Window-cleaning robot

Abstract

Disclosed in the present application is a window-cleaning robot. The window-cleaning robot comprises a robot body, and, which are provided in the robot body, a suction unit, used for suctioning the robot body on a surface to be cleaned; a locomotion unit, used for driving the robot body to move; detection units, which are provided at edges of the robot body and used for detecting defects or edges of said surface; auxiliary cleaning units, which are mounted on the detection units; and a main cleaning unit, which is at least partially provided between the suction unit and the auxiliary cleaning units. The window-cleaning robot provided by the present application can improve the cleaning effect on edge positions or corner positions of surfaces to be cleaned.

Description

Window cleaning robot

[0001] Cross-reference to related applications

[0002] This application claims priority to the patent application with the application number 202422319828.5, the title of "Window cleaning robot", filed on September 23, 2024, with the State Intellectual Property Office of China, the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of cleaning equipment, in particular, to a window cleaning robot. BACKGROUND

[0004] This section is intended to provide background information to assist with understanding various technologies described herein. As the title of this section implies, this is a discussion of contexts of which the present disclosure can relate to, and it should not necessarily be considered as an admission that any of the information is prior art. Therefore, any statement made herein should not be considered as an admission that the information is prior art.

[0005] The window cleaning robot is fixed on the surface of the glass by the principle of negative pressure adsorption, and can clean the surface of the glass while walking on the surface of the glass. During the work, if the window cleaning robot cannot effectively identify the defects (depressions) existing on the surface of the window, or if the window cleaning robot moves to the edge of the glass, the negative pressure environment of the window cleaning robot will be destroyed, and the window cleaning robot will fall off the glass.

[0006] In the related art, a detection unit is installed on the body of the window cleaning robot to detect the depressions or protrusions on the surface of the glass. In order to improve the accuracy of detection, the detection unit is generally installed at the four corner positions of the body or extended from the corner positions to the outside of the body, so that the edge part or the corner part of the glass close to the glass frame cannot be in contact with the cleaning part due to the existence of the detection unit, and thus cannot be effectively cleaned, affecting the cleaning effect of the glass.

[0007] SUMMARY

[0008] The present application proposes a window cleaning robot which can improve the cleaning effect of the edge position or the corner position of the surface to be cleaned.

[0009] According to an aspect of the present application, a window cleaning robot is provided, the window cleaning robot comprising a body and a detection unit arranged on the body, wherein the detection unit comprises:

[0010] an adsorption unit for adsorbing the body to the surface to be cleaned;

[0011] a walking unit for driving the body to move;

[0012] A detection unit is arranged at the edge of the machine body and used to detect defects or edges of the surface to be cleaned.

[0013] An auxiliary cleaning unit is mounted on the detection unit.

[0014] A main cleaning unit is arranged at least partially between the suction unit and the auxiliary cleaning unit.

[0015] The number of auxiliary cleaning units is greater than or equal to the number of main cleaning units.

[0016] In this application, the auxiliary cleaning unit is arranged on the detection unit. While the detection unit detects defects or edges of the surface to be cleaned, the auxiliary cleaning unit can clean the detection position, thereby improving the cleaning effect of the edge position or corner position of the surface to be cleaned. In addition, the detection unit is usually made of hard materials such as plastic, resin, and metal. After long-term use, the surface of the detection unit may have defects such as damage or burrs. When the detection unit contacts the surface to be cleaned (such as glass) for detection, these damages or burrs may scratch the surface of the glass. Arranging the auxiliary cleaning unit on the surface of the detection unit can effectively prevent the glass from being scratched by the detection unit.

[0017] In some cases, there may be some subtle defects on the glass, such as small depth depressions. These subtle defects do not cause the suction unit to lose suction force, so the window cleaning robot is allowed to pass through these subtle defects. The main cleaning unit is usually a large area of cloth. Its purpose is to clean the surface to be cleaned during the movement of the window cleaning robot. The main cleaning unit is flatly attached to the surface to be cleaned (glass) under the suction of the suction unit. Since the surface of the main cleaning unit is flat, the main cleaning unit cannot extend into the interior of these subtle defects, causing pollutants to accumulate in the interior of the defects, affecting the cleaning effect of the window cleaning robot. By arranging the auxiliary cleaning unit on the detection unit, the auxiliary cleaning unit can enter the interior of the defects along with the detection unit, thereby achieving cleaning of the interior of the defects and improving the cleaning effect of the window cleaning robot.

[0018] In the prior art, the detection unit is completely exposed to the outside world or directly contacts the surface to be cleaned during operation. When the detection unit is exposed to the outside world, it is easily corroded by external pollution (such as rainwater and dirt on the glass). The corrosion of these pollutants can cause the appearance of the detection unit to be damaged, affecting the appearance and even the detection accuracy of the detection unit. Arranging the auxiliary cleaning unit on the detection unit can avoid direct contact between the detection unit and the dirt on the surface to be cleaned, thereby protecting the detection unit to some extent, prolonging the service life of the detection unit, and ensuring the detection accuracy of the detection unit.

[0019] The auxiliary cleaning units are arranged at the edges of the machine body. When the window-cleaning robot performs a window-cleaning task, the auxiliary cleaning units will first contact the contaminants on the surface to be cleaned, resulting in a higher contamination speed of the auxiliary cleaning units than that of the main cleaning units. By arranging the number of auxiliary cleaning units to be greater than or equal to the number of main cleaning units, the contaminated auxiliary cleaning units can be replaced individually without replacing all the auxiliary cleaning units, thereby reducing the use cost.

[0020] According to another aspect of the present application, a window-cleaning robot is provided, which comprises a machine body and a:

[0021] suction unit arranged on the machine body for suctioning the machine body to a surface to be cleaned;

[0022] a walking unit arranged on the machine body for moving the machine body;

[0023] a detection unit arranged at an edge of the machine body for detecting defects or edges of the surface to be cleaned;

[0024] an auxiliary cleaning unit arranged on the detection unit; and

[0025] a main cleaning unit arranged at least partially between the suction unit and the auxiliary cleaning unit;

[0026] The detection unit is movably arranged relative to the center of the machine body. When the pressure on the detection unit is less than or equal to 0.3 N, the detection unit does not move relative to the main cleaning unit.

[0027] In some possible implementations, when the detection unit touches an obstacle while moving with the machine body and the pressure on the detection unit is less than or equal to 0.3 N, the detection unit does not move relative to the main cleaning unit.

[0028] The surface to be cleaned can have various obstacles, including a first type of obstacle with a relatively large fixed force between the surface to be cleaned and a second type of obstacle with a relatively small fixed force between the surface to be cleaned (including a glass surface). The first type of obstacle can include a glass frame, contaminants, a base, and other objects that are fixed to the surface to be cleaned by means of snap connection, fastening connection, adhesion, and adsorption connection. The second type of obstacle can include bird droppings, rotten fruits, leaves, asphalt, tar, gum, feathers, large-particle dust, and debris, which have a relatively low fixed force between the surface to be cleaned and are adhered to the surface to be cleaned by their own small adhesion or external small adhesion.

[0029] The detection unit is movably arranged relative to the main cleaning unit. When the detection unit collides with the first type of obstacle, the detection unit moves (e.g., rotates, moves towards the center of the robot body, etc.) under the action of the collision force. With the above arrangement, on the one hand, the detection unit can be prevented from being damaged by being squeezed by the robot body and the first type of obstacle, such as being broken or having burrs; on the other hand, when the detection unit moves under the collision force of the first type of obstacle and the amount of movement reaches a preset value, the window-cleaning robot determines that it has collided with the first type of obstacle that cannot be passed, and then no longer continues to move in the original direction, but performs a stop action or a turning action to effectively avoid the obstacle.

[0030] Some to-be-cleaned surfaces are exposed to the outside world, so that some attachments, i.e., the second type of obstacle, can adhere to the surface of the to-be-cleaned surface. When the detection unit collides with the second type of obstacle, the detection unit can act as a "scraper" that can cause the second type of obstacle to be detached from the original position and move with the detection unit. If the detection unit also moves when it collides with the second type of obstacle and the amount of movement reaches a preset value, a misjudgment can occur. The window-cleaning robot will stop or turn to bypass the second type of obstacle, but in fact the window-cleaning robot can clean the second type of obstacle. Thus, a misjudgment occurs, affecting the window-cleaning efficiency and effect.

[0031] In addition, if the position of the detection unit relative to the robot body changes when the detection unit detects the edge of the frameless glass, the detection speed of the detection unit for the edge of the frameless glass can be affected, and thus the window-cleaning robot cannot act in time when it encounters the edge of the frameless glass and falls.

[0032] In fact, most attachments can be pushed away or scattered under a pressure of 0.3 Newton or less. For the first type of obstacle, an impact force of 0.3 Newton does not affect the working performance of the window-cleaning robot. The detection unit is arranged such that it does not move relative to the main cleaning unit when the pressure acting on the detection unit is less than or equal to 0.3 Newton. Thus, the above-mentioned attachments are effectively prevented from being misjudged as obstacles. The auxiliary cleaning unit is arranged on the detection unit, which can push the attachments away or scatter the attachments while allowing the attachments to adhere to the surface of the auxiliary cleaning unit, thereby cleaning the attachments. Some attachments have a certain connection force (e.g., adhesion force, friction force, etc.) with the surface of the to-be-cleaned body or the self-gravity of the attachments. When the detection unit pushes the attachments to move, the attachments can also act on the detection unit, and even cause the detection unit to move and change position. When the detection unit detects the edge of the frameless glass, the change in the position of the detection unit can reduce the detection speed of the detection unit for the edge of the glass, and thus the window-cleaning robot cannot act in time when it encounters the edge of the frameless glass and falls.

[0033] The inventor has verified through experiments that setting the pressure capable of moving the detection unit to be greater than 0.3 N can avoid the situation that the position of the detection unit changes due to the movement of the second type of obstacles, and further make the detection speed of the window cleaning robot on the frameless glass not be affected, so as to ensure that the window cleaning robot can act in time when encountering the edge of the glass and will not fall. In addition, setting the pressure capable of moving the detection unit to be greater than 0.3 N can make the detection unit not move when encountering the second type of obstacles, so as to improve the effect of the detection unit as a "squeegee" to make the detection unit more easily scrape the second type of obstacles from the original position and move the second type of contaminants, so as to improve the cleaning effect of the window cleaning robot.

[0034] In some possible implementation manners, the auxiliary cleaning unit is detachably mounted on at least part of the detection unit.

[0035] Since the wear speed of the auxiliary cleaning unit is faster than that of the detection unit, when the dirt on the surface of the auxiliary cleaning unit reaches a certain degree or is worn to a certain degree, the auxiliary cleaning unit needs to be replaced in time. The auxiliary cleaning unit is detachably arranged with at least part of the detection unit, which facilitates the user to replace the auxiliary cleaning unit and improves the user experience.

[0036] In some possible implementation manners, the auxiliary cleaning unit includes a fabric, and the fabric is used to clean the surface to be cleaned.

[0037] The surface of the fabric is relatively soft, which can avoid that the auxiliary cleaning unit excessively rubs against the glass surface during the cleaning of the glass surface, thereby causing the wear of the glass surface. In addition, the fabric has the characteristics of high water absorption, high oil absorption and high air permeability, which can effectively absorb the liquid and oil stains on the glass surface, so as to achieve a better cleaning effect, and can also ensure that the fabric can be quickly dried after repeated use, thereby improving the working efficiency of the window cleaning robot.

[0038] In some possible implementation manners, the fabric is mounted on the detection unit by magnetic attraction, adhesion or clamping.

[0039] The fabric is mounted by magnetic attraction, adhesion or clamping, which facilitates the user to quickly detach and mount the auxiliary cleaning unit and improves the user experience.

[0040] In some possible implementation manners, the detection unit includes a mounting portion connected with the body, a moving piece and a sensing piece are arranged on the mounting portion, the moving piece is movable relative to the mounting portion, and the sensing piece is used to identify the position of the moving piece. The window cleaning robot can determine whether the body is at the defect or edge of the surface to be cleaned based on the position of the moving piece.

[0041] The application adopts a mechanical movement combined with sensor detection to detect defects and edges of the surface to be cleaned, improves the detection accuracy, ensures that the window cleaning robot can walk to the cleanable area to the greatest extent, and improves the cleaning effect of the surface to be cleaned.

[0042] In some possible implementation manners, the mounting portion has a mounting through hole, and the moving member is at least partially arranged in the mounting through hole and can move along the axial direction of the mounting through hole.

[0043] By arranging the moving member at least partially in the mounting through hole, on the one hand, the hole wall of the mounting through hole can play a limiting and guiding role in the movement of the moving member, and on the other hand, the moving member can be prevented from being excessively exposed to the outside, thereby playing a protection role.

[0044] In some possible implementation manners, the moving member includes a sensing ball head and an extension spring, the sensing ball head is used to contact the surface to be cleaned, and the extension spring applies a pre-tightening force to the sensing ball head, so that the sensing ball head has a tendency to move away from the machine body.

[0045] When the window cleaning robot is adsorbed to the flat surface to be cleaned, the extension spring is compressed, and the sensing ball head is in a position relatively close to the machine body. When the sensing ball head moves to a defect or edge position of the surface to be cleaned, the sensing ball head is released from the compression limitation, and under the elastic force of the extension spring, the sensing ball head moves away from the machine body, and the sensing ball head is in a position relatively far away from the machine body. The sensing member can change the position of the moving member, and the window cleaning robot can determine whether the machine body is located at the defect or edge of the surface to be cleaned according to the position information of the moving member, thereby realizing the detection of the defect and the edge. The extension spring enables the sensing ball head to uniformly and lowly distribute the acting force on the surface to be cleaned, thereby reducing local wear and damage. During the movement, because the extension spring has the elastic property, when the sensing ball head collides with an external object, the extension spring can effectively absorb and buffer the impact force by compression, so that the sensing ball head is not easily damaged due to the collision, thereby ensuring the service life of the sensing ball head, and further reducing the influence of the sensing ball head after being impacted on other components, thereby improving the overall service life of the window cleaning robot.

[0046] In some possible implementation manners, the moving member further includes a moving body extending along the axial direction of the mounting through hole, the moving body can move along the axial direction of the mounting through hole, the sensing ball head is arranged at one end of the moving body, and the sensing member is used to identify the position of the other end of the moving body.

[0047] When the window cleaning robot is adsorbed to the surface to be cleaned, the extension spring is compressed, and the sensing ball head moves towards the machine body.

[0048] By setting the moving body, better cooperation between the moving part and the sensing part is achieved, and the detection accuracy of the detection unit is improved.

[0049] In some possible implementation manners, the moving amount of the sensing ball head in the axial direction of the mounting through hole is less than or equal to 20 mm.

[0050] The moving amount of the sensing ball head is less than or equal to 20 mm, which can avoid interference of the excessive movement of the sensing ball head on the work of other components of the window cleaning robot, and at the same time, a large layout space does not need to be reserved in the mounting through hole to arrange the sensing ball, so that the detection unit as a whole is more compact, and the development of the miniaturization of the detection unit as a whole is facilitated.

[0051] In some possible implementation manners, at least part of the auxiliary cleaning unit is mounted on the sensing ball head.

[0052] Mounting the auxiliary cleaning unit on the sensing ball head can ensure sufficient contact of the auxiliary cleaning unit with the surface to be cleaned, and effective cleaning of the corners of the surface to be cleaned can be achieved.

[0053] In some possible implementation manners, the auxiliary cleaning unit includes a fabric mounted on the sensing ball head.

[0054] The fabric is arranged on the sensing ball head, which can be in sufficient contact with the surface to be cleaned, and the cleaning effect on the surface to be cleaned is ensured. The surface of the fabric is relatively soft, which can avoid excessive friction between the auxiliary cleaning unit and the glass surface in the process of cleaning the glass surface, and thus abrasion of the glass surface is avoided. In addition, the fabric is arranged between the sensing ball head and the surface to be cleaned, which can avoid direct contact between the sensing ball head and the surface to be cleaned, so that scratching or damage of the glass surface is avoided. In addition, the fabric is relatively light, and does not affect the working load of the suction unit.

[0055] In some possible implementation manners, when the suction unit of the window cleaning robot is adsorbed to the surface to be cleaned,

[0056] If the auxiliary cleaning unit is in a state of being mounted on the sensing ball head, the sensing ball head moves to the limit position towards the body; and / or,

[0057] If the auxiliary cleaning unit is in a state of not being mounted on the sensing ball head, the sensing ball head does not move to the limit position.

[0058] When the auxiliary cleaning unit is not mounted on the sensing ball head, the sensing ball head is directly in contact with the surface to be cleaned, and the sensing ball head does not move to the limit position, so that the elastic action of the extension spring can reduce the sliding friction between the sensing ball head and the surface to be cleaned, and scratching of the sensing ball head on the glass is avoided.

[0059] When the auxiliary cleaning unit is installed on the sensing ball head, the auxiliary cleaning unit is in direct contact with the surface to be cleaned, the auxiliary cleaning unit is a cleaning material, and the glass surface will not be damaged. When the sensing ball head moves to the limit position, the auxiliary cleaning unit can be more closely attached to the surface to be cleaned, thereby improving the cleaning effect. Under the extrusion action of the sensing ball head, the friction between the auxiliary cleaning unit and the surface to be cleaned increases, which can better remove dirt and dust on the surface to be cleaned.

[0060] In some possible implementations, at least part of the auxiliary cleaning unit is installed on the mounting portion.

[0061] The mounting portion is a relatively stationary component in the detection unit, and the mounting portion can provide a more stable mounting position for the auxiliary cleaning unit, ensuring that the auxiliary cleaning unit does not deviate in position during the cleaning process, thereby ensuring stable cleaning effect. In addition, by installing the auxiliary cleaning unit on the mounting portion, the auxiliary cleaning unit will not affect the movement of the moving member, and thus will not affect the detection accuracy of the detection unit, so that the detection unit can better detect the cleaning area.

[0062] In some possible implementations, the detection unit further includes a pulley.

[0063] The pulley is arranged around at least part of the moving member, or the pulley is arranged in a spaced manner with the moving member.

[0064] When the window cleaning robot contacts and moves with the window frame or the corner, the pulley and the window frame or the corner can perform rolling friction, so that the friction between the window cleaning robot and the window frame or the corner is as small as possible, and excessive friction with the window frame or the corner to cause wear is avoided. At the same time, the window cleaning robot can also flexibly turn at the corners and edges of the window, improve the movement performance of the window cleaning robot, improve the movement smoothness and movable range of the window cleaning robot, and thus ensure the comprehensiveness of cleaning.

[0065] In some possible implementations, at least part of the auxiliary cleaning unit is installed on the pulley.

[0066] The flexibility of the pulley movement enables the auxiliary cleaning unit to contact the glass surface or the glass frame with different surfaces, thereby improving the effective cleaning area of the auxiliary cleaning unit. In addition, the installation of the auxiliary cleaning unit on the pulley can achieve additional protection of the pulley, avoid direct contact of the pulley with the glass frame to cause excessive wear of the pulley, and improve the service life of the pulley.

[0067] In some possible implementations, at least part of the auxiliary cleaning unit is installed on the outer side wall of the pulley.

[0068] And / or, at least part of the auxiliary cleaning unit is installed at one end of the pulley towards the surface to be cleaned.

[0069] Mounting the auxiliary cleaning unit on the outer side wall of the pulley can achieve cleaning of the glass frame; mounting the auxiliary cleaning unit at one end of the pulley towards the surface to be cleaned can achieve cleaning of the glass surface.

[0070] In some realizable ways, the pulley is detachably mounted on the mounting portion; or,

[0071] The pulley is detachably mounted on the moving part.

[0072] The pulley is easy to wear out during work due to contact with the glass frame. The detachable design facilitates the replacement of the pulley alone when it is worn out, without the need to disassemble the entire mounting portion, thereby reducing the use and maintenance costs of the detection unit. In addition, when the auxiliary cleaning unit is provided on the sensing ball head, the pulley is provided in a detachable structure, which facilitates the replacement of the auxiliary cleaning unit on the sensing ball head by the user.

[0073] In some realizable ways, the detection unit includes a detection sensor and a pulley, the detection sensor is used to detect defects or edges of the surface to be cleaned, and the pulley is rotatable relative to the machine body.

[0074] The pulley is arranged around at least part of the detection sensor; or, the pulley is arranged spaced apart from the detection sensor.

[0075] Through the cooperation of the detection sensor and the pulley, the detection sensor can identify different types of window edges, and the pulley can reduce the frictional resistance between the window cleaning robot and the glass frame, making the movement of the window cleaning robot more smooth. The detection sensor can be one or a combination of more than one of an infrared sensor, an ultrasonic sensor, a laser sensor, a camera, and a photoelectric sensor.

[0076] In some realizable ways, at least part of the auxiliary cleaning unit is mounted on the outer side wall of the pulley.

[0077] And / or, at least part of the auxiliary cleaning unit is installed at one end of the pulley towards the surface to be cleaned.

[0078] In some realizable ways, the auxiliary cleaning unit includes a fabric mounted on the outer surface of the pulley.

[0079] In some realizable ways, when the auxiliary cleaning unit is not subjected to external force, the auxiliary cleaning unit at least partially protrudes from the outer contour line of the machine body.

[0080] The auxiliary cleaning unit extends from the body, which can better contact the frame and corners of the window. Meanwhile, in some complex environments, some sundries may be accumulated near the window, and the body of the window cleaning robot cannot clean the glass near the sundries due to the limitation of the sundries. The part of the auxiliary cleaning unit extending from the body can enter these areas for cleaning, thereby improving the cleaning effect.

[0081] In some possible implementations, when the auxiliary cleaning unit is not subjected to external force, the distance between the auxiliary cleaning unit and the main cleaning unit is less than 20 mm.

[0082] The distance between the auxiliary cleaning unit and the main cleaning unit is small, and the distance between the auxiliary cleaning unit and the suction unit is close to the distance between the main cleaning unit and the suction unit, so that the main cleaning unit and the auxiliary cleaning unit exert a relatively uniform force on the surface to be cleaned, which helps to improve the cleaning effect of the auxiliary cleaning unit, especially the cleaning effect of stubborn stains.

[0083] In some possible implementations, the window cleaning robot further includes a control unit, which controls the walking unit to stop moving or turn when the detection unit receives an abnormal signal.

[0084] In some possible implementations, the auxiliary cleaning unit includes a fluff structure, which can be in contact with the surface to be cleaned when the window cleaning robot is adsorbed to the surface to be cleaned.

[0085] The fluff structure can enter into small gaps and textures, and can more thoroughly clean the edge and corner positions of the window.

[0086] In some possible implementations, the body is in a rectangular shape, and the number of the detection units is four, which are respectively arranged at the four corners of the body.

[0087] By arranging the four detection units at the four corners of the body, the window cleaning robot can early identify the frame of the window or obstacles regardless of the moving direction, thereby reducing the risk of collision or falling of the window cleaning robot and improving the safety. The detection units are arranged at the four corners of the body, so that the auxiliary cleaning unit is also arranged at the four corners of the body, which can facilitate the user to observe the pollution condition of the surface of the auxiliary cleaning unit, so as to timely replace the auxiliary cleaning unit. In addition, the user can roughly infer the pollution degree of the surface to be cleaned by observing the pollution degree of the auxiliary cleaning unit, so as to adjust the cleaning mode and the cleaning frequency.

[0088] The application further provides a window cleaning robot which can be conveniently maintained.

[0089] According to an aspect of the present application, a window-cleaning robot is provided, comprising a body and a:

[0090] an adsorption unit configured to adsorb the body to a surface to be cleaned;

[0091] a walking unit configured to move the body;

[0092] a detection unit configured to detect defects or edges of the surface to be cleaned;

[0093] a pulley configured to be rotatable relative to the body and detachable at least partially relative to the body.

[0094] The pulley can reduce friction with the window frame, help the window-cleaning robot to turn flexibly at the corners and edges of the window, and ensure comprehensive cleaning.

[0095] In the present application, the pulley is configured to be detachable at least partially relative to the body. If the pulley is worn or damaged, the user can quickly replace it, reduce the downtime of the window-cleaning robot, and improve the use efficiency of the equipment. In addition, the user can also select different types of pulleys according to different types of windows. For example, for a relatively fragile or scratch-prone surface, a pulley made of soft material needs to be replaced to reduce friction and avoid scratching the window or glass frame. For a surface with unevenness or sharp objects, a pulley made of hard material needs to be selected to avoid damaging the pulley. For a surface with more serious pollution, a pulley with different textures can be replaced to increase the adhesion and cleaning effect on the surface to be cleaned.

[0096] A heavier window-cleaning robot requires more adsorption force than a lighter one when adsorbed to a surface to be cleaned. For a flat and frameless glass surface, a pulley does not need to be used during cleaning. In such a working scenario, the pulley can be removed to reduce the overall weight of the window-cleaning robot, reduce the working load of the adsorption unit, save energy consumption, and reduce the risk of falling of the window-cleaning robot.

[0097] In summary, the detachable pulley structure not only improves the functionality and user experience of the window-cleaning robot, but also enhances the maintainability and adaptability of the equipment to different working scenarios.

[0098] In some possible implementations, the pulley comprises a fixed part and a detachable part, and the detachable part is detachably connected to the fixed part.

[0099] The fixing part can ensure the firmness of the connection between the pulley and the body, and avoid the pulley from falling off during use. The detachable part can be detachably connected to the fixing part. There can be multiple detachable parts, and different detachable parts can be used in different scenarios. In this way, the window cleaning robot can be flexibly selected according to different cleaning needs and surface types, and the appropriate detachable part can be assembled to cope with the corresponding use scenario, thereby enriching the use scenarios of the window cleaning robot.

[0100] In some possible implementations, a fabric is arranged on the detachable part or the detection unit, and the fabric is used to clean the surface to be cleaned.

[0101] The fabric arranged on the detachable part can clean the glass frame or the glass corner position, thereby improving the cleaning effect of the window cleaning robot. When the surface of the fabric is contaminated to a certain extent or the fabric is damaged, the user can replace the detachable part quickly, so that the window cleaning robot can continue to clean without the need to disassemble the entire pulley structure, thereby improving the user experience.

[0102] In some possible implementations, the fabric is installed on the detachable part or the detection unit by magnetic attraction, adhesion or clamping.

[0103] In some possible implementations, a filling part is arranged between the detachable part and the fixing part, and the filling part is used to fill the gap between the detachable part and the fixing part.

[0104] By arranging the filling part in the gap between the detachable part and the fixing part, the gap between the detachable part and the fixing part is minimized as much as possible, so as to minimize the shaking amount of relative movement between the two, thereby enabling the detachable part and the fixing part to maintain a relatively static state during work, avoiding the relative shaking between the detachable part and the fixing part during the rolling process of the pulley in contact with the glass frame or the obstacle, and affecting the rolling effect of the pulley.

[0105] In some possible implementations, the detection unit includes a mounting part connected to the body, a moving part and a sensing part are arranged on the mounting part, the moving part is movable relative to the mounting part, and the sensing part is used to identify the position of the moving part. The window cleaning robot can determine whether the body is at a defect or an edge of the surface to be cleaned based on the position of the moving part.

[0106] In some possible implementations, the mounting part has a mounting through hole, and the moving part is at least partially arranged in the mounting through hole. The moving part can move along the axial direction of the mounting through hole.

[0107] In some possible implementation manners, the moving member comprises a sensing ball head configured to contact the surface to be cleaned and an elastic spring configured to apply a pre-tightening force to the sensing ball head so that the sensing ball head has a tendency to move away from the body.

[0108] In some possible implementation manners, the moving member further comprises a moving body extending along the axial direction of the mounting through hole, the moving body is movable along the axial direction of the mounting through hole, the sensing ball head is arranged at one end of the moving body, and the sensing member is configured to identify the position of the other end of the moving body.

[0109] When the window-cleaning robot is adsorbed to the surface to be cleaned, the elastic spring is compressed, and the sensing ball head moves towards the body.

[0110] In some possible implementation manners, the pulley is mounted to the mounting portion and is rotatable relative to the mounting portion.

[0111] In some possible implementation manners, the pulley is mounted to the outer side of the mounting portion through a bearing.

[0112] The bearing can comprise an inner ring and an outer ring that are rotatably connected to each other, the inner ring is fixed to the outer side of the mounting portion, and the outer ring is fixed to the inner side of the pulley, so that the pulley is rotatably mounted to the outer side of the mounting portion.

[0113] The pulley is assembled to the mounting portion through the bearing, so that the pulley can roll smoothly, the pulley is prevented from falling off the body, and the reliability of the pulley is improved.

[0114] In some possible implementation manners, the pulley is detachably mounted to the sensing ball head.

[0115] The pulley is detachably mounted to the sensing ball head, and the pulley moves up and down together with the sensing ball head; when the fabric is mounted to the sensing ball head, the fabric is prevented from falling off the sensing ball head due to the mutual movement of the pulley and the sensing ball head, compared with the technical solution in which the pulley is assembled to the mounting portion, so that the mounting stability and the cleaning stability of the fabric are ensured.

[0116] In some possible implementation manners, the pulley is mounted to the sensing ball head in a clamping manner.

[0117] In some possible implementation manners, the window-cleaning robot further comprises a control unit, the control unit is configured to control the walking unit to stop moving or to turn when the abnormal signal of the detection unit is received.

[0118] The application further provides a window-cleaning robot which is convenient to move.

[0119] According to an aspect of the present application, a window-cleaning robot is provided, comprising a body and a:

[0120] suction unit configured to suck the body to a surface to be cleaned;

[0121] a moving unit configured to move the body; and

[0122] a detection unit configured to detect a defect or an edge of the surface to be cleaned.

[0123] The detection unit comprises a mounting portion connected to the body, a moving member and a sensing member disposed in the mounting portion, the moving member being movable relative to the mounting portion, and the sensing member being capable of identifying a position change of the moving member; the moving member comprises a sensing ball head and an elastic member, the sensing ball head being configured to contact the surface to be cleaned, and the elastic member being configured to apply a pre-tightening force to the sensing ball head so that the sensing ball head has a tendency to move away from the body; the sensing ball head is configured to be spherical and freely rollable in the mounting portion and movable relative to the mounting portion.

[0124] In the present application, the friction between the sensing ball head and the surface to be cleaned is rolling friction, which is much lower than sliding friction, thereby significantly reducing the friction between the sensing ball head and the surface to be cleaned and avoiding scratching the glass surface by the sensing ball head; in addition, each surface of the sensing ball head can contact the surface to be cleaned, preventing local over-wear of the sensing ball head and prolonging the service life of the sensing ball head.

[0125] The sensing ball head is movable in the mounting portion, and when the window-cleaning robot is sucked to the surface to be cleaned, the sensing ball head moves in the mounting portion in a direction towards the body, so that most of the sensing ball head is hidden in the mounting portion, the area of the sensing ball head exposed outside the mounting portion is reduced, and the probability of the sensing ball head hitting an obstacle is reduced.

[0126] In some possible implementations, the elastic member is a telescopic spring.

[0127] In some possible implementations, the mounting portion has a mounting through hole, and the sensing ball head is at least partially disposed in the mounting through hole.

[0128] In some possible implementations, the moving member further comprises a moving body extending along an axial direction of the mounting through hole, the moving body being movable along the axial direction of the mounting through hole, the sensing ball head abutting one end of the moving body, and the sensing member being configured to identify a position of the other end of the moving body.

[0129] When the window-cleaning robot is adsorbed on the surface to be cleaned, the elastic member is compressed, and the sensing ball head moves towards the direction close to the body.

[0130] In some possible implementation manners, one end of the moving body has an abutting surface which is matched with the outer surface of the sensing ball head.

[0131] The abutting surface of the moving body is matched with the outer surface of the sensing ball head, which provides support for the sensing ball head and makes the rolling process of the sensing ball head more smooth, avoiding the sensing ball head from being stuck during the rolling process.

[0132] In some possible implementation manners, the window-cleaning robot further comprises a control unit, which controls the walking unit to stop moving or turn when receiving the abnormal signal of the detection unit.

[0133] In some possible implementation manners, the window-cleaning robot further comprises a pulley which is arranged around the detection unit and is rotatable relative to the body.

[0134] In some possible implementation manners, a fabric is arranged on the pulley and / or on the sensing ball head.

[0135] The fabric is used for cleaning the surface to be cleaned. BRIEF DESCRIPTION OF DRAWINGS

[0136] The disclosure of the present application will be described with reference to the accompanying drawings. It should be understood that the drawings are only used for illustrative purposes, and are not intended to limit the scope of protection of the present application. In the drawings, the same reference signs are used to refer to the same components unless otherwise specified. Among them:

[0137] FIG. 1 schematically shows a partial cross-sectional view of a window-cleaning robot according to an embodiment of the present application;

[0138] FIG. 2 schematically shows a partial perspective view of the window-cleaning robot in FIG. 1;

[0139] FIG. 3 schematically shows a partial exploded view of FIG. 2;

[0140] FIG. 4 schematically shows a partial cross-sectional view of a window-cleaning robot according to an embodiment of the present application;

[0141] FIG. 5 schematically shows another angle of the partial cross-sectional view of the window-cleaning robot in FIG. 4;

[0142] FIG. 6 schematically shows a partial cross-sectional view of a window-cleaning robot according to an embodiment of the present application;

[0143] Fig. 7 schematically shows a cross-sectional view of a portion of the window-cleaning robot of Fig. 6 from another angle;

[0144] Fig. 8 schematically shows a perspective view of a portion of the window-cleaning robot of Fig. 5;

[0145] Fig. 9 schematically shows a window-cleaning robot according to an embodiment of the present application in a top view;

[0146] Fig. 10 schematically shows a window-cleaning robot according to an embodiment of the present application in a top view;

[0147] Fig. 11 schematically shows a window-cleaning robot according to an embodiment of the present application in a perspective view;

[0148] Fig. 12 schematically shows a cross-sectional view of a portion of a window-cleaning robot according to an embodiment of the present application;

[0149] Fig. 13 schematically shows a cross-sectional view of a portion of a window-cleaning robot according to an embodiment of the present application;

[0150] Fig. 14 schematically shows a cross-sectional view of a portion of a window-cleaning robot according to an embodiment of the present application;

[0151] Fig. 15 schematically shows a cross-sectional view of a portion of a window-cleaning robot according to an embodiment of the present application;

[0152] Fig. 16 schematically shows a cross-sectional view of a portion of a window-cleaning robot according to an embodiment of the present application;

[0153] Fig. 17 schematically shows a cross-sectional view of a portion of a window-cleaning robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0154] It is readily understood that the technical solution according to the present application can have various structural modes and implementation modes which can be replaced with each other without changing the spirit of the present application, and can be understood by those skilled in the art. Therefore, the following detailed description and the accompanying drawings are only exemplary descriptions of the technical solution of the present application, and should not be considered as the whole or as a limitation or restriction of the technical solution of the present application.

[0155] According to one embodiment of the present application, as shown in FIGS. 9-11, the window cleaning robot includes a body 10 and an adsorption unit 300, a walking unit 500, a main cleaning unit 400, a detection unit 100 and an auxiliary cleaning unit 200 arranged on the body 10. The adsorption unit 300 is used to adsorb the body 10 to a surface to be cleaned, for example, the adsorption unit 300 is arranged at the middle of the body 10, the adsorption unit 300 is provided with a negative pressure cavity, the opening of the negative pressure cavity can be towards the surface to be cleaned, and a negative pressure environment can be generated in the negative pressure cavity to adsorb the body 10 to the surface to be cleaned; the walking unit 500 is used to drive the body 10 to move, the walking unit 500 can be in a track structure, and the walking unit 500 can be arranged inside the negative pressure cavity or outside the negative pressure cavity; the detection unit 100 can be arranged at the edge of the body 10 and used to detect defects or edges of the surface to be cleaned; the auxiliary cleaning unit 200 is mounted on the detection unit 100; and the main cleaning unit 400 is at least partially arranged between the adsorption unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 is detachably mounted on the detection unit 100, for example.

[0156] The detection unit 100 is movably arranged relative to the center of the body 10. Specifically, the detection unit 100 can be mounted on the body 10 through an elastic structure or a telescopic structure, when the detection unit 100 is impacted by an external impact greater than a threshold value of deformation of the elastic structure or a threshold value of movement of the telescopic structure, the detection unit 100 can move towards the center of the body 10. The elastic structure or the telescopic structure can be a part of the body 10 (for example, a bumper 102) or an additional component, and the purpose is to realize that the detection unit 100 can move relative to the center of the body 10. When the detection unit 100 is impacted and moves towards the center of the body 10 or the amount of movement reaches a set value, a signal is given to the window cleaning robot that there is an obstacle (or a window frame) in front of the window cleaning robot, so as to avoid the window cleaning robot continuing to walk in the original moving direction and prevent the window cleaning robot from falling off the surface to be cleaned due to the impact of the obstacle.

[0157] Please refer to FIG. 11, specifically, the body 10 includes a base 101 and a bumper plate 102, the bumper plate 102 is arranged around the periphery of the base 101 and can move in the direction of approaching or moving away from the base 101, when the bumper plate 102 is impacted by external force, the bumper plate 102 moves in the direction of approaching the base 101, when the external force is removed, the bumper plate 102 moves in the direction of moving away from the base 101, back to the original position, the bumper plate 102 moves while driving the detection unit 100 and the auxiliary cleaning unit 200 to move together. The bumper plate 102 can help the window cleaning robot adapt to various environments, improve the flexibility of the window cleaning robot, reduce the failure caused by collision, thereby reducing the maintenance frequency and cost. The specific structure of the bumper plate 102 and the connection mode between the bumper plate 102 and the body 10 can adopt related technical means in the prior art, so this will not be repeated here. Please refer to FIG. 9, exemplarily, the overall shape of the body 10 is rectangular, the number of detection units 100 is set to four, and the four detection units 100 are arranged at the four corner positions of the body 10.

[0158] Please refer to FIG. 10 and FIG. 11, the adsorption unit 300, the walking unit 500, and the main cleaning unit 400 are arranged on the base 101, and the detection unit 100 and the auxiliary cleaning unit 200 are arranged on the bumper plate 102 or a structure that can extend and retract relative to the body 10. The detection unit 100 is movably arranged relative to the center of the body 10, when the pressure received by the detection unit 100 is less than or equal to 0.3N, the detection unit 100 does not move relative to the main cleaning unit 400.

[0159] Specifically, when the detection unit 100 travels with the body 10 and touches the obstacle and receives a pressure from the obstacle less than or equal to 0.3 Newton, the detection unit 100 does not move relative to the main cleaning unit 300.

[0160] In the force received by the detection unit 100, as long as there is a component force towards the center of the body 100, the force can be called pressure. For example, in FIG. 10, the left rear detection unit 200 protrudes at the corner formed by the left side and the rear side of the body 10, and the middle position of the body 10 is located at the right front side of the left rear detection unit 100. When the force applied to the left rear detection unit 100 has a component towards the front or the right, it indicates that the force is pressure.

[0161] For example, the right front detection unit 100 protrudes from the corner formed by the right side and the front side of the body 10, and the middle position of the body 10 is located at the left rear side of the right front detection unit 100. When the force applied to the right front detection unit 100 has a component in the rear direction or the right direction, it indicates that the force is a pressure. It should be noted that the above is illustrated by taking an example of one detection unit 100 protruding from the outer edge of two sides of the body 10 in FIG. 10. For the case where the detection unit 100 protrudes from the outer edge of one side of the body 10, those skilled in the art can easily deduce from the above, and thus the details are not repeated here.

[0162] The surface to be cleaned can have various obstacles, including a first type of obstacle with a relatively large fixing force with the surface to be cleaned and a second type of obstacle with a relatively small fixing force with the surface to be cleaned, including a glass surface. The first type of obstacle can include glass frames, contaminants, bases, and the like, which are fixed to the surface to be cleaned by snap connection, fastening connection, adhesion, adsorption connection, and the like. The second type of obstacle can include bird droppings, rotten fruits, leaves, asphalt, tar, gum, feathers, large-particle dust, and the like, which have a relatively low fixing force with the surface to be cleaned and are adhered to the surface to be cleaned by their own small adhesion or external small adhesion.

[0163] The second type of obstacle on the surface to be cleaned allows the detection unit 100 to pass through. According to the inventor's experiments, for these second type of obstacles, a force less than or equal to 0.3 Newton can push or scatter them in most cases. For the first type of obstacle, an impact force of 0.3 Newton will not damage the window cleaning robot.

[0164] In addition, if the detection unit 100 can detect the edge of the frameless glass, the change in the position of the detection unit 100 relative to the body 10 will affect its detection speed of the edge of the frameless glass, and thus the window cleaning robot cannot act in time when it encounters the edge of the frameless glass and falls. By setting the pressure to be less than or equal to 0.3 Newton, the change in the position of the detection unit 100 caused by pushing the second type of obstacle can be avoided, and thus the detection speed of the edge of the frameless glass by the window cleaning robot is not affected, and thus the window cleaning robot can act in time when it encounters the edge of the frameless glass and will not fall.

[0165] In addition, by setting the pressure that can move the detection unit 100 to be not less than 0.3N, the detection unit 100 will not move when it encounters the second type of obstacle mentioned above, so as to improve the effect of the detection unit 100 as a "scraper" and make it easier to scrape the second type of obstacle from the original position and push the second type of obstacle to move, thereby improving the cleaning effect of the window cleaning robot.

[0166] Therefore, the detection unit 100 is arranged to be unable to move under a pressure less than or equal to 0.3 Newton, so that the removable attachments can be avoided to be identified as obstacles, and the missed cleaning can be avoided.

[0167] Referring to FIGS. 1-3, according to an embodiment of the present application, the detection unit 100 includes a mounting portion 110 connected to the body 10, a moving piece 130 arranged through the mounting portion 110 at least at one end, and a sensing piece 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected to the body 10, for example, the mounting portion 110 can be mounted on the impact plate 102, and the mounting portion 110 can move together with the impact plate 102; or a guide groove is arranged in the body 10, and the mounting portion 110 can slide along the guide groove.

[0168] The mounting portion 110 is provided with a mounting through hole 111 penetrating in the up-down direction (Z), the moving piece 130 is arranged through the mounting through hole 111, and the moving piece 130 can move in the up-down direction (Z) relative to the mounting portion 110 in the mounting through hole 111. The sensing piece 140 is used to identify the position change of the moving piece 130, and the window cleaning robot can determine whether it is at the defect or edge of the surface to be cleaned based on the position of the moving piece 130, so as to perform the corresponding action in advance, avoid the window cleaning robot to continue to walk in the original moving direction, and prevent the window cleaning robot from falling off the window.

[0169] Specifically, the mounting portion 110 includes a first mounting portion and a second mounting portion connected together, the first mounting portion is used to be mounted on the body 10, and the second mounting portion extends downward along the first mounting portion. The second mounting portion is in a cylindrical structure, and the mounting through hole 111 is arranged penetrating in the up-down direction.

[0170] The moving part 130 comprises a sensing ball head 131, an elastic spring 132, and a moving body 133 which is arranged through the mounting hole 111 (here, the "through" can mean that the upper end is through, or both the upper and lower ends are through). The lower end of the moving body 133 is connected to the sensing ball head 131 so that the moving body 133 can move together with the sensing ball head 131, and the sensing part 140 can sense the position change of the sensing ball head 131 to generate corresponding position information. The upper end of the moving body 133 is provided with a limiting part 134 which is fixedly connected to the moving body 133, for example, by a screw. The limiting part 134 is larger in size than the mounting hole 111, and has two functions: one is to limit the position of the moving body 133 so that the upper end of the moving body 133 is always located outside the mounting hole 111, and the other is that the limiting part 134 can be arranged adjacent to the sensing part 140 so as to facilitate the position recognition of the limiting part 134 by the sensing part 140, and the sensing part 140 recognizes the position change of the moving part 130 through the change of the limiting part 134.

[0171] The sensing ball head 131 is in a spherical structure, and in other embodiments, it can also be provided in a hemispherical structure, an ellipsoidal structure, etc., as long as the surface in contact with the surface to be cleaned is a circular arc surface to meet the use requirements. For example, the window-cleaning robot can determine that the body 10 is at the defect or edge of the surface to be cleaned based on the sensing ball head 131 being in a suspended state (i.e., the sensing ball head 131 does not contact the surface to be cleaned). The sensing ball head 131 can be completely arranged outside the mounting hole 111, or partially arranged inside the mounting hole 111 (see Figs. 6 and 7).

[0172] The elastic spring 132 is sleeved on the moving body 133, the lower end of the elastic spring 132 is in contact with the sensing ball head 131 (or with an additional structural part provided on the moving body 133), and the upper end of the elastic spring 132 abuts against other structural parts of the non-moving part 130, for example, the mounting part 110. When the window-cleaning robot is in a non-working state, the elastic spring 132 is in a natural state or a first compressed state, and the sensing ball head 131 is in a first position. When the window-cleaning robot is adsorbed on the surface to be cleaned, the elastic spring 132 is in a second compressed state, and the sensing ball head 131 is in a second position. The compression degree of the elastic spring 132 in the second compressed state is greater than that in the first state, so that the elastic spring 132 applies a pre-tightening force to the sensing ball head 131 when the window-cleaning robot is working, and the sensing ball head 131 has a tendency to move away from the body 10 (downward).

[0173] The inductive element 140 is installed on the first installation part. The inductive element 140 can be an optical coupling sensor. The limiting element 134 is used in cooperation with the optical coupling sensor. When the inductive ball head 131 is in the first position, the signal between the photosensitive elements of the optical coupling sensor is not blocked and can be conducted. When the inductive ball head 131 is in the second position, the signal between the photosensitive elements of the optical coupling sensor is blocked and cannot be conducted. Alternatively, when the inductive ball head 131 is in the first position, the signal between the photosensitive elements of the optical coupling sensor is blocked and cannot be conducted. When the inductive ball head 131 is in the second position, the signal between the photosensitive elements of the optical coupling sensor is not blocked and can be conducted. When the photosensitive elements are conducted, the output end generates a corresponding current or voltage signal. This signal is used to drive the subsequent circuit.

[0174] The detection unit 100 not only includes the detection sensor of the above example, but also can be one or more combinations of a photoelectric sensor, an infrared sensor, an ultrasonic sensor, and a laser sensor.

[0175] Please refer to FIG. 12 and FIG. 13. The auxiliary cleaning unit 200 includes a fabric 201. The fabric 201 is used to clean the surface to be cleaned. The fabric 201 is, for example, a flocked cloth. The surface to be cleaned is a relatively flat surface, such as a glass surface. The fabric 201 is, for example, installed on the inductive ball head 131 in a detachable manner. For example, the fabric 201 can be installed on the side surface of the inductive ball head 131 which contacts the surface to be cleaned. After the fabric 201 is contaminated due to cleaning, the fabric 201 can be detached from the detection unit 100, and then the cleaned fabric 201 or a new fabric 201 is reinstalled on the detection unit 100, or a new fabric 201 is directly replaced. The fabric 201 is, for example, installed on the inductive ball head 131 by magnetic attraction, adhesion, or clamping. Please refer to FIG. 12. The fabric 201 is directly installed on the side surface of the inductive ball head 131 which contacts the surface to be cleaned by magnetic attraction or adhesion. Please refer to FIG. 13. The fabric 201 is installed on an adapter. The adapter is clamped on the outer side wall of the inductive ball head 131. The adapter can rotate relative to the inductive ball head 131 or can remain relatively stationary with the inductive ball head 131. In addition to the fabric 201, a strip-shaped pile structure 202 can also be installed on the surface of the adapter to improve the cleaning effect.

[0176] When the sensing ball head 131 plays a sensing role, the fabric 201 installed on the sensing ball head 131 can play a cleaning role on the cleaning surface. When the suction unit 300 of the window cleaning robot is adsorbed on the cleaning surface, if the fabric 201 is in the state of being installed on the sensing ball head 131, because there is at least part of the fabric 201 between the sensing ball head 131 and the cleaning surface, the sensing ball head 131 moves to the limit position towards the body 10, the limit position is set to move the sensing ball head 131 to the limit position of the elastic floating space, that is, the sensing ball head 131 is "pressed dead" on the cleaning surface, and this setting mode makes the fabric 201 and the cleaning surface have enough friction, which guarantees the cleaning effect of the fabric 201; when the suction unit 300 of the window cleaning robot is adsorbed on the cleaning surface, if the fabric 201 is in the state of not being installed on the sensing ball head 131, because there is no fabric 201 between the sensing ball head 131 and the cleaning surface, at this time the sensing ball head 131 does not move to the limit position, and there is a certain elastic allowance between the sensing ball head 131 and the cleaning surface, which avoids excessive friction between the sensing ball head 131 and the cleaning surface, thereby avoiding scratching the cleaning surface.

[0177] Please continue to refer to FIGS. 1-3, the detection unit 100 further comprises a pulley 120, the pulley 120 is at least partially arranged around the moving piece 130, that is, the pulley 120 at least partially extends along the central axis of the moving piece 130. In the embodiment shown in FIG. 1, the pulley 120 is installed on the mounting portion 110. The pulley 120 can rotate around the moving piece 130. Specifically, the pulley 120 is installed on the outer side of the mounting portion 110 through a bearing 124, so that the pulley 120 can rotate smoothly. The bearing 124 can be composed of an inner ring and an outer ring that are rotatably connected to each other, the inner ring is fixed to the outer side of the mounting portion 110, and the outer ring is fixed to the inner side of the pulley 120, so as to achieve that the pulley 120 is rotatably installed on the outer side of the mounting portion 110.

[0178] Exemplarily, the pulley 120 is at least partially detachable relative to the body 10. For example, the pulley 120 can be integrally detachably installed on the mounting portion 110. Alternatively, the pulley 120 can be partially detachably installed on the mounting portion 110. By setting the pulley 120 to be at least partially detachable relative to the body 10, the maintenance or replacement of the pulley 120 can be facilitated.

[0179] Exemplarily, the pulley 120 comprises a fixed portion 121 and a detachable portion 122, the detachable portion 122 is detachably connected to the fixed portion 121, so as to facilitate the maintenance or replacement of the detachable portion 122. The detachable portion 122 as a part of the pulley 120 can rotate around the moving piece 130, and can roll along the glass frame, for example. Exemplarily, the detachable portion 122 and the fixed portion 121 are detachably connected through a clamping groove structure.

[0180] Specifically, the fixed part 121 is located above the detachable part 122, the fixed part 121 is installed on the mounting part 110 through the bearing 134, the diameter of the upper half of the fixed part 121 is larger than the diameter of the lower half of the fixed part 121, the lower half of the fixed part 121 is provided with a mounting clamping groove 1211, the mounting clamping groove 1211 is arranged along the up-down direction and penetrates the bottom end of the fixed part 121, the width of the mounting clamping groove 1211 at different height positions is different, the width of the mounting clamping groove 1211 at the position closest to the bottom end of the fixed part 121 is larger, so as to facilitate the installation of the detachable part 122, the width of the mounting clamping groove 1211 at the position close to the upper half of the fixed part 121 is also larger, so that there is a certain excess space between the fixed part 121 and the detachable part 122, and the width of the mounting clamping groove 1211 between the two regions with larger width is smaller, so as to avoid the detachable part 122 from falling off the fixed part 121 during work. The mounting clamping groove 1211 is provided in multiple, for example, two, three or four, and is uniformly arranged along the circumference of the fixed part 121.

[0181] The inner side wall of the detachable part 122 is provided with a clamping piece 1221 corresponding to the mounting clamping groove 1211, the thickness of the clamping piece 1211 is slightly larger than the minimum width of the mounting clamping groove 1211 and smaller than the maximum width of the mounting clamping groove 1211, and the width of the mounting clamping groove 1211 gradually decreases from the lower part to the upper part, during installation, the clamping piece 1221 enters the mounting clamping groove 1211 from the open lower end of the mounting clamping groove 1211, when reaching the region of the mounting clamping groove 1211 with smaller width, the clamping piece 1221 forces the mounting clamping groove 1211 at the region with smaller width to elastically deform to a certain extent, so that the clamping piece 1221 can continue to move upward and enter the mounting clamping groove 1211 at the region with the maximum width at the uppermost position, the length of the mounting clamping groove 1211 at this region is greater than the length of the clamping piece 1221, so that the clamping piece 1221 can be completely placed in the mounting clamping groove 1211 at this region, avoiding the clamping piece 1221 from falling off.

[0182] A filling part 123, for example, a silica gel sleeve, is arranged between the detachable part 122 and the fabric 201, the filling part 123 is used to fill the gap between the detachable part 122 and the fabric 201, improve the installation stability of the fabric 201, and avoid the fabric 201 from shaking. The filling part 123 is made of a material similar to a bellows, and the side wall of the filling part 123 is provided with a limiting groove 1231 matched with the clamping piece 1221. During installation, the clamping piece 1221 is first installed into the limiting groove 1231, and then the clamping piece 1221 is clamped into the mounting clamping groove 1211; during disassembly, the detachable part 122 and the filling part 123 are disassembled together.

[0183] The dismounting part 122 is provided with a fabric 201, which is used to clean the surface to be cleaned. Referring to FIGS. 2 and 3, the fabric 201 is installed on the dismounting part 122 by means of adhesion, and can also be fixedly installed on the dismounting part 122. When the fabric 201 is installed on the dismounting part 122 by means of adhesion or magnetic attraction, the advantage is that the fabric 201 can be directly dismounted when it needs to be replaced. When the fabric 201 is fixedly installed on the dismounting part 122, the advantage is that the fabric 201 is installed more firmly and will not fall off during cleaning, and when the fabric 201 is replaced, the dismounting part 122 can be replaced together, which is relatively low in cost.

[0184] The fabric 201 is provided with a layer of fabric, which can also be provided with multiple layers, and specifically, the fabric 201 can be a short-flocked cloth, which can complete the cleaning of the glass frame. The fabric 201 can also be provided with a strip-shaped fluff structure 202, which can be folded to the low end of the pulley 120, the glass surface, and can clean the glass while cleaning the glass frame. In another way, a strip-shaped fluff structure 202 is directly provided on the surface of the dismounting part 122, and the fluff structure 202 is used to clean the glass frame and the glass surface. In summary, the fluff structure 202 can be part of the fabric 201, and the fluff structure 202 can also be an independent auxiliary cleaning unit 200.

[0185] The outer diameter of the dismounting part 122 is greater than the outer diameter of the fixing part 121, so that when the window-cleaning robot is working, the dismounting part 122 can be in contact with the glass frame or the obstacle, and the fixing part 121 has a lower probability of being in contact with the glass frame or the obstacle, thereby reducing the wear speed of the fixing part 121 and prolonging the service life of the fixing part 121; the reason why the dismounting part 122 can be in contact with the glass frame or the obstacle at all times is as follows: 1. The outer wall of the dismounting part 122 is provided with the fabric 201, which plays a certain protective role for the dismounting part 122; 2. The dismounting part is a detachable structure, which is convenient for users to replace, and compared with replacing the fixing part 121, replacing the dismounting part 122 can better improve the user experience.

[0186] When the window-cleaning robot is adsorbed to the surface to be cleaned, the extension spring 132 is compressed, and the sensing ball head 131 moves towards the direction of the robot body 10. The movement amount of the sensing ball head 131 is, for example, less than or equal to 20 mm. The movement amount of the sensing ball head 131 should not be set too large, so as to avoid that the movement amount of the sensing ball head 131 is too large to interfere with the work of other parts of the window-cleaning robot. For example, the larger the movement amount of the sensing ball head 131 in the direction of the robot body 10, the more space the robot body 10 needs to accommodate the detection unit 100, which causes a waste of space and is not conducive to the miniaturization of the window-cleaning robot.

[0187] When the auxiliary cleaning unit 200 is not subjected to external force (for example, the auxiliary cleaning unit 200 is not in contact with the frame of the surface to be cleaned, for example, a glass frame), the auxiliary cleaning unit 200 at least partially protrudes from the outer contour line of the body 10 (as shown in FIGS. 9-11), which is beneficial for the auxiliary cleaning unit 200 to effectively clean the surface to be cleaned. When the auxiliary cleaning unit 200 is not subjected to external force, the distance between the auxiliary cleaning unit 200 and the main cleaning unit 400 is less than 20 mm. The main cleaning unit 400 can be a main cleaning cloth, which can be arranged around the suction unit 300. The auxiliary cleaning unit 200 can include a fluff structure 202, which can be in contact with the surface to be cleaned when the window cleaning robot is adsorbed to the surface to be cleaned, thereby playing a cleaning role. The fluff structure 202 is, for example, a part of the fabric 201 or connected to the fabric 201.

[0188] According to one embodiment of the present application, as shown in FIGS. 9-11, the window cleaning robot includes a body 10 and a suction unit 300, a walking unit 500, a main cleaning unit 400, a detection unit 100, and an auxiliary cleaning unit 200 arranged on the body 10. The suction unit is used to adsorb the body 10 to the surface to be cleaned, for example, the suction unit 300 is arranged at the middle part of the body 10, and the suction unit 300 is provided with a negative pressure cavity for adsorbing the body 10 to the surface to be cleaned; the walking unit 500 is used to drive the body 10 to move, and the walking unit 500 adopts a track type structure, which can be arranged inside or outside the negative pressure cavity; the detection unit 100 is arranged at the edge of the body 10, which is used to detect the defects or edges of the surface to be cleaned; the auxiliary cleaning unit 200 is mounted on the detection unit 100; and the main cleaning unit 400 is at least partially arranged between the suction unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 is detachably mounted on the detection unit 100.

[0189] Please refer to FIG. 4 and FIG. 5, the detection unit 100 includes a mounting portion 110 connected with the body 10, at least one moving piece 130 penetrating the mounting portion 110, and a sensing piece 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected with the body 10, for example, the mounting portion 110 can be mounted on the striker plate 102, and the mounting portion 110 can move together with the striker plate 102; or a guide slot is provided in the body 10, and the mounting portion 110 can slide along the guide slot. The moving piece 130 includes a sensing ball head 131, an extension spring 132, and a moving body 133, and the moving body 133 is provided to penetrate the mounting through hole 111 (here, the penetration refers to the upper end penetration or the upper and lower end penetration). The lower end of the moving body 133 is connected with the sensing ball head 131 to realize that the moving body 133 can move together with the sensing ball head 131, and the position change signal of the sensing ball head 131 is transmitted to the sensing piece 140. The sensing piece 140 is used to identify the position of the upper end of the moving body 133.

[0190] The window-cleaning robot further comprises a pulley 120 mounted to the sensing ball head 131. Specifically, the lower surface (the surface in contact with the surface to be cleaned) of the sensing ball head 131 is in a circular arc structure, and the sensing ball head 131 extends upward along the top of the arc surface to form a side wall in a cylindrical structure. The side wall of the sensing ball head 131 and the moving body 133 form an accommodation space 135 in which at least part of the extension spring 132 is arranged. An annular mounting groove is arranged along the circumference of the side wall of the sensing ball head 131, and the inner side wall of the pulley 120 is provided with a limiting piece matched with the annular mounting groove. The annular mounting groove limits the limiting piece in the up-down direction but does not limit the limiting piece in the circumferential direction, so that the pulley 120 can rotate along the circumference of the sensing ball head 131. In order to facilitate installation and disassembly, the transverse section of the annular mounting groove is set to be trapezoidal. When installing the pulley 120, the pulley 120 is sleeved onto the sensing ball head 131 from the bottom of the sensing ball head 131. When the pulley 120 moves upward, the side wall of the sensing ball head 131 is compressed and deformed inwardly, so that the limiting piece can be clamped in the annular mounting groove. After the limiting piece is mounted in the annular mounting groove, the deformation of the side wall of the sensing ball head 131 disappears, so that the pulley 120 will not fall off the sensing ball head 131. The disassembly process of the pulley 120 is the reverse of the installation process of the pulley 120, which will not be described here. In this embodiment, the accommodation space has the following functions: first, it provides a mounting position for the extension spring 132, and the side wall of the accommodation space limits the extension spring 132 to a certain extent, avoiding the left-right deviation of the position of the extension spring 132; and second, the accommodation space 135 can provide a deformation space for the side wall of the sensing ball head 131, so that the side wall of the sensing ball head 131 is more easily deformed, facilitating the installation and disassembly of the pulley 120. The auxiliary cleaning unit 200 comprises a fabric 201 mounted to the pulley 120, and the fabric 201 is mounted to the outer surface of the pulley 120. The fabric 201 is mounted to the side wall of the pulley 120 and is folded onto the surface to be cleaned, for cleaning the surface to be cleaned and the window frame. According to another embodiment of the present application, the fabric 201 is mounted to the lower end of the pulley 120 and is folded onto the surface to be cleaned, for cleaning the surface to be cleaned.

[0191] According to one embodiment of the present application, as shown in FIGS. 9-11, the window cleaning robot comprises a body 10 and an adsorption unit 300, a walking unit 500, a main cleaning unit 400, a detection unit 100 and an auxiliary cleaning unit 200 arranged on the body 10. The adsorption unit 300 is used to adsorb the body 10 to a surface to be cleaned, for example, the adsorption unit 300 is arranged at the middle of the body 10, and the adsorption unit 300 is provided with a negative pressure cavity for adsorbing the body 10 to the surface to be cleaned; the walking unit 500 is used to drive the body 10 to move, and the walking unit 500 adopts a track structure, which can be arranged inside or outside the negative pressure cavity; the detection unit 100 is arranged at the edge of the body 10, and is used to detect defects or edges of the surface to be cleaned; the auxiliary cleaning unit 200 is mounted on the detection unit 100; and the main cleaning unit 400 is arranged at least partially between the adsorption unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 is detachably mounted on the detection unit 100, for example.

[0192] As shown in FIGS. 6-8, the detection unit 100 comprises a mounting portion 110 connected with the body 10, a moving piece 130 arranged at least one end through the mounting portion 110, and a sensing piece 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected with the body 10 (the mounting portion 110 can comprise two parts, one part (first mounting portion) is connected with the body 10, and the other part (second mounting portion) is used to assemble the moving piece 130, the two parts are integrally arranged or connected through a connecting piece, for example, the mounting portion 110 of the two parts is independently arranged in FIGS. 7 and 8, but the positions between the two parts are relatively fixed), the mounting portion 110 can be mounted on the bumper 102, and the mounting portion 110 can move together with the bumper 102; or a guide groove is arranged in the body 10, and the mounting portion 110 can slide along the guide groove. The moving piece 130 comprises a sensing ball head 131, an extension spring 132 and a moving main body 133, the moving main body 133 is arranged through the mounting through hole 111 (here, the through refers to the upper end through or both upper and lower ends through), and the sensing piece 140 is used to identify the position of the upper end of the moving main body 133.

[0193] The upper end of the moving body 133 passes through the top of the mounting hole 111, and the lower part of the moving body 133 is provided with an abutting part 1331 which is placed in the mounting hole 111. The sensing ball head 131 is in a spherical structure and is at least partially located in the mounting hole 111, and the abutting part 1331 is provided with an abutting surface which is adapted to the profile of the sensing ball head 131 so that the sensing ball head 131 is freely rolled and moved up and down in the mounting hole 111. The diameter of the lower end surface of the mounting hole 111 is smaller than the diameter of the sensing ball head 131 so as to ensure that the sensing ball head 131 will not fall out of the mounting hole 111. An elastic member is arranged between the abutting part 1331 and the mounting part 110, which can be a telescopic spring 132, and the elastic member is used to apply a pre-tightening force to the sensing ball head 131 so that the sensing ball head 131 has a tendency to move away from the machine body 10.

[0194] In the window-cleaning robot according to the embodiment, by configuring the sensing ball head 131 to be spherical and freely rolled in the mounting part 110, the friction of the sensing ball head 131 when moving on the surface to be cleaned can be reduced, the movement of the sensing ball head 131 is facilitated, and the surface to be cleaned is prevented from being scratched.

[0195] When the window-cleaning robot is adsorbed to the surface to be cleaned, the elastic member is compressed, and the sensing ball head 131 moves towards the machine body 10 (upwards).

[0196] In the window-cleaning robot according to the embodiment, the window-cleaning robot further comprises a pulley 120 which is arranged around the detection unit 100 and is rotatable relative to the machine body 10. A fabric 201 is arranged on the pulley 120 and is used to clean the surface to be cleaned.

[0197] According to one embodiment of the present application, as shown in FIGS. 9-11, the window-cleaning robot comprises a machine body 10 and an adsorption unit 300, a walking unit 500, a main cleaning unit 400, a detection unit 100 and an auxiliary cleaning unit 200 arranged on the machine body 10. The adsorption unit 300 is used to adsorb the machine body 10 to the surface to be cleaned, for example, the adsorption unit 300 is arranged at the middle part of the machine body 10 and is provided with a negative pressure cavity for adsorbing the machine body 10 to the surface to be cleaned; the walking unit 500 is used to drive the machine body 10 to move, and the walking unit 500 adopts a caterpillar type structure and can be arranged inside or outside the negative pressure cavity; the detection unit 100 is arranged at the edge of the machine body 10 and is used to detect the defects or edges of the surface to be cleaned; the auxiliary cleaning unit 200 is mounted on the detection unit 100; and the main cleaning unit 400 is at least partially arranged between the adsorption unit 300 and the auxiliary cleaning unit 200. The auxiliary cleaning unit 200 is detachably mounted on the detection unit 100, for example.

[0198] Please refer to FIG. 14 and FIG. 15, the detection unit 100 includes a mounting portion 110 connected with the body 10, a moving piece 130 having at least one end penetrating the mounting portion 110, and a sensing piece 140 mounted on the mounting portion 110. The mounting portion 110 can be fixedly connected with the body 10, for example, the mounting portion 110 can be mounted on the impact plate 102, and the mounting portion 110 can move together with the impact plate 102; or a guide slot is provided in the body 10, and the mounting portion 110 can slide along the guide slot. The moving piece 130 includes a sensing ball head 131, an extension spring 132, and a moving body 133, the moving body 133 penetrates the mounting hole 111 (here, the penetration refers to the upper end penetration, the lower end penetration, or the upper and lower end penetration), and the sensing piece 140 is used to identify the position of the upper end of the moving body 133.

[0199] The window cleaning robot further includes a pulley 120, the pulley 120 is detachably mounted on the mounting portion 110, the pulley 120 is mounted on the mounting portion 110 in a clamping manner, and the pulley 120 is rotatable relative to the mounting portion 110. Please refer to FIG. 14, the upper half of the pulley 120 has a larger diameter than the lower half of the pulley 120, and the fabric 201 is mounted on the lower half of the pulley 120. By mounting the fabric 201, the overall diameter of the pulley 120 is substantially consistent, which is beneficial to the stability of the movement of the pulley 120 and can realize the cleaning of the window frame by the fabric 201. Please refer to FIG. 15, the fabric 201 is mounted on the lower end surface of the pulley 120, and the fabric 201 can contact the surface to be cleaned when the window cleaning robot works, so as to realize the cleaning of the surface to be cleaned.

[0200] Please refer to FIG. 16, according to an embodiment of the present application, the pulley 120 can be separately provided from the moving piece 130. The fabric 201 is mounted on the mounting portion 110. According to another embodiment of the present application, please refer to FIG. 17, the fabric 201 is mounted on the sensing ball head 131. The mounting mode of the fabric 201 has been described in the above other embodiments, and will not be repeated here.

[0201] In other embodiments, the pulley 120 can also be detachably mounted on the moving piece 130, the pulley 120 can also be mounted on other positions of the window cleaning robot, the pulley 120 can be a part of the detection unit 100, or the pulley 120 can be independently provided from the detection unit 100, and the pulley 120 is rotatable relative to the body 10.

[0202] Please refer to FIG. 1 to FIG. 8, FIG. 12 to FIG. 17, the auxiliary cleaning unit 200 can be installed on the induction ball head 131, the pulley 120, the mounting portion 110, and the auxiliary cleaning unit 200 can also be installed on other positions of the machine body 10 according to the use requirement, for example, installed on the impact plate 102. When the auxiliary cleaning unit 200 is installed on the induction ball head 131, the auxiliary cleaning unit 200 is usually a fabric 201, because the material of the fabric 201 is relatively soft, which can be closely attached to the arc surface of the induction ball head 131, to ensure the firmness of the installation of the auxiliary cleaning unit 200; in addition, the pile on the surface of the fabric 201 should not be too long, because the too long pile will interfere with the up and down movement of the induction ball head 131, affecting the accuracy of detection. When the auxiliary cleaning unit 200 is installed on the mounting portion 110, the auxiliary cleaning unit 200 can be set to have a strip-shaped pile structure 202, the strip-shaped pile structure 202 can be directly set on the surface of the mounting portion 110, or the strip-shaped pile structure 202 can be planted on the surface of the fabric 201 as a part of the fabric 201, and then the fabric 201 is installed on the surface of the mounting portion 110; the surface of the mounting portion 110 is suitable for setting the strip-shaped pile structure 202 because the mounting portion 110 is a relatively static structure in the detection unit 100, and the strip-shaped pile structure 202 will not interfere with the detection unit 100, in addition, the strip-shaped pile structure 202 can be folded to the surface to be cleaned, to realize the simultaneous cleaning of the window frame and the window surface. When the auxiliary cleaning unit 200 is installed on the pulley 120, the auxiliary cleaning unit 200 can be set to have a strip-shaped pile structure 202, or set to a fabric 201, the advantage of setting the auxiliary cleaning unit 202 on the pulley 120 is that the rotation movement of the pulley 120 drives the auxiliary cleaning unit 200 to rotate, forming a cleaning force similar to a "rolling brush", which can improve the cleaning effect.

[0203] The window cleaning robot can also include a control unit, when the detection unit 100 is in a suspended state, the detection unit 100 sends an abnormal signal, and the control unit controls the walking unit 500 to stop moving or turning after receiving the abnormal signal of the detection unit 100.

[0204] The technical scope of the present application is not limited to the content in the above description, and those skilled in the art can make various modifications and changes to the above embodiments without departing from the technical idea of the present application, and these modifications and changes should all be within the protection scope of the present application.

Claims

1. A window cleaning robot, characterized by, The window-cleaning robot comprises a body and the following components arranged on the body: an adsorption unit for adsorbing the body to a surface to be cleaned; a walking unit for moving the body; a detection unit arranged on the edge of the body for detecting defects or edges of the surface to be cleaned; an auxiliary cleaning unit mounted on the detection unit; and a main cleaning unit arranged at least partially between the adsorption unit and the auxiliary cleaning unit. The window-cleaning robot comprises a body and the following components arranged on the body:

2. A window cleaning robot characterized by, an adsorption unit for adsorbing the body to a surface to be cleaned; a walking unit for moving the body; a detection unit arranged on the edge of the body for detecting defects or edges of the surface to be cleaned; an auxiliary cleaning unit mounted on the detection unit; and a main cleaning unit arranged at least partially between the adsorption unit and the auxiliary cleaning unit. The detection unit is movably arranged relative to the center of the body, and when the pressure on the detection unit is less than or equal to 0.3 N, the detection unit does not move relative to the main cleaning unit. When the detection unit touches an obstacle while moving with the body and the pressure from the obstacle is less than or equal to 0.3 N, the detection unit does not move relative to the main cleaning unit. The auxiliary cleaning unit is detachably mounted on at least part of the detection unit.

3. The window-cleaning robot according to claim 2, characterized in that The auxiliary cleaning unit comprises a fabric for cleaning the surface to be cleaned.

4. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The fabric is detachably mounted on at least part of the detection unit.

5. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The fabric is mounted on the detection unit by magnetic attraction, adhesion or clamping.

6. The window-cleaning robot according to claim 5, characterized in that The detection unit comprises a mounting portion connected to the body, a moving member and a sensing member are arranged in the mounting portion, the moving member is movable relative to the mounting portion, the sensing member is used to identify the position of the moving member, and the window-cleaning robot can determine whether the body is at a defect or edge of the surface to be cleaned based on the position of the moving member.

7. The window-cleaning robot according to claim 5, characterized in that The mounting portion has a mounting through hole, and the moving member is at least partially arranged in the mounting through hole and can move along the axial direction of the mounting through hole.

8. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The moving member comprises a sensing ball head and a telescopic spring, the sensing ball head is used to contact the surface to be cleaned, and the telescopic spring applies a pre-tightening force to the sensing ball head to make the sensing ball head have a tendency to move away from the body.

9. The window-cleaning robot according to claim 8, characterized in that The moving member further comprises a moving body extending along the axial direction of the mounting through hole, the moving body can move along the axial direction of the mounting through hole, the sensing ball head is arranged at one end of the moving body, and the sensing member is used to identify the position of the other end of the moving body.

10. The window-cleaning robot according to claim 9, characterized in that When the window-cleaning robot is adsorbed to the surface to be cleaned, the telescopic spring is compressed, and the sensing ball head moves towards the body.

11. The window-cleaning robot according to claim 10, characterized in that The sensing ball head moves along the axial direction of the mounting through hole by an amount less than or equal to 20 mm. At least part of the auxiliary cleaning unit is mounted on the sensing ball head.

12. The window-cleaning robot according to claim 11, characterized in that ​ 13. The window-cleaning robot according to claim 10, characterized in that, ​ 14. The window-cleaning robot according to claim 13, characterized in that The auxiliary cleaning unit comprises a fabric mounted on the sensing ball head.

15. The window-cleaning robot according to claim 13, characterized in that, When the suction unit of the window-cleaning robot is suctioned to the surface to be cleaned, If the auxiliary cleaning unit is mounted on the sensing ball head, the sensing ball head moves to the limit position towards the body; and / or, If the auxiliary cleaning unit is not mounted on the sensing ball head, the sensing ball head does not move to the limit position.

16. The window cleaning robot according to claim 8, characterized in that, At least part of the auxiliary cleaning unit is mounted on the mounting portion.

17. The window cleaning robot of claim 8, wherein, The detection unit further comprises a pulley; The pulley is arranged around at least part of the moving member; or, the pulley is arranged apart from the moving member.

18. The window-cleaning robot according to claim 17, characterized in that At least part of the auxiliary cleaning unit is mounted on the pulley.

19. The window-cleaning robot according to claim 18, characterized in that At least part of the auxiliary cleaning unit is mounted on the outer side wall of the pulley. At least part of the auxiliary cleaning unit is mounted on the end of the pulley towards the surface to be cleaned.

20. The window-cleaning robot according to claim 17, characterized in that, The pulley is detachably mounted on the mounting portion; or, The pulley is detachably mounted on the moving member.

21. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The detection unit comprises a detection sensor for detecting defects or edges of the surface to be cleaned and a pulley which is rotatable relative to the body; The pulley is arranged around at least part of the detection sensor; or, the pulley is arranged apart from the detection sensor.

22. The window-cleaning robot according to claim 21, characterized in that At least part of the auxiliary cleaning unit is mounted on the outer side wall of the pulley. At least part of the auxiliary cleaning unit is mounted on the end of the pulley towards the surface to be cleaned.

23. The window-cleaning robot according to claim 22, characterized in that The auxiliary cleaning unit comprises a fabric mounted on the outer surface of the pulley.

24. The window cleaning robot according to any one of claims 1 to 3, characterized in that, When the auxiliary cleaning unit is not subjected to external force, the auxiliary cleaning unit at least partially protrudes out of the outer contour line of the body.

25. The window cleaning robot according to any one of claims 1 to 3, characterized in that, When the auxiliary cleaning unit is not subjected to external force, the distance between the auxiliary cleaning unit and the main cleaning unit is less than 20 mm.

26. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The window-cleaning robot further comprises a control unit which, upon receiving the abnormal signal of the detection unit, controls the walking unit to stop moving or turning.

27. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The auxiliary cleaning unit comprises a fluff structure which can be in contact with the surface to be cleaned when the window-cleaning robot is suctioned to the surface to be cleaned.

28. The window cleaning robot according to any one of claims 1 to 3, characterized in that, The body is in a rectangular shape, and the number of the detection units is four, and the four detection units are arranged at the four corners of the body, respectively.

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