Mopping robot and its system

Abstract

Mopping robot, characterized in that it includes the following: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; first cleaning component, which is attached to the bottom of the main body and is intended to perform cleaning tasks on the surface to be wiped; A detection device arranged at the edge of the main body, the detection device comprising a detection element, the detection element being able to move relative to the main body in a direction perpendicular to the surface to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is within the surface to be wiped, the detection element being in contact with the surface to be wiped; in the second operating state, the axial projection of the detection element is at least partially outside the surface to be wiped, the detection element being inclined away from the edge of the wiping surface; a second cleaning component arranged on the outside of the detection device, wherein the second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component closest to the surface to be wiped; When the detection element is in the first operating state, the second cleaning component is in one of the following three operating states: a first state held in a first position, a second state held in a second position, and a third state alternating between the first and second positions; When the detection element is in the second operating state, the second cleaning component is in one of the following two operating states: a first state held in the first position, and a second state held in the second position.

Description

Cross-reference to related registrations

[0001] The present application claims priority from the patent application filed on April 16, 2025, with the Chinese National Intellectual Property Administration, under application number 202520714855.4 and entitled “Wiping robot and its system”, the entire content of which is incorporated into the present application by reference. Technical field

[0002] This application concerns the field of intelligent cleaning technology, in particular a mopping robot and its system. Background technology

[0003] Robotic mops are a type of intelligent household appliance that generates a strong suction force by creating a vacuum in the vacuum space in order to adhere firmly to the surface to be mopped, and then cleans this surface with a cleaning cloth on the underside.

[0004] According to current technology, it is common for cleaning robots to be equipped with an extendable ball head to prevent them from falling from the edge of the glass pane onto the surface outside the pane. This ball head also serves to detect the edge of the glass pane. When the ball head hovers above the surface of the glass pane, this indicates that the cleaning robot has reached the edge. At this moment, the cleaning robot changes its direction of travel to avoid the risk of falling.

[0005] When cleaning surfaces (such as glass panes), robotic mops often sweep dust from the surface towards the edges, accumulating it at the edges and corners. This prevents the edges and corners from getting properly clean. Furthermore, dust tends to collect more easily at the corners and edges than in the center of the window, making corner cleaning more difficult.

[0006] According to current technology, the ball head of mopping robots usually extends beyond the main body, and a cleaning device is also attached to the ball head in order to clean the edges and corners of glass panes.

[0007] Although the cleaning devices used in the prior art protrude from the ball head outside the main body and can clean the window edges, this method involves first inserting the ball head inside the glass pane and then at the glass pane edges, or vice versa. To avoid reusing a ball head for cleaning, it must be cleaned or replaced, which complicates the process and reduces operational efficiency. Since the cleaning device is attached to the ball head and serves to clean the edges and corners of the glass pane, accumulated dust adhering to the cleaning device and falling into the ball head can impair its telescopic function and reduce its detection sensitivity.

[0008] On the other hand, the cleaning robot, due to the limitations imposed by the window frame, can avoid slipping off the surface of framed glass panes when cleaning their edges, thus preventing the risk of falling. However, with frameless glass panes, there is a risk that the cleaning robot will fall at the edge of the pane while cleaning, as this edge is unprotected. This not only defeats the purpose of removing dirt from the edge of the glass, but also increases the risk.

[0009] It should be noted that the information disclosed in the section on the state of the art is intended only to improve the understanding of the background of this disclosure and may therefore contain information that is not considered state of the art by those skilled in the art. Registration content

[0010] One aspect of this application is to solve the technical problem of how to improve the cleaning quality of the edges and corners of frameless glass panes without affecting the detection sensitivity of the ball head, and thereby avoiding the need to reclean or replace the ball head already in use, in order to simplify the operating process and increase operational efficiency.

[0011] Another aspect of this application is to solve the technical problem of how to clean the edges and corners of frameless glass panes while ensuring safety and avoiding the need to clean or replace the ball head already in use, in order to simplify the operating process and increase operational efficiency.

[0012] Furthermore, other aspects of this application aim to solve or mitigate other prior art technical problems.

[0013] This application provides a base station for mopping robots and a mopping robot system; in particular, according to one aspect of this application, the following is provided: A comprehensive cleaning robot: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; first cleaning component, which is attached to the bottom of the main body and is intended to perform cleaning tasks on the surface to be wiped; A detection device arranged at the edge of the main body, the detection device comprising a detection element, the detection element being able to move relative to the main body in a direction perpendicular to the surface to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is within the surface to be wiped, the detection element being in contact with the surface to be wiped; in the second operating state, the axial projection of the detection element is at least partially outside the surface to be wiped, the detection element descending from the frameless edge of the wiping surface; a second cleaning component arranged on the outside of the detection element, wherein the second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component closest to the surface to be wiped; When the detection device is in the first operating state, the second cleaning component is in one of the following three operating states: a first state held in a first position, a second state held in a second position, and a third state alternating between the first and second positions; When the detection device is in the second operating state, the second cleaning component is in one of the following two operating states: a first state held in the first position, and a second state held in the second position.

[0014] Optionally, the mopping robot also includes the following: a first drive unit located on the main body, which serves to move the second cleaning component in a direction perpendicular to the surface to be mopped, so that the second cleaning component can switch between the first position and the second position.

[0015] Optionally, the mopping robot further comprises the following: a control device, wherein the first drive device is connected to the control device, the control device being used to control the first drive device based on an external signal, so that the first drive device moves the second cleaning component along a direction perpendicular to the surface to be mopped, the external signal being used to indicate whether the mopping robot is moving along the edge of the surface to be mopped.

[0016] Optionally, two first drive devices are provided, wherein two second cleaning components are provided, wherein the two first drive devices are each connected to the two second cleaning components, each first drive device serving to move the corresponding second cleaning component.

[0017] Optionally, a first drive unit is provided, wherein two second cleaning components are provided, wherein a first drive unit is connected to the two second cleaning components, and wherein the first drive unit serves to move both second cleaning components.

[0018] Optionally, two second cleaning components are provided, with both second cleaning components arranged at a distance along the direction of travel of the mopping robot on one side of the mopping robot.

[0019] Optionally, the mopping robot has at least one first cleaning mode and one second cleaning mode, whereby in the first cleaning mode the mopping robot moves over the area to be mopped, so that the first cleaning component cleans the area to be mopped, while the second cleaning component remains in the second position.

[0020] Optionally, in the second cleaning mode, the mopping robot moves along the edge of the area to be mopped, with one of the two second cleaning components moving from the second position to the first position and finally remaining in the first position, while the other remains in the second position.

[0021] Optionally, the detection element is in the first operating state in the first cleaning mode, the detection element is in the first operating state in the second cleaning mode when the mopping robot moves along the framed edge of the surface to be wiped, and the detection element is in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped.

[0022] Optionally, the second cleaning component is a cleaning ring, wherein the cleaning ring is attached to the outside of the detection device and a first cleaning section is provided at the bottom of the cleaning ring.

[0023] Optionally, a second cleaning section is attached to the outer wall of the cleaning circuit.

[0024] Optionally, the first cleaning step includes one of the following items: cleaning brush, cleaning cloth, cleaning blade.

[0025] Optionally, the second cleaning component can be rotated relative to the detection element.

[0026] Optionally, the mopping robot further comprises the following: a control device, wherein the detection element comprises at least two first detection elements, wherein the control device is connected to at least two of the first detection elements, and when both first detection elements switch from the first operating state to the second operating state, the control device controls the mopping robot to move along the frameless edge of the surface to be wiped; wherein the second cleaning component is in the first position while the mopping robot moves along the frameless edge of the surface to be wiped, wherein the axial projection of at least part of the second cleaning component lies within the surface to be wiped.

[0027] According to another aspect of the invention, this application provides a mopping robot comprising: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; first cleaning component, which is attached to the bottom of the main body and is intended to perform cleaning tasks on the surface to be wiped; A detection device arranged at the edge of the main body, the detection device comprising a detection element, the detection element being able to move relative to the main body in a direction perpendicular to the surface to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is within the surface to be wiped, the detection element being in contact with the surface to be wiped; in the second operating state, the axial projection of the detection element is at least partially outside the surface to be wiped, the detection element descending from the frameless edge of the wiping surface, the detection element comprising at least two first detection elements spaced apart; a second cleaning component surrounded by the outside of the detection element, wherein the second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component closest to the surface to be wiped; A control device, wherein the control device is connected to at least two of the first detection elements, when both first detection elements switch from the first operating state to the second operating state, controls the mopping robot to move along the frameless edge of the surface to be wiped; wherein the second cleaning component is in the first position while the mopping robot moves along the frameless edge of the surface to be wiped, wherein the axial projection of at least part of the second cleaning component lies within the surface to be wiped.

[0028] Optionally, the mopping robot also includes the following: a first drive unit located on the main body, which serves to move the second cleaning component in a direction perpendicular to the surface to be mopped, so that the second cleaning component can switch between the first position and the second position.

[0029] Optionally, the first drive unit is connected to the control unit, the control unit serving to control the first drive unit based on an external signal, so that the first drive unit moves the second cleaning component along a direction perpendicular to the surface to be wiped, the external signal being used to indicate whether the mopping robot is moving along the edge of the surface to be wiped.

[0030] Optionally, two first drive devices are provided, wherein two second cleaning components are provided, wherein the two first drive devices are each connected to the two second cleaning components, each first drive device serving to move the corresponding second cleaning component.

[0031] Optionally, a first drive unit is provided, wherein two second cleaning components are provided, wherein a first drive unit is connected to the two second cleaning components, and wherein the first drive unit serves to move both second cleaning components.

[0032] Optionally, two second cleaning components are provided, with both second cleaning components arranged at a distance along the direction of travel of the mopping robot on one side of the mopping robot.

[0033] Optionally, the mopping robot has at least one first cleaning mode and one second cleaning mode, whereby in the first cleaning mode the mopping robot moves over the area to be mopped, so that the first cleaning component cleans the area to be mopped, while the second cleaning component remains in the second position.

[0034] Optionally, in the second cleaning mode, the mopping robot moves along the edge of the area to be mopped, with one of the two second cleaning components moving from the second position to the first position and finally remaining in the first position, while the other remains in the second position.

[0035] Optionally, the detection element includes a second detection element, such that the first detection element and the second detection element are both in the first operating state in the first cleaning mode, wherein the first detection element and the second detection element are both in the first operating state in the second cleaning mode when the mopping robot moves along the framed edge of the surface to be wiped, wherein the second detection element is in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped.

[0036] Optionally, the second cleaning component is a cleaning ring, wherein the cleaning ring is attached to the outside of the detection element and a first cleaning component is provided at the bottom of the cleaning ring.

[0037] Optionally, at least two of the first detection elements are arranged at a distance along a line perpendicular to the direction of travel of the mopping robot, wherein the mopping robot moves away from the frameless edge of the surface to be wiped, and both first detection elements switch from the first operating state to the second operating state to prevent falling.

[0038] Optionally, at least two of the first detection elements are arranged at a distance on one side of the mopping robot, or at least two of the first detection elements are arranged at a distance on both sides of the mopping robot, or at least two of the first detection elements are arranged diagonally on the mopping robot.

[0039] Optionally, the detection element also includes a second detection element, wherein the first detection element and the second detection element are each arranged on adjacent edges of the mopping robot, with the second detection element being in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped.

[0040] Optionally, two second detection elements are provided, whereby the two second detection elements move back and forth in a direction perpendicular to the surface to be wiped as the mopping robot moves along the frameless edge of the surface to be wiped.

[0041] According to another aspect of the invention, this application provides a mopping robot comprising: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; A detection device arranged at the edge of the main body, the detection device comprising a detection element, the detection element being able to move relative to the main body in a direction perpendicular to the surface to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is within the surface to be wiped, the detection element being in contact with the surface to be wiped; in the second operating state, the axial projection of the detection element is at least partially outside the surface to be wiped, the detection element descending from the frameless edge of the wiping surface, the detection element comprising at least two first detection elements spaced apart; a control device, wherein the control device is connected to at least two of the first detection elements, when both first detection elements change from the first operating state to the second operating state, the control device controls the mopping robot to move along the frameless edge of the surface to be wiped.

[0042] Optionally, at least two of the first detection elements are arranged at a distance along a line perpendicular to the direction of travel of the mopping robot, wherein the mopping robot moves away from the frameless edge of the surface to be wiped, and both first detection elements switch from the first operating state to the second operating state to prevent falling.

[0043] Optionally, at least two of the first detection elements are arranged at a distance on one side of the mopping robot, or at least two of the first detection elements are arranged at a distance on both sides of the mopping robot, or at least two of the first detection elements are arranged diagonally on the mopping robot.

[0044] Optionally, the detection element also includes a second detection element, wherein the first detection element and the second detection element are each arranged on adjacent edges of the mopping robot, with the second detection element being in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped.

[0045] Optionally, two second detection elements are provided, whereby the two second detection elements move back and forth in a direction perpendicular to the surface to be wiped as the mopping robot moves along the frameless edge of the surface to be wiped.

[0046] According to another aspect of the invention, this application provides a mopping robot comprising: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; first cleaning component, which is attached to the bottom of the main body and is intended to perform cleaning tasks on the surface to be wiped; a detection device arranged at the edge of the main body, wherein the detection device comprises a detection element that can move in a direction perpendicular to the surface to be wiped, wherein the detection element has a first operating state with pressing down on the surface to be wiped and a second operating state with falling off the frameless edge of the wiping surface; a second cleaning component surrounded by the outside of the detection device, wherein the second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component closest to the surface to be wiped; wherein the mopping robot has at least one first cleaning mode and one second cleaning mode, wherein in the first cleaning mode the mopping robot moves over the surface to be mopped, so that the first cleaning component cleans the surface to be mopped, while the second cleaning component remains in the second position; wherein the mopping robot moves along the edge of the surface to be mopped when the second cleaning component is in the first operating position in the second cleaning mode, so that the second cleaning component can clean the edge of the surface to be mopped.

[0047] According to another aspect of the invention, this application also provides a system of the mopping robot comprising: mopping robot and base station as described above, wherein the base station serves to be connected to the mopping robot via a safety rope.

[0048] The advantages of this registration include: 1. The mopping robot of this application has a first cleaning component and a second cleaning component, the second cleaning component being located outside the detection element, which is attached to the edge of the main body. This allows the second cleaning component to touch and clean the edges and corners of the surface to be cleaned as the mopping robot moves along the edge of the surface to be cleaned, thereby cleaning the edges and corners and improving the cleanliness of the edges and corners of the surface to be cleaned. 2. The second cleaning component of the mopping robot of this application can move relative to the main body in a direction perpendicular to the surface to be mopped in order to switch between a first and a second position. When the mopping robot is cleaning within the area to be cleaned (not at the edge or in the corner of the area to be cleaned), the second cleaning component is in the second position, so that it does not touch the inner surface. This prevents the second cleaning component of the mopping robot from becoming dirty when cleaning within the area. When the mopping robot is cleaning at the edge or in the corners of the area to be cleaned, the second cleaning component is in the first position, so that the second cleaning component touches and cleans the edge and corners of the area to be cleaned.This prevents the second cleaning component, already used to wipe the surface, from being reused to clean edges and corners. It also prevents the second cleaning component, soiled at the edges and corners, from wiping areas of the surface outside these areas, thus preventing cross-contamination. Therefore, it is sufficient to move the second cleaning component axially before cleaning the edges and corners to ensure its cleanliness. This eliminates the need to clean or replace the second cleaning component already used, simplifying operation and increasing work efficiency. 3. When the detection device is in the first operating state, the mopping robot of this application is in one of the following three operating states with the second cleaning component: a first state in which it is held in the first position, a second state in which it is held in the second position, and a third state in which it alternates between the first and the second position; when the detection device is in the second operating state, the second cleaning component is in one of the following two operating states: a first state in which it is held in the first position, or a second state in which it is held in the second position.This means that when the detection element is in its first operating state, in contact with the surface to be wiped, the second cleaning component can move perpendicular to the surface or be in either the first or second position. At this point, even if dust deposits fall from the second cleaning component onto the area between the detection element and the main body due to its movement, the detection element, because of its contact with the surface to be wiped, is positioned in such a way that the gap between the detection element and the main body, and thus the entry point for dust into this gap, is small. This results in less dust being collected between the detection element and the main body, which only minimally affects the sensitivity of the detection element.If the axial projection of the detection element is at least partially outside the area to be wiped and the system is in its second operating state, the second cleaning component cannot move perpendicular to the surface being wiped, but can only remain in the first or second position. This prevents the detection element from falling outwards from the edge of the wiping area and hovering outside the glass surface when the wiping robot moves towards the edge of the glass pane. As the second cleaning unit moves, dust deposits fall from it into the space between the detection element and the main body, as well as into the inlet through which the dust enters this space.Since the gap and the entry point for dust are relatively large at this point, more dust is also collected between the detection element and the main body, which further impairs the sensitivity of the detection element. Assuming the detection sensitivity of the detection elements is maintained in this way, the problem of improving cleanliness at the edges and corners of the glass panes is solved. At the same time, it avoids the need to re-clean or replace ball heads already used for cleaning the glass panes, thus simplifying the work process and increasing work efficiency. 4. The cleaning robot of this application first detects the frameless edge of the surface to be cleaned by means of two initial detection elements, each of which switches from the first operating state to the second operating state. The control device then steers the cleaning robot along the frameless edge of the surface to be cleaned. While the cleaning robot is moving along the frameless edge of the surface to be cleaned, the second cleaning component is in the first position, and at least the partially axial projection of the second cleaning component lies within the surface to be cleaned. This prevents the cleaning robot from falling off the glass surface while cleaning the framed glass panes, thus eliminating the risk of falls. Therefore, the cleaning robot described in this application solves the problem of cleaning the edges and corners of frameless glass panes while ensuring safety. 5. After both of its first detection elements switch from the first to the second operating state, the mopping robot of this application detects a frameless edge. The simultaneous presence of both second detection elements in the second operating state allows the mopping robot to move along the frameless edge of the surface to be mopped. This eliminates the risk of the robot falling due to an unprotected edge of the surface being mopped. Illustration of the attached drawings

[0049] Referring to the attached figures, the aforementioned and other features of this application become apparent, and those skilled in the art will readily understand that these figures serve only illustrative purposes and are not intended to limit the scope of protection of this application. Furthermore, similar numbers are used in the figures to represent similar components. It follows that: Fig. Figure 1 shows a schematic view of the structure of the mopping robot in this embodiment of this application; Fig. Figure 2 shows a schematic view of the first operating mode of the mopping robot in an embodiment of this application; Fig. Figure 3 shows a schematic view of the second operating mode of the mopping robot in an embodiment of this application; Fig. Figure 4 shows a schematic view of the floating detection element of the mopping robot in an embodiment of this application; Fig. Figure 5 shows a schematic operating view of the mopping robot along the frameless edge in an embodiment of this application; Fig. Figure 6 shows a schematic view of the first operating state of the detection element of the mopping robot in an embodiment of this application; Fig. Figure 7 shows a schematic view of the second operating state of the detection element of the mopping robot in an embodiment of this application.

[0050] Illustration description of the attached figures: 10. Main body; 20. Adsorption unit; 30. First cleaning component; 40. Detection device; 50. Second cleaning component; 60. Second drive device; 101. Housing; 102. Baffle plate; 201. Vacuum chamber; 401. First connecting section; 402. Second connecting section; 403. Through hole; 404. Rod body; 405. First detection element; 406. Second detection element; 408. Sensor element; 409. Projection; 70. Surface to be wiped; 100. Wiping robot. Specific embodiments

[0051] It is readily apparent that, in accordance with the technical solution of this application, experts in this field may propose various interchangeable structural and implementation types, provided that the essential spirit of this application is not altered. Therefore, the following embodiments and the accompanying figures are merely an exemplary illustration of the technical solution of this application and should not be considered as complete or as limiting the technical solution of this application.

[0052] In this description, the terms top, bottom, left, right, front, back, front, rear, upper, and lower refer to the structures depicted in the respective figures. These terms are relative concepts and can change depending on position and state of use. Therefore, these or other directional terms should not be interpreted as restrictive. The terms "first," "second," and "third" are used only for descriptive and distinguishing purposes and should not be understood as indicating or suggesting the relative importance of the corresponding components or their order or assembly sequence.

[0053] Referring to Fig. Figure 1 shows a schematic view of the structure of the mopping robot 100 in an embodiment of this application. The mopping robot 100 can be a window cleaning robot. This window cleaning robot can be used for cleaning glass surfaces, tiled surfaces, wooden panels, and other surfaces.

[0054] See Fig. 1 to Fig. 5. Fig. Figure 2 shows a schematic representation of the wiping robot 100 according to an embodiment of this application, as it wipes the outer surface of a framed glass pane, from the view of the inside of the glass surface. Fig. Figure 3 shows a schematic representation of the wiping robot 100 according to an embodiment of this application, wiping the edge of the outer surface of a framed glass pane, from the view of the inside of the glass surface. Fig. Figure 4 shows a schematic representation of the mopping robot 100 according to an embodiment of this application, as it moves outside the edge of the outer surface of a frameless glass pane, from the view of the inside of the glass surface. Fig. Figure 5 shows a schematic representation of the wiping robot 100 according to an embodiment of this application, as it wipes along the edge of the outer surface of a frameless glass pane, from the perspective of the inside of the glass surface. The wiping robot 100 further comprises a main body 10, an adsorption unit 20, a first cleaning component 30, a detection device 40, and a second cleaning component 50. The main body 10 comprises the housing 101 and the impact plate 102. A receiving cavity for receiving components is formed in the housing 101. The impact plate 102 is attached to the outer periphery of the housing 101. The impact plate 102 can be movably mounted on the housing 101, so that it can move towards or away from the housing 101. If the impact plate 102 collides with an external obstacle, the impact plate 102 moves towards the housing 101.When the impact plate 102 is away from the external obstacle, it moves in the direction away from the housing 101. The external obstacle can be a protrusion on the surface 70 to be wiped or a window frame attached to the edge of the surface 70. The impact plate 102 can be used to detect various environmental features of the surface 70 to be wiped, enabling the mopping robot 100 to perform the cleaning task according to these environmental features. This increases the efficiency of the mopping robot 100, reduces breakdowns due to collisions, and lowers maintenance frequency and costs. The specific structure of the impact plate 102 and the connection method between the impact plate 102 and the housing 101 can be implemented using the relevant technical means employed in existing technology, and therefore will not be discussed in detail here.

[0055] With reference to Fig. Figure 1 illustrates that the main body 10 is rectangular overall. Referring to Fig. 2 to Fig. 5. The adsorption unit 20 is attached to the main body 10. For example, the adsorption unit 20 is positioned in the center of the main body 10. The adsorption unit 20 serves to suction the mopping robot 100 to the surface 70 to be wiped. Specifically, the adsorption unit 20 comprises a vacuum chamber 201 located at the bottom of the main body 10 and a vacuum source located in the storage compartment. The bottom of the housing 101 is indented inwards, forming a vacuum chamber 201. The opening of the vacuum chamber 201 can be oriented towards the surface 70 to be wiped. The vacuum source is fluidically connected to the vacuum chamber 201. When the vacuum source draws air out of the vacuum chamber 201, a vacuum environment can be created in this chamber, causing the main body 10 to adhere to the surface 70 to be wiped.The vacuum source can be, for example, a blower, but is not limited to this and can also take other forms, such as a vacuum pump. No restrictions are imposed in this regard in this application. The first cleaning component 30 is attached to the bottom of the main body 10. For example, the first cleaning component 30 can be detachably mounted on the bottom of the housing 101. The first cleaning component 30 serves to seal the vacuum chamber 201 between the surface 70 to be wiped and the housing 101. And the first cleaning component is used to clean the surface 70 to be wiped.

[0056] The second drive unit 60 serves to move the main body 10. The second drive unit 60 can be a chain structure. Of course, the second drive unit 60 is not limited to this and can also be rollers; this is not specified in the present application. The second drive unit 60 can be mounted either inside the vacuum chamber 201 or outside the vacuum chamber 201.

[0057] The detection device 40 can be attached to the edge of the main body 10. For example, the detection device 40 is attached to the upper corner or to the side of the main body 10. The detection device 40 serves to detect defects or edges of the surface 70 to be wiped. According to an embodiment of this application as shown in Fig. 6 to Fig. The detection device 40 comprises a connecting section connected to the main body 10, a movement section arranged through the connecting section, and a sensor element 408 mounted on the connecting section. The connecting section can be permanently connected to the main body 10, for example, by screw connection, bolt connection, or integral assembly. The connecting section is equipped with a through-hole 403. Specifically, the connecting section comprises a first connecting section 401 and a second connecting section 402, which are connected, with the first connecting section 401 serving to connect to the main body 10. The second connecting section 402 extends downwards along the first connecting section 401, and the second connecting section 402 has a cylindrical structure. The second connecting section 402 is provided with a through-hole 403.

[0058] The moving section extends through the through-hole 403. Within the through-hole 403, the moving section can move relative to the connecting section along its axis. The moving section comprises the rod body 404 and the detection element located at one end of the rod body 404. The detection element can be spherical or hemispherical.

[0059] A trigger section is attached to the end of the rod body 404 furthest from the detection element. The sensor section is mounted on the first connecting section 401. The trigger section works in conjunction with the sensor element 408 to detect changes in the position of the moving section. This allows the mopping robot 100 to determine, based on the position of the moving section, whether it is at a faulty location or at the edge of the surface 70 to be mopped, in order to perform appropriate actions early and prevent the mopping robot 100 from continuing in its original direction of movement and from falling out of the window. Specifically, the trigger section can be a projection 409 attached to the rod body 404. The sensor section can be an optocoupler assembly. Of course, the sensor section can also consist of one or more combinations of infrared sensors, ultrasonic sensors, or laser sensors.The optocoupling assembly comprises relatively arranged transmitter and receiver parts. This transmitter part serves to send optical signals to the receiver part. If the projection 409 is located between the transmitter and receiver parts, the optical signal emitted by the transmitter part cannot be received by the receiver part. If the projection 409 is not located between the transmitter and receiver parts, the optical signal emitted by the transmitter part can be received by the receiver part. When the moving section moves along the axis and thereby moves the projection 409, the sensor section can detect the state of the rod body 404. Furthermore, the projection 409 on the rod body 404 is larger than the size of the through-hole 403. Thus, the projection 409 can limit the moving section and prevent the moving section from falling completely out of the through-hole 403.

[0060] An elastic element is nested outside the rod body 404. This elastic element could, for example, be a spring. The elastic element is located in the through-hole 403 of the second connecting section 402 and lies between the detection element and the trigger section. When the moving section moves within the through-hole 403, the elastic element outside the rod body 404 can be compressed by the detection element, or the compressed elastic element can expand again due to its own elasticity, thus facilitating the movement of the rod body 404.

[0061] The detection element can move relative to the main body 10 along a direction perpendicular to the surface 70 to be wiped. For example, in the Fig. 2 to 5 the direction perpendicular to the surface to be wiped, 70 also the direction perpendicular to the image plane. Therefore, the detection element can be positioned in the Fig. 2 to 5 move relative to the main body 10 in a direction perpendicular to the image plane. Furthermore, when the wiping robot 100 adheres to the surface 70 to be wiped and the movement section in the through-hole 403 moves axially relative to the connecting piece, the detection element, together with the rod body 404, can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped. The detection element also has a first operating state and a second operating state. In the first operating state, as shown in Fig. 2 and Fig. As shown in Figure 3, the axial projection of the detection element is located within the area 70 to be wiped, and the detection element is in contact with the surface 70. Specifically, the axis of the detection element coincides with the axis of the movement section (direction of extension). When the mopping robot 100 is in contact with the surface 70 to be wiped, the axial projection of the detection element is the projection of the detection element along the perpendicular direction to the surface 70 to be wiped. In the first operating state, the movement section is in contact with the wiping surface, so that the projection 409 is located on the side of the sensor part facing away from the detection element. When the projection 409 on the movement section is located outside the transmitter and receiver parts, the optical signal emitted by the transmitter part can be received by the receiver part.The mopping robot 100 uses the optical signal received from the receiver to detect that it is not currently located at a defect or at the edge of the surface 70 to be mopped. Furthermore, in the first operating state, the elastic element is compressed by the detection element in the through-hole 403. In the second operating state, as in . Fig. 4 and Fig. As shown in Figure 5, the axial projection of the detection element is located at least partially outside the area 70 to be wiped, and the detection element slopes outwards from the edge of the cleaning surface. Specifically, in the second operating state, the movement section slopes at least partially away from the wiping surface, such that the projection 409 lies on the movement section between the transmitter and receiver parts, and the optical signal emitted by the transmitter part is blocked by the projection 409 and cannot be received by the receiver part. Based on the receiver part, the mopping robot 100 determines whether the optical signal is detected, whether the detection part of the mopping robot 100 is in a hovering or falling state, and whether the mopping robot 100 is located at a defect point on the area 70 to be wiped or at the edge of the area 70 to be wiped.When the detection element transitions from the first operating state to the second operating state, it changes from being in contact with the surface 70 to be wiped to being lifted from the surface 70. Specifically, the detection element drops outwards from the edge of the surface 70 to be wiped, causing the projection 409 to move from outside the transmitter and receiver sections to the area between them. The optical signal emitted by the transmitter section changes from a state in which it can be received by the receiver section to a state in which it is blocked by the projection 409 and therefore can no longer be received by the receiver section.The mopping robot 100 uses its receiver to determine whether the optical signal is detected, whether the detection element of the mopping robot 100 was never in a hovering or falling state, or whether it has entered a hovering or falling state, and whether the mopping robot 100 is located at a defect point on the surface 70 to be wiped or at the edge of the surface 70 to be wiped. Furthermore, in the second operating state, the elastic element in the through-hole 403 is expanded.

[0062] The detection element comprises at least two first detection elements 405 arranged at a distance from each other. In one embodiment, at least two first detection elements 405 are arranged at a distance from each other on one side of the mopping robot 100. For example, as in Fig. Figure 4 shows that at least two first detection elements 405 are arranged at a distance from each other on the front side, extending perpendicular to the direction of travel of the mopping robot 100. Alternatively, at least two first detection elements 405 are arranged at a distance from each other on the rear side along the direction perpendicular to the direction of travel of the mopping robot 100. In one embodiment, at least two first detection elements 405 are arranged at a distance from each other on both sides of the mopping robot 100. For example, at least two first detection elements 405 are arranged at a distance from each other on both sides, extending perpendicular to the direction of travel of the mopping robot 100. In another embodiment, at least two of the first detection elements 405 are arranged diagonally on the mopping robot 100.

[0063] As in Fig. As shown in Figure 4, when both first detection elements 405 switch from the first operating state to the second operating state, this means that both first detection elements 405 were previously neither in the hovering nor the falling state and have now transitioned to the hovering or falling state. Only when both first detection elements 405 fall from the frameless edge of the surface 70 to be wiped or enter the hovering state does the case occur that both first detection elements 405 switch simultaneously from the first to the second operating state. Thus, the change of both first detection elements 405 from the first to the second operating state indicates that the mopping robot 100 has moved to the frameless edge of the surface 70 to be wiped.

[0064] As in Fig. As shown in Figure 5, the control unit controls the mopping robot 100 so that it moves along the frameless edge of the surface 70 to be mopped. Specifically, the detection element also includes a second detection element 406, wherein the first detection element 405 and the second detection element 406 are each arranged on adjacent sides of the mopping robot 100. For example, the second detection element 406 is located on the left or right side along the direction perpendicular to the direction of travel of the mopping robot 100 if at least two first detection elements 405 are arranged at a distance from each other on the front along the direction perpendicular to the direction of travel of the mopping robot 100. When both first detection elements 405 change from the first operating state to the second operating state, the mopping robot 100 rotates so that the second detection element 406 can change from the first operating state to the second operating state.The control unit directs the mopping robot 100 to move forward or backward along the frameless edge of the surface 70 to be wiped. Furthermore, the second detection element 406 is in its second operating state when the mopping robot 100 moves along the frameless edge of the surface 70 to be wiped. This causes the second detection element 406 to detach at least partially from the wiping surface, allowing it to detect the frameless edge of the surface 70. Two second detection elements 406 are provided. These two second detection elements 406 are arranged at a distance parallel to the direction of travel of the mopping robot 100. This allows both second detection elements 406 to be in their second operating state simultaneously, so that both are at least partially detached from the wiping surface.In this way, the frameless edge of the surface 70 to be wiped is detected by the two second detection elements 406. In one embodiment, two second detection elements 406 are each arranged at the upper corner of the main body 10. Two first detection elements 405 are also attached to the upper corners of the main body 10. Thus, one of the first detection elements 405 and another second detection element 406 are the same. Of course, the two second detection elements 406 can also be attached to different upper corners of the main body 10. Two first detection elements 405 are, or can also be, attached to the upper corners of the main body 10. Thus, the first detection element 405 and the second detection element 406 are independent of each other.Furthermore, in one embodiment, the detection device 40 comprises four first detection elements 405 and four second detection elements 406, wherein these four first detection elements 405 are simultaneously also the four second detection elements 406. That is, the four first detection elements 405 are each attached to the four upper corners of the main body 10.

[0065] As the mopping robot 100 moves along the frameless edge of the surface 70 to be wiped, two secondary detection elements 406 move back and forth in a direction perpendicular to the surface 70, with both secondary detection elements 406 remaining in their second operating state. The direction of movement is not perfectly straight, but approximately straight. This means that while moving along the frameless edge of the surface 70, the mopping robot 100 simultaneously performs a rotational or pivoting movement at the edge of the surface 70. This prevents the vacuum chamber 201 of the adsorption device from losing air and causing a fall when the mopping robot 100 moves along the frameless edge of the surface 70.

[0066] At least two first detection elements 405 are arranged along a line perpendicular to the direction of travel of the mopping robot 100. When the mopping robot 100 moves towards the frameless edge of the surface 70 to be mopped and both first detection elements 405 switch from the first to the second operating state, the mopping robot 100 moves away from the frameless edge of the surface 70 to be mopped to avoid falling.

[0067] The second cleaning component 50 is arranged outside the detection device 40. In this embodiment, the second cleaning component 50 is nested outside the second connecting section 402. Specifically, the second cleaning component 50 is a cleaning ring. The cleaning ring is nested outside the detection device 40, and a first cleaning section is provided at the base of the cleaning ring. More precisely, the cleaning ring is movably nested outside the second connecting section 402. The first cleaning section comprises one of the following: a cleaning brush, a cleaning cloth, or a cleaning blade. Furthermore, a second cleaning section is attached to the outer wall of the cleaning ring. This second cleaning section comprises one of the following: a cleaning brush, a cleaning cloth, or a cleaning blade. This second cleaning section serves to clean the window frame of the surface 70 to be wiped.

[0068] The second cleaning component 50 can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, in order to switch between a first position and a second position. The first position is the position of the second cleaning component 50 closest to the surface 70 to be wiped. For example, as shown in the Fig. As shown in Figures 2 to 5, the second cleaning component 50 can move horizontally relative to the main body 10 when the mopping robot 100 is attached to the vertically oriented surface 70 to be wiped. When the mopping robot 100 is attached to the horizontally oriented surface 70 to be wiped, the second cleaning component 50 can move vertically relative to the main body 10. For example, as shown in Fig. Figure 5 shows that when the second cleaning component 50 is in the first position, the first cleaning section can come into contact with the surface 70 to be wiped, allowing the surface 70 to be cleaned by the first cleaning section. The second position is the position of the second cleaning component 50 furthest from the surface 70 to be wiped. That is, when the mopping robot 100 is on the horizontally oriented surface 70 to be wiped, the first position is the lowest position of the second cleaning component 50. The second position is the highest position of the second cleaning component 50.

[0069] Optionally, the mopping robot 100 has at least one first cleaning mode and one second cleaning mode, whereby the mopping robot 100 behaves as described in Fig. In the first cleaning mode, the first cleaning component 30 moves across the area 70 to be wiped, while the second cleaning component 50 remains in the second position. This first cleaning mode can be, for example, a global cleaning mode or a zone cleaning mode. This means that when the mopping robot 100 wipes the area 70 from the inside, the second cleaning component 50 is held in the second position, so that it does not touch the inner surface of the area 70. This prevents the second cleaning component 50 from becoming dirty while the mopping robot 100 is wiping the inner surface of the area 70.

[0070] As in Fig. As shown in Figure 3, in its second cleaning mode, the mopping robot 100 moves along the edge of the surface 70 to be cleaned, allowing the second cleaning component 50 to touch the edges and corners of the surface 70 in order to clean it and improve the cleanliness of these areas. When the mopping robot 100 wipes the edges and corners of the surface 70, this ensures that the second cleaning component 50 touches these areas and thus cleans them; this prevents the second cleaning component 50 from cleaning the edges and corners of the surface 70 again.Thus, it is sufficient to move the second cleaning component 50, used to wipe the surface 70 to be wiped, axially to maintain its cleanliness before cleaning the edges and corners of the surface 70. This eliminates the need to clean or replace the second cleaning component 50 already used for wiping the surface 70, simplifying operation and increasing work efficiency. The second cleaning mode can be, for example, an edge cleaning mode, a corner cleaning mode, or an edge cleaning mode.

[0071] The second cleaning component 50 can be one, two, three, four, or more. In this embodiment, two second cleaning components 50 are provided. Two second cleaning components 50 are arranged at a distance from each other on one side of the mopping robot 100, along its direction of travel. When the mopping robot 100 moves along the edge of the surface 70 to be wiped, one of the two second cleaning components 50 can wipe the edge of the surface 70; or both second cleaning components 50 can wipe the edge of the surface 70. When the mopping robot 100 moves along the edge of the surface 70 to be wiped in two opposite directions, one of the two second cleaning components 50 can wipe the edge of the surface 70 in each direction.This ensures, on the one hand, that the edge of the surface 70 to be wiped is cleaned, and on the other hand, prevents both second cleaning components 50 from simultaneously exerting pressure on the edge of the surface 70 to be wiped, so that both second cleaning components 50 exert excessive pressure on the surface 70 to be wiped, which could lead to scratches on the surface 70 to be wiped.

[0072] In the second cleaning mode, the mopping robot 100 moves along the edge of the surface 70 to be cleaned. One of the two second cleaning components 50 moves from the second position to the first position and then remains in the first position, while the other remains in the second position. This means that when the mopping robot 100 moves along the edge of the surface 70, one of the two second cleaning components 50 is used to wipe the edge of the surface 70, while the other is not. This prevents both second cleaning components 50 from exerting too much pressure on the surface 70 and scratching it.

[0073] A first drive unit is also mounted on the main body 10. The second drive unit 60 serves to move the second cleaning component 50 in a direction perpendicular to the surface 70 to be wiped, allowing the second cleaning component 50 to switch between the first and second positions. This allows the position of the second cleaning component 50 to be automatically adjusted by the second drive unit 60, thus eliminating the need for manual operation. Furthermore, the drive unit 60 can hold the second cleaning component 50 in a specific position (e.g., the first or second position), preventing it from becoming static and thus reducing the cleaning efficiency of the second cleaning component 50 as it moves up and down the surface 70 to be wiped.Furthermore, the second drive device 60 can include a drive motor. The motor's drive shaft is frictionally connected to the cleaning ring, allowing the drive motor to move the cleaning ring between the first and second positions. Alternatively, the motor's drive shaft can be connected to the cleaning ring via a transmission device, allowing the drive motor to move the cleaning ring between the first and second positions. This transmission device serves to convert the rotary motion of the motor's drive shaft into a linear motion of the second cleaning component 50. The transmission device can be, for example, a rack and pinion mechanism, a cam mechanism, a crank and slide mechanism, or a screw mechanism.Furthermore, the second cleaning component 50, when held in the first position, can rotate relative to the detection element. This means that the second cleaning component 50 can rotate relative to the detection element while cleaning the wiping surface 70, thereby increasing cleaning efficiency. Specifically, the motor's drive shaft is connected to the cleaning ring via a transmission device, allowing the cleaning ring to be moved between the first and second positions by the drive motor. Then, while held in the first position, the second cleaning component 50 can be driven by the drive motor's shaft, causing it to rotate.

[0074] The control unit is connected to the first drive unit. Based on an external signal, the control unit controls the first drive unit, causing it to move the second cleaning component 50 in a direction perpendicular to the surface 70 to be cleaned. The external signal indicates whether the mopping robot 100 is moving along the edge of the surface 70. Specifically, when the external signal indicates that the mopping robot 100 is in the second cleaning mode, the control unit uses this signal to control the first drive unit, causing it to move the second cleaning component 50 in a direction perpendicular to the surface 70, thus bringing the second cleaning component 50 into the first cleaning position.When the external signal indicates that the mopping robot 100 is in the first cleaning mode, the control unit controls the first drive unit according to the external signal, so that the first drive unit moves the second cleaning component 50 in a direction perpendicular to the surface 70 to be mopped, placing the second cleaning component 50 in the second position.

[0075] There are two first drive units. There are two second cleaning components 50, with each of the two first drive units being connected to the two second cleaning components 50. Each first drive unit serves to move the corresponding second cleaning component 50. Thus, each second cleaning component 50 is driven by two first drive units, preventing any mutual interference in the movements of the two second cleaning components 50, which could impair cleaning efficiency.

[0076] There is a first drive unit. There are two second cleaning components 50. A first drive unit is connected to two second cleaning components 50, with the first drive unit serving to move the two second cleaning components 50. Thus, one first drive unit can drive two second cleaning components 50, thereby reducing costs and the weight of the mopping robot 100.

[0077] In the first cleaning mode, the first detection element 405 and the second detection element 406 are each in their first operating state. In the second cleaning mode, the first detection element 405 and the second detection element 406 are in their first operating state when the mopping robot 100 moves along the framed edge of the surface 70 to be cleaned. When the mopping robot 100 moves along the frameless edge of the surface 70 to be cleaned, the second detection element 406 is in its second operating state. This means that in the first cleaning mode, both the first detection element 405 and the second detection element 406 are pressed against the surface 70 to be cleaned. In the second cleaning mode, the mopping robot 100 can detect the framed edges of the surface 70 to be cleaned due to the impact plate 102.Therefore, both the first detection element 405 and the second detection element 406 touch the surface 70 to be wiped when the mopping robot 100 moves along the framed edges of the surface 70. Since the mopping robot 100 cannot detect the frameless edge of the surface 70 using the impact plate 102, the second detection element 406 is in a second operating state when the mopping robot 100 moves along the frameless edge of the surface 70. In this way, the mopping robot 100 can use the second detection element 406 to determine whether it is moving along the framed edge of the surface 70.

[0078] When the detection element is in the first operating state, the second cleaning component 50 is in one of the following three operating states: a first state held in the first position, a second state held in the second position, and a third state alternating between the first and second positions. As in Fig. As shown in Figure 2, the detection element is in the first operating state, in which it is in contact with the surface 70 to be wiped, while the mopping robot wipes the inside of the surface. The second cleaning unit remains in the second state in the second position. Therefore, the second cleaning unit cannot clean the inside of the surface 70 to be wiped. As shown in Fig. As shown in Figure 3, the detection element is in the first operating state, in which it is in contact with the surface to be wiped, while the mopping robot wipes the edge of the surface 70. The second cleaning unit remains in the first position in the second state. This allows the second cleaning unit to wipe the edges of the surface 70. As shown in Fig. 2 and Fig. As shown in Figure 3, the detection element is in the first operating state when the mopping robot moves from the inside of the surface 70 to be wiped to the edge of the surface 70 to be wiped, and the second cleaning device is in the second state, which alternates between the first position and the second position.

[0079] When the detection element is in the second operating state, the second cleaning component 50 is in one of the following two operating states: a first state held in the first position, or a second state held in the second position. For example, the detection element is, as in Fig. Figure 4 shows when it falls down the edge of the surface 70 to be wiped, in the second operating state, with the second cleaning device remaining in the second position in the second state. As shown in Fig. As shown in Figure 5, the detection element is in the first state at the first position when the mopping robot wipes along the edge of the area to be wiped 70.

[0080] When the detection element is in the first operating state, where it is pressed against the surface 70 to be wiped, the second cleaning component 50 can move in a direction perpendicular to the surface 70 to be wiped, or it can be in either the first or the second position. For example, as in Fig. As shown in Figure 6, when the detection element in the first operating state comes into contact with the surface 70 to be wiped, the second cleaning component 50 remains in the second state at the second position. At this point, even if dust deposits from the second cleaning component 50 fall onto the area between the detection element and the main body 10 due to its movement, the detection element is positioned, because of its contact with the surface 70 to be wiped, such that the gap between the detection element and the main body 10, and the entry point for dust into this gap, is small. This results in less dust being picked up between the detection element and the main body 10, which only slightly affects the sensitivity of the detection element.If the axial projection of the detection element is at least partially outside the area 70 to be wiped and the system is in the second operating state, the second cleaning component 50 cannot move in a direction perpendicular to the area 70 to be wiped, but can only remain in the first or second position. For example, as in . Fig.As shown in Figure 7, in the second operating state, the detection element 40 hovers above the surface 70 to be wiped, while the second cleaning component 50 remains in the second position. If dust deposits fall from the second cleaning unit into the gap between the detection element and the main body 10, as well as into the inlet, due to the movement of the second cleaning unit, the dust enters this gap. Since the gap and the inlet are relatively large at this point, more dust is also collected between the detection element and the main body 10, which further impairs the sensitivity of the detection element. When the detection element 40 is in the second operating state, the second cleaning component 50 cannot move perpendicular to the surface 70 to be wiped, but can only remain in the first or second position.Provided that the detection sensitivity of the detection elements is ensured, the problem of improving cleanliness at the edges and corners of the glass panes is solved, while at the same time avoiding the need to clean or replace ball heads already used for cleaning glass panes, thus simplifying the work process and increasing work efficiency.

[0081] Another aspect of the present application provides a mopping robot 100 comprising: a main body 10; an adsorption unit 20 attached to said main body 10 and serving to make the mopping robot 100 adhere to the surface 70 to be wiped; a first cleaning component 30 attached to the bottom of the main body 10 and provided for performing cleaning tasks on the surface 70 to be wiped; a detection device 40 provided at the edge of the main body 10, wherein the detection device 40 comprises a detection element that can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, wherein the detection element has a first operating state and a second operating state;In the first operating state, the axial projection of the detection element is located within the surface 70 to be wiped, and the detection element touches the surface 70 to be wiped; in the second operating state, the axial projection of the detection element is located at least partially outside the surface 70 to be wiped, the detection element sloping outwards from the frameless edge of the wiping surface, the detection element comprising at least two first detection elements 405 spaced apart from each other; a second cleaning component 50 nested outside the detection element, the second cleaning component 50 being able to move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped in order to switch between a first position and a second position, the first position being the position of the second cleaning component 50 closest to the surface 70 to be wiped;a control device, wherein the control device is connected to at least two of the first detection elements 405, when both first detection elements 405 switch from the first operating state to the second operating state, the control device controls the mopping robot 100 to move along the frameless edge of the surface 70 to be wiped; wherein the second cleaning component 50 is in the first position while the mopping robot 100 moves along the frameless edge of the surface 70 to be wiped, wherein the axial projection of at least a part of the second cleaning component 50 lies within the surface 70 to be wiped.

[0082] The mopping robot 100 of this application first detects the frameless edge of the surface 70 to be wiped by means of two first detection elements 405, which each switch from the first operating state to the second operating state. The control unit then steers the mopping robot 100 along the frameless edge of the surface 70 to be wiped. While the mopping robot 100 is moving along the frameless edge of the surface 70 to be wiped, the second cleaning component 50 is in the first position, and at least the partially axial projection of the second cleaning component 50 lies within the surface 70 to be wiped. This prevents the mopping robot 100 from falling off the glass surface while cleaning the framed glass panes, thus eliminating the risk of a fall. Therefore, the mopping robot 100 described in this application solves the problem of cleaning the edges and corners of frameless glass panes while ensuring safety.

[0083] Another aspect of the present application provides a mopping robot 100 comprising: a main body 10; an adsorption unit 20 attached to said main body 10 and serving to make the mopping robot 100 adhere to the surface 70 to be wiped; a detection device 40 arranged at the edge of the main body 10, the detection device 40 comprising a detection element that can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is located within the surface 70 to be wiped, the detection element being in contact with the surface 70 to be wiped;In the second operating state, the axial projection of the detection element is at least partially outside the surface 70 to be wiped, the detection element descending from the frameless edge of the wiping surface, the detection element comprising at least two first detection elements 405 spaced apart; a control device, the control device being connected to at least two of the first detection elements 405, when both first detection elements 405 change from the first operating state to the second operating state, the control device controls the wiping robot 100 to move along the frameless edge of the surface 70 to be wiped.

[0084] The mopping robot 100 of this application first detects the frameless edge of the surface 70 to be wiped by means of two first detection elements 405, which each switch from the first operating state to the second operating state. The control unit then steers the mopping robot 100 along the frameless edge of the surface 70 to be wiped. While the mopping robot 100 is moving along the frameless edge of the surface 70 to be wiped, the second cleaning component 50 is in the first position, and at least the partially axial projection of the second cleaning component 50 lies within the surface 70 to be wiped. This prevents the framed glass panes from falling off the glass surface during cleaning, thus eliminating the risk of falls. Therefore, the mopping robot 100 described in this application solves the problem of cleaning the edges and corners of frameless glass panes while ensuring safety.

[0085] Another aspect of the present application provides a mopping robot 100 comprising: a main body 10; an adsorption unit 20 attached to said main body 10 and serving to make the mopping robot 100 adhere to the surface 70 to be wiped; a first cleaning component 30 attached to the bottom of the main body 10 and provided for performing cleaning tasks on the surface 70 to be wiped; a second cleaning component 50 provided on the outside of the main body 10, wherein the second cleaning component 50 can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped in order to change between a first position and a second position, the first position being the position of the second cleaning component 50 closest to the surface 70 to be wiped.

[0086] The mopping robot 100 of this application has a first cleaning component 30 and a second cleaning component 50, wherein the second cleaning component 50 is arranged outside the detection element, the detection element being attached to the edge of the main body 10. This allows the second cleaning component 50 to touch and clean the edges and corners of the surface 70 to be cleaned as the mopping robot 100 moves along the edge of the surface 70 to be cleaned, thereby cleaning the edges and corners of the surface 70 and improving the cleanliness of the edges and corners of the surface 70 to be cleaned.

[0087] Another aspect of the present application provides a mopping robot 100 comprising: a main body 10; an adsorption unit 20 attached to said main body 10 and serving to make the mopping robot 100 adhere to the surface 70 to be wiped; a first cleaning component 30 attached to the bottom of the main body 10 and intended for performing cleaning tasks on the surface 70 to be wiped; a detection device 40 arranged at the edge of the main body 10, wherein the detection device 40 comprises a detection element that can move in a direction perpendicular to the surface 70 to be wiped, the detection element having a first operating state in which it presses against the surface 70 to be wiped and a second operating state in which it falls off the frameless edge of the wiping surface;a second cleaning component 50, which is surrounded by the outside of the detection device 40, wherein the second cleaning component 50 can move relative to the main body 10 in a direction perpendicular to the surface 70 to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component 50 closest to the surface 70 to be wiped; wherein the mopping robot 100 has at least one first cleaning mode and one second cleaning mode, wherein in the first cleaning mode the mopping robot 100 moves over the surface 70 to be wiped such that the first cleaning component 30 cleans the surface 70 to be wiped, while the second cleaning component 50 remains in the second position;wherein the mopping robot 100 moves along the edge of the surface 70 to be wiped when the second cleaning component 50 is in the first operating position in the second cleaning mode, so that the second cleaning component 50 can clean the edge of the surface 70 to be wiped.;

[0088] The mopping robot 100 of this application has a second cleaning component 50, which in the first cleaning mode is set so that the mopping robot 100 moves on the surface 70 to be mopped, so that the first cleaning component 30 cleans the surface 70 to be mopped, while the second cleaning component 50 is in the second working position; in the second cleaning mode the second cleaning component 50 is in the first working position, and the mopping robot 100 moves along the edge of the surface 70 to be mopped, so that the second cleaning component 50 can clean the edges of the surface 70 to be mopped.This ensures that when the mopping robot 100 is wiping within the area 70 to be wiped, the second cleaning component 50 is held in the second position, so that the second cleaning component 50 does not touch the inner surface of the area 70 to be wiped and thus prevents the second cleaning component 50 from becoming dirty inside the area 70 during wiping by the mopping robot 100; when the mopping robot 100 wipes the edges and corners of the area 70 to be wiped, the second cleaning component 50 is in the first position, so that the second cleaning component 50 touches the edges and corners of the area 70 to be wiped and these edges and corners of the area 70 to be wiped are wiped by the second cleaning component 50 and it is also prevented that the second cleaning component 50, which is dirty on the area 70 to be wiped, is used again to wipe the edges and corners of the area 70 to be wiped.Thus, it is sufficient to move the second cleaning component 50 axially to maintain the cleanliness of the second cleaning component 50 before cleaning the edges and corners of the surface 70 to be wiped, without the need for cleaning or replacing the second cleaning component 50 already used to wipe the surface 70 to be wiped, which simplifies operation and increases work efficiency.

[0089] The third aspect of this application also offers a system of the mopping robot 100, which includes the following: the mopping robot 100 described above and a base station, the base station being used to be connected to the mopping robot 100 via a safety rope.

[0090] The system of the mopping robot 100 has all the technical advantages of the aforementioned mopping robot 100, which will not be explained further here.

[0091] It should be understood that all the preferred embodiments mentioned above are exemplary and not limiting. Any modifications or adaptations of the specific embodiments described above made by those skilled in the art, taking into account the present application, fall within the scope of protection of this application.

Claims

[1] Robot mop, characterized by that it includes the following: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; first cleaning component, which is attached to the bottom of the main body and is intended to perform cleaning tasks on the surface to be wiped; A detection device arranged at the edge of the main body, the detection device comprising a detection element, the detection element being able to move relative to the main body in a direction perpendicular to the surface to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is within the surface to be wiped, the detection element being in contact with the surface to be wiped; in the second operating state, the axial projection of the detection element is at least partially outside the surface to be wiped, the detection element being inclined away from the edge of the wiping surface; a second cleaning component arranged on the outside of the detection device, wherein the second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component closest to the surface to be wiped; When the detection element is in the first operating state, the second cleaning component is in one of the following three operating states: a first state held in a first position, a second state held in a second position, and a third state alternating between the first and second positions; When the detection element is in the second operating state, the second cleaning component is in one of the following two operating states: a first state held in the first position, and a second state held in the second position. [2] Mopping robot according to claim 1, characterized by , that the mopping robot further comprises: a first drive unit which is arranged on the main body and serves to move the second cleaning component in a direction perpendicular to the surface to be mopped, so that the second cleaning component can switch between the first position and the second position. [3] Mopping robot according to claim 2, characterized by, that the mopping robot further comprises: a control device, wherein the first drive device is connected to the control device, the control device being used to control the first drive device based on an external signal, so that the first drive device moves the second cleaning component along a direction perpendicular to the surface to be mopped, the external signal being used to indicate whether the mopping robot is moving along the edge of the surface to be mopped. [4] Mopping robot according to claim 2, characterized by that two first drive devices are provided, wherein two second cleaning components are provided, wherein the two first drive devices are each connected to the two second cleaning components, each first drive device serving to move the corresponding second cleaning component. [5] Mopping robot according to claim 2, characterized bythat a first drive device is provided, wherein two second cleaning components are provided, wherein a first drive device is connected to the two second cleaning components, wherein the first drive device serves to move both second cleaning components. [6] Mopping robot according to claim 2, characterized by that two second cleaning components are provided, wherein both second cleaning components are arranged at a distance along the direction of travel of the mopping robot on one side of the mopping robot. [7] Mopping robot according to any one of claims 1 to 6, characterized by that the mopping robot has at least one first cleaning mode and one second cleaning mode, wherein in the first cleaning mode the mopping robot moves over the area to be mopped, so that the first cleaning component cleans the area to be mopped, while the second cleaning component remains in the second position. [8] Mopping robot according to claim 7, characterized by , that in the second cleaning mode the mopping robot moves along the edge of the surface to be mopped, with one of the two second cleaning components moving from the second position to the first position and finally remaining in the first position, while the other remains in the second position. [9] Mopping robot according to claim 7, characterized by , that the detection element is in the first operating state in the first cleaning mode, wherein the detection element is in the first operating state in the second cleaning mode when the mopping robot moves along the framed edge of the surface to be wiped, wherein the detection element is in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped. [10] Mopping robot according to any one of claims 1 to 6, characterized bythat the second cleaning component is a cleaning ring, wherein the cleaning ring is attached to the outside of the detection device and a first cleaning section is provided at the bottom of the cleaning ring. [11] Mopping robot according to claim 10, characterized by that a second cleaning section is attached to the outer wall of the cleaning ring. [12] Mopping robot according to claim 10, characterized by , that the first cleaning step includes one of the following: cleaning brush, cleaning cloth, cleaning blade. [13] Mopping robot according to any one of claims 1 to 6, characterized by that the second cleaning component is rotatable relative to the detection element. [14] Mopping robot according to any one of claims 1 to 6, characterized by, that the mopping robot further comprises: a control device, wherein the detection element comprises at least two first detection elements, wherein the control device is connected to at least two of the first detection elements, and when both first detection elements switch from the first operating state to the second operating state, the control device controls the mopping robot to move along the frameless edge of the surface to be wiped; wherein the second cleaning component is in the first position while the mopping robot moves along the frameless edge of the surface to be wiped, wherein the axial projection of at least part of the second cleaning component lies within the surface to be wiped. [15] Robot mop, characterized by that it includes the following: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; first cleaning component, which is attached to the bottom of the main body and is intended to perform cleaning tasks on the surface to be wiped; A detection device arranged at the edge of the main body, the detection device comprising a detection element, the detection element being able to move relative to the main body in a direction perpendicular to the surface to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is within the surface to be wiped, the detection element being in contact with the surface to be wiped;In the second operating state, the axial projection of the detection element is at least partially outside the area to be wiped, wherein the detection element slopes down from the frameless edge of the wiping surface, and wherein the detection element comprises at least two first detection elements that are spaced apart; a second cleaning component surrounded by the outside of the detection element, wherein the second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component closest to the surface to be wiped; A control device, wherein the control device is connected to at least two of the first detection elements, when both first detection elements switch from the first operating state to the second operating state, controls the mopping robot to move along the frameless edge of the surface to be wiped; wherein the second cleaning component is in the first position while the mopping robot moves along the frameless edge of the surface to be wiped, wherein the axial projection of at least part of the second cleaning component lies within the surface to be wiped. [16] Mopping robot according to claim 15, characterized by, that the mopping robot further comprises: a first drive unit which is arranged on the main body and serves to move the second cleaning component in a direction perpendicular to the surface to be mopped, so that the second cleaning component can switch between the first position and the second position. [17] Mopping robot according to claim 16, characterized by , that the mopping robot further comprises: a control device, wherein the first drive device is connected to the control device, the control device being used to control the first drive device based on an external signal, so that the first drive device moves the second cleaning component along a direction perpendicular to the surface to be mopped, the external signal being used to indicate whether the mopping robot is moving along the edge of the surface to be mopped. [18] Mopping robot according to claim 16, characterized by that two first drive devices are provided, wherein two second cleaning components are provided, wherein the two first drive devices are each connected to the two second cleaning components, each first drive device serving to move the corresponding second cleaning component. [19] Mopping robot according to claim 16, characterized by that a first drive device is provided, wherein two second cleaning components are provided, wherein a first drive device is connected to the two second cleaning components, wherein the first drive device serves to move both second cleaning components. [20] Mopping robot according to claim 16, characterized by that two second cleaning components are provided, wherein both second cleaning components are arranged at a distance along the direction of travel of the mopping robot on one side of the mopping robot. [21] Mopping robot according to one of claims 15 to 20, characterized by that the mopping robot has at least one first cleaning mode and one second cleaning mode, wherein in the first cleaning mode the mopping robot moves over the area to be mopped, so that the first cleaning component cleans the area to be mopped, while the second cleaning component remains in the second position. [22] Mopping robot according to claim 21, characterized by , that in the second cleaning mode the mopping robot moves along the edge of the surface to be mopped, with one of the two second cleaning components moving from the second position to the first position and finally remaining in the first position, while the other remains in the second position. [23] Mopping robot according to claim 21, characterized by, that the detection element comprises a second detection element, that the first detection element and the second detection element are both in the first operating state in the first cleaning mode, wherein the first detection element and the second detection element are both in the first operating state in the second cleaning mode when the mopping robot moves along the framed edge of the surface to be wiped, wherein the second detection element is in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped. [24] Mopping robot according to one of claims 15 to 20, characterized by that the second cleaning component is a cleaning ring, wherein the cleaning ring is nested on the outside of the detection element, the bottom of the cleaning ring having a first cleaning section. [25] Mopping robot according to one of claims 15 to 20, characterized by, that at least two of the first detection elements are arranged at a distance along a line perpendicular to the direction of travel of the mopping robot, wherein the mopping robot moves away from the frameless edge of the surface to be wiped, when the mopping robot moves towards the frameless edge of the surface to be wiped and both first detection elements change from the first operating state to the second operating state to prevent falling. [26] Mopping robot according to claim 25, characterized by , that at least two of the first detection elements are arranged at a distance on one side of the mopping robot, or at least two of the first detection elements are arranged at a distance on both sides of the mopping robot, or at least two of the first detection elements are arranged diagonally on the mopping robot. [27] Mopping robot according to claim 25, characterized by, that the detection element also comprises a second detection element, wherein the first detection element and the second detection element are each arranged on adjacent edges of the mopping robot, wherein the second detection element is in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped. [28] Mopping robot according to claim 27, characterized by that two second detection elements are provided, wherein the two second detection elements move back and forth in a direction perpendicular to the surface to be wiped when the mopping robot moves along the frameless edge of the surface to be wiped. [29] Robot mop, characterized by that it includes the following: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; A detection device arranged at the edge of the main body, the detection device comprising a detection element, the detection element being able to move relative to the main body in a direction perpendicular to the surface to be wiped, the detection element having a first operating state and a second operating state; in the first operating state, the axial projection of the detection element is within the surface to be wiped, the detection element being in contact with the surface to be wiped;In the second operating state, the axial projection of the detection element is at least partially outside the area to be wiped, wherein the detection element slopes down from the frameless edge of the wiping surface, and wherein the detection element comprises at least two first detection elements that are spaced apart; a control device, wherein the control device is connected to at least two of the first detection elements, when both first detection elements change from the first operating state to the second operating state, the control device controls the mopping robot to move along the frameless edge of the surface to be wiped. [30] Mopping robot according to claim 29, characterized by, that at least two of the first detection elements are arranged at a distance along a line perpendicular to the direction of travel of the mopping robot, wherein the mopping robot moves away from the frameless edge of the surface to be wiped, when the mopping robot moves towards the frameless edge of the surface to be wiped and both first detection elements change from the first operating state to the second operating state to prevent falling. [31] Mopping robot according to claim 30, characterized by , that at least two of the first detection elements are arranged at a distance on one side of the mopping robot, or at least two of the first detection elements are arranged at a distance on both sides of the mopping robot, or at least two of the first detection elements are arranged diagonally on the mopping robot. [32] Mopping robot according to claim 29, characterized by, that the detection element also comprises a second detection element, wherein the first detection element and the second detection element are each arranged on adjacent edges of the mopping robot, wherein the second detection element is in the second operating state when the mopping robot moves along the frameless edge of the surface to be wiped. [33] Mopping robot according to claim 32, characterized by that two second detection elements are provided, wherein the two second detection elements move back and forth in a direction perpendicular to the surface to be wiped when the mopping robot moves along the frameless edge of the surface to be wiped. [34] Robot mop, characterized by that it includes the following: a main body; an adsorption unit attached to the aforementioned main body, which serves to make the mopping robot adhere to the surface to be mopped; first cleaning component, which is attached to the bottom of the main body and is intended to perform cleaning tasks on the surface to be wiped; a detection device arranged at the edge of the main body, wherein the detection device comprises a detection element that can move in a direction perpendicular to the surface to be wiped, wherein the detection element has a first operating state with pressing down on the surface to be wiped and a second operating state with falling off the frameless edge of the wiping surface; a second cleaning component surrounded by the outside of the detection device, wherein the second cleaning component can move relative to the main body in a direction perpendicular to the surface to be wiped in order to switch between a first position and a second position, wherein the first position is the position of the second cleaning component closest to the surface to be wiped; wherein the mopping robot has at least one first cleaning mode and one second cleaning mode, wherein in the first cleaning mode the mopping robot moves over the surface to be mopped, so that the first cleaning component cleans the surface to be mopped, while the second cleaning component remains in the second position; wherein the mopping robot moves along the edge of the surface to be mopped when the second cleaning component is in the first operating position in the second cleaning mode, so that the second cleaning component can clean the edge of the surface to be mopped. [35] System of the mopping robot, characterized by , comprising the following: the mopping robot and a base station as in any one of claims 1 to 34, wherein the base station serves to be connected to the mopping robot via a cable harness.

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