A cleaning robot

Abstract

The application belongs to the technical field of robot cleaning, and specifically provides a cleaning robot, which comprises a robot body, a rolling brush spray washing mechanism is installed on the robot body, when the rolling brush spray washing mechanism works, through controlling an inner drive shaft, cooperating with a connecting shaft and a spring, the end seat can make linear rotary motion relative to the middle seat, and then the distance adjustment between the rolling brush scrubbing assembly and the drive shaft is realized, that is, the rolling brush spray washing mechanism can be adjusted according to the size of dirt, when the dirt is larger, the rolling brush scrubbing assembly in each rolling brush scrubbing unit is extended outward, the contact area between the brush and the surface is increased, and the cleaning efficiency is improved; when the dirt is smaller, the rolling brush scrubbing assembly is retracted inward, unnecessary friction is reduced, and the brush can act on the dirt part more accurately.

Description

Technical Field

[0001] This invention belongs to the field of robotic cleaning technology, and specifically relates to a cleaning robot. Background Technology

[0002] In the existing technology, a large number of cleaning robots have emerged to clean outdoor installations such as building glass, greenhouse roofs, and photovoltaic panels. Specifically, these include tracked cleaning robots, suction cup cleaning robots, and suction cup tracked cleaning robots. However, regardless of the type of robot, the size of its roller brush spraying mechanism cannot be adjusted in real time according to the size of the dirt. In addition, existing cleaning robots are difficult to deploy and have low relocation efficiency. Summary of the Invention

[0003] To address the technical problems existing in the prior art, this invention provides a cleaning robot that can be used for cleaning outdoor installations such as building glass, greenhouse roofs, and photovoltaic panels.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A cleaning robot includes a robot body with a roller brush spraying mechanism mounted on it. The roller brush spraying mechanism includes a first drive unit, a second drive unit, and multiple roller brush wiping units. The first drive unit drives the multiple roller brush wiping units to rotate 360°. The second drive unit includes a second motor and an inner drive shaft. The multiple roller brush wiping units are mounted on the inner drive shaft. Each roller brush wiping unit includes a first end seat, a middle seat, a second end seat, and a roller brush wiping assembly connected together. The inner drive shaft is connected to the middle seat and drives the middle seat to rotate. The end seat is connected to the first end face of the middle seat through the first set of connecting shafts, and the second end seat is connected to the second end face of the middle seat through the second set of connecting shafts. The first set of connecting shafts and the second set of connecting shafts are at a certain angle to the axial direction of the end seat and the middle seat. The first set of connecting shafts is inclined clockwise, and the second set of connecting shafts is inclined counterclockwise. The end seat and the middle seat are also connected by a spring. The outer edges of the first end seat and the second end seat are provided with connecting rings. Each connecting ring is connected to multiple bottom chain link shafts, and two bottom chain link shafts are arranged parallel to each other on the two connecting rings and are connected to both ends of the same roller brush scrubbing assembly.

[0005] As a further technical solution, the multiple bottom chain links on the connecting ring of the middle roller brush scrubbing unit are arranged at an angle to the clockwise direction; the multiple bottom chain links on the connecting ring of the end roller brush scrubbing unit are arranged at an angle to the counterclockwise direction.

[0006] As a further technical solution, each roller brush scrubbing assembly includes a rubber brush, a high-pressure spray assembly, and a mounting rod; multiple assemblies of high-pressure spray assemblies and rubber brushes are fixed along the axial direction of the mounting rod; the assembly of high-pressure spray assemblies and rubber brushes includes a mounting ring, and the high-pressure spray assembly and rubber brushes are arranged along the circumferential direction of the mounting ring.

[0007] As a further technical solution, the bottom chain link shaft has an internal opening at the connection point with the first end seat or the second end seat, and a torsion spring is built in. The end of the bottom chain link shaft away from the end seat is connected to the roller brush cleaning assembly. The torsion of the torsion spring drives the bottom chain link shaft to achieve adaptive fine adjustment of the angle, pushing the roller brush cleaning assembly to expand outward.

[0008] As a further technical solution, a disc brush is also installed at the bottom of the robot body, and the distance between the disc brush and the robot body can be adjusted according to the volume of dirt.

[0009] As a further technical solution, a negative pressure dust collection device is installed at the bottom of the robot body, and the robot body is driven by a tracked walking device.

[0010] As a further technical solution, the first driving device includes a first motor and an outer drive shaft, wherein the outer drive shaft and the inner drive shaft are mounted together, and the first motor and the second motor are located on different sides of the roller brush spraying mechanism.

[0011] As a further technical solution, the robot body is also equipped with a visual perception module, which includes a camera and a ranging camera.

[0012] As a further technical solution, the robot body serves as the operating carrier for the entire machine, with a photovoltaic power generation energy module fixedly mounted on its top.

[0013] As a further technical solution, a mechanical claw is also provided on the top of the robot body, which is used to grasp the T-shaped bar pre-designed below the drone.

[0014] The advantages of this invention are as follows: 1. When the roller brush spraying mechanism of the present invention is working, by controlling the second drive device, in conjunction with the first set of connecting shafts, the second set of connecting shafts, and the spring, the first end seat and the second end seat can rotate linearly relative to the middle seat. Then, the angle between the bottom chain link shaft and the connecting ring changes, thereby adjusting the distance between the roller brush cleaning assembly and the drive shaft. When the distance between the roller brush cleaning assembly and the drive shaft increases, the diameter of the entire roller brush spraying mechanism increases; when the distance between the roller brush cleaning assembly and the drive shaft decreases, the diameter of the entire roller brush spraying mechanism decreases. That is, the roller brush spraying mechanism can be adjusted according to the size of the dirt. When the dirt is large, the second motor drives the inner drive shaft to rotate, causing the roller brush cleaning assembly in each roller brush cleaning unit to extend outward, increasing the contact area between the brush and the surface and improving cleaning efficiency. When the dirt is small, the roller brush cleaning assembly in each roller brush cleaning unit retracts inward, reducing unnecessary friction, and allowing the brush to act more precisely on the dirt area. 2. The bottom link shaft of this invention relies on the torsion spring force to keep the rubber brush in flexible contact with the glass roof; thus ensuring... It achieves effective cleaning while avoiding damage to the glass substrate, thus addressing the core shortcoming of poor cleaning compatibility of existing equipment.

[0015] 3. The disc brush body of the present invention adjusts the height of the brush according to the volume of the dirt. The disc brush body achieves the up and down movement of the brush by driving a lifting device. If the dirt volume is large, the motor drives the lifting device to lower the brush, increasing the pressure of the brush on the dirt and improving the cleaning power; if the dirt volume is small, the motor drives the lifting device to raise the brush, reducing the pressure on the surface and avoiding damage to the greenhouse surface.

[0016] 4. For special working conditions such as sloping and smooth surfaces to be cleaned and high-altitude operations, a mechanical claw is also installed on the top of the robot body. The mechanical claw is used to grab the T-shaped pole pre-designed below the drone. That is, the robot can adopt a drone-coordinated deployment and retrieval mode, which solves the problems of difficult deployment, low relocation efficiency and poor safety of high-altitude operations of traditional cleaning equipment, and improves the convenience and reliability of robot positioning and withdrawal.

[0017] 5. To address the issues of easy contamination on the surface to be cleaned, low coefficient of friction on slopes, and the tendency of conventional cleaning devices to slip and lack grip, a tracked walking device and a negative pressure adsorption device are integrated. This effectively solves the problem of low coefficient of friction and easy slippage on sloping, smooth glass roofs, enabling the robot to stay stably and move smoothly on the surface to be cleaned. At the same time, it is equipped with a disc brush-roller brush collaborative working mechanism to complete the integrated cleaning of sweeping, spraying, and vacuuming, balancing cleaning effect and operational safety, and eliminating problems such as instability on slopes, incomplete cleaning, and dust generation during operation.

[0018] 6. By also setting a visual perception module on the robot body, and then cooperating with the drone, the visual perception module can monitor the working environment and the contamination status of the surface being cleaned in real time. Combined with the tracked walking device and negative pressure adsorption device, it reduces the over-reliance on high-precision positioning and complex visual algorithms, effectively resists the influence of complex working conditions such as wind disturbance, wetness and slipperiness, and height difference, improves the stability of operation and positioning accuracy, and ensures the smoothness of continuous operation. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the cleaning machine of the present invention; Figure 2 This is a schematic diagram of the overall operation of the present invention; Figure 3 This is a structural diagram of the roller brush spraying mechanism of the present invention; Figure 4 This is a schematic diagram of the inner drive shaft and the outer drive shaft of the present invention; Figure 5 is a schematic diagram of the vision system of the cleaning machine of the present invention; Figure 6 is a schematic diagram of the base in this invention; Figure 7 This is a schematic diagram of the roller brush scrubbing unit of the present invention; Figure 8 This is a schematic diagram of the visual perception module of the present invention; Figure 9 This is a cleaning process diagram for the present invention; In the diagram: 1. Cleaning robot; 10. Roller brush spraying mechanism; 11. Tracked walking device; 12. Camera; 13. Photovoltaic power generation module; 14. Negative pressure adsorption device; 15. Disc brush body; 16. Mechanical gripper; 17. Attitude sensor; 18. Water tank; 19. Photovoltaic panel base; 110. GPS positioning module; 111. Image transmission module; 112. LiDAR; 113. Track drive motor; 101. Drive unit; 1011. First stepper motor; 1012. Transmission structure; 1013. Second stepper motor; 1014. External drive shaft; 1015, internal drive shaft; 102. Roller brush scrubbing unit; 1021. First end seat; 1022. Second end seat; 1023. Middle seat; 1024. First group Connecting shaft; 1025, Second connecting shaft; 1026, Spring; 1027, Link ring; 1028, Bottom link shaft; 1029, Roller brush scrubbing assembly; 1029-1, Rubber brush; 1029-2, High-pressure spray assembly; 1029-3, Mounting rod; 2. Drones; Detailed Implementation It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless otherwise expressly indicated by the invention, the singular form is also intended to include the plural form. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. For ease of description, the words "up," "down," "left," and "right" appearing in this invention only indicate that they are consistent with the up, down, left, and right directions of the accompanying drawings themselves. They do not limit the structure and are merely for the purpose of facilitating the description of this invention and simplifying the description. They do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] This invention discloses a cleaning robot that can be used in fields such as glass greenhouse cleaning and photovoltaic panel cleaning. It consists of three core parts: a drone 2, a cleaning machine body 1, and a control system. The cleaning machine body 1 integrates a roller brush spraying mechanism 10, a tracked walking device 11, a vision perception module, and a photovoltaic power generation energy module 13. The roller brush spraying mechanism 10 includes a drive device 101 and multiple roller brush wiping units 102. The multiple roller brush wiping units 102 are driven by the drive device 101. In this embodiment, four identical roller brush wiping units 102 are provided. The following describes each roller brush wiping unit 102, which includes an end seat, a middle seat 1023, a connecting shaft, a connecting ring 1027, and a roller brush wiping assembly 1029. The aforementioned end seats include two (first end seat 1021 and second end seat 1022), and the middle seat 1023 includes one. The two end seats are located at both ends, and the middle seat 1023 is located in the middle. The first end seat 1021 is connected to the first end face of the middle seat 1023 through a first set of connecting shafts 1024, and the second end seat 1022 is connected to the second end face of the middle seat 1023 through a second set of connecting shafts 1025. Both the first set of connecting shafts 1024 and the second set of connecting shafts 1025 form a certain angle with the axial direction of the first end seat 1021, the second end seat 1022, and the middle seat 1023. The first connecting shaft 1024 is inclined clockwise, and the second connecting shaft 1025 is inclined counterclockwise; the two are inclined in different directions; and the first end seat 1021, the second end seat 1022 and the middle seat 1023 are also connected by a spring 1026; the outer edges of the first end seat 1021 and the second end seat 1022 are provided with connecting rings 1027, and multiple bottom chain link shafts 1028 are arranged sequentially on the two connecting rings 1027 in a clockwise direction, and two bottom chain link shafts 1028 are arranged parallel to each other on the two connecting rings 1027 and are connected to both ends of the same roller brush scrubbing assembly 1029; In this embodiment, three bottom link shafts 1028 are provided on each of the two link rings 1027. One bottom link shaft 1028 of the first link ring 1027 and the bottom link shaft 1028 of the second link ring 1027 are simultaneously connected to both ends of the same roller brush scrubbing assembly 1029; therefore, a total of three roller brush scrubbing assemblies 1029 are provided. Each roller brush scrubbing assembly 1029 includes a rubber brush 1029-1, a high-pressure spray assembly 1029-2, and a mounting rod 1029-3; multiple assemblies of high-pressure spray assemblies 1029-2 and rubber brushes 1029-1 are fixed along the axial direction of the mounting rod 1029-3; the assembly of high-pressure spray assembly 1029-2 and rubber brushes 1029-1 includes a mounting ring, and one high-pressure spray assembly 1029-2 and two rubber brushes 1029-1 are arranged along the circumferential direction of the mounting ring; the high-pressure spray assembly 1029-2 is connected to a water tank 18, which is mounted on the cleaning robot.

[0022] Furthermore, the bottom link shaft 1028 has an internal opening at the connection point with the end seat 1021, and a torsion spring is built in. The end of the bottom link shaft 1028 away from the end seat 1021 is connected to the roller brush cleaning assembly 1029. The torsion spring drives the bottom link shaft 1028 to achieve adaptive micro-adjustment of the angle, pushing the roller brush cleaning assembly 1029 to expand outward, ensuring that the rubber brush is in close contact with the glass roof throughout the entire extension and retraction process.

[0023] Furthermore, the drive device 101 includes a first stepper motor 1011, a second stepper motor 1013, a transmission structure 1012, an inner drive shaft 1015, and an outer drive shaft 1014. The first stepper motor 1013 drives the outer drive shaft 1014 to rotate through the transmission structure, and the outer drive shaft drives the entire roller brush spraying mechanism 10 to rotate 360 ​​degrees. The outer drive shaft 1014 is fitted together with the inner drive shaft 1015. The outer drive shaft 1014 is a non-circular structure, with a section cut off on both sides along the axial direction, and is hollow inside. The inner drive shaft 1015 is a flat shaft that is inserted into the outer drive shaft 1014 and extends a portion of its structure from the outer drive shaft 1014, and is connected to each roller brush. The middle seat 1023 of the scrubbing unit 102 is engaged. When the inner drive shaft 1015 rotates, it can rotate the middle seat 1023 by 306°. However, the two first end seats 1021 and second end seats 1022 of each roller brush scrubbing unit 102 are simply fitted together with the inner drive shaft 1015. Therefore, the first end seats 1021 and second end seats 1022 can move linearly along the inner drive shaft 1015 under the action of the spring 1026 and the connecting shaft. Specifically, the inner drive shaft 1015 drives the middle seat 1023 to rotate. During the rotation of the middle seat 1023, the first end seats 1021 and second end seats 1022 move linearly and rotate at the same time, thereby realizing the adjustment of the distance between the roller brush scrubbing assembly and the drive shaft. When the dirt is large, the second stepper motor 1013 drives the inner drive shaft to rotate, causing the roller brush mechanism to extend outward, increasing the contact area between the brush and the surface and improving cleaning efficiency; when the dirt is small, the roller brush mechanism retracts inward, reducing unnecessary friction, and at the same time allowing the brush to act more precisely on the dirt.

[0024] The aforementioned roller brush spraying mechanism 10 can achieve left and right extension and retraction of the rubber brush, angle adjustment, and flexible contact cleaning with the glass roof.

[0025] Furthermore, the drone transfer module is equipped with a positioning camera and a flight control system. Both the positioning camera and the flight control system are connected to the control system signal. Relying on this module, the cleaning machine body can be deployed from high altitude, transported across regions, and recovered after the operation is completed.

[0026] Furthermore, the control system is integrated inside the main body of the cleaning machine and is connected to all the electric actuators of the machine through built-in connecting cables. As the core of the machine's control, it receives feedback signals from various sensing components, issues action commands, and supports remote control. It can precisely adjust the action parameters of each actuator and coordinate the coordinated operation of the entire machine.

[0027] The main body of the cleaning machine is equipped with a photovoltaic power generation module 13. The core component of the photovoltaic power generation module 13 is a photovoltaic panel, which is installed on the cleaning robot via a photovoltaic panel base 19.

[0028] The tracked walking device is mounted on the lower part of the main body of the cleaning machine, providing a stable walking foundation for the whole machine, while counteracting the reaction force generated by the roller brush scrubbing, preventing the whole machine from slipping, and ensuring stable execution of cleaning actions.

[0029] Furthermore, the visual perception module consists of a camera 12, an attitude sensor 17, a lidar 112, a GPS positioning module 110, and an image transmission module 111. It collects data such as the shape, attitude, and position of the surface being cleaned in real time and transmits it to the control system, providing data support for the adjustment of the roller brush's movement. The photovoltaic power generation module 13 supplies power to all power components of the machine, adopting a dual power supply mode of solar energy and electricity to ensure the machine's endurance.

[0030] When the roller brush spraying mechanism 10 is working, the control system receives and analyzes the roof data transmitted by the visual perception module, and then sends control commands to the stepper motor to drive the central shaft to complete the horizontal extension and retraction and alignment of the rubber brush. The bottom chain link shaft relies on the torsion spring torque to keep the rubber brush in flexible contact with the glass roof. The high-pressure spray component starts synchronously, and the atomized spray softens the stains on the roof. The roller brush rotates synchronously to complete the wiping operation. All components work together, and the control system dynamically adjusts the roller brush stroke according to the actual working conditions, ultimately achieving a deep and full-coverage cleaning of the greenhouse roof.

[0031] Furthermore, the robotic gripper 16 atop the robot is equipped with a high-precision servo motor, which precisely controls the opening and closing angle and force of the gripper 16 according to a preset program. Once the robot is ready, the gripper 16, controlled by the servo motor, accurately grasps the pre-designed T-shaped bar beneath the drone. This process requires the servo motor to possess extremely high positioning accuracy and response speed to ensure that the gripper 16 firmly holds the T-shaped bar, preventing it from detaching during subsequent operations. After the gripper 16 successfully grasps the T-shaped bar, the operator remotely controls the drone to take off using a client terminal. During takeoff, the drone's stabilization and navigation systems work together to ensure a smooth ascent and maintain a stable relative position with the robot.

[0032] Furthermore, a negative pressure adsorption device 14 is also provided at the bottom of the cleaning robot 1 for adsorption and fixation of the cleaning robot 1.

[0033] Furthermore, the bottom of the cleaning robot 1 is also equipped with a disc brush body 15. The distance between the disc brush body 15 and the robot body can be adjusted according to the volume of dirt. That is, the present invention can realize the collaborative operation mechanism of disc brush and roller brush to complete the integrated cleaning of sweeping, spraying and vacuuming, taking into account the cleaning effect and operation safety, and eliminating problems such as instability when walking on slopes, incomplete cleaning and dust generation during operation.

[0034] The following embodiment uses the cleaning of a greenhouse as an example to illustrate the working process of the present invention: Furthermore, the drone, carrying the robot, flies to the designated cleaning location within the greenhouse. During the flight, the drone's camera captures real-time footage of the area below and transmits the image information back to the client terminal. Staff observe the footage through the client terminal and, combining it with the robot's GPS positioning and LiDAR data, precisely control the drone's flight path and landing position. Once the drone reaches the target location, it descends slowly, utilizing the drone's camera's high-precision positioning function to accurately place the greenhouse cleaning robot 1 in the desired cleaning position. This process requires coordinated operation between the drone and the robot, as well as the integrated application of multiple positioning technologies to ensure accurate placement with errors controlled within a minimal range.

[0035] Once the robot is precisely positioned at the target location, its mechanical gripper opens under the control of a servo motor, separating from the T-shaped support beneath the drone. At this point, the robot is completely independent of the drone and begins to achieve a stable landing using its own structure.

[0036] After landing, the tracked locomotion system activates. The tracks utilize a special rubber material and anti-slip design, better adapting to the smooth surface of the greenhouse and providing excellent friction to prevent the robot from slipping during movement. The track drive system consists of a track drive motor 113 and a transmission device. The motor transmits power to the tracks via the transmission device, enabling the tracks to rotate at a set speed and direction. By controlling the motor's speed and direction, the robot can perform various actions such as walking straight and turning, moving flexibly within the greenhouse. Simultaneously, the photovoltaic panels deploy. These panels use high-efficiency solar cells to convert solar energy into electricity, providing a continuous energy supply for the robot. The deployment angle of the photovoltaic panels automatically adjusts according to the sun's position to maximize solar energy reception and improve power generation efficiency. During the operation of the photovoltaic panels, the robot's internal battery management system stores and manages the electrical energy, ensuring the robot can operate normally even in low-light conditions or at night, maintaining a higher endurance.

[0037] The camera module mounted on top of the robot forms a crucial component of the visual recognition system. This camera boasts high resolution and a high frame rate, enabling it to capture real-time images of the greenhouse surface. By processing and analyzing these images, the robot utilizes image recognition algorithms to accurately detect existing dirt. These algorithms employ deep learning technology and, trained on a large number of dirt images, can identify different types of dirt, such as dust, stains, and algae, and precisely pinpoint their location and size. In addition to the visual recognition system, the robot is equipped with various sensors, such as attitude sensors and LiDAR. The attitude sensors monitor the robot's posture information in real time, including tilt angle and acceleration, ensuring the robot maintains a stable posture during cleaning. The LiDAR scans the robot's surroundings to obtain distance information, assisting the visual recognition system in more accurately determining the location and extent of dirt.

[0038] Once the vision recognition system and sensors detect dirt, the cleaning system begins operation. First, based on the size of the dirt determined by the vision module and sensors, the robot's internal control system adjusts the water output from the nozzles on the roller brush mechanism. If the dirt area is large or thick, the control system increases the water output to ensure sufficient moisture to wet the dirt and improve cleaning effectiveness; conversely, if the dirt area is small or thin, the control system reduces the water output to avoid wasting water. Simultaneously, the roller brush mechanism determines the required extension / retraction length based on the size of the dirt. The roller brush mechanism is driven by a stepper motor on one side, which rotates the internal drive shaft. This rotation translates into linear rotation of the first and second end seats of the roller brush mechanism, thereby adjusting the distance between the roller brush cleaning components and the drive shaft. When the dirt is large, the second stepper motor rotates the internal drive shaft, causing the roller brush mechanism to extend outward, increasing the contact area between the brush and the surface and improving cleaning efficiency; when the dirt is small, the roller brush mechanism retracts inward, reducing unnecessary friction and allowing the brush to more precisely target the dirt.

[0039] The adjustable disc cleaning mechanism adjusts the height of the brushes according to the volume of the dirt. The disc cleaning mechanism uses a motor-driven lifting device to move the brushes up and down. If the dirt is large, the motor-driven lifting device lowers the brushes, increasing the pressure on the dirt and improving cleaning effectiveness; if the dirt is small, the motor-driven lifting device raises the brushes, reducing pressure on the surface and preventing damage to the greenhouse surface.

[0040] Once the greenhouse cleaning is complete, the robotic gripper reopens and grasps the T-shaped bar beneath the drone. At this point, staff remotely control the drone to take off via a client terminal. The drone's powerful lift carries the robot away from the work area. During takeoff, the connection between the drone and the robot must remain stable to ensure the robot does not detach during ascent. After the drone returns the robot to the designated recovery point, staff can inspect and maintain it, preparing it for the next cleaning job.

[0041] This invention focuses on the field of intelligent equipment technology for facility agriculture, and addresses many pain points in the existing glass greenhouse roof cleaning, including low efficiency of manual cleaning, high safety risks of high-altitude operations, slippery traditional cleaning equipment, difficulties in deployment and transportation, inability to adapt to sloping and smooth glass roofs, and the difficulty of existing robots to achieve continuous operation across roof ridges and changing slopes. This invention provides a glass greenhouse cleaning robot based on air-ground collaboration and its adaptive cleaning method.

[0042] This invention focuses on overcoming five core technical challenges: high-altitude deployment and relocation, slope walking and cleaning stability, adaptive cleaning adaptation, versatility and deployment cost, and stability in complex working conditions. It specifically addresses the performance shortcomings of existing cleaning equipment and adapts to the complex roof conditions and large-scale operation needs of domestic glass greenhouses.

[0043] To address the unique challenges of sloping, smooth glass greenhouse roofs and high-altitude operations, a drone-based collaborative deployment and retrieval model is employed. This overcomes the difficulties of deploying traditional cleaning equipment, low relocation efficiency, and poor safety during high-altitude operations, improving the convenience and reliability of robot positioning and evacuation. Furthermore, to address the issues of pollutants easily adhering to greenhouse glass surfaces, low friction coefficients on slopes, and the tendency of conventional cleaning devices to slip and lack sufficient grip, a tracked walking device, negative pressure adsorption device, and disc-roller brush collaborative working mechanism are used to enable the robot to maintain stable presence and smooth movement on sloping glass surfaces. This allows for integrated sweeping, spraying, and vacuuming operations, resolving problems such as instability on smooth slopes, incomplete cleaning, and dust generation. To address the challenges of large spans, varying slopes, and the difficulty of conventional equipment to overcome obstacles and adapt to the glass greenhouse roof, a variable-structure brush is employed. This allows for adaptive pressing and precise spacing adjustment between the brush and the glass surface, resolving issues of poor cleaning adaptability and easy damage to the glass substrate under different slopes and levels of contamination. Furthermore, to address the problems of traditional track-based or fixed cleaning systems being bulky, complex to install, and costly, and unable to adapt to multi-span or irregular greenhouse roofs, a trackless autonomous walking system combined with drone transport is adopted. This eliminates the need for modifications to the existing greenhouse structure and enables autonomous operation on multi-span, variable-slope, and continuous roofs, solving the problems of poor versatility, high deployment costs, and difficulty in achieving large-area full-coverage cleaning with existing cleaning equipment. During cleaning operations, a recognition camera monitors the working environment and the contamination status of the glass surface in real time. Combined with tracked walking and a negative pressure adsorption landing support mechanism, this reduces over-reliance on high-precision positioning and complex vision algorithms, improving the robot's operational stability and positioning accuracy under complex conditions such as wind disturbance, slippery surfaces, and elevation differences.

[0044] Finally, it should be noted that relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A cleaning robot, comprising a robot body, characterized in that, A roller brush spraying mechanism is installed on the robot body. The roller brush spraying mechanism includes a first drive unit, a second drive unit, and multiple roller brush cleaning units. The first drive unit drives the multiple roller brush cleaning units to rotate 360°. The second drive unit includes a second motor and an inner drive shaft. The multiple roller brush cleaning units are mounted on the inner drive shaft. Each roller brush cleaning unit includes a first end seat, a middle seat, a second end seat, and a roller brush cleaning assembly connected together. The inner drive shaft is connected to the middle seat and drives the middle seat to rotate. The first end seat is connected via a first set of... The first end seat is connected to the first end face of the middle seat via a connecting shaft, and the second end seat is connected to the second end face of the middle seat via a second set of connecting shafts. Both the first and second sets of connecting shafts are at a certain angle to the axial direction of the end seats and the middle seat. The first set of connecting shafts is inclined clockwise, and the second set of connecting shafts is inclined counterclockwise. The end seats and the middle seat are also connected by a spring. The outer edges of the first and second end seats are provided with connecting rings. Each connecting ring is connected to multiple bottom chain link shafts, and two bottom chain link shafts are arranged parallel to each other on the two connecting rings and are connected to both ends of the same roller brush scrubbing assembly.

2. The cleaning robot as described in claim 1, characterized in that, The multiple bottom chain links on the connecting ring of the middle roller brush cleaning unit are arranged at a clockwise angle; the multiple bottom chain links on the connecting ring of the end roller brush cleaning unit are arranged at a counterclockwise angle.

3. The cleaning robot as described in claim 1, characterized in that, Each roller brush scrubbing assembly includes a rubber brush, a high-pressure spray assembly, and a mounting rod; multiple assemblies of high-pressure spray assemblies and rubber brushes are fixed along the axial direction of the mounting rod; the assembly of high-pressure spray assemblies and rubber brushes includes a mounting ring, and the high-pressure spray assembly and rubber brushes are arranged along the circumferential direction of the mounting ring.

4. The cleaning robot as described in claim 1, characterized in that, The bottom chain link shaft has an internal opening at the connection point with the first or second end seat, and a torsion spring is built in. The end of the bottom chain link shaft away from the end seat is connected to the roller brush cleaning assembly. The torsion spring drives the bottom chain link shaft to achieve adaptive fine adjustment of the angle, pushing the roller brush cleaning assembly to expand outward.

5. The cleaning robot as described in claim 1, characterized in that, The bottom of the robot body is also equipped with a disc brush, which can adjust the distance between itself and the robot body according to the volume of dirt.

6. The cleaning robot as described in claim 1, characterized in that, The robot body is equipped with a negative pressure dust collection device at its bottom, and the robot body is driven by a tracked walking device.

7. The cleaning robot as described in claim 1, characterized in that, The first driving device includes a first motor and an outer drive shaft, wherein the outer drive shaft and the inner drive shaft are fitted together, and the first motor and the second motor are located on different sides of the roller brush spraying mechanism.

8. The cleaning robot as described in claim 1, characterized in that, The robot body is also equipped with a visual perception module, which includes a camera and a ranging camera.

9. The cleaning robot as described in claim 1, characterized in that, The robot body serves as the operating carrier for the entire machine, with a photovoltaic power generation energy module fixedly mounted on its top.

10. The cleaning robot as described in claim 1, characterized in that, A mechanical claw is also provided on the top of the robot body, which is used to grasp the T-shaped bar pre-designed below the drone.

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