Cleaning robot and method for disassembling and assembling cleaning roller

Abstract

The embodiment of the invention provides a cleaning robot and a dismounting and mounting method of a cleaning roller. The cleaning robot includes: a body; the mopping assembly comprises a cleaning unit motor and a cleaning unit; the cleaning unit is detachably connected with the cleaning unit motor; the driving device is arranged on the machine body and connected with the mopping assembly; the control assembly is arranged on the machine body and further has a dismounting mode, and when the cleaning robot is in the dismounting mode, the control assembly receives a user instruction and controls the driving device to drive the mopping assembly to stretch out of at least one side of the machine body in the width direction of the machine body so that part of the mopping assembly can be exposed; a user can conveniently detach the cleaning unit from the exposed side of the mopping assembly. According to the technical scheme, the mopping and washing assembly integrally acts relative to the cleaning robot body, the mopping and washing assembly can conduct self-cleaning at any position, then the cleaning robot has the good cleaning effect, the cleaning effect is high, and the cleaning roller is convenient to disassemble and assemble.

Description

[0001] Cross-reference

[0002] This application incorporates by reference the following Chinese patent applications, which are hereby incorporated in their entirety by reference into this application.

[0003] Filing Date Application No. Patent Title 2024-01-05 202410018264.3 Self - moving cleaning device, control method and cleaning system 2024-08-05 202411067857.5 Cleaning robot and mopping component Technical Field

[0004] This application relates to the field of robot technology, and particularly to a cleaning robot and a method for disassembling and assembling a cleaning roller. Background Art

[0005] Most existing sweeping and mopping integrated cleaning robots clean the floor by first vacuuming and then mopping. For example, a rag tray is provided at the bottom of the cleaning robot, and the floor is mopped by the rotating rag tray. However, there is a problem of smearing when mopping with the rag tray because the rag tray is not self-cleaning after being soiled. Later, cleaning robots using a roller to mop the floor emerged. Such cleaning robots have a roller, a clean water supply device, a squeegee, and a sewage collection device. During each rotation of the roller, it receives clean water supplied by the clean water supply device. After mopping the floor, it is self-cleaned by the squeegee while cleaning, achieving a live water mopping method of mopping and self-cleaning at the same time, which can improve the problem of smearing.

[0006] In order to make the cleaning robot more comprehensive in function, some cleaning robot rollers are designed to be retractable. When the roller extends, it can clean along the wall or achieve surrounding cleaning of obstacles. However, the extended part of the roller cannot be cleaned after it extends, and there is still a similar smearing problem as the rag tray, resulting in poor cleaning effect.

[0007] In addition, the roller still needs to have a detachable and installable function, which is convenient for manual cleaning or replacing a new roller when the roller has been used for too long. When the machine stops or returns to the base station, the mopping component is in a retracted state, that is, the end of the mopping component is located inside the machine body. Looking down from above the machine body, that is, when the cleaning robot is on the ground and from the user's perspective of looking at the cleaning robot, the user cannot see the mopping component. If the user wants to disassemble the cleaning roller in the mopping component, they need to squat down, tilt their head sideways to look at the position of the mopping component inside the machine body, and then manually remove the cleaning roller. During the disassembly process, the user may be blindly disassembling, and it is almost the same when installing. The hand needs to reach in, and the gap between the housing of the mopping component and the robot housing is relatively small, so there is a high possibility of pinching the hand. If the body is flipped to disassemble the roller, at this time, due to its own weight, the mopping component will be closely attached to the robot housing under the action of gravity, and the gap between the two is even smaller. There is still a problem of accidentally pinching the hand when reaching in to remove the roller end cap. Summary of the Invention

[0008] In view of the above problems, the present application proposes a cleaning robot and a method for disassembling and assembling a cleaning drum that can always achieve self-cleaning of the drum, so as to solve the above problems or at least partially solve the above problems.

[0009] In one embodiment of the present application, a cleaning robot is provided. The cleaning robot includes:

[0010] A body;

[0011] A mopping assembly, including a cleaning unit motor and a cleaning unit; the cleaning unit is detachably connected to the cleaning unit motor;

[0012] A driving device, disposed on the body and connected to the mopping assembly;

[0013] A control component, disposed on the body,

[0014] The cleaning robot further has a disassembly mode. When the cleaning robot is in the disassembly mode, the control component receives a user instruction, controls the driving device to drive the mopping assembly along the width direction of the body, and extends from at least one side of the body so that a part of the mopping assembly is exposed, facilitating the user to disassemble the cleaning unit from the exposed side of the mopping assembly.

[0015] Optionally, an interaction device is provided on the body;

[0016] The interaction device is used to respond to the user's disassembly and assembly instruction, and transmit the instruction to the control component to trigger the driving device to work, so as to drive the mopping assembly to extend from one side of the body.

[0017] Optionally, the disassembly direction of the cleaning unit is the same as the extending direction of the mopping assembly.

[0018] Optionally, the interaction device is disposed on the top surface of the body or inside the body, and the interaction device is one of a button, a touch screen, and a voice interaction unit.

[0019] Optionally, the cleaning robot further includes a liquid supply mechanism and a decontamination mechanism, and the mopping assembly further includes a mopping bracket;

[0020] The mopping bracket has a drum installation cavity with an opening facing downwards, and the cleaning unit motor and the cleaning unit are disposed in the drum installation cavity;

[0021] The cleaning unit contacts the surface to be cleaned through the opening;

[0022] The liquid supply mechanism and the decontamination mechanism are both disposed on the mopping bracket;

[0023] The power end of the driving device is connected to the mopping bracket.

[0024] Optionally, a cleaning unit motor is provided at the first end in the length direction of the mopping bracket, and an opening is provided at the second end.

[0025] A first structure is provided on the second end, and a second structure is provided on the end cover of the cleaning unit.

[0026] When installing the cleaning unit, the cleaning unit can be inserted into the drum cavity of the mopping bracket from the opening to be connected to the cleaning unit motor; the cleaning unit and the mopping bracket are connected through the first structure and the second structure.

[0027] Optionally, the first structure and the second structure are magnetic attraction components or snap structures used in cooperation.

[0028] Optionally, one of the first structure and the second structure is a groove, and the other is a convex block, and the groove matches the convex block.

[0029] The convex block is a magnet, and a magnetic attraction material is provided in the groove; or, a magnet is provided in the groove, and a magnetic attraction material is provided on the convex block.

[0030] Optionally, the driving device can also drive the mopping assembly to lift relative to the body. When the cleaning unit needs to be disassembled, the driving device drives the mopping bracket to extend to expose the end cover of the cleaning unit, and then the driving device drives the mopping assembly to lift, facilitating the user to remove the cleaning unit.

[0031] Optionally, after the cleaning unit is installed on the mopping bracket,

[0032] When the user pushes the mopping assembly, the driving device starts to work to drive the mopping assembly to retract to the first limit position; or

[0033] When the interaction device on the body receives the user's retraction instruction, the interaction device triggers the driving device to work to drive the mopping assembly to retract to the first limit position.

[0034] Optionally, the cleaning robot further includes a sensing system;

[0035] The control component is electrically connected to the sensing system;

[0036] The sensing system includes a sensing unit for detecting the retraction thrust of the mopping assembly;

[0037] After the sensing unit detects the installation thrust of the mopping assembly, it sends a retraction signal to the control component, and the control component controls the driving device to start working to drive the mopping assembly to retract to the first limit position.

[0038] Optionally, during the cleaning task, the cleaning robot disassembles and reassembles the cleaning unit. After the cleaning robot detects that the cleaning unit is installed in place, the mopping assembly remains in the extended state and continues to perform the cleaning task from the interrupted position.

[0039] After the cleaning robot finishes the cleaning task and disassembles and reassembles the cleaning unit, after the cleaning robot detects that the cleaning unit is installed in place, the mopping assembly retracts to the first limit position and stops in place or drives into the base station.

[0040] Optionally, the mopping assembly has multiple gears.

[0041] In different gears, the relative position of the mopping assembly and the body is different.

[0042] When performing the cleaning task, the body determines the target gear of the mopping assembly according to the detected environmental information; and makes the mopping assembly be in the target gear by controlling the driving device.

[0043] In an embodiment of the present application, a method for disassembling and assembling a cleaning unit is further provided, which is applicable to the above-mentioned cleaning robot. The method for disassembling and assembling the cleaning unit includes:

[0044] After the cleaning robot receives the disassembly instruction of the cleaning unit, it starts the cleaning unit disassembly mode.

[0045] Control the mopping assembly to move to the second limit position, and the cleaning unit can be disassembled from the exposed side of the mopping assembly.

[0046] Optionally, a detection device is provided on the cleaning robot, and the detection device is used to detect the specific position of the mopping assembly relative to the body.

[0047] After the cleaning robot receives the disassembly instruction of the cleaning unit, starting the cleaning unit disassembly mode includes:

[0048] The detection device detects the current position of the mopping assembly relative to the body.

[0049] If the mopping assembly is in the first limit position, the mopping assembly moves from the first limit position to the second limit position.

[0050] Optionally, if the mopping assembly is in any position between the first limit position and the second limit position, the mopping assembly does not move.

[0051] The cleaning robot outputs a first prompt signal.

[0052] Optionally, when the mopping component is at any position between the first extreme position and the second extreme position, the driving device drives the mopping component to move towards the second extreme position;

[0053] When the mopping component moves to the second extreme position, the cleaning robot outputs a second prompt signal.

[0054] In another embodiment of the present application, a method for disassembling and assembling a cleaning unit is further provided, which is applicable to the above-mentioned cleaning robot. The method for disassembling and assembling the cleaning unit includes:

[0055] Responding to the disassembly and assembly instruction of the cleaning unit,

[0056] Detecting whether the state of the mopping component meets the disassembly and assembly conditions;

[0057] Based on the signal indicating that the disassembly and assembly conditions are met, prompting the user to disassemble and assemble the cleaning unit;

[0058] The condition for meeting the disassembly and assembly is that the mopping component is located at the second extreme position, or the mopping component is located at any position between the first extreme position and the second extreme position.

[0059] Optionally, a drum detection device is provided on the cleaning robot. In addition, the method for disassembling and assembling the cleaning unit further includes:

[0060] Responding to the detection signal of the drum detection device, sending out a signal indicating that the cleaning unit is installed successfully;

[0061] Based on the original state of the mopping component, the driving device drives the mopping component to reset to its original state, and the cleaning robot continues the original cleaning work;

[0062] Or, the mopping component resets to the first extreme position;

[0063] Or, the mopping component resets to the first extreme position, and the cleaning robot returns to the base station.

[0064] Optionally, based on the original state of the mopping component, the driving device drives the mopping component to reset to its original state, and the cleaning robot continues the original cleaning work. This also includes:

[0065] Before the cleaning robot continues the original cleaning work, confirming whether the water tank and / or the sewage tank on the cleaning robot meet the requirements;

[0066] If the water tank and / or the sewage tank meet the requirements, the cleaning robot continues the original cleaning work;

[0067] If the clean water tank and / or the sewage tank do not meet the requirements, the cleaning robot returns to the base station.

[0068] In the technical solution provided by the embodiment of the present application, the mopping assembly including the cleaning unit, the liquid supply mechanism, and the decontamination mechanism can move relative to the body of the cleaning robot as a whole, ensuring that the decontamination mechanism can scrape the dirt on the cleaning unit at any position of the mopping assembly, and the cleaning unit can perform live water cleaning at any position, realizing self-cleaning while working. When the cleaning unit extends outwards for edge cleaning, the cleaning unit will not be overly soiled, and it can still have a good cleaning effect after long-term cleaning, with a better user experience. In addition, when the cleaning unit is disassembled and assembled in this embodiment, the mopping assembly is in the extended state, completely avoiding the problem of the user's hand being pinched by the mopping assembly and the main body housing, facilitating user operation, having a large operating space, not easily prone to bumps, etc., and being simple, convenient and safe to disassemble and assemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0070] Figure 1a and 1b show schematic diagrams of edge cleaning in two states where the drum does not extend and extends;

[0071] Figure 1c show a schematic diagram of the bottom surface of the dirt collection box being higher than the bottom surface of the body;

[0072] Figure 2 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application;

[0073] Figure 3a is an internal schematic diagram of the cleaning robot provided by the embodiment of the present application after removing the upper cover;

[0074] Figure 3b is Figure 3a a partial view of;

[0075] Figure 4 is an exploded schematic diagram of the structure of a cleaning robot provided by an embodiment of the present application;

[0076] Figure 5 is an exploded view of a mopping assembly provided by an embodiment of the present application;

[0077] Figure 6 is a schematic diagram of the mopping assembly provided by the embodiment of the present application being arranged on the cavity housing;

[0078] Figure 7a External structural view of the mopping and washing component provided by the embodiment of the present application;

[0079] Figure 7b Shows a schematic structural diagram of a specific implementation of the liquid supply mechanism in the embodiment of the present application;

[0080] Figure 8 Bottom view of a mopping bracket provided by the embodiment of the present application;

[0081] Figure 9a Exploded view of the mopping and washing component provided by an embodiment of the present application;

[0082] Figure 9b Cross-sectional view of the mopping and washing component provided by an embodiment of the present application;

[0083] Figure 10a Schematic diagram of the state of a cleaning robot performing edge cleaning provided by the embodiment of the present application;

[0084] Figure 10b Comparison schematic diagram of two situations where the mopping and washing component extends and does not extend when the cleaning robot provided by the embodiment of the present application performs a cleaning task;

[0085] Figure 11 Schematic diagram of a mopping and washing component in a lifted state provided by the embodiment of the present application;

[0086] Figure 12 Schematic diagram of a mopping and washing component in an extended state provided by the embodiment of the present application;

[0087] Figure 13 Schematic structural diagram of a driving device provided by the embodiment of the present application;

[0088] Figure 14 Stereogram of an action execution mechanism provided by the embodiment of the present application;

[0089] Figure 15 Another perspective stereogram of an action execution mechanism provided by the embodiment of the present application;

[0090] Figure 16 Semi-sectional structural schematic diagram of a mopping and washing component provided by the embodiment of the present application;

[0091] Figure 17 Partial structural schematic diagram of an action execution mechanism provided by the embodiment of the present application;

[0092] Figure 18 Schematic diagram of a slider structure provided by the embodiment of the present application;

[0093] Figure 19A partial cross-sectional view of an action execution mechanism provided by an embodiment of the present application;

[0094] Figure 20a A partial cross-sectional view of a combination of a cavity shell and a shell cover provided by an embodiment of the present application;

[0095] Figure 20b A schematic structural diagram of a shell cover provided by an embodiment of the present application;

[0096] Figure 21 A schematic diagram of the setting positions of a grating structure and a fourth optoelectronic switch in a cleaning robot provided by an embodiment of the present application;

[0097] Figure 22 A schematic structural diagram of respectively arranging a first connection end and a second connection end for connecting an elastic member on a sliding plate and a slider in an embodiment of the present application;

[0098] Figure 23 A schematic structural diagram showing a hovering surface provided at the top of a lifting part;

[0099] Figure 24 A schematic structural diagram of a mopping and washing assembly being lifted relative to the ground provided by an embodiment of the present application;

[0100] Figure 25 A front view of another mopping and washing assembly provided by an embodiment of the present application;

[0101] Figure 26 A cross-sectional view of another mopping and washing assembly provided by an embodiment of the present application;

[0102] Figure 27a A perspective view of another mopping and washing assembly in an initial state provided by an embodiment of the present application;

[0103] Figure 27b A front view of another mopping and washing assembly in an initial state provided by an embodiment of the present application;

[0104] Figure 27c A cross-sectional view of another mopping and washing assembly in an initial state provided by an embodiment of the present application;

[0105] Figure 28a A perspective view of another mopping and washing assembly in a lifted state provided by an embodiment of the present application;

[0106] Figure 28b A front view of another mopping and washing assembly in a lifted state provided by an embodiment of the present application;

[0107] Figure 28c A cross-sectional view of another mopping and washing assembly in a lifted state provided by an embodiment of the present application;

[0108] Figure 29aAnother perspective view of the mopping and washing assembly provided by the embodiment of the present application in the extended state;

[0109] Figure 29b Another front view of the mopping and washing assembly provided by the embodiment of the present application in the extended state;

[0110] Figure 29c Another sectional view of the mopping and washing assembly provided by the embodiment of the present application in the extended state;

[0111] Figure 30 Perspective view of a mopping bracket provided by the embodiment of the present application;

[0112] Figure 31 Perspective structure diagram of a sliding plate provided by the embodiment of the present application;

[0113] Figure 32 Perspective structure diagram of a rotating bracket provided by the embodiment of the present application;

[0114] Figure 33 Perspective structure diagram of the cavity shell corresponding to another mopping and washing assembly provided by the embodiment of the present application;

[0115] Figure 34 Sectional view of a mopping and washing assembly provided by the embodiment of the present application;

[0116] Figure 35a Sectional view of a mopping bracket provided by the embodiment of the present application;

[0117] Figure 35b Schematic diagram of the front side of the dirt collection box in a mopping and washing assembly provided by the embodiment of the present application having an inclined angle;

[0118] Figure 35c Schematic diagram of the cleaning robot structure provided by the embodiment of the present application;

[0119] Figure 36a and 36b Shows a comparison schematic diagram of the dirt collection box being arranged on the front side and the rear side of the cleaning roller;

[0120] Figure 37 Another sectional view of another mopping and washing assembly provided by the embodiment of the present application;

[0121] Figure 38 Another sectional view of another mopping and washing assembly provided by the embodiment of the present application from another perspective;

[0122] Figure 39a Exploded view of a scraper assembly provided by the embodiment of the present application;

[0123] Figure 39b Cross-sectional schematic diagram of a water guide plate provided by the embodiment of the present application;

[0124] Figure 39c Schematic structural diagram of the adaptive adjustment device provided in the embodiment of the present application on the cleaning robot;

[0125] Figure 40 Stereo structure diagram of a scraper assembly provided in the embodiment of the present application;

[0126] Figure 41 Schematic implementation structure diagram of another driving device provided in an embodiment of the present application;

[0127] Figure 42 Shows the Figure 41 Schematic diagrams of two states of the mopping assembly rising and extending driven by the driving device of the structure shown;

[0128] Figure 43 Schematic implementation structure diagram of yet another driving device provided in an embodiment of the present application;

[0129] Figure 44a Schematic diagram of the mopping assembly exposed on one side of the body in the cleaning robot provided in an embodiment of the present application;

[0130] Figure 44b Schematic diagram of the dust collection box removed from the mopping assembly provided in the embodiment of the present application;

[0131] Figure 44c Schematic diagram of the release assembly in the locked state provided in the embodiment of the present application;

[0132] Figure 44d Schematic diagram of the release assembly in the unlocked state provided in the embodiment of the present application;

[0133] Figure 44e Schematic diagram of the process of removing the dust collection box provided in the embodiment of the present application;

[0134] Figure 44f Explosion diagram of the dust collection box, release assembly and filter assembly provided in the embodiment of the present application;

[0135] Figure 45 Step diagram of a method for disassembling and assembling a cleaning roller provided in the embodiment of the present application;

[0136] Figure 46 Another step diagram of a method for disassembling and assembling a cleaning roller provided in the embodiment of the present application. Detailed implementation manners

[0137] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. In addition, it should be noted that for the sake of convenience of description, only parts related to the present application rather than all structures are shown in the drawings. In the description of the present application, unless otherwise clearly specified and defined, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations. In the present application, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is lower than that of the second feature. In the description of this embodiment, the orientation or positional relationship terms such as "above", "below", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0138] Currently, the bodies of many cleaning robots are circular. The circular body is relatively flexible and easy to get out of trouble. When a dust suction roller 01 and a mopping roller 02 (cleaning roller) are simultaneously provided on the cleaning robot, generally the dust suction roller 01 is located in front of the roller 02, so that the cleaning robot can suck dust first and then mop the floor during movement. For the circular shape of the cleaning robot, for the need of avoiding obstacles and getting out of trouble during movement, the driving wheels are generally arranged at the maximum width position perpendicular to the forward direction, the roller is generally placed behind the driving wheels, and the whole does not protrude from the projection of the circular body on the ground, which results in the shorter roller at the rear part of the body, and the distance from the end of the roller to the outermost edge in the width direction of the body is relatively far, such as Figure 1aAs shown in the figure. When the cleaning robot is cleaning along the wall or closet, etc., after maintaining the minimum safe distance from the object such as the wall or closet, the cleaning robot cannot reach the corner area with a larger dimension d of the object. To solve this problem, some cleaning robots are designed with a retractable roller structure.

[0139] To make the functions of the cleaning robot more comprehensive, some cleaning robots are designed with a retractable roller. When the roller extends, it can clean along the wall or clean around obstacles. However, after the roller extends, although some robots can ensure the supply of clean water, the squeegee is still inside the body. That is, only the extended part of the roller can receive clean water, and the dirt remains on the roller all the time. The dirt cannot be scraped off, and the roller cannot be cleaned. There is still a problem of smearing similar to that of the rag tray, and the cleaning effect is poor.

[0140] As Figure 1b shown in the figure, the extension of the roller can make the roller reach the corner area, and the coverage rate is improved. However, when only the roller extends, the roller will be attached with dirt during the cleaning process, and the roller will become dirtier and dirtier. The corner area (such as Figure 1a the area with the edge width d in the figure) cannot achieve good cleaning effect, but will become dirtier and dirtier when being dragged.

[0141] To make the roller have a good cleaning effect after extension, it is necessary for the roller to be self-cleaned in time when it is in the extended state. When the rotary brush contacts the ground for mopping, it can have a good cleaning degree and there will be no problem of smearing.

[0142] In the prior art, in order to perform edge cleaning or cleaning along an obstacle for a cleaning robot with a roller, there are solutions where a single roller or the roller and the liquid supply mechanism can extend along with it. However, these robots only extend the roller when edge cleaning is required or when cleaning around an obstacle, and during most of the cleaning process, the roller is in the initial position within the projected area of the main body. For a floor sweeper with the initial position of the roller within the projected area of the main body, when performing edge cleaning or cleaning around a target, the robot controls the roller to extend according to the distance threshold from the edge and the target. When an obstacle appears at the edge or the target position, the robot controls the roller to retract inward according to the threshold of the distance from the obstacle. That is, if the environment at the edge or the target position is complex and there are many obstacles, and the distance of the robot is between the distance threshold from the edge and the target and the distance threshold from the obstacle, the controller of the robot needs to continuously receive and calculate the thresholds, and frequently perform actions of extending, retracting, and extending again. This seriously wastes the computing power of the robot and at the same time affects the reliability of the extending and retracting drive device. In addition, for a cleaning robot that selects a roller as the mopping unit, there is a certain distance between the maximum width positions on both sides of the roller and the walking direction of the robot. This distance is a cleaning blind area during traversal. When the robot traverses, there are two blind areas for a robot with an initial position within the projected area of the main body. When the roller extends from one side to a position parallel to or exceeding the maximum width position of the robot's walking direction, the robot only has one blind area. That is, if the robot with the roller in the extended state normally performs traversal, the coverage of the traversal blind area will be simpler.

[0143] The embodiments of the present application provide a cleaning robot. The cleaning unit of the cleaning robot is retractable, and it can also ensure continuous supply of cleaning water at any position of the cleaning unit. The scraper can also continuously act to scrape off the dirt on the cleaning unit, so that the cleaning unit can clean and self-clean while extending to any position. If the rag solution in the prior art: continuously supply cleaning liquid to the rag, the rag cleans the ground, and the rag cannot be cleaned during work, is called dead water cleaning. Then the solution provided by the embodiments of the present application can be called live water cleaning, that is, when the cleaning unit works (i.e., mopping the ground), there is continuously active cleaning liquid supply, and the cleaning unit can be continuously decontaminated and cleaned by the decontamination mechanism. After the cleaning unit is decontaminated, clean cleaning liquid is replenished. In this way, the cleaning unit can maintain a high level of cleanliness for a long time, and thus can improve the cleaning degree of the cleaning robot for the ground.

[0144] In each embodiment of the present application, the cleaning unit may be, but is not limited to, a cleaning roller, a track-type cleaning member, etc. Among them, the cleaning roller may be a cylindrical roller, that is, the surface of the cylindrical roller has cleaning fluff. The track-type cleaning member, also referred to as a track-type roller, includes two spaced track wheels, and an annular track-shaped cleaning cloth is sleeved on the two track wheels. The outer surface of the track-type cleaning cloth has cleaning fluff. One side of the track-type cleaning cloth is in contact with the ground. As the track wheels rotate, the track-type cleaning cloth will move relative to the ground, thereby realizing mopping the ground. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor may be referred to as a roller motor, and the cleaning roller is driven by the roller motor to rotate to mop the ground. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor may be referred to as a pulley motor, and the pulley motor drives the track to rotate to drive the track-type cleaning cloth to move to mop the ground.

[0145] Before introducing the mopping assembly and the driving device provided by the embodiments of the present application, the structure of the cleaning robot will be briefly introduced. In the following embodiments, the cleaning unit is taken as an example of a cleaning roller for illustration.

[0146] See Figure 2 , 3a As shown in FIGS. 3 and 4, the cleaning robot includes, but is not limited to, a body 1, a vacuum cleaning system 3, a mopping system, a traveling system 8, a sensing system 640, a control system, and a side brush assembly 7. Among them, the vacuum cleaning system 3, the mopping system, the traveling system 8, the sensing system 640, and the control system are all arranged on the body 1. As shown in FIG. 3, the vacuum cleaning system 3 may include, but is not limited to, a dust box 301, a vacuum fan 302, a roller brush (not shown in the figure), etc. The control system includes a hardware part and also includes a software part. The hardware part is like a main board 2, as Figure 4 shown. The main board assembly mentioned hereinafter can also be considered as the main board 2. The main board 2 may be provided with a processor, a storage medium (such as a memory), etc. The software part is a computer program stored in the storage medium. The processor executes these computer programs to control the various components of the cleaning robot, so that the cleaning robot has corresponding functions, such as map building, path planning, obstacle recognition, cleaning around obstacles, edge cleaning, returning to the base station and completing docking, area recognition, cleaning mode switching (only vacuuming, only mopping, or vacuuming first and then mopping), etc. The traveling system 8 may include driving wheels and a driving wheel motor; the driving motor outputs corresponding power under the control of the main board to drive the driving wheels to rotate, so as to realize the forward, backward, stop, and turning of the cleaning robot. Further, the traveling system 8 may further include a universal wheel, and the universal wheel is a follow-up wheel and may be arranged at the front of the body. The side brush assembly 7 may be one or two. As Figure 2In the illustrated example, a side brush assembly 7 is provided on one side (such as the right side) of the front part of the body 1. If there are two side brush assemblies 7, the two side brush assemblies can be respectively arranged on both sides of the front part of the body 1 (such as one on each of the left and right sides).

[0147] The mopping system may include but is not limited to: a clean water tank 5, a sewage tank 9, a mopping assembly 4, etc. As Figure 5 shown, the mopping assembly 4 may include but is not limited to: a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45, and a dirt removal mechanism 44. Among them, the roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is communicated with the clean water tank 5 through a clean water pipe. The dirt removal mechanism 44 is communicated with the sewage tank 9 through a sewage pipe. The cleaning robot further includes a driving device 10, which is arranged on the body 1 and is connected to the mopping assembly. As Figure 6 shown, along the width direction of the body 1, the driving device 10 can drive the mopping assembly 4 to protrude partially outside the body 1 relative to the body 1 from at least one side of the body 1 such that part of the mopping assembly is exposed. Figure 6 In the reference coordinate system, the X direction is the width direction of the body; the Y direction is the traveling direction of the cleaning robot.

[0148] It should be supplemented and explained here that: from the components included in the mopping assembly 4, it can be seen that the mopping assembly 4 in this embodiment can mop the object to be cleaned (such as the ground), and at the same time can use its own liquid supply mechanism 45 and dirt removal mechanism 44 to realize the self-cleaning function to maintain a good cleanliness of the cleaning roller.

[0149] From the above content, it can be known that in the solution provided by the embodiment of the present application, the driving device 10 can drive the mopping assembly 4 to move as a whole relative to the body to extend a part outside the body. That is to say, at any position of the mopping assembly 4, the liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller, the dirt removal mechanism 44 can scrape off the dirt on the cleaning roller 42, and the cleaning roller 42 can self-clean while working. When the cleaning roller 42 extends outwards for edge cleaning, the cleaning roller 42 will not be overly dirty, and it can still have a good cleaning effect after long-term cleaning, and the user experience is better.

[0150] In fact, the mopping and washing component 4 in this embodiment can also be in the extended state normally. For example, when the cleaning robot is started, the main board controls the driving device 10 to drive the mopping and washing component 4 to move relative to the body, so that a part extends from one side of the body 1 and is in the extended state. When the cleaning robot is performing a cleaning task and traversing the area to be cleaned, the mopping and washing component 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board controls the driving device 10 to drive the mopping and washing component 4 to retract so as to hide inside the body 1, which is convenient for obstacle avoidance or passing through a narrow space. When the cleaning roller 42 is in the extended state, the outer edge of the cleaning roller 42 can be flush with the widest edge of the body 1, or the outer edge of the cleaning roller 42 can extend beyond the widest edge of the body 1.

[0151] As Figure 5 shown in the example, the mopping and washing component 4 further includes a mopping and washing bracket 43; the mopping and washing bracket 43 has a roller mounting cavity with an opening facing downwards. The roller motor 41 and the cleaning roller 42 are arranged in the roller mounting cavity. The cleaning roller 42 contacts the surface to be cleaned through the opening; the liquid supply mechanism 45 and the dirt removal mechanism 44 are both arranged on the mopping and washing bracket 43; the power end of the driving device 10 is connected to the mopping and washing bracket 43.

[0152] Specifically, the mopping and washing bracket 43 has a first opening facing downwards and a second opening facing sideways. The lower part of the cleaning roller 42 passes through the first opening to contact the surface to be cleaned. The cleaning roller 42 can be detachably removed through the second opening, and the second opening and the position on the body 1 where the mopping and washing component extends are on the same side. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position on the body 1 where the mopping and washing component extends, and then can detach the cleaning roller 42 at the second opening. During installation, the cleaning roller 42 can be inserted through the second opening. After the end of the cleaning roller 42 is connected to the roller motor 41, the other end of the cleaning roller 42 is connected at the second opening. That is, the disassembly and assembly direction of the cleaning roller 42 is the direction of the cylinder axis.

[0153] See Figure 3a shown, a water tank 5 is provided on the body 1 of the cleaning robot. As Figure 7b shown, the mopping and washing bracket 43 has a roller bracket 421. The liquid supply mechanism 45 can be arranged on the roller bracket 421. Figure 7b Shows a feasible structure of the liquid supply mechanism 45. The liquid supply mechanism 45 includes a water distributor 452. The water distributor 452 has a main path, a plurality of branch paths and a plurality of liquid supply ports 453 (as Figure 8As shown in the figure, multiple liquid supply ports 453 face the cleaning roller 42 and are distributed along the axial line of the cleaning roller 42. The main path of the water distributor 452 is connected to the clean water tank 5 through the first flexible pipe 443. One end of the first flexible pipe 443 is connected to the water supply port 451 of the main path, and the other end is connected to the clean water tank 5. The multiple branch paths communicate with the main path, and the multiple liquid supply ports correspond to the multiple branch paths respectively.

[0154] As Figure 5 shown, the dirt removal mechanism 44 includes a scraping strip 441 and a dirt collection box 442. The end of the scraping strip 441 contacts the cleaning roller 42, and the dirt collection box 442 is located below the scraping strip 441. When the cleaning roller 42 rotates, the dirt scraped off by the scraping strip 441 enters the dirt collection box 442. As Figure 1c shown, the bottom surface of the dirt collection box 442 is m higher than the bottom surface of the machine body 1, such as 1 mm to 5 mm.

[0155] The disassembly and assembly direction of the cleaning roller 42 is along the axial line direction of the cylinder. The disassembly direction of the dirt collection box 442 can be different from that of the cleaning roller 42. For example, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42. Since the cleaning roller 42 and the dirt collection box 442 are both arranged on the first opening provided downward by the mopping bracket 43 and are relatively close, the inventor found that if the disassembly directions of the two are the same, the positioning devices of the cleaning roller 42 and the dirt collection box 442 may interfere with each other, and when disassembling one component alone, there may be contact, friction, and even mutual driving of the other component to move. Therefore, in this solution, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, ensuring separation in the fixing method and non-interference in disassembly. And with the downward disassembly method of the dirt collection box, the user only needs to lift the tail of the cleaning robot to see the dirt collection box and conveniently take it out downward, eliminating the risk of dirty water pouring out of the dirt collection box. The content related to disassembling and assembling the dirt collection box 442 is described in detail below, and reference can be made to the following content.

[0156] See Figure 3a , a sewage tank 9 is provided on the machine body 1. Correspondingly, as Figure 3b and Figure 9aIn an implementation solution shown, the squeegee 441 has an avoidance hole 446, and a sewage collection pipe 542 is provided at the avoidance hole 446. One end of the sewage collection pipe 542 communicates with the avoidance hole 446, and the other end communicates with the sewage collection box 442. The sewage collection box 442 communicates with the sewage tank 9 through a second flexible pipe 456. The dirt scraped off from the cleaning roller 42 by the squeegee 441 enters the sewage collection pipe 542 through the avoidance hole 446, and enters the sewage collection box 442 through the sewage collection pipe 542. In specific implementation, the decontamination mechanism 44 may further include a sewage pump (not shown in the drawings), and the sewage pump is used to pump the dirt in the sewage collection box 442 into the sewage tank 9 through the second flexible pipe 456. Wherein, the sewage pump can work regularly to pump away the dirt in the sewage collection box 442; it can also be started to work when the amount of dirt in the sewage collection box 442 reaches a threshold value to pump away the dirt in the sewage collection box 442, and this embodiment does not limit this. As Figure 3b shown, the second flexible pipe 456 further includes a second end pipe 457. The length of the second end pipe 457 remains unchanged. One end thereof is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0157] See Figure 3b 、 Figure 7a 、 Figure 8 and Figure 9a , in an embodiment provided by the present application, the clean water tank 5 communicates with the liquid supply mechanism 45 through a first flexible pipe 443. The cleaning liquid stored in the clean water tank 5 can be transported to the liquid supply mechanism 45 through the first flexible pipe 443, and the liquid supply mechanism 45 then supplies the cleaning liquid to the cleaning roller 42. The sewage tank 9 communicates with the decontamination mechanism 44 through a second flexible pipe 456. The sewage collected by the decontamination mechanism 44 can be transported to the sewage tank 9 through the second flexible pipe 456. When the mopping and washing assembly 4 moves outwards, the first flexible pipe 443 and the second flexible pipe 456 will move together with the mopping and washing assembly 4, and the bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually elongate. The first flexible pipe 443 always keeps the liquid supply mechanism 45 and the clean water tank 5 in communication, and the second flexible pipe 456 always keeps the decontamination mechanism 44 and the sewage tank 9 in communication.

[0158] See Figure 7a and Figure 7b , the liquid supply water inlet 451 is connected to the first flexible pipe 443, and the decontamination water outlet 4410 is connected to the second flexible pipe 456. The liquid supply water inlet 451 and the decontamination water outlet 4410 extend from above the mopping and washing bracket 43 to be connected to the first flexible pipe 443 and the second flexible pipe 456 respectively. See Figure 6 , the first flexible pipe 443 and the second flexible pipe 456 are arranged horizontally (i.e., in the negative X-axis direction in the figure) below the cavity housing 46, and then from Figure 6It comes out upward from the gap 03 in the [description] to connect with the clean water tank 5 and the sewage tank 9 on the body 1. Refer to Figure 6 , a pipeline space for accommodating the first flexible pipeline 443 and the second flexible pipeline 456 is arranged beside the gap 03. Since the mopping component 4 is to move relative to the cavity shell 46 in the positive and negative X-axis directions, the first flexible pipeline 443 and the second flexible pipeline 456 can deform with the movement of the mopping component 4 to provide cleaning liquid for the cleaning roller 42 and can discharge the dirt in the dirt collection box 442 in real time.

[0159] To avoid bending, springs (not shown in both Figure 9 and Figure 38) can be arranged on the outer sides of the first flexible pipeline 443 and the second flexible pipeline 456, so that there will be no bending blockage during the overall movement (lifting and / or telescoping) of the mopping component 4, which affects sewage discharge and liquid supply. In a specific embodiment, the first flexible pipeline 443 and the second flexible pipeline 456 are respectively elastic pipelines. When the mopping component 4 extends outwards, the first flexible pipeline 443 and the second flexible pipeline 456 will be stretched and extended and / or bent. When the mopping component 4 retracts, the first flexible pipeline 443 and the second flexible pipeline 456 will contract and become shorter and / or bent. In another embodiment, the first flexible pipeline 443 and the second flexible pipeline 456 can also be bendable plastic pipes. When the mopping component 4 is in the retracted state, the first flexible pipeline 443 and the second flexible pipeline 456 are in the bent state, but the first flexible pipeline 443 and the second flexible pipeline 456 are not in the blocked state. In this bent state, both flexible pipelines are unobstructed. When the mopping component 4 extends outwards, the bent first flexible pipeline 443 and the second flexible pipeline 456 move along with it and gradually extend, so as to ensure that the connection of the pipelines is not interrupted.

[0160] The cleaning robot provided by an embodiment of the present application has a mopping component 4 that can be telescoped relative to the body 1 on the body 1. When the body 1 is on the ground to perform the mopping task, the cleaning roller 42 in the mopping component 4 contacts the ground. Or rather, the cleaning roller 42 not only contacts the ground but also has a certain pressure on the ground, which helps to improve the cleaning effect of the cleaning roller on the ground. As Figure 3a shown, a receiving cavity 101 is provided at the bottom of the body 1, and the mopping component 4 is arranged in the receiving cavity 101. The receiving cavity 101 extends along the width direction of the body 1. In the width direction of the body 1, at least one end of the receiving cavity 101 is open.

[0161] It should be noted that Figure 1b the direction of the arrow X in [description] can be considered as the length direction of the mopping component 4 or the width direction of the body 1.

[0162] Figure 3a In the example shown, from Figure 3aFrom this perspective, one end of the accommodating cavity 101 on the right side of the body 1 is open. The mopping and washing assembly 4 can extend out through the opening at the open end to expose a part outside the body 1. In a specific implementation, both ends of the accommodating cavity 101 are open. In this case, the mopping and washing assembly 4 can extend out from the opening on the right side of the body 1 or from the opening on the left side of the body 1. The cleaning robot can control the mopping and washing assembly 4 to extend out on the corresponding side according to the actual scenario requirements.

[0163] The extension of the mopping and washing assembly 4 can be driven by the driving device 10. When the mopping and washing assembly 4 extends outwards, as viewed from the top view of the cleaning robot (as Figure 10a shown), the outermost edge of the mopping and washing assembly 4 extends outwards beyond the edge of the body 1. Therefore, when the body 1 of the cleaning robot maintains a safe distance from the edges of objects such as the wall edge and the furniture edge, the cleaning roller 42 can achieve edge cleaning of the object. Of course, in an open space, the cleaning roller 42 can also extend out, as Figure 10a shown in the state to perform the cleaning task. In a specific embodiment, Figure 10a the dashed box E in the figure represents a schematic diagram of the mopping and washing assembly 4 in the retracted state (initial state), and the solid box F represents a schematic diagram of the mopping and washing assembly 4 extending outwards or swinging outwards. When the cleaning robot performs edge cleaning along the edge of an object, the edge of the body 1 of the cleaning robot maintains a safe distance from the edge of the object, and the distance that the mopping and washing assembly 4 extends outwards relative to the edge of the body 1 is D, and the value range of D is [10 mm to 0 mm], for example, 5 mm. Of course, in order to prevent the outer edge of the mopping and washing assembly 4 from directly colliding or scratching the edge of the object, there is also a safe distance between the outer edge of the mopping and washing assembly 4 and the edge of the object, and this safe distance is d, and the value range of d is [10 mm to 1 mm], for example, 2 mm. The moving stroke of the mopping and washing assembly 4 relative to the body 1 can be 40 - 60 mm, such as an extension stroke of 50 mm.

[0164] The driving device 10 can drive the mopping and washing assembly 4 to extend outwards from the lateral opening of the accommodating cavity 101. For the retraction of the mopping and washing assembly 4, it can be retracted under the drive of the driving device 10. Or, the retraction of the mopping and washing assembly 4 is not driven by the driving device 10, and it can be retracted through the cavity shell 46 (as Figure 6It retracts under the drive of the elastic member provided between it (as shown) and the mopping and scrubbing assembly 4. For example, when the drive device 10 drives the mopping and scrubbing assembly 4 to extend outward, the elastic member provided between the cavity housing 46 and the mopping and scrubbing assembly 4 deforms (such as being compressed). When the mopping and scrubbing assembly 4 needs to retract, the drive device 10 is decoupled from the mopping and scrubbing assembly 4, and the mopping and scrubbing assembly 4 is driven to retract under the action of the restoring force of the elastic member. Of course, this is only an embodiment provided in this application. In other embodiments, the extension action and retraction action of the mopping and scrubbing assembly 4 are both driven by the drive device 10. Here, it should be added that: the cavity housing 46 can be understood as a part of the bottom wall of the base of the body 1 of the cleaning robot, and this part of the bottom wall forms the accommodation cavity 101. Or, a cavity housing 46 as shown in Figure 6 is provided on the base of the body 1.

[0165] The above briefly introduced the structure of the cleaning robot provided in the embodiments of this application. Next, the structure of the mopping and scrubbing assembly 4 in this application, the structure for realizing the telescopic function of the mopping and scrubbing assembly (that is, the specific implementation of the drive device), etc. will be described in more detail. The solutions provided in the embodiments of this application focus on the mopping and scrubbing assembly 4. The mopping and scrubbing assembly 4 can extend relative to the body of the cleaning robot from at least one side of the body, so that part of the mopping and scrubbing assembly 4 is exposed, so that the mopping and scrubbing assembly 4 can maintain good cleanliness through self-cleaning at any position. Next, the telescopic function of the mopping and scrubbing assembly 4 will be described in detail. There are various structures for realizing the telescopic function of the mopping and scrubbing assembly 4, which will be introduced one by one below.

[0166] See Figure 6 、 11 to Figure 12 In an embodiment of this application, a drive device 10 is provided. The drive device 10 includes: a first power source 102 and a first motion execution mechanism 103. The first motion execution mechanism 103 includes a power access end and a power output end. The power access end is connected to the first power source 102. The first motion execution mechanism 103 is used to convert the rotational power output by the power source into linear power, and the power output end is connected to the mopping and scrubbing assembly 4.

[0167] The first power source 102 may include, but is not limited to: a first motor and a speed reducer. The first motion execution mechanism 103 may include, but is not limited to: a first gear 13 and a first rack 14. Specifically, in the initial position of the first motion execution mechanism 103, such as in the example shown in Figure 13 , relative to the first gear 13, most of the teeth of the first rack 14 are on the left side of the first gear 13. This state can be called the rack being in the origin position. At this time, the mopping and scrubbing assembly 4 is in the initial state, that is, the state shown in Figure 11 . From the perspective of the overall cleaning robot, Figure 11 in this state, the mopping and scrubbing assembly 4 is hidden inside the body 1. When the mopping and scrubbing assembly 4 needs to extend, the first motor of the first power source 102 rotates forward (fromFigure 13 Viewed from an angle, the first motor outputs power in the counterclockwise direction) to drive the first rack 14 to move in the first direction ( Figure 13 the direction of arrow X in the figure). Figure 12 The figure shows a schematic diagram of the mopping assembly 4 in the extended state. When the mopping assembly 4 needs to retract, the first motor of the first power source 102 reverses (from Figure 13 Viewed from an angle, the first motor outputs power in the clockwise direction) to drive the first rack 14 to move in the opposite direction (the second direction) of the first direction.

[0168] See Figure 13 , in an embodiment provided by the present application, at least one slide rail 15 is provided on the cavity shell 46 of the accommodation cavity 101 of the body 1. The first motion execution mechanism 103 further includes a sliding plate, and the first rack 14 can be arranged on the sliding plate. The sliding plate is slidably connected to the slide rail 15. The first power source 102 can be arranged at the installation position of the cavity shell 46, the first gear 13 is arranged on the output shaft of the first power source 102, and the first gear 13 meshes with the first rack 14. After the first power source 102 outputs power, the sliding plate 20 can be driven to slide back and forth on the slide rail 15 through the first gear 13 and the first rack 14. The sliding plate is connected to the mopping assembly 4 to drive the mopping assembly 4 to act. In addition, the first rack 14 and the sliding plate 20 can be an integral structure, or the first rack 14 and the sliding plate 20 can be fixedly connected.

[0169] As mentioned above, the sliding plate is arranged on the upper surface of the cavity shell 46. See Figure 16 , a connecting column 241 is provided on the mopping assembly 4, and the mopping assembly 4 is connected to the sliding plate through the connecting column 241. In order to avoid interference between the connecting column 241 and the cavity shell 46, corresponding to the moving range of the connecting column 241, a slot hole 27 (such as Figure 14 shown) is provided on the cavity shell 46, and the connecting column 241 extends above the sliding plate 20 through the slot hole 27 and the through hole 23 on the sliding plate 20. The length of the slot hole 27 is greater than or equal to the maximum moving distance of the mopping assembly 4.

[0170] Furthermore, as shown in Figure 20a and 20bAs shown, the body 1 includes a housing cover 47, and the housing cover 47 can be cooperatively connected above the cavity housing 46. When the housing cover 47 is cooperatively connected to the cavity housing 46, a hollow cavity is formed, and the driving device 10 (i.e., the first power source 102 and the first motion execution mechanism 103) is located in the hollow cavity. The housing cover 47 can not only provide effective protection for the driving device 10 to prevent garbage and foreign objects from entering and affecting the normal operation of the driving device 10. In addition, a fitting groove 471 is provided on the bottom surface of the housing cover 47, and the top end of the second baffle 26 contacts the fitting groove 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the fitting groove 461. The housing cover 47 can play a role in limiting the second baffle 26, effectively preventing the sliding plate 20 from moving upward or bulging.

[0171] In this embodiment, the mopping and washing assembly 4 can be telescopic relative to the body 1, and the mopping and washing assembly 4 can have a first limit position in the retracted state and a second limit position in the extended state. In addition, the mopping and washing assembly 4 can also stop at the first limit position and the second limit position to work at any position between the first limit position and the second limit position to adapt to various working scenarios. The main board 2 of the cleaning robot can determine the target position of the mopping and washing assembly 4 relative to the body based on the information detected by the sensing system 640; then control the driving device to drive the mopping and washing assembly to move to the target position. The main board 2 can make the mopping and washing assembly 4 stop and work at any position by controlling the driving device 10.

[0172] In order to further improve the control accuracy, multiple detection units are added in this embodiment to detect the position information of the mopping and washing assembly 4 relative to the body 1, which is convenient for the main board assembly of the cleaning robot to make corresponding controls. As Figure 13 shown in the example, multiple detection units can be arranged on the cavity housing 46. Multiple detection units can be respectively arranged at multiple positions within the stroke range of the mopping and washing assembly 4. For example, the first limit position in the retracted state, the second limit position in the extended state, and at least one intermediate position between the first limit position and the second limit position. The detection unit can include but is not limited to: photoelectric switch, microswitch, Hall element, etc. The multiple detection units can include a first detection unit and a second detection unit. The first detection unit can be located at the first limit position where the mopping and washing assembly 4 is in the retracted state, and the second detection unit can be located at the second limit position where the mopping and washing assembly 4 is in the extended state. Taking the detection unit as a photoelectric switch as an example, as Figure 13, on the cavity housing 46, there are provided: a first photoelectric switch 281 and a second photoelectric switch 282. These two photoelectric switches are respectively arranged at different positions on the cavity housing 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located at the first extreme position when the mopping and washing assembly 4 is in the retracted state and the first extreme position when it is in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be on the same side of the first motion execution mechanism 103 or on different sides. Of course, at least one photoelectric switch for detecting the intermediate position can also be arranged between the first photoelectric switch 281 and the second photoelectric switch 282.

[0173] Correspondingly, a triggering structure can be provided on the first motion execution mechanism 103. When the first photoelectric switch 281 and the second photoelectric switch 282 can be on the same side of the first motion execution mechanism 103, only one triggering structure needs to be provided. If the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located on both sides of the first motion execution mechanism 103, then two triggering structures need to be provided on the first motion execution mechanism 103. As shown in FIG. 14, a first triggering structure 291 and a second triggering structure 292. More specifically, the first triggering structure 291 and the second triggering structure 292 can be arranged on the sliding plate in the first motion execution mechanism 103. When the mopping and washing assembly 4 is at the first extreme position in the retracted state, the first triggering structure 291 triggers the first photoelectric switch 281. When the mopping and washing assembly 4 moves along Figure 23 the arrow X direction in FIG. to the second extreme position in the extended state, the second triggering structure 292 can trigger the second photoelectric switch 282, indicating that the mopping and washing assembly 4 extends out to the farthest distance.

[0174] Although the second triggering structure 292 and the second photoelectric switch 282 can detect whether the mopping and washing assembly 4 reaches the second extreme position in the extended state, and the main board assembly can control the first power source 102 to stop working based on the triggering signal of the second photoelectric switch 282 to make the mopping and washing assembly 4 stop at the second extreme position. However, for the sake of safety, a limiting structure can also be provided on the cavity housing 46. When the sliding plate 20 slides to the second extreme position, the first motion execution mechanism 103 abuts against the limiting structure (more specifically, the sliding plate of the first motion execution mechanism 103 abuts against the limiting structure).

[0175] As mentioned above, when the mopping and washing assembly 4 extends outwards, it has multiple gears. At different gears, the position of the mopping and washing assembly 4 relative to the body is different. Of course, it can also be said that at different gears, the distance that the mopping and washing assembly extends outwards is different. Refer to Figure 13 , Figure 14 and Figure 21, to achieve precise gear adjustment, the solution provided in this embodiment may further include a fourth detection unit and a fourth trigger structure. The fourth detection unit may be a fourth optoelectronic switch, a fourth microswitch, or a fourth Hall element. Taking the fourth detection unit as the fourth optoelectronic switch and the fourth trigger structure as the grating structure as an example, a fourth optoelectronic switch 284 is further provided on the cavity housing 46, and a grating structure 294 is provided on the first motion execution mechanism 103. The length of the grating structure 294 is equal to or less than the maximum stroke of the mopping assembly 4. When performing gear adjustment, the fourth optoelectronic switch 284 can accurately detect the counting scale on the grating structure 294, so as to determine the gear at which the mopping assembly 4 extends outwards.

[0176] The implementation process of the driving device 10 will be described in detail below in combination with the usage scenarios.

[0177] Scenario 1: When the cleaning robot is performing a cleaning task, the mopping assembly extends out. In case of special situations such as encountering an obstacle, the mopping assembly retracts.

[0178] When the cleaning robot is not performing tasks, it docks at the base station for replenishment (charging and / or filling with clean water), sewage discharge (such as discharging the garbage in the dust box and / or the sewage in the sewage tank), self-cleaning (cleaning the cleaning roller), etc. The user can start the cleaning robot to perform a cleaning task by touching the controls on the base station, or operating the interactive device on the base station, or through the smart device APP, or the controls on the cleaning robot, etc. When the cleaning robot is inside the base station, the mopping assembly is in a retracted state. When the cleaning robot drives out of the base station and detects that it has driven out of the base station, the main board assembly of the cleaning robot controls the driving device 10 to drive the mopping assembly to extend to a set position. This set position can be the second limit position in the extended state mentioned above, or a position between the first limit position in the retracted state and the second position in the extended state. This embodiment does not make a specific limitation on this. Then, the cleaning robot maintains the posture with the mopping assembly extended at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0179] During the cleaning process of the cleaning robot, when an obstacle is detected by the sensing system, the main board assembly controls the driving device 10 to drive the mopping assembly to retract a certain distance. The "certain distance" retracted here can be calculated by the main board assembly based on the information of the obstacle sensed by the sensing system; or it is the distance for the mopping assembly to retract from the current extended state to the first limit position. After bypassing the obstacle, the main board assembly then controls the driving device to make the mopping assembly extend to continue the cleaning task.

[0180] It should be added here that special situations may include but are not limited to: the user instructs the mopping assembly to retract, passing through a narrow passage, etc.

[0181] Scenario 2: When the cleaning robot is performing a cleaning task, the mopping component is in a retracted state. When edge cleaning is required, the mopping component extends

[0182] The cleaning robot plans a cleaning path according to the map of the area to be cleaned. Assume that the cleaning path is to clean the open area first and then perform edge cleaning. For example, clean along the wall, cabinet edge, etc. The mopping component of the cleaning robot is in a retracted state (such as the first limit position), and the open area is cleaned according to the zigzag travel path. After the open area is cleaned, the main board 2 of the cleaning robot controls the driving device to control the mopping component to extend (it can extend a set length or extend to the second limit position), and perform edge cleaning according to the planned edge path. After the edge cleaning is completed, the cleaning robot retracts the mopping component (such as the first-level position), moves forward to the next area to be cleaned, or returns to the base station for replenishment, sewage discharge, self-cleaning, etc.

[0183] See Figure 16 As shown, the mopping component 4 is floatingly connected to the first motion execution mechanism 103. For example, assume Figure 16 In the state shown, the mopping component 4 is in contact with the ground. Because the mopping component 4 is floatingly arranged, it can float up and down according to the change of the ground when the mopping component travels on an uneven ground. The first motion execution mechanism 103 is connected to the mopping component 4 through the connection component 24. As Figure 16 shown, the connection component 24 may include: a connection column 241 and a slider 242. A connection column 241 is provided above the mopping bracket 43 of the mopping component 4. The first motion execution mechanism 103 includes a slider 242 as Figure 18 shown. The slider 242 is provided with a mounting hole, and a screw enters the hole of the connection column 241 through the mounting hole to connect the slider 242 with the connection column 241. In Figure 16 the state shown, there is a gap between the upper part of the mopping component 4 and the cavity shell 46, and this gap provides a space for the mopping component 4 to float up and down.

[0184] In the above text, it is only mentioned that the driving device 10 can drive the mopping component 4 to move in the width direction of the body 1. In fact, in the technical solution provided in this embodiment, the mopping component 4 can not only move in the width direction of the body, but also move up and down. The mopping component moving in the width direction of the body and moving up and down can be respectively driven by two driving devices, or can be realized by only one driving device. That is, the driving device 10 can not only drive the mopping component 4 to move in the width direction of the body 1 in the accommodation cavity 101, but also move up and down.

[0185] The mopping and washing assembly 4 is floatingly connected to the cavity housing 46. Within a certain range, the mopping and washing assembly 4 can move up and down vertically within the accommodation cavity 101. The mopping and washing assembly 4 makes the cleaning roller 42 press on the ground by its own gravity. When the cleaning roller on the mopping and washing assembly 4 encounters an uneven ground or a raised obstacle, the mopping and washing assembly 4 can float up and down relative to the body 1 of the cleaning robot along with the undulation of the ground. Whether the ground is flat or not, the mopping and washing assembly 4 always presses on the ground by its own gravity, with a relatively small and stable acting force on the ground, thereby effectively avoiding an abrupt increase in the acting force of the mopping and washing assembly 4 on the ground due to the uneven terrain. For some soft-wood floor surfaces, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0186] It can be considered that at any position of the mopping and washing assembly 4 in the width direction of the body 1, the mopping and washing assembly 4 floats relative to the cavity housing 46. The mopping and washing assembly 4 floating relative to the cavity housing means that the mopping and washing assembly 4 floats relative to the body.

[0187] See Figures 13 to 22 , the driving device 10 can move in multiple directions to drive the mopping and washing assembly 4 to lift, lower, extend, and retract relative to the body 1. The driving device 10 includes a first power source 102 and a first motion execution mechanism 103. Specifically, when the first power source 102 outputs power in a first direction, it can drive the mopping and washing assembly 4 to move outward relative to the body 1 along the Figure 16 X1 direction in Figure 16 and can also drive the mopping and washing assembly 4 to lift relative to the body 1 along the Figure 16 Z2 direction in Figure 16 . When the first power source 102 outputs power in a second direction, it can drive the mopping and washing assembly 4 to retract relative to the body 1 along the Figure 16 X2 direction in Figure 16 and can also drive the mopping and washing assembly 4 to lower relative to the body 1 along the Figure 16 Z1 direction in

[0188] The first direction and the second direction are two different directions. For example, one of the first direction and the second direction can be the clockwise direction and the other can be the counterclockwise direction.

[0188] The above content can also be understood as that the first motion execution mechanism 103 moves along the Figure 16 X1 direction in Figure 16 to drive the mopping and washing assembly 4 to extend; the first motion execution mechanism 103 moves along the Figure 16 X2 direction in

[0189] It should be noted that Figure 16The directions of arrows X1 and X2 can be regarded as the length direction of the mopping and washing assembly, or the width direction of the body 1; Figure 16 The directions of arrows Z1 and Z2 can be regarded as the height direction of the mopping and washing assembly, or the height direction of the body 1.

[0190] Figure 6 It is a schematic diagram of the first limit position where the mopping and washing assembly 4 is in the retracted state and in the lowered state. Figure 11 It is a schematic diagram of the first limit position where the mopping and washing assembly 4 is in the retracted state and in the lifted state. Figure 12 It is a schematic diagram of the second limit position where the mopping and washing assembly 4 is in the extended state and in the lowered state. The following introduces the driving device 10 provided by the present application in detail through more embodiments.

[0191] During the lifting or lowering process of the mopping and washing assembly 4, the decontamination mechanism 44 and the liquid supply mechanism 45 can be lifted or lowered simultaneously with the cleaning roller 42 and the roller motor 41. Of course, it can also be that the decontamination mechanism 44 and the liquid supply mechanism 45 are kept at fixed positions, and the decontamination mechanism 44 and the liquid supply mechanism 45 only come into contact with the cleaning roller when the cleaning roller is in the lowered state. When the cleaning roller is in the lifted state, the decontamination mechanism 44 and the liquid supply mechanism 45 do not come into contact with the cleaning roller. For the extension or retraction of the mopping and washing assembly 4, to ensure that the cleaning roller maintains self-cleaning ability and a certain cleanliness, the decontamination mechanism 44 and the liquid supply mechanism 45 will extend or retract simultaneously with the mopping and washing assembly 4. In addition, to adapt to different cleaning environments, when the mopping and washing assembly 4 extends outward, it has multiple gears, and at different gears, the distance that the mopping and washing assembly 4 extends outward relative to the body 1 is different.

[0192] Combined with Figure 14 and Figure 15 , the sliding plate includes a main body portion 21 and at least one lifting portion 22. The first rack 14 is arranged on the main body portion 21, and the lifting portion 22 is arranged at the end of the main body portion 21. When the sliding plate has two lifting portions 22, the two lifting portions 22 are respectively arranged at both ends of the main body portion 21. Specifically, the lifting portion 22 has an inclined slope, and the slope extends obliquely upward from the surface of the main body portion 21, as shown in Figure 15 . In addition, there is a through hole 23 in the middle position of the lifting portion 22. The connecting column 241 on the mopping and washing assembly 4 can pass through the through hole 23, extend from below the sliding plate to above the sliding plate, and the connecting column 241 can contact the sliding plate. When the first power source 102 outputs rotational power and the sliding plate in the motion execution mechanism 103 slides, the acting force can be applied to the connecting column 241, thereby driving the mopping and washing assembly 4 to realize actions such as lifting, lowering, extending, and retracting.

[0193] See Figure 13 and Figure 16Taking the connecting component 24 as a connecting column 241 and a slider 242 as an example, one end of the connecting column 241 is connected to the mopping component 4, and the other end extends from the bottom of the sliding plate through the through hole 23 to the top of the sliding plate. The slider 242 is detachably connected to the connecting column 241 by a fastener (such as a screw). The slider 242 contacts the sliding plate, and the size of the slider 242 is larger than the size of the through hole 23, thereby effectively preventing the connecting component 24 from separating from the sliding plate. The sliding plate is detachably connected to the connecting column 241, which facilitates the installation of the mopping component 4.

[0194] See also Figures 13 to 15 Each lifting part 22 is provided with a first baffle 25. The area A between the first baffle 25 and the lowest point of the lifting part 22 is used to place the slider 242. Figure 13 As shown, when the sliding plate slides from the first limit position of the retracted state in the direction of arrow X, the first baffle 25 will contact the side wall of the slider 242, and the sliding plate can push the slider 242 to slide in the direction of arrow X, thereby driving the mopping assembly 4 to extend outward. Figure 19 A clearance groove 251 is provided on the surface of the first baffle plate 25 that abuts against the slider 242. The cross-sectional shape of the first baffle plate 25 is "L"-shaped. The clearance groove 251 can be used to store grease to improve the smoothness of the up and down floating action of the connecting column 241.

[0195] like Figure 16 As shown, when the sliding plate slides from the first limit position of the retracted state to the direction of arrow X2, one side of the mop-washing assembly 4 in the retracted state abuts against the side wall shell 411 of the cavity shell 46, limiting the further movement of the mop-washing assembly 4 relative to the cavity shell 46 in the direction of arrow X2. However, driven by the first power source 102, the sliding plate will continue to move relative to the cavity shell 46 in the direction of arrow X2, and the side wall of the other side of the slider 242 will abut against the inclined surface of the lifting part 22, and as the sliding plate 20 moves, the slider 242 climbs along the inclined surface, thereby driving the mop-washing assembly 4 to lift upward. Figure 15 In order to prevent the slider 242 from climbing over the inclined plane, there is a second baffle 26 at the top of the inclined plane; when the slider 242 climbs to the top of the inclined plane, the slider 242 will abut against the second baffle 26, and the mop-washing assembly 4 is also at the highest position of the lifting. Further, at this time, if the sliding plate 20 slides in the opposite direction of the arrow X2, the slider 242 can slide down along the inclined plane, and the mop-washing assembly 4 is in a descending state. The slider 242 slides down to the lowest point of the lifting part 22, and the mop-washing assembly 4 also descends to the low position.

[0196] Furthermore, in some cases, the mopping assembly 4 needs to remain in the lifted state for a long time. To facilitate the slider 242 to hover at the top of the lifting part 22, a horizontal hovering surface 220 is provided at the top of the lifting part 22. Figure 23As shown, when the slider 242 climbs along the inclined surface to the top of the lifting part 22, the slider 242 can stably stay on the hovering surface 220, so that the mopping component 4 is kept in a lifted state.

[0197] In an embodiment provided by the present application, as Figure 15 and 17 shown, the inclined surface of the lifting part 22 includes a first slope surface 221 and a second slope surface 222, and the inclination angle of the first slope surface 221 is greater than that of the second slope surface 222. When the slider 242 climbs along the inclined surface of the lifting part 22, it first climbs the first slope surface 221 with a larger inclination angle, and then climbs the second slope surface 222. This technical solution is beneficial to the rapid lifting of the mopping component 4.

[0198] Further, in order to avoid excessive sliding resistance of the slider 242 on the inclined surface, see Figure 17 , a cylindrical sliding member 2421 is provided on the side of the slider 242 that abuts against the inclined surface of the lifting part 22. Of course, the cylindrical sliding member 2421 can also roll when sliding on the inclined surface. For another example, see Figure 18 , the side of the slider 242 that abuts against the inclined surface of the lifting part 22 is an arc structure 2422. That is, the part of the slider 242 in contact with the lifting part 22 is the arc structure 2422.

[0199] When the sliding plate slides from the second extreme position in the extended state of the mopping component 4 to the first extreme position in the retracted state, the slider 242 can have multiple states. For example, the resistance to retraction of the mopping component 4 is small. As the sliding plate slides, the slider 242 does not have enough force to climb the inclined surface. At this time, the slider 242 will abut against the bottom of the inclined surface, and then the sliding plate 20 pushes the mopping component 4 to retract slowly. It can be understood that in this state, the retraction of the mopping component 4 does not have a lifting action, and the mopping component 4 always contacts the ground when retracting. For another example, the resistance to retraction of the mopping component 4 is large. As the sliding plate 20 slides, the slider 242 can climb the inclined surface. At this time, the mopping component 4 will lift upward and at the same time complete the retraction action as the sliding plate 20 slides. It can be understood that in this state, when the mopping component 4 retracts, it first performs a lifting action, and then retracts to the first extreme position along with the sliding plate 20.

[0200] See Figure 22, in an embodiment provided by the present application, a first connection end 211 is provided on the sliding plate, and a second connection end 2423 is provided on the slider 242. The first connection end 211 and the second connection end 2423 can be used to arrange an elastic member. Specifically, one end of the elastic member is connected to the first connection end 211, and the other end of the elastic member is connected to the second connection end 2423. When the slider 242 climbs upward along the inclined surface of the lifting part 22, the elastic member will be stretched. The elastic force of the elastic member can be used to assist the slider 242 to move down from the top of the lifting part 22. In addition, during the retraction process of the mopping and washing assembly 4, the pulling force provided by the elastic member can also keep the slider 242 in contact with the first baffle 25 all the time, so as to prevent the slider 242 from climbing up the inclined surface, and finally the mopping and washing assembly 4 will not be easily lifted when retracting.

[0201] Further, as Figure 13 shown, in the solution provided by this embodiment, the detection unit provided on the cavity shell 46 may further include at least one detection unit for detecting the lifting state of the mopping and washing assembly. For example, Figure 13 in the example shown, a third detection unit, such as a third photoelectric switch 283, is provided on the cavity shell 46; a third triggering structure 293 is provided on the sliding plate of the first action execution mechanism 103. After the mopping and washing assembly 4 is lifted, the third triggering structure 293 triggers the third photoelectric switch 283, and the main board 2 can know that the mopping and washing assembly has been lifted, and can control the power source, the liquid supply mechanism and the dirt removal mechanism to stop working.

[0202] The first power source 102 drives the first gear 13 to rotate forward (such as clockwise or counterclockwise), the sliding plate moves to the right, and the sliding plate will contact the connection assembly 24 on the mopping and washing assembly 4 during the movement, and drive the mopping and washing assembly 4 to extend out through the connection assembly 24. When the second photoelectric switch 282 is triggered, the first power source 102 stops rotating. At this time, the mopping and washing assembly is in a fully extended state and can perform edge cleaning on the edge of the object. When the mopping and washing assembly 4 finishes edge cleaning, the power source drives the first gear 13 to rotate in the reverse direction, the sliding plate moves to the left, and drives the mopping and washing assembly 4 to retract into the accommodating cavity 101 during the movement; when the first photoelectric switch 281 at the initial position (i.e., the first limit position) is triggered, the first power source 102 stops rotating, and at this time the mopping and washing assembly 4 is in a fully retracted state. Next, the cleaning robot needs to clean the carpet. In order to avoid secondary pollution, the mopping and washing assembly needs to be switched to the lifted state. Subsequently, the first power source 102 rotates in the reverse direction, and the sliding plate moves to the left. The lifting part 22 on the sliding plate gradually jacks up the connection assembly 24. When the third photoelectric switch 283 is triggered, the first power source 102 stops rotating. At this time, the mopping and washing assembly 4 is switched to the lifted state, and then the carpet can be cleaned. After the carpet cleaning is completed, the first power source 102 rotates forward, the sliding plate moves to the right, and the mopping and washing assembly descends and resets to the initial state.

[0203] In the technical solution provided by the present application, the driving device 10 has a simple structure. Only one power source is required to drive the mopping and washing assembly 4 to perform four actions of extending, retracting, lifting, and lowering, meeting the use of the mopping and washing assembly 4 under various working conditions. The power source has low performance requirements, simple control logic, and lower production costs.

[0204] In the embodiment mentioned above, during the lifting process of the mopping and washing assembly 4, the sliding plate slides, and then the lifting part 22 on the sliding plate drives the slider 242 on the mopping and washing assembly 4 to move upward, so that the mopping and washing assembly 4 is lifted upward. The lifting process of the mopping and washing assembly 4 can be understood as the mopping and washing assembly 4 being lifted as a whole.

[0205] After the mopping and washing assembly 4 is lifted, the cleaning roller 42 can stop rotating, and the liquid supply mechanism 45 and the dirt removal mechanism 44 can both stop working.

[0206] The cleaning robot can lift the mopping and washing assembly 4 in the following situations, such as:

[0207] When the cleaning robot travels onto the carpet, it lifts the mopping and washing assembly 4;

[0208] When it needs to cross an obstacle, it can lift the mopping and washing assembly 4;

[0209] When the user instructs to lift the mopping and washing assembly 4;

[0210] When the cleaning robot works in the sweeping mode, it lifts the mopping and washing assembly 4; and so on.

[0211] In another embodiment provided by the present application, the lifting process of the mopping and washing assembly 4 can also be that one end of the mopping and washing assembly 4 rotates around an axis, so that the height of the cleaning roller 42 at the other end of the mopping and washing assembly 4 relative to the ground is raised. Refer to Figure 24 As shown, this figure shows a schematic structural diagram of the mopping and washing assembly 4 being lifted relative to the ground. Figure 24 In it, the mopping and washing assembly 4 includes a cleaning roller 42 and a mopping and washing support 43. The mopping and washing support 43 is slidably connected to the rotating support 31. The rotating support 31 is rotatably connected to the base through a rotating shaft 4131. The base can also be considered as the cavity shell 46 or the body 1 of the cleaning robot. A connecting component 24 is provided on the mopping and washing support 43. The connecting component 24 passes through the rotating support 31 through the avoidance groove on the rotating support 31 and extends to the outside of the rotating support 31. A sliding plate 20 is also provided on the base. The sliding plate 20 can slide relative to the base. The sliding plate 20 has a lifting part 22. The sliding plate 20 can slide left or right relative to the base, so as to drive the mopping and washing assembly 4 to lift or extend outward respectively. Specifically, when the sliding plate 20 moves to the right from the initial position relative to the base, the connecting component 24 contacts the side wall of the sliding plate 20, and the sliding plate 20 can drive the connecting component 24 to move to the right at the same time, as Figure 32In the direction of arrow X, at this time, the mopping and washing assembly 4 extends to the right relative to the rotating bracket 31, and it can be considered that the mopping and washing assembly 4 switches from the retracted state to the extended state. When the sliding plate 20 moves leftward relative to the base from the initial position, the connecting assembly 24 contacts the inclined surface of the lifting part 22, and as the sliding plate 20 moves leftward, the connecting assembly 24 climbs up the inclined surface of the lifting part 22, and the connecting piece will simultaneously drive the rotating bracket 31 and the mopping and washing assembly 4 to rotate upward along the Figure 32 direction of arrow a in the figure. When the mopping and washing assembly 4 needs to be reset to the initial position, only need to reset the sliding plate 20 to the initial position in the reverse direction, and the mopping and washing assembly 4 can be reset from the lifted state or the extended state to the initial state. Among them, the initial state can be: the mopping and washing assembly is in the retracted state and at a low position.

[0212] Based on the above principles of lifting and telescoping of the mopping and washing assembly 4, another driving device 10 provided by the present application will be described in detail below in conjunction with specific embodiments.

[0213] Refer to Figure 24 、 Figure 25 and Figure 26 , in an embodiment of the present application, a driving device 10 is provided. The driving device 10 includes: a first power source 102 and a first action execution mechanism 103. The first action execution mechanism 103 is arranged on the cavity shell 46, the first action execution mechanism 103 is movably connected to the cavity shell 46, and the mopping and washing assembly 4 is floatingly connected to the first action execution mechanism 103 through the connecting assembly 24. When the first power source 102 drives the first action execution mechanism 103 to act in different directions, the first action execution mechanism 103 can drive the mopping and washing assembly 4 to perform actions such as lifting, lowering, extending or retracting through the connecting assembly 24.

[0214] In a specific embodiment, refer to Figure 25 and Figure 26 , the first action execution mechanism 103 includes a sliding plate 20. The sliding plate 20 is slidably connected to the cavity shell 46. The first power source 102 outputs power to drive the sliding plate 20 to move relative to the cavity shell 46 along the Figure 25 directions of arrow X1 and arrow X2 in the figure. The cavity shell 46 is fixedly connected to the body 1, and the cavity shell 46 has a receiving cavity 101. The mopping and washing assembly 4 and the rotating bracket 31 are located in the receiving cavity 101. The mopping bracket 43 is rotatably connected to the cavity shell 46 or the body 1 through a rotating shaft 4131.

[0215] Refer to Figures 27a to 27c, schematic views of the mopping and washing assembly 4 in the initial state are shown from different perspectives. Among them, the initial state means that the mopping and washing assembly 4 is in the retracted state (such as the first limit position of the retracted state), and the cleaning roller 42 is in contact with the ground. Referring to FIGS. 28a to 28c, schematic views of the mopping and washing assembly 4 in the lifted state are shown from different perspectives. The mopping and washing assembly 4 is in the retracted state (such as the first position of the retracted state). In the lifted state, the distance between the lowest point of the cleaning roller 42 of the mopping and washing assembly 4 and the ground is H1. Referring to FIGS. 29a to 29c, schematic views of the mopping and washing assembly 4 in the extended state (such as the second limit position of the extended state) are shown from different perspectives. In the extended state, the distance that the outermost edge of the mopping and washing assembly 4 extends relative to the body 1 is H2.

[0216] When the mopping and washing assembly 4 needs to extend, the first power source 102 drives the sliding plate 20 to move from the initial position along Figure 25 the direction of arrow X1 in the figure. The rotating bracket 31 does not move. The connecting assembly 24 in contact with the sliding plate 20 will drive the roller bracket 421 to extend outward relative to the rotating bracket 31 along the direction of arrow X1. When the sliding plate 20 moves to the limit position in the X1 direction, the roller bracket 421 will extend the maximum distance outward (as Figure 29b shown). When the mopping and washing assembly 4 needs to retract, the first power source 102 drives the sliding plate 20 to move along Figure 25 the direction of arrow X2 in the figure. When it moves to the initial position, the roller bracket 421 completes the retraction.

[0217] Among them, the mopping bracket 43 may include the roller bracket 421.

[0218] Referring to Figures 25 to 28c , when the mopping and washing assembly 4 needs to be lifted, the first power source 102 drives the sliding plate 20 to move from the initial position along Figure 25 the direction of arrow X2 in the figure. At this time, the rotating bracket 31 will rotate and swing upward around the rotating shaft 4131 under the drive of the sliding plate 20. The positions of the mopping bracket 43 and the rotating bracket 31 remain unchanged. The mopping bracket 43 will rotate and swing upward together with the rotating bracket 31, thereby realizing the rotational lifting of the mopping and washing assembly 4. When the sliding plate 20 moves to the limit position in the X2 direction, the mopping and washing assembly 4 is lifted to the maximum height, and the height of the lowest point of the cleaning roller 42 from the ground is also the maximum (as Figure 28c shown). When the mopping and washing assembly 4 needs to descend, the first power source 102 drives the sliding plate 20 to move along Figure 25 the direction of arrow X1 in the figure. When it moves to the initial position, the mopping bracket 43 completes the descent and returns to the initial state (as Figure 27a shown).

[0219] Referring to Figure 25 and Figure 26, in an embodiment provided by the present application, the first power source 102 and the first action execution mechanism 103 (such as the sliding plate 20) can be arranged in the accommodation cavity 101, or both can be arranged outside the accommodation cavity 101, or one can be arranged in the accommodation cavity 101 and the other can be arranged outside the accommodation cavity 101.

[0220] The following takes the first power source 102 arranged outside the accommodation cavity 101 and the sliding plate 20 arranged in the accommodation cavity 101 as an example for detailed introduction. It should be noted that the action execution mechanisms in the above embodiments include but are not limited to: lead screw motor devices, push rod motor devices, linear motor devices, hydraulic devices, cylinder piston devices, gear rack devices, etc.

[0221] In a specific embodiment, refer to Figure 25 and Figure 26 , taking the power source as a lead screw motor device as an example, the lead screw motor device includes: a second motor 12, a lead screw 17 and a nut slider 18. The lead screw 17 is connected to the output end of the second motor 12. When the second motor 12 rotates, it can drive the lead screw 17 to rotate. The nut slider 18 is connected to the lead screw 17 in a mating manner. When the lead screw 17 rotates, the nut slider 18 can slide horizontally along the axis direction of the lead screw 17.

[0222] Such as Figure 25 shown, the lead screw 17 is arranged along the length direction of the mopping assembly 4 (for example Figure 25 the directions of arrows X1 and X2 in Figure 25 ). When the second motor 12 outputs power in one direction, the lead screw 17 can drive the nut slider 18 to move leftward ( Figure 25 the direction of arrow X2 in

[0223] ). Further, refer to Figure 25 and Figure 31 , in an embodiment provided by the present application, a driving part 214 is provided on the sliding plate 20. The driving part 214 extends outward from the plate surface of the sliding plate 20, and the end of the driving part 214 has a concave structure that cooperates with the lead screw 17. An activity opening 415 is also provided on the cavity shell 46. The driving part 214 on the sliding plate 20 can pass through the activity opening 415 and be connected to the nut slider 18. When the second motor 12 drives the lead screw 17 to rotate, the moving nut slider 18 can drive the driving part 214 to move together. In order to prevent the driving part 214 from interfering with the cavity shell 46 during the movement process, the length of the activity opening 415 is greater than or equal to the maximum distance that the mopping assembly 4 can extend.

[0224] Refer toFigure 25 and Figure 26 , the cavity housing 46 is provided on the body 1, and it can be fixedly connected to the body 1, or the cavity housing 46 and the body 1 are of an integral structure. The rotating bracket 31 is rotationally connected to the body 1 or the cavity housing 46 through the rotating shaft 4131. The rotating bracket 31 is provided with a track groove 32, and the mopping bracket 43 is provided with a sliding part 33, and the sliding part 33 is connected in cooperation with the track groove 32. The mopping bracket 43 has an installation cavity with an opening facing downwards, and the cleaning roller 42 is arranged in the installation cavity. A plurality of sliding parts 33 are arranged on the top of the mopping bracket 43, and the sliding parts 33 can be connected in cooperation with the sliding groove. Specifically, the sliding part 33 is a slider. A ridge rib is provided on the top end of the mopping bracket 43, and a plurality of sliders are symmetrically distributed on both sides of the ridge rib. The plurality of sliders can be clamped in the track groove 32, so that the mopping bracket 43 is suspended and installed below the rotating bracket 31.

[0225] See Figure 26 , Figure 30 and Figure 32 , in a specific embodiment, a track groove 32 is provided on the inner top surface of the rotating bracket 31. The track groove 32 has a constriction with an opening facing downwards, and the sliding part 33 can be connected to the track groove 32 through the constriction. At least one rotating connection arm 311 is further provided on the outer wall surface at the rear side of the rotating bracket 31, and the rotating connection arm 311 is connected to the cavity housing 46 or the body 1 through the rotating shaft 4131.

[0226] See Figure 26 and Figure 30 , at least one connection component 24 is provided on the mopping bracket 43. Specifically, the connection component 24 is a connecting rod 243, and the connecting rod 243 is arranged on the front side wall of the mopping bracket 43. Taking the example that two connecting rods 243 are arranged at intervals on the front side wall of the mopping bracket 43, along Figure 26 the direction of the arrow M in, the connecting rod 243 extends forward and is connected to the sliding plate 20. During the sliding process of the sliding plate 20, the mopping bracket 43 can be driven to move through the connecting rod 243, so as to realize the extension and retraction of the entire mopping component 4.

[0227] In addition to being able to drive the mopping component 4 to extend and retract relative to the body, the driving device provided by the embodiment of the present application can also drive the mopping component 4 to lift relative to the body. Specifically, see Figure 26 and Figure 31 , the sliding plate 20 has at least one hollow structure to form a lifting part 22 on the sliding plate 20. The lifting part 22 has an inclined slope, and a limiting part 212 is provided at the top of the slope, and the limiting part 212 is arranged in the horizontal direction. The sliding plate 20 further includes a connecting buckle 213, and the connecting buckle 213 is used to connect to the cavity housing 46. Specifically, in combination with see Figure 33, there is a through slot 414 on the cavity housing 46, and the length of the slot 414 is equal to or greater than the maximum distance that the mopping assembly 4 can extend. The connection buckle 213 on the sliding plate 20 can be cooperatively connected to the slot 414. When the power source drives the sliding plate 20 to slide, the connection buckle 213 will slide in the slot 414.

[0228] Further, referring to Figure 33 , in an embodiment provided by the present application, a guide slot 416 is further provided on the cavity housing 46. The guide slot 416 includes a first slot 4161, a second slot 4162, and a third slot 4163. Among them, the setting direction of the second slot 4162 is the same as the length direction of the cavity housing 46 (such as Figure 33 the arrow X direction in), the first slot 4161 and the third slot 4163 are respectively located at both ends of the second slot 4162, and both are communicated with the second slot 4162. The first slot 4161 and the third slot 4163 respectively extend in the vertical direction. It can be understood that the first slot 4161 and the third slot 4163 are respectively perpendicular to the second slot 4162.

[0229] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guide slot 416. The sliding slot can not only guide the sliding of the connecting rod 243, but also enable the mopping assembly 4 and the cavity housing 46 to be floatingly connected in multiple directions. Referring to Figure 27b , when the mopping assembly 4 is in the initial state (such as the first limit position in the retracted state, and the cleaning roller 42 is in contact with the ground), the connecting rod 243 is located at the leftmost end of the second slot 4162 and also at the bottommost end of the first slot 4161. As the power source drives the sliding plate 20 to move leftward, since the connecting rod 243 cannot move leftward any further, the connecting rod 243 can only climb upward along the inclined surface of the lifting part 22. At this time, the connecting rod 243 will move upward along the first slot 4161 and finally move to the top end of the first slot 4161 (such as Figure 28b shown), and at this time the mopping assembly 4 is in the lifted state. In the initial state, when the power source drives the sliding plate 20 to move rightward, the connecting rod 243 will move from the leftmost end to the rightmost end along the second slot 4162, as Figure 29b shown, and the connecting rod 243 is also at the bottommost end of the third slot 4163. At this time, the mopping assembly 4 is in the extended state, and the distance that the mopping assembly 4 extends outward relative to the cavity housing 46 is H2. Usually, the length of the second slot 4162 is equal to the maximum distance that the mopping assembly 4 can extend.

[0230] The settings of the first slot 4161 and the third slot 4163 can also enable the mopping and washing assembly 4 to be floatingly connected to the cavity housing 46, so as to adapt to the ground. Specifically, if the mopping and washing assembly 4 is cleaning on an uneven ground or encounters a raised obstacle. Since the distance between the cavity housing 46 and the ground remains unchanged or changes little, if the mopping and washing assembly 4 is rigidly connected to the cavity housing 46, then the mopping and washing assembly 4 will be severely impacted and it cannot adjust its height to adapt to the change of the ground. In the technical solution of the present application, referring to Figure 27b , in the initial state of the mopping and washing assembly 4, the connecting rod 243 is also located at the bottom end of the first slot 4161. At this time, if the mopping and washing assembly 4 is impacted, then the mopping and washing assembly 4 will float upward under the action of the ground, so as to avoid excessive force between the mopping and washing assembly 4 and the ground. In addition, when the mopping and washing assembly 4 is in the extended state, the connecting rod 243 is located at the bottom end of the third slot 4163. Similarly, when the extended mopping and washing assembly 4 is impacted by the ground, the connecting rod 243 will move upward along the third slot 4163 from bottom to top to achieve floating upward relative to the ground, and can also avoid excessive force between the mopping and washing assembly 4 and the ground.

[0231] After the mopping and washing assembly 4 is extended, during the movement of the cleaning robot, the mopping and washing assembly 4 is very likely to encounter an obstacle. In order to avoid damage to the mopping and washing assembly 4 due to collision with an obstacle, in an embodiment of the present application, when the mopping and washing assembly 4 is in the extended state, after being acted by an external force, the mopping and washing assembly 4 can automatically retract into the accommodating cavity 101. Specifically, a spring-back device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping and washing assembly is in the initial state (such as the first limit position in the retracted state), the spring-back device is in a compressed state. When the mopping and washing assembly 4 is in the extended state, the spring-back device is in an extended state. When the extended mopping and washing assembly 4 retracts into the accommodating cavity 101 under the action of an external force, the spring-back device will be compressed.

[0232] In a specific implementation, the spring-back device includes but is not limited to: springs, hydraulic cylinders, pneumatic cylinders, elastic blocks, etc. Taking the spring-back device as a spring as an example, referring to Figure 30 , a cavity 34 is provided on the ridge rib of the mopping bracket 43, and the spring can be arranged in the cavity 34. Referring to Figure 32 , an elastic member mounting seat 312 is provided in the track groove 32 of the rotating bracket 31. When the ridge rib is cooperatively connected with the track groove 32, one end of the elastic member will be sleeved on the elastic member mounting seat 312, and the other end of the elastic member contacts the mopping bracket 43.

[0233] As mentioned above, the power source is a lead screw motor device. If the driving part 214 on the sliding plate 20 is fixedly connected to the nut slider 18, then when the extended mopping assembly 4 is impacted, due to the self-locking effect of the lead screw 17 and the nut slider 18, the nut slider 18 will restrict the movement of the driving part 214, and then the sliding plate 20 will also be limited, and finally the mopping assembly 4 cannot be automatically retracted.

[0234] In the technical solution of the present application, the nut slider 18 is not fixedly connected to the driving part 214. When the mopping assembly 4 automatically retracts under the action of an external force, the driving part 214 on the sliding plate 20 will be separated from the nut slider 18, and the sliding plate 20 can freely move along Figure 25 the direction of arrow X2 in []. In an embodiment provided by the present application, along the extending direction of the mopping assembly 4 ( Figure 25 the direction of arrow X1 in []), the driving part 214 is located on the left side of the nut slider 18, and the driving part 214 is in contact with the nut slider 18. As mentioned above, a spring-back device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping assembly 4 is in the initial state, the spring-back device is in a compressed state, and the direction of the elastic force of the spring-back device is Figure 25 the direction of arrow X1 in [], and the elastic force will drive the mopping assembly 4 to extend outwards. However, the nut slider 18 contacts the right side of the driving part 214. Based on the self-locking effect of the lead screw motor device, the sliding plate 20 will be restricted from automatically moving to the right. Only when the lead screw 17 rotates and the nut slider 18 moves to the right, the driving part 214 can move to the right with the nut slider 18. It can be simply understood that the power for the mopping assembly 4 to extend outwards is provided by the spring-back device, and the nut slider 18 can restrict the sliding plate 20 from freely moving to the right. Only when the nut slider 18 moves to the right, the sliding plate 20 can move to the right. When the mopping assembly 4 changes from the extended state to the retracted state, and when the mopping assembly 4 changes from the low position state (such as the state where the cleaning roller contacts the ground) to the lifting state, the sliding plate 20 always moves from right to left, and the moving direction of the sliding plate 20 is the same as Figure 25 the direction of arrow X2 in []. The process of the sliding plate 20 moving to the right is provided by the lead screw motor device. Specifically, the second motor 12 outputs power in one direction, and the lead screw 17 drives the nut slider 18 to move along the direction of arrow X2. Since the driving part 214 of the sliding plate 20 is located on the left side of the nut slider 18, the nut slider 18 can push the sliding plate 20 to move to the left during the moving process. During this process, the spring-back device will be further compressed.

[0235] Further, in an embodiment provided by the present application, the mopping and washing assembly 4 has multiple gears both in the extended state and the lifted state. In different gears of the extended state, the distance that the mopping and washing assembly 4 extends relative to the cavity housing 46 is different; in different gears of the lifted state, the distance that the mopping and washing assembly 4 is lifted relative to the ground is different. In order to enable the mopping and washing assembly 4 to extend in different gears, or the mopping and washing assembly 4 to be lifted by different distances relative to the ground, a counting module is further provided on the second motor 12. The counting module records the number of turns of the second motor 12 or the lead screw 17 rotating forward or backward. By recording the number of turns of the second motor 12 or the lead screw 17, the moving distance of the nut slider 18 on the lead screw 17 can be calculated, so as to determine the different gears of the mopping and washing assembly 4 in the extended state and the lifted state.

[0236] For example, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates forward one hundred turns, the nut slider 18 moves to the first limit position. At this time, the distance that the mopping and washing assembly 4 extends is the largest (i.e., the second limit position in the extended state). After dividing these one hundred turns into ten parts, starting from the first position, every time the second motor 12 or the lead screw 17 rotates forward ten turns, it can represent that the mopping and washing assembly 4 switches to a gear. Similarly, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates backward twenty turns, the nut slider 18 moves to another limit position. At this time, the distance that the mopping and washing assembly 4 is lifted is the highest. Similarly, after dividing these twenty turns into five parts, starting from the first position, every time the second motor 12 or the lead screw 17 rotates backward four turns, it can represent that the mopping and washing assembly 4 is lifted by one gear. During the process of adjusting the lifting gear of the mopping and washing assembly 4, due to the self-locking function of the lead screw motor device, when the motor 12 stops rotating, the self-locking force can limit the displacement of the sliding plate 20, and the connecting rod 243 can also stay stably on the inclined surface of the lifting part 22, so as to ensure that the lifting gear of the mopping and washing assembly 4 remains unchanged.

[0237] In another embodiment provided by the present application, during gear adjustment, as mentioned above, multiple detection units can also be provided on the cavity housing 46, and different detection units can respectively detect whether the nut slider 18 or the sliding plate 20 is in the first position, different limit positions, and different positions corresponding to different gears.

[0238] The following describes the action process of the mopping and washing assembly 4 in detail in combination with the usage scenario.

[0239] After the mopping and washing assembly 4 completes part of the cleaning task in the initial state (such as the first limit position in the retracted state and the cleaning roller 42 is in contact with the ground), it needs to switch to the extended state. Subsequently, the second motor 12 drives the lead screw 17 to rotate forward, and the nut slider 18 on the lead screw 17 moves to the right (see Figure 25From the perspective shown, under the action of the elastic device between the rotating bracket 31 and the mopping bracket 43, the mopping bracket 43 extends outward relative to the rotating bracket 31. As the nut slider 18 moves, the mopping assembly 4 extends outward to the farthest position. During the outward extension of the mopping bracket 43, the sliding plate 20 will move synchronously to the right, and the driving part 214 on the sliding plate 20 will always be in contact with the nut slider 18. A counter can also be provided on the cleaning robot, and the counter records the number of turns of the power output by the second motor 12. Based on the number of turns of the power output by the second motor 12 recorded by the counter, the main board 2 of the cleaning robot can calculate the position of the nut slider 18, and then determine the position of the mopping assembly 4. If the mopping assembly 4 has reached the second limit position in the extended state, the main board 2 controls the second motor 12 to stop working. The mopping assembly 4 is in the extended state, and the cleaning robot maintains the posture of the mopping assembly 4 in the extended state to perform the cleaning task.

[0240] After the mopping assembly 4 completes the tasks to be performed in the extended state, the main board 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, and the nut slider 18 moves to the left (see Figure 25 the perspective shown), and drives the sliding plate 20 to move to the left. During the movement of the sliding plate 20, it can drive the mopping assembly 4 to retract into the accommodating cavity 101. Similarly, the main board 2 can calculate the moving position of the nut slider 18 based on the number of turns of the reverse power output by the second motor 12, and then determine the position where the mopping assembly retracts. If it is determined that the mopping assembly has reached the first limit position in the retracted state, the main board 2 controls the second motor 12 to stop working.

[0241] Next, when the cleaning robot recognizes a carpeted floor, in order to avoid secondary pollution, the mopping assembly 4 needs to be switched to the lifted state. The main board 2 controls the second motor 12 to drive the lead screw 17 to rotate in one direction, and the nut slider 18 moves to the left (refer to Figure 25 the perspective shown). At this time, the nut slider 18 will drive the sliding plate 20 to move to the left together. As the sliding plate 20 moves, the lifting part 22 on the sliding plate 20 gradually jacks up the connecting rod 243, and the mopping bracket 43 will rotate and lift around the rotating shaft 4131. After the mopping assembly 4 is in the lifted state, it can drive into the carpet area and clean the carpet. After the carpet is cleaned, it drives out of the carpet area. If the cleaning robot still needs to continue to perform the cleaning task, the main board 2 can control the second motor 12 to drive the lead screw 17 to rotate in the other direction, and the sliding plate 20 moves to the right (see Figure 25 the perspective), and the mopping assembly descends.

[0242] Compared with a cleaning robot equipped with a cleaning cloth or a mopping turntable, the cleaning robot with the mopping and washing assembly provided in this embodiment has a better cleaning effect and higher cleaning efficiency. During the process of cleaning the ground, the cleaning roller can also perform self-cleaning. The dirt removal mechanism 44 can scrape the sewage on the cleaning roller 42, and the liquid supply mechanism 45 can provide clean cleaning liquid for the cleaning roller 42. Subsequently, the cleaning roller 42 can mop and wash the ground again. This cleaning method can not only bring a better cleaning effect, but also has a longer cleaning endurance for the mopping and washing assembly 4. During a single cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning maintenance.

[0243] During the cleaning operation, the cleaning robot needs to face various cleaning environments. For example, tile floors, wooden floors, and carpet floors, etc. When cleaning a carpet floor, in order to prevent the wet cleaning roller from wetting the carpet, it is necessary to lift the cleaning roller at this time to avoid contact between the cleaning roller and the carpet. In addition, for some corner areas (such as the edge of the wall, the edge of furniture, etc.), due to the influence of the external shape structure of the cleaning robot, the cleaning robot cannot achieve edge cleaning. In the technical solution provided in the embodiment of the present application, the mopping and washing assembly 4 with the cleaning roller 42 can not only rise and fall. When edge cleaning is required, the mopping and washing assembly 4 extends from one side of the cleaning robot, so that when the body of the cleaning robot is prevented from colliding with the wall or furniture, the mopping and washing assembly 4 can achieve edge cleaning.

[0244] When the cleaning robot is cleaning a dirty floor, in order to reduce the number of times it switches back and forth between the retracted state and the extended state, the mop-wash component 4 on the cleaning robot preferentially uses the extended state to clean the floor (i.e., normally extended or normally swung outward). When avoiding obstacles, the mop-wash component 4 on the cleaning robot is retracted into the accommodating cavity 101, and after completing the obstacle avoidance in the retracted state, it is switched to the extended state. In addition to reducing the number of times the mop-wash component 4 switches between the retracted state and the extended state, this working mode can also reduce the total time of the cleaning task. Specifically, first, when the mop-wash component 4 is in the extended state, it can also complete the cleaning of the conventional floor (non-corner floor). Because the floor of the household not only has a large area of ​​wall corner areas, but also has multiple corner areas of household objects in scattered positions. If the mop-wash component 4 on the cleaning robot is preferentially cleaned in the retracted state, it is necessary to switch back and forth between the retracted state and the extended state, and each time in the process of state switching, it is necessary to wait for a long time, or switch the motion algorithm of the cleaning robot. This not only increases the total time it takes for the cleaning robot to complete cleaning, but also increases the amount of calculations required by the control calculation unit on the main board 2 for the motion algorithm. The working scene of the cleaning robot is very complex. In order to achieve a better comprehensive cleaning effect, the cleaning robot needs to detect and determine in real time whether the mop-wash component 4 needs to be extended. The environment is complex, and the cleaning robot needs to determine many conditions, which cannot be exhaustive. Therefore, the cleaning robot cannot control the mop-wash component 4 to be extended in time every time it needs to be extended.

[0245] Therefore, the solution provided by the embodiment of the present application is: instead of determining whether the cleaning robot is to perform edge cleaning, the cleaning robot directly performs the cleaning task in the extended state of the mop-wash component 4. This solution eliminates the complex identification of edge cleaning situations, and only retracts the mop-wash component 4 in a few simple scenarios such as obstacle avoidance and turning. The control logic is simple, the design is not difficult, and it is easy to implement. In addition, see Figure 10b, in the figure, the left figure (G) shows that the mopping and washing assembly 4 is in the first position (such as the first limit position in the retracted state), and the right figure (H) shows that the mopping and washing assembly 4 is in the second position (such as the second limit position in the extended state). The cleaning robot works according to the cleaning path shown in FIG. 10. It can be seen that when the mopping and washing assembly 4 is in the first position, the edge of the mopping and washing assembly 4 in the width direction is at a distance of L3 from the widest edge of the body 1. If the cleaning robot cleans according to the "bow-shaped" cleaning path shown in the figure, on the path where the cleaning robot travels, there will be a shaded area as shown in figure (G), and this shaded area is the area not cleaned by the mopping and washing assembly 4. By adopting the scheme of the mopping and washing assembly 4 being normally extended, when the cleaning robot performs the cleaning task, the mopping and washing assembly 4 is extended. When cleaning according to the "bow-shaped" cleaning path shown in the figure, because the outer edge of the mopping and washing assembly 4 is basically flush with the widest edge of the body 1, there will be no situation where the shaded area as shown in the left figure (G) cannot be cleaned after the cleaning robot finishes cleaning. Although the shaded area can be covered by adjusting the cleaning path of the cleaning robot so that the cleaning robot can cover the shaded area after turning around, it increases the complexity of software control. By adopting the scheme of the mopping and washing assembly 4 being normally extended in the right figure (H), there is no need to consider the problem of covering the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0246] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0247] S11. When performing a cleaning task in an open area, the mopping and washing assembly 4 performs the cleaning task in the extended state;

[0248] S12. When it is detected that the surrounding environment determines that the mopping and washing assembly 4 needs to be retracted, the mopping and washing assembly 4 retracts, and the mopping and washing assembly 4 performs the cleaning task in the retracted state or the cleaning robot travels with the mopping and washing assembly 4 in the retracted state;

[0249] Wherein, in the extended state, the mopping and washing assembly 4 extends from one side of the body, and a part of the mopping and washing assembly 4 is exposed; in the retracted state, the outer edge of the mopping and washing assembly 4 is located inside the outer edge of the body, or a part of the outer edge of the mopping and washing assembly 4 is flush with the outer edge of the body.

[0250] Wherein, "detecting that the surrounding environment determines that the mopping and washing assembly needs to be retracted" in the above S12 may specifically include but is not limited to at least one of the following:

[0251] When it is detected that the cleaning robot needs to turn to avoid an obstacle, it is determined that the mopping and washing assembly 4 needs to be retracted;

[0252] When it is detected that the cleaning robot is in a narrow space and needs to escape, it is determined that the mopping and washing assembly 4 needs to be retracted;

[0253] When it is detected that the user issues a retraction instruction, it is determined that the mopping and washing assembly 4 needs to retract.

[0254] Furthermore, the method provided in this embodiment may further include:

[0255] When the mopping and washing assembly 4 performs a cleaning task in the extended state and it is detected that the surrounding environment determines that the mopping and washing assembly 4 needs to be lifted, after the mopping and washing assembly 4 retracts to the first limit position, the mopping and washing assembly 4 is lifted to have a gap with the ground.

[0256] When the mopping and washing assembly 4 is at the third position, the projection of the mopping and washing assembly 4 is within the projection of the body; when the mopping and washing assembly 4 is displaced to the fourth position, the edge of the mopping and washing assembly 4 extends outside the edge of the body, and the projection of the mopping and washing assembly 4 is within the projection of the body. In the general cleaning mode, the mopping and washing assembly 4 is at the fourth position; in the special cleaning mode, the mopping and washing assembly 4 is at the third position to walk along the edge of the obstacle. The main board 2 controls the driving device to enable the mopping and washing assembly to stop and work at any position. Among them, the mopping and washing assembly 4 has a first limit position in the retracted state and a second limit position in the extended state; the any position is the first limit position, or the second limit position, or any position between the first limit position and the second limit position; the third position is the first limit position or any position between the first limit position and the second limit position; the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0257] Next, the specific structure of the mopping and washing assembly 4 will be described in detail.

[0258] As Figure 5 , Figure 7, Figure 8 and Figure 9 show, in an embodiment provided in the present application, the decontamination mechanism 44 and the liquid supply mechanism 45 in the mopping and washing assembly 4 are respectively arranged on the mopping and washing bracket 43, or are integrated with the mopping and washing bracket 43. The scraping strip on the decontamination mechanism 44 can contact the cleaning roller 42 and scrape the sewage on the cleaning roller 42 clean during the rotation of the cleaning roller 42. Of course, the decontamination mechanism 44 does not simply scrape off the sewage, but also has the function of collecting sewage. After the scraping strip scrapes off the sewage, the sewage can directly enter the collection assembly. After the collection assembly filters the sewage, it can be transported to the sewage tank 9 through the pipeline connected to the decontamination water outlet 4410. In this embodiment, the mopping and washing assembly 4 includes a decontamination mechanism 44 and a liquid supply mechanism 45, that is, when the cleaning roller is lifted and / or telescoped, the decontamination mechanism 44 and the liquid supply mechanism 45 are also lifted and / or telescoped together.

[0259] The liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller 42. For example, when the cleaning roller 42 is dry, the liquid supply mechanism 45 evenly sprays clean water on the surface of the cleaning roller 42, and the cleaning roller 42 is fully wetted, and its cleaning ability will also be significantly improved. For another example, when the cleaning roller 42 is in a relatively dirty state, the liquid supply mechanism 45 can evenly spray the cleaning solution mixed with the cleaning agent on the surface of the cleaning roller 42, and the cleaning solvent dissolves the stains, so that it is convenient for the decontamination mechanism 44 to remove the stains on the cleaning roller 42 completely. For still another example, when the cleaning roller 42 is in the self-cleaning mode, the liquid supply mechanism 45 can spray a large amount of cleaning solution on the surface of the cleaning roller 42. After dissolving the stains, the decontamination mechanism 44 can clean the stains and sewage, which is beneficial to the cleaning roller 42 to self-clean quickly and efficiently.

[0260] The liquid supply mechanism 45 and the mopping bracket 43 can be of an integral structure. As Figure 7b shown in the example, a liquid supply water inlet 451 is provided on the outer surface of the mopping bracket 43, and the liquid supply water inlet 451 can be connected to the clean water tank 5 through a pipeline. A water distributor 452 is also provided on the mopping bracket 43. The water distributor 452 is arranged along the length direction of the mopping bracket 43 and is communicated with a plurality of water outlets of the liquid supply mechanism 45. The water distribution waterway can evenly disperse the cleaning solution supplied by the liquid supply water inlet 451 to the plurality of water outlets, and then the plurality of water outlets can evenly spray the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 has better dry-wet uniformity.

[0261] Furthermore, the liquid supply mechanism 45 further includes a liquid supply pump. The liquid supply pump is arranged on the first flexible pipeline 443. The liquid supply pump can generate a suction force to transport the cleaning liquid in the clean water tank 5 to the liquid supply mechanism 45.

[0262] When the mopping assembly 4 on the cleaning robot performs self-cleaning, there are mainly two processes. One is that the decontamination mechanism 44 removes the sewage on the cleaning roller 42 completely, and the other process is that the liquid supply mechanism 45 supplies clean cleaning liquid to the cleaning roller 42. As the decontamination mechanism 44 continuously removes the sewage and stains completely, and the liquid supply mechanism 45 continuously supplies the cleaning liquid, the mopping assembly 4 can perform self-cleaning while mopping the floor, and the mopping assembly 4 will always have a better cleaning effect.

[0263] See Figure 34, the mopping bracket 43 has a drum mounting cavity 51, and the cleaning drum 42 is arranged in the drum mounting cavity 51. Specifically, the mopping assembly 4 further includes a drum motor 41. On one side of the drum mounting cavity 51, there is a motor mounting seat. The drum motor 41 is arranged on the motor mounting seat. The cleaning drum 42 is sleeved outside the drum motor 41 and is drivingly connected to the drum motor 41. The drum motor 41 can drive the cleaning drum 42 to rotate, so as to realize the cleaning of the ground. Both the drum motor 41 and the cleaning drum 42 are arranged in the drum mounting cavity 51. The drum mounting cavity 51 has an opening facing downward and a lateral opening. The cleaning drum 42 can contact the ground through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning drum 42.

[0264] The decontamination mechanism 44 and the liquid supply mechanism 45 are both arranged on the mopping bracket 43. Specifically, the decontamination mechanism 44 is arranged in the drum mounting cavity 51, and the decontamination mechanism 44 is located on the cavity wall of the drum mounting cavity 51. The decontamination mechanism 44 includes a squeegee assembly 53. The squeegee assembly 53 extends towards the direction close to the cleaning drum 42 and is inserted into the fluff of the cleaning drum 42. When the drum motor 41 drives the cleaning drum 42 to rotate, the squeegee assembly 53 can scrape off the sewage and stains on the cleaning drum 42. The squeegee assembly 53 includes a squeegee 441.

[0265] The liquid supply mechanism 45 is arranged above the mopping bracket 43. The liquid supply mechanism 45 has a water distributor 452 and a plurality of liquid supply ports 453. The water distributor 452 can evenly distribute the cleaning liquid to the plurality of liquid supply ports 453, and then the cleaning liquid is evenly supplied and sprinkled on the cleaning drum 42 by the liquid supply ports 453. The liquid supply mechanism 45 further includes a first flexible pipe 443. The first flexible pipe 443 communicates with the water tank 5 and the liquid supply inlet 451.

[0266] Correspondingly, there are openings on the cavity wall of the drum mounting cavity 51, so that the plurality of liquid supply ports 453 of the liquid supply mechanism 45 above the mopping bracket 43 can supply and sprinkle the cleaning liquid on the cleaning drum 42 in the drum mounting cavity 51 through the openings. Of course, the liquid supply mechanism 45 can also be directly arranged in the drum mounting cavity 51. The liquid supply mechanism 45 is located above the cleaning drum 42 or directly contacts the cleaning drum 42. The liquid supply mechanism 45 can directly supply and sprinkle the cleaning liquid on the cleaning drum 42 through a plurality of liquid supply ports.

[0267] Figure 34 In the figure, the direction of arrow Y represents the width direction of the mopping assembly 4. It can also be considered that when the cleaning robot is performing a cleaning task, the traveling direction of the cleaning robot, or the moving direction of the mopping assembly. Figure 34 In the figure, the direction of arrow Z represents the height direction of the mopping assembly 4; Figure 34 In the figure, the direction of arrow b represents the rotation direction of the cleaning drum 42 when the cleaning drum 42 is cleaning the ground. In an embodiment provided by the present application, along Figure 34In the direction of arrow Y, the liquid supply mechanism 45 is located on the front side of the decontamination mechanism 44; along Figure 34 In the direction of arrow Z, the liquid supply mechanism 45 is located above the decontamination mechanism 44.

[0268] As the cleaning roller 42 rotates along Figure 34 In the direction of arrow b, the liquid supply mechanism 45 first supplies and sprays cleaning liquid onto the cleaning roller 42. After the wetted cleaning roller 42 mops the ground, the stains are dissolved in the sewage of the cleaning roller 42 or adhered to the surface of the cleaning roller 42. Then, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning roller 42. Subsequently, the liquid supply mechanism 45 supplies and sprays the cleaning liquid onto the surface of the cleaning roller 42 again.

[0269] In a specific embodiment, the value range of the included angle α between the setting position of the liquid supply mechanism 45 and the setting position of the decontamination mechanism 44 is [20 degrees to 120 degrees], for example, it can be 60 degrees. Generally, in order to prevent the cleaning liquid from dripping onto the ground when the liquid supply mechanism 45 supplies and sprays the cleaning liquid onto the cleaning roller 42, the liquid supply mechanism 45 is located directly above the cleaning roller 42, and the cleaning liquid dripping from the liquid supply port can be effectively absorbed by the cleaning roller 42, and no water leakage to the ground will occur.

[0270] Furthermore, referring to Figure 34 , the scraping strip assembly 53 on the decontamination mechanism 44 is located above the midline J of the mopping assembly 4, and the straight line F where the contact angle between the end of the scraping strip assembly 53 and the cleaning roller 42 is located generally passes through the center of the cleaning roller 42. It can be understood that the extending direction of a section at the front end of the scraping strip assembly 53 and the center of the cleaning roller 42 are generally on the same straight line, and the tangent line at the contact point between the scraping strip assembly 53 and the cleaning roller 42 is generally perpendicular. In this way, the scraping effect of the scraping strip assembly 53 on the cleaning roller 42 can be the best, the force exerted by the scraping strip assembly 53 on the cleaning roller 42 is smaller, and the wear rate of the scraping strip assembly 53 is also smaller.

[0271] Referring to Figure 34 , in an embodiment provided by the present application, along the height direction of the mopping assembly 4, the liquid supply mechanism 45 is located above the cleaning roller 42. Along the width direction of the mopping assembly 4, the decontamination mechanism 44 is located behind the contact point between the cleaning roller 42 and the surface to be cleaned. When the cleaning roller 42 rotates clockwise, a certain area on the cleaning roller 42 sequentially passes through the liquid supply mechanism 45, the surface to be cleaned, and the decontamination mechanism 44, and finally returns to the liquid supply mechanism 45, and the liquid supply mechanism 45 conveys the cleaning liquid to the surface of the cleaning roller 42 again.

[0272] Further, along the first median line P in the vertical direction of the cleaning roller 42, the liquid supply mechanism 45 is located directly above the first median line P, or, with the rotation center of the cleaning roller 42 as the vertex of the angle, the range of the angle formed by the position of the liquid supply mechanism 45 and the first median line P is [-30 degrees to +30 degrees].

[0273] Further, along the second median line J in the lateral direction of the cleaning roller 42, the dirt removal mechanism 44 is located above the second median line J, or the position of the dirt removal mechanism 44 is flush with the second median line J.

[0274] Refer to FIG. 9, Figures 34 to 35a , in an embodiment provided by the present application, the mopping bracket 43 includes a mounting shell 4211 and a mounting cover 4212. The mounting shell 4211 has an inner cavity. The dirt removal mechanism 44 and the liquid supply mechanism 45 are arranged in the inner cavity. An opening communicating with the roller mounting cavity 51 is provided in the inner cavity. The dirt removal mechanism 44 and the liquid supply mechanism 45 are respectively arranged corresponding to the opening position. The mounting cover 4212 can be cooperatively connected above the mounting shell 4211 to close the inner cavity. In a specific implementation, the mopping bracket 43 is generally in an L-shaped structure. Along Figure 34 the direction of the arrow Y in FIG., on the left side of the cleaning roller 42, there is a square accommodating inner cavity, and the dirt removal mechanism 44 is arranged in the accommodating inner cavity.

[0275] As Figure 35b shown, the front bottom of the dirt collection box 442 may have an oblique angle as shown in the figure. In this way, when traveling on a special traveling surface, such as a carpet with long hair, this oblique angle design can reduce the traveling resistance of the machine body. When the cleaning robot travels onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0276] Furthermore, as Figure 35c shown, the front bottom of the machine body 1 may also have an oblique angle 1005 as shown in the figure. Similarly, when traveling on a special traveling surface, such as a carpet with long hair, this oblique angle design can reduce the traveling resistance of the machine body. When the cleaning robot travels onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0277] Of course, the oblique angles of the dirt collection box 442 and the bottom of the machine body can also be arc-shaped oblique angles or the straight-line oblique angles shown in the figure. This embodiment does not make specific limitations in this regard. The oblique angle of the dirt collection box 442 and the bottom of the machine body is an oblique angle surface formed at the front bottom end of the dirt collection box 442. The included angles between the oblique angle surface on the dirt collection box 442 and the oblique angle surface on the machine body and the horizontal plane (such as the ground) can be the same or different. The included angle between the oblique angle surface and the horizontal plane (such as the ground) can be an angle between 10 and 60 degrees.

[0278] The liquid supply port of the liquid supply mechanism 45 is directly an outlet hole facing the cleaning roller. Generally, the liquid discharged from the outlet hole has pressure. After the liquid with pressure comes out of the outlet hole and spreads, part of it will be sprayed onto the cleaning roller, and some liquid will also splash onto the cavity wall. After the water droplets on the cavity wall condense into large water droplets, they will fall onto the cleaning roller 42 or flow down along the cavity wall to the ground. This may result in an insufficient amount of cleaning liquid on the cleaning roller 42, and users may misunderstand the water droplets on the ground as water leakage. If the amount of cleaning liquid on the cleaning roller 42 is insufficient, the roller cannot be fully wetted, and not only the mopping effect cannot be achieved, but also the self-cleaning effect cannot be achieved. If the liquid supply amount of the liquid supply mechanism 45 is increased to solve this problem, it may cause water accumulation on the ground due to too much cleaning liquid supply, which will still directly affect the cleaning effect of the cleaning robot.

[0279] Therefore, the embodiment of the present application has improved the liquid supply mechanism. Specifically, one side of the liquid supply mechanism 45 corresponding to the inner cavity is an arc surface adapted to the arc surface of the inner cavity. Refer to Figure 35a and 35b As shown, the arc surface of the liquid supply mechanism 45 facing the cleaning roller has the same arc degree as the arc surface of the inner cavity, and is the same as or similar to the arc degree of the cleaning roller 42. In addition, as Figure 38 shown, the liquid supply port 453 has an arc-shaped water guiding surface 4531 for guiding the cleaning liquid onto the cleaning roller 42.

[0280] As Figure 8 shown, the liquid supply port 453 is arranged in a circular ring shape. In this way, the liquid sprayed by the liquid supply mechanism 45 can flow along the arc surface and supply liquid to the cleaning roller 42 through the circular-ring-shaped liquid supply port 453, and the liquid can drip smoothly, with high liquid supply efficiency. The liquid supply port 453 is circular-ring-shaped, and the center of the circular ring is the outlet hole 4530. The outlet hole 4530 is connected to the branch for liquid supply in the liquid supply mechanism 45. As Figure 38 shown, the inner ring wall of the circular-ring-shaped liquid supply port is an arc surface.

[0281] Along the liquid outflow direction, the inner ring wall of the liquid supply port 453 is a stepped structure with an opening size gradually increasing; the inner ring wall surfaces of each stepped section are all arc surfaces for guiding the liquid to flow towards the cleaning roller 42. More specifically, as Figure 38In the enlarged local view, the liquid supply port 453 is circular-ring-shaped, and the center of the circular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 communicates with one of the multiple branch paths. The inner ring wall of the liquid supply port 453 is a two-stage stepped structure with a gradually increasing opening size, and the inner wall of each stage of the stepped structure is an arc surface. The cleaning liquid coming out of the liquid outlet hole 4530 falls onto the arc surface and can also flow along the arc surface to the cleaning roller 42, so that the cleaning liquid coming out of the liquid outlet hole 4530 can basically be sprayed onto the cleaning roller 42 without splashing onto the cavity wall outside the circular ring. The cleaning robot can also more accurately control the liquid supply volume of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a good dry-wet state, and the mopping effect is good; also because the cleaning roller 42 has a good dry-wet state, the self-cleaning of the cleaning roller 42 by the decontamination mechanism 44 has a relatively good effect, which also positively promotes the mopping effect.

[0282] In order to enable the cleaning robot to have a better cleaning effect, in the solution provided in this embodiment, the liquid supply port 453 is further improved, and an arc-shaped water guiding surface is added at the liquid supply port 453 to guide the cleaning liquid to the cleaning roller; because of the arc-shaped water guiding surface, the cleaning liquid provided by the liquid supply mechanism 45 can basically flow to the cleaning roller 42 without splashing everywhere to other places. The cleaning robot can also more accurately control the liquid supply volume of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a good dry-wet state, and the mopping effect is good; also because the cleaning roller 42 has a good dry-wet state, the self-cleaning of the cleaning roller 42 by the decontamination mechanism 44 has a relatively good effect, which also positively promotes the mopping effect.

[0283] Furthermore, as Figure 38 shown, a water wiping structure 80 is provided on the cavity wall of the mopping bracket facing the cleaning roller 42. The water wiping structure 80 is located on one side of the liquid supply port 453. If the scraping strip assembly is located on the front side of the cleaning roller 42, then the water wiping structure 80 can be located on the rear side of the liquid supply port. If the scraping strip assembly is located on the rear side of the cleaning roller, then the water wiping structure 80 can be located on the front side of the liquid supply port.

[0284] The included angle β between the connection line of the water wiping structure 80 and the center of the cross-section of the cleaning roller and the connection line of the liquid supply port and the center can be 5 to 30 degrees. There can be a gap between the water wiping structure 80 and the cleaning roller 42, or there can be no gap, but the water wiping structure cannot apply force to the cleaning roller 42. The function of the water wiping structure 80 is to block the liquid floating on the surface of the cleaning roller that has not been absorbed by the cleaning roller from flowing to the ground. Because the cleaning roller rotates during operation, if the cleaning liquid cannot be absorbed by the roller, the cleaning liquid floating on the cleaning roller will be thrown out to the ground, resulting in the ground being too wet.

[0285] Since it takes a certain amount of time for the cleaning liquid to spread evenly on the cleaning roller 42 after the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42, in order to ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 mops the ground, the rotation speed of the cleaning roller 42 cannot be too fast. Secondly, when the rotation speed of the cleaning roller 42 is too fast, the scraping efficiency of the scraping strip assembly 53 on the cleaning roller 42 is also lower. In the technical solution provided by the present application, when the cleaning roller 42 mops the ground, the value range of its rotation speed is [100 rmp / min to 300 rmp / min], specifically 200 rmp / min.

[0286] In the technical solution provided by the present application, the rotation direction of the cleaning roller 42 is opposite to the rotation direction of the traveling wheels of the cleaning robot, which can improve the cleaning effect of the cleaning roller 42.

[0287] See FIGS. 9, 34 to Figure 35a In an embodiment provided by the present application, the decontamination mechanism 44 further includes a sewage collection assembly 54, and the sewage collection assembly 54 is disposed below the scraping strip assembly 53. When the scraping strip assembly 53 scrapes the sewage on the cleaning roller 42, the sewage collection assembly 54 can collect the sewage and stains to avoid secondary pollution.

[0288] Furthermore, the sewage collection assembly 54 includes a sewage collection box 442 and a sewage collection pipe 542. The sewage collection box 442 is located below the scraping strip assembly 53, and the sewage and stains scraped off by the scraping strip assembly 53 can directly fall into the sewage collection box 442, and the sewage collection box 442 collects it. Along the traveling direction of the cleaning robot, the front side and the rear side are distinguished. The sewage collection box 442 can be located on the front side of the cleaning roller 42, which can reduce the cleaning blind area. Most cleaning robots are circular. From the perspective of the layout of each component of the whole machine, in order to make the cleaning roller in the mopping and washing assembly longer, as shown in FIG. 36, the mopping and washing assembly can generally be set at a position with a distance G from the center O of the machine body. The left figure (E) in FIG. 36 shows the situation where the sewage collection box 442 is located on the front side of the cleaning roller 42, and the figure (F) shows the situation where the sewage collection box 442 is located on the rear side of the cleaning roller 42. It can be seen from this figure that when the mopping and washing assembly 4 is in an extended state and working with the whole body extended (the extended length of the mopping and washing assembly in both the left and right figures is L), the distance D1 from the rear edge of the cleaning roller 42 in the mopping and washing assembly 4 shown in the figure (E) to the center O is greater than the distance D2 from the rear edge of the cleaning roller 42 shown in the figure (F) to the center O. It can also be concluded from this that the larger the dimension from the center O of the circle, the longer the front edge and the rear edge of the cleaning roller 42 extend out of the machine body 1, that is, the longer the length exposed outside the machine body 1. It can also be known from this that the area S1 of the cleaning roller 42 exposed outside the machine body 1 shown in the figure (E) is larger than the area S2 of the cleaning roller 42 exposed outside the machine body 1 shown in the figure (F).

[0289] The exposed area of the cleaning roller 42 on the body 1 is large, and the larger its cleaning coverage area, especially in cases such as when the cleaning robot turns. The structure where the dust collection box shown in the left figure (E) is located in front of the cleaning roller 42, when the mopping assembly 4 is in the extended state for operation, has a large cleaning coverage area, and the cleaning blind area is smaller than that of the structure where the dust collection box shown in the right figure (F) is located behind the cleaning roller. Also, as Figure 36b shown, in the corner area as shown in the figure, when the body of the cleaning robot maintains a safe distance from the corner of the wall or the edge of the obstacle, in the left figure (E’), the dust collection box 442 is located in front of the cleaning roller 42, and the distance between the cleaning roller 42 and the wall or the edge of the obstacle is D3. In the right figure (F’), the dust collection box 442 is located behind the cleaning roller 42, and the distance between the cleaning roller 42 and the wall or the obstacle is D4. It can be clearly seen that D3 is less than D4, that is, in the solution of the left figure (E’), the cleaning roller is closer to the wall or the obstacle, which means that for the cleaning with the cleaning roller 42 at the rear, its cleaning coverage area is larger and the cleaning blind area is smaller.

[0290] One end of the sewage collection pipe 542 is arranged in the dust collection box 442, and the other end is connected to the sewage tank 9 of the cleaning robot through a pipeline, so as to suck the sewage in the dust collection box 442 into the sewage tank 9. Refer to Figure 35a shown, the direction indicated by the arrow in the figure is the flow path when the sewage scraped off by the scraping strip assembly 53 enters the dust collection box 442 and is drawn away by the sewage collection pipe 542. In order to be able to suck the sewage in the dust collection box 442 into the sewage tank 9 in a timely manner, a water pump and a pipeline can be arranged on the sewage collection pipe 542, or alternatively, an air pump and a pipeline are connected to the sewage tank 9, and the air pump can provide negative pressure for the sewage tank 9. Under the action of the negative pressure, the sewage in the dust collection box 442 can be sucked into the sewage tank 9 through the pipeline. Refer to Figure 9a and Figure 9b , in a specific embodiment, the decontamination mechanism 44 further includes a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 through a pipeline or directly. When the negative pressure pump works, it can pump negative pressure into the sewage tank 9. The valve body 545 is arranged on the sewage collection pipe 542 and can be used to control the on-off of the sewage collection pipe 542. First, the negative pressure pump can pump negative pressure into the sewage tank 9, and then the valve body 545 is opened, and the negative pressure in the sewage tank 9 can suck the sewage in the dust collection box 442 into the sewage tank 9 through the second flexible pipeline 456.

[0291] Refer to Figure 9a and Figure 9b, in an embodiment provided by the present application, the mopping and washing assembly 4 further includes a joint assembly 455. The joint assembly 455 includes a clean water pipe joint and a sewage pipe joint. The clean water pipe joint can be regarded as the liquid supply inlet 451 mentioned above, and the sewage pipe joint can be regarded as the dirt removal outlet 4410 mentioned above. One end of the clean water pipe joint is used to connect the first flexible pipe 443, and the other end is connected to the liquid supply mechanism 45 through the first pipe 477. One end of the sewage pipe joint is used to connect the second flexible pipe 456, and the other end is connected to the interface of the sewage collection pipe 542 through the transverse pipe 546. The transverse pipe 546 is a pipe with a fixed length, and the transverse pipe 546 can also be a flexible pipe. As Figure 9b shown, along the length direction of the mopping and washing assembly 4, through the first pipe 477 and the transverse pipe 546, the joint assembly 455 can be disposed to one side of the mopping and washing assembly 4, so as to facilitate the connection of the first flexible pipe 443 and the second flexible pipe 456 to the joint assembly 455. Imagine that without the first pipe 477, the transverse pipe 546 and the joint assembly 455, the first flexible pipe 443 and the second flexible pipe 456 will be directly connected to the joints of the liquid supply mechanism 45 and the sewage collection pipe 542 at the middle position of the mopping and washing assembly 4. This not only requires longer first flexible pipe 443 and second flexible pipe 456, but also makes it difficult to effectively utilize the space above the mopping and washing assembly 4.

[0292] Currently, the rotation direction of the cleaning roller 42 of some cleaning devices is the same as that of the device driving wheel. Although this can assist the device to move forward and reduce energy consumption. However, the collaborative working process of the cleaning roller 42, the squeegee assembly 53 and the liquid supply mechanism 45 becomes: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the squeegee assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. There are also some cleaning devices in which the rotation direction of the cleaning roller 42 is different from that of the device driving wheel, but the sewage collection box 442 and the squeegee are arranged behind the roller. At this time, the collaborative working process of the cleaning roller 42, the squeegee assembly 53 and the liquid supply mechanism 45 is also: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the squeegee assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. It can be seen that in the current such cleaning devices, the clean water is immediately scraped off after being replenished, and it is not very reasonable for the cleaning roller 42 to clean the ground. The scraped liquid contains the just replenished clean water, and this part of the clean water is recycled without participating in the cleaning.

[0293] When the cleaning roller 42 of the existing cleaning robot performs a cleaning task, it first performs a water replenishment step, that is, the liquid supply mechanism 45 transports the cleaning liquid to the surface of the cleaning roller 42, then the dirt removal mechanism 44 scrapes the dirt on the surface of the cleaning roller 42, and finally the cleaning roller 42 cleans the ground. There are mainly three problems in this execution step;

[0294] First, after the liquid supply mechanism 45 replenishes water, the decontamination mechanism 44 immediately scrapes the mixture of clean water and sewage. The stains on the surface of the cleaning roller 42 may not be completely dissolved in the clean water, so most of the scraped is clean water rather than sewage, resulting in incomplete self-cleaning.

[0295] Second, after the decontamination mechanism 44 scrapes the sewage on the surface of the cleaning roller 42, due to the action of the scraping strip, the water content of the roller before and after scraping decreases by 90%. The decrease in the water content of the cleaning roller 42 will also reduce the cleaning power of the cleaning roller 42 on the ground.

[0296] Third, after the cleaning robot's scraping strip wipes the water, when the relatively dry roller scrubs the dirty ground, it needs to rotate 180° before entering the water replenishment position. At this time, the dirt stuck on the overly dry roller is likely to be thrown out during the long rotation process and finally fall to the ground, resulting in poor cleaning effect.

[0297] However, the technical solution provided by the embodiments of the present application is different from some of the cleaning devices mentioned above. In the solution provided by the embodiments of the present application, the cleaning roller 42 rotates in the reverse direction (i.e., opposite to the rotation direction of the driving wheel), the scraping strip assembly 53 is located on the front side of the cleaning roller 42, and the liquid supply mechanism 45 is located above the cleaning roller 42. In this way, the cooperation process of the cleaning roller 42, the scraping strip assembly 53 and the liquid supply mechanism 45 is as follows: the cleaning roller 42 replenishes water through the liquid supply mechanism 45 -> the cleaning roller cleans the ground -> the scraping strip assembly 53 scrapes off the liquid on the cleaning roller 42. It can be seen that the solution provided by this embodiment is more reasonable. The freshly replenished clean water directly participates in the floor cleaning without being scraped by the scraping strip. At this time, the evenly moistened scraping strip has a better wiping and adsorption effect on the floor dirt, especially stubborn dirt. Then the roller rotates a small angle (usually only about 90°), and then is scraped off by the scraping strip. The dirt is not easily thrown out, and at this time, most of the scraped-off is sewage, and the clean water is fully utilized. Specifically, during the rotation of the cleaning roller 42, the liquid supply mechanism 45 supplies cleaning liquid to an area of the cleaning roller 42, and the area infiltrated with the cleaning liquid cleans the surface to be cleaned. Subsequently, the decontamination mechanism 44 acts on the area to scrape off the dirt and collect it, and the area after scraping off the dirt enters the liquid supply range of the liquid supply mechanism 45 again. It can be understood that when the cleaning roller 42 cleans the ground, it first performs a water replenishment step, the surface of the cleaning roller 42 is fully wetted, and the water content of the cleaning roller 42 is also more. Subsequently, the cleaning roller 42 cleans the ground again. At this time, the cleaning power of the cleaning roller 42 on the ground is stronger, and more stains can be dissolved. Finally, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning roller 42, and then the liquid supply mechanism 45 replenishes the liquid again, and this process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism 45 and the decontamination efficiency of the decontamination mechanism 44 are higher during the whole process, the cleaning liquid used by the cleaning roller 42 during the self-cleaning process is less, and at the same time, the amount of sewage generated is also less, and the cleaning endurance time of the cleaning robot will be significantly improved.

[0298] To prevent the sewage from leaking to the side during the water scraping process of the scraping strip assembly 53, the length of the dirt collection box 442 is greater than or equal to the length of the scraping strip assembly 53. Refer to Figure 35a , from the setting direction of the scraping strip assembly 53, the setting direction of the dirt collection box 442 is substantially perpendicular to the setting direction of the scraping strip assembly 53, so that the sewage and stains scraped off by the scraping strip assembly 53 can directly fall into the dirt collection box 442 and are not easily leaked. In addition, to ensure that all the sewage scraped off by the scraping strip assembly 53 can enter the dirt collection box 442, the end of the scraping strip assembly 53 is located in the dirt collection box 442, so that the sewage scraped off by the scraping strip assembly 53 can directly enter the dirt collection box 442 along the end of the scraping strip assembly 53.

[0299] When the scraping strip assembly 53 scrapes the sewage on the cleaning roller 42, it is very easy to scrape the stains attached to the cleaning roller 42 into the sewage collection box 442 at the same time. When the sewage collection pipe 542 sucks the sewage, it may be blocked by these stains. To avoid this situation, refer to Figure 37 and Figure 38 , in an embodiment provided by the present application, the decontamination mechanism 44 further includes a filtering component 543. The filtering component 543 is arranged in the sewage collection box 442. After the sewage scraped off by the scraping strip assembly 53 enters the sewage collection box 442, it is first filtered by the filtering component 543 and then enters below the sewage collection box 442, and then can be collected into the sewage tank through the sewage collection pipe 542.

[0300] To facilitate the cleaning of the sewage collection box 442, the sewage collection box 442 can be detached from the mopping component 4 for cleaning, and the filtering component 543 in the sewage collection box 442 can also be detached for cleaning. During the disassembly process, first, the mopping component 4 is switched to the extended state, then the cleaning roller 42 is detached from the lateral opening of the mopping bracket 43, and finally, the sewage collection box 442 can be detached from the roller installation cavity 51. Refer to Figure 9b As shown, the sewage collection box 442 has a V-shaped bottom surface, that is, along the axis direction of the cleaning roller, both ends of the bottom surface of the sewage collection box 442 are high and the middle is low. The low point of the V-shaped bottom surface is matched with the pipe orifice of the sewage collection pipe 542 to communicate with the sewage collection pipe 542.

[0301] To avoid bending, springs (not shown in both Fig. 9 and Fig. 38) can be provided on the outer sides of the second flexible pipe 456 and the first flexible pipe 443, so that the whole mopping component will not be bent during movement (lifting and / or telescoping), which affects sewage discharge and liquid supply.

[0302] Refer to Figure 38 and 39a , in an embodiment provided by the present application, the scraping strip assembly 53 includes a scraping plate 531 and a water guide plate 532. The end of the scraping plate 531 is a scraping strip 441. The materials of the scraping plate and the scraping strip can be the same or different, and this embodiment does not limit this. The water guide plate 532 is connected below the scraping plate 531. The distance that the end of the scraping plate 531 extends outward is greater than the end of the water guide plate 532. The scraping strip 441 at the end of the scraping plate 531 contacts the cleaning roller 42. When the cleaning roller 42 rotates, the scraping plate 531 can scrape the sewage on the cleaning roller 42, and then it is guided into the sewage collection box 442 by the water guide plate 532. In a specific embodiment, as Figure 35a shown, the cross-section of the water guide plate 532 is wedge-shaped. This structure can make a guiding water channel with a larger curvature formed on the surface of the water guide plate 532 after the water guide plate 532 is connected to the scraping plate 531.

[0303] Furthermore, as Figure 39a, the squeegee 531 has a first plate segment 5311 and a second plate segment 5312. The first plate segment 5311 and the second plate segment 5312 are arranged at an obtuse angle, and the length of the second plate segment 5312 is greater than that of the first plate segment 5311. The first plate segment 5311 is the end that plays a major role during water scraping, and the second plate segment 5312 is used to connect with the water guide plate 532. Specifically, the water guide plate 532 is connected below the second plate segment 5312. The leading end of the water guide plate 532 is close to the first plate segment 5311, the trailing end of the water guide plate 532 is close to the trailing end of the second plate segment 5312, and the trailing end of the second plate segment 5312 extends into the dirt collection box 442.

[0304] A plurality of water guide grooves 5321 are provided on the water guide plate 532. The plurality of water guide grooves 5321 are arranged at intervals from each other, and the arrangement direction of the water guide grooves 5321 is the same as the extension direction of the water guide plate 532. To ensure that the water guide grooves 5321 can divert sewage into the dirt collection box 442, see Figure 8 , the number of liquid supply ports 453 of the liquid supply mechanism 45 is less than the number of water guide grooves 5321 on the water guide plate 532. The position where the water guide plate 532 acts on the cleaning roller is the water scraping position. See Figure 39a , the water guide grooves 5321 can be through grooves (i.e., the groove openings are open) at the water scraping position 53211 (i.e., the end near the cleaning roller) to facilitate water diversion. The end position 53210 (i.e., the tail) of the water guide grooves 5321 is closed to facilitate drainage. The tail of the water guide grooves 5321 is located at the opening of the dirt collection box. See Figure 39b As shown, the lower surface of the water guide plate 532 is an upwardly arched arc surface, and this arc surface is the water guiding surface 5322. Since the squeegee 531 itself bends downward, the water moves towards the upward arc surface of the water guide grooves 5321 by the centrifugal force of the roller to overcome its own gravity. The extension line at the end of the squeegee assembly 53 passing through the center of the roller has the best dirt scraping effect, that is, the squeegee assembly 53 has a bent portion, which results in an upwardly arched arc surface for the water guide grooves 5321 as well. The water guiding surface 5322 has two arc-shaped curved surfaces; from the water guiding to the drainage direction of the water guiding surface 5322, the curvature of the corresponding arc of the curved surface decreases. As shown as the P1 section and the P2 section in the figure, where the P1 section is a section on the water guiding side near the cleaning roller 42, and the P2 section is a section on the drainage side. It can be seen from the figure that the arc curvature of the P1 section is greater than that of the P2 section.

[0305] A plurality of water guide grooves 5321 are provided on the water-facing side of the squeegee assembly 52, and the water guide grooves 5321 at least extend to the collection opening of the dirt collection assembly (dirt collection box 442). The water-facing side (lower surface) refers to the side where the squeegee faces the rotation of the roller when the cleaning roller 42 rotates. When the roller rotates, it contacts the squeegee from bottom to top; in the case of no suction, in the prior art, the roller contacts the squeegee from top to bottom, and the water flows down along the squeegee, and there is no need for water guide grooves.

[0306] As shown Figure 38 in Figure 38 , the lowest point 53220 of the P2 section is lower than the highest point 4521 of the sewage collection box 442. As shown Figure 8 in Figure 8 , the length of the water guide plate 532 is less than the actual water receiving length of the sewage collection box 442. As shown Figure 34 in Figure 34 , the vertical distance Q between the opening position of the sewage collection box 442 near the cleaning roller 42 and the scraping strip assembly 53 is 3 - 5 mm.

[0307] In an embodiment provided by the present application, the water guide plate 532 and the scraping plate 531 can be connected by fasteners 533, or the water guide plate 532 and the scraping plate 531 are of an integral structure. When the water guide plate 532 and the scraping plate 531 are of a split structure, the water guide plate 532 and the scraping plate 531 are made of different materials. For example, the scraping plate 531 is made of a metal material with good stiffness and better wear resistance; while the water guide plate 532 is made of a plastic material, which is convenient for processing, and complex water guide grooves 5321 can be processed on its surface by injection molding or stamping, with lower costs.

[0308] The surface of the cleaning roller 42 has fluff, and the fluff materials and / or lengths of different models will be different. In the following several situations, if the position of the scraping strip assembly 53 remains unchanged, it is possible that the distance between the scraping strip assembly 53 and the cleaning roller 42 is too far, resulting in the scraping strip assembly 52 being ineffective, or the distance is too close, which is extremely likely to cause damage (such as damage to the scraping strip assembly) or the rotational resistance of the roller is too large, extremely likely to cause abnormalities in the roller motor:

[0309] Replace the cleaning roller 42 with different models; or

[0310] The cleaning roller 42 is displaced due to some factors during long-term operation; or

[0311] The fluff of the cleaning roller 42 is worn out during long-term operation, etc.

[0312] Refer to Figure 34 and Figure 35a As shown in Figure 34 and Figure 35a , when the cleaning roller 42 rotates in the direction of arrow b, the scraping strip assembly 53 will receive a force in the direction of arrow T. If this force is too large due to the distance being too close, the scraping strip assembly 53 is very likely to be damaged. In order to avoid problems caused by the above several situations, refer to Figure 39a and 40, in an embodiment provided by the present application, the cleaning robot further includes an adaptive adjustment device. The adaptive adjustment device includes a swing assembly. The squeegee assembly 53 is connected to the mopping bracket 43 through the swing assembly. The squeegee assembly 53 can adaptively adjust its pose through the swing assembly to have a more suitable positional relationship with the cleaning roller 42, and can continuously act on the cleaning roller 42 to scrape off the dirt thereon. As shown in the figure, the swing assembly 500 includes a swing seat 534. A connection hole 5342 is provided on the swing seat 534. The swing seat 534 is connected to the mopping bracket 43 through a swing shaft 535. Further, an installation hole 5341 is provided on the swing seat 534. An elastic member 536 is arranged in the installation hole 5341. One end of the elastic member 536 is connected to the swing seat 534, and the other end is in contact with the installation shell 4211 of the mopping bracket 43. The elastic member 536 can make the contact force between the squeegee assembly 53 and the cleaning roller 42 an elastic force. When the squeegee 531 is subjected to too much force, the squeegee assembly 53 rotates slightly around the swing shaft 535, thereby increasing the distance between the end of the squeegee 531 and the cleaning roller 42. Then the contact force between the squeegee 531 and the cleaning roller 42 also becomes smaller. For example, when the squeegee 531 is subjected to too much force, the squeegee assembly 53 will rotate along the swing shaft 535, and the end of the squeegee 531 will move upward along the Figure 32 arrow T direction in the figure, so that the acting force between the squeegee 531 and the cleaning roller 42 will become smaller, thereby realizing the adaptive adjustment of the squeegee assembly 53 and avoiding damage due to excessive force. Another example is that if the cleaning roller 42 has some position deviations due to long-term work, the swing assembly will act adaptively to keep a suitable positional relationship between the squeegee assembly 53 and the cleaning roller 42, and there is a suitable (neither too large nor too small) mutual acting force between the two. The squeegee assembly can continuously act on the cleaning roller to scrape off the dirt thereon.

[0313] It should be added here that: the swing assembly 500 can be an integral structure with the squeegee assembly 53, or the swing assembly and the squeegee assembly are two components connected together by a connection method.

[0314] Further, along the axial direction of the cleaning roller from one end of the cleaning roller to the other end, the surface of the cleaning roller is in contact with the end of the squeegee assembly. In addition, refer to Figure 39cAs shown, the adaptive adjustment device in this embodiment further includes an elastic mechanism 300. The mopping and washing assembly 4 is connected to the body 1 through the elastic mechanism 300. For example, one end of the elastic mechanism 300 can be connected to the cavity shell 46 of the body 1, and the other end can be connected to the mopping and washing assembly 4. Among them, the elastic mechanism 300 can be an elastic component such as a spring. The squeegee assembly 53 adjusts its pose through the adaptive adjustment device so as to continuously act on the cleaning roller to scrape off the dirt thereon. That is, the pose adjustment of the squeegee assembly 53 is achieved by the combined action of the elastic mechanism 300 and the swing assembly 500. The mopping and washing assembly 4 can adaptively adjust the relative pose between it and the body 1 through the elastic mechanism 300. The squeegee assembly is in the mopping and washing assembly 4 and changes its pose together with the mopping and washing assembly. Inside the mopping and washing assembly 4, the squeegee assembly 53 adjusts the phase position and attitude relationship with the cleaning roller 42 through the swing assembly 500 so as to be in a more appropriate pose, and can apply an appropriate scraping force to the cleaning roller 42, so as to finally keep continuously acting on the cleaning roller to scrape off the dirt thereon.

[0315] It can be seen that by setting the adaptive adjustment device, the squeegee assembly can float relative to the cleaning roller to keep the squeegee always pressing against the roller. When the mopping and washing assembly moves relative to the body, the elastic mechanism moves with the mopping and washing assembly, or the mopping and washing assembly moves relative to the body and the elastic mechanism.

[0316] The above-mentioned adaptive adjustment assembly can also be called a biasing assembly. That is, the decontamination mechanism further includes a biasing assembly. Under the biasing force provided by the biasing assembly, the squeegee assembly moves in the direction of pressing against the cleaning roller. Under the action of the biasing force provided by the biasing assembly, the depth of the squeegee inserted into the cleaning roller is at least 1-2 mm. The biasing assembly includes a swing seat and an elastic member. The squeegee assembly is rotatably mounted on the mopping and washing assembly or the body through the swing seat.

[0317] The above introduces a solution that uses one power source to realize the lifting and telescoping of the mopping and washing assembly. The present application also supplements a solution here that uses two motors to respectively realize the lifting and telescoping functions of the mopping and washing assembly. That is, the driving device 10 includes two power sources. Such as Figure 41As shown, the drive device 10 includes a first power source and a second power source. Among them, the first power source may include a first motor 60. The second power source includes a third motor 61. In specific implementation, both the first motor 60 and the third motor 61 can be connected to a speed reducer at the output end to output power outward through the speed reducer. Among them, the first power source is used to drive the telescoping of the mopping component, and its corresponding first motion execution mechanism 103 is the same as the structure mentioned in the above embodiments, that is, the first motion execution mechanism 103 includes: a first gear 13 and a first rack 14. The first motion execution mechanism 103 may include a sliding plate, and the sliding plate is slidably connected to the slide rail 15. At least one slide rail 15 may be provided on the cavity shell 46. In addition, the first photoelectric switch 281, the first trigger structure on the sliding plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, the grating structure 294, etc., all have the same functions as those in the above embodiments. For specific content, refer to the above, and details will not be elaborated here.

[0318] The second power source is used to drive the mopping component 4 to lift, and its corresponding second motion execution mechanism, such as Figure 41 As shown, may include: a second gear 62 and a second rack 63. The setting method of the second rack 63 is different from that of the first rack 14. Refer to Figure 41 , the first rack 14 is horizontally arranged, and the second rack 63 is vertically arranged.

[0319] The specific implementation process is as follows: When the mopping component 4 is in the initial state (that is, the first limit position in the retracted state, and the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate. The first rack 14 is driven by the first gear 13 to translate toward one side of the machine body. The first rack 14 pushes the mopping component outward through the connection structure located on the slide rail 15, so that a part of the mopping component extends out of the machine body (such as Figure 42 (B)). If the mopping component 4 extends to the second limit position in the extended state, the first motor 60 stops working. When the mopping component 4 needs to retract, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the reverse direction. The first rack 14 is driven by the first gear 13 to translate toward the inside of the machine body. The first rack 14 contracts the mopping component 4 inward through the connection structure located on the slide rail 15. After the mopping component 4 retracts to the initial state, the first motor 60 stops working. When the mopping component 4 needs to be lifted, the second motor 61 outputs power to drive the second gear 62 to rotate. The second rack 63 drives the mopping component 4 to rise along the axial direction of the connecting column 241 (refer to Figure 16 as shown) (such as Figure 42(A)). After the mopping and washing assembly 4 rises to the high position and the third optoelectronic switch 283 is triggered, the third motor 61 stops working. When the mopping and washing assembly 4 needs to descend, the third motor 61 outputs reverse power to drive the second gear 62 to reverse, the second rack 63 moves downward, and the mopping and washing assembly descends along the axial direction of the connecting column 241 (see Figure shown). When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e., the time used by the third motor to drive the mopping and washing assembly to lift), the third motor 61 stops moving. In addition, by adding a counting light shielding piece and a counting optocoupler to this assembly, it can also be realized to extend step by step during the extension process. For the specific implementation, reference can be made to the above content and will not be elaborated here.

[0320] Furthermore, if the cleaning robot is cleaning a carpeted floor, the cleaning robot will repeatedly clean back and forth between the carpet area and the ordinary floor area. Then the cleaning robot will need to repeatedly switch back and forth between the lifting state and the lowering state, and it may even occur that the mopping and washing assembly first switches from the extended state to the retracted state, and then switches to the lifting state. In this way, before the cleaning robot walks onto the carpet floor from the ordinary floor, it needs to pause and wait, and only after fully switching to the lifting state can it walk onto the carpet floor for cleaning. This will inevitably consume too much waiting time.

[0321] To avoid this problem, in an embodiment provided in the present application, the mopping and washing assembly on the cleaning robot can quickly switch to the lifting state in both the retracted state and the extended state. For example, when the mopping and washing assembly is in the extended state, or in different gears of the extended state, the mopping and washing assembly can simultaneously switch to the lifting state. In this way, when the mopping and washing assembly is in the extended state, it does not need to first retract to the initial state and then switch to the lifting state. Before the cleaning robot walks onto the carpet floor or crosses an obstacle, it does not need to wait for a long time. Even if the cleaning robot needs to repeatedly cross obstacles or move up and down the carpet floor multiple times, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0322] The present application supplements another solution here that uses two motors to respectively realize the lifting and telescopic functions of the mopping and washing assembly 4. That is, the driving device 10 includes two power sources. Different from the ​ structure shown above, it is realized by the second power source and the corresponding second action execution mechanism, the winch structure. See ​As shown, the first power source, the slide rail 15, the first optoelectronic switch 281, the first trigger structure on the sliding plate for triggering the first optoelectronic switch 281, the fourth optoelectronic switch 284, the grating structure 294, etc. all have the same functions as those in the above embodiments. The same points will not be elaborated here. The differences are as follows: The second action execution mechanism corresponding to the second power source is the reel 64 and the pulling rope 65. That is, the third motor 61 is connected to the reel 64. The pulling rope 65 is arranged on the reel 64.

[0323] The specific implementation process is as follows: The telescoping of the mopping and washing assembly 4 is the same as above. When the mopping and washing assembly 4 needs to be lifted, the third motor 61 outputs power to drive the reel 64 to rotate. The pulling rope 65 drives the mopping and washing assembly to rise axially along the connecting column 241 under the drive of the reel 64. After the third optoelectronic switch 283 is triggered when the mopping and washing assembly 4 rises to a high position, the third motor 61 stops working. When the mopping and washing assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the reel 64 to reverse, and the mopping and washing assembly 4 descends axially along the connecting column 241 under the action of gravity. When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e., the time used by the third motor to drive the mopping and washing assembly to lift), the third motor 61 stops moving. In addition, by adding a counting light-shielding piece and a counting optocoupler to this assembly, it can also achieve step-by-step extension during the extension process. For the specific implementation, refer to the above content and will not be elaborated here.

[0324] The embodiments of the present application provide a solution for a single power source to achieve the telescopic and lifting of the mopping and washing component 4, and also provide a solution for a dual power source to achieve the telescopic and lifting of the mopping and washing component (i.e., one power source for telescoping and the other for lifting). Regardless of which implementation solution is adopted, there is a problem of how to control each power source to enable the mopping and washing component 4 to telescope and lift at the appropriate time. For example, the mopping and washing component 4 extends while descending, or retracts while ascending, or retracts first and then lifts, or lifts first and then retracts, or descends first and then extends, and so on. In a specific scenario, for example, the mopping and washing component 4 of the current cleaning robot is in the extended state. When the cleaning robot needs to enter a specific area (such as a designated area where mopping is not required or a carpet area), it is necessary to lift the mopping and washing component 4 to have a certain distance from the ground. Another example is that when the cleaning robot drives from the living room into the kitchen, there is a small step at the kitchen door, and the cleaning robot needs to overcome the obstacle to drive into the kitchen. At this time, in order to facilitate overcoming the obstacle, it is necessary to lift the mopping and washing component. Whether the mopping and washing component is directly lifted in the extended state or retracted to the innermost side (i.e., the first limit position) and then lifted requires the cleaning robot to make a judgment by sensing the environmental information. If the current environment is open and there are no obstacles in height, the mopping and washing component 4 can be directly lifted in the extended state. However, if the current environment is relatively complex and the detection information of the cleaning robot is limited, directly lifting the mopping and washing component 4 in the extended state is very likely to cause the mopping and washing component 4 to collide with an object during the lifting process. If the lifting action does not stop, it is very likely to damage the mopping and washing component. That is to say, lifting the outwardly swinging cleaning roller 42 poses a great risk to the main body of the machine. Therefore, the roller cannot participate in the cleaning function at this time. Also, due to the length protruding from the projection of the main body of the machine, the cleaning robot needs to always intelligently control the action of the mopping and washing component 4 according to the real-time detected environmental information, which will inevitably increase the computing amount of the cleaning robot, not only consuming power but also affecting the execution of the main task of the cleaning robot (i.e., the cleaning task). Therefore, in order to simplify the control logic of the cleaning robot and reduce the control complexity, the embodiments of the present application provide a solution in which the mopping and washing component 4 retracts to a preset position (such as the first limit position in the retracted state) and then lifts. Specifically, the solution provided in this embodiment includes the following steps. The execution subject of each of the following steps can be the main board 2 in the embodiments of the present application. As described, the mopping and washing component control solution includes:

[0325] S1. When it is determined that the mopping and washing component 4 needs to be lifted, obtain the current position of the mopping and washing component 4;

[0326] S2. If the mopping and washing component 4 is in the first limit position, control the driving device to drive the mopping and washing component 4 to lift; if the mopping and washing component 4 is in the extended state, control the driving device 10 to drive the mopping and washing component 4 to first retract to the first limit position and then lift.

[0327] When the mopping and washing assembly 4 is in the extended state, the mopping and washing assembly 4 can be located at any position between the first extreme position and the second extreme position, or at the second extreme position.

[0328] After adopting the above solution, the cleaning robot does not need to detect the environmental information detected by the sensing system and perform complex calculations to determine whether there is enough space to lift the mopping and washing assembly in the current environment. The entire process does not require the participation of the sensing system, which can ensure the lifting safety of the mopping and washing assembly and is simple and easy to implement.

[0329] During the cleaning process of the cleaning robot, the cleaning roller 42 will adsorb the dirt on the ground, and the dirt on the roller will be scraped and collected by the decontamination assembly 44. After working for a long time, the dirt collection box 442 needs to be cleaned. Currently, for some cleaning robots, if users want to disassemble the detachable parts (such as the sewage tank, roller, etc.) at the bottom of the machine body, they need to turn the machine body over with the bottom facing up before they can remove them, which results in a poor user experience.

[0330] As can be seen from the above, the mopping and washing assembly 4 in the embodiment of the present application includes a liquid supply mechanism 45, a decontamination mechanism 44, and a cleaning roller 42. Among them, although the dirt in the dirt collection box 442 of the decontamination mechanism 44 can enter the sewage tank 9 through the sewage pump. However, if the dirt collection box 442 is not cleaned after working for a long time, there will still be deposited dirt, which is extremely likely to breed bacteria and produce odors. Therefore, it needs to be disassembled relatively frequently to facilitate users to clean. In addition, although the cleaning roller 42 in this embodiment can be self-cleaned with flowing water during the task execution, it also needs to be disassembled for manual cleaning after a long time, or the cleaning roller 42 is worn and needs to be disassembled and replaced with a new cleaning roller 42. If users need to turn the machine body over with the bottom facing up to remove them, it will not be very convenient.

[0331] For this reason, an embodiment of the present application provides a solution that can easily disassemble the dirt collection box 442 in the mopping and washing assembly without the user turning over the machine body, which improves the disassembly convenience and meets the ergonomic design. In addition, another embodiment of the present application provides a solution for easily disassembling the cleaning roller 42. The disassembly solution of the dirt collection box 442 will be introduced sequentially below, and then the disassembly solution of the cleaning roller 42 will be introduced.

[0332] See ​ , at least one side of the mopping and washing assembly 4 is exposed. As an example shown in 44a, the mopping and washing assembly 4 is exposed on one side of the machine body. With reference to the forward direction of the machine body 1, the mopping and washing assembly 4 is exposed on the right side of the machine body. The dirt collection box 442 can be located in front of or behind the cleaning roller 42. See ​ c to 44f, a release component is provided on the side of the dirt collection box 442 corresponding to the exposed mopping and washing assembly. Users can see and touch the release component on the exposed side without turning over the machine body 1, and then operate the release component to remove the dirt collection box 442.

[0333] The release component has an operating handle; the operating handle is located at the bottom of the dirt collection box 442; when disassembling, the operating handle acts, the release component is in an unlocked state, the first end of the dirt collection box 442 is detached from the mopping bracket, and the dirt collection box 442 is pulled outwards at the bottom of the machine body; when installing, after the second end of the dirt collection box 442 is inserted into place from the bottom of the machine body, the first end of the dirt collection box 442 moves upwards to the locking position, and at the locking position, the release component is triggered to switch to the locked state.

[0334] Specifically, as ​ and 44c , along the length direction of the dirt collection box 442, the dirt collection box 442 has two ends, namely a first end 4421 and a second end 4422. It should be added here that: along the length direction of the dirt collection box 442 and the axis direction of the cleaning roller 42, the length of the dirt collection box 442 can be equal to or greater than the length of the cleaning roller 42. At the position of the mopping bracket 43 corresponding to the dirt collection box 442, there are a first fixing structure 431 and a second fixing structure 432 respectively cooperating with the first end 4421 and the second end 4422. The second end 4422 of the dirt collection box 442 cooperates with the second fixing structure 432. For example, the second fixing structure 432 is a jack, and the second end 4422 of the dirt collection box 442 is a convex block structure adapted to the jack. The first end 4421 of the dirt collection box 442 is provided with a release component 70, and the release component 70 may include: an elastic operating member 71 and a fixing pin 72. The elastic operating member 71 is connected to the fixing pin 72. The first fixing structure 431 may be a pin hole adapted to the fixing pin 72. When the user operates the elastic operating member 71, the deformation of the elastic operating member 71 drives the fixing pin 72 to move, so that the fixing pin 72 is disengaged from the pin hole, and the dirt collection box 442 can be detached from the mopping bracket 73.

[0335] As ​ shown, after the first end 4421 of the dirt collection box 442 is detached from the first fixing structure 431, the first end 4421 descends, and the user can hold or grip the first end 4421 and take out the dirt collection box from the machine body 1 along the length direction of the dirt collection box 442 (or the axis direction of the cleaning roller).

[0336] More specifically, as ​ , 44cWith respect to 44f, the elastic operating member 71 may include: a release button and a release spring 712. Among them, the fixed pin 72 is provided with a chute 722. The release button may be a knob. For example, the release button has a rotating shaft 714, and the release button is rotatably connected to the dirt collection box 442 through the rotating shaft 714. On both sides of the rotating shaft 714, there are respectively provided: an abutting structure 713 and an operating handle 711. Alternatively, the release button is a push-pull member that moves linearly. The abutting structure 713 of the release button is located within the chute 722. At the first end of the dirt collection box 442, there is a spring seat 4423, the release spring 712 is arranged within the spring seat 4423, one end of the fixed pin 72 is provided with a plug 721 adapted to the pin hole, and the other end is connected to the release spring 712.

[0337] When the release button is a knob, the user can rotate the release button, so that the abutting structure 713 drives the fixed pin 72 to act by abutting against the chute 722. When the release button is a pull-push member, the user can perform a push-pull operation (such as a push-pull operation along the length direction of the fixed pin), so that the abutting structure drives the fixed pin to act by abutting against the chute.

[0338] Such as ​ As shown, when the user wants to remove the dirt collection box 442, the user applies an external force to the release button, such as rotating the release button. The abutting structure 713 on the release button abuts against the fixed pin 72 within the chute. At this time, the plug 721 of the fixed pin 72 disengages from the pin hole, and the first end of the dirt collection box 442 drops downward. The user pulls here, and the second end of the dirt collection box 442 disengages from the mopping bracket. At this time, the dirt collection box 442 is completely removed. When the user wants to reinstall the dirt collection box 442, first install the second end of the dirt collection box 442 (that is, insert the convex block structure at the second end into the jack). The user holds the first end of the dirt collection box 442 with the hand and presses it upward. The release spring deforms, and the fixed pin 72 acts to enable the fixing to enter the installation groove of the mopping bracket. After the dirt collection box 442 is installed in place, the position of the fixed pin 72 just corresponds to the position of the pin hole. Under the action of the elastic restoring force of the release spring, the fixed pin 72 moves, and the plug is inserted into the pin hole. At this time, the dirt collection box 442 is installed.

[0339] In order to ensure the installation stability of the dirt collection box 442, the release button is further provided with a locking structure, and the dirt collection box 442 is provided with a locking cooperation structure at the corresponding position. After the dirt collection box 442 is installed, the user can rotate the release button so that the locking structure cooperates with the locking cooperation structure to lock the position of the release button, so that the fixed pin 72 will not disengage from the pin hole due to vibration or the like. In this embodiment, the specific implementation of the locking structure on the release button and the locking cooperation structure on the dirt collection box 442 is not specifically limited.

[0340] Furthermore, referring to ​As shown, a filtering component 543 is further provided in the dirt collection box 442. The filtering component 543 is used to filter large particle dirt in the dirt entering the dirt collection box 442. As ​ shown, the filtering component 543 may be a filtering member provided with a plurality of filtering holes on it. The filtering member can be placed and stabilized in the dirt collection box 442 through some matching structures. The filtering member is also provided with a through hole, and the dirt collection pipe 542 can pass through the through hole from above the filtering member and extend below the filtering member to be close to the bottom of the dirt collection box 442. After the user removes the dirt collection box 442, the filtering component 543 can be taken out of the dirt collection box 442 to clean the dirt collection box 442 and the filtering component 543 respectively. One end of the filtering component 543 is provided with a handle 5431 for the user to easily pick up. When the user picks up the filtering component 543, the user can pinch the handle 5431 with fingers and take out the filtering component 543 from the dirt collection box. The handle 5431 can be a plate-shaped body with a certain bending arc.

[0341] In addition, a detection component 4425 is further provided in the dirt collection box 442. The detection component 4425 can be a detection magnet or the like. A sensing element (not shown in the attached drawings of the specification) is provided at the corresponding position on the mopping bracket. The sensing element can detect whether the dirt collection box 442 is installed on the mopping bracket by sensing the detection component on the dirt collection box 442. The reason for setting this detection component is to avoid the situation that the user starts the cleaning robot to work without installing the dirt collection box 442. If the sensing element senses that the dirt collection box 442 is not installed on the mopping bracket 43, the cleaning robot can remind the user to install the dirt collection box 442 by means of voice and / or display. If the sensing element and the detection component 4425 are not set, the cleaning robot may perform the cleaning task without the dirt collection box 442, and the dirt scraped from the cleaning roller 42 may be discharged to the ground because the dirt cannot be collected when cleaning the front and the back. Therefore, it is very necessary to set the sensing element and the detection component. The machine can only be started to perform the cleaning task after the dirt collection box 442 is installed on the body.

[0342] For the disassembly of the cleaning roller 42, see ​ shown, the mopping assembly 4 is in a retracted state, that is, the end of the mopping assembly 4 is located inside the body 1. Looking down from above the body 1, that is, when the cleaning robot is on the ground and the user's perspective of looking at the cleaning robot, the user cannot see the mopping assembly 4. If the user wants to disassemble the cleaning roller in the mopping assembly 4, the user needs to squat down and tilt the head sideways to look at the position of the mopping assembly 4 inside the body 1, and then reach out to disassemble the cleaning roller 42. During the disassembly process, the user may disassemble blindly, and it is almost the same when installing. There may be a situation of pinching the hand. Obviously, this solution that the cleaning roller 42 can be disassembled without flipping the body is not very convenient. The embodiment of the present application provides a more convenient solution for disassembling and assembling the cleaning roller 42. Specifically,

[0343] An interaction device is provided on the body of the cleaning robot, and the interaction device can be a button, a touch screen, a voice interaction unit, etc. The user can trigger the mopping and washing component 4 to extend from one side of the body 1 through the interaction device, such as extending to a set position (which can be the second limit position in the extended state) or extending until the end of the mopping and washing component exposes the outer edge of the body 1. For example, when the user presses a button in the interaction device, after the main board 2 receives the operation signal triggered by the button, it controls the driving device 10 to drive the mopping and washing component 4 to extend from one side of the body 1 to the set position or extend a set length so that the end of the mopping and washing component 4 is exposed. At this time, the user can detach the cleaning roller 42 from the mopping and washing component 4. After the user cleans the cleaning roller 42 or gets a new replacement roller, the roller is then installed back onto the mopping and washing component 4.

[0344] See ​ As shown, in this embodiment, a roller motor 41 is provided at the first end in the length direction (the direction of the arrow in the figure) of the mopping bracket 43, and an opening is provided at the second end. The cleaning roller 42 can be inserted into the roller cavity of the mopping bracket 43 through the opening to be connected to the roller motor 41. A first structure 430 is provided at the second end of the mopping bracket 43. Correspondingly, a second structure is provided inside the end cap 420 of the cleaning roller 42. The first structure 430 and the second structure can be magnetic components used in cooperation. For example, one of the first structure 430 and the second structure is a groove, and the other is a protrusion, and the groove and the protrusion are adapted; the protrusion is a magnet, and a magnetic material is provided in the groove; or, a magnet is provided in the groove, and a magnetic material is provided on the protrusion, etc. This embodiment does not make specific limitations on this.

[0345] After the user triggers the mopping and washing component 4 to extend by means of a button, voice or touch screen, as ​ shown, the mopping and washing component 4 extends outside the edge 1001 of the body 1. At this time, when the user bends down and looks from the upper part of the body, the mopping and washing component can be seen, and the end of the cleaning roller 42 can also be seen. As ​ shown in the example, the end cap 420 of the cleaning roller 42 is similar to a whistle shape. The user can easily pull out the cleaning roller by pinching the end cap 420 with one hand along the pulling-out direction (i.e., the width direction of the body 1), and thus it is disassembled. When installing, since the mopping and washing component is in the extended state, that is ​In the state shown, the user can also see the opening of the drum cavity of the mopping bracket. The user inserts one end of the cleaning drum through the opening, and the end cap 420 of the cleaning drum contacts and engages with the first structure 430 on the mopping bracket, thus completing the connection between the end cap 420 and the mopping bracket. If the cleaning robot needs to perform a cleaning task after installation, the cleaning robot performs the cleaning task while maintaining the extended state of the current mopping component 4. If the cleaning robot needs to return to the base station after installation, after detecting that the cleaning drum is installed, the cleaning robot automatically retracts the mopping component 4; alternatively, the user triggers the main board 2 of the cleaning robot through the interaction device to control the driving device to retract the mopping component 4.

[0346] Furthermore, the driving device 10 can also drive the mopping component 4 to move up and down relative to the body. Correspondingly, when the cleaning drum needs to be disassembled, the driving device 10 drives the mopping component 4 to extend, so as to expose the end cap of the cleaning drum 42, and at the same time drives the mopping component 4 to lift to have a gap from the ground, facilitating the user to remove the cleaning drum 42. Because there is a gap between the cleaning drum 42 and the ground, it is easier to extract the cleaning drum 42.

[0347] In addition to triggering the retraction of the mopping component 4 through the interaction device, the following solution can also be adopted: after the cleaning drum 42 is installed on the mopping bracket 43, the user pushes the mopping component 4, and the driving device 10 starts to work to drive the mopping component 4 to retract to the first limit position. The cleaning robot also includes a sensing system and a main board 2; the main board 2 is electrically connected to the sensing system; the sensing system includes a sensing unit for detecting the retraction thrust of the mopping component 4; after the sensing unit detects the installation thrust of the mopping component 4, it sends a retraction signal to the main board 2, and the main board 2 controls the driving device 10 to start working to drive the mopping component 4 to retract to the first limit position.

[0348] As mentioned above, when the mopping component 44 on the cleaning robot is in the retracted state, it is not convenient for the user to disassemble and assemble the cleaning drum 42 on the mopping component 4. In the technical solution provided in the present application, the mopping component 4 can extend outwards relative to the body of the cleaning robot, which can not only achieve edge cleaning but also facilitate the user to disassemble and assemble the cleaning drum 42 on the mopping component 4.

[0349] In an example of the present application, a cleaning robot is further provided. The cleaning robot includes a body 1 and a mopping assembly 4. The mopping assembly 4 is movably connected to the body. The mopping assembly 4 includes a roller motor 41, a cleaning roller 42 and an end cap 420. The cleaning roller 42 is detachably connected to the roller motor 41. The roller motor 41 and the end cap 420 are respectively located at both ends of the cleaning roller 42. Among them, the cleaning robot also has a roller disassembly state. When the cleaning robot is in the roller disassembly state, part or all of the end cap 420 extends out of the projection area of the edge of the body 1. It can be understood that the mopping assembly 4 extends out of the body 1, and the end cap 420 leaks out from the extending side, so as to facilitate the user to grab the end cap 420 and disassemble the cleaning roller 42 from the mopping assembly 4.

[0350] Furthermore, the cleaning robot further includes a driving device 10 and a control component; the driving device 10 is arranged on the body 1 and is connected to the mopping assembly 4; the control component is arranged on the body 1 and is electrically connected to the driving device 10; after receiving a user instruction, the control component controls the driving device 10 to drive the mopping assembly 4 to extend from at least one side of the body 1 along the width direction of the body 1 so that the end cap 420 is exposed, facilitating the user to disassemble the cleaning roller 42 from the side where the mopping assembly 4 extends. The control component can be the main board assembly or the main board 2 mentioned above.

[0351] Furthermore, the cleaning robot further includes an interaction device, a liquid supply mechanism, a decontamination mechanism, etc. For the detailed description of this part, reference can be made to the content in other embodiments above, and details will not be repeated here.

[0352] See ​ , in an embodiment of the present application, a method for disassembling and assembling a cleaning roller is further provided. The method for disassembling and assembling the cleaning roller 42 is applicable to the cleaning robot in any of the above embodiments. The method for disassembling and assembling the cleaning roller 42 includes the following steps:

[0353] S101, in response to the disassembly and assembly instruction of the cleaning roller 42, detect the surrounding environment of the cleaning robot, and judge whether the environment where the cleaning robot is located is convenient for disassembling and assembling the cleaning roller 42;

[0354] S102, after the cleaning robot moves to a position convenient for disassembling and assembling the cleaning roller 42, detect whether the state of the mopping assembly 4 meets the disassembly and assembly conditions;

[0355] S103, based on the signal indicating that the disassembly and assembly conditions are met, prompt the user to disassemble and assemble the cleaning roller 42.

[0356] In step S101, when it is necessary to disassemble and clean the cleaning roller 42, first, the main board responds to the disassembly and assembly instruction of the cleaning roller 42. The disassembly and assembly instruction of the cleaning roller 42 can be issued by the user operating the interaction device, or can be a signal sent by devices such as a mobile terminal, a server, a host, and a base station to the main board. For example, the user sends a disassembly and assembly instruction of the cleaning roller 42 to the cleaning robot through a mobile phone, and the cleaning robot will perform corresponding actions after receiving the instruction.

[0357] The following will introduce the above steps in detail. After receiving the disassembly and assembly instruction of the cleaning roller 42, the cleaning robot first needs to detect the environment around the cleaning robot to determine whether the environment around the cleaning robot is convenient for disassembling and assembling the cleaning roller 42. For example, when the cleaning robot is in the base station, it is not convenient for the user to replace the cleaning roller 42. Or when the cleaning robot is cleaning the carpet on the carpet, it is also not convenient for the user to replace the cleaning roller 42, which is likely to cause secondary pollution to the carpet. Or when the cleaning robot is cleaning in a narrow space, it is also not convenient for the user to replace the cleaning roller 42. Therefore, it is very necessary for the cleaning robot to detect the surrounding environment before disassembling and assembling the cleaning roller 42.

[0358] When the environment around the cleaning robot is not convenient for disassembling and assembling the cleaning roller 42, the cleaning robot will move autonomously, and detect the surrounding environment during the movement until it moves to an area where it is convenient to disassemble and assemble the cleaning roller 42. For example, on an empty ground. After the cleaning robot moves to a position where it is convenient to disassemble and assemble the cleaning roller 42, it is also necessary to detect whether the state of the mopping assembly 4 meets the disassembly and assembly conditions. If the conditions are met, the user will be prompted to disassemble and assemble the cleaning roller 42. The prompt for the user can be through voice prompts, prompts of indicator lights, etc.

[0359] If the state of the mopping assembly 4 does not meet the disassembly and assembly conditions, then the driving device 10 on the cleaning robot will drive the mopping assembly 4 to extend from at least one side of the body so that part of the mopping assembly 4 is exposed. Therefore, it can be understood that the conditions for meeting the disassembly and assembly are: the mopping assembly 4 is in the second extreme position, or the mopping assembly 4 is in any position between the first extreme position and the second extreme position.

[0360] The following will further summarize the disassembly and assembly method of the cleaning roller 42 through specific application scenarios.

[0361] When the cleaning robot performs edge cleaning in a narrow area, the user needs to replace the cleaning roller 42. Subsequently, the user sends a disassembly and assembly instruction for the cleaning roller 42 to the cleaning robot through the mobile phone. After receiving the disassembly and assembly instruction for the cleaning roller 42, the cleaning robot detects that it is in a narrow area, and then the cleaning robot moves towards an open area. After reaching a position where it is convenient to disassemble and assemble the cleaning roller 42. The cleaning robot detects that the cleaning roller 42 is in the extended state at this time, that is, the state of the mopping assembly 4 meets the disassembly and assembly conditions. Finally, the user is prompted by voice to disassemble and replace the cleaning roller 42.

[0362] In another application scenario, the cleaning robot stays in the base station, and the mopping assembly 4 is in the retracted state. When the user needs to replace the cleaning roller 42 on the cleaning robot, first, through the operation button on the base station, a disassembly and assembly instruction for the cleaning roller 42 is sent to the cleaning robot. After receiving the disassembly and assembly instruction for the cleaning roller 42, the cleaning robot then drives from the base station to an open area. Since the mopping assembly 4 is in the retracted state, it does not meet the disassembly and assembly conditions. Then the driving device 10 drives the mopping assembly 4 to extend outwards. After the state of the mopping assembly 4 meets the disassembly and assembly conditions, the indicator light on the cleaning robot lights up, prompting the user that the cleaning roller 42 can be replaced.

[0363] See ​ , in an embodiment provided by the present application, a roller detection device is provided on the cleaning robot, which can detect whether the cleaning roller 42 is installed on the mopping bracket 43. The disassembly and assembly method of the cleaning roller 42 further includes the following steps:

[0364] S104, in response to the detection signal of the roller detection device, issue a signal indicating that the cleaning roller 42 is installed;

[0365] S105, based on the original state of the mopping assembly 4, the driving device 10 drives the mopping assembly 4 to reset to the original state, and the cleaning robot continues the original cleaning work;

[0366] S105’, or, the mopping assembly 4 resets to the first limit position, and the cleaning robot returns to the base station.

[0367] When disassembling and assembling the cleaning roller 42, it is also necessary for the roller detection device to detect whether the cleaning roller 42 is correctly installed on the mopping bracket. When the cleaning roller 42 is accurately installed, the roller detection device will be triggered, and the roller detection device will send a signal indicating that the cleaning roller 42 is installed to the cleaning robot. Subsequently, the cleaning robot can perform subsequent actions. For example, continue the original cleaning work, return to the base station, stay in place waiting for the user's subsequent instructions, and so on.

[0368] In a specific embodiment, after the cleaning robot replaces the cleaning roller 42 during a cleaning task, the cleaning robot will continue the original cleaning work. After returning to the original working position, based on the original state of the mopping assembly 4, the driving device 10 drives the mopping assembly 4 to reset to the original state, and then continues the original cleaning work. Alternatively, the cleaning robot directly returns to the original working position with the mopping assembly 4 fully extended, and then adjusts the mopping assembly 4 to the original extended gear according to the original state of the mopping assembly 4, and then continues the original cleaning work.

[0369] In another specific embodiment, the cleaning robot drives out of the base station to replace the cleaning roller 42. When the replacement of the cleaning roller 42 is completed, the cleaning robot will continue to return to the base station. Since the mopping assembly 4 is in a retracted state (i.e., the state at the first limit position) when the cleaning robot is in the base station, after the replacement of the cleaning roller 42 is completed, the driving device 10 drives the mopping assembly 4 to reset to the first limit position, and then the cleaning robot returns to the base station.

[0370] Further, in an embodiment provided by the present application, the above step S101: "Respond to the disassembly and assembly instruction of the cleaning roller 42, detect the surrounding environment of the cleaning robot, and determine whether the environment where the cleaning robot is located is convenient for disassembling and assembling the cleaning roller 42," further includes the following steps:

[0371] S1011, after the main board assembly receives the disassembly and assembly instruction of the cleaning roller 42, the cleaning robot detects whether the cleaning roller 42 is installed on the mopping assembly 4;

[0372] S1012, if the cleaning roller 42 is installed on the mopping assembly 4, the driving device 10 drives the cleaning roller 42 to lift;

[0373] S1012’, if the cleaning roller 42 is not installed on the mopping assembly 4, the cleaning robot issues a prompt message.

[0374] When the cleaning robot is located on the base station, there is also a situation where the cleaning robot has not been started for a long time, and the cleaning roller 42 on the mopping assembly 4 is removed and in a maintenance state. Therefore, when the cleaning robot needs to perform a cleaning task, it is first necessary to install the cleaning roller 42. After the main board assembly receives the disassembly and assembly instruction of the cleaning roller 42, the roller detection device detects whether the cleaning roller 42 is installed on the mopping bracket 43 of the mopping assembly 4. If the cleaning roller 42 is not installed on the mopping bracket 43, the cleaning robot will issue a prompt message to let the user know the specific situation, and then the cleaning robot will perform subsequent actions.

[0375] When the drum detection device detects that the cleaning drum 42 is installed on the mopping assembly 4, it indicates that the cleaning robot is likely in a cleaning task, and the cleaning drum 42 is in a dirty state. To avoid secondary pollution caused by the cleaning drum 42, the driving device 10 will drive the cleaning drum 42 to rise, so that the dirty cleaning drum 42 is lifted off the ground. When the cleaning robot performs subsequent actions, the cleaning drum 42 will not cause secondary pollution.

[0376] Further, in step S105': "The mopping assembly 4 is reset to the first limit position, and the cleaning robot returns to the base station," the following steps are further included:

[0377] S1051', before the mopping assembly 4 is reset to the first limit position, it is detected whether the mopping assembly 4 is in a lifted state;

[0378] S1052', in response to the signal indicating that the lifting of the mopping assembly 4 is completed, the driving device 10 drives the mopping assembly 4 to be reset to the first limit position.

[0379] In the above steps, before the mopping assembly 4 switches from the telescopic state to the retracted state, it will also be detected whether the mopping assembly 4 is in a lifted state. If the mopping assembly 4 is in a non-lifted state, the driving assembly will drive the mopping assembly 4 to rise. After the lifting is completed, the corresponding detection sensor for lifting will output a signal indicating that the lifting is completed. Subsequently, the driving device 10 will drive the mopping assembly 4 to be reset to the first limit position, which is the retracted state. In the technical solution of the present application, before the mopping assembly 4 is reset to the first limit position, the mopping assembly 4 is first lifted, so that the cleaning drum 42 is lifted off the ground. When the mopping assembly 4 is reset to the first limit position, it will not be affected by the resistance of the ground, which is more convenient for the reset and is not likely to malfunction.

[0380] Further, in step S105: "Based on the original state of the mopping assembly 4, the driving device 10 drives the mopping assembly 4 to be reset to the original state, and the cleaning robot continues the original cleaning work," the following steps are further included:

[0381] S10511, before the cleaning robot continues the original cleaning work, it is confirmed whether the water tank and the sewage tank on the cleaning robot meet the requirements;

[0382] S10512, if the water tank and the sewage tank meet the requirements, the cleaning robot continues the original cleaning work;

[0383] S10512', if the water tank and the sewage tank do not meet the requirements, the cleaning robot returns to the base station.

[0384] When the cleaning robot replaces the cleaning roller 42, the user may replace the dry cleaning roller 42 onto the cleaning robot. Then, when the cleaning robot resumes the original cleaning work, it needs to wet the dry cleaning roller 42 first, and this process will inevitably consume a large amount of cleaning liquid. In order to enable the cleaning robot to smoothly resume the original cleaning work, the cleaning robot needs to replenish the water tank.

[0385] In the above steps, before the cleaning robot resumes the original cleaning work, sensors provided in the water tank and / or the sewage tank can detect the liquid volume therein. If the liquid volume meets the requirements, the cleaning robot resumes the original cleaning work. If the liquid volume does not meet the requirements, the cleaning robot returns to the base station for liquid replenishment or sewage drainage, and then resumes the original cleaning work.

[0386] In another embodiment provided in the present application, a method for disassembling and assembling a cleaning roller is also provided. The method for disassembling and assembling the cleaning roller is applicable to the cleaning robot described in the above embodiment. The method for disassembling and assembling the cleaning roller includes the following steps:

[0387] S201, after the cleaning robot receives the disassembly instruction of the cleaning roller 42, it starts the disassembly mode of the cleaning roller 42;

[0388] S202, control the mopping assembly 4 to move to the second extreme position, and the cleaning roller 42 can be disassembled from the exposed side of the mopping assembly 4.

[0389] Among them, the disassembly instruction of the cleaning roller 42 is similar to the disassembly and assembly instruction of the cleaning roller 42 mentioned above. When the cleaning robot receives the disassembly instruction of the cleaning roller 42, the cleaning robot will start the disassembly mode of the cleaning roller 42 to realize the disassembly of the cleaning roller 42. After the cleaning robot starts the disassembly mode of the cleaning roller 42, the driving device on the cleaning robot will drive the mopping assembly 4 to move to the second extreme position, that is, the mopping assembly 4 extends to one side to the extreme position relative to the body of the cleaning robot. When part of the mopping assembly 4 is exposed, the cleaning roller 42 on the mopping assembly 4 can be disassembled from the exposed side of the mopping assembly 4.

[0390] In an embodiment provided in the present application, a detection device is further provided on the cleaning robot. The detection device is used to detect the specific position of the mopping assembly 4 relative to the body. The detection device can be the multiple detection units mentioned above (for example, the first photoelectric switch, the second photoelectric switch, the fourth photoelectric switch, etc.). The above step S201: "After the cleaning robot receives the disassembly instruction of the cleaning roller 42, it starts the disassembly mode of the cleaning roller 42;" further includes the following steps:

[0391] In S2011, the detection device detects the current position of the mopping and washing assembly 4 relative to the body of the machine;

[0392] In S2012, when the mopping and washing assembly 4 is at the first limit position, the mopping and washing assembly 4 moves from the first limit position to the second limit position.

[0393] In the above steps, when the mopping and washing assembly 4 is at the first limit position, it indicates that the mopping and washing assembly 4 retracts into the body of the machine. In this state, it is not convenient for the user to disassemble the cleaning roller 42 on the mopping and washing assembly 4. In this case, the driving device will drive the mopping and washing assembly 4 to move from the first limit position to the second limit position. The mopping and washing assembly 4 can move to any position between the first limit position and the second limit position, or can directly move to the second limit position, that is, in a fully extended state.

[0394] Further, if the mopping and washing assembly 4 is at any position between the first limit position and the second limit position, the mopping and washing assembly 4 does not move. It can be considered that the mopping and washing assembly 4 is in a partially extended state. In this state, the user can also conveniently disassemble the cleaning roller 42 from the mopping and washing assembly 4. When the detection device detects that the mopping and washing assembly 4 is at any position between the first limit position and the second limit position, the cleaning robot can directly output a first prompt signal, and the first prompt signal is used to prompt the user that the cleaning roller 42 can be disassembled. The first prompt signal includes but is not limited to: voice prompt, indicator light prompt, sending a message to a mobile terminal, etc.

[0395] Further, in another embodiment provided in the present application, when the detection device detects that the mopping and washing assembly 4 is at any position between the first limit position and the second limit position, the driving device will further drive the mopping and washing assembly 4 to move towards the second limit position. When the mopping and washing assembly 4 reaches the second limit position, the cleaning robot will output a second prompt signal, and the second prompt signal is used to indicate that the mopping and washing assembly 4 has reached the second limit position, and then the user can disassemble the cleaning roller 42 on the mopping and washing assembly 4. The second prompt signal includes but is not limited to: voice prompt, indicator light prompt, sending a message to a mobile terminal, etc.

[0396] In addition, after the user disassembles the cleaning roller 42 on the mopping and washing assembly 4, the mopping and washing assembly 4 can remain in the current position state or can be reset to the first limit position.

[0397] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, including a cleaning unit motor and a cleaning unit; The cleaning unit is detachably connected to the cleaning unit motor; A driving device, arranged on the body and connected to the mopping and washing assembly; A control component, arranged on the body, The cleaning robot further has a disassembly mode. When the cleaning robot is in the disassembly mode, the control component receives a user instruction and controls the driving device to drive the mopping and washing assembly along the width direction of the body, so that a part of the mopping and washing assembly extends out from at least one side of the body, facilitating the user to disassemble the cleaning unit from the exposed side of the mopping and washing assembly.

2. The cleaning robot according to claim 1, characterized in that, An interaction device is arranged on the body; The interaction device is used to respond to the user's disassembly and assembly instructions, and transmit the instructions to the control component to trigger the driving device to work, so as to drive the mopping and washing assembly to extend out from one side of the body.

3. The cleaning robot according to claim 2, characterized in that, The disassembly direction of the cleaning unit is the same as the extending direction of the mopping and washing assembly.

4. The cleaning robot according to claim 2, characterized in that The interaction device is arranged on the top surface or inside of the body, and the interaction device is one of a button, a touch screen, and a voice interaction unit.

5. The cleaning robot according to claim 1 or 2, characterized in that, The cleaning robot further includes a liquid supply mechanism and a decontamination mechanism, and the mopping and washing assembly further includes a mopping and washing bracket; The mopping and washing bracket has a roller installation cavity with an opening facing downwards, and the cleaning unit motor and the cleaning unit are arranged in the roller installation cavity; The cleaning unit contacts the surface to be cleaned through the opening; Both the liquid supply mechanism and the decontamination mechanism are arranged on the mopping and washing bracket; The power end of the driving device is connected to the mopping and washing bracket.

6. The cleaning robot according to claim 5, wherein A cleaning unit motor is arranged at the first end in the length direction of the mopping and washing bracket, and a second opening is arranged at the second end; A first structure is arranged at the second end, and a second structure is arranged on the end cover of the cleaning unit; When installing the cleaning unit, the cleaning unit can be inserted into the roller cavity of the mopping and washing bracket from the second opening to be connected to the cleaning unit motor; The cleaning unit and the mopping and washing bracket are connected through the first structure and the second structure.

7. The cleaning robot according to claim 6, characterized in that, The first structure and the second structure are a magnetic attraction component or a buckle structure used in cooperation.

8. The cleaning robot according to claim 7, wherein One of the first structure and the second structure is a groove, and the other is a convex block, and the groove matches the convex block; The convex block is a magnet, and a magnetic attraction material is arranged in the groove; or, a magnet is arranged in the groove, and a magnetic attraction material is arranged on the convex block.

9. The cleaning robot according to claim 7, wherein The driving device can also drive the mopping and washing assembly to lift relative to the body. When the cleaning unit needs to be disassembled, the driving device drives the mopping and washing bracket to extend to expose the end cover of the cleaning unit, and then the driving device drives the mopping and washing assembly to lift, facilitating the user to remove the cleaning unit.

10. The cleaning robot according to claim 5, wherein, After the cleaning unit is installed on the mopping and washing bracket, When it is detected that the cleaning unit is installed in place, the driving device starts to work to drive the mopping and washing assembly to retract to the first limit position; or The interaction device on the body receives a user's retraction instruction signal, and the interaction device triggers the driving device to work to drive the mopping and washing assembly to retract to the first limit position.

11. The cleaning robot according to claim 5, wherein, The cleaning robot further includes a sensing system; The control component is electrically connected to the sensing system; The sensing system includes a sensing unit for detecting the retraction thrust of the mopping component; After the sensing unit detects the installation thrust of the mopping component, it sends a retraction signal to the control component, and the control component controls the driving device to start working to drive the mopping component to retract to the first limit position.

12. The cleaning robot according to claim 5, wherein, When the cleaning unit is disassembled and assembled during the cleaning task of the cleaning robot, after the cleaning robot detects that the cleaning unit is installed in place, the mopping component remains in the extended state and continues to perform the cleaning task from the interruption position; When the cleaning unit is disassembled and assembled after the cleaning robot has completed the cleaning task, after the cleaning robot detects that the cleaning unit is installed in place, the mopping component retracts to the first limit position and stops in place or drives into the base station.

13. The cleaning robot according to claim 1 or 2, characterized in that, The mopping component has multiple gears; Under different gears, the relative position of the mopping component and the body is different; When performing the cleaning task, the body determines the target gear of the mopping component according to the detected environmental information; and makes the mopping component be in the target gear by controlling the driving device.

14. A disassembly and assembly method for a cleaning unit, applicable to the cleaning robot according to any one of claims 1 to 13 above, characterized in that, Including: After receiving the disassembly instruction of the cleaning unit, the cleaning robot starts the cleaning unit disassembly mode; Controls the mopping component to move to the second limit position, and the cleaning unit can be disassembled from the exposed side of the mopping component.

15. The disassembly and assembly method of the cleaning unit according to claim 14, characterized in that, The cleaning robot is provided with a detection device for detecting the specific position of the mopping component relative to the body; After receiving the disassembly instruction of the cleaning unit, the cleaning robot starts the cleaning unit disassembly mode, including: The detection device detects the current position of the mopping component relative to the body; If the mopping component is in the first limit position, the mopping component moves from the first limit position to the second limit position.

16. The disassembly and assembly method of the cleaning unit according to claim 15, characterized in that, If the mopping component is in any position between the first limit position and the second limit position, the mopping component does not move; The cleaning robot outputs a first prompt signal.

17. The disassembly and assembly method of the cleaning unit according to claim 15, wherein, If the mopping component is in any position between the first limit position and the second limit position, the driving device drives the mopping component to move to the second limit position; When the mopping component moves to the second limit position, the cleaning robot outputs a second prompt signal.

18. A disassembly and assembly method of a cleaning unit, applicable to the cleaning robot according to any one of the above claims 1 to 13, characterized in that, Including: Responding to the disassembly and assembly instruction of the cleaning unit, Detecting whether the state of the mopping component meets the disassembly and assembly conditions; Based on the signal that meets the disassembly and assembly conditions, prompting the user to disassemble and assemble the cleaning unit; The condition for meeting the disassembly and assembly is that the mopping component is located at the second limit position, or the mopping component is located at any position between the first limit position and the second limit position.

19. The disassembly and assembly method of the cleaning unit according to claim 18, characterized in that, The cleaning robot is provided with a roller detection device. In addition, the disassembly and assembly method of the cleaning unit further includes: Responding to the detection signal of the roller detection device, sending out the cleaning unit installation completion signal; Based on the original state of the mopping component, the driving device drives the mopping component to reset to the original state, and the cleaning robot continues the original cleaning work; Alternatively, the mopping and washing assembly is reset to the first limit position; Alternatively, the mopping and washing assembly is reset to the first limit position, and the cleaning robot returns to the base station.

20. The disassembly and assembly method of the cleaning unit according to claim 19, wherein Based on the original state of the mopping and washing assembly, the driving device drives the mopping and washing assembly to reset to the original state, and the cleaning robot continues the original cleaning work, further comprising: Before the cleaning robot continues the original cleaning work, confirm whether the fresh water tank and / or the sewage tank on the cleaning robot meet the requirements; If the fresh water tank and / or the sewage tank meet the requirements, the cleaning robot continues the original cleaning work; If the fresh water tank and / or the sewage tank do not meet the requirements, the cleaning robot returns to the base station.

21. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, including a roller motor, a cleaning roller and an end cover; the cleaning roller is detachably connected to the roller motor, and the roller motor and the end cover are located at both ends of the cleaning roller; It is characterized in that the cleaning robot further has a disassembly state. When the cleaning robot is in the disassembly state, part or all of the end cover extends out of the projection area of the edge of the body.

22. The cleaning robot according to claim 21, wherein It also has a driving device, which is arranged on the body and connected to the mopping and washing assembly; a control component, which is arranged on the body. The control component receives a user instruction and controls the driving device to drive the mopping and washing assembly to extend from at least one side of the body along the width direction of the body so that part of the end cover is exposed, facilitating the user to disassemble the cleaning roller from the exposed side of the mopping and washing assembly.

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