Wall surface cleaning device

Abstract

The utility model relates to the technical field of cleaning robots, in particular to wall surface cleaning equipment. The wall surface cleaning equipment comprises a wall surface obstacle crossing device, an obstacle detection module arranged on the wall surface obstacle crossing device and a glass cleaning robot connected with the wall surface obstacle crossing device. The obstacle detection module is used for detecting obstacle information. The wall surface obstacle crossing device is suitable for being attached and fixed to the wall surface and can ascend and descend relative to the wall surface in an obstacle crossing mode. The glass cleaning robot can be attached to the wall face to work and can cross protruding obstacles on the wall face in the obstacle crossing mode along with the wall face obstacle crossing device. The obstacle detection module is used for detecting obstacle information on the wall surface and controlling whether the wall surface obstacle crossing device enters the obstacle crossing mode or not, and in the obstacle crossing mode, the wall surface obstacle crossing device can ascend and descend relative to the wall surface to drive the glass cleaning robot to be away from or close to the wall surface, so that the glass cleaning robot can be driven to cross obstacles, manual carrying is not needed, and time and labor are saved. The smoothness of the operation process is improved, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a wall cleaning device. Background Art

[0002] Window cleaning machines can replace manual cleaning of glass windows, which saves manpower on the one hand, and can clean the exterior windows of high-rise buildings on the other hand, which is safer than manual cleaning. In the related art, window cleaning machines can only operate on one window. When the window cleaning machine completes the cleaning operation of a window sill, it needs to be manually transferred. The operation process is not smooth, and personnel need to be on duty, which has low operation efficiency. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model provides a wall cleaning device, including a wall obstacle crossing device, an obstacle detection module arranged on the wall obstacle crossing device, and a glass cleaning robot connected to the wall obstacle crossing device, wherein the obstacle detection module is used to detect obstacle information, and the obstacle information includes at least one of the height value, width value and distance between the obstacle and the wall obstacle crossing device; the wall obstacle crossing device is suitable for being attached and fixed to the wall, and can be lifted and lowered relative to the wall in an obstacle crossing mode to cross over a protruding obstacle on the wall; the glass cleaning robot can work in contact with the wall and can cross over the protruding obstacle on the wall with the wall obstacle crossing device in the obstacle crossing mode.

[0004] The wall obstacle surmounting device and wall movement method provided by the utility model detect obstacle information on the wall through an obstacle detection module, and control whether the wall obstacle surmounting device enters an obstacle surmounting mode. In the obstacle surmounting mode, the wall obstacle surmounting device can be raised and lowered relative to the wall to drive the glass cleaning robot away from the wall or close to the wall, thereby driving the glass cleaning robot to cross the obstacle without manual handling, thereby improving the fluency of the operation process and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0006] Figure 1 This is one of the three-dimensional diagrams of the wall obstacle crossing device provided by the utility model;

[0007] Figure 2 This is the second stereoscopic diagram of the wall obstacle crossing device provided by the utility model;

[0008] Figure 3 It is a structural schematic diagram of the wall obstacle crossing device provided by the utility model;

[0009] Figure 4 This is one of the operation schematic diagrams of the wall obstacle crossing device provided by the utility model;

[0010] Figure 5 This is the second operation schematic diagram of the wall obstacle crossing device provided by the utility model;

[0011] Figure 6 This is the third stereogram of the wall obstacle crossing device provided by the utility model;

[0012] Figure 7 It is one of the flow diagrams of the operation method provided by the utility model;

[0013] Figure 8 This is the second flow chart of the operation method provided by the utility model;

[0014] Fig. 9 This is the third flow chart of the operation method provided by the utility model;

[0015] Fig.10 This is the fourth stereogram of the wall obstacle crossing device provided by the utility model;

[0016] Fig.11 This is the fifth stereogram of the wall obstacle crossing device provided by the utility model;

[0017] Fig.12 This is one of the schematic diagrams of the movement process of the wall obstacle crossing device provided by the utility model;

[0018] Fig.13 This is the second schematic diagram of the movement process of the wall obstacle crossing device provided by the utility model;

[0019] Fig.14 This is the third schematic diagram of the movement process of the wall obstacle crossing device provided by the utility model;

[0020] Fig.15 This is the fourth schematic diagram of the movement process of the wall obstacle crossing device provided by the utility model;

[0021] Fig.16 This is the fifth schematic diagram of the movement process of the wall obstacle crossing device provided by the utility model;

[0022] Fig.17 This is the sixth schematic diagram of the movement process of the wall obstacle crossing device provided by the utility model;

[0023] Fig.18This is the sixth stereogram of the wall obstacle crossing device provided by the utility model;

[0024] Fig.19 This is the seventh stereoscopic diagram of the wall obstacle crossing device provided by the utility model;

[0025] Fig. 20 This is the eighth stereogram of the wall obstacle crossing device provided by the utility model;

[0026] Fig.21 yes Fig. 20 A partial enlarged view of the middle A;

[0027] Fig. 22 This is the ninth stereogram of the wall obstacle crossing device provided by the utility model;

[0028] Fig.23 This is the tenth stereogram of the wall obstacle crossing device provided by the utility model;

[0029] Fig.24 This is the seventh schematic diagram of the movement process of the wall obstacle crossing device provided by the utility model;

[0030] Fig.25 This is the eighth schematic diagram of the movement process of the wall obstacle crossing device provided by the utility model;

[0031] Fig.26 It is a schematic diagram of the wall obstacle crossing device provided by the utility model walking on the wall;

[0032] Fig. 27 The utility model provides a schematic diagram of the state in which the actuator and the wall obstacle crossing device of the wall cleaning device are separated to work independently. Figure 1 ;

[0033] Fig.28 The utility model provides a schematic diagram of the state in which the actuator and the wall obstacle crossing device of the wall cleaning device are separated to work independently. Figure 2 ;

[0034] Fig.29 It is a schematic diagram of the state of the actuator and the wall obstacle crossing device in the wall operation equipment provided by the utility model being combined to cross obstacles Figure 1 ;

[0035] Fig.30 It is a schematic diagram of the state of the actuator and the wall obstacle crossing device in the wall operation equipment provided by the utility model being combined to cross obstacles Figure 2 .

[0036] Reference numerals:

[0037] 100, wall obstacle crossing device; 110, first motion module; 111, turntable; 112, traction rope; 113, wire-retracting device; 114, connecting arm; 115, retracting assembly; 116, cable; 117, rope climbing device; 120, second motion module; 121, support frame; 122, first suction cup assembly; 124, first lifting drive assembly; 125, second suction cup assembly; 127, second lifting drive assembly;

[0038] 130. Beam; 131. First leg; 132. First lifting device; 133. Second leg; 134. Second lifting device; 135. First angle driving device; 136. Obstacle detection module; 137. Position detection module; 138. Moving assembly; 139. Traveling wheel; 140. Main body; 141. Negative pressure suction cup assembly; 142. Traveling assembly; 150. Connecting assembly; 151. Slide groove; 152. Sliding block; 153. Connecting rod; 154. Ball pin; 155. Pivot shaft; 200. Glass cleaning robot; 210. Wall; 220. Obstacle. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0040] Combine the following Figure 1-Figure 30 The utility model is described in detail.

[0041] See also Fig.28 As shown, the wall cleaning device according to the embodiment of the utility model includes a wall obstacle surmounting device, an obstacle detection module arranged on the wall obstacle surmounting device, and a glass cleaning robot connected to the wall obstacle surmounting device.

[0042] Specifically, the wall obstacle crossing device 100 is suitable for being attached and fixed to the wall 210, and can be raised and lowered relative to the wall 210 in the obstacle crossing mode to cross the raised obstacles on the wall 210. The obstacle detection module 136 is used to detect obstacle information, and the obstacle information includes at least one of the height value and width value of the obstacle and the distance between the obstacle 136 and the wall obstacle crossing device 200. The glass cleaning robot 200 can fit the wall 210 to perform operations and can cross the raised obstacles on the wall 210 with the wall obstacle crossing device 100 in the obstacle crossing mode. The wall obstacle crossing device 100 is raised and lowered relative to the wall 210 in a direction perpendicular to the wall 210 to drive the glass cleaning robot 200 to cross the obstacle, without the need for manual handling, thereby improving the fluency of the operation process and improving work efficiency.

[0043] According to the wall cleaning device of the embodiment of the utility model, the obstacle detection module 136 detects the obstacle information on the wall 210, and controls whether the wall obstacle surmounting device 100 enters the obstacle surmounting mode. In the obstacle surmounting mode, the wall obstacle surmounting device 100 can be raised and lowered relative to the wall 210 to drive the glass cleaning robot 200 away from the wall 210 or close to the wall 210, thereby driving the glass cleaning robot 200 to cross the obstacle without manual handling, thereby improving the fluency of the operation process and improving work efficiency.

[0044] See also Figure 1 As shown, according to some embodiments of the present invention, the wall obstacle traversal device 100 includes a first motion module 110 , a traction module, a second motion module 120 and a connection assembly 150 .

[0045] The traction module includes a traction rope 112 extending from the high side of the wall 210 to the bottom side thereof. The traction module is connected to the first motion module 110 to drive the first motion module 110 to rise and fall relative to the wall 210 in a direction parallel to the wall 210. The second motion module 120 is suitable for being adsorbed on the wall 210 and can move relative to the wall 210. The connecting assembly 150 connects the first motion module 110 and the second motion module 120, so that the first motion module 110 and the second motion module 120 can move relative to each other at least in the extending direction of the traction rope 112. During the movement of the wall obstacle surmounting device 100, the distance between the first motion module 110 and the second motion module 120 is variable.

[0046] It is understandable that due to the effect of the wall obstacle surmounting device 100's own gravity, the reaction of the traction force applied to the first motion module 110 and other factors, the traction rope 112 is elastically deformed, and the traction rope 112 rebounds during the movement of the wall obstacle surmounting device 100. When the wall obstacle surmounting device 100 is an integral structure, the rebound of the traction rope 112 will drive the wall obstacle surmounting device 100 to move as a whole, which will reduce the accuracy of the motion control of the wall obstacle surmounting device 100, and even cause the wall obstacle surmounting device 100 to collide and be damaged. By setting the wall obstacle surmounting device 100 as a split structure, that is, the wall obstacle surmounting device 100 is set as a first motion module 110 and a second motion module 120, and connecting the first motion module 110 and the second motion module 120 through the connecting assembly 150, the two can move relative to each other in the extension direction of the traction rope 112. Thus, the traction rope 112 rebounds to drive the first motion module 110 to move. Under the action of the connecting component 150, the movement of the first motion module 110 will not cause the second motion module 120 to be displaced, thereby ensuring the accuracy of motion control of the second motion module 120, thereby ensuring the accuracy of motion control of the wall obstacle traversal device 100.

[0047] The wall obstacle surmounting device 100 forms a split structure through the first motion module 110 and the second motion module 120, and the first motion module 110 and the second motion module 120 are connected by the connecting component 150 so that the two can move relative to each other, thereby preventing the second motion module 120 from being displaced when the traction rope 112 rebounds, thereby improving the accuracy of motion control of the wall obstacle surmounting device 100 and improving the safety of operation of the wall obstacle surmounting device 100.

[0048] See also Fig.26 and Fig. 27 As shown, according to some embodiments of the present invention, the wall cleaning device further includes a connecting arm 114, which is suitable for connecting to the glass cleaning robot 200, and is used to drive the glass cleaning robot 200 to fit the surface of the wall 210 or to maintain a predetermined distance from the wall 210. The distance between the glass cleaning robot 200 and the wall 210 can be adjusted by the connecting arm 114, so that the glass cleaning robot 200 can cross obstacles or adapt to the working mode of the glass cleaning robot 200.

[0049] In some embodiments, the glass cleaning robot 200 may be fixedly connected to the connecting arm 114 , and the glass cleaning robot 200 may move synchronously with the wall obstacle traversal device 100 .

[0050] In some optional embodiments, the connecting arm 114 is detachably connected to the glass cleaning robot 200. For example, the connecting arm 114 and the actuator 200 can be detachably connected through a magnetic attraction component. More specifically, two magnets with opposite polarities can be used, which are respectively fixed on the connecting arm 114 and the actuator 200. The connection between the two is achieved by magnetic attraction, and the two can be separated by independently driving the connecting arm 114 or the actuator 200 to move. Of course, the two magnetic blocks with opposite magnetic properties can also be replaced by electromagnets and magnets (or ferromagnetic blocks). In some embodiments, the connecting arm 114 and the actuator 200 can also be detachably connected through a clamp. Therefore, during the operation, the glass cleaning robot 200 can be separated from the wall obstacle crossing device 100 to operate within a certain range. On the one hand, the movement amount of the wall obstacle crossing device 100 can be reduced and the energy consumption can be reduced; on the other hand, according to the operating environment, the glass cleaning robot 200 can be switched to move alone to operate, or the glass cleaning robot 200 and the wall obstacle crossing device 100 can be switched to move synchronously to operate, and the operation mode is more flexible and more adaptable. Fig. 27 and Fig.28 As shown, the actuator 200 is separated from the wall obstacle traversing device 100 to operate independently, and the actuator 200 and the wall obstacle traversing device 100 can be connected by a cable 116; Fig.29 and Fig.30 As shown, the actuator 200 is combined with the wall obstacle surmounting device 100 to surmount obstacles. The clamp or magnetic suction component is fixedly connected to the actuator 200, and the connecting arm 114 can be swung to lift the actuator 200 away from the wall 210 to surmount obstacles.

[0051] According to some embodiments of the utility model, the glass cleaning robot 200 includes a walking drive component, a negative pressure adsorption component and a scraping component. The negative pressure adsorption component can provide a negative pressure adsorption force to make the glass cleaning robot adsorb on the wall surface 210 and move relative to the wall surface 210 under the drive of the walking drive component. The scraping component is suitable for sticking to the wall surface 210 to clean the wall surface 210. By adjusting the negative pressure adsorption force of the negative pressure adsorption component, the glass cleaning robot 200 is adsorbed and fixed on the wall surface 210 or moves along the wall surface 210 under the drive of the walking drive component.

[0052] According to some embodiments of the utility model, one end of the connecting arm 114 is swingably connected to the second motion module 120, so as to adjust the distance between the glass cleaning robot 200 and the wall 210 by swinging, and the connecting arm 114 may have at least two movable joints to increase the freedom of movement of the connecting arm 114 to improve the flexibility of movement. The other end of the connecting arm 114 is provided with a clamping claw, which is detachably connected to the glass cleaning robot 200. In some embodiments, the other end of the connecting arm 114 may be provided with a magnetic suction component, which is detachably connected to the glass cleaning robot 200 through the magnetic suction component.

[0053] When the wall cleaning device needs to cross an obstacle, the glass cleaning robot 200 is connected to the clamp, and the connecting arm 114 lifts the glass cleaning robot 200, and the wall obstacle crossing device 100 moves the glass cleaning robot 200 to cross the obstacle; when the glass cleaning robot 200 operates on the wall 210, such as spraying, cleaning, etc., the glass cleaning robot 200 is separated from the clamp, and the glass cleaning robot 200 can move relative to the wall 210 within a certain range, while the wall obstacle crossing device 100 can remain in place. After the glass cleaning robot 200 completes the operation on the nearby area, the glass cleaning robot 200 can move to connect with the clamp. For example, Fig. 27 and Fig.28 As shown, when the glass cleaning robot 200 is a glass cleaning robot, when the wall cleaning device is cleaning the wall 210 and encounters a glass block connection with a protrusion, the glass cleaning robot 200 is connected to the connecting arm 114, and the connecting arm 114 lifts the glass cleaning robot 200 to a certain height from the wall 210, and then moves through the wall obstacle crossing device 100 to cross the obstacle. After crossing the obstacle, the connecting arm 114 moves the glass cleaning robot 200 to contact the wall 210, and at this time, the glass cleaning robot 200 can be controlled to separate from the connecting arm 114 to clean the wall 210 within a certain range.

[0054] like Fig. 27 As shown, according to some embodiments of the utility model, the connecting arm 114 is further provided with a retractable assembly 115 and a cable 116, the cable 116 is wound around the retractable assembly 115, the cable 116 is connected to the glass cleaning robot 200, and after the glass cleaning robot 200 is separated from the connecting arm 114, it still remains connected to the cable 116, which can play a role in protection and falling prevention. When the glass cleaning robot 200 moves on the wall 210, the retractable assembly 115 can automatically reel or release the cable 116. In some embodiments, the cable 116 includes an electric wire to power the glass cleaning robot 200; or, the cable 116 includes a pipeline to provide a fluid to the glass cleaning robot 200, and the fluid includes a gas or a liquid; or, the cable 116 can include an electric wire and a pipeline.

[0055] According to some embodiments of the present invention, the connection assembly 150 includes a first matching structure and a second matching structure respectively disposed on the first motion module 110 and the second motion module 120, wherein the first matching structure is connected to the first motion module 110, and the second matching structure is connected to the second motion module 120. The first matching structure and the second matching structure are slidably matched with each other, so that the first motion module 110 can slide relative to the second motion module 120.

[0056] In some embodiments, the first matching structure is one of the slider 152 and the slide groove 151, the second matching structure is the other of the slider 152 and the slide groove 151, and the slider 152 and the slide groove 151 are slidably matched; or the first matching structure is one of the slider 152 and the slide rail, the second matching structure is the other of the slider 152 and the slide rail, and the slider 152 and the slide rail are slidably matched. Figure 1 In the example, the first matching structure is a slide groove 151, which extends along the extension direction of the traction rope 112, and the second matching structure is a slider 152, which is embedded in the slide groove 151 and can slide along the slide groove 151. In some embodiments, a distance detection module is provided at the end of at least one of the slide groove 151 and the slider 152 to detect the relative distance between the first motion module 110 and the second motion module 120. For example, the distance detection module includes a detection probe and a marker, the detection probe can be set in the slide groove 151, the marker can be set on the slider 152, and the position of the marker is obtained by the detection probe. Specifically, the detection probe can be a photoelectric detection probe such as an infrared or laser detector, and can also be a wire displacement sensor or other sensors that can detect the distance between two objects.

[0057] More specifically, the detection probe may be a photoelectric detection probe such as an infrared or laser detector, or a wire displacement sensor or other device capable of detecting the distance between two objects.

[0058] According to some embodiments of the utility model, the first motion module 110 is rotatably connected to the second motion module 120. During the movement of the wall obstacle traversal device 100, the first motion module 110 is rotatable relative to the second motion module 120, thereby increasing the relative freedom of movement between the first motion module 110 and the second module 120. In this way, even if the traction rope 112 deviates from the vertical direction, the second motion module 120 can pivot between the first motion module 110 and the second motion module 120, so that the second motion module 120 can still move independently of the first motion module 110, making it possible for it to move along a predetermined motion trajectory (such as the vertical direction); in addition, since the first motion module 110 and the second motion module 120 can rotate relative to each other, the second motion module 120 can rotate an angle to adjust the moving path when moving along the wall 210 to perform possible obstacle avoidance operations.

[0059] According to some embodiments of the utility model, there is at least one rotational axis of rotational freedom between the first motion module 110 and the second motion module 120 along a direction perpendicular to the wall surface 210. That is, the first motion module 110 rotates relative to the second motion module 120 in a plane parallel to the wall surface 210, so that when the wall obstacle traversal device 100 moves away from the extension direction of the traction rope 112 (for example, moves in the horizontal direction of the wall surface 210), the first motion module 110 can rotate relative to the second motion module 120 on a plane parallel to the wall surface 210.

[0060] In some embodiments, the connection assembly 150 further includes a third matching structure and a fourth matching structure, the third matching structure and the fourth matching structure are pivotally connected, and the central axis thereof is perpendicular to the wall 210, one of the third matching structure and the fourth matching structure is connected to the first matching structure, and the other of the third matching structure and the fourth matching structure is connected to the first motion module 110. Alternatively, one of the third matching structure and the fourth matching structure is connected to the second matching structure, and the other of the third matching structure and the fourth matching structure is connected to the second motion module 120. In other words, one of the rotating structure formed by the third matching structure and the fourth matching structure and the moving structure formed by the first matching structure and the second matching structure is connected to the first motion module 110, and the other is connected to the second motion module 120. Thus, the first motion module 110 can move relative to the second motion module 120 in the extension direction of the traction rope 112, and can also rotate relative to the second motion module 120 on a plane parallel to the wall 210. There are at least two degrees of freedom of movement between the first motion module 110 and the second motion module 120, which improves the flexibility of the first motion module 110 and reduces the influence of the direction of the traction rope 112 on the movement of the second motion module 120.

[0061] According to some embodiments of the present invention, the third matching structure is one of the pivot shaft 155 and the shaft hole, and the fourth matching structure is the other of the pivot shaft 155 and the shaft hole, and the pivot shaft 155 and the shaft hole are rotatably connected. Figure 2 In the example, the first matching structure is a slide groove 151, the second matching structure is a slider 152, the third matching structure is an axial hole and is disposed on the slider 152, and the fourth matching structure is a pivot shaft 155, which is disposed on the second motion module 120.

[0062] See also Figure 3 As shown, according to some embodiments of the utility model, the connecting assembly 150 includes a connecting rod 153 and two ball pins 154 respectively arranged at both ends of the connecting rod 153, wherein one ball pin 154 is rotationally connected to the first motion module 110, and the other ball pin 154 is rotationally connected to the second motion module 120, thereby increasing the relative freedom of movement between the first motion module 110 and the second motion module 120, further improving the flexibility of the first motion module 110, and reducing the influence of the traction rope 112 on the second motion module 120.

[0063] See also Figure 5 and Fig.18 As shown, according to some embodiments of the present invention, the traction module further includes a rope climbing device 117, wherein the climbing device is disposed on the first motion module 110, the rope climbing device 117 clamps the traction rope 112 and can move relative to the traction rope 112 along the extension direction of the traction rope 112, and the first motion module 110 can move along the traction rope 112 through the rope climbing device 117. Figure 1 and Fig.10 As shown, in some embodiments, a turntable 111 is provided on the first motion module 110, and the turntable 111 is rotatable relative to the first motion module 110. The rope climbing device 117 is arranged on the turntable 111, which is conducive to keeping the traction force provided to the first motion module 110 in the vertical direction, so as to improve the overall flexibility of the first motion module 110 and the second motion module 120.

[0064] Furthermore, supply devices such as a water tank and a battery may be mounted on the first motion module 110 to supply water, electricity, etc. to the first motion module 110 and the second motion module 120 .

[0065] See also Figure 4As shown, according to some embodiments of the present invention, the traction module further includes a wire-retracting device 113, wherein the wire-retracting device 113 is disposed on the high side of the wall surface 210, the traction rope 112 is wound around the wire-retracting device 113, and the movable end of the traction rope 112 is connected to the first motion module 110, and the traction rope 112 drives the first motion module 110 to rise and fall in a direction parallel to the wall surface 210 as the wire-retracting device 113 moves. The wire-retracting device 113 may be a winch.

[0066] See also Fig.10 and Fig.11 As shown, according to some embodiments of the utility model, the second motion module 120 includes a support frame 121, a first suction cup assembly 122, a first translation drive assembly, a second suction cup assembly 125, and a second translation drive assembly. Specifically, the support frame 121 is connected to the first motion module 110 through a connecting assembly 150, and the first suction cup assembly 122 is slidably connected to the support frame 121, and the first suction cup assembly 122 can at least slide relative to the support frame 121 in a direction parallel to the wall surface 210 and along a direction parallel to the high side of the wall surface 210 toward the bottom side. At least the first suction cup assembly 122 is provided with at least the first suction cup, so that the first suction cup assembly 122 can be adsorbed on the wall surface 210 or desorbed from the wall surface 210. The first translation drive assembly is arranged on the support frame 121 and connected to the first suction cup assembly 122, and can drive the first suction cup assembly 122 to slide relative to the support frame 121.

[0067] The second suction cup assembly 125 is slidably connected to the support frame 121, and the second suction cup assembly 125 can slide relative to the support frame 121 at least in a direction parallel to the wall 210 and along a direction parallel to the high side of the wall 210 toward the bottom side. The second suction cup assembly 125 is provided with at least one suction cup, and the second suction cup assembly 125 can be adsorbed on the wall 210 or desorbed from the wall 210. The second translation drive assembly is disposed on the support frame 121 and connected to the second suction cup assembly 125 to drive the second suction cup assembly 125 to slide relative to the support frame 121. It can move independently of the first translation drive assembly, so that the first suction cup assembly 122 and the second suction cup assembly 125 can move independently of each other, and the first suction cup assembly 122 and the second suction cup assembly 125 are combined to slide alternately relative to the support frame 121 to move. Fig.11 As shown, in some embodiments, two groups of first suction cup assemblies 122 and one group of second suction cup assemblies 125 are provided on the second motion module 120, wherein the two groups of first suction cup assemblies 122 are arranged at intervals, the second suction cup assembly 125 is arranged between the two groups of first suction cup assemblies 122, and the movement track of the second suction cup assembly 125 passes through the two groups of first suction cup assemblies 122. Therefore, during the alternating movement of the first suction cup assembly 122 and the second suction cup assembly 125, the stability of the second motion module 120 can be ensured.

[0068] According to some embodiments of the present invention, the second motion module 120 further includes a first lifting drive assembly 124 and a second lifting drive assembly 127, wherein the first lifting drive assembly 124 and the second lifting drive assembly 127 are respectively connected to the first suction cup assembly 122 and the second suction cup assembly 125 to respectively drive the first suction cup assembly 122 and the second suction cup assembly 125 to rise and fall relative to the support frame 121. Specifically, Fig.12 As shown, the first lifting assembly is connected to the first suction cup assembly 122 to drive the first suction cup assembly 122 to rise and fall relative to the support frame 121 in a direction perpendicular to the wall 210; the second lifting assembly is connected to the second suction cup assembly 125 to drive the second suction cup assembly to rise and fall relative to the support frame 121 in a direction perpendicular to the wall 210. The first lifting assembly and the second lifting assembly can be a scissor arm structure or a telescopic rod structure. Fig.18 and Fig. 20 As shown, according to some embodiments of the present invention, the second motion module 120 includes a beam 130, a first angle driving device 135, a second angle driving device, a first lifting device 132, a second lifting device 134, and a first leg 131 and a second leg 133 respectively connected to the beam 130. Specifically, the beam 130 is connected to the first motion module 110 via a connecting assembly 150, the first leg 131 is provided at one end of the beam 130, and the second leg 133 is provided at the other end of the beam 130.

[0069] like Fig.21 As shown, the first angle driving device 135 is connected to the first leg 131 to drive the first leg 131 to rotate relative to the cross beam 130, and the second angle driving device is connected to the second leg 133 to drive the second leg 133 to rotate relative to the cross beam 130. The first leg 131 and the second leg 133 move independently of each other, and the rotation axis of the first leg 131 and the rotation axis of the second leg 133 are both perpendicular to the wall surface 210. The movement of the second motion module 120 is achieved by driving the first leg 131 and the second leg 133 to rotate alternately. The obstacle detection module 136 can be provided on the first leg 131 to detect obstacles in the movement direction of the second motion module 120, and the obstacle detection module 136 is used to detect obstacle information. The first leg 131 can also be provided with a position detection module 137 to detect the relative distance between the first motion module 110 and the second motion module 120. The first lifting device 132 is connected to the first leg 131 to drive the first leg 131 to be lifted and lowered in a direction perpendicular to the wall 210. The second lifting device 134 is connected to the second leg 133 to drive the second leg 133 to be lifted and lowered in a direction perpendicular to the wall 210. Thus, during walking, obstacles can be crossed by alternately driving the first leg 131 or the second leg 133 to be lifted and lowered in a direction perpendicular to the wall 210.

[0070] See also Fig. 22 and Fig.23 As shown, in some embodiments, the second motion module 120 further includes a moving assembly 138, which is disposed on the side of the beam 130 facing the wall 210 and between the first leg 131 and the second leg 133. The moving assembly 138 can drive the second motion module 120 to walk along the wall 210. The moving assembly 138 has two sets of spaced-apart running wheels 139, which fit the wall 210 for movement, and the running wheels 139 can be track wheels. When the second motion module 120 walks on the wall 210, the first leg 131 and the second leg 133 can provide negative pressure adsorption force to adsorb on the wall 210, and the running wheels 139 can provide driving force to drive the second motion module 120 to walk on the wall 210. When encountering an obstacle 220 , the first leg 131 and the second leg 133 are driven to extend by the first lifting device 132 and the second lifting device 134 , so that the crossbeam 130 and the moving assembly 138 are lifted and away from the wall 210 to overcome the obstacle.

[0071] See also Figure 6 As shown, according to some embodiments of the present invention, the second motion module 120 includes a main body 140, a negative pressure suction cup assembly 141 and a walking assembly 142. The main body 140 is connected to the first motion module 110 through a connecting assembly 150, and the negative pressure suction cup assembly 141 is disposed on the side of the main body 140 facing the wall 210, and is configured to be adsorbed on the wall 210 and can slide relative to the wall 210. The negative pressure suction cup assembly 141 can generate a negative pressure adsorption force to be adsorbed on the wall 210, and can slide along the wall 210 by adjusting the negative pressure adsorption force. The walking assembly 142 is disposed on the main body 140, and is configured to be in contact with the wall 210, and drive the main body 140 and the negative pressure suction cup assembly 141 to move relative to the wall 210. The second motion module 120 is adsorbed on the wall 210 through the negative pressure suction cup assembly 141, and moves on the wall 210 driven by the walking assembly 142. Figure 6 In the example, the walking assembly 142 is a track wheel, and the walking assembly 142 can be two groups, and the two groups of walking assemblies 142 are arranged at intervals along a direction perpendicular to the moving direction of the second motion module 120.

[0072] See also Figure 7According to some embodiments of the utility model, the operation method of the above-mentioned wall cleaning device includes: S1: obtaining motion information of the wall cleaning device and characteristic information of the wall 210. S2: determining that the wall cleaning device is in the operation mode, controlling the glass cleaning robot 200 to separate from the wall obstacle crossing device 100 and move along the wall 210 to operate. S3: determining that the wall cleaning device is in the obstacle crossing mode, controlling the glass cleaning robot 200 to connect with the wall obstacle crossing device 100, and controlling the glass cleaning robot 200 to maintain a preset obstacle crossing height with the wall 210, and controlling the wall obstacle crossing device 100 to move to cross the obstacle 220 on the wall 210.

[0073] like Figure 8 As shown, according to some embodiments of the present utility model, step S1 includes: S1.1: obtaining the distance between the wall obstacle surmounting device 100 and the obstacle 220 in the first preset direction and the obstacle 220 information on the working surface, the obstacle 220 information including the width value of the obstacle 220 along the first set direction and the height value of the obstacle 220 in the direction perpendicular to the wall 210. S1.2: comparing the obtained height value of the obstacle 220 and the distance value between the wall obstacle surmounting device 100 and the obstacle 220 in the first preset direction with the corresponding preset threshold value.

[0074] S1.3.1: When the height value of the obstacle 220 is less than the preset obstacle threshold, it is determined that the wall cleaning device is in the operation mode. At this time, the wall cleaning device can move normally on the wall 210 to operate. S1.3.2: When the height value of the obstacle 220 is greater than or equal to the preset obstacle threshold, and the distance between the wall obstacle crossing device 100 and the obstacle 220 in the first preset direction is less than the preset distance threshold, it is determined that the wall cleaning device is in the obstacle crossing mode. See Figure 3 As shown, according to some embodiments of the present utility model, the step S3 includes: S3.1: Control the connecting arm 114 to lift the glass cleaning robot 200 to a first preset height from the working surface, the first preset height being greater than the height value of the obstacle 220. S3.2: Control the wall obstacle crossing device 100 to move a first distance along a first set direction, the first distance being greater than the sum of the width value of the obstacle 220 and the distance between the wall obstacle crossing device 100 and the obstacle 220 in the first set direction. S3.3: Control the connecting arm 114 to move the glass cleaning robot 200 to a second preset height from the working surface.

[0075] See also Figures 12 to 17 As shown, the arrow in the figure indicates the movement direction of the wall obstacle crossing device 100, that is, the first set direction. Fig.12As shown, when the height value of the protrusion in the surface protrusion height change information is greater than or equal to the preset critical value, and the distance between the second motion module 120 and the surface protrusion is greater than the preset distance value, the wall obstacle crossing device 100 enters the walking mode. The second suction cup assembly 125 is controlled to be adsorbed on the wall 210, and the first suction cup assembly 122 is controlled to move a certain distance relative to the support frame 121 along the first set direction. Fig.13 As shown, the distance between the second motion module 120 and the surface protrusion is less than or equal to the preset spacing value, and the wall obstacle crossing device 100 enters the obstacle crossing mode. Fig.14 As shown, the first suction cup assembly 122 is controlled to be adsorbed on the wall 210 for support, and the second lifting drive assembly 127 is controlled to drive the second suction cup assembly 125 to be lifted to a first height to be away from the wall 210 .

[0076] like Fig.15 As shown, the second suction cup assembly 125 is controlled to move a second distance relative to the support frame 121 along the first set direction. Then, the second lifting drive assembly 127 is controlled to drive the second suction cup assembly 125 to move toward the wall surface 210, so that the second suction cup assembly 125 is adsorbed on the wall surface 210. Fig.16 As shown, after the second suction cup assembly 125 is adsorbed on the wall surface 210, the first lifting drive assembly 124 is controlled to drive the first suction cup assembly 122 to rise to a second height. Fig.17 As shown, the second suction cup assembly 125 is controlled to move a third distance along the first set direction relative to the support frame 121. Then, the first lifting drive assembly 124 is controlled to drive the first suction cup assembly 122 to move toward the wall 210. The second motion module 120 completes crossing the obstacle.

[0077] See also Fig.24 and Fig.25 As shown, Fig.25 The solid line in represents the current position of the second motion module 120 , and the dotted line represents the position of the second motion module 120 before it moves to the current position.

[0078] like Fig.25 Small Figure 2 or Fig.24 Small Figure 1 As shown in a, in the first setting direction (such as Fig.25 and Fig.24 If there is a protruding obstacle 220 in the upward direction (in the middle), and the distance between the second motion module 120 and the obstacle 220 is less than or equal to the preset spacing value, the wall obstacle crossing device 100 enters the obstacle crossing mode. Fig.24 Small Figure 1 As shown in FIG. 2 b , the second leg 133 is controlled to be adsorbed on the wall 210 , and the first lifting device 132 is controlled to drive the first leg 131 to be lifted to a first height so as to be away from the wall 210 .

[0079] like Fig.25 Small Figure 2 b or Fig.24 Small Figure 1 As shown in FIG. 3 , the second angle driving device is controlled to drive the cross beam 130 to rotate the first angle A1 relative to the second leg 133, so as to drive the first leg 131 to move a second distance along the first set direction, so that the first leg 131 crosses the obstacle 220. Fig.24 Small Figure 1 As shown in FIG. d, after the first leg 131 moves a second distance in the set direction, the first lifting device 132 is controlled to drive the first leg 131 to move toward the wall 210, and the first leg 131 is adsorbed on the wall 210 for support and fixation.

[0080] Fig.24 Small Figure 1 As shown in e, the second lifting device 134 is controlled to drive the second leg 133 to rise to a second height. Fig.25 Small Figure 2 c or Fig.24 Small Figure 1 As shown in FIG. 5 , the first angle driving device 135 is controlled to drive the cross beam 130 to rotate the second angle A2 relative to the first leg 131, so as to drive the second leg 133 to move a third distance along the first set direction. Fig.24 Small Figure 1 As shown in FIG. 6 , after the second leg 133 moves along the first set direction for a third distance to cross the obstacle 220, the second leg 133 is controlled to be adsorbed on the wall 210, and the second motion module 120 completes crossing the obstacle 220. Fig.25 Small Figure 2 As shown in FIG. d, the wall obstacle traversal device 100 enters the walking mode.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A wall cleaning device, characterized in that: The invention comprises a wall obstacle surmounting device (100), an obstacle detection module arranged on the wall obstacle surmounting device (100), and a glass cleaning robot (200) connected to the wall obstacle surmounting device (100), wherein: The obstacle detection module is used to detect obstacle information, wherein the obstacle information includes at least one of a height value, a width value of the obstacle, and a distance between the obstacle and the wall obstacle crossing device; The wall obstacle surmounting device (100) is suitable for being attached and fixed to a wall (210), and can be raised and lowered relative to the wall (210) in an obstacle surmounting mode to surmount a protruding obstacle on the wall (210); The glass cleaning robot (200) can operate in close contact with the wall surface (210) and can cross protruding obstacles on the wall surface (210) in an obstacle crossing mode along with the wall obstacle crossing device (100); The wall cleaning device further comprises a connecting arm (114), wherein the connecting arm (114) is suitable for connecting to the glass cleaning robot (200) and is used for driving the glass cleaning robot (200) to fit the surface of the wall (210) or to maintain a predetermined distance from the wall (210).

2. The wall cleaning device according to claim 1, characterized in that: One end of the connecting arm (114) is connected to the wall obstacle traversing device (100), and the other end of the connecting arm (114) is provided with a clamping claw, and the clamping claw is detachably connected to the glass cleaning robot (200).

3. The wall cleaning device according to claim 1, characterized in that: One end of the connecting arm (114) is connected to the wall obstacle traversing device (100), and the other end of the connecting arm (114) is detachably connected to the glass cleaning robot (200) via a magnetic attraction component.

4. The wall cleaning device according to claim 2 or 3, characterized in that: The connecting arm (114) has at least two movable joints.

5. The wall cleaning device according to claim 1, characterized in that: The glass cleaning robot (200) comprises a travel drive component, a negative pressure adsorption component and a scraping component. The negative pressure adsorption component is used to provide a negative pressure adsorption force to allow the glass cleaning robot (200) to be adsorbed on the wall surface (210) and to move relative to the wall surface (210) under the drive of the travel drive component. The scraping component is suitable for being in contact with the wall surface (210) to clean the wall surface (210).

6. The wall cleaning device according to claim 1, characterized in that: The connecting arm (114) is also provided with a retractable assembly (115) and a cable (116); the cable (116) is wound around the retractable assembly (115); and the cable (116) is connected to the glass cleaning robot (200).

7. The wall cleaning device according to claim 6, characterized in that: The cable (116) includes wires and / or pipes for providing power and / or fluid to the glass washing robot (200).

8. The wall cleaning device according to claim 1, characterized in that: The wall obstacle traversal device (100) comprises: A crossbeam (130) connected to the glass cleaning robot (200); and a first leg (131) and a second leg (133) disposed on the crossbeam (130), wherein the first leg (131) and the second leg (133) are capable of independently extending relative to the crossbeam (130) to move closer to or farther from the wall surface (210), and the first leg (131) and the second leg (133) are respectively rotatably connected to the crossbeam (130); and A first rotation drive device and a second rotation drive device are respectively arranged corresponding to the first leg (131) and the second leg (133), and the first rotation drive device and the second rotation drive device are respectively used to drive the first leg (131) and the second leg (133) to rotate relative to the crossbeam (130).

9. The wall cleaning device according to claim 1, characterized in that: The wall obstacle traversal device (100) comprises: A support frame (121) adapted to be connected to a glass cleaning robot (200); and A first suction cup assembly (122) and a second suction cup assembly (125) are arranged on the support frame (121), the first suction cup assembly (122) and the second suction cup assembly (125) are both independently capable of extending and retracting relative to the support frame (121) to approach or move away from the wall surface (210), and the first suction cup assembly (122) and the second suction cup assembly (125) are respectively connected to the support frame (121) in a slidable manner; and A first translation drive assembly and a second translation drive assembly are respectively arranged corresponding to the first suction cup assembly (122) and the second suction cup assembly (125), and the first translation drive assembly and the second translation drive assembly are respectively used to drive the first suction cup assembly (122) and the second suction cup assembly (125) to translate relative to the support frame (121).

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