Edge detection mechanism of window cleaning robot

Abstract

The utility model relates to the technical field of window cleaning robots, and discloses an edge detection mechanism of a window cleaning robot, which comprises a main body and a plurality of groups of cleaning parts arranged on the main body, and further comprises a detection part arranged on the main body, and the detection part is used for detecting whether the correspondingly paired cleaning parts reach the edge of a working plane or not. The distance between the detection part and the paired cleaning part is different from the distance between the detection part and other cleaning parts. According to the cleaning device, the cleaning parts and the detection parts are arranged, each detection part is responsible for detecting whether the paired cleaning part reaches the edge of the working plane or not, and it is ensured that each cleaning part can obtain corresponding edge detection in the working process. The distance between the detection part and the cleaning part is different from the distance between the detection part and other cleaning parts, so that the detection part can more accurately detect whether the corresponding cleaning part reaches the edge or not.

Description

Technical Field

[0001] The utility model relates to the technical field of window-cleaning robots, in particular to an edge detection mechanism of the window-cleaning robot. Background Art

[0002] Edge detection for window-cleaning robots involves using specific sensors or detection mechanisms to identify and locate the edge of a work surface (such as a window). This detection function is crucial for window-cleaning robots, as it ensures they can accurately follow the edge of the window during cleaning. Window-cleaning robots use a variety of sensors, such as infrared sensors, ultrasonic sensors, and visual sensors, to detect window edges. These sensors can detect reflections, acoustic echoes, or image features from the window edge.

[0003] In existing window-cleaning robots, the detection mechanism is typically positioned midway between the two turntables. This design allows the detection mechanism to detect whether a turntable has reached the edge of the work surface. Because the detection mechanism is located midway between the two turntables, it can detect whether a turntable has reached the edge, but it is difficult to determine which turntable has reached the edge. This can lead to inaccuracies when controlling the window-cleaning robot to change its trajectory. For example, if an edge is detected but it is impossible to determine which turntable has reached the edge, the window-cleaning robot may incorrectly adjust its trajectory, resulting in uneven cleaning or missing certain areas. Therefore, the existing technology has drawbacks and needs improvement. Utility Model Content

[0004] In order to solve one or more problems in the prior art, the present utility model provides an edge detection mechanism of a window cleaning robot.

[0005] The technical solution of the present utility model is as follows: An edge detection mechanism of a window cleaning robot includes a main body and several groups of cleaning parts, wherein the cleaning parts are arranged on the main body, and is characterized in that it also includes a detection part arranged on the main body, wherein the detection part is used to detect whether the corresponding paired cleaning part reaches the edge of the working plane, and the distance between the detection part and the paired cleaning part is different from the distance between the detection part and the other cleaning parts.

[0006] Using the above technical solution, in the edge detection mechanism of the window cleaning robot, when the number of the cleaning part and the detection part is two groups, the cleaning part includes a first cleaning part and a second cleaning part arranged on the main body, and the detection part includes a first detection part and a second detection part arranged on the main body.

[0007] By adopting the above technical solutions, in the edge detection mechanism of the window cleaning robot, the first detection part is arranged on the side of the main body close to the first cleaning part, and the second detection part is arranged on the side of the main body close to the second cleaning part.

[0008] By adopting the above-mentioned technical solutions, in the edge detection mechanism of the window cleaning robot, the first detection part and the second detection part are respectively arranged at the first end of the main body, and the number of the detection parts is the same as the number of the cleaning parts.

[0009] By adopting the above-mentioned technical solutions, in the edge detection mechanism of the window cleaning robot, the first detection part is arranged at the first end of the main body, and the second detection part is arranged at the second end of the main body.

[0010] By adopting the above-mentioned technical solutions, in the edge detection mechanism of the window cleaning robot, when the first detection part and the second detection part are respectively arranged at the first end of the main body, the first detection part and the second detection part are symmetrically arranged along the center line between the first cleaning part and the second cleaning part.

[0011] By adopting the above-mentioned technical solutions, in the edge detection mechanism of the window cleaning robot, the first cleaning part and the second cleaning part respectively include a rotating turntable.

[0012] By adopting the above-mentioned technical solutions, in the edge detection mechanism of the window cleaning robot, the first detection part and the second detection part respectively include detection rods.

[0013] By adopting the above technical solutions, in the edge detection mechanism of the window cleaning robot, all the detection parts are arranged between the two cleaning parts.

[0014] In the present invention, by arranging a cleaning part and a detection part on the main body, each detection part is responsible for detecting whether its paired cleaning part has reached the edge of the working plane. This design ensures that each cleaning part can obtain corresponding edge detection when working, thereby ensuring that the cleaning part can accurately move along the edge of the window. Since the distance between the detection part and the cleaning part is different from the distance between the detection part and other cleaning parts, the detection part can more accurately detect whether the corresponding cleaning part has reached the edge. This helps the window cleaning robot to adjust its movement trajectory in time and avoid repeated cleaning of the cleaned area, thereby improving cleaning efficiency. The edge detection function enables the window cleaning robot to clean along the edge of the window to ensure that all areas are covered. This helps to avoid missing certain areas and improve the cleaning effect. Through precise edge detection, the window cleaning robot can avoid the cleaning part from continuing to move when it reaches the edge, thereby preventing damage to the window. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the detection unit structure of the utility model;

[0017] Figure 3 This is a schematic structural diagram of the cleaning unit of the present utility model;

[0018] Among them, 1. main body; 2. cleaning part; 3. detection part; 10. first end; 11. second end; 20. first cleaning part; 21. second cleaning part; 30. first detection part; 31. second detection part.

[0019] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections, direct connections, or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0022] In the present utility model, it should also be noted that the directional terms such as one side, one end, the other end, top and bottom in the embodiments of the present application are merely relative concepts or are based on the normal use status of the product, and should not be considered as restrictive.

[0023] like Figure 1As shown, an embodiment of the present application provides an edge detection mechanism for a window-cleaning robot. The mechanism comprises a main body 1 and several groups of cleaning units 2, each of which is mounted on the main body 1. Furthermore, the mechanism further comprises a detection unit 3 mounted on the main body 1. The detection unit 3 is used to detect whether the corresponding cleaning unit 2 has reached the edge of the working plane. The distance between the detection unit 3 and the paired cleaning unit 2 is different from the distance between the detection unit 3 and the other cleaning units 2. In this embodiment, the main body 1 is the core structure of the window-cleaning robot, carrying the several groups of cleaning units 2. The cleaning units 2 may include brushes, suction cups, or other cleaning tools, which are responsible for the actual cleaning work. This design enables the robot to perform multiple cleaning operations simultaneously, improving cleaning efficiency. The number of cleaning units 2 can be adjusted based on the size of the window and cleaning requirements. The detection units 3 are key components for edge detection and are mounted on the main body 1, corresponding to the cleaning units 2. The detection units 3 typically include sensors, such as infrared sensors or proximity sensors, for detecting the window edge. The presence of the detection units 3 ensures that each cleaning unit 2 receives corresponding edge detection during operation, thereby ensuring that the cleaning units 2 accurately follow the window edge. Each detection unit 3 is paired with a cleaning unit 2 to ensure the accuracy of detection. When the cleaning unit 2 approaches the edge of the window, the corresponding detection unit 3 will trigger a signal. This one-to-one correspondence improves the accuracy of edge detection and avoids misjudgment or missed detection. The distance between the detection unit 3 and the paired cleaning unit 2 is different, and the distance between the detection unit 3 and the paired cleaning unit 2 can be smaller, which helps to ensure that when the cleaning unit 2 approaches the edge, the detection unit 3 can promptly detect which cleaning unit 2 has reached the edge position and trigger a signal. This design improves the sensitivity of edge detection, allowing the robot to more accurately identify the edge of the window, thereby preventing the cleaning unit 2 from missing the edge or damaging the window.

[0024] Specifically, by arranging a cleaning part 2 and a detection part 3 on the main body 1, each detection part 3 is responsible for detecting whether its paired cleaning part 2 has reached the edge of the working plane. This design ensures that each cleaning part 2 can obtain corresponding edge detection when working, thereby ensuring that the cleaning part 2 can accurately move along the edge of the window. Since the distance between the detection part 3 and the cleaning part 2 is different from the distance between the detection part 3 and other cleaning parts 2, the detection part 3 can more accurately detect whether the corresponding cleaning part 2 has reached the edge. This helps the window cleaning robot to adjust its movement trajectory in time and avoid repeated cleaning of cleaned areas, thereby improving cleaning efficiency. The edge detection function enables the window cleaning robot to clean along the edge of the window to ensure that all areas are covered. This helps to avoid missing certain areas and improve the cleaning effect. Through precise edge detection, the window cleaning robot can avoid the cleaning part 2 from continuing to move when it reaches the edge, thereby preventing damage to the window.

[0025] like Figure 2As shown, further, when the number of the cleaning units 2 and detection units 3 is two, the cleaning units 2 include a first cleaning unit 20 and a second cleaning unit 21 disposed on the main body 1, and the detection units 3 include a first detection unit 30 and a second detection unit 31 disposed on the main body 1. In this embodiment, the first cleaning unit 20 and the second cleaning unit 21 are two cleaning components of the window cleaning robot, which are disposed on the main body 1. These cleaning units 2 may include brushes, suction cups, or other cleaning tools for the actual cleaning work. This design enables the robot to perform two cleaning operations simultaneously, improving cleaning efficiency. The two cleaning units 2 can operate independently or collaboratively to accommodate windows of different sizes and cleaning requirements. The first detection unit 30 and the second detection unit 31 are two edge detection components of the window cleaning robot, which are also disposed on the main body 1. These detection units 3 are responsible for detecting whether the first cleaning unit 20 and the second cleaning unit 21 have reached the edge of the working surface. This design ensures that each cleaning unit 2 receives corresponding edge detection during operation, ensuring that the cleaning units 2 accurately follow the window edge. The two detection parts 3 can work independently or in collaboration to adapt to windows of different sizes and cleaning needs. The first cleaning part 20 corresponds to the first detection part 30, and the second cleaning part 21 corresponds to the second detection part 31. Each detection part 3 is responsible for detecting whether its paired cleaning part 2 has reached the edge of the working plane. This correspondence ensures that each cleaning part 2 can obtain corresponding edge detection when working, thereby ensuring that the cleaning part 2 can accurately move along the edge of the window. This design improves the accuracy of edge detection, allowing the robot to more accurately identify the edge of the window. All of the detection parts 3 can be set between the two cleaning parts 2. Accurate edge detection can be achieved, and the overall structure is more compact. Each detection part 3 is paired with a cleaning part 2 to ensure the accuracy of detection.

[0026] like Figure 2As shown, the first detection unit 30 is further positioned on the main body 1 near the first cleaning unit 20, while the second detection unit 31 is positioned on the main body 1 near the second cleaning unit 21. The first detection unit 30 is positioned on the main body 1 near the first cleaning unit 20. This arrangement enables the first detection unit 30 to directly monitor the position of the first cleaning unit 20, particularly when the first cleaning unit 20 approaches the window edge. This placement improves detection accuracy because the first detection unit 30 can more directly sense the edge of the first cleaning unit 20. This helps the robot more precisely control the movement of the first cleaning unit 20, avoiding missed edges or damage to the window. The second detection unit 31 is also positioned on the main body 1, but near the side of the second cleaning unit 21. This placement enables the second detection unit 31 to directly monitor the position of the second cleaning unit 21, particularly when the second cleaning unit 21 approaches the window edge. This placement also improves detection accuracy because the second detection unit 31 can more directly sense the edge of the second cleaning unit 21. This helps the robot more precisely control the movement of the second cleaning unit 21, avoiding missed edges or damage to the window. The first detection unit 30 and the second detection unit 31 are located near the first cleaning unit 20 and the second cleaning unit 21, respectively. This relative positioning ensures that each detection unit 3 can focus on monitoring its corresponding cleaning unit 2. This relative positioning improves the efficiency and accuracy of edge detection. Each detection unit 3 only needs to focus on its corresponding cleaning unit 2, reducing unnecessary detection and calculations, thereby improving the robot's response speed and work efficiency.

[0027] like Figure 2 As shown, as preferred, the first detection portion 30 and the second detection portion 31 are respectively arranged at the first end 10 of the main body 1; or,

[0028] The first detection portion 30 is disposed at the first end 10 of the main body 1 , and the second detection portion 31 is disposed at the second end 11 of the main body 1 .

[0029] In this embodiment, in Option 1, the first detection unit 30 and the second detection unit 31 are both located at the same end of the main body 1, corresponding to the first cleaning unit 20 and the second cleaning unit 21, respectively. As the robot moves along the window edge, each detection unit 3 monitors whether its corresponding cleaning unit 2 has reached the edge. Specifically, it determines which cleaning unit 2 has reached the window edge based on the relationship between rotation direction and angle. This positioning helps the robot accurately identify whether each cleaning unit 2 has reached the edge, thereby achieving more accurate edge detection. Because the detection units 3 closely correspond to the cleaning units 2, the robot can adjust the movement trajectory of the cleaning units 2 based on the signals from the detection units 3, ensuring uniform cleaning and no areas are missed. In Option 2, the first detection unit 30 is located on the first side of the main body 1, and the second detection unit 31 is located on the second side. As the robot moves along the window edge, each detection unit 3 monitors whether its corresponding cleaning unit 2 has reached the edge. This positioning also helps the robot accurately identify whether each cleaning unit 2 has reached the edge, achieving precise edge detection. Because the detection units 3 are located on different sides, the robot can more comprehensively cover the window edge, ensuring uniform cleaning and no areas are missed. Based on the above analysis, both solutions achieve precise detection and control of the window edge by placing the detection unit 3 at different locations on the main body 1. In Solution 1, the detection unit 3 is located at the same end, providing tight edge detection coverage. In Solution 2, the detection unit 3 is located on different sides, which may be suitable for situations where the robot requires more comprehensive coverage of the window edge. Both solutions aim to improve the cleaning efficiency and accuracy of the window cleaning robot.

[0030] like Figure 3 As shown, further, when the first detection part 30 and the second detection part 31 are respectively arranged at the first end 10 of the main body 1, the first detection part 30 and the second detection part 31 are symmetrically arranged along the center line between the first cleaning part 20 and the second cleaning part 21. The first detection part 30 and the second detection part 31 are placed at the first end 10 of the main body 1, and they are symmetrically arranged along the center line between the first cleaning part 20 and the second cleaning part 21 (that is, the virtual center point reference line between the first cleaning part 20 and the second cleaning part 21). This symmetrical setting ensures that the distance between the two detection parts 3 and their corresponding cleaning parts 2 is equal, so that it is possible to simultaneously monitor whether the two cleaning parts 2 have reached the edge of the window. This symmetrical setting improves the accuracy of edge detection because the two detection parts 3 can work simultaneously, ensuring the synchronous detection of the cleaning part 2 when it approaches the edge. This design reduces the detection blind spot.

[0031] like Figure 3As shown, the first cleaning unit 20 and the second cleaning unit 21 each include a rotating turntable. These turntables can rotate independently and are typically used to drive a cleaning brush or other cleaning tool to cover a larger area during the cleaning process or provide more effective cleaning results. The design of the rotating turntable allows the cleaning unit 2 to more flexibly adapt to the shape and surface of the window, improving cleaning efficiency. The rotational motion helps remove stubborn stains while reducing friction between the cleaning unit 2 and the window surface, extending the service life of the robot. The first detection unit 30 and the second detection unit 31 each include a detection rod. These detection rods are used to contact the window surface and detect the window edge. When the detection rod contacts the edge, a detection signal is triggered, instructing the robot to adjust its cleaning path. The design of the detection rods improves the accuracy of edge detection. They can accurately sense the position of the window edge, ensuring that the cleaning unit 2 does not miss the edge or over-clean. This design helps protect the window from damage while improving cleaning accuracy.

[0032] By adopting the above-mentioned technical solutions, the utility model sets detection parts 3 corresponding to the number of cleaning parts 2 on the main body 1, and each detection part 3 is responsible for detecting whether the cleaning part 2 with which it is paired has reached the edge of the working plane. This design ensures that each cleaning part 2 can obtain corresponding edge detection when working, thereby ensuring that the cleaning part 2 can accurately move along the edge of the window. Since the distance between the detection part 3 and the cleaning part 2 is smaller than the distance between the detection part 3 and the other cleaning parts 2, the detection part 3 can more accurately detect whether the corresponding cleaning part 2 has reached the edge. This helps the window cleaning robot to adjust its movement trajectory in time and avoid repeatedly cleaning the cleaned areas, thereby improving cleaning efficiency. The edge detection function enables the window cleaning robot to clean along the edge of the window to ensure that all areas are covered. This helps to avoid missing certain areas and improve the cleaning effect. Through precise edge detection, the window cleaning robot can avoid the cleaning part 2 from continuing to move when it reaches the edge, thereby preventing damage to the window.

[0033] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An edge detection mechanism of a window cleaning robot, comprising a main body (1) and a plurality of cleaning parts (2), wherein the cleaning parts (2) are arranged on the main body (1), and characterized in that: The invention also comprises a detection portion (3) arranged on the main body (1), the detection portion (3) being used to detect whether the corresponding paired cleaning portion (2) has reached the edge of the working plane, and the distance between the detection portion (3) and the paired cleaning portion (2) is different from the distance between the detection portion (3) and the other cleaning portions (2).

2. The edge detection mechanism of the window cleaning robot according to claim 1, characterized in that: When the number of the cleaning section (2) and the detection section (3) is two groups, the cleaning section (2) includes a first cleaning section (20) and a second cleaning section (21) arranged on the main body (1), and the detection section (3) includes a first detection section (30) and a second detection section (31) arranged on the main body (1).

3. The edge detection mechanism of the window cleaning robot according to claim 2, characterized in that: The first detection portion (30) is arranged on a side of the main body (1) close to the first cleaning portion (20), and the second detection portion (31) is arranged on a side of the main body (1) close to the second cleaning portion (21).

4. The edge detection mechanism of the window cleaning robot according to claim 2, characterized in that: The first detection portion (30) and the second detection portion (31) are respectively arranged at the first end (10) of the main body (1), and the number of the detection portions (3) is the same as the number of the cleaning portions (2).

5. The edge detection mechanism of the window cleaning robot according to claim 3, characterized in that: The first detection portion (30) is provided at the first end (10) of the main body (1), and the second detection portion (31) is provided at the second end (11) of the main body (1).

6. The edge detection mechanism of the window cleaning robot according to claim 5, characterized in that: When the first detection portion (30) and the second detection portion (31) are respectively arranged at the first end (10) of the main body (1), the first detection portion (30) and the second detection portion (31) are symmetrically arranged along the center line between the first cleaning portion (20) and the second cleaning portion (21).

7. The edge detection mechanism of the window cleaning robot according to claim 2, characterized in that: The first cleaning portion (20) and the second cleaning portion (21) respectively comprise a rotating turntable.

8. The edge detection mechanism of the window cleaning robot according to claim 2, characterized in that: The first detection portion (30) and the second detection portion (31) respectively include a detection rod.

9. The edge detection mechanism of the window cleaning robot according to claim 2, characterized in that: All the detection parts (3) are arranged between the two cleaning parts (2).

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