Window cleaning robot

Abstract

The utility model provides a window cleaning robot, and relates to the technical field of cleaning equipment. The window cleaning robot includes: a main body; the cleaning device is arranged on the main body and is used for driving the window cleaning robot to move and clean a to-be-cleaned surface; and the detection part is arranged on at least one of the main body and the cleaning device and is used for enabling the window cleaning robot to recognize the edge of the surface to be cleaned in any posture. In the window cleaning process of the window cleaning robot, when the robot is in any posture, the detection part can make the window cleaning robot recognize the edge of the face to be cleaned, and therefore the risk that the window cleaning robot falls off is reduced.

Description

TECHNICAL FIELD

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

[0002] The window cleaning robot is a mechanical device for cleaning glass, which can help people solve the problem of high-rise window cleaning and outdoor window cleaning. The window cleaning robot can walk on the glass and realize the cleaning of the glass surface, wherein the window cleaning robot has the advantages of convenient operation, strong dirt cleaning capacity and high automation degree.

[0003] In the window cleaning process, when moving to the edge position of the window, the window cleaning robot is easy to jump over the frame, which increases the risk of falling of the robot. How to avoid this situation is a problem to be solved at present. CONTENT OF THE INVENTION

[0004] The purpose of the present application is to overcome the defects of the prior art, and provide a window cleaning robot to solve the problems in the prior art.

[0005] To solve the above problems, the present application provides a window cleaning robot, comprising:

[0006] a main body;

[0007] a cleaning device arranged on the main body, for driving the window cleaning robot to move and clean the surface to be cleaned;

[0008] a detection part arranged on at least one of the main body and the cleaning device, for identifying the edge of the surface to be cleaned in any attitude of the window cleaning robot.

[0009] In a possible implementation, the detection part is a buffer detection part, for buffering the acting force between the window cleaning robot and the surface to be cleaned when the window cleaning robot contacts the edge of the surface to be cleaned, and identifying the edge of the surface to be cleaned.

[0010] In a possible implementation, the detection part is used to produce displacement towards the main body when contacting the edge of the surface to be cleaned, and is used to identify the edge of the surface to be cleaned according to the displacement.

[0011] In a possible implementation, the detection part comprises a first movable part arranged on the main body and a second movable part arranged on the cleaning device.

[0012] When at least one of the first movable part and the second movable part produces displacement towards the main body, the other one produces displacement towards the main body, and is used to identify the edge of the surface to be cleaned according to the displacement.

[0013] In a possible implementation, the cleaning device comprises a cleaning disc, the second movable member is arranged circumferentially around the cleaning disc, and the second movable member at least partially surrounds the first movable member, so that when the second movable member moves towards the main body, the first movable member also moves towards the main body.

[0014] In a possible implementation, the detection part further comprises:

[0015] a sensing module arranged on the main body and configured to identify the displacement of the first movable member towards the main body.

[0016] In a possible implementation, a lubricating structure is arranged between the first movable member and the second movable member.

[0017] In a possible implementation, the detection part has an arc-shaped outer contour, so that the detection part can be in contact with the edge of the surface to be cleaned in any posture of the window-cleaning robot.

[0018] In a possible implementation, the window-cleaning robot further comprises:

[0019] a negative pressure device configured to enable the window-cleaning robot to be adsorbed on the surface to be cleaned;

[0020] an air outlet channel connected to the negative pressure device and configured to discharge the airflow generated by the negative pressure device from the window-cleaning robot;

[0021] the connection between the air outlet channel and the negative pressure device has a curved portion, which is configured to adapt to the air outlet direction of the negative pressure device.

[0022] In a possible implementation, the air outlet channel is tangent to the air outlet direction of the negative pressure device through the curved portion, so as to adapt to the air outlet direction of the negative pressure device.

[0023] The beneficial effects of the present application include:

[0024] The window-cleaning robot comprises a main body, a cleaning device, and a detection part. The cleaning device is arranged on the main body and configured to drive the window-cleaning robot to move and clean the surface to be cleaned; and the detection part is arranged on at least one of the main body and the cleaning device.

[0025] In the window-cleaning process, the detection part can enable the window-cleaning robot to identify the edge of the surface to be cleaned in any posture of the robot, thereby reducing the risk of falling of the window-cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation to the scope. Other related drawings can also be obtained by those of ordinary skill in the art without any creative effort, on the premise of not paying any creative effort.

[0027] Figure 1 A first schematic view of a window cleaning robot is shown;

[0028] Figure 2 A second schematic view of a window cleaning robot is shown;

[0029] Figure 3 A cross-sectional view of a window cleaning robot is shown;

[0030] Figure 4 A schematic view of a cleaning disc is shown;

[0031] Figure 5 An exploded schematic view of a cleaning disc is shown;

[0032] Figure 6 A partial enlarged view in Figure 5 is shown;

[0033] Figure 7 A partial cross-sectional view of a cleaning disc and a main body after assembly is shown;

[0034] Figure 8 A schematic view of a connection between a cleaning disc and a cleaning cloth is shown;

[0035] Figure 9 A schematic view of a negative pressure device and an air exhaust channel is shown;

[0036] Figure 10 A cross-sectional view of a negative pressure device is shown;

[0037] Figure 11 A schematic view of a window cleaning robot performing a line changing operation is shown.

[0038] Main component symbol explanation:

[0039] 10 - window cleaning robot; 100 - main body; 110 - air inlet position; 200 - cleaning device; 210 - cleaning disc; 220 - cleaning cloth; 221 - opening; 222 - connecting structure; 300 - detection part; 400 - first movable part; 500 - second movable part; 501 - silica gel pad; 511 - columnar body; 512 - columnar head; 513 - slot; 520 - spring; 530 - lubricating sheet; 610 - sensing module; 620 - negative pressure sensor; 700 - negative pressure device; 701 - upper shell; 702 - lower shell; 703 - fan blade; 710 - air outlet channel; 720 - curved part. DETAILED DESCRIPTION

[0040] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only for explanation of the present application, and cannot be understood as limiting the present application.

[0041] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0042] Embodiments

[0043] Reference Figures 1-3 In the present embodiment, a window cleaning robot 10 is proposed, comprising:

[0044] a main body 100;

[0045] a cleaning device 200 arranged on the main body 100, for driving the window cleaning robot 10 to move and clean the surface to be cleaned;

[0046] a detection part 300 arranged on at least one of the main body 100 and the cleaning device 200, for enabling the window cleaning robot 10 to identify the edge of the surface to be cleaned in any attitude.

[0047] For the convenience of observation, in the drawings, the top cover, the main control system, etc. of the window cleaning robot 10 are not shown.

[0048] The detection part 300 can make the window-cleaning robot 10 recognize the edge of the surface to be cleaned in any posture of the robot during the window-cleaning process, thereby reducing the risk of falling of the window-cleaning robot 10. Meanwhile, the edge of the surface to be cleaned can be recognized by detecting the impact force, for example, when the impact force is greater than a preset value, it is determined that the window-cleaning robot 10 runs to the edge of the surface to be cleaned.

[0049] The detection part 300 is a buffer detection part 300, which is used to buffer the acting force between the window-cleaning robot 10 and the surface to be cleaned when the window-cleaning robot 10 contacts the edge of the surface to be cleaned, and to recognize the edge of the surface to be cleaned. When the window-cleaning robot 10 contacts the edge of the surface to be cleaned, the buffer detection part 300 can effectively reduce the impact force on the window-cleaning robot 10, thereby reducing the risk of falling of the window-cleaning robot 10.

[0050] The detection part 300 is used to generate displacement towards the main body 100 when contacting the edge of the surface to be cleaned, and to recognize the edge of the surface to be cleaned according to the displacement. Here, the direction towards the main body 100 can be understood as the direction away from the obstacle.

[0051] In the embodiment, the detection part 300 comprises a first movable part 400 arranged on the main body 100 and a second movable part 500 arranged on the cleaning device 200.

[0052] When at least one of the first movable part 400 and the second movable part 500 generates displacement towards the main body 100, the other generates displacement towards the main body 100, and is used to recognize the edge of the surface to be cleaned according to the displacement.

[0053] Specifically, when at least one of the first movable part 400 and the second movable part 500 generates displacement, the other also generates displacement, so that the at least one can affect the displacement of the other, making the recognition of the edge of the window-cleaning robot more reliable. For example, when the first movable part 400 generates displacement, the second movable part 500 also generates displacement, so that even if the recognition structure corresponding to the first movable part 40 is damaged, the recognition structure corresponding to the second movable part 500 can recognize the displacement of the at least one, improving the stability of recognizing the edge of the surface to be cleaned; for another example, the second movable part 500 uses the recognition structure of the first movable part 400, and the first movable part 400 and the second movable part 500 do not need to be provided with recognition mechanisms, thereby reducing the cost.

[0054] In some embodiments, the cleaning device comprises a cleaning disc, the second movable part surrounds the cleaning disc in the circumferential direction, and the second movable part at least partially surrounds the first movable part outside, so that when the second movable part generates displacement towards the main body, the first movable part also generates displacement towards the main body.

[0055] In some embodiments, a lubrication structure may be provided between the first movable member 400 and the second movable member 500. When the first movable member 400 and the second movable member 500 come into contact with each other, the lubrication structure may provide shock absorption and lubrication. The lubrication structure may include a lubricating sheet, etc.

[0056] The intersection of the straight edge and the arc edge close to the main body 100 is called a corner, and the main body 100 has four corners. A first movable member 400 is provided at each corner.

[0057] In this embodiment, the detection unit 300 further includes a sensing module 610. The sensing module 610 is disposed on the main body 100 and is used to identify the displacement of the first movable member 400 toward the main body 100.

[0058] The sensing module 610 includes a micro switch.

[0059] like Figure 1 and Figure 2 As shown, four sensing modules 610 are provided inside the main body 100. The sensing modules 610 correspond to the first movable members 400 one by one.

[0060] The first movable member 400 is movable relative to the main body 100. When the first movable member 400 encounters an obstacle, it moves relative to the main body 100, subsequently triggering the corresponding sensing module 610. After the corresponding sensing module 610 is triggered, the main control system receives the signal sent by the sensing module 610 and adjusts the travel direction of the window-cleaning robot 10, thereby reducing the risk of the window-cleaning robot 10 falling and preventing the window-cleaning robot 10 from continuing to move in its current direction of motion.

[0061] An elastic body may be provided on the main body 100, and the elastic body corresponds to the first movable member 400 one-to-one. The elastic body is connected to the corresponding first movable member 400. When not subjected to external force, the first movable member 400 is in its initial position, at which point the sensing module 610 is not triggered. When the first movable member 400 touches an obstacle, the first movable member 400 moves relative to the main body 100, thereby triggering the sensing module 610 corresponding to the first movable member 400. When the window cleaning robot 10 leaves its current position and the first movable member 400 is no longer in contact with the obstacle, the first movable member 400 returns to its initial position under the action of the elastic body. The elastic body includes a spring.

[0062] Due to the presence of the elastic body, when the first movable member 400 touches an obstacle, the elastic body can play a buffering role.

[0063] The cleaning device 200 comprises a cleaning disc 210, and the second movable element 500 is arranged circumferentially around the cleaning disc 210 and at least partially surrounds the first movable element 400, so that when the second movable element 500 moves towards the main body 100, the first movable element 400 also moves towards the main body 100.

[0064] The main body 100 is provided with two cleaning discs 210, wherein each cleaning disc 210 corresponds to two first movable elements 400. Referring to Figure 2 , the cleaning disc 210 on the left side corresponds to the two first movable elements 400 on the left side, and the cleaning disc 210 on the right side corresponds to the two first movable elements 400 on the right side. In the figure, the cleaning disc 210 below the main body 100 is not visible due to the angle of view.

[0065] As shown in Figure 4 and Figure 5 , the cleaning disc 210 has a circular structure as a whole, and the central hole of the cleaning disc 210 can be connected to the transmission structure on the main body 100 through a spline shaft, wherein when the transmission structure operates, the cleaning disc 210 will be driven to rotate.

[0066] The second movable elements 500 are uniformly distributed on the outer circumference of the cleaning disc 210. The number of the second movable elements 500 can be set according to needs. For example, three, four, five, six, etc. In this embodiment, the number of the second movable elements 500 is six. In Figure 5 , only one second movable element 500 on the cleaning disc 210 is processed in an explosion view.

[0067] As shown in Figure 3 , the end of the second movable element 500 close to the surface to be cleaned is provided with a silica gel pad 501, so as to improve the cleaning effect of the window cleaning robot 10 during cleaning. In addition, a plurality of silica gel scraping strips can also be arranged in the middle part of the cleaning disc 210, which can also serve to improve the cleaning effect.

[0068] As shown in Figure 6 , the second movable element 500 is provided with a column body 511, and the end of the column body 511 away from the second movable element 500 is provided with a column head 512. In a natural state (i.e. without external force), the cross-sectional area of the column head 512 is greater than the cross-sectional area of the main body 100, and the cross-sectional area of the column head 512 is greater than the inner diameter of the spring 520. The column head 512 is similar to the structure of a mushroom head. When the spring 520 is sleeved on the column body 511 through the column head 512, the column head 512 can constrain the spring 520 to prevent the spring 520 from being separated from the column body 511.

[0069] The outer circumferential surface of the cleaning disc 210 is provided with a mounting hole corresponding to the columnar body 511. When assembling, the head 512 is inserted through the mounting hole, and the inner diameter of the mounting hole is larger than the outer diameter of the spring 520, so that the spring 520 cannot enter the mounting hole. One end of the spring 520 abuts against the outer circumferential surface of the cleaning disc 210, and the other end abuts against the inner side surface of the second movable element 500.

[0070] When the second movable element 500 touches the obstacle, the second movable element 500 moves towards the side away from the obstacle, at this time, the second movable element 500 moves relative to the cleaning disc 210; when the second movable element 500 does not contact the obstacle, under the action of the spring 520, the second movable element 500 moves to the initial position.

[0071] Due to the presence of the spring 520, when the second movable element 500 touches the obstacle, the spring 520 can play a buffering role.

[0072] As shown in Figure 6 The head 512 and the columnar body 511 can be provided with a plurality of slotted holes 513, which are arranged along the length direction of the columnar body 511. When the head 512 and the columnar body 511 are pressed in the radial direction, the head 512 and the columnar body 511 will deform. When the head 512 is inserted into the mounting hole, the head 512 will deform due to the extrusion of the inner wall of the mounting hole, and the cross-sectional area of the head 512 will change. In this way, the head 512 can pass through the mounting hole. When the external force disappears, the head 512 and the columnar body 511 will return to their original shapes, at this time, the head 512 cannot pass through the mounting hole again.

[0073] In this embodiment, each second movable element 500 is provided with a plurality of springs 520, for example, two, three, etc., so as to ensure the stability and reliability of the connection between the second movable element 500 and the cleaning disc 210.

[0074] As shown in Figure 7 Between the overlapping part of the second movable element 500 and the cleaning disc 210, a lubricating sheet 530 with lubricating properties can be arranged. When the second movable element 500 moves relative to the cleaning disc 210, the lubricating sheet 530 can play a lubricating role, thereby reducing the friction between the two, preventing the occurrence of undesirable noise, and improving the flexibility of the movable element, so that the second movable element 500 can move more sensitively when touching the obstacle.

[0075] In this embodiment, the second movable element 500 at least partially surrounds the first movable element 400, so that when the second movable element 500 moves towards the main body 100 direction, the first movable element 400 also moves towards the main body 100 direction.

[0076] The first movable member 400 is not rotatable relative to the main body 100, and the cleaning disc 210 is rotatable relative to the main body 100. When the cleaning disc 210 rotates, each second movable member 500 arranged on the cleaning disc 210 rotates synchronously with the cleaning disc 210.

[0077] Referring to Figure 2 Since the plurality of second movable members 500 are arranged along the circumferential direction of the cleaning disc 210, no matter how many degrees the cleaning disc 210 rotates, there is always at least one second movable member 500 on the left cleaning disc 210 located outside the machine corresponding to the first movable member 400 above left, there is always at least one second movable member 500 on the left cleaning disc 210 located outside the machine corresponding to the first movable member 400 below left, there is always at least one second movable member 500 on the right cleaning disc 210 located outside the machine corresponding to the first movable member 400 above right, and there is always at least one second movable member 500 on the right cleaning disc 210 located outside the machine corresponding to the first movable member 400 below right.

[0078] As shown in Figure 3 the vertical direction (i.e. the height direction of the window cleaning robot 10), the lower end portion of the first movable member 400 overlaps the upper end portion of the corresponding second movable member 500; and when the first movable member 400 and the second movable member 500 are both in the initial position, the first movable member 400 and the second movable member 500 do not contact each other, so as to ensure that the cleaning disc 210 can rotate normally.

[0079] When the window cleaning robot 10 encounters an obstacle such as a glass frame or a window handle during operation: if the height of the obstacle is low (such as a rubber strip at the edge of the window), the second movable member 500 is touched by the obstacle, at this time, the second movable member 500 moves towards the corresponding first movable member 400, thereby causing the first movable member 400 to move, thereby triggering the corresponding sensing module 610; when the height of the obstacle is high (such as a window handle), the first movable member 400 touches the obstacle, thereby directly triggering the corresponding sensing module 610.

[0080] The sensing module 610 is arranged on the main body 100, thereby facilitating wiring to electrically connect the sensing module 610 to the main control system. Since the cleaning disc 210 needs to rotate during operation, if the sensing module 610 is arranged on the cleaning disc 210, the wiring difficulty will be greatly increased.

[0081] The first movable member 400 and the sensing module 610 are both mounted on the main body 100, and the sensing module 610 can be directly triggered by the first movable member 400. The second movable member 500 is mounted on the cleaning disc 210, and when the second movable member 500 is displaced, it can act on the corresponding first movable member 400, thereby triggering the sensing module 610, which means that the second movable member 500 can indirectly trigger the sensing module 610. Through the above analysis, it can be seen that the sensing module 610 is arranged on the main body 100, and the first movable member 400 and the second movable member 500 can both trigger the sensing module 610, and the displacement of the first movable member 400 will not affect the second movable member 500, which can ensure the smooth rotation of the cleaning disc 210.

[0082] In the embodiment, the first movable member 400 and the second movable member 500 of the detection part 300 can realize the identification of high and low types of obstacles, and the identification efficiency is rapid, so as to effectively prevent the window cleaning robot 10 from riding on the glass frame adhesive tape and the like, thereby reducing the risk of falling of the window cleaning robot 10. During the movement of the window cleaning robot 10, the periphery of the machine can be detected in all directions at the same time, so as to ensure that the machine can identify and judge the obstacles in any posture during operation.

[0083] As shown in Figure 7 , the main body 100 and the cleaning disc 210 have two possible air inlet positions, which are referred to as air inlet positions 110. The upper air inlet position 110 is sealed by a material such as silicone rubber, so that air cannot enter or exit; the lower air inlet position 110 is located on the cleaning cloth 220, and air can flow into the cleaning disc 210 through the lower end of the cleaning cloth 220, and then enter the inside of the main body 100.

[0084] As shown in Figure 8 , the cleaning cloth 220 has an opening 221 on the upper end, and when the window cleaning robot 10 runs to the outside of the glass, part of the lower end surface of the cleaning cloth 220 is no longer attached to the surface of the glass. In this way, air can flow into the inside of the main body 100 through the lower end surface of the cleaning cloth 220 outside the glass, and the air pressure inside the window cleaning robot 10 cannot remain in the original balance state. At this time, the four negative pressure sensors 620 arranged around the inside of the machine can quickly detect the change in air pressure, and the machine can realize frameless driving function under the control of the main control system.

[0085] The cleaning cloth 220 is connected to the cleaning disc 210 through a structure such as a magic tape, an adhesive, or the like. In the figure, the left half of the cleaning cloth 220 is not shown.

[0086] The outer contour of the detection part 300 is arc-shaped, so that the detection part 300 can contact the edge of the surface to be cleaned in any posture of the window cleaning robot 10.

[0087] Specifically, the outer surfaces of the first movable member 400 and the second movable member 500 are both curved. These curved surfaces effectively increase the surface area. When the window-cleaning robot 10 reaches the edge of the surface to be cleaned, the outer surfaces of the first movable member 400 and / or the second movable member 500 can contact obstacles, triggering a corresponding movement, thereby detecting that the window-cleaning robot 10 has reached the edge of the cleaning surface.

[0088] like Figure 9 As shown, in this embodiment, the window cleaning robot 10 further includes a negative pressure device 700 and an exhaust duct 710 .

[0089] A negative pressure device 700 is used to allow the window cleaning robot 10 to adhere to the surface to be cleaned;

[0090] The exhaust passage 710 is connected to the negative pressure device 700 and is used to discharge the airflow generated by the negative pressure device 700 out of the window cleaning robot 10 .

[0091] like Figure 10 As shown, the negative pressure device 700 includes an upper shell 701 and a lower shell 702 , wherein fan blades 703 are provided in the chamber between the upper shell 701 and the lower shell 702 .

[0092] A curved portion 720 is provided at the connection between the exhaust passage 710 and the negative pressure device 700 , so as to adapt to the air outlet direction of the negative pressure device 700 .

[0093] When the negative pressure device 700 is working, it can provide a sufficient negative pressure difference, thereby generating sufficient suction force so that the window cleaning robot 10 can fit and be adsorbed on the glass surface to be cleaned.

[0094] Furthermore, the exhaust passage 710 is tangent to the air outlet direction of the negative pressure device 700 through the curved portion 720 to adapt to the air outlet direction of the negative pressure device 700 .

[0095] After being drawn into the negative pressure device 700, air flows into the curved portion 720 in the direction of rotation of the fan blades 703 and is ultimately discharged from the exhaust duct 710. Because the exhaust duct 710 is tangential to the air outlet direction of the negative pressure device 700 through the curved portion 720, the air can flow more smoothly during the exhaust process, thereby reducing the operating noise of the entire device and lowering the power consumption of the negative pressure device 700.

[0096] like Figure 11As shown, in the embodiment, the sensing module 610 is arranged at each corner of the window-cleaning robot 10, and the repositioning mode can be simplified under the cooperation of the sensing module 610: when the window-cleaning robot 10 runs to the frame, the robot first rotates clockwise by a preset angle, then moves linearly along the angle, and then rotates counterclockwise by the preset angle. Referring to the identification in the figure, in the above repositioning process, the window-cleaning robot 10 sequentially performs three actions of A, B and C.

[0097] The above repositioning method can reduce the deflection angle of the window-cleaning robot 10 in the repositioning process, shorten the repositioning time, and thus effectively improve the efficiency of cleaning and wiping. In addition, such posture control has less influence of gravity on the machine, and reduces the risk of the machine falling.

[0098] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0099] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A window cleaning robot, characterized by, The window cleaning robot comprises: a main body; a cleaning device arranged on the main body and configured to move the window cleaning robot and clean a surface to be cleaned; a detection unit arranged on at least one of the main body and the cleaning device and configured to identify an edge of the surface to be cleaned in any posture of the window cleaning robot.

2. The window-cleaning robot according to claim 1, characterized in that The detection unit is a buffer detection unit configured to buffer an acting force between the window cleaning robot and the surface to be cleaned when the window cleaning robot contacts the edge of the surface to be cleaned, and identify the edge of the surface to be cleaned.

3. The window-cleaning robot according to claim 1, characterized in that, The detection unit is configured to generate a displacement towards the main body when contacting the edge of the surface to be cleaned, and identify the edge of the surface to be cleaned according to the displacement.

4. The window-cleaning robot according to claim 3, characterized in that The detection unit comprises a first movable member arranged on the main body and a second movable member arranged on the cleaning device. At least one of the first movable member and the second movable member is configured to generate a displacement towards the main body when the other one generates a displacement towards the main body, and identify the edge of the surface to be cleaned according to the displacement.

5. The window-cleaning robot according to claim 4, characterized in that The cleaning device comprises a cleaning disc, the second movable member is arranged circumferentially around the cleaning disc, and the second movable member at least partially surrounds the first movable member, so that the second movable member generates a displacement towards the main body when the first movable member also generates a displacement towards the main body.

6. The window-cleaning robot according to claim 5, characterized in that The detection unit further comprises: a sensing module arranged on the main body and configured to identify the displacement of the first movable member towards the main body.

7. The window cleaning robot according to claim 4, wherein A lubricating structure is arranged between the first movable member and the second movable member.

8. The window-cleaning robot according to claim 1, characterized in that, An outer contour of the detection unit is arc-shaped, so that the detection unit can contact the edge of the surface to be cleaned in any posture of the window cleaning robot.

9. The window-cleaning robot according to claim 1, characterized in that, The window cleaning robot further comprises: a negative pressure device configured to adsorb the window cleaning robot on the surface to be cleaned; an air outlet channel connected to the negative pressure device and configured to discharge air flow generated by the negative pressure device from the window cleaning robot; The air outlet channel has a curved portion at a connection position with the negative pressure device, and the curved portion is configured to adapt to an air outlet direction of the negative pressure device.

10. The window-cleaning robot according to claim 9, characterized in that The air outlet channel is tangent to the air outlet direction of the negative pressure device through the curved portion, so as to adapt to the air outlet direction of the negative pressure device.

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