AI intelligent wall-climbing cleaning robot

Abstract

The application discloses an AI intelligent wall-climbing cleaning robot, and relates to the technical field of cleaning robots. The AI intelligent wall-climbing cleaning robot comprises a main body, a front mechanical leg group, a rear mechanical leg group and a suction device. The front mechanical leg group and the rear mechanical leg group each comprise a plurality of mechanical legs, each of which is provided with a first joint module, a second joint module and a suction disc unit. The suction device provides suction force for the suction disc unit, so that the suction disc unit can be firmly adsorbed to a target surface. Through the cooperative matching of the first joint module and the second joint module, the lifting of the mechanical leg and the movement of the suction disc unit are realized. The AI intelligent wall-climbing cleaning robot provided by the application can realize stable walking on a vertical surface and flexible obstacle crossing through the cooperative control of the mechanical leg and the suction device, so as to replace high-risk manual high-altitude cleaning with full-automatic intelligent operation.

Description

Technical Field

[0001] This application relates to the technical field of cleaning robots, and in particular to an AI intelligent wall-climbing cleaning robot. Background Technology

[0002] With the acceleration of urbanization, the demand for cleaning the exterior walls and large interior walls of high-rise buildings is increasing. Currently, this field mainly relies on manual rope-assisted operations, but this is prone to safety accidents, inefficient, and significantly affected by weather. To overcome these drawbacks, wall-climbing robot technology has emerged. However, existing wall-climbing robots, such as wheeled or tracked platforms based on negative pressure adsorption, have revealed fundamental flaws in practical applications. Their continuous movement mode results in extremely poor adaptability to wall conditions, making them unable to effectively cross common obstacles such as window frames. Utility Model Content

[0003] This application provides an AI intelligent wall-climbing cleaning robot with mutually orthogonal travel directions, a first direction, and a second direction. The AI ​​intelligent wall-climbing cleaning robot includes: a main body; a front mechanical leg assembly and a rear mechanical leg assembly, connected to one side of the main body along the first direction and arranged along the travel direction. The front and rear mechanical leg assemblies each include multiple mechanical legs arranged along the second direction. Each mechanical leg includes a first joint module, a second joint module, and a suction cup unit sequentially rotatably connected. The first joint module is fixedly connected to the main body; and an adsorption device disposed on the main body. The adsorption device and the suction cup unit... The connection is used to adjust the adsorption force at the adsorption surface of the suction cup unit; wherein, the first joint module is used to drive the second joint module to swing, so that the second joint module can swing relative to the first joint module along the travel direction, and the second joint module is used to drive the suction cup unit to swing, so that the suction cup unit can swing relative to the second joint module along the travel direction; the first joint module and the second joint module cooperate to drive the suction cup unit to perform translational movement in a reference plane defined by the travel direction and the first direction, and the swing direction of the second joint module is opposite to the swing direction of the suction cup unit.

[0004] In some embodiments, the first joint module includes: a fixed base; a first driving unit fixed on the fixed base; wherein the fixed base and the second joint module are disposed on both sides of the first driving unit along the second direction, and the second joint module is rotatably connected to the first driving unit.

[0005] In some embodiments, the second joint module includes: a movable seat rotatably connected to the first joint module; and a second drive unit fixed to the movable seat; wherein the movable seat and the suction cup unit are disposed on both sides of the second drive unit along the second direction, and the suction cup unit is rotatably connected to the second drive unit.

[0006] In some embodiments, the washing unit includes: a movable connector, including a U-shaped member and a connecting plate, wherein the second driving unit extends into the U-shaped member, the U-shaped member is rotatably connected to both sides of the second driving unit along the second direction, and is connected to the connecting plate; and a suction cup connected to the connecting plate.

[0007] In some embodiments, the adsorption device includes: a vacuum pump for generating negative pressure; a vacuum tube, one end of which is connected to the vacuum pump and the other end of which is connected to the suction cup unit, wherein the vacuum pump adjusts the adsorption force generated at the adsorption surface based on the negative pressure through the vacuum tube.

[0008] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot further includes: a cleaning brush assembly, the cleaning brush assembly including a rotary drive and a cleaning brush mounted on the main body, the cleaning brush being convexly connected to the rotary drive, the rotary drive being used to drive the cleaning brush to rotate; and a water spraying assembly having a nozzle, the nozzle being used to spray cleaning liquid onto the cleaning brush.

[0009] In some embodiments, the cleaning brush assembly further includes a base and an electric push rod; the base is mounted on the main body; the cleaning brush has a rotary drive rod; the electric push rod is disposed within the base, the push rod of the electric push rod is rotatably connected to the drive rod and coaxially arranged, and the electric push rod is used to raise and lower the drive rod; the rotary drive is throttlely connected to the drive rod to drive the cleaning brush to rotate.

[0010] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot further includes: a camera module mounted on the main body and used to capture images of the environment located in front of the main body along the direction of travel; a processor connected to the camera module and used to determine a target stain in the image and determine positional information between the AI ​​intelligent wall-climbing cleaning robot and the target stain based on the image; wherein the processor is connected to the front mechanical leg group and the rear mechanical leg group to control the movement of the AI ​​intelligent wall-climbing cleaning robot based on the positional information.

[0011] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot further includes: a positioning module, connected to the processor, for acquiring the location information of the AI ​​intelligent wall-climbing cleaning robot; and a communication module, connected to the processor, for data communication with external devices.

[0012] In some embodiments, the main body is provided with a power module for providing electrical energy.

[0013] The beneficial effects of this application are as follows: The AI ​​intelligent wall-climbing cleaning robot provided by this application achieves stable adhesion and flexible movement on the wall surface through the collaboration of mechanical legs and suction devices. Specifically, the first joint module drives the second joint module to swing, so that the second joint module can swing relative to the first joint module along the direction of travel. The second joint module is used to drive the suction cup unit to swing, so that the suction cup unit can swing relative to the second joint module. Through the cooperation of the first joint module and the second joint module, the suction cup unit can be driven to perform translational movement in a reference plane defined by the direction of travel and the first direction. The swing direction of the second joint module is opposite to the swing direction of the suction cup unit. Through the cooperation of the first joint module and the second joint module, the front mechanical leg group and the rear mechanical leg group can be lifted, thereby enabling obstacle avoidance and obstacle crossing. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0015] Figure 1 This is a schematic diagram of the overall structure of the AI ​​intelligent wall-climbing cleaning robot in some embodiments of this application; Figure 2 for Figure 1 The side view of the AI ​​intelligent wall-climbing cleaning robot in the illustrated embodiment; Figure 3 for Figure 1 The schematic diagram of the mechanical leg structure in the embodiment shown is as follows; Figure 4 for Figure 2 A schematic diagram of the first swinging state of the mechanical leg in the embodiment shown; Figure 5 for Figure 2 A schematic diagram of the second swing state of the mechanical leg in the embodiment shown; Figure 6 for Figure 2 A schematic diagram of the third swing state of the mechanical leg in the embodiment shown; Figure 7 for Figure 2 A schematic diagram of the assembly structure of the cleaning brush assembly in the illustrated embodiment; Figure 8 for Figure 7 A top enlarged view of the driven bevel gear in the illustrated embodiment; Figure 9 for Figure 1 A schematic diagram of the frame of the AI ​​intelligent wall-climbing cleaning robot in the embodiment shown; Figure 10 This is a top view of the AI ​​intelligent wall-climbing cleaning robot in some embodiments of this application; Figure 11 This is a schematic diagram of the frame of an AI intelligent wall-climbing cleaning robot equipped with a voice collection module in some embodiments of this application; Figure 12 This is a schematic diagram of the overall structure of an AI intelligent wall-climbing cleaning robot equipped with a drive device in some embodiments of this application.

[0016] Explanation of reference numerals in the attached diagram: 1. Main body; 2. Mechanical leg assembly; 3. Adsorption device; 4. Cleaning brush assembly; 5. Water spray assembly; 6. Main unit; 11. Safety wire rope; 20. Mechanical leg; 21. Front mechanical leg assembly; 22. Rear mechanical leg assembly; 31. Vacuum pump; 32. Vacuum tube; 41. Base; 42. Cleaning brush; 43. Electric push rod; 44. Rotary drive component; 51. Nozzle; 52. Water pipe; 101. Camera module; 102. Processor; 103. Positioning module; 104. Communication module; 105. Power supply module; 106. Voice collection module; 201. First joint module; 202. Second joint module; 203. Suction cup unit; 204. Drive device; 211. First mechanical leg; 212. Second mechanical leg; 221. Third mechanical leg; 222. Fourth mechanical leg; 421. Drive rod; 422. Cleaning brush head; 431. Cylinder; 432. Push rod; 441. Motor; 442. Driving bevel gear; 443. Driven bevel gear; 2010, First protective space; 2011, Fixed base; 2012, First drive unit; 2020, Second protective space; 2021, Movable base; 2022, Second drive unit; 2031, Movable connector; 2032, Suction cup; 4211, Limiting structure; 4431, Mating structure; 20211, First U-shaped component; 20212, Second U-shaped component; 20311, U-shaped component; 20312, Connecting plate; Detailed Implementation The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0017] It should be noted that the terms "first," "second," "third," and "fourth," etc., used in the specification and claims of this application are used to distinguish different objects and should not be construed as indicating or implying relative importance or describing a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0018] This application describes an AI-powered intelligent wall-climbing cleaning robot. This robot possesses strong environmental perception and autonomous decision-making capabilities, enabling it to adaptively complete complex wall-climbing, obstacle avoidance, and cleaning tasks.

[0019] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the overall structure of the AI ​​intelligent wall-climbing cleaning robot in some embodiments of this application. Figure 2 for Figure 1 The illustrated embodiment shows a side view of the AI ​​intelligent wall-climbing cleaning robot 100. The AI ​​intelligent wall-climbing cleaning robot 100 has a mutually orthogonal travel direction F0, a first direction F1, and a second direction F2. The AI ​​intelligent wall-climbing cleaning robot 100 can travel along the travel direction F0, for example, forward or backward.

[0020] The AI ​​intelligent wall-climbing cleaning robot 100 may include a main body 1, mechanical leg assembly 2, adsorption device 3, cleaning brush assembly 4, water spray assembly 5, and main unit 6. The mechanical leg assembly 2 is fixedly connected to the main body 1 along a first direction F1, enabling the AI ​​intelligent wall-climbing cleaning robot 100 to stand and walk. The adsorption device 3 is mounted on the main body 1, generating negative pressure, the magnitude of which can be adjusted. The adsorption device 3, in conjunction with the mechanical leg assembly 2, applies the negative pressure generated by the adsorption device 3 to the mechanical leg assembly 2, increasing the adsorption force between the mechanical leg assembly 2 and the surface of the target object, thus enabling the AI ​​intelligent wall-climbing cleaning robot 100 to adhere to the surface of the target object. This combination allows the AI ​​intelligent wall-climbing cleaning robot 100 to stand and walk stably on the surface of the target object. The cleaning brush assembly 4 is mounted on the main body 1, used by the AI ​​intelligent wall-climbing cleaning robot 100 to perform cleaning operations on the surface of the target object. The water spray assembly 5, also mounted on the main body 1, supplies cleaning fluid to the cleaning brush assembly 4, allowing the cleaning brush assembly 4 to better clean stains on the surface of the target object. The host unit 6, serving as the control unit of the AI ​​intelligent wall-climbing cleaning robot 100, is located on the main body 1 and is used to coordinate the various functions of the AI ​​intelligent wall-climbing cleaning robot 100. Specifically, the host unit 6 controls the mechanical leg assembly 2 and the suction device 3 to work together to enable the AI ​​intelligent wall-climbing cleaning robot 100 to walk stably on the wall surface; on the other hand, it controls the cleaning brush assembly 4 and the water spray assembly 5 to work together to complete the cleaning of the target object surface.

[0021] The target object can be a wall, floor, stairs, ground, glass, etc.

[0022] Please see Figure 1 The mechanical leg assembly 2 may include a front mechanical leg assembly 21 and a rear mechanical leg assembly 22, which work together to enable the AI ​​intelligent wall-climbing cleaning robot 100 to move. The front and rear mechanical leg assemblies 21 and 22 are fixedly connected to the same side of the main body 1 along a first direction F1, and are arranged along a traveling direction F0, allowing the AI ​​intelligent wall-climbing cleaning robot to move along this direction. Specifically, both the front and rear mechanical leg assemblies 21 and 22 may contain multiple mechanical legs 20 arranged along a second direction F2. The mechanical legs 20 within the front and rear mechanical leg assemblies 21 and 22 are evenly distributed. Overall, all the mechanical legs 20 together form a large support surface. This symmetrical and even distribution of support points effectively distributes the weight of the AI ​​intelligent wall-climbing cleaning robot 100, thereby ensuring that the AI ​​intelligent wall-climbing cleaning robot 100 maintains an extremely stable standing posture.

[0023] The negative pressure generated by the adsorption device 3 acts between the mechanical legs 20 and the surface of the target object. Additionally, the negative pressure can also act between each mechanical leg 20 and the target object surface via the transmission path of each mechanical leg 20. Therefore, the total adsorption force of the AI ​​intelligent wall-climbing cleaning robot 100 on the target object surface can ideally be considered as the sum of the adsorption forces between each mechanical leg 20 and the target object surface. Assuming the adsorption force provided by the adsorption device 3 to each mechanical leg 20 remains constant, the more mechanical legs 20 there are, the stronger the total adsorption force obtained by the AI ​​intelligent wall-climbing cleaning robot 100. This allows the AI ​​intelligent wall-climbing cleaning robot 100 to adapt to smoother or more complex wall environments, thereby improving its reliability and stability during operation.

[0024] Based on the above principles, this application provides several flexible mechanical leg configurations. In some embodiments, the front mechanical leg group 21 may include two mechanical legs 20, and the rear mechanical leg group 22 may also include two mechanical legs 20. This four-leg layout ensures basic stability and adhesion requirements while simplifying the structure. To pursue even better adhesion performance and obstacle-crossing stability, in another preferred embodiment, the front mechanical leg group 21 may be configured to include four mechanical legs 20, and the rear mechanical leg group 22 may also include four mechanical legs 20. This eight-leg layout significantly increases the number of adhesion points, greatly enhancing the total adhesion force and further optimizing the weight distribution, thereby further strengthening the stability and anti-interference ability of the AI ​​intelligent wall-climbing cleaning robot 100 during movement. It is understood that the number of mechanical legs 20 can be set according to the needs of those skilled in the art, and will not be elaborated upon here.

[0025] Please see Figure 2 and Figure 3 , Figure 3 for Figure 1The illustrated embodiment shows a schematic diagram of the mechanical leg structure. The mechanical leg 20 adopts a multi-joint design, sequentially including a first joint module 201, a second joint module 202, and a suction cup unit 203. Specifically, the first joint module 201 is fixedly connected to the main body 1 along a first direction F1. The second joint module 202 is movably connected to the first joint module 201. The first joint module 201 drives the second joint module 202 to swing, allowing the second joint module 202 to swing relative to the first joint module 201 along the travel direction F0. The second joint module 202 drives the suction cup unit 203 to swing relative to the second joint module 202 along the travel direction F0, thereby achieving posture adjustment of the suction cup unit 203. Through the coordinated operation of the first joint module 201 and the second joint module 202, the suction cup unit 203 can be driven to perform translational motion within the vertical reference plane defined by the travel direction F0 and the first direction F1. During movement, the swing direction of the second joint module 202 is opposite to that of the suction cup unit 203. In addition, the coordinated operation of the first joint module 201 and the second joint module 202 can realize the raising or lowering of the mechanical leg 20, and further enable obstacle crossing to achieve obstacle avoidance.

[0026] Please see Figure 2 and Figure 3 The first joint module 201 may include a fixing base 2011 and a first drive unit 2012. The fixing base 2011 is disposed on both sides of the first drive unit 2012 along the second direction F2, forming a stable support structure. Reliable connections can be achieved between the fixing base 2011 and the main body 1, and between the first drive unit 2012 and the fixing base 2011, using conventional fixing methods in the art. Optional connection methods include, but are not limited to, threaded connections, snap-fit ​​connections, welding, bonding, or integral molding.

[0027] The second joint module 202 may include a movable base 2021 and a second drive unit 2022. Specifically, the movable base 2021 is connected to the output end of the first drive unit 2012, thereby being driven and swinging relative to the first joint module 201 along the travel direction F0. The second drive unit 2022 is fixedly mounted on the movable base 2021, which is arranged on both sides of the second drive unit 2022 along the second direction F2, providing a stable mounting base for the second drive unit 2022. The second drive unit 2022 and the movable base 2021 can be reliably connected using conventional fixing methods in the art. Optional connection methods include, but are not limited to, threaded connection, snap-fit ​​connection, welding, bonding, or integral molding.

[0028] In some embodiments, the movable seat 2021 may include a first U-shaped member 20211 and a second U-shaped member 20212. Specifically, the closed end of the first U-shaped member 20211 is fixedly connected to the closed end of the second U-shaped member 20212. The output end of the first drive unit 2012 extends into the opening of the first U-shaped member 20211, and the two side walls of the first U-shaped member 20211 are connected to the two sides of the first drive unit 2012 along the second direction F2, so that the entire movable seat 2021 can swing relative to the first joint module 201 along the travel direction F0. The second drive unit 2022 extends into the opening of the second U-shaped member 20212 and is fixedly installed inside the second U-shaped member 20212. The first U-shaped member 20211 and the second U-shaped member 20212, and the second U-shaped member 20212 and the second drive unit 2022, can be reliably connected using conventional fixing methods in the art. Optional connection methods include, but are not limited to, threaded connection, snap-fit ​​connection, welding, bonding or integral molding.

[0029] In some embodiments, the fixed base 2011 can cooperate with the movable base 2021 of the second joint module 202 to jointly enclose a first protective space 2010. Specifically, the fixed base 2011 can cooperate with the first U-shaped member 20211 to jointly enclose a semi-enclosed first protective space. The first protective space 2010 accommodates the first drive unit 2012, isolating the first drive unit 2012 from the external environment as much as possible, thereby providing effective physical protection for the first drive unit 2012.

[0030] The suction cup unit 203 may include a movable connector 2031 and a suction cup 2032. The movable connector 2031 further includes a U-shaped member 20311 and a connecting plate 20312. Specifically, the output end of the second drive unit 2022 extends into the opening of the U-shaped member 20311, and the two side walls of the U-shaped member 20311 are rotatably connected to the two sides of the second drive unit 2022 along the second direction F2, so that the entire suction cup unit 203 can swing relative to the second joint module 202 along the travel direction F0. The connecting plate 20312 is fixedly connected to the closed end of the U-shaped member 20311, and the suction cup 2032 is fixedly connected to the connecting plate 20312. The U-shaped member 20311 and the connecting plate 20312, and the connecting plate 20312 and the suction cup 2032, can be reliably connected using conventional fixing methods in the art. Optional connection methods include, but are not limited to, threaded connection, snap-fit ​​connection, welding, bonding, or integral molding.

[0031] In some embodiments, the suction cup unit 203 is equipped with two suction cups 2032, a configuration that ensures structural compactness while meeting basic adsorption requirements. To improve adsorption performance, in another preferred embodiment, the suction cup unit 203 is provided with four suction cups 2032. This design increases the number of adsorption contact points, enabling a single mechanical leg 20 to achieve a greater total adsorption force. The arrangement of multiple suction cups 2032 also expands the support area, enhancing adaptability to complex wall surfaces and improving operational reliability in the event of temporary failure of a single suction cup 2032.

[0032] In some embodiments, the movable seat 2021 can cooperate with the suction cup unit 203 to jointly enclose a second protective space 2020. Specifically, the second U-shaped member 20212 can cooperate with the U-shaped member 20311 to jointly enclose a semi-enclosed second protective space. The second protective space 2020 accommodates the second drive unit 2022, relatively isolating it from the external environment, thereby providing effective physical protection for the second drive unit 2022.

[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] Please see Figure 1 and Figure 2 The adsorption device 3 mainly includes a vacuum pump 31 and a vacuum tube 32. The vacuum pump 31 is fixedly mounted on the main body 1 and can generate negative pressure, and the required negative pressure can be precisely adjusted. The vacuum tube 32 is connected between the output end of the vacuum pump 31 and the suction cup 2032, forming a negative pressure transmission path, so that the negative pressure generated by the vacuum pump 31 can be delivered to the suction cup 2032. Finally, the adsorption force of the suction cup 2032 is dynamically controlled by adjusting the negative pressure through the vacuum pump 31.

[0035] The connection between the vacuum pump 31 and the mechanical legs 20 can be flexibly configured according to the actual load and system complexity requirements. In some embodiments, one vacuum pump 31 can simultaneously provide negative pressure to two mechanical legs 20, a configuration that ensures suction force while simplifying the system structure. In another embodiment, a single vacuum pump 31 can provide negative pressure to four mechanical legs 20. By reducing the number of vacuum pumps 31, while ensuring that the power of the vacuum pump 31 is sufficient to maintain the total negative pressure required by the four mechanical legs 20, the overall weight and energy consumption of the AI ​​intelligent wall-climbing cleaning robot 100 are directly reduced. In another embodiment, in scenarios with higher control precision requirements, one vacuum pump 31 independently drives one mechanical leg 20. This independent control mode provides the AI ​​intelligent wall-climbing cleaning robot 100 with better local suction force adjustment capability to cope with complex walls.

[0036] Please see Figure 4 , Figure 5 and Figure 6 , Figure 4 for Figure 2 The schematic diagram of the first swing state of the mechanical leg in the embodiment shown is as follows. Figure 5 for Figure 2 The schematic diagram of the second swing state of the mechanical leg in the embodiment shown is as follows. Figure 6 for Figure 2 A schematic diagram of the third swing state of the mechanical leg in the illustrated embodiment.

[0037] In the first swinging state, the second joint module 202 of the robotic leg 20 is located on one side of the first joint module 201 along the travel direction F0, and simultaneously on one side of the suction cup unit 203. At this time, the suction cup 2032 is in an adsorbed state with the surface of the target object, providing support for the robot. That is, along the travel direction F0, the first joint module 201 and the suction cup unit 203 are located on both sides of the second joint module 202.

[0038] In the second swing state, the axial directions of the first joint module 201, the second joint module 202, and the suction cup unit 203 of the mechanical leg 20 are all aligned with the first direction F1, and the suction cup 2032 is in contact with the surface of the target object in this state. That is, the first joint module 201, the second joint module 202, and the suction cup unit 203 are connected sequentially along the first direction F1.

[0039] In the third swing state, the second joint module 202 of the mechanical leg 20 is located on one side of the first joint module 201 along the travel direction F0, and at the same time on one side of the suction cup unit 203.

[0040] The AI-powered intelligent wall-climbing cleaning robot 100 walks by coordinating the movement of multiple mechanical legs 20 within its mechanical leg assembly 2 along the direction of travel F0. Specifically, the mechanical leg assembly 2 is divided into two swing groups: one group of mechanical legs 20 performs the transition from a first swing state through a second swing state to a third swing state; simultaneously, the other group of mechanical legs 20 performs the transition from a third swing state through a second swing state back to a first swing state. The movement processes of these two swing groups alternate and cycle, together forming a complete gait cycle, thereby enabling the continuous movement of the AI-powered intelligent wall-climbing cleaning robot 100.

[0041] The AI-powered intelligent wall-climbing cleaning robot 100 walks by coordinating the movement of multiple mechanical legs 20 within its mechanical leg assembly 2 along the direction of travel F0. Specifically, the mechanical leg assembly 2 is divided into two swing groups: one group of mechanical legs 20 performs the transition from a second swing state through a third swing state back to a first swing state; simultaneously, the other group of mechanical legs 20 performs the transition from a second swing state through a first swing state back to a third swing state. The movement processes of these two swing groups alternate and cycle, together forming a complete gait cycle, thereby enabling the continuous movement of the AI-powered intelligent wall-climbing cleaning robot 100.

[0042] The AI-powered intelligent wall-climbing cleaning robot 100 walks by coordinating the movement of multiple mechanical legs 20 within its mechanical leg assembly 2 along the direction of travel F0. Specifically, the mechanical leg assembly 2 is divided into two swing groups: one group of mechanical legs 20 performs the transition from a third swing state through a second swing state to a first swing state; simultaneously, the other group of mechanical legs 20 performs the transition from the first swing state through a second swing state to a third swing state. The movement processes of these two swing groups alternate and cycle, together forming a complete gait cycle, thereby enabling the continuous movement of the AI-powered intelligent wall-climbing cleaning robot 100.

[0043] During the transition from the second swing state to the first swing state, when the mechanical leg 20 assists another mechanical leg 20 in crossing, the adsorption device 3 uses the suction cup 2032 of the mechanical leg 20 to adhere to the surface of the target object, ensuring that the mechanical leg 20 maintains reliable adhesion throughout the state transition. During this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the second swing state to the first swing state, while simultaneously causing the main body 1 to travel a certain distance along the travel direction F0, thereby assisting the other mechanical leg 20 in crossing.

[0044] During the transition from the second swing state to the first swing state, when the mechanical leg 20 crosses with the assistance of another mechanical leg 20, the adsorption device 3 controls the suction cup 2032 of the mechanical leg 20 to not adhere to the surface of the target object, ensuring that the mechanical leg 20 can separate from the target object during the state transition. During this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the second swing state to the first swing state, while simultaneously causing the suction cup unit 203 to travel a certain distance along the travel direction F0.

[0045] During the transition from the second swing state to the third swing state, when the mechanical leg 20 assists another mechanical leg 20 in crossing, the adsorption device 3 uses the suction cup 2032 of the mechanical leg 20 to adhere to the surface of the target object, ensuring that the mechanical leg 20 maintains reliable adhesion throughout the state transition. In this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the second swing state to the third swing state, while simultaneously causing the main body 1 to travel a certain distance along the travel direction F0, thereby assisting the other mechanical leg 20 in crossing.

[0046] During the transition from the second swing state to the third swing state, when the mechanical leg 20 crosses with the assistance of another mechanical leg 20, the adsorption device 3 controls the suction cup 2032 of the mechanical leg 20 to not adhere to the surface of the target object, ensuring that the mechanical leg 20 can separate from the target object during the state transition. During this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the second swing state to the third swing state, while simultaneously causing the suction cup unit 203 to travel a certain distance along the travel direction F0.

[0047] During the transition from the first swinging state to the second swinging state, when the mechanical leg 20 assists another mechanical leg 20 in crossing, the adsorption device 3 uses the suction cup 2032 of the mechanical leg 20 to adhere to the surface of the target object, ensuring that the mechanical leg 20 maintains reliable adhesion throughout the state transition. During this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the first swinging state to the second swinging state, while simultaneously causing the main body 1 to travel a certain distance along the travel direction F0, thereby assisting the other mechanical leg 20 in crossing.

[0048] During the transition from the first swinging state to the second swinging state, when the mechanical leg 20 crosses with the assistance of another mechanical leg 20, the adsorption device 3 controls the suction cup 2032 of the mechanical leg 20 to not adhere to the surface of the target object, ensuring that the mechanical leg 20 can separate from the target object during the state transition. During this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the first swinging state to the second swinging state, while simultaneously causing the suction cup unit 203 to travel a certain distance along the travel direction F0.

[0049] During the transition from the third swing state to the second swing state, when the mechanical leg 20 assists another mechanical leg 20 in crossing, the adsorption device 3 uses the suction cup 2032 of the mechanical leg 20 to adhere to the surface of the target object, ensuring that the mechanical leg 20 maintains reliable adhesion throughout the state transition. During this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the third swing state to the second swing state, while simultaneously causing the main body 1 to travel a certain distance along the travel direction F0, thereby assisting the other mechanical leg 20 in crossing.

[0050] During the transition from the third swing state to the second swing state, when the mechanical leg 20 crosses with the assistance of another mechanical leg 20, the adsorption device 3 controls the suction cup 2032 of the mechanical leg 20 to not adhere to the surface of the target object, ensuring that the mechanical leg 20 can separate from the target object during the state transition. During this process, the suction cup unit 203 of the mechanical leg 20 swings along the travel direction F0 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 swings along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, and the swing direction is opposite to the swing direction of the suction cup unit 203. Through the coordinated action of the first drive unit 2012 and the second drive unit 2022, the mechanical leg 20 completes the transition from the third swing state to the second swing state, while simultaneously causing the suction cup unit 203 to travel a certain distance along the travel direction F0.

[0051] Please see Figure 1 In some embodiments, the front mechanical leg assembly 21 of the AI ​​intelligent wall-climbing cleaning robot 100 includes a first mechanical leg 211 and a second mechanical leg 212; the rear mechanical leg assembly 22 includes a third mechanical leg 221 and a fourth mechanical leg 222. By controlling the coordinated state transitions of the first mechanical leg 211, the second mechanical leg 212, the third mechanical leg 221, and the fourth mechanical leg 222, the AI ​​intelligent wall-climbing cleaning robot 100 can achieve stable walking.

[0052] For example, the first mechanical leg 211 and the fourth mechanical leg 222 simultaneously transition from the first swing state to the second swing state. Simultaneously, the second mechanical leg 212 and the third mechanical leg 221 simultaneously transition from the third swing state to the second swing state. Specifically, the second mechanical leg 212 and the third mechanical leg 221 perform a crossing maneuver, and further, the first mechanical leg 211 and the fourth mechanical leg 222 simultaneously transition from the second swing state to the third swing state. Simultaneously, the second mechanical leg 212 and the third mechanical leg 221 simultaneously transition from the second swing state to the first swing state. Therefore, the AI ​​intelligent wall-climbing cleaning robot 100 can complete the crossing maneuver of the second mechanical leg 212 and the third mechanical leg 221.

[0053] For example, the first mechanical leg 211 and the fourth mechanical leg 222 simultaneously transition from the third swing state to the second swing state. Simultaneously, the second mechanical leg 212 and the third mechanical leg 221 simultaneously transition from the first swing state to the second swing state. Specifically, the first mechanical leg 211 and the fourth mechanical leg 222 perform a crossing maneuver, and further, the first mechanical leg 211 and the fourth mechanical leg 222 simultaneously transition from the second swing state to the first swing state. Simultaneously, the second mechanical leg 212 and the third mechanical leg 221 simultaneously transition from the second swing state to the third swing state. Therefore, the AI ​​intelligent wall-climbing cleaning robot 100 can complete the crossing maneuver of the first mechanical leg 211 and the fourth mechanical leg 222.

[0054] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 achieves turning functionality by controlling the displacement of the suction cup units 203 in different mechanical legs 20 of the mechanical leg assembly 2. Specifically, when the AI ​​intelligent wall-climbing cleaning robot 100 needs to turn right, the first mechanical leg 211 and the third mechanical leg 221 located on the left side of the main body 1 increase the displacement of their suction cup units 203 along the travel direction F0; simultaneously, the second mechanical leg 212 and the fourth mechanical leg 222 located on the right side of the main body 1 decrease the corresponding displacement. This displacement difference causes the actual travel distance on the left side of the AI ​​intelligent wall-climbing cleaning robot 100 to be greater than that on the right side, thereby generating a torque that causes the AI ​​intelligent wall-climbing cleaning robot 100 to deflect to the right around its central axis, thus achieving a right turn. Correspondingly, when a left turn is required, the first mechanical leg 211 and the third mechanical leg 221 located on the left side of the main body 1 decrease their displacement, while the second mechanical leg 212 and the fourth mechanical leg 222 located on the right side of the main body 1 increase their displacement. This displacement difference causes the AI ​​intelligent wall-climbing cleaning robot 100 to travel a greater distance on the right side than on the left, thereby generating a torque that causes the AI ​​intelligent wall-climbing cleaning robot 100 to deflect to the left around its central axis, thus achieving a left turn.

[0055] That is, the amplitude of the swing along the travel direction F0 can be controlled by the suction cup unit 203 of the mechanical leg 20 under the drive of the second drive unit 2022 of the second joint module 202; the second joint module 202 can control the amplitude of the swing along the travel direction F0 under the drive of the first drive unit 2012 of the first joint module 201, thereby realizing the displacement of the suction cup unit 203 along the travel direction F0.

[0056] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the positional relationship of the square modules or modules based on the positional relationship of the square modules or modules shown in the accompanying drawings. These terms are mainly for the purpose of better describing the present invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific square module, or to be constructed and operated with a specific square module.

[0057] Please see Figure 1 , Figure 2 , Figure 7 , Figure 7 for Figure 2 The illustrated embodiment shows a schematic diagram of the assembly structure of the cleaning brush assembly 4. The cleaning brush assembly 4 may include a base 41, a cleaning brush 42, an electric push rod 43, and a rotary drive component 44.

[0058] The base 41 is fixedly mounted on the main body 1, serving as a support structure for the entire cleaning brush assembly 4. An electric push rod 43 is mounted on the base 41, providing lifting power for the cleaning brush 42. A rotary drive 44 is disposed inside the main body 1, providing rotational power for the cleaning brush 42.

[0059] Specifically, the cleaning brush 42 may include a drive rod 421 and a cleaning brush head 422. One end of the drive rod 421 is fixedly connected to the cleaning brush head 422, and the other end is connected to the rotary drive member 44. The rotary drive member 44 drives the drive rod 421 to rotate, thereby causing the cleaning brush head 422 to rotate synchronously and perform cleaning operations on the surface of the target object.

[0060] The electric push rod 43 can be configured according to technical solutions well known to those skilled in the art. This is merely an illustrative example. The electric push rod 43 may include a cylinder 431 and a push rod 432. The cylinder 431 is fixed inside the base 41, and the push rod 432 is telescopically disposed within the cylinder 431. The end of the push rod 432 is rotatably connected to the drive rod 421, and the two are coaxially arranged. Through the telescopic movement of the electric push rod 43, the entire cleaning brush 42 can be driven to rise and fall axially, enabling the cleaning brush head 422 to contact and separate from the wall surface.

[0061] The cleaning brush head 422 can be a round brush head. Of course, the shape of the cleaning brush head 422 is not limited to this. The cleaning brush head 422 can be a square brush head, a rounded rectangular brush head, or any applicable geometric shape to suit different cleaning needs.

[0062] Please see Figure 7 and Figure 8 , Figure 8 for Figure 7The diagram shows an enlarged top view of the driven bevel gear in the illustrated embodiment. In some embodiments, the rotary drive 44 includes a motor 441, a driving bevel gear 442, and a driven bevel gear 443. The output end of the motor 441 is coaxially connected to the driving bevel gear 442, and the driving bevel gear 442 and the driven bevel gear 443 mesh with each other to form a stable bevel gear transmission mechanism. The driven bevel gear 443 is supported on the base 41 by bearings and is sleeved outside the drive rod 421, coaxially connected to the drive rod 421 to achieve effective power transmission. The outer periphery of the drive rod 421 is provided with a limiting structure 4211 extending axially therefrom, while the inner periphery of the driven bevel gear 443 is provided with a corresponding mating structure 4431. The mating structure 4431 and the limiting structure 4211 cooperate with each other to form a fixed connection relationship, while allowing the drive rod 421 to slide freely axially within the driven bevel gear 443. When the motor 441 drives the active bevel gear 442 to rotate, the power is transmitted to the driven bevel gear 443 through the active bevel gear 442. Then, through the cooperation of the limiting structure 4211 and the cooperating structure 4431, the drive rod 421 is driven to rotate synchronously, and finally the cleaning brush head 422 is driven to complete the cleaning operation.

[0063] In some embodiments, the limiting structure 4211 is a groove, and the mating structure 4431 is a protrusion extending into the groove.

[0064] Please see Figure 1 and Figure 2 The water spray assembly 5 includes a nozzle 51 and a water pipe 52. The nozzle 51 is configured to spray cleaning fluid onto the cleaning brush head 422. Specifically, when the cleaning brush head 422 moves to a designated position opposite the nozzle 51 under the drive of the electric push rod 43, the nozzle 51 turns on and sprays cleaning fluid onto the cleaning brush head 422 to evenly wet it and improve the cleaning effect.

[0065] The cleaning solution can be water or an aqueous solution containing cleaning agents.

[0066] In some embodiments, the nozzle 51 may also be configured to spray cleaning fluid directly onto stubborn stains on the wall surface to achieve a local pre-cleaning function.

[0067] To reduce the weight of the AI ​​intelligent wall-climbing cleaning robot 100 and thus reduce energy consumption, the AI ​​intelligent wall-climbing cleaning robot 100 adopts an external cleaning fluid supply solution. Specifically, the water pipe 52 is configured such that one end is connected to the water inlet of the water spray component 5, and the other end is connected to the external cleaning fluid supply device to achieve a continuous and stable supply of cleaning fluid.

[0068] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 does not have a cleaning brush assembly 4 and a water spray assembly 5, but is equipped with a high-pressure water gun, so that the AI ​​intelligent wall-climbing cleaning robot 100 can control the high-pressure water gun to extinguish fires at high altitudes.

[0069] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 does not have a cleaning brush assembly 4 and a water spray assembly 5, but has a transport box, enabling the AI ​​intelligent wall-climbing cleaning robot 100 to perform the task of transporting rescue equipment at high altitudes.

[0070] Please see Figure 9 , Figure 9 for Figure 1 The illustrated embodiment is a schematic diagram of the framework of the AI ​​intelligent wall-climbing cleaning robot. The AI ​​intelligent wall-climbing cleaning robot 100 may also be equipped with a camera module 101, a processor 102, a positioning module 103, a communication module 104, and a power module 105.

[0071] The camera module 101 is mounted on the main body 1 and its viewing direction is directly facing the moving direction F0 of the AI ​​intelligent wall-climbing cleaning robot 100. It is used to continuously collect image information of the environment in front of the AI ​​intelligent wall-climbing cleaning robot 100 along the F0 direction.

[0072] The processor 102 is built into the host 6 and establishes a data connection with the camera module 101. The processor 102 is configured to acquire and analyze the environmental images captured by the camera module 101, and determine whether there are stains in the environmental images through image recognition algorithms. When a stain is identified, the processor 102 can further analyze the relative positional relationship between the AI ​​intelligent wall-climbing cleaning robot 100 and the target stain based on image features.

[0073] The processor 102 is simultaneously connected to the mechanical leg assembly 2 and the adsorption device 3 for control, coordinating and controlling the mechanical leg assembly 2 and the adsorption device 3 to enable the AI ​​intelligent wall-climbing cleaning robot 100 to walk stably on the wall. Based on the analyzed relative positional relationship between the AI ​​intelligent wall-climbing cleaning robot 100 and the target stain, the processor 102 further generates navigation control commands to control the AI ​​intelligent wall-climbing cleaning robot 100 to move towards the location of the target stain.

[0074] In some embodiments, the processor 102 can also determine whether there are obstacles in the environmental image using an image recognition algorithm. When an obstacle is detected, the processor 102 can further analyze the relative positional relationship between the AI ​​intelligent wall-climbing cleaning robot 100 and the target obstacle based on image features. Based on the analyzed relative positional relationship between the AI ​​intelligent wall-climbing cleaning robot 100 and the target obstacle, the processor 102 further generates obstacle avoidance control commands to control the AI ​​intelligent wall-climbing cleaning robot 100 to avoid the target obstacle.

[0075] In some embodiments, to improve the obstacle avoidance performance of the AI ​​intelligent wall-climbing cleaning robot 100, in addition to using the camera module 101 to acquire obstacle information, other sensors such as ultrasonic sensors, infrared ranging sensors, and lidar can be installed on the AI ​​intelligent wall-climbing cleaning robot 100 to obtain sensor data. Through the fusion processing of multiple sensor data by the processor 102, the AI ​​intelligent wall-climbing cleaning robot 100 can construct a more accurate environmental map and plan a safer travel path accordingly, significantly improving obstacle avoidance capabilities and operational safety in complex wall environments.

[0076] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 can also detect wall safety hazards. Specifically, the processor 102 uses image recognition algorithms to determine whether various wall safety hazards exist in the environmental image, such as wall cracks, hollow or peeling exterior walls, material weathering, and metal corrosion. When a wall safety hazard is detected, the processor 102 marks and records the location of the hazard in the environmental image. The processor 102 can further analyze the relative positional relationship between the AI ​​intelligent wall-climbing cleaning robot 100 and the location of the wall safety hazard based on image features. Based on the analyzed relative positional relationship between the AI ​​intelligent wall-climbing cleaning robot 100 and the location of the wall safety hazard, the processor 102 further generates obstacle avoidance control commands to control the AI ​​intelligent wall-climbing cleaning robot 100 to avoid the location of the wall safety hazard.

[0077] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 does not have a cleaning brush assembly 4 and a water spray assembly 5, which can effectively reduce the weight of the AI ​​intelligent wall-climbing cleaning robot 100, making the AI ​​intelligent wall-climbing cleaning robot 100 more flexible when moving on the target surface, and helping to improve the performance of the AI ​​intelligent wall-climbing cleaning robot 100 in detecting wall safety hazards.

[0078] It is understandable that specific methods and procedures for identifying stains, obstacles, and wall safety hazards, as well as image processing, can be designed based on existing technologies or technical solutions well known to those skilled in the art, and will not be elaborated upon.

[0079] Please see Figure 1 , Figure 7 and Figure 9 The processor 102 is simultaneously connected to the cleaning brush assembly 4 and the water spray assembly 5 for control, and is used to coordinate and control the cleaning brush assembly 4 and the water spray assembly 5 so that the AI ​​intelligent wall-climbing cleaning robot 100 can clean the target stains on the wall.

[0080] In some embodiments, when the processor 102 controls the AI ​​intelligent wall-climbing cleaning robot 100 to move directly above the target stain and the cleaning brush assembly 4 is in place, the processor 102 controls the cleaning brush assembly 4 and the water spray assembly 5 to perform the following cleaning steps: First, the processor 102 sends a start command to the water spray assembly 5, controlling the nozzle 51 to spray cleaning liquid onto the cleaning brush head 422, wetting the cleaning brush head 422. Then, the processor 102 activates the electric push rod 43, driving the push rod 432 to extend from the cylinder 431, causing the cleaning brush 42 to descend as a whole until the cleaning brush head 422 is in full contact with the surface of the target stain. Finally, the processor 102 activates the rotary drive 44, driving the cleaning brush 42 to rotate, achieving effective removal of the target stain through the synergistic effect of mechanical friction and the cleaning liquid.

[0081] The positioning module 103 is built into the host 6 and establishes a communication connection with the processor 102. It is used to obtain the precise location information of the AI ​​intelligent wall-climbing cleaning robot 100 in real time and transmit the information to the processor 102 for path planning and navigation decisions. The positioning module 103 can be designed based on existing technology or technical solutions well known to those skilled in the art, and will not be described in detail.

[0082] In some embodiments, the positioning module 103 of the AI ​​intelligent wall-climbing cleaning robot 100 acquires image sequences of the target object's surface through the camera module 101, and calculates the displacement and deflection angle of the AI ​​intelligent wall-climbing cleaning robot 100 relative to the wall based on SLAM algorithm or feature point matching technology, thereby achieving pose estimation and continuous tracking. Further, the processor 102 fuses the environmental visual information captured by the camera module 101 with the pose data provided by the positioning module 103, synchronously constructs an environmental map based on SLAM technology, and determines the robot's precise position in real time; then, it performs global path planning according to the cleaning task objective, and dynamically optimizes the local path and avoids obstacles during movement based on the real-time environmental images provided by the camera module 101, ultimately generating control commands to drive the robot to complete the cleaning operation along the planned path. It is understood that the above-mentioned SLAM, feature point matching, path planning, and dynamic obstacle avoidance algorithms can all be implemented based on known technical solutions or existing technologies in the art.

[0083] The communication module 104 is built into the host 6 and establishes a data connection with the processor 102 to realize bidirectional data interaction between the AI ​​intelligent wall-climbing cleaning robot 100 and the external control terminal. The communication module 104 can be designed based on existing technology or technical solutions well known to those skilled in the art, and will not be described in detail.

[0084] In some embodiments, the communication module 104 is configured as, but is not limited to, any one of a Wi-Fi module, a Bluetooth module, a ZigBee module, or a 4G / 5G cellular communication module.

[0085] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 can establish a communication connection with a user terminal device, a cloud server, or a local control center through the communication module 104, enabling it to receive control commands and upload status data. The power module 105 is built into the host 6 and is used to provide the necessary power for the operation of the various functional components of the AI ​​intelligent wall-climbing cleaning robot 100.

[0086] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 is also equipped with an external power interface, which can achieve continuous power supply by connecting to an external power supply line.

[0087] In some embodiments, the AI-powered intelligent wall-climbing cleaning robot 100 can provide real-time feedback on cleaning progress data via the communication module 104. This data can be sent to a cloud server or the user's mobile device, enabling the user to remotely monitor the status of the task in real time, including but not limited to the area cleaned, the estimated completion time, and the current battery level.

[0088] In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 can report operational problems through the communication module 104. Specifically, when the AI ​​intelligent wall-climbing cleaning robot 100 detects problems including, but not limited to, an abnormal decrease in the suction force provided by the suction device 3, the malfunction of the cleaning brush assembly 4, or a continuous obstruction of its travel path, it will upload specific error codes and status data to a cloud server or the user's mobile terminal application through the communication module 104, thereby generating maintenance alarms or requesting remote assistance in real time.

[0089] In some embodiments, when the power module 105 of the AI ​​intelligent wall-climbing cleaning robot 100 is below a predetermined threshold, the AI ​​intelligent wall-climbing cleaning robot 100 can automatically stop the current cleaning task and plan a path back to the charging dock.

[0090] Please see Figure 10 , Figure 10 This is a top view of an AI intelligent wall-climbing cleaning robot 100 provided in one embodiment of this application. In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 further includes a safety steel wire rope 11, one end of which is fixedly connected to the main body 1, and the other end is used to connect to an external anchor point, thereby providing protection during a fall when the AI ​​intelligent wall-climbing cleaning robot 100 accidentally loses its adhesion to the wall.

[0091] Please see Figure 11 , Figure 11This is a schematic diagram of the framework of an AI intelligent wall-climbing cleaning robot configured with a voice collection module in some embodiments of this application. In some embodiments, the AI ​​intelligent wall-climbing cleaning robot 100 further includes a voice collection module 106. The voice collection module 106 is disposed on the main body 1 and establishes a data connection with the processor 102. The voice collection module 106 is used to collect audio signals in the environment and convert the received analog sound wave signals into digital electrical signals. The processor 102 is configured to receive and parse the digital electrical signals, identify the voice commands contained therein, generate corresponding control commands accordingly, and drive the AI ​​intelligent wall-climbing cleaning robot 100 to complete the specified operations.

[0092] In some embodiments, the voice collection module 106 may be a microphone. Specifically, the voice collection module 106 may be a standalone microphone unit, and preferably, a microphone array consisting of multiple microphones may be used.

[0093] It is understood that the methods for recognizing and parsing voice commands contained in digital electrical signals by the processor 102, including but not limited to related algorithms such as voice activation detection, semantic understanding and command mapping, can all be implemented based on existing technologies or conventional technical means in this field, and will not be elaborated here.

[0094] Please see Figure 12 , Figure 12This is a schematic diagram of the overall structure of an AI intelligent wall-climbing cleaning robot equipped with a drive device in some embodiments of this application. In some embodiments, the first joint module 201 of the mechanical leg 20 is connected to the main body 1 along a first direction F1, and the AI ​​intelligent wall-climbing cleaning robot 100 includes a drive device 204. The drive device 204 is disposed on the main body 1 and is connected to the first joint module 201. The drive device 204 is configured to adjust the travel direction F0 of the AI ​​intelligent wall-climbing cleaning robot 100 by adjusting the rotation angle of the first joint module 201 of the mechanical leg 20 about an axis consistent with the first direction F1. Specifically, during the process of adjusting the travel direction F0 of the AI ​​intelligent wall-climbing cleaning robot 100, the mechanical leg group 2 is divided into a first group of mechanical legs 20 and a second group of mechanical legs 20. When the suction cups 2032 of the first set of mechanical legs 20 maintain reliable adhesion to the surface of the target object under the control of the adsorption device 3, the drive device 204 drives the first joint module 201 of the second set of mechanical legs 20 to rotate around the axis; after the second set of mechanical legs 20 rotates around the axis to a preset angle, the suction cups 2032 of the second set of mechanical legs 20 form reliable adhesion to the surface of the target object under the control of the adsorption device 3; then, the suction cups 2032 of the first set of mechanical legs 20 release the adhesion to the surface of the target object under the control of the adsorption device 3, and the drive device 204 drives the first joint module 201 of the first set of mechanical legs 20 to rotate to a preset angle; finally, the first joint modules 201 of all mechanical legs 20 are adjusted to the same angle, thereby completing the adjustment of the travel direction F0 of the AI ​​intelligent wall-climbing cleaning robot 100.

[0095] In some embodiments, when the first joint modules 201 of all mechanical legs 20 rotate 90 degrees around an axis consistent with the first direction F1 under the drive of the drive device 204, the travel direction F0 of the AI ​​intelligent wall-climbing cleaning robot 100 remains parallel to the second direction F2, and the AI ​​intelligent wall-climbing cleaning robot 100 can walk along the travel direction F0.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0097] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0098] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0099] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An AI-powered intelligent wall-climbing cleaning robot, having orthogonally arranged travel directions, a first direction, and a second direction, characterized in that, The AI-powered intelligent wall-climbing cleaning robot includes: main body; The front and rear mechanical leg assemblies are connected to one side of the main body along the first direction and arranged along the travel direction. The front and rear mechanical leg assemblies each include multiple mechanical legs arranged along the second direction. Each mechanical leg includes a first joint module, a second joint module, and a suction cup unit that are rotatably connected in sequence. The first joint module is fixedly connected to the main body. An adsorption device is disposed on the main body and is connected to the suction cup unit for adjusting the adsorption force at the adsorption surface of the suction cup unit. The first joint module drives the second joint module to swing, enabling the second joint module to swing relative to the first joint module along the travel direction. The second joint module drives the suction cup unit to swing, enabling the suction cup unit to swing relative to the second joint module along the travel direction. The first joint module and the second joint module cooperate to drive the suction cup unit to perform translational motion within a reference plane defined by the travel direction and the first direction. The swing direction of the second joint module is opposite to the swing direction of the suction cup unit.

2. The AI ​​intelligent wall-climbing cleaning robot as described in claim 1, characterized in that, The first joint module includes: Fixed base; The first drive unit is fixed on the fixed base; The fixed base and the second joint module are arranged on both sides of the first drive unit along the second direction, and the second joint module is rotatably connected to the first drive unit.

3. The AI ​​intelligent wall-climbing cleaning robot as described in claim 1, characterized in that, The second joint module includes: The movable seat is rotatably connected to the first joint module; The second drive unit is fixed on the movable seat; The movable seat and the suction cup unit are arranged on both sides of the second drive unit along the second direction, and the suction cup unit is rotatably connected to the second drive unit.

4. The AI ​​intelligent wall-climbing cleaning robot as described in claim 3, characterized in that, The suction cup unit includes: The movable connector includes a U-shaped component and a connecting plate. The second drive unit extends into the U-shaped component, and the U-shaped component is rotatably connected to both sides of the second drive unit along the second direction and connected to the connecting plate. A suction cup is attached to the connecting plate.

5. The AI ​​intelligent wall-climbing cleaning robot as described in claim 1, characterized in that, The adsorption device includes: Vacuum pumps are used to generate negative pressure; A vacuum tube is connected at one end to the vacuum pump and at the other end to the suction cup unit. The vacuum pump adjusts the suction force generated by the negative pressure at the adsorption surface through the vacuum tube.

6. The AI ​​intelligent wall-climbing cleaning robot as described in claim 1, characterized in that, The AI-powered intelligent wall-climbing cleaning robot also includes: A cleaning brush assembly, comprising a rotary drive and a cleaning brush mounted on the main body, wherein the cleaning brush is pulsatorically connected to the rotary drive, and the rotary drive is used to drive the cleaning brush to rotate. A water spray assembly having a nozzle for spraying cleaning fluid onto the cleaning brush.

7. The AI ​​intelligent wall-climbing cleaning robot as described in claim 6, characterized in that, The cleaning brush assembly also includes a base and an electric push rod; The base is mounted on the main body; The cleaning brush has a rotary drive rod; The electric push rod is disposed in the base, and the push rod of the electric push rod is rotatably connected to the drive rod and coaxially disposed. The electric push rod is used to raise and lower the drive rod. The rotary drive component is connected to the drive rod to drive the cleaning brush to rotate.

8. The AI ​​intelligent wall-climbing cleaning robot as described in any one of claims 1-7, characterized in that, Also includes: A camera module is mounted on the main body and is used to capture images of the environment located in front of the main body along the direction of travel; The processor is connected to the camera module and is used to determine the target stain in the image and determine the position information between the AI ​​intelligent wall-climbing cleaning robot and the target stain based on the image; The processor is connected to the front and rear mechanical leg groups to control the movement of the AI ​​intelligent wall-climbing cleaning robot based on the location information.

9. The AI ​​intelligent wall-climbing cleaning robot as described in claim 8, characterized in that, Also includes: A positioning module, connected to the processor, is used to acquire the location information of the AI ​​intelligent wall-climbing cleaning robot; A communication module, connected to the processor, is used for data communication with external devices.

10. The AI ​​intelligent wall-climbing cleaning robot as described in claim 9, characterized in that, The main body is equipped with a power module for providing electrical energy.

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