Cleaning robot

Abstract

To provide a cleaning robot that does not damage a three dimensional structure and is capable of avoiding deterioration in cleaning efficiency and cleaning quality even if it is a temporary cleaning robot.SOLUTION: A window cleaning robot 20 includes: a cleaning unit 21 that cleans a window 11a of a building by moving while pressing a brush against the window 11a of the building or while approaching the window 11a of the building; and a detection unit 80 provided in a cleaning unit 21, which can detect a window frame 13 disposed in the vicinity of the window 11a of the building in a non-contact manner, and is disposed at a position where the window frame 13 can be detected in four directions vertically and laterally. The detection unit 80 includes an upward detection unit 81 that detects the window frame 13 (13U) in the upward direction of the cleaning unit 21, a downward detection unit 82 that detects the window frame 13 (13D) in the downward direction of the cleaning unit 21, a leftward detection unit 83 that detects the window frame 13 (13L) in the leftward direction of the cleaning unit 21, and a rightward detection unit 84 that detects the window frame 13 (13R) in the rightward direction of the cleaning unit 21.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a cleaning robot. [Background technology]

[0002] Conventionally, building cleaning robots have been used that move along wall surfaces along guide rails installed in the building, as in Patent Documents 1 and 2. These cleaning robots are shaped to fit the window shapes of the building, making them permanent cleaning robots dedicated to that building. Furthermore, when measuring the surface to be cleaned, these permanent cleaning robots know in advance the unevenness and span of the window frame around the window. Therefore, cleaning is possible by equipping a cleaning unit that matches the width of the window and measuring the top and bottom edges of the window with a laser that detects unevenness perpendicular to the window surface. Another prior art technology is that of Patent Document 3. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 03-109016 [Patent Document 2] Japanese Patent Application Laid-Open No. 1989-121025 [Patent Document 3] Japanese Patent Publication No. 2022-177724 Summary of the Invention [Problem to be solved by the invention]

[0004] In response to this, the inventors have developed temporary cleaning robots that can be installed and removed from existing buildings. These temporary cleaning robots are smaller and lighter than permanent cleaning robots, making them portable. By installing a lifting device on the building to be cleaned and suspending the temporary cleaning robot, it becomes possible for the robot to move along the wall and clean windows.

[0005] However, even if the cleaning robots are similar, the required configurations are different for temporary and permanent cleaning robots. In other words, temporary cleaning robots clean different buildings each time, so they need to clean while measuring various exterior wall and window shapes in real time, which requires a unique measurement method for the surface to be cleaned that is different from that used for permanent cleaning robots.

[0006] For example, the technology in Patent Document 3 employs a method in which a robot arm moves its cleaning part up, down, left, and right while pressing it against the window surface, and detects the point where it comes into contact with the unevenness of the window frame as the boundary of the surface to be cleaned. However, this contact-type window frame detection method has the potential to damage three-dimensional structures (window frame, window sash), and it is also necessary to limit the speed and motor torque when moving the cleaning part, which raises concerns about a decrease in cleaning efficiency and quality.

[0007] Therefore, an object of the present invention is to provide a cleaning robot that will not damage three-dimensional structures and that can avoid a decrease in cleaning efficiency and cleaning quality even if it is a temporary cleaning robot. [Means for solving the problem]

[0008] The present invention employs the following solutions to solve the above-mentioned problems. Note that the solutions and the wording in parentheses below are merely examples, and the present invention is not limited thereto. The present invention can be an invention that includes at least one of the invention-specifying matters shown in the solutions below. Furthermore, each invention-specifying matter shown in the solutions below can be made into a subordinate concept by adding an element that limits the invention-specifying matter, or can be made into a superordinate concept by removing an element that limits the invention-specifying matter.

[0009] Solution 1: The cleaning robot of this solution is a cleaning robot that is suspended from a lifting device temporarily installed on a building, and is equipped with a cleaning unit that cleans the surface of the building to be cleaned by pressing it against the surface or by moving while approaching the surface of the building to be cleaned, and a detection unit that is provided on the cleaning unit and is capable of non-contact detection of three-dimensional structures placed near the surface of the building to be cleaned, and is positioned so that it can detect the three-dimensional structure in four directions: up, down, left, and right.

[0010] According to this solution, the detection unit detects the three-dimensional structure without contact and detects the three-dimensional structure in four directions (up, down, left, and right). This means that the detection unit can detect the three-dimensional structure from all directions without contacting the three-dimensional structure, without damaging the three-dimensional structure, and even with a temporary cleaning robot, it is possible to avoid a decrease in cleaning efficiency and quality.

[0011] Solution 2: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the surface to be cleaned is a window of the building, and the three-dimensional structure is a window frame surrounding the window.

[0012] According to this solution, the surface to be cleaned is a window of a building and the three-dimensional structure is a window frame, so that the window frame can be detected from all directions while cleaning the window without coming into contact with the window frame.

[0013] Solution 3: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the detection unit comprises an upward detection unit that detects the three-dimensional structure above the cleaning unit, a downward detection unit that detects the three-dimensional structure below the cleaning unit, a leftward detection unit that detects the three-dimensional structure to the left of the cleaning unit, and a rightward detection unit that detects the three-dimensional structure to the right of the cleaning unit.

[0014] According to this solution, the device is equipped with four detection units, namely an upward detection unit, a downward detection unit, a leftward detection unit, and a rightward detection unit, and the roles of the four detection units can be made independent, thereby improving the accuracy of detection in four directions.

[0015] Solution 4: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the upward direction detection unit is arranged on the side of the cleaning unit, the downward direction detection unit is arranged on the side of the cleaning unit, the left direction detection unit is arranged on the top or bottom surface of the cleaning unit, and the right direction detection unit is arranged on the top or bottom surface of the cleaning unit.

[0016] According to this solution, the upward and downward detection units are arranged on the sides of the cleaning unit, so that they do not obstruct the cleaning unit's movement in the vertical direction as much as possible. Furthermore, according to this solution, the left-direction detection unit and the right-direction detection unit are arranged on the upper or lower surface of the cleaning unit, so that they do not become an obstacle as much as possible when the cleaning unit moves left and right.

[0017] Solution 5: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the upward direction detection unit is arranged at the upper end of the side of the cleaning unit, and the downward direction detection unit is arranged at the lower end of the side of the cleaning unit.

[0018] According to this solution, the upward detection unit is placed at the upper end of the side of the cleaning unit, and the downward detection unit is placed at the lower end of the side of the cleaning unit, so that each detection unit can be brought closer to the three-dimensional structure, thereby improving detection accuracy.

[0019] Solution 6: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the left direction detection unit is located at the left end of the upper or lower surface of the cleaning unit, and the right direction detection unit is located at the right end of the upper or lower surface of the cleaning unit.

[0020] According to this solution, the left-direction detection unit is placed at the left end of the upper or lower surface of the cleaning unit, and the right-direction detection unit is placed at the right end of the upper or lower surface of the cleaning unit, so that each detection unit can be brought closer to the three-dimensional structure, thereby improving detection accuracy.

[0021] Solution 7: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the detection unit is positioned at a predetermined angle inclined relative to the horizontal or vertical direction so that the tip faces the surface to be cleaned.

[0022] According to this solution, the detection unit is disposed at a predetermined angle, so that even small three-dimensional structures can be detected.

[0023] Solution 8: The cleaning robot of this solution is a cleaning robot characterized in that, in any of the solutions described above, the specified angle is determined based on the distance from the surface to be cleaned to the detection unit, the distance from the surface to be cleaned to the tip of the three-dimensional structure, and the distance from the three-dimensional structure to the detection unit.

[0024] According to this solution, the predetermined angle is determined according to each distance, so that the detection accuracy can be improved.

[0025] Solution 9: The cleaning robot of this solution is any one of the solutions described above, characterized in that the detection unit is a sensor that uses infrared rays.

[0026] According to this solution, the detection unit is a sensor that uses infrared rays, and therefore it is possible to detect three-dimensional structures with high accuracy using infrared rays. [Effects of the Invention]

[0027] According to the present invention, the three-dimensional structure is not damaged, and even if a temporary cleaning robot is used, it is possible to avoid a decrease in cleaning efficiency and cleaning quality. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a diagram showing a lifting device 100 according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing the window cleaning robot 20. [Figure 3] 1A and 1B are front and rear views showing a window cleaning robot 20. [Figure 4] FIG. [Figure 5] 10A and 10B are diagrams illustrating the inclination of the detection unit 80. FIG. [Figure 6] 10 is a diagram showing the inclination angle of the detection unit 80. FIG. [Figure 7] FIG. 2 is a diagram showing the configuration of a detection unit 80. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a diagram showing a lifting device 100 and a window cleaning robot 20 according to the embodiment. In this specification, when viewing a building 10 in Fig. 1 from the front, the left side is the -X direction, the right side is the +X direction, the bottom side is the -Y direction, the top side is the +Y direction, the near side (front side) is the -Z direction, and the far side (rear side) is the +Z direction.

[0030] As shown in FIG. 1, the lifting device 100 is a device that lifts a cleaning robot along a wall surface 11 of a building 10. The building 10 has an installation unit 12 (e.g., a parapet) on the roof where the lifting device 100 is installed. The lifting device 100 is a device that can move the cleaning robot up, down, left, and right on the building wall surface and is easy to install on a building. In this embodiment, a window cleaning robot 20 that cleans windows 11a arranged on the wall surface 11 of the building 10 will be described as an example of a cleaning robot. The window cleaning robot 20 is a device that is suspended from the lifting device 100 that is temporarily installed on the building 10, and performs cleaning work along the wall surface 11 of the building 10 while being lifted.

[0031] The lifting device 100 comprises a hanging unit 30, a wire 40 (stretching member, hanging tool), a hanging unit 50, and a power unit 60. The hanging units 30 are installed (fixed) in two locations on the left and right ends of the roof of the building 10, and wires 40 are extended from each of them and connected to the window cleaning robot 20 (hanging units 50), and the window cleaning robot 20 is lifted and moved up, down, left, and right by winding up the left and right wires 40. The hanging unit 30 is a member that supports the window cleaning robot 20, wire 40, hanging unit 50, etc., and fixes the lifting device 100 to the rooftop.

[0032] The wire 40 is a member stretched between at least two hanging units 30, and connects the hanging units 30 to the window cleaning robot 20. In this embodiment, the wire 40 is stretched between the upper left power unit 60, the upper left hanging unit 30, the hanging unit 50, the upper right hanging unit 30, and the upper right power unit 60. The wire 40 is a member that suspends the window cleaning robot 20 via the hanging units 50.

[0033] The wire 40 is a linear or belt-like member. The wire may be a chain or a rope. The wire 40 can be changed to another member as appropriate depending on the weight and purpose of the object to be lifted. The type of member selected for the wire 40 can be determined taking into consideration the conditions of the installation location. Multiple wires 40 may be arranged in parallel in the depth direction. This makes it possible to prevent the window cleaning robot 20 from falling even if one of the wires 40 breaks for some reason.

[0034] The suspending unit 50 is movably suspended by a wire 40 between the two suspension units 30, and is a member that suspends the window cleaning robot 20. The suspending unit 50 is composed of two pulleys 51 to which the wire 40 extending from the suspension unit 30 is connected, and a joint 52 that is joined to the window cleaning robot 20 by a ball joint or the like, and the joint 52 makes it possible to keep the window cleaning robot 20 horizontal. Furthermore, the joint 52 can be made movable in the front-to-rear direction (±Z directions) by being slidably attached to the frame 27 (see FIG. 2). By moving the joint 52 in the front-to-rear direction, the window cleaning robot 20 can be kept horizontal even if the cleaning unit 21 or the suction device 23 moves forward or backward and the center of gravity is shifted (see FIG. 2).

[0035] The hanging part 50 hangs from the wire 40, and the two pulleys 51 are rotatable. Therefore, the hanging part 50 is positioned at the lowest point of the wire 40 between the two hanging parts 30 due to its own weight. Note that the window cleaning robot 20 may be configured to be directly connected to the wire 40.

[0036] The power unit 60 (winding power unit) is disposed behind the hanging unit 30. The power unit 60 can wind and unwind the wire 40 by rotating a motor (not shown) or the like, and can change the position of the hanging unit 50 (window cleaning robot 20) by each performing at least one of winding and unwinding. The left and right power units 60 are connected to a control panel 66, and the control panel 66 controls the winding and unwinding of the wire 40 while synchronizing the motors of the left and right power units 60.

[0037] In this embodiment, the power units 60 are installed on both ends of the roof of the building 10, and the left and right power units 60 respectively wind or unwind the wire 40 to lift the window cleaning robot 20.

[0038] When moving the window cleaning robot 20 suspended from the suspension part 50, the left and right winding lengths are adjusted, thereby enabling the window cleaning robot 20 to move up, down, left, and right along the wall surface 11 of the building 10.

[0039] For example, when only the left wire 40 is reeled in by the left power unit 60, the window cleaning robot 20 moves diagonally upward to the left. On the other hand, when only the right wire 40 is reeled in by the right power unit 60, the window cleaning robot 20 moves diagonally upward to the right. Furthermore, when both the left and right wires 40 are reeled in simultaneously by two power units 60, the window cleaning robot 20 moves upward. On the other hand, when both the left and right wires 40 are reeled out simultaneously by two power units 60, the window cleaning robot 20 moves downward. Furthermore, when the left wire 40 is reeled in by the left power unit 60 and the right wire 40 is reeled out by the right power unit 60, the window cleaning robot 20 moves left. On the other hand, when the left wire 40 is reeled out by the left power unit 60 and the right wire 40 is reeled in by the right power unit 60, the window cleaning robot 20 moves right.

[0040] Fig. 2 is a perspective view showing the window cleaning robot 20. Fig. 2(A) shows a perspective view of the window cleaning robot 20 seen from the front side, and Fig. 2(B) shows a perspective view of the window cleaning robot 20 seen from the back side.

[0041] The window cleaning robot 20 includes a cleaning unit 21, an operating unit 22, a suction device 23 (fixing mechanism), a storage box 24, a tank 25, a hose 26, a frame 27, wheels 28, and a detection unit 80.

[0042] The cleaning unit 21 is a component that cleans the windows 11a (see FIG. 1) of the building 10, and has a roll-shaped brush 21a for wiping windows attached to its tip. The cleaning unit 21 cleans the windows 11a of the building 10 by pressing the brush 21a against the windows 11a (surface to be cleaned) of the building 10 or by moving while approaching the windows 11a of the building 10. The cleaning unit 21 is movable in the vertical direction (Y direction). Note that an upper wiper and a lower wiper (not shown) can be disposed above and below the brush 21a. The upper wiper is pressed against the window 11a to scrape up and collect cleaning water that has adhered to the window 11a. The lower wiper is pressed against the window 11a to collect used cleaning water so that it does not spill downwards.

[0043] The operating unit 22 is a device that moves the cleaning unit 21 up and down, and moves the cleaning unit 21 in the up and down direction by a motor and a drive mechanism (not shown).

[0044] The suction device 23 is a device that fixes the window cleaning robot 20 to the wall surface 11 or window 11a (see FIG. 1) of the building 10. Two suction devices 23 are arranged at positions that sandwich the cleaning unit 21 from above and below.

[0045] Although multiple (for example, three or more) suction devices 23 can be attached, considering the need to reduce the weight of the temporary window cleaning robot 20, it is desirable to attach and fix them by suction in two locations, which is the minimum number of locations.

[0046] The storage box 24 is a box that houses a control panel for operating the operating unit 22, the suction device 23, the pump, etc. The tank 25 is a member that stores cleaning water. The hose 26 is a member that supplies the cleaning water stored in the tank 25 to the cleaning unit 21 using a pump (not shown) or the like. The hose 26 is made of a flexible material such as resin or rubber, and can flex and bend in accordance with the movement of the cleaning unit 21. The tank 25, the hose 26, the pump, etc. constitute a circulation unit that circulates and utilizes the cleaning water used in the cleaning unit 21.

[0047] The frame 27 is a member that supports each component of the window cleaning robot 20, and has a joint 52 and a hanging part 50 attached to its upper part. Note that pulleys 51 (see FIG. 1) are not shown. Four wheels 28 are arranged at the four corners of the lower part of the frame 27. The four wheels 28 are used to move the window cleaning robot 20 on the ground, floor, etc.

[0048] The detection unit 80 is provided in the cleaning unit 21. The detection unit 80 is capable of non-contact detection of a window frame (a frame surrounding the window 11a) placed near the window 11a of the building 10, and is placed in a position where it can detect the window frame in four directions: up, down, left, and right. The detection unit 80 is a sensor for detecting the window frame, and is a sensor that uses infrared rays (for example, an infrared sensor, an infrared distance sensor, etc.). The detection unit 80 is made of a hard material such as metal. The detection unit 80 includes an upward detection unit 81, a downward detection unit 82, a leftward detection unit 83, and a rightward detection unit 84.

[0049] When using this window cleaning robot 20, the window cleaning robot 20 is installed so that the cleaning unit 21 and the suction device 23 face the wall surface of the building 10, and the window is cleaned (see FIG. 1).

[0050] When the window cleaning robot 20 is lifted along the wall surface 11 of the building 10, the window cleaning robot 20 is suspended from the suspension part 50. Therefore, the position and posture of the window cleaning robot 20 may become unstable due to movement or the influence of wind, and in such a case, it is difficult to clean the window 11a.

[0051] Therefore, the window cleaning robot 20 of this embodiment is equipped with a suction device 23 that, when the window cleaning robot 20 is lifted and moved to the target window surface, suctions and fixes the window cleaning robot 20 to the wall surface 11, stabilizing its posture and enabling cleaning work to begin. The suction device 23 adheres to the cleaning unit 21 while it is operating, and can release the suction when the window cleaning robot 20 moves on to the next cleaning job after cleaning is completed. The suction device 23 may be remotely switched between operation and non-operation, or may be automatically activated when the drive unit 60 finishes driving and automatically stopped before the drive unit 60 starts driving.

[0052] The fixing method of the suction device 23 can be vacuum suction with a suction pad or magnetic suction with an electromagnet, and can be selected depending on the material and shape of the target wall. For example, if the building wall is a tiled surface with few irregularities, vacuum suction can be used. Also, if the building wall is made of metal, magnetic suction can be used.

[0053] In this embodiment, the cleaning unit 21 is movable in the vertical direction, and the cleaning unit 21 that moves in the vertical direction is further sandwiched and fixed by two suction devices 23 from above and below, so that it can perform powerful cleaning while exerting a strong suction force, thereby improving cleaning quality.

[0054] 3A and 3B are front and rear views showing the window cleaning robot 20. Note that Fig. 3A shows a front view of the window cleaning robot 20, and Fig. 3B shows a rear view of the window cleaning robot 20.

[0055] The detection unit 80 has four detection units 80 (upward detection unit 81, downward detection unit 82, leftward detection unit 83, and rightward detection unit 84), of which the upward detection unit 81 is disposed on the side surface of the cleaning unit 21 (the left side surface in FIG. 3(B)). The downward detection unit 82 is disposed on the side surface of the cleaning unit 21 (the right side surface in FIG. 3(B)).

[0056] The upward detection unit 81 and the downward detection unit 82 are arranged on opposite side surfaces of the cleaning unit 21. This improves the left-right balance of the cleaning unit 21. However, the upward detection unit 81 and the downward detection unit 82 may also be arranged on the same side surface of the cleaning unit 21.

[0057] The left direction detector 83 is disposed on the top surface of the cleaning unit, and the right direction detector 84 is disposed on the top surface of the cleaning unit 21.

[0058] The left-direction detection unit 83 and the right-direction detection unit 84 are arranged on the same surface (top surface) of the cleaning unit 21. This improves the left-right balance of the cleaning unit 21. However, the left-direction detection unit 83 and the right-direction detection unit 84 may also be arranged on different surfaces of the cleaning unit 21 (for example, the top surface and bottom surface).

[0059] The upward direction detection unit 81 is located at the upper end of the side surface of the cleaning unit 21. The downward direction detection unit 82 is located at the lower end of the side surface of the cleaning unit 21. The left direction detection unit 83 is located at the left end of the top surface of the cleaning unit 21. The right direction detection unit 84 is located at the right end of the top surface of the cleaning unit 21.

[0060] Fig. 4 is a diagram showing each detection unit. As shown in Fig. 4, cleaning unit 21 is equipped with detection unit 80 that detects four directions: up, down, left, and right. When cleaning unit 21 is moved in the up, down, left, and right directions while in contact with window 11a (glass surface) (or while positioned so as not to come into contact with it), detection unit 80 reacts to materials with high light reflectivity, such as window frame 13, allowing it to get close to window frame 13 and clean all the way to the edge. At this time, infrared light passes through window 11a (window glass), reducing the possibility of false detection.

[0061] The upward direction detection unit 81 detects the window frame 13 (13U) above the cleaning unit 21. The downward direction detection unit 82 detects the window frame 13 (13D) below the cleaning unit 21. The left direction detection unit 83 detects the window frame 13 (13L) to the left of the cleaning unit 21. The right direction detection unit 84 detects the window frame 13 (13R) to the right of the cleaning unit 21. Note that each direction here refers to the direction when the cleaning unit 21 is viewed from the back side.

[0062] 5 is a diagram illustrating the inclination of the detection unit 80. The cleaning unit 21 cleans by pressing a flexible material such as a brush 21a or a wiper against the window, but because the detection unit 80 is made of a hard material such as metal, it cannot be placed in contact with the window 11a and must be placed in front of the cleaning unit 21 with respect to the window 11a.

[0063] Therefore, if the detection unit 80 is arranged parallel to the window 11a (window surface) as shown in Fig. 5(A), slight irregularities in the window frame 13 cannot be detected, and the cleaning unit 21 may collide with the window frame. For this reason, in this embodiment, the detection unit 80 is arranged at a slight angle from the parallel direction as shown in Fig. 5(B), so that even slight irregularities in the window frame 13 can be detected.

[0064] Specifically, the detection unit 80 (right-direction detection unit 84) is disposed at a predetermined angle with respect to the horizontal (parallel direction) so that its tip faces the window 11a (the direction in which the window 11a is located). Similarly, the left-direction detection unit 83 is disposed at a predetermined angle with respect to the horizontal. Furthermore, the upward direction detection unit 81 and the downward direction detection unit 82 are disposed at a predetermined angle with respect to the vertical. The angle of inclination may be the same for all four detection units, or may be different for all four detection units. Furthermore, the four detection units may be rotatable relative to the cleaning unit 21 so that the angle can be changed during operation.

[0065] 6 is a diagram showing the tilt angle of the detection unit 80. For buildings with window frames 13 having a unique shape or window frames 13 made of materials or paint whose light reflectance differs significantly from the standard value, the reflectance can be measured before the window cleaning robot 20 is operated, and the threshold value of the detection unit 80 (sensor) and the angle of the detection unit 80 can be adjusted based on the results, thereby making it possible to use the robot in a variety of buildings.

[0066] In this way, the predetermined angle θ for tilting the detection unit 80 can be set arbitrarily depending on the specifications of the building and window frame. However, the predetermined angle θ can also be set according to a certain calculation formula. For example, as shown in FIG. 6, the predetermined angle θ of the detection unit 80 (right-direction detection unit 84) can be determined based on the distance L1 from the window 11a (window surface) to the detection unit 80 (right-direction detection unit 84, light-receiving unit or light-emitting unit of the detection unit), the distance L2 from the window 11a (window surface) to the tip of the window frame 13 (the tip on the opposite side from the window), and the distance L3 from the window frame 13 (the end of the window frame on the detection unit side) to the detection unit 80 (right-direction detection unit 84, light-receiving unit or light-emitting unit of the detection unit) (tan θ=(L1-L2) / L3).

[0067] The predetermined angle θ can be calculated based on the length of the brush 21a (the length of the flexible portion including the brush and wiper ≈ L1), the height (L2) of the window frame 13, and the distance L3 between the window frame 13 and the detection unit 80. In this case, the distance L3 can be determined by calculating the distance from when the detection unit 80 detects the window frame 13 to when the window cleaning robot 20 completely stops, based on the movement speed and deceleration time of the cleaning unit 21.

[0068] Fig. 7 is a diagram showing the configuration of the detection unit 80. The detection unit 80 employs an infrared sensor, and because this type of sensor detects a window frame from the amount of reflected light returning (for example, it determines that a window frame is present when it detects an amount of light equal to or greater than a predetermined threshold), it is desirable to provide a cover member 90 as shown in Fig. 7 to protect the light-receiving surface from direct light.

[0069] The cover member 90 is a cylindrical member that covers the sides (sides of the light-emitting section and the light-receiving section) of the tip 85 of the detection section 80 and has an opening 91 at the tip that allows infrared rays to pass through. The cover member 90 can be applied to four detection sections.

[0070] As described above, this embodiment has the following advantages. (1) According to this embodiment, in the temporary window cleaning robot 20, the cleaning unit 21 that cleans the window 11a with the brush 21a, wiper, etc. is provided with a detection unit 80 angled with respect to the surface of the window 11a, which makes it possible to detect even slight irregularities in the window frame 13 and detect the relative positional relationship between the cleaning unit 21 and the window frame 13 for various window shapes. This makes it possible to detect the cleaning range for any window 11a with simple adjustment, and to recognize the surface to be cleaned while maintaining cleaning efficiency and quality.

[0071] (2) According to this embodiment, the detection unit 80 detects the window frame 13 without contact and detects the window frame 13 in four directions, i.e., up, down, left, and right. Therefore, the detection unit 80 can detect the window frame 13 from any direction without contacting the window frame 13, and does not damage the window frame 13. Therefore, even if the window cleaning robot 20 is a temporary one, it is possible to avoid a decrease in cleaning efficiency and cleaning quality.

[0072] (3) According to this embodiment, the surface to be cleaned is the window 11a of the building 10, and the three-dimensional structure is the window frame 13. Therefore, the window 11a can be cleaned while detecting the window frame 13 from all directions without contacting the window frame 13.

[0073] (4) According to this embodiment, four detection units 80 are provided, namely, an upward detection unit 81, a downward detection unit 82, a leftward detection unit 83, and a rightward detection unit 84. Therefore, the roles of the four detection units 80 can be made independent, thereby improving the accuracy of detection in the four directions.

[0074] (5) According to this embodiment, the upward direction detection unit 81 and the downward direction detection unit 82 are disposed on the side surfaces of the cleaning unit 21, thereby minimizing the obstruction to the up-down movement of the cleaning unit 21. Furthermore, according to this embodiment, the left-direction detection unit 83 and the right-direction detection unit 84 are disposed on the top surface of the cleaning unit 21, thereby minimizing the obstruction to the left-right movement of the cleaning unit 21.

[0075] (6) According to this embodiment, the upward detection unit 81 is positioned at the upper end of the side of the cleaning unit 21, and the downward detection unit 82 is positioned at the lower end of the side of the cleaning unit 21. This allows the upward detection unit 81 and the downward detection unit 82 to be placed closer to the window frame 13, thereby improving the detection accuracy.

[0076] (7) According to this embodiment, the left-direction detection unit 83 is positioned at the left end of the top surface of the cleaning unit 21, and the right-direction detection unit 84 is positioned at the right end of the top surface of the cleaning unit 21. This allows the left-direction detection unit 83 and the right-direction detection unit 84 to be placed closer to the window frame 13, thereby improving detection accuracy.

[0077] (8) According to this embodiment, the detection unit 80 is disposed at an angle of a predetermined angle θ, so that it can detect even a small window frame 13 (a slight unevenness of the window frame 13).

[0078] (9) According to this embodiment, the predetermined angle θ is determined in accordance with the distances L1, L2, and L3. This facilitates design and improves detection accuracy.

[0079] (10) According to this embodiment, the detection unit 80 is a sensor that uses infrared rays, and therefore, the window frame 13 can be detected with high accuracy by infrared rays.

[0080] [Modifications] The present invention is not limited to the above-described embodiment, and can be practiced in various modified forms. (1) Although the cleaning robot has been described using the example of the window cleaning robot 20, other cleaning robots may also be used. For example, the cleaning robot may be a robot that cleans the wall surfaces of a building. The surface to be cleaned may be a window, a wall surface, or an exterior wall. The three-dimensional structure may be a window frame, an exterior louver, or an exterior wall.

[0081] (2) The cleaning range of the window cleaning robot 20 can be changed by changing the installation positions of the hanging unit 30 and the power unit 60. In other words, the arrangement positions of the hanging unit 30 and the power unit 60 are not limited to the example shown in FIG.

[0082] (3) An auxiliary wire may be provided to connect the two hanging portions 30 together. (4) Although the example has been described in which two suction devices 23 are arranged above and below the cleaning unit 21, two may be arranged on the left and right sides of the cleaning unit 21, or two may be arranged on the upper left, upper right, lower left, or lower right of the cleaning unit 21. The number of suction devices 23 may be three or more.

[0083] (5) The cleaning unit 21 may be movable left and right, front and rear, and diagonally. (6) The cleaning robot does not have to be equipped with a circulation unit. (7) At least one of the upper wiper and the lower wiper may be omitted.

[0084] (8) The cleaning unit 21 may move while in contact with the surface to be cleaned, or may move while approaching the surface to be cleaned without coming into contact with it. When moving while approaching the surface to be cleaned, for example, the cleaning unit 21 can clean the surface to be cleaned by spraying cleaning water without using a brush or wiper. (9) Although the number of detection units 80 has been described as four in the example, it may be one to three, or may be five or more. When there are three or fewer detection units, one detection unit can be rotated to detect multiple directions. (10) Each detector can be placed anywhere in the cleaning unit 21.

[0085] (11) The detection unit 80 does not have to be disposed at an angle. In this case, the detection unit 80 can be disposed in a direction along the horizontal or vertical direction. (12) The detection unit 80 may be a sensor other than an infrared sensor. (13) At least one of the left-direction detection unit 83 and the right-direction detection unit 84 may be disposed on the underside of the cleaning unit 21. [Explanation of symbols]

[0086] 10 Building 11 Wall 11a Window 12 Installation part 13 Window Frame 20 Window Cleaning Robot 21 Cleaning Department 21a Brush 22 Operating unit 23 Adsorption device 24 Storage Box 25 Tank 26 Hose 27 frames 28 wheels 30 Hanging part 40 wire 50 Hanging part 51 Pulley 52 Joint 60 Power section 66 Control Panel 80 Detection unit 81 Upward detection unit 82 Downward detection unit 83 Left direction detection unit 84 Right direction detection unit 90 Cover member 91 Opening L1: Distance from the window 11a to the detection unit 80 L2: Distance from the window 11a to the tip of the window frame 13 L3: Distance from the window frame 13 to the detection unit 80 100 Lifting equipment

Claims

1. A cleaning robot that is suspended from a lifting device temporarily installed in a building, A cleaning unit that cleans the surface to be cleaned by moving while being pressed against the surface to be cleaned of the building or while approaching the surface to be cleaned of the building; a detection unit provided in the cleaning unit, capable of detecting a three-dimensional structure placed near a surface to be cleaned of the building in a non-contact manner, and arranged at a position where the three-dimensional structure can be detected in four directions, i.e., up, down, left, and right; A cleaning robot comprising:

2. The cleaning robot according to claim 1 , the surface to be cleaned is a window of the building, The cleaning robot is characterized in that the three-dimensional structure is a window frame surrounding the window.

3. The cleaning robot according to claim 1 , The detection unit an upward detection unit that detects the three-dimensional structure above the cleaning unit; a downward detection unit that detects the three-dimensional structure located below the cleaning unit; a left direction detection unit that detects the three-dimensional structure located to the left of the cleaning unit; a right direction detection unit that detects the three-dimensional structure located to the right of the cleaning unit; A cleaning robot comprising:

4. The cleaning robot according to claim 3, the upward detection unit is disposed on a side surface of the cleaning unit, the downward detection unit is disposed on a side surface of the cleaning unit, the left direction detection unit is disposed on the upper surface or the lower surface of the cleaning unit, The cleaning robot is characterized in that the right direction detection unit is disposed on the upper surface or the lower surface of the cleaning unit.

5. The cleaning robot according to claim 3, the upward direction detection unit is disposed at an upper end of a side surface of the cleaning unit, The cleaning robot is characterized in that the downward direction detection unit is disposed at the lower end of a side surface of the cleaning unit.

6. The cleaning robot according to claim 3, the left direction detection unit is disposed at the left end of the upper surface or the lower surface of the cleaning unit, The cleaning robot is characterized in that the right direction detection unit is disposed at the right end of the upper or lower surface of the cleaning unit.

7. The cleaning robot according to claim 1 , The cleaning robot is characterized in that the detection unit is arranged at a predetermined angle with respect to the horizontal or vertical direction so that its tip faces the surface to be cleaned.

8. The cleaning robot according to claim 7, A cleaning robot characterized in that the specified angle is determined based on the distance from the surface to be cleaned to the detection unit, the distance from the surface to be cleaned to the tip of the three-dimensional structure, and the distance from the three-dimensional structure to the detection unit.

9. The cleaning robot according to claim 1 , The cleaning robot is characterized in that the detection unit is a sensor that uses infrared rays.

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