Window cleaning robot

Abstract

The utility model discloses a window cleaning robot. The window cleaning robot comprises a robot body and an adsorption unit arranged on the robot body, wherein the adsorption unit is used for adsorbing the robot body to a to-be-cleaned surface; the walking unit is used for driving the machine body to move; the detection unit is arranged on the edge of the machine body and used for detecting defects or edges of a surface to be cleaned; the auxiliary cleaning unit is mounted on the detection unit; and the main cleaning unit is at least partially arranged between the adsorption unit and the auxiliary cleaning unit. According to the window cleaning robot, the cleaning effect on the edge position or the corner position of the to-be-cleaned surface can be improved.

Description

Technical Field

[0001] The present application relates to the field of cleaning equipment, and in particular, to a window cleaning robot. Background Art

[0002] Window cleaning robots utilize the principle of negative pressure adsorption to attach to the surface of glass and can move along it while cleaning. During operation, if the robot cannot effectively identify surface defects (depressions) on the window, or if it moves to the edge of the glass, the robot's negative pressure environment may be disrupted, causing it to fall off the glass.

[0003] In related technologies, a detection unit is installed on the body of a window cleaning robot to detect depressions or protrusions on the glass surface. To improve detection accuracy, the detection unit is generally installed at the four corners of the body or extends from the corners to the outside of the body. As a result, the edge or corner of the glass near the glass frame cannot contact the cleaning unit due to the presence of the detection unit, and thus cannot be effectively cleaned, affecting the glass cleaning effect. Utility Model Content

[0004] The present application proposes a window cleaning robot, which can improve the cleaning effect of the edge or corner positions of the surface to be cleaned.

[0005] According to one aspect of the present application, a window cleaning robot is provided, comprising a body and:

[0006] an adsorption unit, for adsorbing the body onto the surface to be cleaned;

[0007] A walking unit, used for driving the machine body to move;

[0008] a detection unit, the detection unit being arranged at an edge of the machine body and being used to detect defects or edges of the surface to be cleaned;

[0009] an auxiliary cleaning unit, the auxiliary cleaning unit being installed on the detection unit; and

[0010] a main cleaning unit, the main cleaning unit being at least partially disposed between the adsorption unit and the auxiliary cleaning unit;

[0011] The number of the auxiliary cleaning units is greater than or equal to the number of the main cleaning units.

[0012] In the present application, an auxiliary cleaning unit is arranged in the detection unit. When the detection unit detects the surface defects or edges to be cleaned, the auxiliary cleaning unit can clean the detection position, which can improve the cleaning effect of the edge or corner positions of the surface to be cleaned; in addition, the detection unit is often made of hard materials such as plastic, resin, and metal. After long-term use, the surface of the detection unit will have defects such as breakage or burrs. When the detection unit performs contact detection on the surface to be cleaned (such as glass), these breakages or burrs will scratch the surface of the glass. Arranging the auxiliary cleaning unit on the surface of the detection unit can effectively prevent the glass from being scratched by the detection unit.

[0013] In some cases, there will be some minor defects on the glass, such as small depressions. Such minor defects will not cause the adsorption unit to lose its adsorption force. Therefore, the window cleaning robot is allowed to pass through these minor defects. In most cases, the main cleaning unit is a whole large rag. Its purpose is to clean the surface to be cleaned while the window cleaning robot is walking. The main cleaning unit is flatly attached to the surface to be cleaned (glass) under the adsorption action of the adsorption unit. Since the surface of the main cleaning unit is flat, the main cleaning unit cannot reach into the interior of these minor defects, resulting in the accumulation of pollutants inside the defects, affecting the cleaning effect of the window cleaning robot. By setting the auxiliary cleaning unit in the detection unit, the auxiliary cleaning unit can follow the detection unit into the interior of the defect, thereby achieving cleaning inside the defect and improving the cleaning effect of the window cleaning robot.

[0014] In the existing technology, the detection unit will be completely exposed to the outside world or in direct contact with the surface to be cleaned during operation. When the detection unit is exposed to the outside world, it is susceptible to corrosion by external pollution (such as rainwater and dirt on glass). The corrosion of these pollutants will cause damage to the appearance of the detection unit, affecting the aesthetics and even affecting the detection accuracy of the detection unit. Setting the auxiliary cleaning unit in the detection unit can avoid direct contact between the detection unit and the dirt on the surface to be cleaned, which plays a certain protective role on the detection unit, extends the service life of the detection unit, and ensures the detection accuracy of the detection unit.

[0015] The auxiliary cleaning unit is set at the edge of the fuselage. When the window cleaning robot performs the window cleaning task, the auxiliary cleaning unit will first come into contact with the pollutants on the surface to be cleaned, causing the auxiliary cleaning unit to be contaminated at a faster rate than the main cleaning unit. Setting the number of auxiliary cleaning units to be greater than or equal to the number of main cleaning units can facilitate the individual replacement of the contaminated auxiliary cleaning units without the need to replace all the auxiliary cleaning units, thereby reducing the cost of use.

[0016] According to another aspect of the present application, a window cleaning robot is provided, comprising a body and:

[0017] an adsorption unit, for adsorbing the body onto the surface to be cleaned;

[0018] A walking unit, used for driving the machine body to move;

[0019] a detection unit, the detection unit being arranged at an edge of the machine body and being used to detect defects or edges of the surface to be cleaned;

[0020] an auxiliary cleaning unit, the auxiliary cleaning unit being installed on the detection unit; and

[0021] a main cleaning unit, the main cleaning unit being at least partially disposed between the adsorption unit and the auxiliary cleaning unit;

[0022] The detection unit is movably arranged relative to the center of the machine body. When the pressure applied to the detection unit is less than or equal to 0.3N, the detection unit does not move relative to the main cleaning unit.

[0023] In some achievable embodiments, when the detection unit moves along with the machine body and touches an obstacle and is subjected to a pressure from the obstacle that is less than or equal to 0.3 Newton, the detection unit does not move relative to the main cleaning unit.

[0024] There are many types of obstacles on the surface to be cleaned. These obstacles include the first type of obstacles with a strong fixing force to the surface to be cleaned and the first type of obstacles with a weak fixing force to the surface to be cleaned (including glass surfaces). The first type of obstacles may include objects such as glass frames, contaminants, and bases, which are fixed to the surface to be cleaned by snap connections, fastening connections, bonding, adsorption connections, etc. The second type of obstacles may include impurities such as bird droppings, rotten fruit, leaves, asphalt, tar, gum, feathers, large particles of dust, and debris, which have a weak fixing force to the surface to be cleaned. These objects adhere to the surface to be cleaned through their own weak adhesion or weak external adhesion.

[0025] The detection unit is movably disposed relative to the main cleaning unit. When the detection unit collides with a first-category obstacle, the detection unit will move (e.g., rotate, move toward the center of the body, etc.) under the action of the collision force. This arrangement, on the one hand, prevents the detection unit from being damaged by the body and the first-category obstacle, such as breakage or burrs. On the other hand, when the detection unit moves due to the collision force of the first-category obstacle and the amount of movement reaches a preset value, the window-cleaning robot will determine that it has encountered an impassable first-category obstacle and will stop or turn to avoid the obstacle, rather than continuing in its original direction.

[0026] Some surfaces to be cleaned are exposed to the outside world, which may cause some attachments to adhere to them, namely, second-type obstacles. When the detection unit collides with a second-type obstacle, it can act as a "scraper," which can dislodge the second-type obstacle from its original position and move with the detection unit. If the detection unit also moves when encountering these second-type obstacles, and the amount of movement reaches a preset value, a misjudgment may occur. The window cleaning robot will stop or turn to avoid these second-type obstacles, even though the window cleaning robot is actually able to clear these second-type obstacles. This will cause a misjudgment, affecting the efficiency and effectiveness of window cleaning.

[0027] In addition, if the position of the detection unit relative to the body changes when detecting the edge of the frameless glass, it will affect its detection speed of the edge of the frameless glass, thereby causing the window cleaning robot to fail to move in time when encountering the edge of the frameless glass and fall.

[0028] In fact, most attachments can be pushed away or dispersed under a pressure of 0.3 Newton or less. For the first type of obstacles, an impact force of 0.3 Newton will not affect the working performance of the window cleaning robot. The present application effectively avoids the situation where the above attachments are mistakenly judged as obstacles by setting the detection unit so that the detection unit does not move relative to the main cleaning unit when the pressure it is subjected to is less than or equal to 0.3 Newton. The auxiliary cleaning unit is arranged in the detection unit, which can achieve the purpose of pushing or dispersing these attachments while making the attachments adhere to the surface of the auxiliary cleaning unit, thereby cleaning these attachments. There is a certain connection force (such as adhesion, friction, etc.) between some attachments and the surface of the object to be cleaned, or the weight of the attachments themselves, so that when the detection unit pushes these attachments, these attachments will also react to the detection unit, and even cause the detection unit to move and change its position. When the detection unit detects the edge of the frameless glass, the change in the position of the detection unit may reduce its detection speed of the glass edge, thereby causing the window cleaning robot to fail to act in time when encountering an edge without a fence and fall.

[0029] The inventors of this application have experimentally verified that setting the pressure capable of moving the detection unit to greater than 0.3N can prevent the detection unit's position from changing due to the movement of the second type of obstacle. This, in turn, preserves the window cleaning robot's detection speed for unframed objects, ensuring that the window cleaning robot can promptly respond to glass edges without falling. Furthermore, setting the pressure capable of moving the detection unit to greater than 0.3N prevents the detection unit from moving when encountering the second type of obstacle, thereby enhancing the detection unit's effectiveness as a "scraper," making it easier for the detection unit to scrape the second type of obstacle from its original position and displace the second type of contaminants, thereby improving the window cleaning robot's cleaning performance.

[0030] In some possible implementations, the auxiliary cleaning unit is detachably mounted on at least a portion of the detection unit.

[0031] Since the auxiliary cleaning unit wears out faster than the detection unit, when the dirt on the surface of the auxiliary cleaning unit reaches a certain level or is worn to a certain extent, the auxiliary cleaning unit needs to be replaced in a timely manner. The auxiliary cleaning unit is set to be detachable from at least part of the detection unit, which makes it convenient for users to replace the auxiliary cleaning unit and improves the user experience.

[0032] In some achievable embodiments, the auxiliary cleaning unit includes a fabric, and the fabric is used to clean the surface to be cleaned.

[0033] The surface of the fabric is relatively soft, which can prevent the auxiliary cleaning unit from excessively rubbing against the glass surface during the window cleaning robot's cleaning process, causing wear on the glass surface. In addition, the fabric has the characteristics of high water absorption, high oil absorption and high air permeability, and can effectively absorb liquids and oil stains on the glass surface to achieve better cleaning effects. At the same time, it can also ensure that the fabric can dry quickly after repeated use, thereby improving the working efficiency of the window cleaning robot.

[0034] In some feasible embodiments, the fabric is mounted on the detection unit by means of magnetism, adhesion or snap connection.

[0035] The auxiliary cleaning unit can be installed by magnetic attraction, adhesion or snap connection, which makes it convenient for users to quickly disassemble and install the auxiliary cleaning unit and improves the user experience.

[0036] In some feasible embodiments, the detection unit includes a mounting portion connected to the body, and a moving part and a sensing part are provided on the mounting portion. The moving part can move relative to the mounting portion, and the sensing part is used to identify the position of the moving part. The window cleaning robot can judge whether the body is at a defect or edge of the surface to be cleaned based on the position of the moving part.

[0037] This application uses mechanical motion combined with sensor detection to detect defects and edges of the surface to be cleaned, which improves the accuracy of detection, ensures that the window cleaning robot can move to the cleanable area to the greatest extent, and improves the cleaning effect of the surface to be cleaned.

[0038] In some feasible embodiments, the mounting portion has a mounting through hole, the moving member is at least partially disposed in the mounting through hole, and the moving member is capable of moving along the axial direction of the mounting through hole.

[0039] By at least partially arranging the moving part in the mounting hole, on the one hand, the hole wall of the mounting hole can play a limiting and guiding role during the movement of the moving part, and on the other hand, it can prevent the moving part from being excessively exposed to the outside, thereby protecting the moving part.

[0040] In some feasible embodiments, the movable member includes a sensing ball head and a telescopic spring, the sensing ball head is used to contact the surface to be cleaned, and the telescopic spring applies a pre-tightening force to the sensing ball head so that the sensing ball head has a tendency to move in a direction away from the body.

[0041] When the window cleaning robot is attached to a flat surface to be cleaned, the telescopic spring is compressed, and the sensing ball head is in a position relatively close to the body. When the sensing ball head moves to a defect or edge of the surface to be cleaned, the sensing ball head releases the compression restriction. Under the elastic force of the telescopic spring, the sensing ball head moves in a direction away from the body. The sensing ball head is in a position relatively far away from the body. The position of the sensing part can change. The window cleaning robot can determine whether the body is at a defect or edge of the surface to be cleaned based on the position information of the moving part, thereby realizing the detection of defects and edges. The telescopic spring enables the sensing ball head to apply force evenly and low to the surface to be cleaned, reducing local wear and damage. During movement, due to the elastic properties of the telescopic spring, when the sensing ball head collides with an external object, the telescopic spring can be compressed to effectively absorb and cushion the impact force, so that the sensing ball body is not easily damaged by the impact, ensuring the service life of the sensing ball head. Furthermore, it also reduces the impact of the sensing ball head on other components after the impact, thereby improving the overall service life of the window cleaning robot.

[0042] In some possible implementations, the moving member further includes a moving body extending along the axial direction of the mounting through hole, the moving body being capable of moving along the axial direction of the mounting through hole, the sensing ball head being disposed at one end of the moving body, and the sensing member being configured to identify the position of the other end of the moving body;

[0043] When the window cleaning robot is adsorbed onto the surface to be cleaned, the telescopic spring is compressed, and the sensing ball head moves toward the direction approaching the body.

[0044] By setting up the moving body, better coordination between the moving part and the sensing part is achieved, thereby improving the detection accuracy of the detection unit.

[0045] In some achievable embodiments, the axial movement of the sensing ball head along the mounting through hole is less than or equal to 20 mm.

[0046] The movement of the sensing ball head is less than or equal to 20 mm, which can avoid excessive movement of the sensing ball head and interfere with the operation of other parts of the window cleaning robot. At the same time, there is no need to reserve more space in the installation hole to arrange the sensing ball, which can make the detection unit as a whole more compact, which is conducive to the overall development of the detection unit towards miniaturization.

[0047] In some possible implementations, at least part of the auxiliary cleaning unit is mounted on the sensing ball head.

[0048] Installing the auxiliary cleaning unit on the induction ball head can ensure that the auxiliary cleaning unit is in full contact with the surface to be cleaned, and can effectively clean the edges and corners of the surface to be cleaned.

[0049] In some possible implementations, the auxiliary cleaning unit includes a fabric mounted on the sensing ball head.

[0050] The fabric placed on the sensor ball ensures full contact with the surface being cleaned, ensuring effective cleaning. The soft surface of the fabric prevents excessive friction between the auxiliary cleaning unit and the glass surface during cleaning, which could cause wear and tear. Furthermore, the fabric placed between the sensor ball and the surface prevents direct contact between the sensor ball and the surface, potentially scratching or damaging the glass. Furthermore, the fabric is relatively light, so it won't affect the suction unit's workload.

[0051] In some achievable embodiments, when the adsorption unit of the window cleaning robot is adsorbed on the surface to be cleaned,

[0052] If the auxiliary cleaning unit is in a state of being mounted on the sensing ball head, the sensing ball head moves toward the machine body to an extreme position; and / or,

[0053] If the auxiliary cleaning unit is not mounted on the sensing ball head, the sensing ball head does not move to the limit position.

[0054] When the auxiliary cleaning unit is not installed on the induction ball head, the induction ball head is in direct contact with the surface to be cleaned. When the induction ball head does not move to the limit position, the elastic action of the telescopic spring can reduce the sliding friction between the induction ball head and the surface to be cleaned, thereby preventing the induction ball head from scratching the glass.

[0055] When the auxiliary cleaning unit is installed on the induction ball head, it is in direct contact with the surface to be cleaned. The auxiliary cleaning unit is a cleaning material and will not damage the glass surface. When the induction ball head moves to the extreme position, it can make the auxiliary cleaning unit and the surface to be cleaned fit more tightly, thereby improving the cleaning effect. Under the squeezing action of the induction ball head, the friction between the auxiliary cleaning unit and the surface to be cleaned is increased, which can better remove dirt and dust on the surface to be cleaned.

[0056] In some possible implementations, at least a portion of the auxiliary cleaning unit is installed on the installation portion.

[0057] The mounting part is a relatively stationary component in the detection unit. The mounting part can provide a more stable mounting position for the auxiliary cleaning unit, ensuring that the auxiliary cleaning unit will not shift in position during the cleaning process, so as to ensure its stable cleaning effect. In addition, by installing the auxiliary cleaning unit on the mounting part, it will not affect the movement of the moving part, and thus will not affect the detection accuracy of the detection unit, so that the detection unit can better detect the cleaning area.

[0058] In some possible implementations, the detection unit further includes a pulley;

[0059] The pulley is arranged around at least a portion of the moving member; or, the pulley is arranged at a distance from the moving member.

[0060] When the window cleaning robot contacts and moves with the window frame or corners, rolling friction can occur between the pulley and the window frame or corners, so that the friction between the window cleaning robot and the window frame or corners is as small as possible, and there will be no excessive friction with the window frame or corners to cause wear. At the same time, it can also enable the window cleaning robot to turn flexibly at the corners and edges of the window, thereby improving the mobility of the window cleaning robot, and improving the smoothness of movement and the movable range of the window cleaning robot, thereby ensuring comprehensive cleaning.

[0061] In some possible implementations, at least a portion of the auxiliary cleaning unit is mounted on the pulley.

[0062] The flexibility of the pulley movement enables the auxiliary cleaning unit to contact the glass surface or glass frame with different surfaces, thereby increasing the effective cleaning area of the auxiliary cleaning unit; in addition, the auxiliary cleaning unit installed on the pulley can provide additional protection for the pulley, avoiding excessive wear of the pulley caused by direct contact between the pulley and the glass frame, thereby increasing the service life of the pulley.

[0063] In some possible implementations, at least part of the auxiliary cleaning unit is mounted on an outer side wall of the pulley;

[0064] And / or, at least part of the auxiliary cleaning unit is installed on one end of the pulley facing the surface to be cleaned.

[0065] Installing the auxiliary cleaning unit on the outer side wall of the pulley can achieve cleaning of the glass frame; installing the auxiliary cleaning unit on the end of the pulley facing the surface to be cleaned can achieve cleaning of the glass surface.

[0066] In some possible implementations, the pulley is detachably mounted on the mounting portion; or,

[0067] The pulley is detachably mounted on the moving member.

[0068] The pulley is prone to wear due to contact with the glass frame during operation. The detachable design allows the pulley to be replaced individually when wear occurs, without the need to disassemble the entire mounting part, thereby reducing the use and maintenance costs of the detection unit. In addition, when the auxiliary cleaning unit is provided on the sensing ball head, the pulley is set to a detachable structure, which can facilitate the user to replace the auxiliary cleaning unit on the sensing ball head.

[0069] In some possible implementations, the detection unit includes a detection sensor and a pulley, the detection sensor is used to detect defects or edges of the surface to be cleaned, and the pulley is rotatable relative to the body;

[0070] The pulley is disposed around at least a portion of the detection sensor; or, the pulley is spaced apart from the detection sensor.

[0071] By combining detection sensors with pulleys, the sensors can identify different window edges, while the pulleys reduce friction between the window cleaning robot and the glass frame, making the robot move more smoothly. The detection sensors can be one or a combination of infrared sensors, ultrasonic sensors, laser sensors, cameras, and photoelectric sensors.

[0072] In some possible implementations, at least part of the auxiliary cleaning unit is mounted on an outer side wall of the pulley;

[0073] And / or, at least part of the auxiliary cleaning unit is installed on one end of the pulley facing the surface to be cleaned.

[0074] In some possible implementations, the auxiliary cleaning unit includes a fabric mounted on an outer surface of the pulley.

[0075] In some feasible embodiments, when the auxiliary cleaning unit is not subjected to external force, the auxiliary cleaning unit at least partially extends out of the outer contour line of the machine body.

[0076] The auxiliary cleaning unit extends beyond the main body, enabling better access to window frames and corners. Furthermore, in complex environments, debris can accumulate near windows, preventing the robot from cleaning nearby. The extended auxiliary cleaning unit allows access to these areas, improving cleaning effectiveness.

[0077] In some achievable embodiments, when the auxiliary cleaning unit is not subjected to external force, the distance between the auxiliary cleaning unit and the main cleaning unit is less than 20 mm.

[0078] The distance between the auxiliary cleaning unit and the main cleaning unit is small, and the distance between the auxiliary cleaning unit and the adsorption unit is close to the distance between the main cleaning unit and the adsorption unit, so that the force applied by the main cleaning unit and the auxiliary cleaning unit to the surface to be cleaned is more uniform, which helps to improve the cleaning effect of the auxiliary cleaning unit, especially the cleaning effect of stubborn stains.

[0079] In some achievable embodiments, the window cleaning robot further includes a control unit, which controls the walking unit to stop moving or turn the body after receiving an abnormal signal from the detection unit.

[0080] In some achievable embodiments, the auxiliary cleaning unit includes a fluff structure, and when the window cleaning robot is adsorbed onto the surface to be cleaned, the fluff structure can come into contact with the surface to be cleaned.

[0081] The fleece structure can get into tiny gaps and textures, allowing for a more thorough cleaning of the corners of windows.

[0082] In some feasible embodiments, the body is rectangular, and there are four detection units, which are respectively arranged at four corners of the body.

[0083] By arranging the four detection units at the four corners of the body respectively, the window cleaning robot can identify the window frame or obstacles earlier during its movement, no matter which direction it moves, thereby reducing the risk of collision or falling of the window cleaning robot and improving safety; the detection units are arranged at the four corners of the body, and the auxiliary cleaning units are also arranged at the four corners of the body, which can facilitate the user to observe the contamination condition of the surface of the auxiliary cleaning unit so as to replace the auxiliary cleaning unit in time. In addition, the user can roughly infer the degree of contamination of the surface to be cleaned by observing the degree of contamination of the auxiliary cleaning unit, and adjust the cleaning mode and number of cleanings accordingly.

[0084] The present application also proposes a window cleaning robot that can facilitate maintenance.

[0085] According to one aspect of the present application, a window cleaning robot is provided, comprising a body and:

[0086] an adsorption unit, for adsorbing the body onto the surface to be cleaned;

[0087] A walking unit, used for driving the machine body to move;

[0088] a detection unit, the detection unit being disposed at an edge of the body and being used to detect defects or edges of the surface to be cleaned; and

[0089] A pulley is disposed around the detection unit, the pulley is rotatable relative to the machine body, and the pulley is at least partially detachable relative to the machine body.

[0090] The pulleys can reduce friction with the window frame, helping the window cleaning robot to turn flexibly at the corners and edges of the window to ensure comprehensive cleaning.

[0091] The present application sets the pulley to be at least partially detachable relative to the body. If the pulley is worn or damaged, the user can quickly replace it, reducing the downtime of the window cleaning robot and improving the efficiency of the equipment. In addition, the user can also choose different types of pulleys according to different window types. For example, for more fragile or easily scratched surfaces, it is necessary to replace the pulley with a softer material to reduce friction and avoid scratches on the window or glass frame; for uneven surfaces or surfaces with sharp objects, it is necessary to select a pulley with a harder material to avoid damage to the pulley; for surfaces with more serious pollution, pulleys with different textures can be replaced to increase adhesion to the surface to be cleaned and the cleaning effect.

[0092] Compared with lighter window cleaning robots, heavier window cleaning robots require greater adsorption force when adsorbing on the surface to be cleaned. For glass with a flat surface and no frame, there is no need to use pulleys during the cleaning process. In such a working scenario, the pulleys can be removed to reduce the overall weight of the window cleaning robot, reduce the workload of the adsorption unit, save energy and reduce the risk of the window cleaning robot falling.

[0093] In summary, the detachable pulley structure not only improves the functionality and user experience of the window cleaning robot, but also enhances the maintainability of the equipment and its adaptability to different working scenarios.

[0094] In some possible implementations, the pulley includes a fixing portion and a detachable portion, and the detachable portion is detachably connected to the fixing portion.

[0095] The fixing part can ensure the firmness of the connection between the pulley and the body, and prevent the pulley from falling off during use; the disassembly part can be detachably connected to the fixed part, and there can be multiple disassembly parts. Different disassembly parts can cope with different usage scenarios. In this way, the window cleaning robot can flexibly choose according to different cleaning needs and surface types, and assemble appropriate disassembly parts to cope with corresponding usage scenarios, enriching the usage scenarios of the window cleaning robot.

[0096] In some achievable embodiments, a fabric is provided on the detachable portion or a fabric is provided on the detection unit, and the fabric is used to clean the surface to be cleaned.

[0097] The disassembly part is provided with fabric, which can clean the glass frame or glass corners, thereby improving the cleaning effect of the window cleaning robot. When the surface contamination of the fabric reaches a certain level or the fabric is damaged, the user can quickly replace the disassembly part alone, so that the window cleaning robot can continue cleaning work without disassembling the entire pulley structure, thereby improving the user experience.

[0098] In some feasible embodiments, the fabric is mounted on the disassembly portion or the detection unit by means of magnetism, adhesion, or snap connection.

[0099] In some achievable embodiments, a filling portion is provided between the detachable portion and the fixed portion, and the filling portion is used to fill a gap between the detachable portion and the fixed portion.

[0100] By arranging a filling part in the gap between the disassembly part and the fixing part, the gap between the disassembly part and the fixing part is reduced as much as possible, so as to reduce the shaking of the relative movement between the two as much as possible, thereby enabling the disassembly part and the fixing part to maintain a relatively static state during operation, avoiding relative shaking between the disassembly part and the fixing part when the pulley rolls in contact with the glass frame or obstacles, thereby affecting the rolling effect of the pulley.

[0101] In some feasible embodiments, the detection unit includes a mounting portion connected to the body, and a moving part and a sensing part are provided on the mounting portion. The moving part can move relative to the mounting portion, and the sensing part is used to identify the position of the moving part. The window cleaning robot can judge whether the body is at a defect or edge of the surface to be cleaned based on the position of the moving part.

[0102] In some feasible embodiments, the mounting portion has a mounting through hole, the moving member is at least partially disposed in the mounting through hole, and the moving member is capable of moving along the axial direction of the mounting through hole.

[0103] In some feasible embodiments, the movable member includes a sensing ball head and a telescopic spring, the sensing ball head is used to contact the surface to be cleaned, and the telescopic spring applies a pre-tightening force to the sensing ball head so that the sensing ball head has a tendency to move in a direction away from the body.

[0104] In some possible implementations, the moving member further includes a moving body extending along the axial direction of the mounting through hole, the moving body being capable of moving along the axial direction of the mounting through hole, the sensing ball head being disposed at one end of the moving body, and the sensing member being configured to identify the position of the other end of the moving body;

[0105] When the window cleaning robot is adsorbed on the surface to be cleaned, the telescopic spring is compressed, and the sensing ball head moves toward the direction approaching the body.

[0106] In some possible implementations, the pulley is mounted on the mounting portion and is rotatable relative to the mounting portion.

[0107] In some possible implementations, the pulley is mounted on the outer side of the mounting portion via a bearing.

[0108] The bearing may include an inner ring and an outer ring rotatably connected to each other, the inner ring being fixed to the outer side of the mounting portion, and the outer ring being fixed to the inner side of the pulley, so that the pulley can be rotatably mounted on the outer side of the mounting portion.

[0109] The pulley is assembled through the bearing and the mounting part, which can ensure the smooth rolling of the pulley while preventing the pulley from falling off from the body, thereby improving the reliability of the pulley operation.

[0110] In some possible implementations, the pulley is detachably mounted on the sensing ball head.

[0111] The pulley is detachably mounted on the sensing ball head, and moves up and down with the sensing ball head. When the fabric is mounted on the sensing ball head, the pulley and the sensing ball head move up and down together. Compared with the technical solution in which the pulley is assembled on the mounting part, the fabric will not be disturbed by the mutual movement of the pulley and the sensing ball head and fall off the sensing ball head, thereby ensuring the installation stability of the fabric and its cleaning stability.

[0112] In some feasible embodiments, the pulley is mounted on the sensing ball head by snap-fitting.

[0113] In some achievable embodiments, the window cleaning robot further includes a control unit, which controls the walking unit to stop moving or turn the body after receiving an abnormal signal from the detection unit.

[0114] The present application further proposes a window cleaning robot that can be easily moved.

[0115] According to one aspect of the present application, a window cleaning robot is provided, comprising a body and:

[0116] an adsorption unit, for adsorbing the body onto the surface to be cleaned;

[0117] A walking unit, used for driving the machine body to move; and

[0118] a detection unit, the detection unit being arranged at an edge of the machine body and being used to detect defects or edges of the surface to be cleaned;

[0119] The detection unit includes: a mounting portion, which is connected to the machine body, and a moving part and a sensing part are provided in the mounting portion, wherein the moving part can move relative to the mounting portion, and the sensing part can identify the position change of the moving part; the moving part includes a sensing ball head and an elastic part, wherein the sensing ball head is used to contact the surface to be cleaned, and the elastic part applies a pre-tightening force to the sensing ball head so that the sensing ball head has a tendency to move in a direction away from the machine body; the sensing ball head is constructed in a spherical shape and can roll freely in the mounting portion and can move relative to the mounting portion.

[0120] In the present application, the friction mode between the sensing ball head and the surface to be cleaned is rolling friction. The friction force of rolling friction is much lower than sliding friction, which can significantly reduce the friction force between the sensing ball head and the surface to be cleaned, and prevent the sensing ball head from scratching the glass surface; in addition, each surface of the sensing ball head can contact the surface to be cleaned, preventing excessive local wear of the sensing ball head and extending the service life of the sensing ball head.

[0121] The sensing ball head can move in the mounting part. When the window cleaning robot is adsorbed on the surface to be cleaned, the sensing ball head moves in the mounting part in the direction toward the body, so that most of the sensing ball head is hidden in the mounting part. The area of the sensing ball head exposed outside the mounting part is reduced, thereby reducing the probability of the sensing ball head colliding with obstacles.

[0122] In some possible implementations, the elastic member is a telescopic spring.

[0123] In some achievable embodiments, the mounting portion has a mounting through hole, and the sensing ball head is at least partially disposed in the mounting through hole.

[0124] In some possible implementations, the moving member further includes a moving body extending along the axial direction of the mounting through hole, the moving body being capable of moving along the axial direction of the mounting through hole, the sensing ball head abutting against one end of the moving body, and the sensing member being used to identify the position of the other end of the moving body;

[0125] When the window cleaning robot is adsorbed onto the surface to be cleaned, the elastic member is compressed, and the sensing ball head moves toward the direction approaching the body.

[0126] In some achievable embodiments, one end of the movable body has an abutting surface, and the abutting surface is adapted to the outer surface of the sensing ball head.

[0127] The abutment surface of the moving body is adapted to the outer surface of the sensing ball head. The abutment surface provides support for the sensing ball head while making the rolling process of the sensing ball head smoother, thereby avoiding the sensing ball head from getting stuck during the rolling process.

[0128] In some achievable embodiments, the window cleaning robot further includes a control unit, which controls the walking unit to stop moving or turn the body after receiving an abnormal signal from the detection unit.

[0129] In some feasible embodiments, the window cleaning robot further includes a pulley, which is disposed around the detection unit and is rotatable relative to the body.

[0130] In some possible implementations, a fabric is provided on the pulley, and / or a fabric is provided on the sensing ball head;

[0131] The fabric is used to clean the surface to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0132] The disclosure of this application is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. In the drawings, unless otherwise specified, the same reference numerals are used to refer to the same components. Among them:

[0133] Figure 1 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0134] Figure 2 Schematic diagram showing Figure 1 A partial stereoscopic view of the window cleaning robot;

[0135] Figure 3 Schematic diagram showing Figure 2 A partial exploded view of the

[0136] Figure 4 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0137] Figure 5 Schematic diagram showing Figure 4 A cross-sectional view of a part of the window cleaning robot from another angle;

[0138] Figure 6 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0139] Figure 7 Schematic diagram showing Figure 6 A cross-sectional view of a part of the window cleaning robot from another angle;

[0140] Figure 8 Schematic diagram showing Figure 5 A partial stereoscopic view of the window cleaning robot;

[0141] Figure 9 A window cleaning robot according to one embodiment of the present application is schematically shown in a top view;

[0142] Figure 10 A window cleaning robot according to one embodiment of the present application is schematically shown in a top view;

[0143] Figure 11 A window cleaning robot according to one embodiment of the present application is schematically shown in a three-dimensional diagram;

[0144] Figure 12 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0145] Figure 13 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0146] Figure 14 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0147] Figure 15 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0148] Figure 16 Schematically shows a partial cross-sectional view of a window cleaning robot proposed according to one embodiment of the present application;

[0149] Figure 17 A partial cross-sectional view of a window cleaning robot according to one embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0150] It is easy to understand that, based on the technical solution of this application, without changing the essential spirit of this application, a person skilled in the art can propose a variety of interchangeable structural methods and implementation methods. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of this application and should not be regarded as the entire application or as a limitation or restriction of the technical solution of this application.

[0151] According to one embodiment of this application, please refer to Figures 9 to 11 As shown, the window cleaning robot includes a body 10 and a suction unit 300, a travel unit 500, a main cleaning unit 400, a detection unit 100, and an auxiliary cleaning unit 200 disposed on the body 10. The suction unit 300 is used to suction the body 10 to the surface to be cleaned. For example, the suction unit 300 is disposed in the middle of the body 10. The suction unit 300 is provided with a negative pressure chamber. The opening of the negative pressure chamber may be facing the surface to be cleaned. The negative pressure chamber can generate a negative pressure environment to suction the body 10 to the surface to be cleaned. The travel unit 500 is used to drive the body 10 to move. The travel unit 500 may adopt a crawler structure and may be disposed inside or outside the negative pressure chamber. The detection unit 100 may be disposed at the edge of the body 10 to detect defects or edges of the surface to be cleaned. The auxiliary cleaning unit 200 is installed on the detection unit 10. The main cleaning unit 400 is at least partially disposed between the suction unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 is, for example, detachably mounted on the detection unit 100 .

[0152] The detection unit 100 is movably arranged relative to the center of the body 10. Specifically, the detection unit 100 can be installed on the body 10 by an elastic structure or a telescopic structure. When the detection unit 100 is subjected to an external impact greater than the threshold value of the deformation of the elastic structure or the threshold value of the movement of the telescopic structure, the detection unit 100 can move toward the center of the body 10. The elastic structure or the telescopic structure can be a part of the body 10 (such as the collision plate 102) or an additional component. Its purpose is to enable the detection unit 100 to move relative to the center of the body 10. When the detection unit 100 is collided and moves toward the center of the body 10 or the movement amount reaches a set value, a signal is given to the window cleaning robot that there is an obstacle (or window frame) in front of the window cleaning robot to prevent the window cleaning robot from continuing to move in the original moving direction and to prevent the window cleaning robot from being impacted by the obstacle and falling off the surface to be cleaned.

[0153] Please refer to Figure 11As shown, specifically, the body 10 includes a base 101 and a striker plate 102. The striker plate 102 is arranged around the circumference of the base 101 and can move in a direction close to or away from the base 101. When the striker plate 102 is hit by an external force, the striker plate 102 moves toward the direction close to the base 101. When the external force is released, the striker plate 102 moves toward the direction away from the base 101 and returns to its original position. The striker plate 102 moves while driving the detection unit 100 and the auxiliary cleaning unit 200 to move together. The striker plate 102 can help the window cleaning robot adapt to various environments, improve the flexibility of the window cleaning robot, reduce failures caused by collisions, and thus reduce maintenance frequency and costs. The specific structure of the striker plate 102 and the connection method between the striker plate 102 and the body 10 can adopt relevant technical means in the existing technology, so they will not be described here. Please refer to Figure 9 As shown, exemplarily, the body 10 is rectangular as a whole, and the number of the detection units 100 is set to four, and the four detection units 100 are respectively arranged at the four corners of the body 10.

[0154] Please refer to Figure 10 and Figure 11 As shown, the suction unit 300, the travel unit 500, and the main cleaning unit 400 are disposed on the base 101, and the detection unit 100 and the auxiliary cleaning unit 200 are disposed on the striker 102 or on a structure that can be telescopically moved relative to the body 10. The detection unit 100 is movably disposed relative to the center of the body 10. When the pressure applied to the detection unit 100 is less than or equal to 0.3N, the detection unit 100 does not move relative to the main cleaning unit 400.

[0155] Specifically, when the detection unit 100 moves with the body 10 and touches an obstacle and is subjected to a pressure of less than or equal to 0.3 Newton from the obstacle, the detection unit 100 does not move relative to the main cleaning unit 300 .

[0156] Among the forces applied to the detection unit 100, as long as there is a component directed toward the center of the body 100, the force can be called pressure. Figure 10 In the figure, the left rear detection unit 200 protrudes from the corner formed by the left side and the rear side of the body 10, and the middle position of the body 10 is located to the right front of the left rear detection unit 100. When the force applied to the left rear detection unit 100 has a forward or rightward component, it indicates that the force is pressure.

[0157] For another example, the detection unit 100 on the right front side protrudes from the corner formed by the right side and the front side of the body 10, and the middle position of the body 10 is located on the left rear side of the detection unit 100 on the right front side. When the force applied to the detection unit 100 on the right front side has a backward or rightward component, it indicates that the force is pressure. It should be noted that Figure 10In the figure, a detection unit 100 protrudes from the outer edges of the two sides of the body 10 as an example. For the case where the detection unit 100 protrudes from the outer edge of one side of the body 10, those skilled in the art can simply deduce it based on the above, and will not go into details here.

[0158] There are many types of obstacles on the surface to be cleaned. These obstacles include the first type of obstacles with a strong fixing force to the surface to be cleaned and the first type of obstacles with a weak fixing force to the surface to be cleaned (including glass surfaces). The first type of obstacles may include objects such as glass frames, contaminants, and bases, which are fixed to the surface to be cleaned by snap connections, fastening connections, bonding, adsorption connections, etc. The second type of obstacles may include impurities such as bird droppings, rotten fruit, leaves, asphalt, tar, gum, feathers, large particles of dust, and debris, which have a weak fixing force to the surface to be cleaned. These objects adhere to the surface to be cleaned through their own weak adhesion or weak external adhesion.

[0159] The second type of obstacles on the surface to be cleaned allow the detection unit 100 to pass through. The inventors of this application have experimentally verified that for these second type of obstacles, in most cases, they can be pushed or dispersed with a force less than or equal to 0.3 Newtons; for the first type of obstacles, an impact force of 0.3 Newtons will not damage the window cleaning robot.

[0160] Furthermore, if the detection unit 100 is capable of detecting the edge of frameless glass, changes in the position of the detection unit 100 relative to the body 10 will affect its detection speed for the frameless glass edge, potentially causing the window cleaning robot to be unable to maneuver in time when encountering the edge of the frameless glass and fall. Setting the pressure to a force less than or equal to 0.3 Newtons prevents the position of the detection unit 100 from changing due to the movement of the second type of obstacle, thereby ensuring that the window cleaning robot's detection speed for the frameless glass edge is not affected, allowing the window cleaning robot to maneuver in time when encountering the edge of the frameless glass without falling.

[0161] In addition, the pressure that can move the detection unit 100 is set to no less than 0.3N, so that the detection unit 100 will not move when encountering the second type of obstacles mentioned above, thereby improving the effect of the detection unit 100 as a "scraper", so that the detection unit 100 can more easily scrape the second type of obstacles from their original position and push the second type of obstacles to move, thereby improving the cleaning effect of the window cleaning robot.

[0162] Therefore, the detection unit 100 is set to not move when subjected to a pressure less than or equal to 0.3 Newton. While achieving obstacle avoidance, it can also prevent these removable attachments from being identified as obstacles, resulting in cleaning omissions.

[0163] Please refer to Figures 1 to 3 As shown, according to one embodiment of the present application, the detection unit 100 includes a mounting portion 110 connected to the body 10, a movable member 130 having at least one end extending through the mounting portion 110, and a sensing member 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected to the body 10. For example, the mounting portion 110 can be mounted on the striker plate 102 so that the mounting portion 110 can move along with the striker plate 102; or a guide groove can be provided in the body 10 so that the mounting portion 110 can slide along the guide groove.

[0164] The mounting portion 110 is provided with a mounting through-hole 111 which passes through in the up-down direction (Z), and the movable member 130 is provided through the mounting through-hole 111. The movable member 130 can move in the up-down direction (Z) relative to the mounting portion 110 in the mounting through-hole 111. The sensing member 140 is used to identify the position change of the movable member 130. The window cleaning robot can judge whether it is at a defect or edge of the surface to be cleaned based on the position of the movable member 130, so as to perform corresponding actions in advance, thereby preventing the window cleaning robot from continuing to move in the original moving direction and preventing the window cleaning robot from falling from the window.

[0165] Specifically, the mounting portion 110 includes a first mounting portion and a second mounting portion connected to each other. The first mounting portion is used for mounting on the body 10 , and the second mounting portion extends downward along the first mounting portion. The second mounting portion is a cylindrical structure with a mounting through hole 111 extending therethrough in the up and down directions.

[0166] The moving member 130 includes a sensing ball head 131 , a telescopic spring 132 , and a moving body 133 . The moving body 133 is disposed through the mounting through hole 111 (the penetration referred to here may be through the upper end or through both the upper and lower ends). The lower end of the mobile body 133 is connected to the sensing ball head 131 so that the mobile body 133 can move with the sensing ball head 131. The sensing part 140 can sense the position change of the sensing ball head 131 to generate corresponding position information. The upper end of the mobile body 133 is provided with a limiting part 134, and the limiting part 134 is fixedly connected to the mobile body 133, for example, it can be connected by screws. The size of the limiting part 134 is larger than the size of the mounting through hole 111, and it has two functions: one is to limit the mobile body 133 so that the upper end of the mobile body 133 is always located outside the mounting through hole 111, and the other is that the limiting part 134 can be set adjacent to the sensing part 140 to facilitate the sensing part 140 to identify the position of the limiting part 134, and the sensing part 140 identifies the position change of the moving part 130 through the change of the limiting part 134.

[0167] The sensing ball head 131 is a spherical structure. In other embodiments, the sensing ball head 131 can also be set to a hemispherical structure, an ellipsoidal structure, etc. As long as the surface in contact with the surface to be cleaned is an arc-shaped surface, the use requirements can be met. For example, the window cleaning robot can determine that the body 10 is at a defect or edge of the surface to be cleaned based on the sensing ball head 131 being in a suspended state (that is, the sensing ball head 131 is not in contact with the surface to be cleaned). The sensing ball head 131 can be completely extended out of the mounting hole 111, or it can be partially set in the mounting hole 111 (please refer to Figure 6 and Figure 7 ).

[0168] The telescopic spring 132 is sleeved on the mobile body 133. The lower end of the telescopic spring 132 contacts the sensing ball head 131 (or contacts an additional structural member provided on the mobile body 133), and the upper end of the telescopic spring 132 abuts against other structural members of the non-moving member 130, for example, the mounting portion 110. When the window cleaning robot is in a non-operating state, the telescopic spring 132 is in a natural state or a first compressed state, and the sensing ball head 131 is in a first position. When the window cleaning robot is adsorbed on the surface to be cleaned, the telescopic spring 132 is in a second compressed state, and the sensing ball head 131 is in a second position. The degree of compression of the telescopic spring 132 in the second compressed state is greater than that in the first state. Therefore, when the window cleaning robot is in operation, the telescopic spring 132 applies a pre-tightening force to the sensing ball head 131, causing the sensing ball head 131 to have a tendency to move away from the body 10 (downward).

[0169] The sensing member 140 is installed on the first mounting portion. The sensing member 140 can be an optocoupler sensor. The limiting member 134 is used in conjunction with the optocoupler sensor. When the sensing ball head 131 is in the first position, the signal between the photosensitive elements of the optocoupler sensor is not blocked and can be conducted. When the sensing ball head 131 is in the second position, the signal between the photosensitive elements of the optocoupler sensor is blocked and cannot be conducted; or when the sensing ball head 131 is in the first position, the signal between the photosensitive elements of the optocoupler sensor is blocked and cannot be conducted. When the sensing ball head 131 is in the second position, the signal between the photosensitive elements of the optocoupler sensor is not blocked and can be conducted. When the photosensitive element is conducted, the output end generates a corresponding current or voltage signal, which is used to drive subsequent circuits.

[0170] The detection unit 100 not only includes the detection sensors in the above examples, but can also be a combination of one or more of a photoelectric sensor, an infrared sensor, an ultrasonic sensor, and a laser sensor.

[0171] Please refer to Figure 12 and Figure 13As shown, the auxiliary cleaning unit 200 includes a fabric 201, which is used to clean the surface to be cleaned. The fabric 201 is, for example, a flocked rag, and the surface to be cleaned is a relatively flat surface, such as a glass surface. The fabric 201 is, for example, mounted on the sensing ball head 131 in a detachable manner. For example, the fabric 201 can be mounted on the side surface of the sensing ball head 131 that contacts the surface to be cleaned or on the side of the sensing ball head 131. After the fabric 201 is contaminated due to cleaning, the fabric 201 can be removed from the detection unit 100, and then the cleaned fabric 201 or a new fabric 201 can be reinstalled on the detection unit 100, or a new fabric 201 can be directly replaced. Exemplarily, the above-mentioned fabric 201 is mounted on the sensing ball head 131 by magnetic attraction, bonding or snapping. Please refer to Figure 12 The fabric 201 is directly mounted on the side of the sensor ball head 131 that contacts the surface to be cleaned by magnetic attraction or adhesion; please refer to Figure 13 The fabric 201 is installed on an adapter, which is engaged with the outer wall of the sensing ball head 131. The adapter can rotate relative to the sensing ball head 131, or remain relatively stationary with the sensing ball head 131. In addition to the fabric 201, a strip-shaped fluff structure 202 can also be installed on the surface of the adapter to improve the cleaning effect.

[0172] While the sensing ball head 131 performs a sensing function, the fabric 201 installed on the sensing ball head 131 can also perform a cleaning function on the cleaning surface. When the suction unit 300 of the window cleaning robot is adsorbed on the surface to be cleaned, if the fabric 201 is in a state of being mounted on the sensing ball head 131, since at least part of the fabric 201 is located between the sensing ball head 131 and the surface to be cleaned, the sensing ball head 131 moves toward the body 10 to the extreme position. The extreme position provides a space for the sensing ball head 131 to move upward to the extreme without elastic floating, that is, the sensing ball head 131 is "pressed" on the surface to be cleaned. This arrangement ensures sufficient friction between the fabric 201 and the surface to be cleaned, thereby ensuring the cleaning effect of the fabric 201. When the suction unit 300 of the window cleaning robot is adsorbed on the surface to be cleaned, if the fabric 201 is not mounted on the sensing ball head 131, since there is no fabric 201 between the sensing ball head 131 and the surface to be cleaned, the sensing ball head 131 does not move to the above-mentioned extreme position. A certain elastic margin is left between the sensing ball head 131 and the surface to be cleaned, thereby avoiding excessive friction between the sensing ball head 131 and the surface to be cleaned, thereby avoiding scratching the surface to be cleaned.

[0173] Please continue to refer to Figures 1 to 3 As shown, the detection unit 100 further includes a pulley 120, which is at least partially arranged around the moving member 130, that is, the pulley 120 at least partially extends along the central axis of the moving member 130. Figure 1In the embodiment shown in , the pulley 120 is mounted on the mounting portion 110. The pulley 120 can rotate around the moving member 130. Specifically, the pulley 120 is mounted on the outer side of the mounting portion 110 via a bearing 124, so that the pulley 120 can rotate smoothly. The bearing 124 can include an inner ring and an outer ring that are rotatably connected to each other, the inner ring is fixed to the outer side of the mounting portion 110, and the outer ring is fixed to the inner side of the pulley 120, so that the pulley 120 can be rotatably mounted on the outer side of the mounting portion 110.

[0174] Illustratively, the pulley 120 is at least partially detachable from the body 10. For example, the pulley 120 may be entirely detachably mounted on the mounting portion 110. Alternatively, the pulley 120 may be partially detachably mounted on the mounting portion 110. By configuring the pulley 120 to be at least partially detachable from the body 10, maintenance or replacement of the pulley 120 can be facilitated.

[0175] Exemplarily, the pulley 120 includes a fixed portion 121 and a detachable portion 122. The detachable portion 122 is detachably connected to the fixed portion 121, thereby facilitating maintenance or replacement of the detachable portion 122. As part of the pulley 120, the detachable portion 122 can rotate around the movable member 130 and can, for example, roll along a glass frame. Exemplarily, the detachable portion 122 is detachably connected to the fixed portion 121 via a slot structure.

[0176] Specifically, the fixing portion 121 is located above the disassembly portion 122, and the fixing portion 121 is installed on the mounting portion 110 through the bearing 134. The diameter of the upper half of the fixing portion 121 is larger than the diameter of the lower half of the fixing portion 121. The lower half of the fixing portion 121 is provided with a mounting slot 1211. The mounting slot 1211 is arranged along the up and down directions and passes through the bottom end of the fixing portion 121. The width of the mounting slot 1211 is different at different height positions. At the position closest to the bottom end of the fixing portion 121, the width of the mounting slot 1211 is larger to facilitate the installation of the disassembly portion 122. At the position close to the upper half of the fixing portion 121, the width of the mounting slot 1211 is also larger, so that there is a certain amount of margin space for assembly between the fixing portion 121 and the disassembly portion 122. Between the two wider areas of the mounting slot 1211, the width of the mounting slot 1211 is smaller to prevent the disassembly portion 122 from falling off the fixing portion 121 during work. There are multiple mounting slots 1211 , such as two, three, or four, and the mounting slots 1211 are evenly arranged along the circumference of the fixing portion 121 .

[0177] The inner side wall of the disassembly portion 122 is provided with a clip 1221 corresponding to the installation slot 1211. The thickness of the clip 1211 is set to be slightly larger than the minimum width of the installation slot 1211 and smaller than the maximum width of the installation slot 1211. The width of the installation slot 1211 gradually decreases from its bottom to the top. During installation, the clip 1221 enters the installation slot 1211 from the open lower end of the installation slot 1211. When reaching the installation slot 1211 area with smaller width, the clip 1221 forces the installation slot 1211 at the smaller installation width to undergo a certain elastic deformation, so that the clip 1221 can continue to move upward and enter the installation slot 1211 at the top with the largest width. The length of the installation slot 1211 in this area is greater than the length of the clip 1221, so that the clip 1221 can be completely placed in the slot 1211 in this area, preventing the clip 1221 from falling off.

[0178] A filling portion 123, such as a silicone sleeve, is provided between the disassembly portion 122 and the fabric 201. This fills the gap between the disassembly portion 122 and the fabric 201, improving the installation stability of the fabric 201 and preventing it from shaking. The filling portion 123 is made of a material similar to a bellows, and its sidewalls are provided with retaining grooves 1231 that mate with the clips 1221. During installation, the clips 1221 are first installed into the retaining grooves 1231, then snapped into the installation slots 1211. During disassembly, the disassembly portion 122 and the filling portion 123 are removed together.

[0179] The detachable portion 122 is provided with a fabric 201, which is used to clean the surface to be cleaned. Figure 2 and Figure 3 As shown, fabric 201 can be attached to detachable portion 122 by gluing or by fixed attachment. Adhesive or magnetic attachment of fabric 201 to detachable portion 122 offers the advantage of allowing for direct removal when fabric 201 needs to be replaced. Fixed attachment of fabric 201 to detachable portion 122 provides a more secure fit and prevents it from falling off during cleaning. When fabric 201 is replaced, detachable portion 122 can be replaced simultaneously, resulting in a relatively low cost.

[0180] The fabric 201 is provided with a layer or multiple layers on the outer wall of the disassembly portion 122. Specifically, the fabric 201 can be a short flocked rag, by which the glass frame can be cleaned. The fabric 201 can also be provided with a strip-shaped fluff structure 202, and the fluff structure 202 can be folded onto the lower end of the pulley 120 and the glass surface, so that the glass can be cleaned while the glass frame is being cleaned. Another way is to directly provide a strip-shaped fluff structure 202 on the surface of the disassembly portion 122, and the fluff structure 202 is used to clean the glass frame and the glass surface. In short, the fluff structure 202 can be a part of the fabric 201, and the fluff structure 202 can also serve as an independent auxiliary cleaning unit 200.

[0181] The outer diameter of the disassembly part 122 is set to be larger than the outer diameter of the fixed part 121, so that when the window cleaning robot is working, the disassembly part 122 can contact the glass frame or obstacles, while the fixed part 121 is less likely to contact the glass frame or obstacles, thereby reducing the wear rate of the fixed part 121 and extending the service life of the fixed part 121; the reasons why the disassembly part 122 can always contact the glass frame or obstacles are as follows: 1. The outer wall of the disassembly part 122 is provided with fabric 201, and the fabric 201 plays a certain protective role for the disassembly part 122; 2. The disassembly part is a detachable structure, which is convenient for users to replace. Compared with replacing the fixed part 121, replacing the disassembly part 122 can better enhance the user experience.

[0182] When the window-cleaning robot is attached to the surface to be cleaned, the telescopic spring 132 is compressed, causing the sensing ball head 131 to move toward the body 10. The movement of the sensing ball head 131 is, for example, less than or equal to 20 mm. The movement of the sensing ball head 131 should not be set too large to prevent excessive movement of the sensing ball head 131 from interfering with the operation of other components of the window-cleaning robot. For example, the greater the movement of the sensing ball head 131 along the body 10, the more space is required in the body 10 to accommodate the detection unit 100, resulting in wasted space and hindering the miniaturization of the window-cleaning robot.

[0183] When the auxiliary cleaning unit 200 is not subjected to external force (for example, the auxiliary cleaning unit 200 is not in contact with the frame of the surface to be cleaned, such as a glass frame), the auxiliary cleaning unit 200 at least partially extends out of the outer contour line of the body 10 (refer to FIG. Figures 9 to 11As shown), this arrangement is conducive to the auxiliary cleaning unit 200 to effectively clean the surface to be cleaned. When the auxiliary cleaning unit 200 is not subject to external force, the distance between the auxiliary cleaning unit 200 and the main cleaning unit 400 is less than 20 mm. Among them, the main cleaning unit 400 can be a main cleaning cloth, and the main cleaning cloth can be arranged around the adsorption unit 300. The auxiliary cleaning unit 200 may include a fluff structure 202. When the window cleaning robot is adsorbed on the surface to be cleaned, the fluff structure 202 can contact the surface to be cleaned, thereby playing a cleaning role. The fluff structure 202 is, for example, a part of the fabric 201 or is connected to the fabric 201.

[0184] According to one embodiment of this application, please refer to Figures 9 to 11 As shown, the window cleaning robot includes a body 10 and a suction unit 300, a travel unit 500, a main cleaning unit 400, a detection unit 100, and an auxiliary cleaning unit 200 disposed on the body 10. The suction unit is used to attach the body 10 to the surface to be cleaned. For example, the suction unit 300 is disposed in the middle of the body 10 and is provided with a negative pressure chamber for attaching the body 10 to the surface to be cleaned. The travel unit 500 is used to move the body 10 and has a crawler-type structure. The travel unit 500 can be located inside or outside the negative pressure chamber. The detection unit 100 is disposed at an edge of the body 10 and is used to detect defects or edges on the surface to be cleaned. The auxiliary cleaning unit 200 is mounted on the detection unit 100. The main cleaning unit 400 is at least partially disposed between the suction unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 is detachably mounted on the detection unit 100.

[0185] Please refer to Figure 4 and Figure 5 As shown, the detection unit 100 includes a mounting portion 110 connected to the body 10, a movable member 130 with at least one end passing through the mounting portion 110, and a sensing member 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected to the body 10. For example, the mounting portion 110 can be mounted on the striker plate 102, and the mounting portion 110 can move along with the striker plate 102; or a guide groove is provided in the body 10, and the mounting portion 110 can slide along the guide groove. The movable member 130 includes a sensing ball head 131, a telescopic spring 132, and a movable body 133. The movable body 133 is set to pass through the mounting through hole 111 (the penetration referred to here is the penetration of the upper end or the penetration of both the upper and lower ends). The lower end of the movable body 133 is connected to the sensing ball head 131 so that the movable body 133 can move along with the sensing ball head 131, and the position change signal of the sensing ball head 131 is transmitted to the sensing member 140. The sensing member 140 is used to identify the position of the upper end of the movable body 133.

[0186] The window cleaning robot also includes a pulley 120, which is mounted on a sensing ball head 131. Specifically, the lower surface of the sensing ball head 131 (the surface in contact with one side of the surface to be cleaned) is an arc-shaped structure, and the sensing ball head 131 extends upward along the top of the arc-shaped surface to form a side wall, which is a cylindrical structure. A accommodating space is formed between the side wall of the sensing ball head 131 and the moving body 133, and at least part of the telescopic spring 132 is arranged in the accommodating space 135. An annular mounting groove is provided along the circumference of the side wall of the sensing ball head 131, and a limit card matching the above-mentioned annular mounting groove is provided on the inner side wall of the pulley 120. The annular mounting groove limits the limit card in the up and down directions but does not limit the limit card in the circumferential direction, so that the pulley 120 can rotate along the circumference of the sensing ball head 131. To facilitate installation and removal, the transverse cross-section of the annular mounting groove is configured to be trapezoidal. When installing the pulley 120, the pulley 120 is sleeved onto the sensing ball head 131 from the bottom of the sensing ball head 131. When the pulley 120 moves upward, it compresses the side wall of the sensing ball head 131, causing it to deform inward, allowing the limit clamp to snap into the annular mounting groove. After the limit clamp is installed in the annular mounting groove, the deformation of the side wall of the sensing ball head 131 disappears, preventing the pulley 120 from falling off the sensing ball head 131. The removal process of the pulley 120 is the opposite of the installation process of the pulley 120 and is not described in detail here. In this embodiment, the functions of the accommodation space are as follows: first, it provides an installation position for the telescopic spring 132. The side walls of the accommodation space play a certain limiting role on the telescopic spring 132, preventing the position of the telescopic spring 132 from shifting in the left and right directions; the accommodation space 135 can provide deformation space for the side walls of the sensing ball head 131, making it easier for the side walls of the sensing ball head 131 to deform, thereby facilitating the installation and removal of the pulley 120. The auxiliary cleaning unit 200 includes a fabric 201 mounted on the pulley 120, and the fabric 201 is mounted on the outer surface of the pulley 120. The fabric 201 is mounted to the side wall of the pulley 120 and lapped onto the surface to be cleaned, for cleaning the surface to be cleaned and the window frame. According to another embodiment of the present application, the fabric 201 is mounted to the lower end of the pulley 120 and lapped onto the surface to be cleaned, for cleaning the surface to be cleaned.

[0187] According to one embodiment of this application, please refer to Figures 9 to 11As shown, the window cleaning robot includes a body 10 and a suction unit 300, a travel unit 500, a main cleaning unit 400, a detection unit 100, and an auxiliary cleaning unit 200 disposed on the body 10. The suction unit 300 is used to suction the body 10 to the surface to be cleaned. For example, the suction unit 300 is disposed in the middle of the body 10 and is provided with a negative pressure chamber for suctioning the body 10 to the surface to be cleaned. The travel unit 500 is used to drive the body 10 to move. The travel unit 500 adopts a crawler structure and can be disposed inside or outside the negative pressure chamber. The detection unit 100 is disposed at the edge of the body 10 and is used to detect defects or edges on the surface to be cleaned. The auxiliary cleaning unit 200 is mounted on the detection unit 100. The main cleaning unit 400 is at least partially disposed between the suction unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 can be detachably mounted on the detection unit 100.

[0188] Please refer to Figures 6 to 8 As shown, the detection unit 100 includes a mounting portion 110 connected to the body 10, a moving member 130 with at least one end passing through the mounting portion 110, and a sensing member 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected to the body 10 (the mounting portion 110 can include two parts, one part (the first mounting portion) is connected to the body 10, and the other part (the second mounting portion) is used to assemble the moving member 130. The two parts are integrally arranged or connected by a connecting member, for example, Figure 7 and attached Figure 8 The mounting portions 110 of the two parts are independently provided, but the position between the two parts is relatively fixed). The mounting portion 110 can be installed on the striker plate 102, and the mounting portion 110 can move with the striker plate 102; or a guide groove is provided in the body 10, and the mounting portion 110 can slide along the guide groove. The moving member 130 includes a sensing ball head 131, a telescopic spring 132, and a moving body 133. The moving body 133 is provided through the mounting through hole 111 (the penetration referred to here means penetration at the upper end or penetration at both the upper and lower ends). The sensing member 140 is used to identify the position of the upper end of the moving body 133.

[0189] The upper end of the movable body 133 passes through the top of the mounting hole 111. The lower portion of the movable body 133 is provided with an abutment portion 1331, which is positioned within the mounting hole 111. The sensing ball head 131 is a spherical structure, at least partially positioned within the mounting hole 111. The abutment portion 1331 is provided with an abutment surface, the contour of which matches the contour of the sensing ball head 131, so that the sensing ball head 131 can roll freely and move up and down within the mounting portion 111. The diameter of the lower end surface of the mounting hole 111 is smaller than the diameter of the sensing ball head 131 to ensure that the sensing ball head 131 does not fall out of the mounting hole 111. An elastic member is provided between the abutment portion 1331 and the mounting portion 110. This elastic member can be a telescopic spring 132, which is used to apply a preload force to the sensing ball head 131, causing the sensing ball head 131 to tend to move away from the body 10.

[0190] In the window cleaning robot according to this embodiment, by constructing the sensing ball head 131 into a spherical shape and being able to roll freely in the mounting portion 110, the friction force when the sensing ball head 131 moves on the surface to be cleaned can be reduced, facilitating the movement of the sensing ball head 131 and avoiding scratching the surface to be cleaned.

[0191] When the window cleaning robot is attached to the surface to be cleaned, the elastic member is compressed, and the sensing ball head 131 moves toward the direction approaching the body 10 (upper part).

[0192] In the window cleaning robot according to this embodiment, the window cleaning robot further includes a pulley 120, which is arranged around the detection unit 100 and is rotatable relative to the body 10. A fabric 201 is provided on the pulley 120 for cleaning the surface to be cleaned.

[0193] According to one embodiment of this application, please refer to Figures 9 to 11 As shown, the window cleaning robot includes a body 10 and a suction unit 300, a travel unit 500, a main cleaning unit 400, a detection unit 100, and an auxiliary cleaning unit 200 disposed on the body 10. The suction unit 300 is used to suction the body 10 to the surface to be cleaned. For example, the suction unit 300 is disposed in the middle of the body 10 and is provided with a negative pressure chamber for suctioning the body 10 to the surface to be cleaned. The travel unit 500 is used to drive the body 10 to move. The travel unit 500 adopts a crawler structure and can be disposed inside or outside the negative pressure chamber. The detection unit 100 is disposed at the edge of the body 10 and is used to detect defects or edges on the surface to be cleaned. The auxiliary cleaning unit 200 is mounted on the detection unit 100. The main cleaning unit 400 is at least partially disposed between the suction unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 can be detachably mounted on the detection unit 100.

[0194] Please refer to Figure 14 and Figure 15 As shown, the detection unit 100 includes a mounting portion 110 connected to the body 10, a movable member 130 with at least one end passing through the mounting portion 110, and a sensing member 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected to the body 10. For example, the mounting portion 110 can be mounted on the impact plate 102, and the mounting portion 110 can move along with the impact plate 102; or a guide groove can be provided in the body 10, and the mounting portion 110 can slide along the guide groove. The movable member 130 includes a sensing ball head 131, a telescopic spring 132, and a movable body 133. The movable body 133 is arranged to pass through the mounting through hole 111 (the penetration referred to here is penetration at the upper end or penetration at the lower end or penetration at both the upper and lower ends). The sensing member 140 is used to identify the position of the upper end of the movable body 133.

[0195] The window cleaning robot also includes a pulley 120, which is detachably mounted on the mounting portion 110. The pulley 12 and the mounting portion 110 are mounted in a snap-fit manner, and the pulley 120 is rotatable relative to the mounting portion 110. Figure 14 The diameter of the upper part of the pulley 120 is larger than the diameter of the lower part of the pulley 120. The fabric 201 is installed on the lower part of the pulley. By installing the fabric 201, the diameter of the pulley 120 as a whole is kept roughly the same, which is beneficial to the stability of the movement of the pulley 120 and enables the fabric 201 to clean the window frame. Figure 15 The fabric 201 is installed on the lower end surface of the pulley 120. When the window cleaning robot is working, the fabric 201 can contact the surface to be cleaned to clean the surface.

[0196] Please refer to Figure 16 As shown, according to one embodiment of the present application, the pulley 120 can be provided separately from the moving member 130. The fabric 201 is installed on the installation portion 110. According to another embodiment of the present application, referring to Figure 17 As shown, the fabric 201 is mounted on the sensing ball head 131. The mounting method of the fabric 201 has been described in other embodiments above and will not be repeated here.

[0197] In other embodiments, the pulley 120 can also be detachably mounted on the movable part 130, the pulley 120 can also be mounted at other locations of the window cleaning robot, the pulley 120 can be a part of the detection unit 100, the pulley 120 can also be set independently of the detection unit 100, and the pulley 120 can rotate relative to the body 10.

[0198] Please refer to Figures 1 to 8 、 Figures 12 to 17In the present application, the auxiliary cleaning unit 200 can be installed on the sensing ball head 131, the pulley 120, and the mounting portion 110. The auxiliary cleaning unit 200 can also be installed at other locations of the body 10 according to usage requirements, such as on the collision plate 102. When the auxiliary cleaning unit 200 is installed on the sensing ball head 131, the auxiliary cleaning unit 200 is usually made of fabric 201, because the material of the fabric 201 is relatively soft and can fit tightly with the curved surface of the sensing ball head 131, ensuring the reliability of the installation of the auxiliary cleaning unit 200; in addition, the fluff on the surface of the fabric 201 should not be too long, because excessively long fluff will interfere with the up and down movement of the sensing ball head 131, affecting the accuracy of detection. When the auxiliary cleaning unit 200 is installed on the mounting portion 110, the auxiliary cleaning unit 200 can be set to have a strip-shaped fluff structure 202. The strip-shaped fluff structure 202 can be directly set on the surface of the mounting portion 110, or the strip-shaped fluff structure 202 can be implanted on the surface of the fabric 201 as a part of the fabric 201, and then the fabric 201 is installed on the surface of the mounting portion 110; the surface of the mounting portion 110 is suitable for setting the strip-shaped fluff structure 202 because the mounting portion 110 is a relatively static structure in the detection unit 100, and the strip-shaped fluff structure 202 will not interfere with the detection unit 100. In addition, the strip-shaped fluff structure 202 can be folded onto the surface to be cleaned, thereby achieving simultaneous cleaning of the window frame and the window surface. When the auxiliary cleaning unit 200 is installed on the pulley 120, the auxiliary cleaning unit 200 can be set to have a strip-shaped fluff structure 202, or it can be set to a fabric 201. The advantage of setting the auxiliary cleaning unit 202 on the pulley 120 is that the rotational movement of the pulley 120 drives the auxiliary cleaning unit 200 to rotate, forming a cleaning force similar to a "rolling brush", which can improve the cleaning effect.

[0199] The window cleaning robot may further include a control unit. When the detection unit 100 is in a suspended state, the detection unit 100 sends an abnormal signal. After receiving the abnormal signal from the detection unit 100, the control unit controls the walking unit 500 to make the body 10 stop moving or turn.

[0200] The technical scope of the present application is not limited to the contents described above. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical ideas of the present application, and these deformations and modifications should all fall within the scope of protection of the present application.

Claims

1. A window cleaning robot, characterized in that: The window cleaning robot includes a body and: an adsorption unit, for adsorbing the body onto the surface to be cleaned; A walking unit, used for driving the machine body to move; a detection unit, the detection unit being arranged at an edge of the machine body and being used to detect defects or edges of the surface to be cleaned; an auxiliary cleaning unit, the auxiliary cleaning unit being installed on the detection unit; as well as A main cleaning unit is at least partially disposed between the adsorption unit and the auxiliary cleaning unit.

2. A window cleaning robot, characterized in that: The window cleaning robot includes a body and: an adsorption unit, for adsorbing the body onto the surface to be cleaned; A walking unit, used for driving the machine body to move; a detection unit, the detection unit being arranged at an edge of the machine body and being used to detect defects or edges of the surface to be cleaned; an auxiliary cleaning unit, the auxiliary cleaning unit being installed on the detection unit; as well as a main cleaning unit, the main cleaning unit being at least partially disposed between the adsorption unit and the auxiliary cleaning unit; The detection unit is movably arranged relative to the center of the machine body. When the pressure applied to the detection unit is less than or equal to 0.3N, the detection unit does not move relative to the main cleaning unit.

3. The window cleaning robot according to claim 2, characterized in that: When the detection unit moves along with the machine body and touches an obstacle and is subjected to a pressure of less than or equal to 0.3 Newton from the obstacle, the detection unit does not move relative to the main cleaning unit.

4. The window cleaning robot according to any one of claims 1 to 3, characterized in that: The auxiliary cleaning unit is detachably mounted on at least a portion of the detection unit.

5. The window cleaning robot according to any one of claims 1 to 3, characterized in that: The auxiliary cleaning unit includes a fabric, and the fabric is used to clean the surface to be cleaned.

6. The window cleaning robot according to claim 5, characterized in that: The fabric is detachably mounted on at least a portion of the detection unit.

7. The window cleaning robot according to claim 5, characterized in that: The fabric is mounted on the detection unit by means of magnetism, adhesion or clamping.

8. The window cleaning robot according to any one of claims 1 to 3, characterized in that: The detection unit includes a mounting portion connected to the body, and a moving part and a sensing part are provided on the mounting portion. The moving part can move relative to the mounting portion, and the sensing part is used to identify the position of the moving part. The window cleaning robot can judge whether the body is at a defect or edge of the surface to be cleaned based on the position of the moving part.

9. The window cleaning robot according to claim 8, characterized in that: The mounting portion has a mounting through hole, the moving member is at least partially disposed in the mounting through hole, and the moving member can move along the axial direction of the mounting through hole.

10. The window cleaning robot according to claim 9, characterized in that: The moving part includes a sensing ball head and a telescopic spring. The sensing ball head is used to contact the surface to be cleaned. The telescopic spring applies a pre-tightening force to the sensing ball head so that the sensing ball head has a tendency to move in a direction away from the machine body.

11. The window cleaning robot according to claim 10, characterized in that: The moving member further includes a moving body extending along the axial direction of the mounting through hole, the moving body being capable of moving along the axial direction of the mounting through hole, the sensing ball head being provided at one end of the moving body, and the sensing member being used to identify the position of the other end of the moving body; When the window cleaning robot is adsorbed onto the surface to be cleaned, the telescopic spring is compressed, and the sensing ball head moves toward the direction approaching the body.

12. The window cleaning robot according to claim 11, characterized in that: The amount of movement of the sensing ball head along the axial direction of the mounting through hole is less than or equal to 20 mm.

13. The window cleaning robot according to claim 10, characterized in that: At least part of the auxiliary cleaning unit is mounted on the sensing ball head.

14. The window cleaning robot according to claim 13, characterized in that: The auxiliary cleaning unit includes a fabric mounted on the sensing ball head.

15. The window cleaning robot according to claim 13, characterized in that: When the suction unit of the window cleaning robot is sucked onto the surface to be cleaned, If the auxiliary cleaning unit is in a state of being mounted on the sensing ball head, the sensing ball head moves toward the machine body to an extreme position; and / or, If the auxiliary cleaning unit is not mounted on the sensing ball head, the sensing ball head does not move to the limit position.

16. The window cleaning robot according to claim 8, characterized in that: At least a portion of the auxiliary cleaning unit is installed on the installation portion.

17. The window cleaning robot according to claim 8, characterized in that: The detection unit further includes a pulley; The pulley is arranged around at least a portion of the moving member; or, the pulley is arranged at a distance from the moving member.

18. The window cleaning robot according to claim 17, characterized in that: At least part of the auxiliary cleaning unit is mounted on the pulley.

19. The window cleaning robot according to claim 18, characterized in that: At least part of the auxiliary cleaning unit is mounted on the outer side wall of the pulley; And / or, at least part of the auxiliary cleaning unit is installed on one end of the pulley facing the surface to be cleaned.

20. The window cleaning robot according to claim 17, characterized in that: The pulley is detachably mounted on the mounting portion; or, The pulley is detachably mounted on the moving member.

21. The window cleaning robot according to any one of claims 1 to 3, characterized in that: The detection unit includes a detection sensor and a pulley, wherein the detection sensor is used to detect defects or edges of the surface to be cleaned, and the pulley is rotatable relative to the body; The pulley is disposed around at least a portion of the detection sensor; or, the pulley is spaced apart from the detection sensor.

22. The window cleaning robot according to claim 21, characterized in that: At least part of the auxiliary cleaning unit is mounted on the outer side wall of the pulley; And / or, at least part of the auxiliary cleaning unit is installed on one end of the pulley facing the surface to be cleaned.

23. The window cleaning robot according to claim 22, characterized in that: The auxiliary cleaning unit includes a fabric mounted on an outer surface of the pulley.

24. The window cleaning robot according to any one of claims 1 to 3, characterized in that: When the auxiliary cleaning unit is not subjected to external force, the auxiliary cleaning unit at least partially extends out of the outer contour line of the machine body.

25. The window cleaning robot according to any one of claims 1 to 3, characterized in that: When the auxiliary cleaning unit is not subjected to external force, the distance between the auxiliary cleaning unit and the main cleaning unit is less than 20 mm.

26. The window cleaning robot according to any one of claims 1 to 3, characterized in that: The window cleaning robot further includes a control unit, which controls the walking unit to stop moving or turn the body after receiving an abnormal signal from the detection unit.

27. The window cleaning robot according to any one of claims 1 to 3, characterized in that: The auxiliary cleaning unit includes a fluff structure, and when the window cleaning robot is adsorbed on the surface to be cleaned, the fluff structure can contact the surface to be cleaned.

28. The window cleaning robot according to any one of claims 1 to 3, characterized in that: The body is rectangular, and the number of the detection units is four, and the four detection units are respectively arranged at the four corners of the body.

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