CN106691296B

CN106691296B - Automatic window cleaning machine

Info

Publication number: CN106691296B
Application number: CN201710085380.7A
Authority: CN
Inventors: 陈树林
Original assignee: Shenzhen Institute of Information Technology
Current assignee: Shenzhen Institute of Information Technology
Priority date: 2017-02-17
Filing date: 2017-02-17
Publication date: 2021-11-16
Anticipated expiration: 2037-02-17
Also published as: CN106691296A

Abstract

The embodiment of the invention discloses an automatic window cleaning machine, which comprises a machine main body and an obstacle crossing mechanism arranged on the machine main body, wherein the obstacle crossing mechanism comprises a plurality of supporting leg modules and rotating leg modules which are arranged on the machine main body and can stretch relative to the machine main body, a sucker assembly which is arranged at one end, facing a window, of the supporting leg modules and the rotating leg modules and is adsorbed on the glass surface of the window, and a control module which is arranged in the machine main body and is used for respectively controlling the supporting leg modules, the rotating leg modules and the sucker assembly. According to the embodiment of the invention, a plurality of supporting foot modules and rotating foot modules which can stretch and retract relative to the machine main body are arranged on one side surface of the machine main body facing a window direction so as to support the machine main body to be separated from the surface of glass, and then the supporting foot modules and the rotating foot modules are controlled by the control module to work together so that the machine main body can rotate by a preset angle and then cross over an obstacle. The barrier on the window can be automatically spanned, and the practicability and the working efficiency of the window cleaning machine can be effectively improved.

Description

Automatic window cleaning machine

Technical Field

The embodiment of the invention relates to the technical field of automatic window cleaners, in particular to an automatic window cleaner.

Background

At present, modern buildings largely adopt large-area glass curtain walls for decoration and improvement of lighting performance. As with conventional windows, glass curtain walls may also have exposed or hidden frames and glass panels secured to the frames, and thus glass curtain walls may also be considered as one type of window.

During the daily maintenance of building, can regularly wash the glass on the outer wall, traditional cleaning methods is that the artifical glass that carries out through spider man washs, belongs to outdoor high altitude construction, has the potential safety hazard and consumes a large amount of manpower and materials, and the cleaning efficiency is low. Some automatic window cleaners have been proposed in the industry, however, because the frame or the fixing member for fixing the glass protrudes relatively compared to the outer surface of the glass, when the glass on the outer wall is cleaned by the conventional window cleaner, because the conventional window cleaner does not have the capability of automatically spanning the frame or the fixing member between two adjacent pieces of glass, the window cleaner can be manually carried to the surface of another piece of glass after one piece of glass is cleaned, and the window cleaner still needs to be carried on duty and at a high frequency, so that the difficulty and the danger are very high, and the potential safety hazard of high-altitude operation cannot be avoided.

Disclosure of Invention

The technical problem to be solved by the embodiment of the invention is to provide an automatic window cleaning machine which can automatically cross over obstacles on the surface of glass.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: the automatic window cleaning machine comprises a machine main body and an obstacle crossing mechanism arranged on the machine main body, wherein the obstacle crossing mechanism comprises a plurality of supporting leg modules and rotating leg modules which are arranged on the machine main body, and each supporting leg module comprises a supporting leg and a supporting leg driving assembly for driving the supporting leg to stretch relative to the machine main body; the rotating foot module comprises a rotating shaft, a rotating arm, a rotating foot, a rotating shaft driving assembly and a rotating arm driving assembly, wherein the rotating shaft is arranged on the machine main body and can rotate relative to the machine main body around a self central axis; the supporting legs and the position that the rotating legs contact the glass surface are provided with sucker assemblies which are used for being adsorbed on the glass surface of a window, and the obstacle crossing mechanism further comprises a control module which is arranged in the machine body and used for controlling the supporting leg driving assembly, the rotating shaft driving assembly, the rotating arm driving piece and the sucker assemblies respectively.

Furthermore, pivot drive assembly is including being used for the drive the relative machine main part of pivot is flexible drives and is used for the drive the rotatory rotary driving spare of pivot, the machine main part is equipped with towards a window side and is used for holding the recess of rotatory foot module.

Further, the control module comprises a first sensor for detecting whether an obstacle exists in a front preset range of the traveling path of the automatic window cleaning machine, a second sensor for detecting the suction state of the sucker assembly and a data processing chip for correspondingly generating a corresponding control instruction according to sensing signals of the first sensor and the second sensor.

Further, the sucking disc assembly comprises a sucking disc and a vacuum pump which is controlled by the control module and used for enabling the sucking disc and the glass to generate negative pressure to be adsorbed.

Further, the machine main body comprises a main suction mechanism, the main suction mechanism comprises a main suction cup, a main vacuum pump and a third sensor, the main vacuum pump is used for enabling negative pressure to be generated between the main suction cup and the glass to be sucked, the third sensor is used for detecting the suction state between the main suction cup and the glass, the main vacuum pump and the third sensor are both electrically connected to the data processing chip, and the data processing chip controls the working state of the main vacuum pump according to a detection signal provided by the third sensor.

Furthermore, the machine main body also comprises a travelling mechanism for driving the machine main body to travel along a preset window cleaning path, a cleaning piece for elastically abutting against the glass of the window to clean the glass in the travelling process of the machine main body, and a power supply module for supplying power to each electric component of the automatic window cleaner.

Further, the machine main body further comprises a shell, the traveling mechanism, the power supply module and the main adsorption mechanism are all arranged inside the shell, and the cleaning piece is arranged on one side surface of the shell, which faces the window.

Further, the traveling mechanism comprises a plurality of tracks and a traveling driving piece, wherein the tracks are symmetrically arranged on one side surface of the shell, which faces the window, and the tracks extend out of the shell, and the traveling driving piece is used for driving the tracks to travel.

Furthermore, the cleaning piece is provided with a through hole for the main sucker, the track and the sucker component to correspondingly penetrate through so as to contact with the glass, and the cleaning piece is attached to the outer side surface of the shell through a detachable adhering structure.

Further, the machine main body is also provided with a handle convenient to take.

By adopting the technical scheme, the embodiment of the invention has the following beneficial effects: the embodiment of the invention is provided with a plurality of supporting foot modules and rotating foot modules which can stretch and retract relative to a machine main body on one side surface of the machine main body facing a window direction, sucking disc assemblies are arranged at the parts of the supporting foot modules and the rotating foot modules close to the window so as to effectively ensure that the machine main body is adsorbed on the glass surface of the window, the supporting foot modules and the rotating foot modules are controlled by a control module to extend out of the machine main body so as to support the machine main body, then the rotating shaft is driven by a control rotating shaft driving assembly to rotate for a certain angle and then adsorbed on the glass of the window at the other side of an obstacle, the sucking disc assemblies at the end parts of the supporting foot modules are contracted into the machine main body after vacuum breaking, the rotating arm driving assembly drives the machine main body to rotate for a certain angle and then the rotating arm is driven by a rotating arm driving assembly to rotate for a certain angle so that the machine main body crosses the obstacle on the window, then the supporting foot module and the rotating foot module act together to enable the machine main body to be adsorbed on the glass of the window on the other side of the obstacle. The obstacle crossing mechanism enables the machine main body to automatically move from one piece of glass to another piece of glass without manually moving the machine main body, and therefore the practicability and the working efficiency of the window cleaning machine can be effectively improved.

Drawings

Fig. 1 is a schematic structural view of an embodiment of the automatic window cleaning machine of the present invention.

Fig. 2 is a schematic bottom view of an embodiment of the automatic window cleaner of the present invention.

Fig. 3 is a schematic structural view of an automatic window cleaning machine according to an embodiment of the invention before crossing an obstacle.

Fig. 4 is a schematic structural view of an automatic window cleaning machine according to an embodiment of the present invention when crossing an obstacle.

Fig. 5 is a schematic structural view of the automatic window cleaning machine after crossing an obstacle according to an embodiment of the invention.

Detailed Description

The present application will now be described in further detail with reference to the accompanying drawings and specific examples. It should be understood that the following illustrative embodiments and description are only intended to explain the present invention, and are not intended to limit the present invention, and features of the embodiments and examples in the present application may be combined with each other without conflict.

As shown in fig. 1 to 5, an embodiment of the present invention provides an automatic window cleaning machine, which includes a machine body (not numbered) and an obstacle crossing mechanism 1 provided on the machine body.

The obstacle crossing mechanism 1 comprises a plurality of supporting leg modules 11 and a plurality of rotating leg modules 12 which are arranged on a machine main body, wherein each supporting leg module 11 comprises a supporting leg 111 and a supporting leg driving assembly 112 which drives the supporting leg 111 to extend and retract relative to the machine main body; the rotating foot module 12 includes a rotating shaft 121 disposed on the machine main body and capable of extending and retracting relative to the machine main body and rotating around its central axis, a rotating arm 122 having one end connected to a free end of the rotating shaft 121 and intersecting with an axial direction of the rotating shaft 121 at a predetermined included angle, a rotating foot 123 disposed at the other end of the rotating arm 122 and rotating around its central axis, a rotating shaft driving assembly 124 for driving the rotating shaft 121 to extend and retract and rotate relative to the machine main body, and a rotating arm driving member (not shown) for driving the rotating arm 122 to rotate relative to the rotating foot 123; the parts of the supporting legs 111 and the rotating legs 123 contacting the surface of the glass 100 are provided with sucker assemblies 13 which are adsorbed on the surface of the glass of the window 100, and the obstacle crossing mechanism 1 further comprises a control module 14 which is arranged in the machine body and used for respectively controlling the supporting leg driving assemblies 112, the rotating shaft driving assemblies 124, the rotating arm driving pieces and the sucker assemblies 13. In a specific embodiment, taking the rotation angles of the rotating shaft 121 and the rotating foot 123 both as 90 °, the number of the supporting feet 111 is 2, and the supporting feet are respectively disposed at two corners of one side surface of the machine body facing the window, the number of the rotating foot modules 12 is one, and the supporting feet 111 is disposed at one side of the machine body away from the machine body, the rotating arm 122 and the rotating shaft 121 are vertically disposed, the obstacle 101 is generally a relatively convex mounting frame or a relatively concave slot located at a joint of two pieces of glass 100, and the suction cup assembly 13 at the end of the rotating foot 123 can increase output power to increase suction force when the rotating foot 123 is separately adsorbed on the glass 100, so as to ensure that the machine body is stably adsorbed on the glass 100.

In the embodiment, a plurality of supporting foot modules 11 and rotating foot modules 12 which can extend and retract relative to a machine main body are arranged on one side surface of the machine main body facing a window direction, sucking disc assemblies 13 are arranged on the supporting foot modules 11 and the rotating foot modules 12 close to the window so as to effectively ensure that the machine main body is sucked on the surface of glass 100 of the window, the supporting foot modules 11 and the rotating foot modules 12 are controlled by a control module 14 to extend out of the machine main body so as to support the machine main body, then a rotating shaft driving assembly 124 is controlled to drive a rotating shaft 121 to rotate 90 degrees anticlockwise and then be sucked on the glass 100 of the window on the other side of an obstacle 101, the sucking disc assemblies 13 at the end parts of the supporting foot modules 11 are vacuumized and then are contracted into the machine main body, the machine main body is driven by the rotating shaft driving assembly 124 to rotate 90 degrees anticlockwise, then a rotating arm driving piece is used to drive a rotating arm 122 to rotate 90 degrees anticlockwise so as to enable the machine main body to rotate 180 degrees anticlockwise and then cross the obstacle on the window, the supporting foot module 11 and the rotating foot module 12 then work together to make the machine body adhere to the glass 100 of the window on the other side of the obstacle 101. The obstacle crossing mechanism 1 enables the machine main body to automatically move from one glass 100 to another glass 100 without manually moving the machine main body, and the practicability and the working efficiency of the window cleaning machine can be effectively improved.

In an alternative embodiment, the spindle driving assembly 124 includes a telescopic driving member 1241 for driving the spindle 121 to extend and retract relative to the window and a rotary driving member 1242 for driving the spindle 121 to rotate, and the machine body is provided with a recess (not numbered) for receiving the rotary foot module 12 toward a side of the window, and in a specific embodiment, the telescopic driving member 1241, the rotary driving member 1242 and the rotary arm driving member are motors.

This embodiment is through being equipped with flexible driving piece 1241 and rotary driving piece 1242 in order to realize respectively that the drive pivot carries out the function of stretching out and drawing back and rotatory, and the rethread is equipped with the recess in order to hold rotatory foot module 12 in the machine main part, makes the machine main part towards window side contact glass 100 and then cleans glass 100, improves the practicality of wiping the window machine.

In an optional embodiment, the control module 14 comprises a first sensor 141 for detecting whether there is an obstacle 101 in a predetermined range in front of the travel path of the automatic window cleaning machine, a second sensor 142 for detecting the suction state of the suction cup assembly 13, and a data processing chip 143 for generating corresponding control instructions according to the sensing signals of the first sensor 141 and the second sensor 142; the suction cup assembly 13 includes a suction cup 131 and a vacuum pump 132 controlled by the control module 14 for generating a negative pressure between the suction cup 131 and the glass 100 to be sucked.

In this embodiment, the first sensor 141 detects the glass 100, when the window cleaning machine normally works, the supporting foot module 11 and the rotating foot module 12 are both adsorbed on the glass 100 through the adsorbing assembly 13, when cleaning of one piece of glass 100 is completed and the first sensor 141 detects the obstacle 101, the data processing chip 143 receives a sensing signal transmitted by the first sensor 141 and outputs a corresponding control instruction to the obstacle crossing mechanism 1, the supporting foot driving assembly 124 and the telescopic driving member 1241 in the obstacle crossing mechanism 1 respectively drive the supporting foot 111 and the rotating shaft 121 to extend out of the machine main body so as to separate the machine main body from the surface of the glass 100, in the specific implementation, taking the mounting frame as the obstacle 101 as an example, the lifting height of the machine main body is greater than the height between the mounting frame and the surface of the glass 100, and then the data processing chip 143 controls the vacuum pump 132 in the rotating foot 123 to stop working so as to break the vacuum of the suction cup 131 in the rotating foot 123, then, the telescopic driving part 1241 is controlled to drive the rotating shaft 121 to retract back into the machine main body so as to lift the rotating foot 123 above the obstacle 101, at this time, the data processing chip 143 controls the rotary driving part 1242 to make the rotating shaft rotate 90 ° counterclockwise to drive the rotating arm 122 to rotate 90 ° counterclockwise so as to make the rotating foot 123 fall on the other side of the obstacle 101, the data processing chip 143 controls the telescopic driving part 1241 to drive the rotating shaft 121 to extend out of the machine main body so as to make the suction cup 131 in the rotating foot 123 abut against the glass 100, and then the vacuum pump 132 on the rotating foot 123 works so as to make the rotating foot 123 adsorb on the glass 100; then the data processing chip 143 controls the suction cup assembly 13 on the supporting foot 111 to stop working and controls the supporting foot driving assembly 112 to drive the supporting foot 111 to retract back into the machine main body, then controls the rotary driving member 1242 to work to drive the rotating shaft to rotate 90 degrees clockwise, because the rotary foot 123 is adsorbed on the glass 100 and does not move, the rotary arm 122 does not move, so that the machine main body rotates 90 degrees counterclockwise, at this time, the rotary foot module 12 corresponds to the groove position on the machine main body, then controls the rotary arm driving member to work to enable the rotary arm 122 to rotate 90 degrees counterclockwise around the rotary foot 121, so that the machine main body rotates 90 degrees counterclockwise again, and the whole body is located above the glass 100 on the other side of the obstacle 101 after the machine main body rotates 180 degrees counterclockwise in total; the data processing chip 143 controls the supporting leg driving assembly 112 to drive the supporting leg 111 to extend out of the machine main body so that the supporting leg 111 is adsorbed on the glass 100 to stabilize the machine main body, and then controls the supporting leg driving assembly 112 and the telescopic driving member 1241 to respectively drive the supporting leg 111 and the rotating shaft 121 to contract back to the machine main body so that the machine main body is abutted to the glass 100, and then the glass 100 is cleaned according to a preset scheme. Of course, the obstacle detouring mechanism 1 may be driven a plurality of times to cause the machine main body to cross the large obstacle 101. When crossing the obstacle 101, the suction state of the suction cup 131 is detected by the second sensor 142, and when the suction force of the suction cup 131 is not enough to maintain the window cleaner to be adsorbed on the surface of the glass 100, the data processing chip 143 controls the vacuum pump 132 to work to enhance the suction force of the suction cup 131 on the glass 100, so as to ensure that the window cleaner is stably adsorbed on the glass 100, and improve the use safety of the window cleaner.

In an alternative embodiment, the machine body comprises a main suction mechanism 2, the main suction mechanism 2 comprises a main suction cup 21, a main vacuum pump 22 for generating negative pressure between the main suction cup 21 and the glass 100 to suck, and a third sensor 144 for detecting the suction state between the main suction cup 21 and the glass 100, the main vacuum pump 22 and the third sensor 144 are both electrically connected to the data processing chip 143, and the data processing chip 143 controls the working state of the main vacuum pump 22 according to the detection signal provided by the third sensor 144, so that the main suction cup 21 can be effectively and firmly sucked with the glass 100 and also can be separated from the glass 100 when necessary.

In the embodiment, the main vacuum pump 22 generates negative pressure between the main suction cup 21 and the glass 100 to ensure that the window cleaning machine is stably adsorbed on the glass 100, the third sensor 144 detects the state of the suction force between the main suction cup 21 and the glass 100, when the window cleaning machine is in a normal working state and the third sensor 144 detects that the suction force between the main suction cup 21 and the glass 100 is insufficient, the data processing chip 143 drives the main vacuum pump 22 to work to enhance the suction force between the main suction cup 21 and the glass 100, in specific implementation, the main suction cup 21 is designed into a circular runway shape, so that the adsorption force of the main suction cup 21 to the glass 100 can be effectively enhanced, and the use safety of the window cleaning machine is improved.

In an optional embodiment, the machine body further comprises a traveling mechanism 3 for driving the machine body to travel along a predetermined window cleaning path, a cleaning piece 4 for elastically abutting against the glass 100 of the window to clean the glass 100 during the traveling of the machine body, and a power module 5 for providing power for each power-using component of the automatic window cleaner, the machine body further comprises a housing 6, the traveling mechanism 3, the power module 5 and the main adsorption mechanism 2 are all arranged inside the housing 6, and the cleaning piece 4 is arranged on one side surface of the housing 6 facing the window. In a particular embodiment, the cleaning member 4 is a cleaning cloth.

This embodiment drives the walking of machine main part so that cleaner 4 washs glass 100 automatically through running gear 3, and degree of automation is high, and convenience of customers uses.

In an alternative embodiment, the traveling mechanism 3 includes a plurality of tracks 31 symmetrically assembled on a side surface of the housing 6 facing the window and protruding from the housing 6, and a traveling driving member 32 for driving the tracks 31 to travel. In one embodiment, the caterpillar tracks 31 are two tracks symmetrically arranged on both sides of the main suction cup 21.

In the embodiment, the plurality of groups of crawler belts 31 are arranged on the two sides of the main suction cup 21, and the moving and steering of the machine body are controlled through the crawler belts 31 to further complete the cleaning of the glass 100, so that the cleaning efficiency is improved.

In an alternative embodiment, the cleaning member 4 has a through hole (not numbered) for the main suction cup 21, the caterpillar 31 and the suction cup assembly 12 to pass through to contact the glass 100. In one embodiment, the cleaning elements 4 are attached to the outer side of the housing 6 by a removable adhesive structure (not shown).

The confession is passed through seted up on cleaning member 4 in this embodiment main sucking disc 21, track 31 and sucking disc subassembly 12 correspond the through-hole that passes with contact glass 100, make things convenient for each part to carry out corresponding work, and cleaning member 4 is laminated in 6 lateral surfaces of shell through removable pasting the structure, conveniently takes off cleaning member 4 with the renewal from shell 6 with cleaning member 4, can effectively improve clean efficiency and user experience.

In an alternative embodiment, the housing 6 is further provided with a handle 61 for easy handling. The user can conveniently carry the window cleaning machine.

The automatic window cleaning machine comprises the following specific use and working processes:

a user places the window cleaner on the glass 100 by holding the handle 61, and starts a switch (not shown) to enable the window cleaner to enter a working state, and in a normal working state of the window cleaner, the main adsorption mechanism 2 works, and the obstacle crossing mechanism 1 does not work and is retracted in the machine main body in a normal working state; the control module 14 controls the main vacuum pump 22 to work to generate negative pressure between the main suction cup 21 and the glass 100, so that the whole window cleaning machine is adsorbed on the glass 100, the traveling driving member 32 drives the caterpillar 31 to drive the window cleaning machine to move on the glass 100 from top to bottom and from left to right, the cleaning member 4 cleans the glass 100, in the cleaning process, the third sensor 144 detects the suction force of the main suction cup 21 and feeds the detection result back to the data processing chip 143, and the data processing chip 143 analyzes the sensing information transmitted by the third sensor 144 and drives the main vacuum pump 22 to work to improve the suction force between the main suction cup 21 and the glass 100 when detecting that the suction force of the main suction cup 21 is not enough to enable the window cleaning machine to be adsorbed on the glass 100, so as to ensure that the window cleaning machine is stably adsorbed on the glass 100.

When a piece of glass 100 is cleaned, the first sensor 141 detects that a raised mounting frame or other obstacles exist between the two pieces of glass 100, the obstacles are fed back to the data processing chip 143, the data processing chip 143 controls the traveling driving member 32 to stop working and controls the supporting leg driving assembly 112 and the telescopic driving member 1241 to respectively drive the supporting leg 111 and the rotating shaft 121 to extend out of the machine body, and controls the suction cup assembly 13 in the supporting leg 111 and the rotating leg 123 to work so that the supporting leg 111 and the rotating leg 123 are adsorbed on the glass 100, then the data processing chip 143 controls the main vacuum pump 22 to stop working so that the main suction cup 21 is broken, and then the supporting leg driving assembly 112 and the telescopic driving member 1241 are controlled to respectively drive the supporting leg 111 and the rotating shaft 121 to further extend out of the machine body, so that the distance between the machine body and the glass 100 is greater than the height of the raised structure due to the supporting effect of the supporting leg module 11 and the rotating leg module 12 being separated from the surface of the glass 100, the data processing chip 143 controls the obstacle crossing mechanism 1 to drive the machine body to cross the protruding structure according to a preset scheme, specifically, the data processing chip 143 first controls the vacuum pump 132 in the rotating foot 123 to stop working to make the suction cup 131 in the rotating foot 123 break vacuum, the telescopic driving member 1241 drives the rotating shaft 121 to contract to make the rotating foot 123 separate from the surface of the glass 100 and be higher than the height of the protruding structure, and then controls the rotary driving member 1242 to drive the rotating shaft 121 to drive the rotating arm 122 to rotate 90 degrees counterclockwise and then controls the telescopic driving member 1241 to drive the rotating shaft 121 to extend out from the machine body and controls the vacuum pump 132 on the rotating foot 123 to work to make the rotating foot 123 adsorb on the glass 100 on the other side of the protruding structure; then the data processing chip 143 controls the vacuum pump 132 in the supporting leg 111 to stop working to make the suction cup 131 in the supporting leg 111 break vacuum and drive the supporting leg 111 to retract into the machine main body by controlling the supporting leg driving assembly 112, the data processing chip 143 controls the rotary driving member 1242 to work to make the machine main body rotate 90 degrees counterclockwise, and then controls the rotary arm driving member to drive the rotary arm 122 to rotate 90 degrees counterclockwise, so that the machine main body rotates 180 degrees and then the whole body passes over the convex structure, at this time, the rotary leg module 12 corresponds to the position of the groove on the machine main body; then the data processing chip 143 controls the leg driving assembly 112 to drive the leg 111 to extend out of the machine body and to be attached to the glass 100 of the window, and then controls the leg driving assembly 112 and the telescopic driving member 1241 to drive the leg 111 and the rotating shaft 121 to retract back into the machine body so that the machine body abuts against the glass 100, the data processing chip 143 controls the main vacuum pump 22 to work so that the main suction cup 21 is attached to the glass 100, and then controls the vacuum pump 132 on the leg 111 and the rotating leg 123 to stop working so that the suction cup 131 breaks vacuum, and then controls the leg driving assembly 112 to drive the leg 111 to further retract back into the machine body, and controls the telescopic driving member 1241 to drive the rotating shaft to further retract so that the rotating leg module 12 retracts back into the groove, so that the traveling mechanism 3 is controlled to drive the machine body to move to clean the next glass 100.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An automatic window cleaning machine comprises a machine body and is characterized in that: the automatic window cleaning machine further comprises an obstacle crossing mechanism arranged on the machine main body, the obstacle crossing mechanism comprises a plurality of supporting leg modules and a rotating leg module which are arranged on the machine main body, and each supporting leg module comprises a supporting leg and a supporting leg driving assembly for driving the supporting leg to stretch relative to the machine main body; the rotating foot module comprises a rotating shaft, a rotating arm, a rotating foot, a rotating shaft driving assembly and a rotating arm driving assembly, wherein the rotating shaft is arranged on the machine main body and can stretch out and draw back relative to the machine main body and rotate around the central axis of the rotating shaft; the obstacle crossing mechanism also comprises a control module which is arranged in the machine main body and is used for respectively controlling the supporting leg driving assembly, the rotating shaft driving assembly, the rotating arm driving piece and the sucker assembly; the rotating shaft driving assembly comprises a telescopic driving piece for driving the rotating shaft to be opposite to the machine main body and a rotary driving piece for driving the rotating shaft to rotate, and a groove for accommodating the rotary foot module is formed in one side surface, facing a window, of the machine main body; the control module comprises a first sensor for detecting whether an obstacle exists in a preset range in front of a traveling path of the automatic window cleaning machine, a second sensor for detecting the suction state of the sucker assembly and a data processing chip for correspondingly generating a corresponding control instruction according to sensing signals of the first sensor and the second sensor.

2. The automatic window cleaner of claim 1, wherein: the sucker assembly comprises a sucker and a vacuum pump which is controlled by the control module and is used for enabling negative pressure to be generated between the sucker and the glass to be sucked.

3. The automatic window cleaner of claim 1, wherein: the machine main body comprises a main adsorption mechanism, the main adsorption mechanism comprises a main sucker, a main vacuum pump and a third sensor, the main vacuum pump is used for enabling negative pressure to be generated between the main sucker and glass to be adsorbed, the third sensor is used for detecting the suction state between the main sucker and the glass, the main vacuum pump and the third sensor are electrically connected to the data processing chip, and the data processing chip controls the working state of the main vacuum pump according to a detection signal provided by the third sensor.

4. The automatic window cleaner of claim 3, wherein: the machine body further comprises a travelling mechanism for driving the machine body to travel along a preset window cleaning path, a cleaning piece for elastically abutting against the glass of the window to clean the glass in the travelling process of the machine body, and a power supply module for supplying power to all electric components of the automatic window cleaning machine.

5. The automatic window cleaner of claim 4, wherein: the machine main part still includes the shell, running gear, power module and main adsorption apparatus all set up in inside the shell, and the cleaning member sets up in the side surface of the window of orientation of shell.

6. The automatic window cleaner of claim 5, wherein: the traveling mechanism comprises a plurality of tracks and a traveling driving piece, wherein the tracks are symmetrically assembled on one side surface of the shell, which faces the window, and extend out of the shell, and the traveling driving piece is used for driving the tracks to travel.

7. The automatic window cleaner of claim 6, wherein: the cleaning piece is provided with a through hole for the main sucker, the crawler and the sucker component to correspondingly penetrate through to contact with the glass, and the cleaning piece is attached to the outer side surface of the shell through a detachable adhering structure.

8. The automatic window cleaner of claim 1, wherein: the machine main body is also provided with a handle convenient to take.