A window cleaning machine

Abstract

This application relates to the field of cleaning appliance technology and provides a window cleaning machine. The window cleaning machine includes a body and a cleaning component. The cleaning component is movable on the body along a second direction and can move to any side of the body along the second direction. The second direction is perpendicular to the forward direction of the body. When the body turns to one side, the cleaning component can move to that side of the body. Thus, the cleaning component can avoid the edge of the area to be cleaned, reducing the space required for the body to turn and reducing cleaning blind spots, or even eliminating cleaning blind spots. In addition, due to the avoidance by the cleaning component, the body does not need to undergo frequent collision tests and orientation adjustments. Overall, the window cleaning machine has good cleaning effect, small turning radius, and high turning efficiency.

Description

Technical Field

[0001] This application relates to the field of cleaning appliance technology, and in particular to a window cleaning machine. Background Technology

[0002] Currently, the most common window cleaning machines on the market are mainly divided into two types: round and square. Each type has its own obvious shortcomings in actual use.

[0003] One major problem with square cleaning machines is the large space they require when turning. This stems from their structural characteristics; when a square machine performs a stationary rotation, the required space is a circular area with a radius equal to the distance from the machine's rotation center to its farthest corner. Secondly, square machines are extremely cumbersome when making right-angle turns. To accurately detect the distance to the window sill, they need to frequently trigger the collision sensor. After each touch, they must move backward to adjust their position, repeatedly probing to complete the turn. This reduces overall work efficiency and prolongs cleaning time.

[0004] In round window cleaning machines, to improve turning flexibility, the cleaning head is usually designed to be round, consistent with the machine body. However, this design has a drawback: blind spots are difficult to avoid. Especially at right-angle turns in windows, the round cleaning head cannot completely fit the corner, always leaving a small uncleaned area, affecting the cleaning effect.

[0005] Neither the low turning efficiency of square-shaped machines nor the incomplete cleaning of round-shaped machines can meet users' demands for efficient and clean window cleaning. Therefore, it is necessary to develop a new type of window cleaning machine that can both turn flexibly to improve work efficiency and comprehensively cover the cleaning area to ensure effective cleaning. Utility Model Content

[0006] The purpose of this application is to provide a window cleaning machine that offers a solution that simultaneously provides flexibility in turning and excellent cleaning results.

[0007] This application embodiment is implemented as follows: a window cleaning machine includes:

[0008] fuselage; and

[0009] A cleaning component is movable along a second direction on the body, the cleaning component being movable to any side of the body along the second direction, the second direction being perpendicular to the forward direction of the body.

[0010] In some embodiments, the window cleaning machine further includes a drive assembly connected between the machine body and the cleaning assembly, the drive assembly being used to drive the cleaning assembly to move relative to the machine body in the second direction.

[0011] In some embodiments, the drive assembly includes a drive element and a transmission assembly. The drive element is fixedly disposed on the machine body, and the transmission assembly is disposed on the machine body and connected to the output end of the drive element and the cleaning assembly.

[0012] In some embodiments, the transmission assembly includes a gear and a rack, the rack being fixedly disposed on the cleaning assembly along the second direction, the output end of the drive member being connected to the gear, and the gear meshing with the rack;

[0013] Alternatively, the transmission assembly includes a lead screw and a nut, the nut engaging with the lead screw, the lead screw being arranged along the second direction, one of the lead screw and the nut being rotatably disposed on the machine body and connected to the drive component, and the other of the lead screw and the nut being disposed on the cleaning assembly;

[0014] Alternatively, the transmission assembly includes a crank-slider mechanism, wherein the crank in the crank-slider mechanism is connected to the output end of the drive member, and the slider in the crank-slider mechanism is connected to the cleaning assembly.

[0015] In some embodiments, it also includes:

[0016] Collision sensors, disposed at both ends of the cleaning assembly along the second direction, are used to detect obstacles; and

[0017] A control device, communicatively connected to the collision sensor and the drive assembly, is used to control the drive assembly to drive the cleaning assembly to move along the second direction based on the obstacle signal detected by the collision sensor.

[0018] In some embodiments, it also includes:

[0019] A reset component, comprising a first reset component and a second reset component, wherein the first reset component is disposed at a first end of the cleaning assembly along the second direction and abuts against the body and the first end respectively;

[0020] The second reset member is disposed at the second end of the cleaning component along the second direction and abuts against the body and the second end respectively, with the first end and the second end being disposed opposite each other along the second direction.

[0021] In some embodiments, the machine body is provided with a sliding guide portion, and the cleaning component is provided with a sliding mating portion, the sliding mating portion being slidably connected to the sliding guide portion along the second direction; one of the sliding guide portion and the sliding mating portion is a slide rail, and the other is a slide groove.

[0022] In some embodiments, the cleaning component extends in the second direction, and the cleaning component is located at the front end of the body along the forward direction.

[0023] In some embodiments, the width of the cleaning component along the second direction is less than or equal to the width of the body along the second direction.

[0024] In some embodiments, the front end of the fuselage has arcuate convex surfaces on both sides along the second direction.

[0025] Another objective of this application is to provide a control method for a window cleaning machine as described in the above embodiments, comprising:

[0026] When an obstacle is detected on one side of the body along the second direction, the drive assembly is controlled to drive the cleaning assembly to move along the second direction to the other side; and

[0027] Control the body to rotate to the other side of the second direction.

[0028] In some embodiments, before controlling the drive component to drive the cleaning component to move to the other side along the second direction, the control method further includes:

[0029] When an obstacle is detected at the front end of the fuselage along the forward direction, the fuselage is controlled to swing at a first angle toward the first side in the second direction, and the obstacle is detected on the first side.

[0030] In some embodiments, the control method further includes:

[0031] When it is detected that there is no obstacle on the first side, the body is controlled to swing the first angle toward the second side in the second direction to detect whether there is an obstacle on the second side.

[0032] In some embodiments, before controlling the fuselage to swing a first angle toward the first side in the second direction, the control method further includes:

[0033] Control the fuselage to move backward a first distance in the opposite direction to the forward direction.

[0034] The window cleaning machine provided in this application has the following advantages:

[0035] The window cleaning machine provided in this application embodiment has a cleaning component that can move along a second direction to any side of the machine body. When the machine body turns to one side, the cleaning component can move to that side of the machine body. Thus, the cleaning component can avoid the edge of the area to be cleaned. While reducing the space required for the machine body to turn, it can reduce cleaning blind spots, or even eliminate cleaning blind spots. In addition, due to the avoidance of the cleaning component, the machine body does not need to frequently undergo collision tests and orientation adjustments. Overall, the window cleaning machine has a good cleaning effect, a small turning radius, and high turning efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a three-dimensional structural diagram of the window cleaning machine provided in the embodiments of this application;

[0038] Figure 2 This is a top view of the window cleaning machine provided in the embodiments of this application;

[0039] Figure 3 This is a bottom view of the window cleaning machine provided in the embodiments of this application;

[0040] Figure 4 This is a side view of the window cleaning machine provided in the embodiments of this application;

[0041] Figure 5 This is a schematic diagram of the cleaning components and drive components in the window cleaning machine provided in this application embodiment;

[0042] Figure 6 This is a schematic diagram of the cleaning components and drive components in the window cleaning machine provided in this application embodiment;

[0043] Figure 7 This is another structural schematic diagram of the cleaning components of the window cleaning machine provided in the embodiments of this application;

[0044] Figure 8 This is a flowchart of the steps of the control method for the window cleaning machine provided in the embodiments of this application;

[0045] Figure 9 This is a schematic diagram of step T1 of the turning process of the window cleaning machine provided in the embodiment of this application;

[0046] Figure 10 This is a schematic diagram of step T2 of the turning process of the window cleaning machine provided in the embodiment of this application;

[0047] Figure 11 This is a schematic diagram of the rightward swing in step T3 of the turning process of the window cleaning machine provided in this application embodiment;

[0048] Figure 12 This is a schematic diagram of the leftward swing in step T3 of the turning process of the window cleaning machine provided in this application embodiment;

[0049] Figure 13This is a schematic diagram of step T4 of the turning process of the window cleaning machine provided in the embodiment of this application;

[0050] Figure 14 This is a schematic diagram of step T5 of the turning process of the window cleaning machine provided in the embodiment of this application;

[0051] Figure 15 and Figure 16 This is a schematic diagram of step T6 of the turning process of the window cleaning machine provided in the embodiment of this application;

[0052] Figure 17 This is a schematic diagram of step T7 of the turning process of the window cleaning machine provided in the embodiment of this application;

[0053] Figure 18 This is a schematic diagram of the control device for the window cleaning machine provided in the embodiments of this application.

[0054] The markings in the diagram mean:

[0055] 100-Window Cleaning Machine;

[0056] 10-Fuselage, 11-Fuselage body, 111-First end, 112-Arched convex surface, 12-Moving component, 13-Second collision sensor, 14-First collision sensor, 15-Drive component, 151-Drive component, 152-Transmission component, 1521-Gear, 1522-Rack, 1523-Lead screw, 1524-Nut, 16-Reset component, 161-First reset component, 162-Second reset component, 17-Sliding guide;

[0057] 20 - Cleaning component; 23 - Sliding mating part;

[0058] 30 - Control device, 31 - Memory, 32 - Processor. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0060] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly or indirectly fixed to or set on that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the purpose of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this patent. The terms "first" and "second" are used only for the purpose of description and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly specified.

[0061] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be single or multiple. Furthermore, in the description of this application, "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, and c can represent: a, b, c, a+b, a+c, b+c, a+b+c, where a, b, and c can be single or multiple. As another example, at least one of a, b, or c can represent: a, b, c, a+b, a+c, b+c, a+b+c, where a, b, and c can be single or multiple.

[0062] To illustrate the technical solutions described in this application, the following detailed description is provided in conjunction with specific drawings and embodiments.

[0063] Please see Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this application embodiment first provides a window cleaning machine 100, which includes a body 10 and a cleaning component 20 disposed on the body 10. Wherein, as... Figure 3 and Figure 4As shown, the machine body 10 includes a main body 11 and a moving component 12 disposed at the bottom of the main body 11. The moving component 12 is used to drive the main body 11 and the cleaning component 20 to move together on the working surface (hereinafter, taking the window surface as an example). The cleaning component 20 is disposed on the main body 11. When the main body 11 moves under the drive of the moving component 12, the cleaning component 20 can clean the window surface.

[0064] Three mutually perpendicular directions are defined on the window cleaning machine 100: the first direction, the second direction, and the third reverse direction. For example... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the portion of the main body 11 along the first direction is its first end 111, and the cleaning component 20 is disposed at the first end 111 of the main body 11. When the main body 11 moves to one side of the first direction under the drive of the moving component 12, the cleaning component 20 can clean the area located on one side of the main body 11 in the first direction. The first direction and the second direction are parallel to the working surface, and the third direction is perpendicular to the working surface.

[0065] Furthermore, to facilitate understanding and explanation of these multiple directions, the first, second, and third directions can also correspond to the front-back, left-right, and up-down directions of the window cleaning machine 100, respectively. The front-back direction is also the forward direction of the machine body 10. The up-down direction is the thickness direction of the machine body 11, the left-right direction is the width direction of the machine body 10, and the front-back direction is the length direction of the machine body 11.

[0066] It is important to understand that in most cases, working surfaces such as window surfaces are vertically or nearly vertically positioned. When the window cleaning machine 100 operates on the window surface, its vertical direction is not the same as the vertical direction determined by gravity. This article does not cover the vertical direction determined by gravity.

[0067] The first end 111 mentioned here refers to the more forward part of the main body 11, that is, the front part of the window cleaning machine 100 in the forward direction.

[0068] In addition, it should be noted that during the operation of the window cleaning machine 100, the moving component 12 is configured to not only drive the machine body 11 forward, but also drive the machine body 11 to move in other directions, such as to the left, to the right, or to the back, and can also control the machine body 11 to rotate.

[0069] In the embodiments of this application, the cleaning component 20 is movable on the body 10 along the second direction. The cleaning component 20 can move to any side of the body 10 along the second direction. Here, a first position and a plurality of second positions of the cleaning component 20 relative to the body 11 along the width direction are defined. In the first position, the width center line of the cleaning component 20 is aligned and collinear with the width center line of the body 10. In the second position, the width center line of the cleaning component 20 is deviated from the width center line of the body 10.

[0070] In the first position, the cleaning component 20 and the main body 11 are symmetrical or substantially symmetrical. In the second position, the cleaning component 20 is offset to one side along the second direction. The purpose of this arrangement is that when the window cleaning machine 100 rotates, such as when turning, the distance from the edge of the cleaning component 20 along the second direction to the rotation center of the main body 10 is reduced, the area swept by the overall rotation of the window cleaning machine 100 is reduced, and the main body 10 of the window cleaning machine 100 can be as close as possible to the edge of the window (taking the window frame as an example), especially at the inner right angle, which can reduce cleaning blind spots, or even achieve no cleaning blind spots. In addition, due to the movement and avoidance of the cleaning component 20, the main body 11 does not need to frequently conduct collision tests and position adjustments with the window edge. Overall, the window cleaning machine 100 has good cleaning effect, small turning radius, and high turning efficiency.

[0071] A cleaning component 20 is provided that can move along a second direction to any side of the body 10.

[0072] In some embodiments, the cleaning component 20 moves passively. That is, the edge of the cleaning component 20 in the width direction moves by being pushed by the window frame. Specifically, the cleaning component 20 is slidably disposed on the body 11 along the width direction of the body 11. The window cleaning machine 100 also includes a reset member 16, which is disposed on the body 11 and connected to the cleaning component 20, and is used to provide a restoring force to the cleaning component 20 in the width direction and pointing towards the center of the width of the cleaning component 20. When the window cleaning machine 100 turns, the cleaning component 20 abuts against the window frame, and the cleaning component 20 is pushed by the window frame to move along the width direction, which can also enable the window cleaning machine 100 to sweep a small area. When the window cleaning machine 100 has basically completed the turn, the cleaning component 20 no longer abuts against the window frame and automatically returns to its original position under the action of the reset member 16. The reset member 16 can be a spring.

[0073] In this embodiment, the cleaning component 20 is an integral moving part, and its whole can move back and forth in the left and right direction.

[0074] In this embodiment, the reset member 16 is configured to provide both a leftward restoring force and a rightward restoring force to the cleaning component 20.

[0075] like Figure 7As shown, in some embodiments of this application, the reset member 16 includes a first reset member 161 and a second reset member 162. The first reset member 161 is disposed at the first end of the cleaning component 20 along the second direction and abuts against the body 11 and the first end of the cleaning component 20 respectively. The second reset member 162 is disposed at the second end of the cleaning component 20 along the second direction and abuts against the body 11 and the second end of the cleaning component 20 respectively. The first end and the second end are disposed opposite to each other along the second direction.

[0076] Taking the first reset member 161 located on the right side as an example, when the window frame is located on the right side of the cleaning component 20, the window frame abuts against the right end of the cleaning component 20, pushing the right end of the cleaning component 20 to move to the left in the second direction. The first reset member 161 is compressed, and the second reset member 162 moves to the left synchronously with the right end of the cleaning component 20, or becomes longer. In the case where the second reset member 162 is stretched, its initial state can be set so that even if stretched, it remains in a compressed state. After the body 10 rotates to the left, the right end of the cleaning component 20 is farther from the window frame and is no longer abutted by it, automatically returning to the right under the action of the first reset member 161.

[0077] Another cleaning component 20 is provided that can move in a second direction to either side of the body 10.

[0078] like Figure 5 and Figure 6 As shown, in some embodiments of this application, the window cleaning machine 100 further includes a drive assembly 15, which is connected between the machine body 11 and the cleaning assembly 20. The drive assembly 15 is used to drive the cleaning assembly 20 to move relative to the machine body 10 in the width direction.

[0079] like Figure 5 and Figure 6 As shown, in some embodiments of this application, the drive assembly 15 includes a drive member 151 and a transmission assembly 152. The drive member 151 is fixedly mounted on the main body 11, and the transmission assembly 152 is mounted on the main body 11 and connected to the output end of the drive member 151 and the cleaning assembly 20. The transmission assembly 152 is used to convert the torque output by the drive member 151 into the power for the linear motion of the cleaning assembly 20.

[0080] The transmission assembly 152 can take many forms.

[0081] In one alternative embodiment, such as Figure 5As shown, the transmission assembly 152 includes a gear 1521 and a rack 1522. The rack 1522 is fixedly mounted on the cleaning assembly 20 along the width direction. The output end of the drive member 151 is connected to the gear 1521, and the gear 1521 meshes with the rack 1522. When the drive member 151 drives the gear 1521 to rotate, the gear 1521 drives the rack 1522 to move in a straight line.

[0082] In one alternative embodiment, such as Figure 6 As shown, the transmission assembly 152 includes a lead screw 1523 and a nut 1524. The nut 1524 engages with the lead screw 1523, which is arranged along the width direction. One of the lead screw 1523 and the nut 1524 is rotatably mounted on the machine body 11 and connected to the drive member 151. The other of the lead screw 1523 and the nut 1524 is located on the cleaning assembly 20. The nut 1524 moves along the lead screw 1523, causing the cleaning assembly 20 to move relative to the machine body 11 along the width direction.

[0083] Optionally, the lead screw 1523 and the drive component 151 are both located on the machine body 11, and the nut 1524 is connected to the cleaning component 20.

[0084] In other alternative embodiments, the transmission assembly 152 includes a crank-slider mechanism (not shown), in which the crank is connected to the output end of the drive member 151, and the slider is connected to the cleaning assembly 20. The crank is fixedly connected to the output end of the drive member 151. A connecting rod is also provided between the crank and the slider, with one end of the connecting rod rotatably and eccentrically disposed on the crank, and the other end of the connecting rod rotatably connected to the slider, which is connected to the cleaning assembly 20. When the crank rotates with the drive member 151, the connecting rod causes the slider to displace in the width direction, and the slider further causes the cleaning assembly 20 to move in the width direction.

[0085] In some embodiments, the cleaning component 20 is a single movable part. Driven by the drive component 15, it moves as a whole along the width direction. When the left end of the cleaning component 20 moves to the right, the right end protrudes further; conversely, when the right end of the cleaning component 20 moves to the left, the left end protrudes further. Since the window cleaning machine 100 only involves interference between one end in the width direction and the window frame when turning, the protrusion of the cleaning component 20 on the other side in the width direction does not affect the turning of the window cleaning machine 100.

[0086] In some embodiments of this application, please refer to Figure 9As shown, the window cleaning machine 100 also includes a first collision sensor 14 and a control device (not shown). The first collision sensor 14 is located on both sides of the cleaning assembly 20 in the width direction. The control device is located inside the machine body 11 and is connected to the first collision sensor 14. The control device is also communicatively connected to the drive assembly 15. The control device is used to control the drive assembly 15 to drive the cleaning assembly 20 to move in a second direction based on the obstacle signal detected by the first collision sensor 14.

[0087] When the control device receives a first trigger signal from the first collision sensor 14 on one side of the width direction, it indicates that an obstacle has been detected on that side of the fuselage 10 in the width direction.

[0088] Please combine Figure 9 As shown in the embodiment of this application, the window cleaning machine 100 further includes a second collision sensor 13, which is located at the first end 111 of the cleaning assembly 20 and connected to the control device. The machine body 10 moves forward ( Figure 9 When the M-line indicates the forward and backward movement direction, the second collision sensor 13 collides with an obstacle, such as a window frame, and sends a second trigger signal to the control device.

[0089] When the control device receives a second trigger signal from the second collision sensor 13, it indicates that an obstacle has been detected on the front side of the fuselage 10.

[0090] The first collision sensor 14 and the second collision sensor 13 may each include one or more collision sensors. The collision sensors may include one or more of the following: microswitches and pressure sensors.

[0091] like Figure 5 As shown in some embodiments of this application, the main body 11 is provided with a sliding guide portion 17, and the cleaning component 20 is provided with a sliding engagement portion 23. The sliding engagement portion 23 engages with the sliding guide portion 17 along the width direction. Through the sliding engagement portion 23 and the sliding guide portion 17, it can be ensured that the cleaning component 20 always moves along the width direction.

[0092] One of the sliding guide part 17 and the sliding mating part 23 is a slide rail, and the other is a slide groove. It should be noted that the form of the slide rail and the slide groove is not limited, as long as they can restrict the movement of the slide rail in other directions and can be made to move along the width direction.

[0093] The width of the sliding guide portion 17 along the second direction is less than the width of the sliding mating portion 23 along the second direction. This arrangement ensures that when the sliding mating portion 23 and the sliding guide portion 17 are always slidably connected, the sliding guide portion 17 will not exceed the sliding mating portion 23 when the cleaning component 20 moves left or right along the second direction, thus guaranteeing clearance when turning.

[0094] In some alternative embodiments, the window cleaning machine 100 also includes a guide wheel (not shown) disposed between the slide rail and the slide groove. The guide wheel is rotatably mounted on the slide rail and rolls against the inner wall of the slide groove. The purpose of this arrangement is to convert the sliding friction between the slide rail and the slide groove into rolling friction, thereby reducing friction and facilitating smooth movement of the cleaning component 20 along its width.

[0095] like Figure 2 and Figure 3 As shown, in some embodiments of this application, the width of the cleaning component 20 is less than or equal to the width of the main body 11. This is to ensure the passability of the main body 10 during movement. For example, when there is a small gap between roughly parallel window frames, the cleaning component 20 will not get stuck while the main body 10 can pass smoothly. Furthermore, the width of the cleaning component 20 can be as close as possible to the width of the main body 10 to ensure that the cleaning component 20 has a large cleaning area and improves cleaning efficiency.

[0096] like Figure 1 As shown, in some embodiments of this application, the front end 111 of the main body 11, also known as the first end 111, has arcuate convex surfaces 112 on both sides along the width direction. This arrangement aims to further reduce the area swept by the main body 11 when the window cleaning machine 100 turns. That is, the edge of the first end 111 with the arcuate convex surfaces 112 will not interfere with the window frame. When the cleaning assembly 20 is in the first position, the arcuate convex surfaces 112 are recessed relative to the two ends of the cleaning assembly 20 in the width direction.

[0097] Optionally, the aforementioned arcuate surface 112 is an arcuate surface centered on the rotation center of the fuselage body 11.

[0098] In some alternative embodiments, the cleaning component 20 has right-angled edges. These right-angled edges include 90° edges and edges close to 90°. This design allows the cleaning component 20 to adapt to the right-angled edges of window frames in most cases, ensuring thorough cleaning of these edges and improving the cleaning effect at the corners of the window frame.

[0099] like Figure 8 As shown in the embodiments of this application, a control method for a window cleaning machine 100 is also provided, applied to the window cleaning machine 100 as described in the above embodiments. Specifically, the control method is applied to the turning control of the window cleaning machine 100. Specifically, the control method is applied to the turning control of the window cleaning machine 100 at an inside right angle.

[0100] Please see Figure 8 , Figure 10 and Figure 11 As shown, the control method includes:

[0101] Step S7: When an obstacle is detected on one side of the body 10 along the second direction, the control drive assembly 15 drives the cleaning assembly 20 to move along the second direction to the other side; and

[0102] Control the body 10 to rotate to the other side in the second direction.

[0103] In this embodiment, when the body 10 rotates to the other side of the second direction, the cleaning component 20 moves to the other side along the second direction and avoids it. The area swept by the window cleaning machine 100 as a whole is reduced. The body 10 of the window cleaning machine 100 can get as close as possible to the edge of the window, especially at the inner right angle, which can reduce cleaning blind spots and even achieve no cleaning blind spots. The body 11 does not need to frequently conduct collision tests and position adjustments with the window edge. Overall, the window cleaning machine 100 has a good cleaning effect, a small turning radius, and high turning efficiency.

[0104] When the control device receives a first trigger signal from the first collision sensor 14 on one side of the width direction (such as the left side), it indicates that an obstacle has been detected on the left side of the fuselage 10; conversely, it indicates that an obstacle has been detected on the right side of the fuselage 10.

[0105] When the control device does not receive any first trigger signal, it indicates that there are no obstacles on the left and right sides of the fuselage 10. The control device controls the moving component 12 to perform other actions, such as moving backward and rotating 180°.

[0106] like Figure 8 As shown, before the control drive assembly 15 drives the cleaning assembly 20 to move to the other side along the second direction, the control method further includes:

[0107] Step S1: An obstacle is detected on the front side of the fuselage along the direction of travel; and

[0108] Step S3: When an obstacle is detected at the front end of the fuselage 10 along the forward direction, the fuselage 10 is controlled to swing at a first angle toward the first side in the second direction to detect whether there is an obstacle on the first side.

[0109] This is to determine whether there are obstacles on the left and right sides of the fuselage 10. When an obstacle is detected on the first side of the fuselage 10 along the second direction, the fuselage 10 is controlled to rotate towards the second side along the second direction. The first and second sides mentioned here refer to the two opposite sides of the fuselage 10 along its width direction, and are not limited to specific orientations. For example, the first side can be the left side, and the second side can be the right side. When an obstacle is detected on the left side, the aforementioned "when an obstacle is detected on one side of the fuselage 10 along the second direction" means "when an obstacle is detected on the left side of the fuselage 10," and accordingly, the fuselage 10 is controlled to rotate towards the right. Conversely, the same applies to the opposite side.

[0110] like Figure 8 As shown, the control method further includes: step S4, when it is detected that there is no obstacle on the first side, controlling the body 10 to swing to the second side in the second direction by a first angle, and detecting whether there is an obstacle on the second side.

[0111] When it is detected that there is no obstacle on the first side of the fuselage 10 along the second direction, but there is an obstacle on the second side, the fuselage 10 is controlled to rotate towards the first side along the second direction. Specifically, when it is detected that there is no obstacle on the left side of the fuselage 10, but there is an obstacle on the right side, the fuselage 10 is controlled to rotate towards the left.

[0112] In some embodiments, such as Figure 11 As shown, when an obstacle is detected on the front side of the fuselage 10, the fuselage 10 is controlled to move towards the first side of the second direction by a first angle α.

[0113] In some embodiments, such as Figure 12 As shown, when an obstacle is detected on the first side, the control body 10 swings to the second side in the second direction by a first angle α. Figure 11 and Figure 12 In the middle, the N line refers to the center line of the width of the fuselage 11.

[0114] Please refer to the following: Figure 11 and Figure 12 As shown, before controlling the fuselage 10 to swing a first angle α toward the second side in the second direction after detecting that there is no obstacle on the first side, the control method further includes: controlling the fuselage 10 to swing a first angle toward the second side in the second direction so that the fuselage 10 returns to the initial position.

[0115] After controlling the fuselage 10 to swing a first angle toward the second side of the second direction and detecting an obstacle on the second side, the control method further includes: step S5, controlling the fuselage 10 to swing a first angle toward the first side of the second direction so that the fuselage 10 returns to the initial position.

[0116] Specifically, such as Figure 15 and Figure 16 As shown, in some specific embodiments, the control body 10 rotates a second angle β toward the other side of the second direction.

[0117] The rotation center of the main body 11 is generally located in the middle area of ​​the main body 11, and is a certain distance away from the cleaning component 20 in the front-back direction. Therefore, when swinging, since the cleaning component 20 is located at the first end 111 of the main body 11, the arc length of the swing of the cleaning component 20 is larger. Compared with the main body 11, the cleaning component 20 will be hit by an obstacle on one side of the width direction first.

[0118] In some embodiments of this application, such as Figure 11 As shown, before the fuselage 10 swings at a first angle α toward the first side of the second direction, the control method further includes step S2, controlling the fuselage 10 to move a first distance D1 in the opposite direction of the forward direction.

[0119] Specifically, the control method further includes moving the fuselage 10 backward a first distance D1 before swinging the fuselage 10 to the first side in the second direction by a first angle α.

[0120] like Figure 10 As shown, the control device controls the moving component 12 to move the body 10 backward by a first distance D1. At this time, the distance between the first end 111 of the cleaning component 20 and the obstacle in front of the body 10 is the first distance D1. This first distance D1 provides sufficient space for the swing of the body 10, and in particular, sufficient space for the swing of the cleaning component 20.

[0121] In some embodiments of this application, such as Figure 11 As shown, when an obstacle is detected on one side of the fuselage 10 along the second direction, before the fuselage 10 is controlled to rotate to the other side of the second direction, the control method further includes: step S6, controlling the fuselage 10 to move a second distance D2 to the side of the forward direction; the second distance D2 is less than or equal to the first distance D1.

[0122] Specifically, when an obstacle is detected on one side of the fuselage 10 along the width direction, before the fuselage 10 is controlled to rotate to the other side of the width direction, the fuselage 10 is controlled to move a second distance D2 towards the side in the forward direction.

[0123] The purpose of this design is to minimize the gap between the window cleaning machine 100 and the obstacle after the machine has turned. Please refer to [reference needed]. Figure 14 As shown, after the fuselage 10 advances a second distance D2, the distance between the fuselage 10 and the obstacle in front is a third distance D3. The third distance D3 is the difference between the first distance D1 and the second distance D2. Figure 7 As shown, after completing the turn, there may be a fourth distance D4 between the fuselage 10 and the obstacle (the original obstacle in front). Therefore, the smaller the third distance D3, the smaller the fourth distance D4.

[0124] In some embodiments of this application, the second rotation angle is 90°. The first rotation angle can be set relatively small, preferably for tentative contact. In some alternative embodiments, the first rotation angle can be less than or equal to 45°. Further alternatively, the first rotation angle can be less than or equal to 30°.

[0125] In some alternative embodiments, the first rotation angle can be greater than or equal to 10°. In some alternative embodiments, the first rotation angle can be greater than or equal to 20°. It is understood that in practical applications, the fuselage 10 may be collided with obstacles on the left or right side even when the swing is less than the first angle α.

[0126] like Figure 8 As shown, in some embodiments of this application, the control method further includes, in step S8, after the control body 10 rotates to the other side of the second direction, controlling the drive assembly 15 to drive the cleaning assembly 20 to move to one side along the second direction. Thus, the cleaning assembly 20 returns to its first position in the second direction.

[0127] Please see Figures 9 to 17 As shown, the turning process of the window cleaning machine 100 is as follows:

[0128] like Figure 9 As shown, in step T1, the window cleaning machine 100 moves forward and collides with the obstacle in front (the first obstacle); the second collision sensor 13 is triggered.

[0129] like Figure 10 As shown, in step T2, the moving component 12 of the window cleaning machine 100 is activated, and the window cleaning machine 100 moves backward by a first distance D1.

[0130] like Figure 11 and Figure 12 As shown, in step T3, the moving component 12 of the window cleaning machine 100 moves. Taking this position as the initial position, the window cleaning machine 100 swings to the left by a first angle α to detect whether there is an obstacle on the left. Figure 12 The window cleaning machine 100 is shown swinging to the right at the first angle α.

[0131] In step T3, the window cleaning machine 100 swings to one side in any order along the width direction. It can swing to the left first and then to the right, or vice versa, until an obstacle can be detected on one side of the width direction.

[0132] The following example illustrates how the window cleaning machine 100 collides with an obstacle (the second obstacle) on its right side while swinging to the right.

[0133] like Figure 13 As shown, in step T4, the window cleaning machine 100 stops swinging and rotates to its initial position.

[0134] like Figure 14 As shown, in step T5, the moving component 12 of the window cleaning machine 100 is activated, and the window cleaning machine 100 moves forward by a second distance D2. At this time, the distance between the first end 111 of the cleaning component 20 and the first obstacle is a third distance D3.

[0135] like Figure 15 and Figure 16 As shown, in step T6, the cleaning component 20 is controlled to move to the other side of the width direction until it reaches its second position; at the same time, the moving component 12 is controlled to move, and the body 10 rotates to the other side of the width direction until it rotates through the second angle β.

[0136] like Figure 17 As shown, in step T7, the cleaning component 20 is controlled to move to one side in the width direction to return to its first position.

[0137] like Figure 18 As shown, this application embodiment also provides a control device 30, which is applied to the window cleaning machine 100 described in the above embodiments. The control device 30 includes a memory 31 and a processor 32. The memory 31 stores a computer program that can run on the processor 32. When the processor 32 executes the computer program, it implements the steps of the control method described in the above embodiments.

[0138] In applications, the control device 30 can be a central processing unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0139] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The functional modules in the embodiments can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules can be implemented in hardware or as software functional modules. Furthermore, the specific names of the functional modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the modules in the above-described device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0140] Finally, this application embodiment also provides a non-temporary storage medium. When the non-temporary storage medium is running on the window cleaning machine 100, the window cleaning machine 100 performs the steps of implementing the control methods described in the above embodiments. Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium can also include combinations of the above types of memory.

[0141] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A window cleaning machine, characterized in that, include: body; as well as A cleaning component is movable along a second direction on the body, the cleaning component being movable to any side of the body along the second direction, the second direction being perpendicular to the forward direction of the body.

2. The window cleaning machine of claim 1, wherein, The window cleaning machine also includes a drive assembly connected between the machine body and the cleaning assembly, the drive assembly being used to drive the cleaning assembly to move relative to the machine body in the second direction.

3. The window cleaning machine of claim 2, wherein, The drive assembly includes a drive component and a transmission component. The drive component is fixedly mounted on the machine body, and the transmission component is mounted on the machine body and connected to the output end of the drive component and the cleaning component.

4. The window cleaning machine of claim 3, wherein, The transmission assembly includes a gear and a rack, the rack being fixedly disposed on the cleaning assembly along the second direction, the output end of the drive unit being connected to the gear, and the gear meshing with the rack; Alternatively, the transmission assembly includes a lead screw and a nut, the nut engaging with the lead screw, the lead screw being arranged along the second direction, one of the lead screw and the nut being rotatably disposed on the machine body and connected to the drive component, and the other of the lead screw and the nut being disposed on the cleaning assembly; Alternatively, the transmission assembly includes a crank-slider mechanism, wherein the crank in the crank-slider mechanism is connected to the output end of the drive member, and the slider in the crank-slider mechanism is connected to the cleaning assembly.

5. The window cleaning machine of claim 2, wherein, Also includes: Collision sensors, located at both ends of the cleaning assembly along the second direction, are used to detect obstacles; as well as A control device, communicatively connected to the collision sensor and the drive assembly, is used to control the drive assembly to drive the cleaning assembly to move along the second direction based on the obstacle signal detected by the collision sensor.

6. The window cleaning machine of claim 1, wherein, Also includes: A reset component, comprising a first reset component and a second reset component, wherein the first reset component is disposed at a first end of the cleaning assembly along the second direction and abuts against the body and the first end respectively; The second reset member is disposed at the second end of the cleaning component along the second direction and abuts against the body and the second end respectively, with the first end and the second end being disposed opposite each other along the second direction.

7. A window cleaning machine as claimed in any one of claims 1 to 6, wherein, The machine body is provided with a sliding guide portion, and the cleaning component is provided with a sliding mating portion. The sliding mating portion is slidably connected to the sliding guide portion along the second direction. One of the sliding guide portion and the sliding mating portion is a slide rail, and the other is a slide groove.

8. A window cleaning machine as claimed in any one of claims 1 to 6, wherein, The cleaning component extends in the second direction and is located at the front end of the body along the forward direction.

9. The window cleaning machine of claim 8, wherein, The width of the cleaning component along the second direction is less than or equal to the width of the body along the second direction.

10. The window cleaning machine of claim 8, wherein, The front end of the fuselage has arc-shaped convex surfaces on both sides along the second direction.

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