cleaning robot to form a good alignment relationship with the extended cleaning area. This enhances the matching degree between the window cleaning robot's posture and the shape of the extended cleaning area. The window cleaning robot's positioning in the extended cleaning area with the corresponding position and preset posture helps to improve the accuracy, repeatability, and reliability of the window cleaning robot's cleaning actions, improves the effectiveness of the window cleaning robot's cleaning effect, thereby reducing the generation of cleaning blind spots and optimizing the cleaning coverage of the window cleaning robot.

[0110] In an optional embodiment, the extended cleaning device 8 is located on the body 5 of the window cleaning robot. Controlling the extended cleaning device 8 to enter the extended cleaning area 6 for cleaning includes: The extended cleaning device 8 is controlled to move outward from the body 5 of the window cleaning robot and enter the extended cleaning area 6 to perform cleaning.

[0111] For example, the extended cleaning device 8 may be disposed on one or more of the top of the window cleaning robot body 5, the side wall of the window cleaning robot body 5, or the bottom of the window cleaning robot body 5.

[0112] Specifically, in some embodiments of this application, the extended cleaning device 8 is disposed on the side wall of the window cleaning robot body 5. Of course, there are no restrictions on the specific placement of the extended cleaning device 8.

[0113] More specifically, the extended cleaning device 8 is movably mounted on the window cleaning robot body 5 to extend or retract the window cleaning robot body 5, thereby changing the cleaning coverage area of ​​the window cleaning robot.

[0114] For example, the extended cleaning device 8 and the window cleaning robot body 5 can be connected by a hinge, specifically using a structure such as a pivot or hinge, and can be combined with a spring or magnet to provide positioning or resetting functions; the extended cleaning device 8 and the window cleaning robot body 5 can also be connected by a linkage mechanism, specifically using a planar four-bar linkage or other multi-bar hinge method, and can be combined with a motor or cylinder to drive one of the linkages; the extended cleaning device 8 and the window cleaning robot body 5 can also be connected by a sliding connection, specifically using a slider and slide rail sliding connection method, and can be combined with a motor or cylinder push rod motor or lead screw to drive the sliding, realizing the function of the extended cleaning device 8 entering the extended cleaning area and retracting the window cleaning robot body 5.

[0115] Of course, no restrictions are placed on the specific method or structure by which the extended cleaning device enters the preset space for cleaning.

[0116] In an optional embodiment, the window cleaning robot is confirmed to be positioned in a preset posture within the extended cleaning area, the preset posture including: Second condition: The extended cleaning device is located on the side of the window cleaning robot body near the extended cleaning area.

[0117] Specifically, the second condition includes: the extended cleaning device is located on the side wall of the window cleaning robot body near the extended cleaning area.

[0118] The side wall of the window cleaning robot body that is closest to the extended cleaning area can be either the left or right side area with the central axis of the window cleaning robot body as the dividing line. Specifically, it includes the accommodating space inside the window cleaning robot body and the wall outside the window cleaning robot body. For example, the drive and transmission components of the extended cleaning device can be set in the accommodating space of the window cleaning robot body, while the cleaning head and other cleaning parts are set on the wall outside the window cleaning robot body.

[0119] Understandably, the extended cleaning device is located on the body of the window cleaning robot, specifically on the side wall near the extended cleaning area. Compared to having the extended cleaning device located on the side of the window cleaning robot away from the extended cleaning area, this shortens the cleaning path required for the robot to clean blind spots and reduces the likelihood of interference between the robot body and the frame, thus reducing the difficulty of controlling the cleaning path and helping to optimize the cleaning effect of the window cleaning robot.

[0120] In an optional embodiment, the preset posture further includes: a third condition: the first cleaning disc is closer to the extended cleaning area relative to the second cleaning disc; Controlling the extended cleaning device to enter the extended cleaning area for cleaning includes: The extended cleaning device is controlled to enter the extended cleaning area from one side of the first cleaning tray to perform cleaning.

[0121] In some embodiments of this application, the distance between the first cleaning tray, the second cleaning tray, and the extended cleaning area in the third condition can be determined based on the center point of the first cleaning tray, the center point of the second cleaning tray, and the corner point of the extended cleaning area. The corner point refers to the connection point between the two extended border lines of the extended cleaning area. If the distance between the center point and the corner point of the first cleaning tray is less than the distance between the center point and the corner point of the second cleaning tray, then the first cleaning tray is considered to be closer to the extended cleaning area relative to the second cleaning tray. Of course, there are no restrictions on the specific criteria for determining the third condition.

[0122] Understandably, the preset posture includes: the first cleaning disc is closer to the extended cleaning area than the second cleaning disc. This achieves control over the relative relationship between the first cleaning disc, the second cleaning disc, and the extended cleaning area during the window cleaning robot's cleaning process. This allows the window cleaning robot to maintain a consistent posture when cleaning different extended cleaning areas, thus adapting to the cleaning needs of different extended cleaning areas and reducing the difficulty of cleaning path calculation and control. Furthermore, the extended cleaning device enters the extended cleaning area from one side of the first cleaning disc, and since the first cleaning disc is closer to the extended cleaning area than the second cleaning disc, it can clean the extended cleaning area more quickly without needing to rotate significantly, which helps improve cleaning efficiency.

[0123] The addition of a second and third condition to the preset posture further improves the posture control accuracy of the window cleaning robot, achieving effective matching between the robot's posture, initial position, cleaning range, and extended cleaning area. This further enhances the accuracy and consistency of the cleaning process and effectively reduces the generation of blind spots in the extended cleaning area.

[0124] Specifically, please refer to Figure 13 As shown, at this time, the window cleaning robot is in a preset posture, with the first edge 61 and the second edge 62 forming an extended cleaning area 6, which is located in the upper left corner; the first cleaning tray 71 is located above the second cleaning tray 72, and the first cleaning tray 71 is closer to the extended cleaning area 6 than the second cleaning tray 72, thus satisfying the third condition; correspondingly, after extending the first cleaning tray 71, the extended cleaning device 8 can face the extended cleaning area 6, that is, the extended cleaning device 8 is facing the extended cleaning area 6 between the first edge 61 and the second edge 62, thus satisfying the first condition; the side wall of the window cleaning robot body 5 where the extended cleaning device 8 is located is the left side of the window cleaning robot in the figure, close to the upper left extended cleaning area 6, thus satisfying the second condition.

[0125] In an optional embodiment, after confirming that the window cleaning robot is positioned in a preset posture in the extended cleaning area, the cleaning method further includes: at least controlling the first cleaning disc to move away from the extended cleaning area; Specifically, in some embodiments of this application, the first cleaning disc is controlled to move in a direction away from the extended cleaning area.

[0126] In this process, controlling the first cleaning disc to be away from the extended cleaning area serves two purposes. First, it provides ample space for the extended cleaning device to move, reducing obstacles to its extension and facilitating subsequent adjustments. It also allows the extended cleaning device to adapt to the area of ​​the extended cleaning area, ensuring that the cleaning coverage of the window cleaning robot matches the size of the extended cleaning area, thus effectively improving the cleaning coverage. Second, it enables the window cleaning robot to form a pre-defined space with the extended cleaning area, achieving both the positioning of the extended cleaning area to be cleaned and the calibration of the window cleaning robot's posture and position. This ensures that the extended cleaning device of the window cleaning robot can point towards the extended cleaning area after extension, thereby optimizing the cleaning effect of the extended cleaning device.

[0127] Specifically, in some embodiments of this application, both the first cleaning disc and the second cleaning disc may be controlled to be far away from the extended cleaning area.

[0128] For reference Figure 13 As shown, when the window cleaning robot moves to the preset position, the side wall of the window cleaning robot body 5, the first edge 61, and the second edge 62 together form a preset space 63.

[0129] Specifically, in some embodiments of this application, reference is made to Figure 15 and Figure 16 As shown, the window cleaning robot is positioned in the extended cleaning area in a preset posture, referring to... Figure 17 As shown, the first cleaning disc 71 is controlled to swing clockwise around the second cleaning disc 72 at a preset angle, so that the first cleaning disc 71 moves away from the extended cleaning area 6, and so that the window cleaning robot and the extended cleaning area 6 form a preset space 63. The preset space 63 can provide sufficient extension space for the extended cleaning device 8 to prevent interference between the extended cleaning device 8 and the edge of the surface to be cleaned during the extension process to a large extent; then the extended cleaning device 8 is controlled to extend, referring to... Figure 18 As shown, the first cleaning disc 71 is then controlled to rotate counterclockwise around the second cleaning disc 72, driving the extended cleaning device 8 into the preset space 63 for cleaning. The first cleaning disc 71 then swings clockwise around the second cleaning disc 72 again, completing the cleaning of the preset space 63. Figure 19 As shown, the extended cleaning device 8 is then retrieved. Of course, there are no specific restrictions on the cleaning method of the extended cleaning device; it can be that the movement of the window cleaning robot drives the extended cleaning device to clean the surface, or the movement of the extended cleaning device itself cleans the surface. There are also no specific restrictions on the number of times the surface is cleaned. Cleaning of other extended cleaning areas can be referenced. Figure 24 , Figure 30 and Figure 37 As shown.

[0130] Reference Figures 39 to 41As shown, the extended cleaning device 8 extends gradually from the first cleaning disc 71 and rotates at a certain angle during the extension process to enter the preset space 63.

[0131] In an optional embodiment, determining that the window cleaning robot is positioned in a preset posture within the extended cleaning area includes: Second condition: The extended cleaning device is located on the side of the window cleaning robot body closest to the extended cleaning area; Third condition: The first cleaning tray is closer to the extended cleaning area than the second cleaning tray; Control the window cleaning robot to move toward the extended cleaning area in a first posture. The first posture has the same or basically the same three conditions as the preset posture: the first cleaning disc of the window cleaning robot is closer to the extended cleaning area than the second cleaning disc, the extended cleaning device is located on the side wall of the window cleaning robot body close to the extended cleaning area, and the extended cleaning device is facing the extended cleaning area. The preset posture refers to the posture that the window cleaning robot needs to achieve before cleaning the blind spots of the extended cleaning area. Before reaching the preset position, the window cleaning robot can have multiple postures, which may meet one or more of the three conditions of the preset posture, or none of the three conditions may be met. During the process of the window cleaning robot moving towards the preset position in a certain posture, it gradually adjusts its posture by recognizing the first edge and the second edge so that it can present the preset posture after reaching the preset position.

[0132] Understandably, by decomposing the preset posture according to conditions, the window cleaning robot can be controlled separately for different conditions during the cleaning process. This significantly reduces the control difficulty of the window cleaning robot during the cleaning process, effectively improves the accuracy and effectiveness of the window cleaning robot's posture control, facilitates direct comparison between the actual posture of the window cleaning robot and the preset posture, thereby determining the actual posture difference of the window cleaning robot and helping to adjust the posture of the window cleaning robot.

[0133] After the first cleaning disc identifies the first edge of the extended cleaning area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the extended cleaning area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the extended cleaning area in a preset posture.

[0134] The first and second edges are set at an angle, and their extension lines connect to form an extended cleaning area. The first and second edges can be directly connected or spaced apart, depending on the specific surface to be cleaned; no restrictions are imposed on either. When the window cleaning robot moves to a preset position, it forms a preset space with the first and second edges. This preset space mainly includes the cleaning blind spots that the window cleaning robot may encounter within the extended cleaning area. The window cleaning robot is controlled to move towards the extended cleaning area in a preset posture. During the process of the window cleaning robot recognizing the first and second edges, adjustments to the robot's operating posture ensure that it remains in the preset posture.

[0135] Specifically, refer to Figure 14 As shown, the first cleaning disc 71 of the window cleaning robot is closer to the extended cleaning area 6 than the second cleaning disc 72. The extended cleaning device 8 is located on the side wall of the window cleaning robot body 5 near the extended cleaning area. The extended cleaning device 8 extends out of the first cleaning disc 71 and is at least partially facing the extended cleaning area 6, which is the same as or substantially the same as the preset posture. That is, the window cleaning robot is in the first posture. The extended cleaning area 6 in the figure mainly indicates the approximate location of the cleaning blind area and does not limit the specific range of the extended cleaning area 6.

[0136] The window cleaning robot may include the following during its operation in the extended cleaning area, following the initial posture: (Refer to...) Figure 15 As shown, the window cleaning robot first moves to the left to reach the left edge, that is, it identifies the first edge 61 of the extended cleaning area 6, referring to... Figure 16 As shown, the second cleaning disc 72 rotates counterclockwise around the first cleaning disc 71 to a horizontal or near-horizontal state, adjusting the operating posture of the window cleaning robot. Then, the first cleaning disc 71 and the second cleaning disc 72 alternately move upwards, so that the first cleaning disc 71 moves to the top edge, that is, it identifies the second edge 62 of the extended cleaning area, confirming that the window cleaning robot has reached the extended cleaning area 6. The second cleaning disc 72 rotates clockwise around the first cleaning disc 71 to straighten, adjusting the operating posture of the window cleaning robot again, so that the window cleaning robot returns to its original posture and is positioned in the extended cleaning area 6 in a preset posture.

[0137] Understandably, the sequential identification of the first and second edges of the extended cleaning area by the window cleaning robot serves several purposes. First, it helps determine the specific shape of the extended cleaning area, allowing the robot's posture to be compared and calibrated based on this morphological information. Second, the robot's identification of the first and second edges of the extended cleaning area effectively cleans the area itself, improving its cleaning performance. Third, the identification process helps adjust the robot's position, ensuring it can effectively clean blind spots within the extended cleaning area and maintain the accuracy and consistency of its cleaning actions across different areas, thus guaranteeing the effectiveness of the cleaning process.

[0138] Furthermore, the identification of the first and second edges is achieved using the first and / or second cleaning discs, eliminating the need for additional sensors, thus reducing manufacturing costs and lowering the additional energy consumption of the cleaning equipment.

[0139] In an optional embodiment, refer to Figure 20 , Figure 26 and Figure 32 As shown, the window cleaning robot is confirmed to be positioned in the extended cleaning area in a preset posture, including: Control the window cleaning robot to move toward the extended cleaning area in a non-preset posture, wherein the non-preset posture differs from the preset posture in at least one condition; After the first cleaning disc identifies the first edge of the extended cleaning area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the extended cleaning area, it confirms that the window cleaning robot is positioned in the extended cleaning area in a preset posture.

[0140] Understandably, when the window cleaning robot is controlled to run towards the extended cleaning area in a non-preset posture, adjustments to the robot's position are inserted during the process of the robot identifying the first and second edges. This helps to adjust the robot's position so that it meets the cleaning needs of blind spots in the extended cleaning area; it also helps to adjust the robot's actual posture so that it meets the conditions of the preset posture. By adjusting and calibrating the position and posture of the window cleaning robot, the accuracy and consistency of the cleaning actions of the window cleaning robot in different extended cleaning areas of the surface to be cleaned are maintained, thereby ensuring the cleaning effect of the window cleaning robot.

[0141] Specifically, in an optional embodiment, confirming that the window cleaning robot is positioned in a preset posture within the extended cleaning area includes: Control the window cleaning robot to move toward the extended cleaning area in either a second or third posture. The second posture differs from the preset posture in that the second condition is that the extended cleaning device is located on the side of the window cleaning robot body away from the extended cleaning area. The third posture differs from the preset posture in that the third condition is that the first cleaning tray is away from the extended cleaning area relative to the second cleaning tray, and the first condition is that the extended cleaning device faces away from the extended cleaning area. Reference Figure 20 As shown, the extended cleaning area 6 is located on the right side of the window cleaning robot, while the extended cleaning device 8 is located on the left side of the window cleaning robot. That is, the extended cleaning device 8 is located on the side of the window cleaning robot body 5 away from the extended cleaning area 6. At this time, the window cleaning robot's posture is different from the preset posture in the second condition. Therefore, the window cleaning robot is in the second posture.

[0142] Reference Figure 26 As shown, the first cleaning disc 71 of the window cleaning robot is farther away from the extended cleaning area 6 than the second cleaning disc 72. At this time, the window cleaning robot's posture differs from the preset posture in the third condition. The extended cleaning area 6 is located on the left side of the window cleaning robot, and the extended cleaning device 8 is also located on the left side of the window cleaning robot, but the extended cleaning device 8 is not facing the extended cleaning area 6, that is, the extended cleaning device 8 is facing away from the extended cleaning area 6. At this time, the window cleaning robot's posture differs from the preset posture in the first condition. Therefore, the window cleaning robot is in the third posture.

[0143] After the first cleaning disc identifies the first edge of the extended cleaning area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the extended cleaning area, it confirms that the window cleaning robot is positioned in the extended cleaning area according to the preset posture.

[0144] More specifically, in an optional embodiment, after the window cleaning robot is operating in a second posture and the first cleaning disc detects the first edge of the extended cleaning area, the second cleaning disc of the window cleaning robot is adjusted to rotate clockwise around the first cleaning disc in order to adjust the operating posture of the window cleaning robot. Reference Figure 21 As shown, the window cleaning robot, in its second posture, moves to the right to reach the right frame, that is, it identifies the first edge 61 of the extended cleaning area, and then, referring to... Figure 22As shown, the second cleaning disc 72 rotates around the first cleaning disc 71 towards the extended cleaning area 6, at least until the first cleaning disc 71 and the second cleaning disc 72 are horizontal or nearly horizontal, so that the extended cleaning device 8 is located on the side wall of the window cleaning robot body 5 near the extended cleaning area 6, completing the adjustment of the window cleaning robot's operating posture. The window cleaning robot's posture is the same as or substantially the same as the three conditions of the preset posture. The window cleaning robot moves alternately with the first cleaning disc 71 and the second cleaning disc 72, and after reaching the upper frame, that is, the second edge 62 of the extended cleaning area, the window cleaning robot is positioned in the extended cleaning area 6 according to the preset posture, referring to... Figure 23 As shown, at least the first cleaning disc 71 is kept away from the extended cleaning area 6, providing ample space for the operation of the extended cleaning device 8.

[0145] When the window cleaning robot is operating in the third posture, and the first cleaning disc detects the first edge of the extended cleaning area, the second cleaning disc of the window cleaning robot is adjusted to rotate counterclockwise around the first cleaning disc in order to adjust the operating posture of the window cleaning robot.

[0146] Reference Figure 27 As shown, the window cleaning robot, in its third posture, moves to the left to reach the left edge of the extended cleaning area, i.e., it detects the first edge 61 of the extended cleaning area. Then, the second cleaning disc 72 rotates around the first cleaning disc 71 in a direction away from the extended cleaning area 6, at least until the first cleaning disc 71 and the second cleaning disc 72 are horizontal or nearly horizontal, thus adjusting the operating posture of the window cleaning robot. This makes the first cleaning disc 71 closer to the extended cleaning area 6 than the second cleaning disc 72, and causes the extended cleaning device 8 to gradually move towards the extended cleaning area 6. The posture of the window cleaning robot is the same as or substantially the same as the three conditions of the preset posture; see reference. Figure 28 As shown, the window cleaning robot moves alternately with the first cleaning disc 71 and the second cleaning disc 72, reaching the lower edge of the frame, i.e., the second edge 62 of the extended cleaning area. At this point, the window cleaning robot is positioned in the extended cleaning area 6 according to a preset posture; refer to Figure 29 As shown, at least the first cleaning disc 71 is kept away from the extended cleaning area 6, providing ample space for the operation of the extended cleaning device 8.

[0147] In an optional embodiment, such as Figure 32 As shown, the window cleaning robot is confirmed to be positioned in the extended cleaning area in a preset posture, including: The window cleaning robot is controlled to move toward the extended cleaning area in a fourth posture. The fourth posture differs from the preset posture in the following aspects: the third condition is that the first cleaning disc is far away from the extended cleaning area relative to the second cleaning disc; the second condition is that the extended cleaning device is located on the side wall of the window cleaning robot body away from the extended cleaning area; and the first condition is that the extended cleaning device faces away from the extended cleaning area. Reference Figure 32As shown, the first cleaning disc 71 of the window cleaning robot is farther away from the extended cleaning area 6 than the second cleaning disc 72. At this time, the window cleaning robot's posture differs from the preset posture in the third condition: the extended cleaning area 6 is located on the right side of the window cleaning robot, while the extended cleaning device 8 is located on the left side of the window cleaning robot. That is, the extended cleaning device 8 is located on the side of the window cleaning robot body 5 that is farther away from the extended cleaning area 6. At this time, the window cleaning robot's posture differs from the preset posture in the second condition: the extended cleaning device 8 is not facing the extended cleaning area 6. That is, the extended cleaning device 8 is facing away from the extended cleaning area 6. At this time, the window cleaning robot's posture differs from the preset posture in the first condition. Therefore, the window cleaning robot is in the fourth posture.

[0148] Control the relative positions of the first cleaning disc and the second cleaning disc to make the first cleaning disc move closer to the extended cleaning area relative to the second cleaning disc; For example, in some embodiments of this application, the relative positions of the first cleaning disc and the second cleaning disc are changed by controlling the first cleaning disc to rotate around the second cleaning disc to a horizontal state and controlling the second cleaning disc to rotate around the first cleaning disc to a vertical state, or by controlling the second cleaning disc to rotate around the first cleaning disc to a horizontal state and controlling the first cleaning disc to rotate around the second cleaning disc to a vertical state.

[0149] After the first cleaning disc identifies the first edge of the extended cleaning area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the extended cleaning area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the extended cleaning area in a preset posture.

[0150] Reference Figure 33 As shown, the window cleaning robot first controls the first cleaning disc 71 to rotate counterclockwise around the second cleaning disc 72 to a horizontal position, and then controls the second cleaning disc 72 to rotate counterclockwise around the first cleaning disc 71 to a vertical position, thereby changing the relative positions of the first cleaning disc 71 and the second cleaning disc 72, so that the operating posture of the window cleaning robot meets the first, second, and third conditions; refer to Figure 34 As shown, the first cleaning disc 71 and the second cleaning disc 72 move alternately to the right to reach the right side frame, identifying the first edge 61 of the extended cleaning area 6; refer to Figure 35As shown, the second cleaning disc 72 rotates counterclockwise around the first cleaning disc 71 to a horizontal or near-horizontal position, adjusting the operating posture of the window cleaning robot. Then, the first and second cleaning discs 71 and 72 move alternately downwards to the bottom edge, identifying the second edge 62 of the extended cleaning area, determining the shape information of the extended cleaning area 6, and confirming that the window cleaning robot has reached the extended cleaning area 6 in the lower right corner. Then, the second cleaning disc 72 rotates clockwise around the first cleaning disc 71 to a vertical position; at this point, the window cleaning robot returns to its preset posture. (Refer to...) Figure 36 As shown, at least the first cleaning disc 71 is kept away from the extended cleaning area 6, providing ample space for the operation of the extended cleaning device 8.

[0151] Understandably, in the embodiments of this application, the window cleaning robot performs corresponding cleaning steps based on its different poses in the extended cleaning area, so that the window cleaning robot can adapt to different poses without strictly controlling the initial pose of the window cleaning robot. The initial posture of the window cleaning robot can be a first posture that basically conforms to the preset posture, or a second, third, or fourth posture that does not conform to the preset posture. When the initial posture of the window cleaning robot conforms to the preset posture, the window cleaning robot adjusts its posture during the recognition of the first and second edges to make the operating posture after the recognition is consistent with the initial posture. When the initial posture of the window cleaning robot does not conform to the preset posture, the operating trajectory of the window cleaning robot during the recognition of the first and second edges is reused. By naturally rotating the first and second cleaning discs during the recognition of the first and second edges, the operating posture of the window cleaning robot is gradually adjusted to conform to the preset posture, thereby ensuring effective cleaning of blind spots.

[0152] Furthermore, based on the differences in conditions between the second, third, and fourth postures and the preset posture, this application embodiment also adopts different posture adjustment strategies to achieve differentiated control. This enables the window cleaning robot to not only adjust its own posture but also optimize the smoothness of the recognition process of the first and second edges, thereby improving the cleaning efficiency of the window cleaning robot.

[0153] During the identification of the first and second edges, the first or second cleaning disc of the window cleaning robot needs to gradually touch the first and second edges. This effectively calibrates the robot's position and locates the specific location of blind spots within the extended cleaning area. By transforming the steps of calibrating the robot's position and locating the specific location of blind spots within the extended cleaning area into the identification of the first and second edges, the window cleaning robot can adapt to different extended cleaning areas within the same surface to be cleaned, and different extended cleaning areas within different surfaces to be cleaned, significantly improving its adaptability to different cleaning scenarios. As mentioned earlier, the window cleaning robot can adjust its posture based on different extended cleaning areas, ensuring that its posture conforms to a preset posture. Through the identification of the first and second edges, the robot's position is calibrated and the blind spots are located. The robot's posture, position, and the location of the blind spots are determined, thereby improving the accuracy and consistency of subsequent window cleaning work and enhancing the cleaning effect on blind spots.

[0154] In an optional embodiment, the relative positions of the first cleaning disc and the second cleaning disc are changed, and after the first cleaning disc identifies the first edge of the extended cleaning area, the second cleaning disc is controlled to identify the second edge of the extended cleaning area.

[0155] Reference Figure 33 As shown, the window cleaning robot first controls the first cleaning disc 71 to rotate counterclockwise around the second cleaning disc 72 to a horizontal position, and then controls the second cleaning disc 72 to rotate counterclockwise around the first cleaning disc 71 to a vertical position, thereby changing the relative positions of the first cleaning disc 71 and the second cleaning disc 72; combined with Figure 34 and Figure 35 As shown, the window cleaning robot identifies the first edge 61 of the extended cleaning area 6, controls the second cleaning disc 72 to rotate counterclockwise around the first cleaning disc 71 to a horizontal state, and controls the first cleaning disc 71 and the second cleaning disc 72 to move alternately, reaching the bottom edge of the frame through the second cleaning disc 72, and identifies the second edge 62 of the extended cleaning area.

[0156] Understandably, after the relative positions of the first and second cleaning discs change, the window cleaning robot's posture conforms to the preset posture. As mentioned earlier, during the cleaning of the extended cleaning area, it is necessary to control at least the first cleaning disc to move away from the extended cleaning area. If the first cleaning disc is controlled to continue to determine the second edge, the position of the second cleaning disc needs to be adjusted in subsequent steps. However, by directly controlling the second cleaning disc to reach and identify the second edge of the extended cleaning area, the extended cleaning device can smoothly achieve full coverage cleaning of the blind spots as the window cleaning robot swings along with its body. Furthermore, it optimizes the effective connection of the window cleaning robot's cleaning steps and improves the smoothness of the window cleaning robot's cleaning process.

[0157] In an optional embodiment, refer to Figure 18 , Figure 24 , Figure 30 and Figure 37 As shown, after the extended cleaning device 8 enters the extended cleaning area 6 for cleaning, the extended cleaning device 8 is controlled to exit from the extended cleaning area 6, and a secondary cleaning is performed during the exit process.

[0158] Specifically, in some embodiments of this application, the extended cleaning device enters the extended cleaning area as the window cleaning robot swings, and exits the extended cleaning area as the window cleaning robot swings. After entering the extended cleaning area, the extended cleaning device contacts the surface to be cleaned in the extended cleaning area, thus completing the cleaning of the extended cleaning area as the window cleaning robot swings. Of course, there are no restrictions on the specific manner in which the extended cleaning device enters and exits the extended cleaning area.

[0159] Understandably, when the extended cleaning device enters the extended cleaning area for cleaning, there is a corresponding step of exiting the extended cleaning area. After the extended cleaning device enters the extended cleaning area and completes the first round of wiping, it completes the second round of wiping during the exit process. This reuses the necessary movement process of the extended cleaning device without adding extra cleaning paths or cleaning time, effectively improving the cleaning efficiency of the extended cleaning device.

[0160] The first round of wiping cleaning when the extended cleaning device enters the extended cleaning area can remove most of the stains, while the second round of wiping cleaning when the extended cleaning device exits the extended cleaning area can remove the particles left by the first round of wiping cleaning. If cleaning solution or water is used during the cleaning process of the extended cleaning device, the second round of wiping cleaning also helps to remove trace amounts of wastewater film, so as to reduce the water marks left during the subsequent drying process and optimize the cleaning effect of the window cleaning robot.

[0161] In an optional embodiment, when the extended cleaning device reaches a predetermined position during its entry into the extended cleaning area, the extended cleaning device is controlled to spray cleaning fluid, and during the withdrawal of the extended cleaning device, the cleaned cleaning fluid is carried out.

[0162] For example, in some embodiments of this application, the extended cleaning device is controlled to perform reciprocating oscillation cleaning within a preset space, and when the extended cleaning device reaches a predetermined position, the extended cleaning device is controlled to spray cleaning liquid. Before the extended cleaning device sprays cleaning liquid, the extended cleaning device performs a wiping cleaning of the preset cleaning space at least once, and after the extended cleaning device sprays cleaning liquid, the extended cleaning device performs a wiping cleaning of the preset cleaning space at least once.

[0163] Understandably, extended cleaning areas often involve accumulated grime, adhesive dirt from adhesive strips, and a layer of fine dust. If cleaning fluid is sprayed directly, it is easily trapped by surface dust, failing to effectively penetrate the surface. Before spraying the cleaning fluid, the extended cleaning device wipes the pre-defined space, removing easily removable dust and loose grime, allowing the cleaning fluid to penetrate the surface, improving stain dissolution efficiency and reducing the amount of cleaning fluid needed. After spraying the cleaning fluid, the fluid mixes thoroughly with stubborn stains, softening and dissolving them. Wiping this softened or dissolved layer further removes stubborn stains and carries away the dissolved cleaning fluid. By controlling the wiping and spraying of the cleaning fluid, the cleaning process of the extended cleaning device in the pre-defined space is effectively improved, enhancing the cleaning effect of the window cleaning robot on blind spots within the extended cleaning area.

[0164] In an optional embodiment, refer to Figure 19 , Figure 25 , Figure 31 and Figure 38 As shown, after the extended cleaning device is withdrawn, it is retrieved, and the window cleaning robot is controlled to run to the extended cleaning area again for re-cleaning.

[0165] Specifically, in some embodiments of this application, taking the cleaning of a certain extended cleaning area as an example, it can be referred to... Figure 18 and Figure 19 As shown, the first cleaning disc 71 rotates counterclockwise around the second cleaning disc 72 by a preset distance or angle, so that the first cleaning disc 71 wipes and cleans the area between the extended cleaning device 8 and the first cleaning disc 71 that was missed. Then, the first cleaning disc 71 rotates clockwise around the second cleaning disc 72 to reset, which is equivalent to wiping and cleaning the missed area again, thus completing the cleaning of the extended cleaning area 6. The secondary cleaning process for other extended cleaning areas is the same as or similar to that of this extended cleaning area, and will not be described in detail here. For specific details, please refer to [reference needed]. Figure 25 , Figure 31 and Figure 38 As shown.

[0166] The preset distance or preset angle of rotation of the first cleaning disc can be determined based on the size of the missed area, so that the first cleaning disc at least covers the missed area during the cleaning process.

[0167] Understandably, retracting the extended cleaning device reduces the cleaning coverage area of ​​the window cleaning robot, thus improving its cleaning flexibility. Furthermore, retracting the extended cleaning device prevents the cleaning fluid from being pushed back into the pre-set space during the robot's movement, thereby minimizing contamination of the cleaned area. The window cleaning robot then moves to the extended cleaning area for re-cleaning, primarily to remove the cleaning fluid carried out of the pre-set space by the extended cleaning device, improving the consistency and effectiveness of the cleaning.

[0168] The embodiments of this application have at least the following beneficial effects: This application provides a window cleaning robot cleaning method. Based on the specific shape of the extended cleaning area, the window cleaning robot is controlled to clean in a preset posture, so that the cleaning range of the window cleaning robot matches the shape of the extended cleaning area, effectively reducing the generation of cleaning blind spots. Specifically, during the cleaning process of the extended cleaning area, the position of the window cleaning robot body relative to the extended cleaning area is adjusted by rotating the first and second cleaning discs relative to each other, and the window cleaning robot is positioned in the extended cleaning area with a preset posture, thus achieving the matching of the window cleaning robot's position, posture and the shape of the extended cleaning area; the extended cleaning device is controlled to extend outward from the window cleaning robot body, changing the cleaning coverage range of the window cleaning robot so that the cleaning coverage range of the window cleaning robot is adapted to the area of ​​the extended cleaning area to be cleaned; based on the matching of the window cleaning robot's posture, position, cleaning range and the extended cleaning area to be cleaned, the extended cleaning device is used to enter the extended cleaning area for cleaning, improving the accuracy and consistency of the cleaning process, effectively optimizing the cleaning effect of the window cleaning robot and reducing the generation of cleaning blind spots.

[0169] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0170] Those skilled in the art will understand that the modules in the apparatus of the implementation scenario can be distributed within the apparatus of the implementation scenario as described, or they can be located in one or more apparatuses different from this implementation scenario, with corresponding changes. The modules of the above-described implementation scenario can be combined into one module, or they can be further divided into multiple sub-modules.

[0171] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of the implementation scenario.

[0172] The above disclosures are only a few specific implementation scenarios of this application. However, this application is not limited to these. Any variations that can be conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. An extension cleaning device for a window cleaning robot, used in conjunction with the robot body for cleaning, characterized in that, include: A cleaning head and an extension device, wherein the extension device is used to drive the cleaning head to move; The extension device has one or at least two modes of motion, so that the cleaning head has one or at least two modes of motion; When the window cleaning robot identifies an extended cleaning area on the surface to be cleaned, the extension device is used to drive the cleaning head into the extended cleaning area for cleaning. The cleaning method of the cleaning head includes at least one of flat wiping and rotary wiping.

2. The extended cleaning device according to claim 1, characterized in that, The cleaning head is also used to spray cleaning liquid onto the surface to be cleaned. When the cleaning head performs at least one of flat wiping and rotary wiping, the cleaning head can also be combined with wet wiping for cleaning.

3. The extended cleaning device according to claim 1, characterized in that, The extended cleaning device also includes: a power unit and a motion mode conversion device, wherein the power unit outputs power, and the motion mode conversion device is used to transmit the power of the power unit to the extended device; or to simultaneously change the motion mode of the power unit during the process of transmitting the power of the power unit to the extended device, so that when the extended device receives power, the extended device has one or at least two motion modes.

4. The extended cleaning device according to claim 3, characterized in that, The power unit outputs power, and the motion conversion device is used to enable the extension device to have not only a flipping motion but also a linear motion.

5. The extended cleaning device according to claim 3, characterized in that, The motion conversion device includes a primary conversion device and a secondary conversion device. The primary conversion device is connected to the power device, and the secondary conversion device is connected to the extension device. The first-stage conversion device enables the extension device to have a first type of motion, and the second-stage conversion device enables the extension device to have a second type of motion.

6. The extended cleaning device according to claim 5, characterized in that, The primary conversion device includes a spiral conversion device, the power device rotates to output power, and the spiral conversion device is used to convert the motion of the extension device into linear motion; The secondary conversion device includes a guide groove type conversion device, which also causes the extension device to have a flipping motion during the linear movement of the extension device.

7. The extended cleaning device according to claim 5, characterized in that, The primary conversion device is connected to the extension device via a traction member. During the rotation of the primary conversion device, the traction member drives the extension device to move linearly. The extension device is set in the spiral guide groove of the secondary conversion device by a guide member. During the linear movement of the extension device, the guide member moves in the spiral guide groove of the secondary conversion device so that the extension device performs linear movement and flipping movement synchronously.

8. The extended cleaning device according to claim 3, characterized in that, The power unit and the motion conversion device are located in the same row; Alternatively, the power unit and the motion conversion device are located in two rows, and the power unit and the motion conversion device are connected by a motion transmission component.

9. The extended cleaning device according to claim 1, characterized in that, The cleaning head is a sheet-shaped cleaning head, which includes a connecting end and a cleaning end. The extension device is connected to the connecting end, and the cleaning end is used to perform scraping cleaning on the extended cleaning area.

10. The extended cleaning device according to claim 1, characterized in that, The extended cleaning area is a blind spot or an area requiring deep cleaning. When the window cleaning robot detects the blind spot or the area requiring deep cleaning, the extension device is used to drive the cleaning head into the blind spot or the area requiring deep cleaning for cleaning.

11. A window cleaning robot, comprising a window cleaning robot body and an extended cleaning device as described in any one of claims 1-10, wherein the extended cleaning device is used to cooperate with the window cleaning robot body to perform cleaning.

12. The window cleaning robot according to claim 11, characterized in that, It also includes a cleaning tray, which is installed on the body of the window cleaning robot. The cleaning tray protrudes from the outer edge of the body of the window cleaning robot, and a placement space is formed between the protruding part of the cleaning tray and the side wall of the body of the window cleaning robot. When the extended cleaning device is in the first state, the extended cleaning device is housed in the placement space; When the extended cleaning device is in the second state, the extended cleaning device extends out of the placement space.

13. The window cleaning robot according to claim 12, characterized in that, The cleaning head includes a connecting end and a cleaning end. When the extended cleaning device is housed in the placement space, the cleaning head is placed in the placement space, wherein the connecting end of the cleaning head is closer to the cleaning disc than the cleaning end, or the connecting end of the cleaning head is flush with the cleaning end. During the process of the cleaning head moving from the first state to the second state, the motion form conversion device of the extended cleaning device is used to move the cleaning head from the placement space to the surface to be cleaned, and to change the orientation of the cleaning head so that the cleaning end moves to the surface to be cleaned.

14. The window cleaning robot according to claim 11, characterized in that, When the extended cleaning device is in the first state, the outer edge of the cleaning head does not protrude beyond the outer edge of the cleaning disc of the window cleaning robot in both the axial and radial directions. When the extended cleaning device is in the second state, the outer edge of the cleaning head does not protrude beyond the outer edge of the cleaning disc in the axial and radial directions, or the portion of the cleaning head that protrudes beyond the outer edge of the cleaning disc is made of a flexible material.

15. A cleaning method using a window cleaning robot, characterized in that, The window cleaning robot includes a robot body, a first cleaning tray, a second cleaning tray, and an extended cleaning device. The cleaning method includes: Control the relative rotation of the first and second cleaning discs to adjust the position of the window cleaning robot body relative to the extended cleaning area; Confirm that the window cleaning robot is positioned in the extended cleaning area in a preset posture, the preset posture including: first condition: the extended cleaning device is facing the extended cleaning area; Control the extended cleaning device to enter the extended cleaning area for cleaning.

16. The cleaning method according to claim 15, characterized in that, The preset posture includes: second condition: the extended cleaning device is located on the side of the window cleaning robot body close to the extended cleaning area.

17. The cleaning method according to claim 15, characterized in that, The preset posture also includes: a third condition: the first cleaning tray is closer to the extended cleaning area relative to the second cleaning tray; The control of the extended cleaning device to enter the extended cleaning area for cleaning includes: The extended cleaning device is controlled to enter the extended cleaning area from one side of the first cleaning tray to perform cleaning.

18. The cleaning method according to claim 15, characterized in that, After confirming that the window cleaning robot is positioned in the extended cleaning area in a preset posture, the cleaning method further includes: At least control the first cleaning tray away from the extended cleaning area; When the first cleaning disc moves to a preset position and forms a preset space with the window cleaning robot and the extended cleaning area, the extended cleaning device is controlled to enter the preset space for cleaning. The extended cleaning device extends outward from one side of the first cleaning disc to enter the preset space.

19. The cleaning method according to claim 15, characterized in that, Determining that the window cleaning robot is positioned in a preset posture within the extended cleaning area includes: Second condition: The extended cleaning device is located on the side of the window cleaning robot body closest to the extended cleaning area; Third condition: The first cleaning tray is closer to the extended cleaning area relative to the second cleaning tray; The window cleaning robot is controlled to move toward the extended cleaning area in a first posture, wherein the first posture has the same or substantially the same three conditions as the preset posture; After the first cleaning disc detects the first edge of the extended cleaning area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge; After the first cleaning disc detects the second edge of the extended cleaning area, it readjusts the operating posture of the window cleaning robot so that the window cleaning robot is positioned in the extended cleaning area in a preset posture.

20. The cleaning method according to claim 15, characterized in that, Determining that the window cleaning robot is positioned in a preset posture within the extended cleaning area includes: Second condition: The extended cleaning device is located on the side of the window cleaning robot body closest to the extended cleaning area; Third condition: The first cleaning tray is closer to the extended cleaning area relative to the second cleaning tray; The window cleaning robot is controlled to move toward the corner area in a non-preset posture, wherein the non-preset posture differs from the preset posture in at least one condition; After the first cleaning disc identifies the first edge of the corner area, it adjusts the operating posture of the window cleaning robot and moves towards the second edge. After the first cleaning disc identifies the second edge of the corner area, it confirms that the window cleaning robot is positioned in the corner area in a preset posture.

Images