Cleaning robot, action method thereof and mopping assembly

Abstract

The embodiment of the invention provides a cleaning robot, an action method thereof and a mopping assembly. The cleaning robot comprises a robot body, a mopping assembly, a driving device and a control assembly. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the driving device is arranged on the machine body and is connected with the mopping assembly; the driving device can drive the mopping assembly to stretch out of at least one side of the machine body relative to the machine body in the width direction of the machine body so that part of the mopping assembly can be exposed. The control assembly is electrically connected with the driving device and used for dynamically controlling the driving device according to the behavior information of the machine body, so that the driving device drives the mopping assembly to move relative to the machine body to change the position of the mopping assembly relative to the machine body. According to the scheme, the mopping assembly can conduct self-cleaning at any position, the good cleaning effect is achieved, and the cleaning efficiency is high.

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] Application date Application Number Patent Name 2024-01-05 202410018264.3 Self-moving cleaning equipment, control method and cleaning system 2024-08-05 202411067857.5 Cleaning robot and mopping components Technical Field

[0004] This application relates to the field of robot technology, and particularly to a cleaning robot, its working method, and a mopping and washing assembly. Background Art

[0005] Cleaning devices have been widely used, such as floor-sweeping robots. When a floor-sweeping robot performs a cleaning task, it mainly uses a mopping module at the bottom of its main body to clean the floor. The mopping module includes two turntables, and the turntables are used to set cleaning tools such as cleaning cloths. The turntables are often circular or nearly circular. The two turntables are arranged to try to keep the working area seamlessly connected, so as to achieve no missed sweeping. However, with this design, when the floor-sweeping robot walks along the edge, such as along the wall, the turntables often cannot fit well with the wall, resulting in a missed sweeping problem in the corresponding ground area between the wall and the turntables.

[0006] Most existing sweeping and mopping integrated cleaning robots clean the floor by first vacuuming and then mopping. For example, a cleaning cloth tray is provided at the bottom of the cleaning robot, and the floor is mopped by a rotating cleaning cloth tray. However, there is a problem of smearing when mopping with the cleaning cloth tray because the cleaning cloth tray does not have a self-cleaning function after being soiled. Later, cleaning robots using a roller for mopping appeared. Such cleaning robots have a roller, a clean water supply device, a scraping strip, and a sewage collection device. During each rotation of the roller, it receives clean water supplied by the clean water supply device. After mopping is completed, it is self-cleaned by the scraping strip while cleaning, realizing a live water mopping with self-cleaning while mopping, which can improve the problem of smearing.

[0007] In order to make the cleaning robot more functional, the rollers of some cleaning robots are designed to be retractable. When the roller extends, it can clean along the wall or perform surrounding cleaning of obstacles. However, the extended part of the roller cannot be cleaned after it extends, and there is still a problem of smearing similar to that of the cleaning cloth tray, resulting in poor cleaning effect. Summary of the Invention

[0008] In view of the above problems, this application proposes a cleaning robot, its working method, and a mopping and washing assembly that can always achieve self-cleaning of the roller to solve the above problems or at least partially solve the above problems.

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

[0010] A body;

[0011] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off the dirt on the cleaning unit;

[0012] The driving device is arranged on the body and connected to the mopping and washing assembly; the driving device can drive the mopping and washing assembly to extend out from at least one side of the body along the width direction of the body relative to the body, so that a part of the mopping and washing assembly is exposed;

[0013] The control assembly is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing assembly to move relative to the body to change the position of the mopping and washing assembly relative to the body.

[0014] Optionally, the dirt removal mechanism includes a scraping strip assembly and a dirt collection box; the scraping strip assembly is arranged above the dirt collection box, and one end of the scraping strip assembly is in interference contact with the cleaning unit for scraping off the dirt on the cleaning unit.

[0015] Optionally, the scraping strip assembly includes a water guide plate for guiding the dirt scraped off from the cleaning unit into the dirt collection box.

[0016] Optionally, the cleaning robot further includes a sewage tank, a sewage pipe, and a sewage pump; one end of the sewage pipe is connected to the sewage tank, and the other end is communicated with the dirt collection box; the sewage pump is used to provide suction force to suck the dirt flowing down from the roller into the sewage tank.

[0017] Optionally, the sewage pipe is a flexible sewage pipe that can move along with the mopping and washing assembly.

[0018] Optionally, the driving device includes a power source and an action execution mechanism; the power access end of the action execution mechanism is connected to the power source; the mopping and washing assembly is floatingly connected to the power output end of the action execution mechanism, and the mopping and washing assembly can move along the width direction of the body with the power output end and can also float up and down relative to the power output end.

[0019] Optionally, the mopping and washing assembly has multiple gears; in different gears, the relative position of the mopping and washing assembly and the body is different; the body determines the target gear of the mopping and washing assembly according to the detected environmental information; and makes the mopping and washing assembly in the target gear by controlling the driving device.

[0020] Optionally, the cleaning robot further includes a fourth detection unit and a grating structure; the fourth detection unit is disposed on the body; the grating structure is linked with the mopping assembly; when the mopping assembly moves, the grating structure moves accordingly, and the fourth detection unit determines the position of the mopping assembly by detecting the grating structure.

[0021] Optionally, the cleaning robot further includes a first detection unit and a second detection unit; the first detection unit is configured to detect a first limit position where the mopping assembly is in a retracted state; the second detection unit is configured to detect a second limit position where the mopping assembly is in an extended state.

[0022] Optionally, the control component is further configured to dynamically control the driving device according to the behavior information of the body, so as to drive the mopping assembly to move up and down relative to the body.

[0023] In the second embodiment of the present application, a working method of a cleaning robot is provided. This method is applicable to the cleaning robot provided in the above embodiment, and the method includes:

[0024] Determine the behavior information of the cleaning robot;

[0025] Dynamically control the driving device according to the behavior information, so that the driving device drives the mopping assembly to move accordingly following the behavior of the body, so as to change the position of the mopping assembly relative to the body;

[0026] Wherein, the mopping assembly moves relative to the body along its own axis or along a vertical direction perpendicular to its own axis.

[0027] Optionally, the behavior information includes the differential speed information of two driving wheels of the cleaning robot; and dynamically controlling the driving device according to the behavior information includes: dynamically controlling the driving device according to the differential speed information.

[0028] Optionally, dynamically controlling the driving device according to the differential speed information includes:

[0029] When the differential speed information indicates that the behavior of the cleaning robot is turning to avoid an obstacle, determine the turning speed and turning radius of the cleaning robot according to the differential speed information;

[0030] Determine the required movement amount of the mopping assembly according to the turning radius;

[0031] Determine the required movement speed of the mopping assembly according to the turning radius and the turning speed;

[0032] Control the driving device according to the movement speed and the required movement speed.

[0033] Optionally, the movement amount corresponding to a large turning radius is smaller than the movement amount corresponding to a small turning radius; the movement speed corresponding to a small turning radius and a high turning speed is greater than the movement speed corresponding to a large turning radius and a low turning speed.

[0034] Optionally, dynamically controlling the driving device according to the behavior information includes:

[0035] Determining the movement amount and movement speed of the mopping component according to the behavior information;

[0036] Controlling the driving device according to the movement amount and the movement speed.

[0037] Optionally, determining the movement amount and movement speed of the mopping component according to the behavior information includes:

[0038] Determining the walking mode of the cleaning robot according to the behavior information;

[0039] When the walking mode is the edge-following walking mode, determining the edge-following target object;

[0040] Determining the movement amount according to the distance between the mopping component and the target object;

[0041] Determining the movement speed of the mopping component according to the behavior information.

[0042] Optionally, determining the movement amount according to the distance between the mopping component and the target object includes:

[0043] Obtaining a first distance between one end of the mopping component close to the target object and the widest edge on one side of the cleaning robot;

[0044] Obtaining a second distance between the widest edge on one side of the cleaning robot and the target object;

[0045] Determining the movement amount according to the first distance and the second distance;

[0046] Wherein, the widest edge on one side is one of the relatively two side edges with the farthest interval distance in the direction perpendicular to the walking direction of the cleaning robot and is the side edge close to the target object.

[0047] Optionally, the mopping component is a roller component;

[0048] The mopping component includes a cleaning unit and a dirt collection box, and the dirt collection box is used to collect the dirt drained from the cleaning unit;

[0049] And the method further includes:

[0050] When it is detected that the amount of dirt in the dirt collection box reaches the set amount, the dirt in the dirt collection box is sucked to the sewage tank on the cleaning robot; or a prompt message is output to prompt the user to clean the dirt in the dirt collection box.

[0051] In the third embodiment of the present application, a mopping component is provided. The mopping component includes:

[0052] A mopping bracket having a drum mounting cavity with an opening facing downwards;

[0053] A cleaning unit motor disposed in the drum mounting cavity;

[0054] A cleaning unit connected to the cleaning unit motor and capable of contacting the surface to be cleaned through the opening;

[0055] A liquid supply mechanism disposed on the mopping bracket for supplying cleaning liquid to the cleaning unit;

[0056] A dirt removal mechanism disposed on the mopping bracket for scraping the dirt on the cleaning unit;

[0057] Wherein, a connection structure for connecting a driving device is provided on the mopping bracket so that the mopping component can be driven to move by the driving device;

[0058] The mopping component has multiple gears;

[0059] In different gears, the relative position of the mopping component and the body is different;

[0060] The body determines the target gear of the mopping component according to the detected environmental information; and controls the driving device to make the mopping component in the target gear.

[0061] In the fourth embodiment of the present application, a working method of a cleaning robot is provided. The method includes:

[0062] The control device controls the mopping component to be located at the second extreme working position, or at any position between the first extreme working position and the second extreme working position to perform a cleaning task,

[0063] When the cleaning robot moves towards the target object, as the distance between the cleaning robot and the target object decreases, the control device controls the mopping component to move from the second extreme working position towards the first extreme working position until the mopping component is located at the first extreme working position.

[0064] In the fifth embodiment of the present application, a working method of a cleaning robot is provided. The method includes:

[0065] The control component determines the current position of the mopping component based on the first counting scale on the grating structure recorded by the fourth detection unit;

[0066] The control component determines a second counting scale corresponding to the expected extension distance of the mopping component according to the distance between the target object and the body, and controls the mopping component to move so that the fourth detection unit stays at the position of the second counting scale of the grating structure.

[0067] In the fifth embodiment of the present application, a cleaning robot is provided. The cleaning robot includes:

[0068] A body;

[0069] A mopping component, including a cleaning unit motor, a cleaning unit and a decontamination mechanism; the cleaning unit motor is connected to the cleaning unit, and the decontamination mechanism is used to scrape off the dirt on the cleaning unit;

[0070] A driving device, arranged on the body and connected to the mopping component; the driving device can drive the mopping component to extend from at least one side of the body along the width direction of the body so that part of the mopping component is exposed;

[0071] A control component, electrically connected to the driving device, for dynamically controlling the driving device according to the behavior information of the body, so that the driving device drives the mopping component to move relative to the body to change the position of the mopping component relative to the body.

[0072] The technical solution provided in the embodiments of the present application, the cleaning robot includes a body, a mopping component arranged on the body, a driving device and a control component. The mopping component includes a cleaning unit for cleaning the surface to be cleaned. The control component can dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping component to move relative to the body (such as extending or retracting). This solution is designed so that the mopping component can move (i.e., follow the actions of the body), and no-scan can be achieved. The specific movement control method is as follows: first determine the behavior information of the cleaning robot, and then dynamically control the driving device according to the determined behavior information, so that the driving device drives the mopping component to act following the behavior of the body. For example, when the cleaning robot is walking along the edge normally (the edge walking without performing turning and obstacle avoidance), the movement amount can be determined according to the distance between the mopping component and the edge target object, and then the mopping component can be controlled to move along its own axis in the direction close to the target object to contact the target object. Therefore, after the movement, there will be no gap between the mopping component and the target object, so there will be no no-scan (such as edge no-scan of the target object) problem.

[0073] In addition, in the technical solution provided by the embodiments 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 off the dirt on the cleaning unit at any position, 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, providing a better user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] 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, other drawings can be obtained based on these drawings without creative efforts.

[0075] Figure 1a and 1b show schematic diagrams of edge cleaning in two states where the drum does not extend and extends;

[0076] Figure 1c show a schematic diagram where the bottom surface of the dirt collection box is higher than the bottom surface of the body;

[0077] Figure 2 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present application;

[0078] Figure 3a is an internal schematic diagram of the cleaning robot provided by the embodiment of the present application after removing the upper cover;

[0079] Figure 3b is Figure 3a a partial view;

[0080] Figure 4 is an exploded schematic diagram of the structure of a cleaning robot provided by an embodiment of the present application;

[0081] Figure 5 is an exploded view of a mopping assembly provided by an embodiment of the present application;

[0082] Figure 6 is a schematic diagram of the mopping assembly provided by the embodiment of the present application arranged on the cavity shell;

[0083] Figure 7a is an external structural view of the mopping assembly provided by the embodiment of the present application;

[0084] Figure 7b shows a schematic diagram of a specific implementation structure of the liquid supply mechanism in the embodiment of the present application;

[0085] Figure 8 The bottom view of a mopping bracket provided by an embodiment of the present application;

[0086] Figure 9a The exploded view of a mopping component provided by an embodiment of the present application;

[0087] Figure 9b The cross-sectional view of a mopping component provided by an embodiment of the present application;

[0088] Fig.10a The schematic diagram of the state of an edge cleaning of a cleaning robot provided by an embodiment of the present application;

[0089] Fig.10b The comparative schematic diagram of two situations when the mopping component extends and does not extend during the cleaning task execution of a cleaning robot provided by an embodiment of the present application;

[0090] Fig.11 The schematic diagram of a mopping component in a lifted state provided by an embodiment of the present application;

[0091] Fig.12 The schematic diagram of a mopping component in an extended state provided by an embodiment of the present application;

[0092] Fig.13 The structural schematic diagram of a driving device provided by an embodiment of the present application;

[0093] Fig.14 The three-dimensional view of an action execution mechanism provided by an embodiment of the present application;

[0094] Fig.15 The three-dimensional view of another perspective of an action execution mechanism provided by an embodiment of the present application;

[0095] Fig.16 The semi-sectional structural schematic diagram of a mopping component provided by an embodiment of the present application;

[0096] Fig.17 The partial structural schematic diagram of an action execution mechanism provided by an embodiment of the present application;

[0097] Fig.18 The structural schematic diagram of a slider provided by an embodiment of the present application;

[0098] Fig.19 The partial cross-sectional view of an action execution mechanism provided by an embodiment of the present application;

[0099] Fig.20a The partial cross-sectional view of the combination of a cavity shell and a shell cover provided by an embodiment of the present application;

[0100] Fig.20b The structural schematic diagram of a shell cover provided by an embodiment of the present application;

[0101] Fig.21 Schematic diagram of the setting positions of the grating structure and the fourth optoelectronic switch in the cleaning robot provided by the embodiment of the present application;

[0102] Fig. 22 Schematic diagram of the structure for respectively setting the first connection end and the second connection end for connecting the elastic member on the sliding plate and the slider in the embodiment of the present application;

[0103] Fig.23 Schematic diagram of the structure showing the hovering surface provided at the top of the lifting part;

[0104] Fig.24 Schematic diagram of the structure for lifting the mopping and washing assembly relative to the ground provided by the embodiment of the present application;

[0105] Fig.25 Front view of another mopping and washing assembly provided by the embodiment of the present application;

[0106] Fig.26 Cross-sectional view of another mopping and washing assembly provided by the embodiment of the present application;

[0107] Fig.27a Stereogram of another mopping and washing assembly in the initial state provided by the embodiment of the present application;

[0108] Figure 27b Front view of another mopping and washing assembly in the initial state provided by the embodiment of the present application;

[0109] Fig.27c Cross-sectional view of another mopping and washing assembly in the initial state provided by the embodiment of the present application;

[0110] Fig.28a Stereogram of another mopping and washing assembly in the lifted state provided by the embodiment of the present application;

[0111] Fig.28b Front view of another mopping and washing assembly in the lifted state provided by the embodiment of the present application;

[0112] Fig.28c Cross-sectional view of another mopping and washing assembly in the lifted state provided by the embodiment of the present application;

[0113] Fig.29a Stereogram of another mopping and washing assembly in the extended state provided by the embodiment of the present application;

[0114] Fig.29b Front view of another mopping and washing assembly in the extended state provided by the embodiment of the present application;

[0115] Fig.29cAnother cross-sectional view of the mopping and washing component in the extended state provided by the embodiment of the present application;

[0116] Fig.30 A perspective view of a mopping and washing bracket provided by the embodiment of the present application;

[0117] Fig.31 A perspective structural diagram of a sliding plate provided by the embodiment of the present application;

[0118] Fig.32 A perspective structural diagram of a rotating bracket provided by the embodiment of the present application;

[0119] Fig.33 A perspective structural diagram of the cavity shell corresponding to another mopping and washing component provided by the embodiment of the present application;

[0120] Fig.34 A cross-sectional view of a mopping and washing component provided by the embodiment of the present application;

[0121] Fig.35a A cross-sectional view of a mopping and washing bracket provided by the embodiment of the present application;

[0122] Fig.35b A schematic diagram of the front side of the dirt collection box in a mopping and washing component having an oblique angle provided by the embodiment of the present application;

[0123] Fig.35c A schematic structural diagram of a cleaning robot provided by the embodiment of the present application;

[0124] Fig.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;

[0125] Fig.37 Another cross-sectional view of another mopping and washing component provided by the embodiment of the present application;

[0126] Fig.38 Another cross-sectional view of another mopping and washing component from another perspective provided by the embodiment of the present application;

[0127] Fig.39a An exploded view of a scraper assembly provided by the embodiment of the present application;

[0128] Fig.39b A cross-sectional schematic diagram of a water guide plate provided by the embodiment of the present application;

[0129] Fig.39c A schematic structural diagram of an adaptive adjustment device provided on a cleaning robot provided by the embodiment of the present application;

[0130] Fig.40 A perspective structural diagram of a scraper assembly provided by the embodiment of the present application;

[0131] Fig.41 Schematic diagram of the implementation structure of another driving device provided by an embodiment of the present application;

[0132] Fig.42 Shows the Fig.41 Schematic diagrams of two states of the mopping and washing assembly rising and extending driven by the driving device with the structure shown;

[0133] Fig.43 Schematic diagram of the implementation structure of yet another driving device provided by an embodiment of the present application;

[0134] Fig.44a Schematic diagram of the mopping and washing assembly exposed on one side of the body in the cleaning robot provided by an embodiment of the present application;

[0135] Fig.44b Schematic diagram of the sewage collection box removed from the mopping and washing assembly provided by an embodiment of the present application;

[0136] Fig.44c Schematic diagram of the release component in the locked state provided by an embodiment of the present application;

[0137] Fig.44d Schematic diagram of the release component in the unlocked state provided by an embodiment of the present application;

[0138] Figure 44e Schematic diagram of the process of removing the sewage collection box provided by an embodiment of the present application;

[0139] Figure 44f Explosion schematic diagram of the sewage collection box, release component and filter component provided by an embodiment of the present application. Detailed implementation manners

[0140] The present application will be further described in detail below with reference to 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. Additionally, it should be noted that for the convenience of description, only the parts related to the present application rather than all the structures are shown in the drawings. In the description of the present application, unless otherwise clearly specified and defined, the terms "connected", "connected to", 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 internal communication of two components or the interaction relationship between two components. 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 circumstances. In the present application, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature can include the direct contact between the first and second features, or can also include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above and to the right of", and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature. The first feature being "below", "below and to the left of", and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature is at a lower horizontal level than the second feature. In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships 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 component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0141] 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 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 vacuum first and then mop 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, and 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. This causes the roller located at the rear part of the body to be shorter, and the distance from the end of the roller to the outermost edge in the width direction of the body is relatively far, as Figure 1a shown. When the cleaning robot is to clean along the wall or wardrobe, etc., after maintaining the minimum safe distance from the wall or wardrobe and other objects, in the corner area with a relatively large dimension d from the object, the cleaning robot cannot mop. To solve this problem, some cleaning robots are designed with a retractable roller structure.

[0142] In order to make the functions of the cleaning robot more comprehensive, the rollers of some cleaning robots are designed to be retractable. 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, the roller cannot be cleaned, and there is still a problem of smearing similar to that of the mop plate, resulting in poor cleaning effect.

[0143] As Figure 1b shown, the extension of the roller can make the roller reach the corner area, improving the coverage rate. However, when only the roller extends, the roller will adhere to dirt during the cleaning process and will become dirtier and dirtier. The corner area (such as the area with the edge width d in Figure 1a ) cannot achieve good cleaning effect, but will become dirtier and dirtier as it is dragged.

[0144] To make the roller have a good cleaning effect after extension, it is necessary for the roller to be self-cleaned in a timely manner when it is in the extended state. When the roller brush contacts the ground for mopping, it can have a good cleaning degree and there will be no problem of smearing.

[0145] In the prior art, for some cleaning robots with rollers, in order to clean along the edge or clean along the edge of an obstacle, there are solutions where a single roller or the roller and the liquid supply mechanism can extend together. However, these robots only extend the roller when they need to clean along the edge or clean around an obstacle, and in 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 there is an obstacle at the edge or 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 target position is complex and there are many obstacles, 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 extension, retraction, and re-extension actions, seriously wasting the computing power of the robot and at the same time affecting the reliability of the extension and retraction drive device. In addition, for a floor sweeping robot that selects the roller as the mopping unit, there is a certain distance between the maximum width positions on the left and right sides of the roller and the walking direction of the robot. This distance is a cleaning blind spot during traversal. When the robot traverses, a robot with the initial position within the projected area of the main body has two blind spots. When the roller extends from one side to a position parallel to or exceeding the maximum width position in the walking direction of the robot, the robot only has one blind spot. That is, if the robot with the roller in the extended state normally performs traversal, the coverage of the traversal blind spot will be simpler.

[0146] Each embodiment of the present application provides a cleaning robot. The cleaning unit of the cleaning robot is retractable, and it can ensure continuous supply of cleaning water at any position of the cleaning unit. The squeegee can also continuously act to scrape the dirt on the cleaning unit, so that the cleaning unit can clean and self-clean while retracting to any position. If the rag solution in the prior art: the cleaning liquid is continuously supplied to the rag, the rag cleans the ground, and the rag cannot be cleaned during operation, 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., mops the ground), there is a continuous supply of active cleaning liquid, 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, so that the cleaning unit can maintain a high degree of cleanliness for a long time, and thus can improve the cleaning degree of the cleaning robot to the ground.

[0147] 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, and the like. 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 called a track-type roller, includes two track wheels arranged at intervals, and a track-shaped wiping cloth in the shape of an annular runway is sleeved on the two track wheels. The outer side of the track-shaped wiping cloth has cleaning fluff. One side of the track-shaped wiping cloth is in contact with the ground. As the track wheels rotate, the track-shaped wiping cloth will move relative to the ground, so as to realize 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 can be called 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 can be called a pulley motor, and the pulley motor drives the track to rotate to drive the track-shaped wiping cloth to move to mop the ground.

[0148] 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.

[0149] See Figure 2 、 3a As shown in 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 Figure 3a shown, 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 such as a control component 2, such as Figure 4 As shown. A processor, a storage medium (such as a memory), etc. may be provided on the control component. The software part is the computer program stored in the storage medium. The processor executes these computer programs to control the components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, 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 drive wheels and drive wheel motors; the drive motor outputs corresponding power under the control of the control component 2 to drive the drive wheels to rotate, realizing the forward, backward, stopping, turning, etc. of the cleaning robot. Further, the traveling system 8 may further include caster wheels, which are follower wheels and may be arranged at the front of the body 1. The side brush assembly 7 may be one or two. As Figure 2 In the example shown, a side brush assembly 7 is provided on one side (such as the right side) of the front part of the body 1. If the side brush assembly 7 is two, the two side brush assemblies may 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).

[0150] 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 As 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 decontamination mechanism 44. Among them, the roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is connected to the clean water tank 5 through a clean water pipe. The decontamination mechanism 44 is connected to 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 As shown, along the width direction of the body 1, the driving device 10 can drive the mopping assembly 4 relative to the body 1 to extend from at least one side of the body 1 so that part of the mopping assembly is exposed. Figure 6 The X direction in the reference coordinate system in

[0151] Here, it should be added that: from the components included in the mopping assembly 4, 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 decontamination mechanism 44 to realize the self-cleaning function to maintain a better cleanliness of the cleaning roller.

[0152] As can be seen from the above, in the solution provided by the embodiment of the present application, the driving device 10 can drive the mopping and washing assembly to move relative to the body as a whole, so as to extend a part outside the body. That is to say, no matter where the mopping and washing assembly 4 is located, the liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller, the dirt removal mechanism 44 can scrape 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 get overly dirty, and can still have a good cleaning effect after long-term cleaning, providing a better user experience.

[0153] In fact, the mopping and washing assembly 4 in this embodiment can also be in an extended state normally. For example, when the cleaning robot is started, the control component 2 controls the driving device 10 to drive the mopping and washing assembly 4 to move relative to the body, so as to extend a part from one side of the body 1 and be in an extended state. When the cleaning robot is performing a cleaning task and traversing the area to be cleaned, the mopping and washing assembly 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the control component 2 controls the driving device 10 to drive the mopping and washing assembly 4 to retract, so as to hide inside the body 1 for convenient 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.

[0154] As Figure 5 shown in the example, the mopping and washing assembly 4 further includes a mopping and washing bracket 43; the mopping and washing bracket 43 has a drum installation cavity with an opening facing downwards. The drum motor 41 and the cleaning roller 42 are arranged in the drum installation 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.

[0155] Specifically, the mopping and washing bracket 43 has a first opening facing downwards and a second opening on the side. 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 detached through the second opening, and the second opening is on the same side as the position on the body 1 where the mopping and washing assembly extends. 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 assembly extends, and then 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 drum motor 41, the other end of the cleaning roller 42 is connected to the second opening. That is, the disassembly and assembly direction of the cleaning roller 42 is the direction of the drum axis.

[0156] 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 further has a drum bracket 421. The liquid supply mechanism 45 can be arranged on the drum bracket 421. Figure 7b An implementable structure of the liquid supply mechanism 45 is shown. 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 8 shown). The plurality of liquid supply ports 453 face the cleaning roller 42 and are distributed along the cylinder axis of the cleaning roller 42. The main path of the water distributor 452 is connected to the clean water tank 5 through a 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 plurality of branch paths communicate with the main path, and the plurality of liquid supply ports respectively correspond to the plurality of branch paths.

[0157] 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 by the scraping strip 441 enters the dirt collection box 442. As Figure 1c shown, the bottom surface of the dirt collection box 442 can be higher than the bottom surface of the machine body 1 by m, such as 1 mm to 5 mm.

[0158] The disassembly and assembly direction of the cleaning roller 42 is along the cylinder axis direction. The disassembly direction of the dirt collection box 442 can be different from the disassembly direction 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 a single component is disassembled, there may be contact, friction, and even the other component may be driven 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 no interference during disassembly. And for 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 the dirt in the dirt collection box being poured out. The content related to the disassembly and assembly of the dirt collection box 442 is described in detail below, and reference can be made to the following content.

[0159] Refer to 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 collecting pipe 542 is provided at the avoidance hole 446. One end of the sewage collecting pipe 542 is communicated with the avoidance hole 446, and the other end is communicated with the sewage collecting box 442. The sewage collecting box 442 is communicated 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 collecting pipe 542 through the avoidance hole 446, and enters the sewage collecting box 442 through the sewage collecting 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 collecting 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 collecting box 442; it can also be started to work when the dirt amount in the sewage collecting box 442 reaches a threshold value to pump away the dirt in the sewage collecting 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 of it is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0160] Since the cleaning roller 42 and the sewage collecting 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 sewage collecting box 442 may interfere with each other, and when disassembling a single component alone, there may be mutual contact, friction, and even one component driving the other to move. Therefore, in this solution, the disassembly direction of the sewage collecting box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, ensuring separation in the fixing method and complementary non-interference in disassembly. And with the downward disassembly method of the sewage collecting box, as long as the user lifts the tail of the cleaning robot, the sewage collecting box can be seen and conveniently taken out downward, eliminating the risk of the dirt in the sewage collecting box being poured out.

[0161] See Figure 3b 、 Figure 7a 、 Figure 8 and Figure 9a, in an embodiment provided by the present application, the water tank 5 is communicated with the liquid supply mechanism 45 through the first flexible pipe 443. The cleaning liquid stored in the water tank 5 can be transported to the liquid supply mechanism 45 through the first flexible pipe 443, and then the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42. The sewage tank 9 is communicated with the sewage removal mechanism 44 through the second flexible pipe 456. The sewage collected by the sewage removal mechanism 44 can be transported to the sewage tank 9 through the second flexible pipe 456. When the mopping assembly 4 moves outwards, the first flexible pipe 443 and the second flexible pipe 456 will move together with the mopping assembly 4. The bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually extend. The first flexible pipe 443 keeps the liquid supply mechanism 45 and the water tank 5 always communicated, and the second flexible pipe 456 keeps the sewage removal mechanism 44 and the sewage tank 9 always communicated.

[0162] See Figure 7a and Figure 7b , the liquid supply water inlet 451 is connected to the first flexible pipe 443, and the sewage removal water outlet 4410 is connected to the second flexible pipe 456. The liquid supply water inlet 451 and the sewage removal water outlet 4410 extend from above the mopping 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 shell 46, and then come out upwards from the Figure 6 empty space 03 in the figure to be connected to the water tank 5 and the sewage tank 9 on the body 1. See Figure 6 , a pipe space for accommodating the first flexible pipe 443 and the second flexible pipe 456 is arranged beside the empty space 03. Since the mopping assembly 4 is to move relative to the cavity shell 46 in the positive and negative X-axis directions, the first flexible pipe 443 and the second flexible pipe 456 can deform with the movement of the mopping assembly 4 to provide cleaning liquid for the cleaning roller and discharge the dirt in the dirt collection box in real time.

[0163] To avoid bending, springs can be provided on the outer sides of the first flexible pipe 443 and the second flexible pipe 456 (Figure 9 and Fig.38(not shown), so that when the mopping and washing assembly 4 moves as a whole (lifting and / or telescoping), there will be no bending blockage to affect sewage discharge and liquid supply. In a specific embodiment, the first flexible pipe 443 and the second flexible pipe 456 are respectively elastic pipes. When the mopping and washing assembly 4 extends outwards, the first flexible pipe 443 and the second flexible pipe 456 will be stretched and extended and / or bent. When the mopping and washing assembly 4 retracts, the first flexible pipe 443 and the second flexible pipe 456 will contract and shorten and / or bend. In another embodiment, the first flexible pipe 443 and the second flexible pipe 456 can also be bendable plastic pipes. When the mopping and washing assembly 4 is in the retracted state, the first flexible pipe 443 and the second flexible pipe 456 are in the bent state, but the first flexible pipe 443 and the second flexible pipe 456 are not in the blocked state. In this bent state, both flexible pipes are unobstructed. When the mopping and washing assembly 4 extends outwards, the bent first flexible pipe 443 and second flexible pipe 456 move along with it and gradually extend, so as to ensure that the connection of the pipes is not interrupted.

[0164] A cleaning robot provided in an embodiment of the present application has a mopping and washing assembly 4 that can telescopically move relative to the body 1. When the body 1 is on the ground performing the mopping task, the cleaning roller 42 in the mopping and washing assembly 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 and washing assembly 4 is arranged in the receiving cavity 101. The receiving cavity 101 extends along the width direction of the body 1. At least one end of the receiving cavity 101 is open in the width direction of the body 1.

[0165] It should be noted that Figure 1b the direction of the arrow X in

[0166] Figure 3a can be considered as the length direction of the mopping and washing assembly 4, or the width direction of the body 1. Figure 3a In the example shown, from the perspective in

[0167] one end of the receiving cavity 101 located on the right side of the body 1 is open. The mopping and washing assembly 4 can extend out through the open opening at the open end to expose a part outside the body 1. Specifically, both ends of the receiving cavity 101 are open. In this case, the mopping and washing assembly 4 can extend out from the open opening on the right side of the body 1 or from the open 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. Fig.10aAs shown, the outermost edge of the mopping and washing assembly 4 extends outward 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 edge of furniture, 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, such as Fig.10a In the state shown, the cleaning task is performed. In a specific embodiment, Fig.10a In the figure, the dashed-line frame E represents a schematic diagram of the mopping and washing assembly 4 in the retracted state (initial state), and the solid-line frame F represents a schematic diagram of the mopping and washing assembly 4 extending outward or swinging outward. 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. The distance that the mopping and washing assembly 4 extends outward 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.

[0168] The driving device 10 can drive the mopping and washing assembly 4 to extend outward from the opening on the side 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 under the drive of an elastic member provided between the cavity shell 46 (as Figure 6 shown) and the mopping and washing assembly 4. For example, when the driving device 10 drives the mopping and washing assembly 4 to extend outward, the elastic member provided between the cavity shell 46 and the mopping and washing assembly 4 deforms (such as compresses). When the mopping and washing assembly 4 needs to retract, the driving device 10 is decoupled from the mopping and washing assembly 4, and the mopping and washing 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 the present application. In other embodiments, the extending action and the retracting action of the mopping and washing assembly 4 are both driven by the driving device 10. Here, it should be supplemented that: the cavity shell 46 can be understood as a part of the bottom wall of the base of the body 1, and this part of the bottom wall forms the accommodating cavity 101. Or, a cavity shell 46 as Figure 6 shown is provided on the base of the body 1.

[0169] The above briefly introduced the structure of the cleaning robot provided in the embodiments of the present application. Next, the structure of the mopping and washing component in the present application, the structure for realizing the telescopic function of the mopping and washing component (i.e., the specific implementation of the driving device), etc. will be described in more detail. The solutions provided in the embodiments of the present application focus on the mopping and washing component 4. The mopping and washing component 4 can extend from at least one side of the body of the cleaning robot relative to the body of the cleaning robot, so that a part of the mopping and washing component 4 is exposed, so that the mopping and washing component 4 can maintain a good cleanliness by self-cleaning at any position. Next, the telescopic function of the mopping and washing component 4 will be described in detail. There can be various structures for realizing the telescopic function of the mopping and washing component, which will be introduced one by one below.

[0170] See Figure 6 、 11 to Fig.12 , 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 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 washing component 4.

[0171] 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 Fig.13 shown in the example, relative to the first gear 13, most of the teeth of the first rack 14 are located 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 washing component 4 is in the initial state, that is, Fig.11 the state shown. From the perspective of the overall cleaning robot, Fig.11 in this state, the mopping and washing component 4 is hidden in the body 1. When the mopping and washing component 4 needs to extend, the first motor of the first power source 102 rotates forward (from Fig.13 looking at the first motor from the Fig.13 angle, the first motor outputs power in the counterclockwise direction) to drive the first rack 14 to move along the first direction ( Fig.13 the direction of the arrow X in Fig.12 ). Fig.12 shows a schematic diagram of the mopping and washing component 4 in the extended state. When the mopping and washing component 4 needs to retract, the first motor of the first power source 102 rotates in reverse (from Fig.13 looking at the first motor from the

[0172] angle, the first motor outputs power in the clockwise direction) to drive the first rack 14 to move in the opposite direction of the first direction (the second direction).

[0172] See Fig.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 and washing assembly 4 to drive the mopping and washing 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.

[0173] As mentioned above, the sliding plate is arranged on the upper surface of the cavity shell 46. Refer to Fig.16 , a connecting column 241 is provided on the mopping and washing assembly 4, and the mopping and washing 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 is provided on the cavity shell 46 (as Fig.14 shown), and the connecting column 241 extends above the sliding plate 20 after passing 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 and washing assembly 4.

[0174] Furthermore, as Fig.20a and 20b shown, the body 1 includes a shell cover 47, and the shell cover 47 can be cooperatively connected above the cavity shell 46. When the shell cover 47 is cooperatively connected with the cavity shell 46, a hollow cavity will be 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 shell 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 mating groove 471 is provided on the bottom surface of the shell cover 47, and the top end of the second baffle 26 contacts in the mating groove 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the mating groove 461. The shell cover 47 can play a role in limiting the second baffle 26, effectively preventing the sliding plate 20 from moving upward or bulging.

[0175] In this embodiment, the mopping and washing assembly 4 can be telescopic relative to the body 1. 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 control assembly 2 of the cleaning robot can determine the target position of the mopping and washing assembly 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 control assembly 2 can realize the mopping and washing assembly to stop and work at any position by controlling the driving device.

[0176] In order to further improve the control accuracy, a plurality of 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 control assembly of the cleaning robot to make corresponding controls. As Fig.13 shown in the example, the plurality of detection units can be arranged on the cavity shell 46. The plurality of detection units can be respectively arranged at a plurality of 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 units can include but are not limited to: photoelectric switches, microswitches, Hall elements, etc. The plurality of 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 Fig.13 shown, a first photoelectric switch 281 and a second photoelectric switch 282 are provided on the cavity shell 46. These two photoelectric switches are respectively arranged at different positions on the cavity shell 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located at the first limit position where the mopping and washing assembly 4 is in the retracted state and the first limit position where the mopping and washing assembly 4 is in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be located 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.

[0177] Correspondingly, a triggering structure may be provided on the first motion actuator 103. When the first photoelectric switch 281 and the second photoelectric switch 282 can be located on the same side of the first motion actuator 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 actuator 103, two triggering structures need to be provided on the first motion actuator 103. As shown in 14, the first triggering structure 291 and the second triggering structure 292. More specifically, the first triggering structure 291 and the second triggering structure 292 can be provided on the sliding plate in the first motion actuator 103. When the mopping assembly 4 is in the first extreme position of the retracted state, the first triggering structure 291 triggers the first photoelectric switch 281. When the mopping assembly 4 moves along Fig.23 the arrow X direction in the figure to the second extreme position of the extended state, the second triggering structure 292 can trigger the second photoelectric switch 282, indicating that the mopping assembly 4 extends out to the farthest distance.

[0178] Although the second triggering structure 292 and the second photoelectric switch 282 can detect whether the mopping assembly 4 reaches the second extreme position of the extended state, the control component can control the first power source 102 to stop working based on the triggering signal of the second photoelectric switch 282, so that the mopping assembly 4 stops at the second extreme position. However, for the sake of safety, a limiting structure may also be provided on the cavity shell 46. When the sliding plate 20 slides to the second extreme position, the first motion actuator 103 abuts against the limiting structure (more specifically, the sliding plate of the first motion actuator 103 abuts against the limiting structure).

[0179] As mentioned above, when the mopping assembly 4 extends outwards, it has multiple gears. At different gears, the position of the mopping assembly 4 relative to the body is different. Of course, it can also be said that at different gears, the distance that the mopping assembly extends outwards is different. Refer to Fig.13 、 Fig.14 and Fig.21 . In order to achieve precise gear adjustment, the solution provided in this embodiment may further include a fourth detection unit and a fourth triggering structure. Among them, the fourth detection unit can be a fourth photoelectric switch, a fourth microswitch or a fourth Hall element. Taking the fourth detection unit as the fourth photoelectric switch and the fourth triggering structure as the grating structure as an example. A fourth photoelectric switch 284 is also provided on the cavity shell 46, and a grating structure 294 is provided on the first motion actuator 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 photoelectric 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.

[0180] For a cleaning robot with a fourth detection unit and a grating structure, the present application provides a method embodiment, that is, a working method of the cleaning robot. The method may further include:

[0181] The control component determines the current position of the mopping component based on the first counting scale on the grating structure recorded by the fourth detection unit;

[0182] The control component determines the second counting scale corresponding to the expected extension distance of the mopping component according to the distance between the target object and the body, and controls the mopping component to move so that the fourth detection unit stays at the position of the second counting scale of the grating structure.

[0183] The implementation process of the driving device 10 will be described in detail below in combination with the usage scenarios.

[0184] Scenario 1: When the cleaning robot performs a cleaning task, the mopping component extends, and in case of special situations such as encountering an obstacle, the mopping component retracts

[0185] When the cleaning robot is not performing a task, 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 component 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 control component of the cleaning robot controls the driving device 10 to drive the mopping component 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 specific limitations on this. Then, the cleaning robot maintains the posture with the mopping component extended at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0186] During the cleaning process of the cleaning robot, when an obstacle is detected by the sensing system, the control component controls the driving device 10 to drive the mopping component to retract a certain distance. This "certain distance" of retraction can be calculated by the control component based on the information of the obstacle sensed by the sensing system; or it is the distance for the mopping component to retract from the current extended state to the first limit position. After bypassing the obstacle, the control component then controls the driving device to make the mopping component extend to continue the cleaning task.

[0187] It should be supplemented here that special situations may include but are not limited to: the user instructs the mopping component to retract, passing through a narrow passage, etc.

[0188] Scenario 2: When the cleaning robot performs a cleaning task, the mopping component is in a retracted state, and the mopping component extends when edge cleaning is required

[0189] The cleaning robot plans the cleaning path according to the map of the area to be cleaned currently. It is assumed that the cleaning path is to clean the open area first and then clean along the edges, such as along the wall edges, cabinet edges, 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 control component 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 the edge cleaning is carried out according to the planned edge path. After the edge cleaning is completed, the cleaning robot retracts the mopping component (such as the first limit position), moves forward to the next area to be cleaned, or returns to the base station for replenishment, sewage discharge, self-cleaning, etc.

[0190] See Fig.16 As shown, the mopping component 4 is movably connected to the first motion execution mechanism 103. For example, assume Fig.16 In the state shown, the mopping component 4 is in contact with the ground. Since the mopping component 4 is movably arranged, it can float up and down according to the change of the ground when the mopping component travels on the uneven ground. The first motion execution mechanism 103 is connected to the mopping component 4 through the connection component 24. As Fig.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 Fig.18 shown. The slider 242 is provided with a mounting hole, and the screw enters the hole of the connection column 241 through the mounting hole to connect the slider 242 with the connection column 241. In Fig.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 space for the mopping component 4 to float up and down.

[0191] 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 moves in the width direction of the body and moves up and down, which can be realized by two driving devices respectively, 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 accommodating cavity 101, but also move up and down.

[0192] The mopping component 4 is floatingly connected to the cavity housing 46. Within a certain range, the mopping component 4 can move up and down vertically within the accommodating cavity 101. The mopping component 4 presses the cleaning roller 42 against the ground by its own gravity. When the cleaning roller on the mopping component 4 encounters an uneven ground or a raised obstacle, the mopping component 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 component 4 always presses against the ground by its own gravity, and the acting force on the ground is relatively small and stable, thereby effectively avoiding the sudden increase in the acting force of the mopping component 4 on the ground due to the uneven terrain. For some soft-wood floorings, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0193] It can be considered that at any position in the width direction of the body 1, the mopping component 4 floats relative to the cavity housing 46. The mopping component 4 floating relative to the cavity housing means that the mopping component 4 floats relative to the body.

[0194] See Figures 13 to 22 , the driving device 10 can move in multiple directions to drive the mopping component 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 component 4 to move outwards relative to the body 1 along the Fig.16 X1 direction in Fig.16 , and can also drive the mopping component 4 to lift relative to the body 1 along the Fig.16 Z2 direction in Fig.16 . When the first power source 102 outputs power in a second direction, it can drive the mopping component 4 to retract relative to the body 1 along the Fig.16 X2 direction in Fig.16 , and can also drive the mopping component 4 to lower relative to the body 1 along the Z1 direction in

[0195] . 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 is the counterclockwise direction.

[0195] The above content can also be understood as that the first motion execution mechanism 103 moves along the Fig.16 X1 direction in Fig.16 to drive the mopping component 4 to extend; the first motion execution mechanism 103 moves along the Fig.16 X2 direction in to drive the mopping component 4 to retract. When the mopping component 4 is at the first extreme position and the second extreme position, if the mopping component 4 is at the low position, the motion execution mechanism 103 moves along the X2 direction, which can drive the mopping component 4 to lift; if the mopping component 4 is at the high position, the motion execution mechanism 103 moves along the X1 direction, which can drive the mopping component 4 to lower.

[0196] It should be noted that Fig.16The directions of arrows X1 and X2 can be considered as the length direction of the mopping component or the width direction of the body 1; Fig.16 The directions of arrows Z1 and Z2 can be considered as the height direction of the mopping component or the height direction of the body 1.

[0197] Figure 6 It is a schematic diagram of the first limit position where the mopping component 4 is in the retracted state and in the lowered state. Fig.11 It is a schematic diagram of the first limit position where the mopping component 4 is in the retracted state and in the lifted state. Fig.12 It is a schematic diagram of the second limit position where the mopping component 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.

[0198] During the lifting or lowering process of the mopping component 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 contact 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 contact the cleaning roller. For the extension or retraction of the mopping component 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 component 4. In addition, to adapt to different cleaning environments, when the mopping component 4 extends outward, it has multiple gears, and at different gears, the distance that the mopping component 4 extends outward relative to the body 1 is different.

[0199] Combined with Fig.14 and Fig.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 Fig.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 component 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 component 4 to perform actions such as lifting, lowering, extending, and retracting.

[0200] See Fig.13 and Fig.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.

[0201] 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. Fig.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. Fig.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.

[0202] like Fig.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. Fig.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.

[0203] 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. Fig.23As shown in the figure, 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 and washing assembly 4 is kept in a lifted state.

[0204] In an embodiment provided by the present application, as Fig.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 onto the first slope surface 221 with a larger inclination angle, and then climbs onto the second slope surface 222. This technical solution is beneficial to the rapid lifting of the mopping and washing assembly 4.

[0205] Furthermore, in order to avoid excessive sliding resistance of the slider 242 on the inclined surface, see Fig.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 Fig.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.

[0206] When the sliding plate slides from the second extreme position in the extended state of the mopping and washing assembly 4 to the first extreme position in the retracted state, the slider 242 can have various states. For example, the resistance to retraction of the mopping and washing assembly 4 is small. As the sliding plate slides, the slider 242 does not have enough acting force to climb up 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 and washing assembly 4 to retract slowly. It can be understood that in this state, the retraction of the mopping and washing assembly 4 does not have a lifting action, and the mopping and washing assembly 4 always contacts the ground when retracting. For another example, the resistance to retraction of the mopping and washing assembly 4 is large. As the sliding plate 20 slides, the slider 242 can climb up the inclined surface. At this time, the mopping and washing assembly 4 will lift upward and complete the retraction action while the sliding plate 20 slides. It can be understood that in this state, when the mopping and washing assembly 4 retracts, it first performs a lifting action, and then retracts to the first extreme position along with the sliding plate 20.

[0207] See Fig. 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 it retracts.

[0208] Further, as Fig.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, Fig.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 trigger 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 trigger structure 293 triggers the third photoelectric switch 283, and the control assembly 2 can then know that the mopping and washing assembly has been lifted, and can control the power source, the liquid supply mechanism and the decontamination mechanism to stop working.

[0209] 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. During the movement of the sliding plate, it will contact the connection assembly 24 on the mopping and washing assembly 4, 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. After the mopping and washing assembly 4 completes the edge cleaning, the power source drives the first gear 13 to rotate reversely, 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 located 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, when 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 reversely, 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.

[0210] In the technical solution provided by this 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: 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.

[0211] In the above-mentioned embodiment, 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.

[0212] After the mopping and washing assembly 4 is lifted, the cleaning roller 42 can stop rotating, and the liquid supply mechanism 45 and the decontamination mechanism 44 can both stop working.

[0213] The cleaning robot can lift the mopping and washing assembly under the following circumstances, such as:

[0214] The cleaning robot travels onto the carpet and lifts the mopping and washing assembly;

[0215] When it needs to cross an obstacle, it can lift the mopping and washing assembly;

[0216] The user instructs to lift the mopping and washing assembly;

[0217] When the cleaning robot is working in the sweeping mode, it lifts the mopping and washing assembly; and so on.

[0218] In another embodiment provided by this 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. See Fig.24 As shown in the figure, this figure schematically shows a structural diagram of the mopping and washing assembly 4 being lifted relative to the ground. Fig.24 In it, the mopping and washing assembly 4 includes a cleaning roller 42 and a mopping and washing bracket 43. The mopping and washing bracket 43 is slidably connected to the rotating bracket 31. The rotating bracket 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 bracket 43. The connecting component 24 passes through the rotating bracket 31 through an avoidance groove on the rotating bracket 31 and extends to the outside of the rotating bracket 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, thereby driving the mopping and washing assembly 4 to lift or extend outward respectively. Specifically, when the sliding plate 20 moves to the right relative to the base from the initial position, 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 Fig.32In the direction of arrow X, at this time, the mopping and washing component 4 extends to the right relative to the rotating bracket 31, and it can be considered that the mopping and washing component 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 component 24 contacts the inclined surface of the lifting part 22, and as the sliding plate 20 moves leftward, the connecting component 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 component 4 to rotate upward along the Fig.32 direction of arrow a in the figure. When the mopping and washing component 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 component 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 component 4 is in the retracted state and at a low position.

[0219] Based on the above principles of the lifting and telescoping of the mopping and washing component 4, another driving device 10 provided by the present application will be described in detail below in combination with specific embodiments.

[0220] See Fig.24 、 Fig.25 and Fig.26 , in an embodiment of the present application, a driving device 10 is provided, and the driving device 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 component 4 is floatingly connected to the first action execution mechanism 103 through the connecting component 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 component 4 to perform actions such as lifting, lowering, extending or retracting through the connecting component 24.

[0221] In a specific embodiment, see Fig.25 and Fig.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 output power of the first power source 102 can drive the sliding plate 20 to move relative to the cavity shell 46 along the Fig.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, and the mopping and washing component 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 the rotating shaft 4131.

[0222] See Figures 27a to 27c, schematic diagrams showing the mopping and washing assembly 4 in the initial state are presented from different perspectives. Herein, the initial state refers to: the mopping and washing assembly 4 being in the retracted state (such as the first limit position of the retracted state), and the cleaning roller 42 being in contact with the ground. Referring to FIGS. 28a to 28c, schematic diagrams showing the mopping and washing assembly 4 in the lifted state are presented 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 diagrams showing the mopping and washing assembly 4 in the extended state (such as the second limit position of the extended state) are presented 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.

[0223] 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 Fig.25 the direction of arrow X1 in, the rotating bracket 31 does not move, and 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 Fig.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 Fig.25 the direction of arrow X2 in. When it moves to the initial position, the roller bracket 421 completes the retraction.

[0224] Among them, the mopping bracket 43 may include the roller bracket 421.

[0225] 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 Fig.25 the direction of arrow X2 in. At this time, the rotating bracket 31 will be driven by the sliding plate 20 to rotate and swing upward around the rotating shaft 4131. The position of the mopping bracket 43 and the rotating bracket 31 remains unchanged, and 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 lifting height of the mopping and washing assembly 4 is the maximum, and the height of the lowest point of the cleaning roller 42 from the ground is also the maximum (as Fig.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 Fig.25 the direction of arrow X1 in. When it moves to the initial position, the mopping bracket 43 completes the descent and returns to the initial state (as Fig.27a shown).

[0226] Referring to Fig.25 and Fig.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.

[0227] 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.

[0228] In a specific embodiment, refer to Fig.25 and Fig.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.

[0229] As Fig.25 shown, the lead screw 17 is arranged along the length direction of the mopping assembly 4 (for example Fig.25 the directions of the arrows X1 and X2 in Fig.25 ). When the second motor 12 outputs power in one direction, the lead screw 17 can drive the nut slider 18 to move leftward ( Fig.25 the direction of the arrow X2 in

[0230] ). Further, refer to Fig.25 and Fig.31 , in an embodiment provided by the present application, a driving portion 214 is provided on the sliding plate 20. The driving portion 214 extends outward from the plate surface of the sliding plate 20, and the end of the driving portion 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 portion 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 portion 214 to move together. In order to prevent the driving portion 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.

[0231] Refer to Fig.25 and Fig.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 fitted and connected in 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 fitted and connected in 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.

[0232] See Fig.26 , Fig.30 and Fig.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.

[0233] See Fig.26 and Fig.30 , at least one connection assembly 24 is provided on the mopping bracket 43. Specifically, the connection assembly 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 Fig.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 act through the connecting rod 243, so as to realize the extension and retraction of the entire mopping assembly 4.

[0234] In addition to being able to drive the mopping assembly to extend and retract relative to the body, the driving device provided by the embodiment of the present application can also drive the mopping assembly 4 to lift relative to the body. Specifically, see Fig.26 and Fig.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. The limiting part 212 is arranged in the horizontal direction. The sliding plate 20 also includes a connecting buckle 213, and the connecting buckle 213 is used to connect to the cavity housing 46. Specifically, in combination with see Fig.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, and when the power source drives the sliding plate 20 to slide, the connection buckle 213 will slide in the slot 414.

[0235] Further, referring to Fig.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 Fig.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 are both connected to the second slot 4162. The first slot 4161 and the third slot 4163 respectively extend in the vertical direction, and it can be understood that the first slot 4161 and the third slot 4163 are respectively perpendicular to the second slot 4162.

[0236] 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 is also located 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 portion 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 Fig.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 Fig.29b shown, and the connecting rod 243 is also located 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.

[0237] The settings of the first slot 4161 and the third slot 4163 can also enable the mopping component 4 to be floatingly connected to the cavity housing 46, so as to adapt to the ground. Specifically, if the mopping component 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 component 4 is rigidly connected to the cavity housing 46, the mopping component 4 will be severely impacted and cannot adjust its height to adapt to the change of the ground. In the technical solution of the present application, refer to Figure 27b , in the initial state of the mopping component 4, the connecting rod 243 is also located at the bottom end of the first slot 4161. At this time, if the mopping component 4 is impacted, the mopping component 4 will float upward under the action of the ground, so as to avoid excessive force between the mopping component 4 and the ground. In addition, when the mopping component 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 component 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, which can also avoid excessive force between the mopping component 4 and the ground.

[0238] After the mopping component 4 is extended, during the movement of the cleaning robot, the mopping component 4 is very likely to encounter an obstacle. In order to avoid damage to the mopping component 4 due to collision with an obstacle, in an embodiment of the present application, when the mopping component 4 is in the extended state and is acted upon by an external force, the mopping component 4 can automatically retract into the accommodating cavity 101. Specifically, a rebounding device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping component is in the initial state (such as the first limit position of the retracted state), the rebounding device is in a compressed state. When the mopping component 4 is in the extended state, the rebounding device is in an extended state. When the extended mopping component 4 retracts into the accommodating cavity 101 under the action of an external force, the rebounding device will be compressed.

[0239] In a specific implementation, the rebounding device includes but is not limited to: springs, hydraulic cylinders, pneumatic cylinders, elastic blocks, etc. Taking the rebounding device as a spring as an example, refer to Fig.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. Refer to Fig.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.

[0240] 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.

[0241] In the technical solution of the present application, the nut slider 18 and the driving part 214 are not fixedly connected. 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 Fig.25 the direction of arrow X2 in []. In an embodiment provided by the present application, along the extending direction of the mopping assembly 4 ( Fig.25 the direction of arrow X1 in []), the driving part 214 is located on the left side of the nut slider 18 and contacts 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 Fig.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 can the sliding plate 20 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 Fig.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.

[0242] 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.

[0243] 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 extreme position. At this time, the distance that the mopping and washing assembly 4 extends is the largest (i.e., the second extreme 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 extreme 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.

[0244] 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 extreme positions, and different positions corresponding to different gears.

[0245] The following describes the operation process of the mopping and washing assembly 4 in detail in combination with the usage scenario.

[0246] After the mopping and washing assembly 4 completes part of the cleaning task in the initial state (such as the first extreme position in the retracted state and the cleaning roller 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 Fig.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 rotation cycles of the power output by the second motor 12. Based on the number of rotation cycles of the power output by the second motor 12 recorded by the counter, the control component 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 control component 2 controls the second motor 12 to stop working. The mopping assembly 4 is in the extended state, and the cleaning robot performs the cleaning task while maintaining the posture of the mopping assembly 4 in the extended state.

[0247] After the mopping assembly 4 completes the tasks to be performed in the extended state, the control component 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 Fig.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 control component 2 can calculate the moving position of the nut slider 18 based on the number of rotation cycles of the reverse power output by the second motor 12, and then determine the retracted position of the mopping assembly. If it is determined that the mopping assembly has reached the first limit position in the retracted state, the control component 2 controls the second motor 12 to stop working.

[0248] Next, when the cleaning robot recognizes a carpeted floor, in order to avoid secondary pollution, the mopping assembly 4 needs to switch to the lifted state. The control component 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 Fig.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 performing the cleaning task, the control component 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 Fig.25 the perspective), and the mopping assembly descends.

[0249] Compared with a cleaning robot equipped with a rag or a mopping turntable, the cleaning robot with the mopping and washing assembly provided in this embodiment has better cleaning effect and higher cleaning efficiency. During the cleaning process of the cleaning roller on the ground, self-cleaning can be carried out simultaneously. The sewage 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 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.

[0250] During the cleaning operation of the cleaning robot, it needs to face various cleaning environments. For example, tile floors, wooden floors, 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 and the edge of furniture), 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 this 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 partially 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.

[0251] 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 control component 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 judge in real time whether it is necessary to extend the mop-wash component 4. The environment is complex, and the cleaning robot needs to judge many conditions, which cannot be exhaustive. Therefore, the cleaning robot cannot control the mop-wash component 4 to extend in time every time it needs to be extended.

[0252] 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 Fig.10b, in the figure, the left figure (G) shows that the mopping and washing component 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 component 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 component 4 is in the first position, the edge of the mopping and washing component 4 in the width direction is at a distance 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 FIG. (G), and this shaded area is the area not cleaned by the mopping and washing component 4. By adopting the scheme that the mopping and washing component is normally extended, when the cleaning robot performs the cleaning task, the mopping and washing component 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 component 4 is basically flush with the widest edge of the body 1, there will be no situation where the shaded area shown in the left figure (G) cannot be cleaned after the cleaning robot finishes cleaning. Although the cleaning path of the cleaning robot can be adjusted 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 right figure (H) where the mopping and washing component is normally extended, there is no need to consider the problem of covering the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0253] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0254] S11. When performing a cleaning task in an open area, the mopping and washing component performs the cleaning task in the extended state;

[0255] S12. When it is detected that the surrounding environment determines that the mopping and washing component needs to retract, the mopping and washing component retracts, and the mopping and washing component performs the cleaning task in the retracted state or the cleaning robot travels with the mopping and washing component in the retracted state;

[0256] Wherein, in the extended state, the mopping and washing component extends from one side of the body, and part of the mopping and washing component is exposed; in the retracted state, the outer edge of the mopping and washing component is located inside the outer edge of the body, or part of the outer edge of the mopping and washing component is flush with the outer edge of the body.

[0257] Wherein, "detecting that the surrounding environment determines that the mopping and washing component needs to retract" in the above S12 may specifically include but is not limited to at least one of the following:

[0258] When it is detected that the cleaning robot needs to turn to avoid an obstacle, it is determined that the mopping and washing component needs to retract;

[0259] 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 component needs to retract;

[0260] When it is detected that the user issues a retraction instruction, it is determined that the mopping component needs to retract.

[0261] Furthermore, the method provided in this embodiment may further include:

[0262] When the mopping component performs a cleaning task in the extended state and it is detected that the surrounding environment determines that the mopping component needs to be lifted, after the mopping component retracts to the first limit position, the mopping component is lifted to have a gap with the ground.

[0263] When the mopping component is in the third position, the projection of the mopping component is within the projection of the body; when the mopping component is displaced to the fourth position, the edge of the mopping component extends outside the edge of the body, and the projection of the mopping component is within the projection of the body. In the general cleaning mode, the mopping component is in the fourth position; in the special cleaning mode, the mopping component is in the third position to walk along the edge of the obstacle. The control component controls the driving device to enable the mopping component to stop and work at any position. Wherein, the mopping component 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.

[0264] A control method or working method of a cleaning robot provided in another embodiment of the present application may be: the control device dynamically controls the driving device according to the behavior information of the body, so that the driving device drives the mopping component to move relative to the body to change the position of the mopping component relative to the body.

[0265] Wherein, the behavior information of the body may include: traveling speed, traveling direction, turning radius when turning, acceleration, etc. For example, when turning quickly, the driving device is controlled to quickly retract the extended mopping component; or, when traveling in a straight line after turning, the driving device is controlled to expand the retracted mopping component again.

[0266] In addition, it should be added that the roller motor in the mopping component needs to have continuous current supply during the movement of the mopping component. Therefore, a conductive groove component is further provided on the body of the cleaning robot in the embodiment of the present application. The conductive groove component includes a conductive groove body and an electricity connection member. The electricity connection member is arranged in the conductive groove body and can move in the conductive groove body. The electricity connection member is electrically connected to the electrical interface of the roller motor. When the mopping component moves, the electricity connection member moves in the conductive groove to follow the mopping component, so that the roller motor can maintain a powered state while moving. The conductive groove component is not clearly shown in the attached drawings of the specification of the present application.

[0267] Another embodiment of the present application provides a working method of a cleaning robot, including:

[0268] The control device controls the mopping component to be located at the second extreme working position, or to execute a cleaning task at any position between the first extreme working position and the second extreme working position.

[0269] When the cleaning robot moves towards the target object, as the distance between the cleaning robot and the target object decreases, the control device controls the mopping component to move from the second extreme working position towards the first extreme working position until the mopping component is located at the first extreme working position.

[0270] In a feasible solution, before "until the mopping component is located at the first extreme working position", if the distance between the cleaning robot and the target object no longer decreases, the mopping component can stay at any position between the second extreme working position and the first extreme working position.

[0271] The specific structure of the mopping component will be described in detail below.

[0272] As shown in Figure 5 , 7, 8, and 9, in an embodiment provided by the present application, the decontamination mechanism 44 and the liquid supply mechanism 45 in the mopping component 4 are respectively arranged on the mopping support 43, or are integrally formed with the mopping support 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. It also has the function of collecting sewage. After the scraping strip scrapes off the sewage, the sewage can directly enter the collection component. After the collection component 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 component 4 includes a decontamination mechanism 44 and a liquid supply mechanism 45, that is, when the cleaning roller moves up and down and / or expands and contracts, the decontamination mechanism 44 and the liquid supply mechanism 45 also move up and down and / or expand and contract together.

[0273] 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. Another example is that 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. Still another example is that 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.

[0274] 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 channel can evenly disperse the cleaning solution supplied by the liquid supply water inlet 451 to a 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.

[0275] Furthermore, a liquid supply pump is further included on the liquid supply mechanism 45. The liquid supply pump is arranged on the first flexible pipeline 443, and 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.

[0276] 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 provides 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 provides 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.

[0277] See Fig.34, the mopping bracket 43 has a drum installation cavity 51, and the cleaning drum 42 is arranged in the drum installation cavity 51. Specifically, the mopping assembly 4 further includes a drum motor 41. On one side of the drum installation 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 installation cavity 51. The drum installation 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.

[0278] 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 installation cavity 51 and is located on the cavity wall of the drum installation 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 inserts 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.

[0279] 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.

[0280] Correspondingly, there are openings on the cavity wall of the drum installation 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 installation cavity 51 through the openings. Of course, the liquid supply mechanism 45 can also be directly arranged in the drum installation 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 to the cleaning drum 42 through a plurality of liquid supply ports.

[0281] Fig.34 The direction of arrow Y in the figure represents the width direction of the mopping assembly 4. It can also be considered that when the cleaning robot is performing a cleaning task, it is the traveling direction of the cleaning robot or the moving direction of the mopping assembly. Fig.34 The direction of arrow Z in the figure represents the height direction of the mopping assembly 4; Fig.34 The direction of arrow b in the figure 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 Fig.34In the direction of arrow Y, the liquid supply mechanism 45 is located on the front side of the decontamination mechanism 44; along Fig.34 In the direction of arrow Z, the liquid supply mechanism 45 is located above the decontamination mechanism 44.

[0282] As the cleaning roller 42 rotates along Fig.34 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.

[0283] 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.

[0284] Furthermore, referring to Fig.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 extension 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. This can make the scraping effect of the scraping strip assembly 53 on the cleaning roller 42 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.

[0285] Referring to Fig.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 transports the cleaning liquid to the surface of the cleaning roller 42 again.

[0286] 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 value 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].

[0287] 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.

[0288] Refer to FIG. 9, Figure 34 to Figure 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 Fig.34 the direction of arrow Y in the figure, a square accommodating inner cavity is provided on the left side of the cleaning roller 42, and the dirt removal mechanism 44 is arranged in the accommodating inner cavity.

[0289] As Fig.35b shown, the front bottom of the dirt collection box 442 may have an inclined angle as shown in the figure. This inclined angle can also be called a chamfer. In this way, when traveling on a special traveling surface, such as a carpet with long hair, this inclined 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 inclined angle.

[0290] Furthermore, as Fig.35c shown, the front bottom of the machine body 1 may also have an inclined angle 1005 as shown in Fig.35c the figure. This inclined angle 1005 can also be called a chamfer. Similarly, when traveling on a special traveling surface, such as a carpet with long hair, this inclined 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 inclined angle.

[0291] Of course, the inclined angles of the dirt collection box 442 and the bottom of the machine body can also be arc-shaped inclined angles or the straight-line inclined angles shown in the figure. This embodiment does not make specific limitations on this. The inclined angle of the dirt collection box 442 and the bottom of the machine body is an inclined angle surface formed at the front bottom end of the dirt collection box 442. The included angles between the inclined angle surface on the dirt collection box 442 and the inclined angle surface on the machine body and the horizontal plane (such as the ground) can be the same or different. The included angle between this inclined angle surface and the horizontal plane (such as the ground) can be an angle between 10 and 60 degrees.

[0292] 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, a part of it will be sprayed onto the cleaning roller 42, 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 fall along the cavity wall to the ground. This may result in insufficient cleaning liquid on the cleaning roller 42, and users may mistake the water droplets on the ground for leakage. If the amount of cleaning liquid on the cleaning roller 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.

[0293] 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 Fig.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 Fig.38 shown, the liquid supply port 453 has an arc water guide surface 4531 for guiding the cleaning liquid onto the cleaning roller 42.

[0294] As Figure 8 shown, the liquid supply port 453 is set as an annular 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 annular liquid supply port 453, and the liquid can drip smoothly, with high liquid supply efficiency. The liquid supply port 453 is annular, and the center of the annular ring is the outlet hole 4530. The outlet hole 4530 is communicated with the branch for liquid supply in the liquid supply mechanism 45. As Fig.38 shown, the inner ring wall of the annular liquid supply port is an arc surface.

[0295] 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 Fig.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. This liquid outlet hole 4530 communicates with one of the multiple branches. The inner ring wall of the liquid supply port 453 is a two-stage stepped structure with gradually increasing opening sizes, 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 amount 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 positively promotes the mopping effect.

[0296] 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 amount 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 positively promotes the mopping effect.

[0297] Furthermore, as Fig.38 shown, a water wiping structure 80 is provided on the cavity wall of the mopping bracket facing the cleaning roller 42. This 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.

[0298] The included angle β between the line connecting the water wiping structure 80 and the center of the cross-section of the cleaning roller and the line connecting 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.

[0299] 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.

[0300] 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.

[0301] See Figure 9, Figure 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 arranged 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.

[0302] Further, 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 Fig.36a shown, the mopping and washing assembly can generally be set at a position with a distance G from the center O of the machine body. Fig.36a The left figure (E) in 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 the extended state and working with the whole assembly extending out of the machine body (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 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 that Fig.36a the area S1 of the cleaning roller 42 exposed outside the machine body 1 shown in (E) in is larger than Fig.36a the area S2 of the cleaning roller 42 exposed outside the machine body 1 shown in (F) in .

[0303] The area where the cleaning roller 42 is exposed outside the body 1 is larger, and the larger the cleaning coverage area is, especially significant when the cleaning robot turns, etc. Left Fig.36a In the structure shown in (E) in the middle, the dirt collection box is located on the front side of the cleaning roller 42. When the mopping and washing assembly 4 is in the extended state for operation, the cleaning coverage area is large, and the cleaning blind area is smaller than that of the Fig.36a structure shown in (F) on the right where the dirt collection box is located behind the cleaning roller. Also, as Fig.36b shown, in the corner area as shown in the figure, when the body of the cleaning robot maintains a safe distance from the wall corner or the edge of the obstacle, in the left figure (E’) of 36b, the dirt collection box 442 is located on the front side 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’) of 36b, the dirt collection box 442 is located behind the cleaning roller 42, and the distance between the cleaning roller 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 indicates that for the cleaning with the cleaning roller 42 at the rear, the cleaning coverage area is larger and the cleaning blind area is smaller.

[0304] One end of the dirt collection pipe 542 is arranged in the dirt 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 dirt collection box 442 into the sewage tank 9. Refer to Fig.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 dirt collection box 442 and is drawn away by the dirt collection pipe 542. In order to be able to suck the sewage in the dirt collection box 442 into the sewage tank in time, a water pump and pipelines can be arranged on the dirt collection pipe 542, or alternatively, an air pump and pipelines are connected to the sewage tank, and the air pump can provide negative pressure for the sewage tank. Under the action of the negative pressure, the sewage in the dirt collection box 442 can be sucked into the sewage tank through the pipeline. Refer to Figure 9a and Figure 9b , in a specific embodiment, the dirt removal 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 operates, it can pump negative pressure into the sewage tank 9. The valve body 545 is arranged on the dirt collection pipe 542 and can be used to control the on-off of the dirt 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 dirt collection box 442 into the sewage tank 9 through the second flexible pipeline 456.

[0305] The dirt collection pipe 542, the scraping strip assembly 53 and the dirt collection box 442 are all distributed on the same side of the cleaning roller 42. For example, the dirt collection pipe 542, the scraping strip assembly 53 and the dirt collection box 442 are all on the front side of the cleaning roller 42.

[0306] Refer to Figure 9aand 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 sewage discharge outlet 4410 mentioned above. One end of the clean water pipe joint is used to connect the first flexible pipe 443 (which can also be called the flexible clean water pipe), and the other end is connected to the liquid supply mechanism 45 through the first pipe 447. One end of the sewage pipe joint is used to connect the second flexible pipe 456 (which can also be called the flexible sewage pipe), 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 447 and the transverse pipe 546, the joint assembly 455 can be disposed to one side of the mopping and washing assembly 4, so that it is more convenient to connect the first flexible pipe 443 and the second flexible pipe 456 to the joint assembly 455. Imagine that without the first pipe 447, 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. Figure 7a shown, the interfaces of the flexible clean water pipe and the flexible sewage pipe, that is, the joint assembly 455, which includes the liquid supply inlet 451 and the sewage discharge outlet 4410, are all distributed on the front side of the cleaning roller, that is, above the sewage collection box. The flexible clean water pipe and the flexible sewage pipe are also located on the front side of the cleaning roller. With such a setting, the second flexible pipe 456 is closer to the sewage collection box, making the overall sewage discharge pipe shorter, requiring fewer bent pipes, increasing the sewage discharge efficiency, eliminating the possibility of blockage, and at the same time, the first flexible pipe 443 is also arranged on the front side of the cleaning roller and adjacent to the second flexible pipe 456, so that the two flexible pipes can share a pipe space, and there is no need to specifically arrange a pipe space for the second flexible pipe 456.

[0307] Currently, the rotation direction of the drum of some cleaning devices is the same as that of the driving wheel of the device. Although this can assist the device in moving forward and reduce energy consumption, the collaborative working process of the cleaning drum, the wiper assembly, and the liquid supply mechanism becomes: the cleaning drum replenishes water through the liquid supply mechanism -> the wiper assembly scrapes the liquid on the cleaning drum -> the cleaning drum cleans the ground. There are also some cleaning devices where the rotation direction of the drum is different from that of the driving wheel of the device, but the dirt collection box and the wiper are set behind the drum. At this time, the collaborative working process of the cleaning drum, the wiper assembly, and the liquid supply mechanism is also: the cleaning drum replenishes water through the liquid supply mechanism -> the wiper assembly scrapes the liquid on the cleaning drum -> the cleaning drum cleans the ground. It can be seen that for such current cleaning devices, the water replenished is immediately scraped off after being replenished with clean water, and it is not very reasonable for the cleaning drum to clean the ground next. The scraped liquid contains the freshly replenished clean water, and this part of the clean water is recycled without participating in the cleaning.

[0308] When the drum of the existing cleaning robot performs a cleaning task, it first goes through a water replenishment step, that is, the liquid supply mechanism transports the cleaning liquid to the surface of the cleaning drum. Then, the decontamination mechanism scrapes off the dirt on the surface of the cleaning drum. Finally, the cleaning drum cleans the ground. There are mainly three problems with this execution step;

[0309] First, after the liquid supply mechanism replenishes water, the decontamination mechanism immediately scrapes off the mixture of clean water and sewage. The stains on the surface of the cleaning drum may not be completely dissolved in the clean water, so most of the scraped-off is clean water rather than sewage, resulting in incomplete self-cleaning.

[0310] Second, after the decontamination mechanism scrapes off the sewage on the surface of the cleaning drum, due to the action of the wiper, the water content of the drum decreases by 90% before and after scraping. When the water content of the cleaning drum decreases, the cleaning power of the cleaning drum on the ground will also decrease.

[0311] Third, after the wiper of the cleaning robot scrapes water, when the relatively dry drum scrubs the dirt on the ground and then needs to rotate 180° to enter the water replenishment position, the dirt stuck on the overly dry drum is likely to be thrown out during the long rotation process and finally fall onto the ground, resulting in poor cleaning effect.

[0312] 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 rotates in the reverse direction (i.e., opposite to the rotation direction of the drive wheel), the squeegee assembly is located on the front side of the cleaning roller, and the liquid supply mechanism is located above the cleaning roller. In this way, the collaborative working process of the cleaning roller, the squeegee assembly and the liquid supply mechanism is as follows: the cleaning roller is replenished with water through the liquid supply mechanism -> the cleaning roller cleans the ground -> the squeegee assembly scrapes off the liquid on the cleaning roller. It can be seen that the solution provided by this embodiment is more reasonable. The freshly replenished clean water directly participates in the ground cleaning without being affected by the water scraping action of the squeegee. At this time, the evenly wet squeegee has a better effect of wiping and adsorbing ground dirt, especially stubborn dirt. Then the roller rotates a small angle (usually only about 90°), and then is scraped by the squeegee. The dirt is not easily thrown out, and at this time, most of the scraped liquid is sewage, and the clean water is fully utilized. Specifically, during the rotation of the cleaning roller, the liquid supply mechanism supplies cleaning liquid to a region of the cleaning roller. The region infiltrated with the cleaning liquid cleans the surface to be cleaned. Subsequently, the decontamination mechanism acts on the region to scrape off the dirt and collect it. The region after scraping off the dirt enters the liquid supply range of the liquid supply mechanism again. It can be understood that when the cleaning roller cleans the ground, first, the water replenishment step is carried out, the surface of the cleaning roller is fully wetted, and the water content of the cleaning roller is also more. Subsequently, the cleaning roller cleans the ground again. At this time, the cleaning power of the cleaning roller on the ground is stronger, and more stains can be dissolved. Finally, the decontamination mechanism scrapes off the sewage and stains on the cleaning roller, and then the liquid supply mechanism replenishes the liquid again, and this process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism and the decontamination efficiency of the decontamination mechanism are higher throughout the process, the cleaning liquid used by the cleaning roller during self-cleaning is less, and at the same time, the amount of sewage generated is less, and the cleaning endurance time of the cleaning robot will be significantly improved.

[0313] At the same time, since the mopping component of the cleaning robot does not have suction, in order to improve the cleaning effect, when the rotation direction of the cleaning roller is opposite to the rotation direction of the device drive wheel, the cleaning roller can push the dirt forward. The dirt that was not cleaned by the cleaning roller for the first time has the opportunity to be picked up by the cleaning roller again later, so that multiple cleanings can be achieved.

[0314] To prevent the sewage from leaking sideways during the water scraping process of the squeegee assembly 53, the length of the dirt collection box 442 is greater than or equal to the length of the squeegee assembly 53. Refer to Fig.35a, From the perspective of the setting direction of the squeegee assembly 53, the setting direction of the dirt collection box 442 is substantially perpendicular to the setting direction of the squeegee assembly 53. In this way, the sewage and stains scraped off by the squeegee 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 squeegee assembly 53 can enter the dirt collection box 442, the end of the squeegee assembly 53 is located in the dirt collection box 442. In this way, the sewage scraped off by the squeegee assembly 53 can directly enter the dirt collection box 442 along the end of the squeegee assembly 53.

[0315] When the squeegee assembly 53 scrapes off the sewage on the cleaning roller 42, it is very easy to scrape the stains attached to the cleaning roller 42 into the dirt 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 Fig.37 and Fig.38 , In an embodiment provided by the present application, the decontamination mechanism 44 further includes a filtering assembly 543. The filtering assembly 543 is arranged in the dirt collection box 442. After the sewage scraped off by the squeegee assembly 53 enters the dirt collection box 442, it is first filtered by the filtering assembly 543 and then enters below the dirt collection box 442. Then it can be collected into the sewage tank through the sewage collection pipe 542.

[0316] To facilitate the cleaning of the dirt collection box 442, the dirt collection box 442 can be detached from the mopping assembly 4 for cleaning, and the filtering assembly 543 in the dirt collection box 442 can also be detached for cleaning. During the disassembly process, first, the mopping assembly 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 dirt collection box 442 can be detached from the roller installation cavity 51. Refer to Figure 9b As shown, the dirt 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 dirt 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.

[0317] To avoid bending, springs (not shown in Fig. 9 and Fig.38 ) can be provided on the outer sides of the second flexible pipe 456 and the first flexible pipe 443. In this way, when the mopping assembly moves as a whole (lifting and / or telescoping), there will be no bending to affect sewage discharge and liquid supply.

[0318] Refer to Fig.38 and 39a, in an embodiment provided by the present application, the squeegee assembly 53 includes a squeegee 531 and a water guide plate 532. The end of the squeegee 531 is a squeegee strip 441. The materials of the squeegee and the squeegee strip may be the same or different, and this embodiment does not limit this. The water guide plate 532 is connected below the squeegee 531. The distance that the end of the squeegee 531 extends outward is greater than the end of the water guide plate 532. The squeegee strip 441 at the end of the squeegee 531 contacts the cleaning roller 42. When the cleaning roller 42 rotates, the squeegee 531 can scrape the sewage on the cleaning roller 42, and then it is guided by the water guide plate 532 into the sewage collection box 442. In a specific embodiment, as Fig.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 be formed on the surface of the water guide plate 532 after the water guide plate 532 is connected to the squeegee 531.

[0319] Furthermore, as Fig.39a , the squeegee 531 has a first plate section 5311 and a second plate section 5312. The first plate section 5311 and the second plate section 5312 are arranged at an obtuse angle, and the length of the second plate section 5312 is greater than the length of the first plate section 5311. The first plate section 5311 is the end that mainly functions during water scraping, and the second plate section 5312 is used to connect to the water guide plate 532. Specifically, the water guide plate 532 is connected below the second plate section 5312. The head end of the water guide plate 532 is close to the first plate section 5311, the tail end of the water guide plate 532 is close to the tail end of the second plate section 5312, and the tail end of the second plate section 5312 extends into the sewage collection box 442.

[0320] 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. 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 guide the sewage into the sewage collection box 442, refer to Figure 8 , the number of liquid supply ports 453 on 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. Refer to Fig.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) for convenient water guiding. The end position 53210 (i.e., the tail) of the water guide grooves 5321 is closed for convenient drainage. The tail of the water guide grooves 5321 is located at the opening of the sewage collection box. Refer to Fig.39bAs shown, the lower surface of the water guide plate 532 is an upwardly arched curved surface, which is the water guide surface 5322. Since the scraping plate 531 itself is bent downward, the water moves toward the upwardly arched curved surface of the water guide groove by the centrifugal force of the drum to overcome its own gravity. The scraping effect is best when the extension line at the end of the scraping strip assembly 53 passes through the center of the drum, that is, the scraping strip assembly 53 has a bent portion, which causes the water guide groove 5321 to also have an upwardly arched curved surface. The water guide surface 5322 has two curved surfaces; from the water guide to the drainage direction of the water guide surface 5322, the curvature of the corresponding arc of the curved surface decreases. As shown by the P1 section and the P2 section in the figure, where the P1 section is a section near the water guide side of the cleaning drum 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.

[0321] A plurality of water guide grooves 5321 are provided on the water-facing side of the scraping strip assembly 52, and the water guide grooves 5321 at least extend to the collection port of the sewage collection assembly (sewage collection box 442). The water-facing side (lower surface) refers to the side where the scraping strip faces the rotation of the drum when the cleaning drum 42 rotates. When the drum rotates, it contacts the scraping strip from bottom to top; in the absence of suction, in the prior art, the drum contacts the scraping strip from top to bottom, and the water flows down along the scraping strip, and there is no need for a water guide groove.

[0322] As Fig.38 shown, the lowest point 53220 of the P2 section is lower than the highest point 4521 of the sewage collection box 442. As Figure 8 shown, the length of the water guide plate 532 is less than the actual water-receiving length of the sewage collection box 442. As Fig.34 shown, the vertical distance Q between the opening position of the sewage collection box 442 near the cleaning drum 42 and the scraping strip assembly 53 is 3-5 mm.

[0323] 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, which has good rigidity 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, and the cost is lower.

[0324] The surface of the cleaning drum 42 has fluff, and the fluff materials and / or lengths of different models are different. In the following 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 drum 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 rotation resistance of the drum is too large, which is extremely likely to cause abnormal operation of the drum motor:

[0325] Replace the cleaning roller with different models; or

[0326] Position deviation of the cleaning roller caused by some factors during long-term operation; or

[0327] Villus loss of the cleaning roller during long-term operation, etc.

[0328] Participate Fig.34 and Fig.35a As shown, when the cleaning roller 42 rotates in the direction of arrow b on the cleaning roller, the scraping strip assembly 53 will receive a force in the direction of arrow T. If this force is too large due to the too-close distance, the scraping strip assembly 53 is likely to be damaged. To avoid problems caused by the above several situations, refer to Fig.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 swinging assembly. The scraping strip assembly 53 is connected to the mopping bracket 43 through the swinging assembly. The scraping strip assembly 53 can adaptively adjust its pose through the swinging assembly to have a more suitable positional relationship with the cleaning roller 42 and can continuously act on the cleaning roller 42 to scrape the dirt thereon. As shown in the figure, the swinging assembly 500 includes a swinging seat 534. A connecting hole 5342 is provided on the swinging seat 534. The swinging seat 534 is connected to the mopping bracket 43 through a swinging shaft 535. Further, an installation hole 5341 is provided on the swinging seat 534. An elastic member 536 is arranged in the installation hole 5341. One end of the elastic member 536 is connected to the swinging 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 scraping strip assembly 53 and the cleaning roller 42 an elastic force. When the scraping plate 531 is subjected to too much force, the scraping strip assembly 53 rotates slightly around the swinging shaft 535, thereby increasing the distance between the end of the scraping plate 531 and the cleaning roller 42. Then the contact force between the scraping plate 531 and the cleaning roller 42 also becomes smaller. For example, when the scraping plate 531 is subjected to too much force, the scraping strip assembly 53 will rotate along the swinging shaft 535, and the end of the scraping plate 531 will move upward along Fig.32 the direction of arrow T in

[0329] Here, it should be added that: the swinging assembly 500 can be an integral structure with the scraping strip assembly 53, or the swinging assembly and the scraping strip assembly are two components connected together by a connection method.

[0330] Further, along the axial direction of the cleaning roller from one end to the other end of the cleaning roller, the surface of the cleaning roller is in contact with the end of the squeegee assembly. In addition, refer to Fig.39c As shown, the adaptive adjustment device in this embodiment further includes an elastic mechanism 300. The mopping 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 assembly 4. Among them, the elastic mechanism 300 can be an elastic component such as a spring. The squeegee assembly 53 adjusts its position and posture through the adaptive adjustment device so as to continuously act on the cleaning roller to scrape off the dirt thereon. That is, the position and posture adjustment of the squeegee assembly 53 is achieved by the combined action of the elastic mechanism 300 and the swinging assembly 500. The mopping assembly 4 can adaptively adjust the relative position and posture between it and the body 1 through the elastic mechanism 300. The squeegee assembly is in the mopping assembly 4 and changes its position and posture together with the mopping assembly. Inside the mopping assembly 4, the squeegee assembly 53 adjusts the phase position and attitude relationship with the cleaning roller 42 through the swinging assembly 500 to be in a more appropriate position and posture, 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.

[0331] 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 assembly moves relative to the body, the elastic mechanism moves with the mopping assembly, or the mopping assembly moves relative to the body and the elastic mechanism.

[0332] 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 action of 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 at which the squeegee at least inserts into the cleaning roller is 1-2 mm. The biasing assembly includes a swinging seat and an elastic member. The squeegee assembly is rotatably mounted on the mopping assembly or the body through the swinging seat.

[0333] The above introduces a solution that uses one power source to realize the lifting and telescoping of the mopping assembly. The present application also supplements a solution here that uses two motors to respectively realize the lifting and telescoping functions of the mopping assembly. That is, the driving device 10 includes two power sources. As Fig.41As shown, the driving 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 telescopic movement of the mopping component, and its corresponding first action execution mechanism 103 is the same as the structure mentioned in the above embodiment, that is, the first action execution mechanism 103 includes: a first gear 13 and a first rack 14. The first action 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 can 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 embodiment. For specific content, please refer to the above, and details will not be elaborated here.

[0334] The second power source is used to drive the mopping component 4 to lift, and its corresponding second action execution mechanism, such as Fig.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 Fig.41 , the first rack 14 is horizontally arranged, and the second rack 63 is vertically arranged.

[0335] The specific implementation process is as follows: When the mopping component 4 is in the initial state (i.e., the first limit position in the retracted state, the cleaning roller contacts 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 towards one side of the machine body. The first rack 14 pushes the mopping component outwards 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 Fig.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 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 towards the inside of the machine body. The first rack 14 contracts the mopping component inwards 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 Fig.16 shown) (such as Fig.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 Fig.16 as 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, step-by-step extension can also be achieved during the extension process. For the specific implementation, reference can be made to the above content and will not be elaborated here.

[0336] Further, if the cleaning robot is cleaning a carpeted floor, the cleaning robot will clean back and forth between the carpet area and the ordinary floor area multiple times. Then the cleaning robot will need to switch back and forth between the lifting state and the descending state multiple times. 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 carpeted floor from the ordinary floor, it needs to pause and wait, and only after completely switching to the lifting state can it walk onto the carpeted floor for cleaning. This will inevitably consume too much waiting time.

[0337] To avoid this problem, in an embodiment provided by 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 be simultaneously switched 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 carpeted floor or crosses an obstacle, it does not need to wait for too long. Even if the cleaning robot needs to cross the obstacle back and forth multiple times or go up and down the carpeted floor multiple times, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0338] 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. That is, the driving device 10 includes two power sources. Different from the Fig.41 structure shown above, it is realized by the second power source and the corresponding second action execution mechanism, the hoisting structure. See Fig.43As shown, the first power source, the slide rail 15, 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. 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 pull rope 65. That is, the third motor 61 is connected to the reel 64. The pull rope 65 is arranged on the reel 64.

[0339] 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 pull 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 photoelectric 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 sheet and a counting optocoupler to this assembly, step-by-step extension can also be achieved during the extension process. For the specific implementation, refer to the above content and will not be elaborated here.

[0340] The embodiments of the present application provide a solution for a single power source to achieve the telescoping and lifting of the mopping component, and also provide a solution for a dual power source to achieve the telescoping and lifting of the mopping component (i.e., one power source for telescoping and the other for lifting). Regardless of which implementation solution is adopted, a problem is faced: how to control each power source to enable the mopping component to telescope and lift at the appropriate time. For example, the mopping component extends outward 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 component 1 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 component 1 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 component. Whether the mopping 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 component 1 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, when the mopping component 1 is directly lifted in the extended state, it is very likely that the mopping component 1 will collide with an object during the lifting process. If the lifting action does not stop, it is very likely to damage the mopping component. That is to say, lifting the outward-swinging cleaning roller poses a great risk to the host. Therefore, at this time, the roller cannot participate in the cleaning function. Also, due to the length protruding from the projection of the host, the cleaning robot needs to intelligently control the actions of the mopping component according to the real-time detected environmental information at all times, which will inevitably increase the computational load 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 component 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 control component 2 in the embodiments of the present application. As described, the mopping component control solution includes:

[0341] S1. When it is determined that the mopping component needs to be lifted, obtain the current position of the mopping component;

[0342] S2. If the mopping component is in the first limit position, control the driving device to drive the mopping component to lift; if the mopping component is in the extended state, control the driving device to drive the mopping component to first retract to the first limit position and then lift.

[0343] When the mopping and washing assembly is in the extended state, the mopping and washing assembly can be located at any position between the first limit position and the second limit position, or at the second limit position.

[0344] 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.

[0345] 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 mechanism 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 body, they need to turn the body over with the bottom facing up before they can remove them, which results in a poor user experience.

[0346] 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, after the dirt collection box 442 works for a long time, if it is not cleaned, 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 still 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. If users need to turn the body over with the bottom facing up to remove them, it will not be very convenient.

[0347] 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 body, improving the disassembly convenience and meeting the ergonomic design. In addition, another embodiment of the present application provides a solution for easily disassembling the cleaning roller 42. The dirt collection box disassembly solution will be introduced sequentially below, and then the cleaning roller disassembly solution will be introduced.

[0348] See Figures 44a to 44f , 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 body. With reference to the forward direction of the body 1, the mopping and washing assembly 4 is exposed on the right side of the body. The dirt collection box 442 can be located in front of or behind the cleaning roller 42. See Fig.44b c to 44f, a release assembly is provided on the side of the dirt collection box corresponding to the exposed mopping and washing assembly. Users can see and touch the release assembly on the exposed side without turning over the body 1, and then operate the release assembly to remove the dirt collection box 442.

[0349] The release component has an operating handle; the operating handle is located at the bottom of the dirt collection box 442; during disassembly, 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; during installation, 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.

[0350] Specifically, as Fig.44b 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: in 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 elastic deformation of the elastic operating member 71 drives the fixing pin 72 to move, so that the fixing pin 72 is detached from the pin hole, and the dirt collection box 442 can be detached from the mopping bracket 73.

[0351] Such as Fig.44d 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 grasp 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).

[0352] More specifically, as Fig.44a , 44cWith reference to FIGS. 44f, the elastic operating member 71 may include: a release button and a release spring 712. Among them, the fixing pin 72 is provided with a sliding groove 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. The user can rotate the operating handle 711, and the rotating direction is downward around the rotating shaft 714, which is exactly the same as the direction in which the dirt collection box is removed. In this setting method, when the user holds the operating handle 711 with the hand and rotates the operating handle 711 downward around the rotating shaft 714 to a certain angle, the fixing pin 72 disengages from the pin hole, and the dirt collection box 442 can be detached from the mopping bracket 73. At this time, the dirt collection box rotates downward around the second end as the center. Since the user's hand has been holding the operating handle 711, on the one hand, it prevents the sudden drop of the dirt collection box, and on the other hand, it can naturally continue to hold the operating handle 711 and rotate downward, and then take out the dirt collection box 442.

[0353] In another embodiment, the release button may be a push-pull member that moves linearly. The abutting structure 713 of the release button is located in the sliding groove 722. A spring seat 4423 is provided at the first end of the dirt collection box 442, the release spring 712 is arranged in the spring seat 4423, one end of the fixing pin 72 is provided with a plug 721 adapted to the pin hole, and the other end is connected to the release spring 712. When the release button is a pulling member, the user can drive the fixing pin to act by pushing and pulling operations (such as pushing and pulling operations along the length direction of the fixing pin), so that the abutting structure drives the fixing pin to act by abutting against the sliding groove.

[0354] As Figure 44e 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 fixing pin 72 in the sliding groove. At this time, the plug 721 of the fixing 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 fixing pin 72 acts so that the fixing can enter the installation groove of the mopping bracket. After the dirt collection box 442 is installed in place, the position of the fixing pin 72 just corresponds to the position of the pin hole. Under the action of the elastic restoring force of the release spring, the fixing pin 72 moves, and the plug is inserted into the pin hole. At this time, the dirt collection box 442 is completely installed.

[0355] To ensure the installation stability of the dirt collection box 442, the release button is also provided with a locking structure, and the corresponding position of the dirt collection box 442 is provided with a locking cooperation structure. After the dirt collection box 442 is installed, the user can rotate the release button to make the locking structure cooperate with the locking cooperation structure to lock the position of the release button, so that the fixing pin 72 will not fall out of 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.

[0356] Further, referring to Figure 44f As shown, a filter assembly 543 is further provided in the dirt collection box 442. The filter assembly 543 is used to filter large particle dirt in the dirt entering the dirt collection box 442. As Figure 44f shown, the filter assembly 543 can be a filter element provided with a plurality of filter holes on it. The filter element can be placed and stabilized in the dirt collection box 442 through some cooperation structures. The filter element is also provided with a through hole, and the dirt collection pipe 542 can pass through the through hole from above the filter element and extend below the filter element to be close to the bottom of the dirt collection box 442. After the user removes the dirt collection box 442, the filter assembly 543 can be taken out of the dirt collection box 442 to clean the dirt collection box and the filter assembly respectively. One end of the filter assembly 543 is provided with a handle 5431 for the convenience of the user to pick up. When the user picks up the filter assembly 543, the user can pinch the handle 5431 with fingers to take out the filter assembly 543 from the dirt collection box 442. The handle 5431 can be a plate-like body with a certain bending arc.

[0357] In addition, a detection element 4425 is further provided in the dirt collection box 442. The detection element 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 element on the dirt collection box 442. The reason for setting this detection element 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, the cleaning robot can remind the user to install the dirt collection box by voice and / or display. If the sensing element and the detection element are not set, the cleaning robot may perform the cleaning task without a dirt collection box, and the dirt scraped from the cleaning roller may be discharged to the ground because the dirt cannot be collected in the front and the back during cleaning. Therefore, it is very necessary to set the sensing element and the detection element, and the machine can only be started to perform the cleaning task after the dirt collection box is installed on the body.

[0358] For the disassembly of the cleaning roller 42, referring to Fig.44aAs shown, the mopping and washing assembly 4 is in a retracted state, that is, the end of the mopping and washing 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 from the user's perspective looking at the cleaning robot, the user cannot see the mopping and washing assembly 4. If the user wants to disassemble the cleaning roller in the mopping and washing assembly 4, they need to squat down, tilt their head sideways to look at the position of the mopping and washing assembly 4 inside the body 1, and then manually remove the cleaning roller. During the disassembly process, the user may be blindly disassembling, and during installation, it is almost the same as blindly installing, and there is a high possibility of pinching the hand. Obviously, this solution of being able to disassemble the cleaning roller 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. Specifically,

[0359] An interaction device is provided on the body of the cleaning robot, and this interaction device can be a button, a touch screen, a voice interaction unit, etc. The user can trigger the mopping and washing assembly 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 assembly exposes outside the outer edge of the body 1. For example, when the user presses a button in the interaction device, after the control component 2 receives the operation signal triggered by this button, it controls the driving device 10 to drive the mopping and washing assembly 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 assembly is exposed. At this time, the user can disassemble the cleaning roller from the mopping and washing assembly 4. After the user cleans the cleaning roller or obtains a new replacement roller, the roller is then installed back onto the mopping and washing assembly 4.

[0360] See Figure 5 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 this 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 convex block, and the groove and the convex block are adapted; the convex block 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 convex block, etc. The present embodiment does not make specific limitations on this.

[0361] After the user triggers the mopping and washing assembly 4 to extend by means of a button, voice, or touch screen, such as Fig.12 As shown, the mopping and washing assembly 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, they can see the mopping and washing assembly and can also see the end of the cleaning roller 42. As Fig.12In the shown 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. During installation, since the mopping component is in the extended state, that is Fig.12 in the state shown, the user can also see the opening of the roller cavity of the mopping bracket. The user inserts one end of the cleaning roller through the opening. The end cap 420 of the cleaning roller contacts and engages with the first structure 430 on the mopping bracket, and the connection between the end cap 420 and the mopping bracket is completed. If the cleaning robot needs to perform a cleaning task after installation, the cleaning robot performs the cleaning task while maintaining the current extended state of the mopping component 4. If the cleaning robot needs to return to the base station after installation, the cleaning robot automatically retracts the mopping component 4 after detecting that the cleaning roller is installed; or, the user triggers the control component 2 of the cleaning robot through the interaction device to control the driving device to retract the mopping component.

[0362] Furthermore, the driving device 10 can also drive the mopping component to lift relative to the body. Correspondingly, when the cleaning roller needs to be disassembled, the driving device 10 drives the mopping component 4 to extend to expose the end cap of the cleaning roller 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 roller 42. Since there is a gap between the cleaning roller and the ground, it is easier to pull out the cleaning roller.

[0363] 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 roller 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 further includes a sensing system and a control component 2; the control component 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 control component 2, and the control component 2 controls the driving device 10 to start working to drive the mopping component 4 to retract to the first limit position.

[0364] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended 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 make the essence of the corresponding technical solutions 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: Body; Mopping and washing assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a decontamination mechanism; The cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the decontamination mechanism is used to scrape off the dirt on the cleaning unit; A driving device is arranged on the body and connected to the mopping and washing assembly; the driving device can 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 a part of the mopping and washing assembly is exposed; A control component is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing assembly to move to change the position of the mopping and washing assembly relative to the body.

2. The cleaning robot according to claim 1, characterized in that, The decontamination mechanism includes a scraping strip assembly and a dirt collection box; The scraping strip assembly is arranged above the dirt collection box, and one end of the scraping strip assembly is in interference contact with the cleaning unit for scraping off the dirt on the cleaning unit.

3. The cleaning robot according to claim 2, wherein, The scraping strip assembly includes a water guide plate for guiding the dirt scraped off from the cleaning unit into the dirt collection box.

4. The cleaning robot according to claim 2, characterized in that, The cleaning robot further includes a sewage tank, a sewage pipe and a sewage pump; One end of the sewage pipe is connected to the sewage tank, and the other end is communicated with the dirt collection box; The sewage pump is used to provide suction force to suck the dirt flowing down from the roller into the sewage tank.

5. The cleaning robot according to claim 4, characterized in that, The sewage pipe is a flexible sewage pipe and can move along with the mopping and washing assembly.

6. The cleaning robot according to any one of claims 1 to 5, characterized in that The driving device includes a power source and an action execution mechanism; The power access end of the action execution mechanism is connected to the power source; The mopping and washing assembly is floatingly connected to the power output end of the action execution mechanism. The mopping and washing assembly can move along the width direction of the body with the power output end and can also float up and down relative to the power output end.

7. The cleaning robot according to claim 6, characterized in that, The mopping and washing assembly has multiple gears; In different gears, the relative position of the mopping and washing assembly and the body is different; The body determines the target gear of the mopping and washing assembly according to the detected environmental information; and makes the mopping and washing assembly be in the target gear by controlling the driving device.

8. The cleaning robot according to any one of claims 1 to 5, characterized in that It further includes a fourth detection unit and a grating structure; The fourth detection unit is arranged on the body; The grating structure is linked with the mopping and washing assembly; When the mopping and washing assembly moves, the grating structure moves along with it, and the fourth detection unit determines the position where the mopping and washing assembly is located by detecting the grating structure.

9. The cleaning robot according to claim 8, characterized in that It further includes a first detection unit and a second detection unit; The first detection unit is used to detect the first limit position when the mopping and washing assembly is in the retracted state; The second detection unit is used to detect the second limit position when the mopping and washing assembly is in the extended state.

10. The cleaning robot according to any one of claims 1 to 5, characterized in that, The control component is further used to dynamically control the driving device according to the behavior information of the body to drive the mopping and washing assembly to lift.

11. A motion method for a cleaning robot, characterized in that, Applicable to the cleaning robot according to any one of claims 1 to 10 above, the method includes: Determine the behavior information of the cleaning robot; Dynamically control the driving device according to the behavior information, so that the driving device drives the mopping and washing assembly to move correspondingly following the behavior of the body, so as to change the position of the mopping and washing assembly relative to the body; Wherein, the mopping and washing assembly moves relative to the body along its own axis or in the vertical direction perpendicular to its own axis.

12. The method according to claim 11, wherein The behavior information includes the differential speed information of two driving wheels of the cleaning robot; And Dynamically controlling the driving device according to the behavior information includes: Dynamically control the driving device according to the differential speed information.

13. The method according to claim 12, wherein Dynamically controlling the driving device according to the differential speed information includes: When the differential speed information indicates that the behavior of the cleaning robot is turning to avoid an obstacle, determine the turning speed and turning radius of the cleaning robot according to the differential speed information; Determine the required movement amount of the mopping and washing assembly according to the turning radius; Determine the required movement speed of the mopping and washing assembly according to the turning radius and the turning speed; Control the driving device according to the movement speed and the required movement speed.

14. The method according to claim 13, wherein The movement amount corresponding to a larger turning radius is smaller than the movement amount corresponding to a smaller turning radius; The movement speed corresponding to a smaller turning radius and a higher turning speed is greater than the movement speed corresponding to a larger turning radius and a lower turning speed.

15. The method according to claim 11, characterized in that, Dynamically controlling the driving device according to the behavior information includes: Determine the movement amount and movement speed of the mopping and washing assembly according to the behavior information; Control the driving device according to the movement amount and the movement speed.

16. The method according to claim 15, wherein Determining the movement amount and movement speed of the mopping and washing assembly according to the behavior information includes: Determine the walking mode of the cleaning robot according to the behavior information; When the walking mode is the edge-following walking mode, determine the edge-following target object; Determine the movement amount according to the distance between the mopping and washing assembly and the target object; Determine the movement speed of the mopping and washing assembly according to the behavior information.

17. The method according to claim 16, wherein Determining the movement amount according to the distance between the mopping and washing assembly and the target object includes: Obtain a first distance between one end of the mopping and washing assembly close to the target object and the widest edge on one side of the cleaning robot; Obtain a second distance between the widest edge on one side of the cleaning robot and the target object; Determine the movement amount according to the first distance and the second distance; Wherein, the widest edge on one side is one of the relatively two side edges with the farthest spacing distance in the direction perpendicular to the walking direction of the cleaning robot and close to the target object side edge.

18. The method according to any one of claims 11 to 17, characterized in that, The mopping and washing assembly is a roller assembly; The mopping and washing assembly includes a cleaning unit and a dirt collection box, and the dirt collection box is used for collecting dirt drained from the cleaning unit; And the method further includes: When it is detected that the amount of dirt in the dirt collection box reaches the set amount, suck the dirt in the dirt collection box to the sewage tank on the cleaning robot; Or output a prompt message to prompt the user to clean the dirt in the dirt collection box.

19. A mopping and washing component, characterized in that, Including: A mopping bracket having a drum installation cavity with an opening facing downwards; A cleaning unit motor disposed in the drum installation cavity; A cleaning unit, connected to the cleaning unit motor, capable of contacting the surface to be cleaned through the opening; A liquid supply mechanism, disposed on the mopping bracket, for supplying cleaning liquid to the cleaning unit; A decontamination mechanism, disposed on the mopping bracket, for scraping off dirt on the cleaning unit; Wherein, a connection structure for connecting a driving device is provided on the mopping bracket, so that the mopping assembly can be driven to move by the driving device; The mopping assembly has multiple gears; In different gears, the relative positions of the mopping assembly and the body are different; The body determines the target gear of the mopping assembly according to the detected environmental information; and controls the driving device to make the mopping assembly in the target gear.

20. A motion method of a cleaning robot, characterized in that, Including: The control device controls the mopping assembly to be located at the second extreme working position, or at any position between the first extreme working position and the second extreme working position to perform a cleaning task. When the cleaning robot moves towards a target object, as the distance between the cleaning robot and the target object decreases, the control device controls the mopping assembly to move from the second extreme working position towards the first extreme working position until the mopping assembly is located at the first extreme working position.

21. A motion method of a cleaning robot, characterized in that, Including: The control component determines the current position of the mopping assembly based on the first counting scale on the grating structure recorded by the fourth detection unit; The control component determines the second counting scale corresponding to the expected extension distance of the mopping assembly according to the distance between the target object and the body, and controls the mopping assembly to move so that the fourth detection unit stays at the position of the second counting scale of the grating structure.

22. A cleaning robot, characterized in that, Including: A body; A mopping assembly, including a cleaning unit motor, a cleaning unit and a decontamination mechanism; The cleaning unit motor is connected to the cleaning unit, and the decontamination mechanism is used to scrape off dirt on the cleaning unit; A driving device, disposed on the body and connected to the mopping assembly; the driving device can drive the mopping assembly to extend out from at least one side of the body relative to the body along the width direction of the body so that a part of the mopping assembly is exposed; A control component, electrically connected to the driving device, for dynamically controlling the driving device according to the behavior information of the body, so that the driving device drives the mopping assembly to move relative to the body to change the position of the mopping assembly relative to the body.

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