Cleaning robot

Abstract

The embodiment of the invention provides a cleaning robot. The cleaning robot comprises a machine body; the driving device comprises a first power source and a sliding plate connected with the first power source; the sliding plate has a lifting part; the mopping assembly is connected with the sliding plate through the connecting assembly; when the first power source drives the sliding plate to move in the first direction, the sliding plate drives the mopping assembly to extend outwards; when the first power source drives the sliding plate to move in the second direction, the sliding plate drives the mopping assembly to retract inwards, after the mopping assembly moves to the limiting position and the position of the mopping assembly is limited, the connecting assembly climbs along the lifting part of the sliding plate, and the mopping assembly vertically moves upwards. According to the technical scheme, the first power source drives the sliding plate to act in different directions, so that the mopping assembly can be driven to extend outwards and be lifted, and the driving device is simple in structure. The internal space is saved, and the rationality of deployment of each component is improved.

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 more particularly to cleaning robots. Background Art

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

[0006] 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 achieve surrounding cleaning of obstacles. However, the extended part of the roller cannot be cleaned after it extends, and there is still a smearing problem similar to that of the rag tray, resulting in poor cleaning effect.

[0007] In addition, the rollers of some cleaning robots are also designed to be liftable. The roller can be lifted and retracted, and usually uses two power sources, with a complex structure and high cost. Summary of the Invention

[0008] In view of the above problems, this application proposes a cleaning robot 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] A driving device, the driving device includes a first power source and a sliding plate connected to the first power source; the sliding plate has a lifting part;

[0012] A mopping and washing assembly, the mopping and washing assembly is connected to the sliding plate through a connecting assembly;

[0013] When the first power source drives the sliding plate to move in a first direction, the sliding plate drives the mopping and washing assembly to extend outwards;

[0014] When the first power source drives the sliding plate to move in the second direction, the sliding plate drives the mopping assembly to retract inward. After the position of the mopping assembly is restricted when it moves to the limit position, the connecting assembly climbs along the lifting part of the sliding plate, and the mopping assembly moves vertically upward.

[0015] Optionally, the first power source is connected to the sliding plate through a gear-rack structure;

[0016] A first rack is provided on the sliding plate, and the lifting part is located at the end of the sliding plate;

[0017] The first power source is connected to a first gear, and the first gear meshes with the first rack;

[0018] A through hole is provided at the middle position of the lifting part;

[0019] The connecting assembly passes through the through hole, extends from below the sliding plate to above the sliding plate, and is located on one side of the lifting surface of the lifting part.

[0020] Optionally, the connecting assembly includes a connecting column and a slider;

[0021] One end of the connecting column is connected to the mopping assembly, and the other end extends from below the sliding plate through the through hole to the mopping assembly; the connecting column is suspended above the sliding plate through the slider.

[0022] Optionally, at least one slide rail for the sliding connection of the sliding plate is provided on the body, and the length of the slide rail is greater than the maximum stroke of the mopping assembly extending outward.

[0023] Optionally, a first baffle is provided on one side of the lifting surface of the lifting part, and the area between the first baffle and the lowest point of the lifting part is adapted to the size of the slider.

[0024] Optionally, the cross-sectional shape of the first baffle is "L", and the end surface below the "L" can be in contact with the connecting column.

[0025] Optionally, a sliding friction member is provided on one side of the slider, and the contact position of the sliding friction member with the lifting part is an arc structure.

[0026] Optionally, a first connection end is provided on the sliding plate, and a second connection end is provided on the slider;

[0027] An elastic member is connected between the first connection end and the second connection end.

[0028] Optionally, a horizontal hovering surface is provided at the top of the lifting part, and a second baffle is further provided on one side of the hovering surface.

[0029] Optionally, from the bottom to the top of the self-lifting part, the inclined surface of the lifting part includes at least a first slope surface and a second slope surface, and the inclination angle of the first slope surface is greater than that of the second slope surface.

[0030] Optionally, the body includes a cavity shell, and a slot hole is provided on the cavity shell, and the length of the slot hole is greater than or equal to the maximum stroke of the mopping assembly extending outwards.

[0031] Optionally, the body further includes a shell cover, which can be cooperatively connected above the cavity shell, and a protruding part is provided on the shell cover.

[0032] Optionally, a mating groove that can contact the second baffle is provided on the bottom surface of the shell cover.

[0033] Optionally, at least one detection unit is provided on the body for detecting the position information of the mopping assembly;

[0034] The body controls the driving device to work according to the position information.

[0035] Optionally, corresponding to the sliding plate being in the first position, the second position and the raised position relative to the body, a first detection unit, a second detection unit and a third detection unit are respectively provided on the body; a first trigger structure, a second trigger structure and a third trigger structure are provided on the sliding plate.

[0036] Optionally, a fourth detection unit is further provided on the body, and a fourth trigger structure is provided on the sliding plate. As the sliding plate moves, the position of the fourth trigger structure relative to the fourth detection unit changes to detect the sliding distance of the sliding plate.

[0037] In an embodiment of the present application, a cleaning robot is further provided, including:

[0038] A body having a drum accommodating cavity horizontally arranged along the width direction of the body;

[0039] A mopping assembly is arranged in the drum accommodating cavity, and the mopping 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 provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off the dirt on the cleaning unit;

[0040] A driving device is arranged on the body. Along the width direction of the body, the driving device can drive the mopping assembly relative to the body to extend from at least one side of the body so that part of the mopping assembly is exposed, and the driving device can also drive the mopping assembly to lift relative to the body;

[0041] Wherein, the drum accommodating cavity is provided with an opening near the edge of the body, and the drum accommodating cavity is provided with a cavity wall on the side opposite to the opening; when the mopping and washing assembly is retracted into the drum accommodating cavity and / or when the mopping and washing assembly is lifted or lowered relative to the body, the mopping and washing assembly abuts against the cavity wall; when the mopping and washing assembly needs to be swung outward, the mopping and washing assembly can extend outward from the opening.

[0042] In one embodiment of the present application, a cleaning robot is also provided, comprising:

[0043] Body;

[0044] A mopping and washing assembly, the mopping and washing assembly comprising 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 provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt on the cleaning unit;

[0045] A driving device is arranged on the machine body, and along the width direction of the machine body, the driving device can drive the mopping and washing assembly relative to the machine body to extend from at least one side of the machine body so that part of the mopping and washing assembly is exposed, and the driving device can also drive the mopping and washing assembly to rise and fall relative to the machine body;

[0046] Wherein, when the mopping and washing assembly is in a retracted state and an extended state, when the mopping and washing assembly is acted upon by an external force, the mopping and washing assembly can float up and down relative to the machine body along a vertical direction.

[0047] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly including the cleaning roller, the liquid supply mechanism, and the dirt removal mechanism can move relative to the cleaning robot body as a whole, ensuring that the dirt removal mechanism of the mopping and washing assembly can scrape off the dirt on the cleaning roller at any position, and the cleaning roller can be cleaned with running water at any position, realizing self-cleaning while working. When the cleaning roller is extended outward for edge cleaning, the cleaning roller will not be excessively dirty, and it can still have a good cleaning effect after a long period of cleaning, and the user experience is better. In addition, the solution provided in this embodiment eliminates a situation with a large risk. The mopping and washing assembly is retracted first and then lifted, which reduces the risk of collision during the lifting process of the mopping and washing assembly, and also eliminates the complex logic of the surrounding environment judgment. In addition, the solution provided in this embodiment provides a solution for realizing the extension and lifting of the mopping and washing assembly with a single power source, which has a simple structure and low cost. Because the structure is simplified, a lot of internal space can be saved, which is conducive to improving the rationality of the deployment of various components. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0049] Figure 1a And 1b shows the schematic diagrams of edge cleaning in two states where the drum does not extend and extends;

[0050] Figure 1c shows the schematic diagram where the bottom surface of the dirt collection box is higher than the bottom surface of the body;

[0051] Figure 2 is the schematic structural diagram of the cleaning robot provided by an embodiment of the present application;

[0052] Figure 3a is the internal schematic diagram of the cleaning robot provided by the embodiment of the present application after removing the upper cover;

[0053] Figure 3b is Figure 3a a partial view;

[0054] Figure 4 is the exploded schematic diagram of the structure of the cleaning robot provided by an embodiment of the present application;

[0055] Figure 5 is the exploded view of the mopping and washing assembly provided by an embodiment of the present application;

[0056] Figure 6 is the schematic diagram of the mopping and washing assembly provided by the embodiment of the present application arranged on the cavity shell;

[0057] Figure 7a is the external structural view of the mopping and washing assembly provided by the embodiment of the present application;

[0058] Figure 7b shows a specific implementation structural schematic diagram of the liquid supply mechanism in the embodiment of the present application;

[0059] Figure 8 is the bottom view of a mopping bracket provided by the embodiment of the present application;

[0060] Figure 9a is the exploded view of the mopping and washing assembly provided by an embodiment of the present application;

[0061] Figure 9b is the cross-sectional view of the mopping and washing assembly provided by an embodiment of the present application;

[0062] Fig.10aSchematic diagram of the edge cleaning state of a cleaning robot provided by an embodiment of the present application;

[0063] Fig.10b Schematic comparison diagram of two situations where the mopping and washing component extends and does not extend when the cleaning robot provided by an embodiment of the present application performs a cleaning task;

[0064] Fig.11 Schematic diagram of a mopping and washing component in a lifted state provided by an embodiment of the present application;

[0065] Fig.12 Schematic diagram of a mopping and washing component in an extended state provided by an embodiment of the present application;

[0066] Fig.13 Schematic diagram of the structure of a driving device provided by an embodiment of the present application;

[0067] Fig.14 Stereogram of an action execution mechanism provided by an embodiment of the present application;

[0068] Fig.15 Another perspective stereogram of an action execution mechanism provided by an embodiment of the present application;

[0069] Fig.16 Schematic diagram of the half-sectional structure of a mopping and washing component provided by an embodiment of the present application;

[0070] Fig.17 Schematic diagram of the partial structure of an action execution mechanism provided by an embodiment of the present application;

[0071] Fig.18 Schematic diagram of a slider structure provided by an embodiment of the present application;

[0072] Fig.19 Partial cross-sectional view of an action execution mechanism provided by an embodiment of the present application;

[0073] Fig.20a Partial cross-sectional view of the combination of a cavity shell and a housing cover provided by an embodiment of the present application;

[0074] Fig.20b Schematic diagram of the structure of a housing cover provided by an embodiment of the present application;

[0075] Fig.21 Schematic diagram of the setting positions of the grating structure and the fourth photoelectric switch in the cleaning robot provided by an embodiment of the present application;

[0076] Fig. 22 Schematic diagram of the structure of respectively setting a first connection end and a second connection end for connecting an elastic member on a sliding plate and a slider in an embodiment of the present application;

[0077] Fig.23 The structural schematic diagram shows a hovering surface provided at the top of the lifting part;

[0078] Fig.24 This is the structural schematic diagram of a mopping and washing assembly provided by an embodiment of the present application for lifting relative to the ground;

[0079] Fig.25 This is the front view of another mopping and washing assembly provided by an embodiment of the present application;

[0080] Fig.26 This is the cross-sectional view of another mopping and washing assembly provided by an embodiment of the present application;

[0081] Fig.27a This is the perspective view of another mopping and washing assembly in the initial state provided by an embodiment of the present application;

[0082] Figure 27b This is the front view of another mopping and washing assembly in the initial state provided by an embodiment of the present application;

[0083] Fig.27c This is the cross-sectional view of another mopping and washing assembly in the initial state provided by an embodiment of the present application;

[0084] Fig.28a This is the perspective view of another mopping and washing assembly in the lifted state provided by an embodiment of the present application;

[0085] Fig.28b This is the front view of another mopping and washing assembly in the lifted state provided by an embodiment of the present application;

[0086] Fig.28c This is the cross-sectional view of another mopping and washing assembly in the lifted state provided by an embodiment of the present application;

[0087] Fig.29a This is the perspective view of another mopping and washing assembly in the extended state provided by an embodiment of the present application;

[0088] Fig.29b This is the front view of another mopping and washing assembly in the extended state provided by an embodiment of the present application;

[0089] Fig.29c This is the cross-sectional view of another mopping and washing assembly in the extended state provided by an embodiment of the present application;

[0090] Fig.30 This is the perspective view of a mopping and washing bracket provided by an embodiment of the present application;

[0091] Fig.31 This is the three-dimensional structural diagram of a sliding plate provided by an embodiment of the present application;

[0092] Fig.32A three-dimensional structure diagram of a rotating bracket provided by an embodiment of the present application;

[0093] Fig.33 A three-dimensional structure diagram of a cavity shell corresponding to another mopping and washing component provided by an embodiment of the present application;

[0094] Fig.34 A cross-sectional view of a mopping and washing component provided by an embodiment of the present application;

[0095] Fig.35a A cross-sectional view of a mopping and washing bracket provided by an embodiment of the present application;

[0096] Fig.35b A schematic diagram of a bevel angle on the front side of a dirt collection box in a mopping and washing component provided by an embodiment of the present application;

[0097] Fig.35c A structural schematic diagram of a cleaning robot provided by an embodiment of the present application;

[0098] 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;

[0099] Fig.37 A cross-sectional view of another mopping and washing component provided by an embodiment of the present application;

[0100] Fig.38 Another perspective cross-sectional view of another mopping and washing component provided by an embodiment of the present application;

[0101] Fig.39a An exploded view of a scraper assembly provided by an embodiment of the present application;

[0102] Fig.39b A cross-sectional schematic diagram of a water guide plate provided by an embodiment of the present application;

[0103] Fig.39c A structural schematic diagram of an adaptive adjustment device provided on a cleaning robot provided by an embodiment of the present application;

[0104] Fig.40 A three-dimensional structure diagram of a scraper assembly provided by an embodiment of the present application;

[0105] Fig.41 A schematic diagram of an implementation structure of another driving device provided by an embodiment of the present application;

[0106] Fig.42 Shows in Fig.41 A schematic diagram of two states of the mopping and washing component rising and extending driven by the driving device of the shown structure;

[0107] Fig.43Schematic diagram of the implementation structure of another driving device provided by an embodiment of the present application;

[0108] 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;

[0109] Fig.44b Schematic diagram of the sewage collection box removed from the mopping and washing assembly provided by an embodiment of the present application;

[0110] Fig.44c Schematic diagram of the release component in the locked state provided by an embodiment of the present application;

[0111] Fig.44d Schematic diagram of the release component in the unlocked state provided by an embodiment of the present application;

[0112] Figure 44e Schematic diagram of the process of removing the sewage collection box provided by an embodiment of the present application;

[0113] Figure 44f Explosion diagram of the sewage collection box, release component and filter component provided by an embodiment of the present application. Detailed implementation manners

[0114] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present application, not to limit the present application. It should also be noted that, for the convenience of description, only some structures related to the present application are shown in the accompanying drawings, not all structures. In the description of the present application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present application can be understood in specific circumstances. In the present application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature can include the first and second features directly contacting, and can also include the first and second features not being in direct contact but contacting through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature. In the description of this embodiment, the terms "upper", "lower", "right", and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0115] Currently, many cleaning robots have round bodies, which are more flexible and easier to get out of trouble. When the cleaning robot is provided with both a dust collection brush 01 and a mopping roller 02 (cleaning roller), the dust collection brush 01 is generally located in front of the roller 02, so that the cleaning robot can first vacuum and then mop the floor while moving. Due to the round shape of the cleaning robot, in order to avoid obstacles and get out of trouble, the driving wheel is generally set at the maximum width position perpendicular to the forward direction, and the roller is generally placed on the rear side of the driving wheel, and the whole does not protrude from the projection of the round body on the ground. This causes the roller located at the rear of the body to be shorter, and the end of the roller is farther away from the outermost edge of the body in the width direction. Figure 1aAs shown in the figure. When the cleaning robot is cleaning along the wall or closet, etc., after maintaining the minimum safe distance from the wall or closet and other objects, the cleaning robot cannot reach the corner area with a larger dimension d from the object. To solve this problem, some cleaning robots are designed with a retractable roller structure.

[0116] To make the cleaning robot more comprehensive in function, some cleaning robots are designed with a retractable roller. The roller can be extended to clean along the wall or to clean around obstacles. However, after the roller is extended, although some robots can ensure the supply of clean water, the squeegee is still inside the body. That is, only the extended part of the roller can receive clean water, and the dirt remains on the roller all the time. The dirt cannot be scraped off, and the roller cannot be cleaned. There is still a problem of smearing similar to the mop plate, and the cleaning effect is poor.

[0117] As Figure 1b shown, the extension of the roller can make the roller reach the corner area, and the coverage rate is improved. However, when only the roller is extended, the roller will be attached with dirt during the cleaning process, and the roller will become dirtier and dirtier. The corner area (such as the area with a width d along the edge in Figure 1a ) cannot achieve good results, but will become dirtier and dirtier when being dragged.

[0118] To make the roller have a better cleaning effect after extension, it is necessary for the roller to be self-cleaned in time when it is in the extended state. When the roller brush contacts the ground for mopping, it can have a better cleaning degree and there will be no problem of smearing.

[0119] In the prior art, in order to perform edge cleaning or clean along an obstacle with a cleaning robot having a roller, there are solutions where a single roller or the roller and the liquid supply mechanism can extend accordingly. However, these robots only extend the roller when edge cleaning is required or when cleaning around an obstacle, and during most of the cleaning process, the roller is in the initial position within the projected area of the main body. For a floor sweeper with the initial position of the roller within the projected area of the main body, when performing edge cleaning or cleaning around a target, the robot controls the extension of the roller based on the distance threshold from the edge and the target. When an obstacle appears at the edge or the target position, the robot controls the roller to retract inward according to the distance threshold from the obstacle. That is, if the environment at the edge or the target position is complex and there are many obstacles, and the distance of the robot is between the distance threshold from the edge and the target and the distance threshold from the obstacle, the controller of the robot needs to continuously receive and calculate the thresholds and frequently perform actions of extension, retraction, and re-extension. This seriously wastes the computing power of the robot and at the same time affects the reliability of the extension and retraction driving device. In addition, for a cleaning robot that selects a roller as the mopping unit, there is a certain distance between the maximum width positions on 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 has only one blind spot. That is, if a robot with the roller in the extended state normally performs traversal, the coverage of the traversal blind spot will be simpler.

[0120] Each embodiment of the present application provides a cleaning robot. The cleaning unit of the cleaning robot is retractable and can ensure continuous supply of cleaning water at any position. The squeegee can also continuously act to scrape off the dirt on the cleaning unit, so that the cleaning unit can clean and self-clean while extending to any position. If the rag solution in the prior art: continuously supplying cleaning liquid to the rag, the rag cleaning the ground, and the rag not being 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., mopping the ground), there is continuously a 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. In this way, the cleaning unit can maintain a high level of cleanliness for a long time, and thus can improve the cleaning degree of the cleaning robot for the ground.

[0121] In each embodiment of the present application, the cleaning unit may be, but is not limited to, a cleaning roller, a track-type cleaning member, etc. Among them, the cleaning roller may be a cylindrical roller, that is, the surface of the cylindrical roller has cleaning bristles. The track-type cleaning member, also known as a track-type roller, includes two spaced-apart track wheels, and an annular track-shaped cleaning cloth is sleeved on the two track wheels. The outer surface of the track-shaped cleaning cloth has cleaning bristles. One side of the track-shaped cleaning cloth contacts the ground, and as the track wheels rotate, the track-shaped cleaning cloth will move relative to the ground, thereby realizing mopping the ground. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor may be 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 may be called a pulley motor, and the pulley motor drives the track to rotate to drive the track-shaped cleaning cloth to move to mop the ground.

[0122] 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.

[0123] See Figure 2 、 3a As shown in FIGS. 3 and 4, the cleaning robot includes, but is not limited to: a body 1, a vacuum cleaning system 3, a mopping system, a traveling system 8, a sensing system 640, a control system, and a side brush assembly 7. Among them, the vacuum cleaning system 3, the mopping system, the traveling system 8, the sensing system 640, and the control system are all provided on the body 1. As shown in FIG. 3, the vacuum cleaning system 3 may include, but is not limited to: a dust box 301, a vacuum fan 302, a roller brush (not shown in the figure), etc. The control system includes a hardware part and also includes a software part. The hardware part is like the main board 2, as Figure 4 shown. The main board assembly mentioned hereinafter can also be considered as the main board 2. The main board 2 may be provided with a processor, a storage medium (such as a memory), etc. The software part is a computer program stored in the storage medium. The processor executes these computer programs to control the various components of the cleaning robot, so that the cleaning robot has corresponding functions, such as map building, path planning, obstacle recognition, cleaning around obstacles, edge cleaning, returning to the base station and completing docking, area recognition, cleaning mode switching (only vacuuming, only mopping, or vacuuming first and then mopping), etc. The traveling system 8 may include driving wheels and a driving wheel motor; the driving motor outputs corresponding power under the control of the main board to drive the driving wheels to rotate, so as to realize the forward, backward, stop, and turning of the cleaning robot. Further, the traveling system 8 may further include a caster wheel, and the caster wheel is a follow-up wheel and may be arranged at the front of the body. The side brush assembly 7 may be one or two. As Figure 2In the illustrated example, a side brush assembly 7 is provided on one side (such as the right side) of the front portion of the body 1. If there are two side brush assemblies 7, the two side brush assemblies can be respectively arranged on both sides of the front portion of the body 1 (such as one on each of the left and right sides).

[0124] The mopping system may include but is not limited to: a clean water tank 5, a sewage tank 9, a mopping assembly 4, etc. As Figure 5 shown, the mopping assembly 4 may include but is not limited to: a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45, and a dirt removal mechanism 44. Among them, the roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is connected to the clean water tank 5 through a clean water pipe. The dirt removal 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 shown, along the width direction of the body 1, the driving device 10 can drive the mopping assembly 4 to extend out of the body 1 relative to the body 1, so that a part of the mopping assembly is exposed. Figure 6 In the reference coordinate system, the X direction is the width direction of the body; the Y direction is the traveling direction of the cleaning robot.

[0125] It should be added here that: from the components included in the mopping assembly 4, it can be seen that the mopping assembly 4 in this embodiment can mop the object to be cleaned (such as the ground), and at the same time can use its own liquid supply mechanism 45 and dirt removal mechanism 44 to achieve a self-cleaning function to maintain a good cleaning degree of the cleaning roller.

[0126] From the above content, it can be seen that in the solution provided by the embodiment of the present application, the driving device 10 can drive the entire mopping assembly 4 to move relative to the body to extend a part outside the body. That is to say, in any position of the mopping assembly 4, the liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller, the dirt removal mechanism 44 can scrape off the dirt on the cleaning roller 42, and the cleaning roller 42 can clean itself while working. When the cleaning roller 42 extends outwards for edge cleaning, the cleaning roller 42 will not be overly dirty, and it can still have a good cleaning effect after long-term cleaning, and the user experience is better.

[0127] In fact, the mopping and washing component 4 in this embodiment can also be in the extended state under normal conditions. For example, when the cleaning robot is started, the main board controls the driving device 10 to drive the mopping and washing component 4 to move relative to the body, so that a part extends from one side of the body 1 and is in the extended state. When the cleaning robot is performing a cleaning task and traversing the area to be cleaned, the mopping and washing component 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board controls the driving device 10 to drive the mopping and washing component 4 to retract so as to hide inside the body 1, which is convenient for obstacle avoidance or passing through a narrow space. When the cleaning roller 42 is in the extended state, the outer edge of the cleaning roller 42 can be flush with the widest edge of the body 1, or the outer edge of the cleaning roller 42 can extend beyond the widest edge of the body 1.

[0128] As Figure 5 shown in the example, the mopping and washing component 4 further includes a mopping and washing bracket 43; the mopping and washing bracket 43 has a roller mounting cavity with an opening facing downwards. The roller motor 41 and the cleaning roller 42 are arranged in the roller mounting cavity. The cleaning roller 42 contacts the surface to be cleaned through the opening; the liquid supply mechanism 45 and the dirt removal mechanism 44 are both arranged on the mopping and washing bracket 43; the power end of the driving device 10 is connected to the mopping and washing bracket 43.

[0129] Specifically, the mopping and washing bracket 43 has a first opening facing downwards and a second opening facing sideways. The lower part of the cleaning roller 42 passes through the first opening to contact the surface to be cleaned. The cleaning roller 42 can be detachably removed through the second opening, and the second opening and the position on the body 1 where the mopping and washing component extends are on the same side. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position on the body 1 where the mopping and washing component extends, and then can remove the cleaning roller 42 at the second opening. When installing, the cleaning roller 42 can be inserted through the second opening. After the end of the cleaning roller 42 is connected to the roller motor 41, the other end of the cleaning roller 42 is connected at the second opening. That is, the disassembly and assembly direction of the cleaning roller 42 is the direction of the cylinder axis.

[0130] See Figure 3a shown, a water tank 5 is provided on the body 1 of the cleaning robot. As Figure 7b shown, the mopping and washing bracket 43 has a roller bracket 421. The liquid supply mechanism 45 can be arranged on the roller bracket 421. Figure 7b Shows a realizable structure of the liquid supply mechanism 45. The liquid supply mechanism 45 includes a water distributor 452. The water distributor 452 has a main path, a plurality of branch paths and a plurality of liquid supply ports 453 (as Figure 8As shown in the figure). Multiple liquid supply ports 453 face the cleaning roller 42 and are distributed along the axial line of the cleaning roller 42. The main path of the water distributor 452 is connected to the clean water tank 5 through the first flexible pipe 443. One end of the first flexible pipe 443 is connected to the water supply port 451 of the main path, and the other end is connected to the clean water tank 5. The multiple branch paths are communicated with the main path, and the multiple liquid supply ports respectively correspond to the multiple branch paths.

[0131] 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 is higher than the bottom surface of the machine body 1 by m, such as 1 mm to 5 mm.

[0132] The disassembly and assembly direction of the cleaning roller 42 is along the axial line direction of the roller. The disassembly direction of the dirt collection box 442 can be different from that of the cleaning roller 42. For example, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42. Since the cleaning roller 42 and the dirt collection box 442 are both arranged on the first opening provided downward by the mopping bracket 43 and are relatively close, the inventor found that if the disassembly directions of the two are the same, the positioning devices of the cleaning roller 42 and the dirt collection box 442 may interfere with each other, and when 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 non-interference during disassembly. And with the downward disassembly method of the dirt collection box, the user only needs to lift the tail of the cleaning robot to see the dirt collection box and conveniently take it out downward, eliminating the risk of 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.

[0133] See Figure 3a , a sewage tank 9 is provided on the machine body 1. Correspondingly, as Figure 3b and Figure 9aIn an implementation solution shown, the scraping strip 441 has an avoidance hole 446, and a sewage collection pipe 542 is provided at the avoidance hole 446. One end of the sewage collection pipe 542 is communicated with the avoidance hole 446, and the other end is communicated with the sewage collection box 442. The sewage collection box 442 is communicated with the sewage tank 9 through a second flexible pipe 456. The dirt scraped from the cleaning roller 42 by the scraping strip 441 enters the sewage collection pipe 542 through the avoidance hole 446 and enters the sewage collection box 442 through the sewage collection pipe 542. In specific implementation, the sewage removal mechanism 44 may further include a sewage pump (not shown in the drawings), and the sewage pump is used to pump the dirt in the sewage collection box 442 into the sewage tank 9 through the second flexible pipe 456. Among them, the sewage pump can work regularly to pump away the dirt in the sewage collection box 442; it can also be started to work when the dirt volume in the sewage collection box 442 reaches a threshold value to pump away the dirt in the sewage collection box 442, and this embodiment does not limit this. As Figure 3b shown, the second flexible pipe 456 further includes a second end pipe 457. The length of the second end pipe 457 remains unchanged. One end of it is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0134] See Figure 3b 、 Figure 7a 、 Figure 8 and Figure 9a , in an embodiment provided by the present application, the clean water tank 5 is communicated with the liquid supply mechanism 45 through a first flexible pipe 443. The cleaning liquid stored in the clean water tank 5 can be transported to the liquid supply mechanism 45 through the first flexible pipe 443, and the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42. The sewage tank 9 is communicated with the sewage removal mechanism 44 through a 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 component 4 extends outwards, the first flexible pipe 443 and the second flexible pipe 456 will move together with the mopping component 4, and the bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually elongate. The first flexible pipe 443 always keeps the liquid supply mechanism 45 and the clean water tank 5 communicated, and the second flexible pipe 456 always keeps the sewage removal mechanism 44 and the sewage tank 9 communicated.

[0135] 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 out 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 from Figure 6It comes out upward from the empty space 03 therein to be connected to the clean water tank 5 and the sewage tank 9 on the body 1. Refer to 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 and washing 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 along with the movement of the mopping and washing assembly 4 to provide cleaning liquid for the cleaning roller 42 and can discharge the dirt in the dirt collection box 442 in real time.

[0136] To avoid bending, springs (not shown in FIGS. 9 and Fig.38 ) can be arranged on the outer sides of the first flexible pipe 443 and the second flexible pipe 456, so that there will be no bending blockage during the overall movement (lifting and / or telescoping) of the mopping and washing assembly 4, which affects 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 become shorter and / or bent. 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 the second flexible pipe 456 move along with it and gradually extend, so as to ensure that the connection of the pipes is not interrupted.

[0137] The cleaning robot provided by 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 to perform 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 arranged 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. In the width direction of the body 1, at least one end of the receiving cavity 101 is open.

[0138] It should be noted that Figure 1b the direction of the arrow X in

[0139] Figure 3a the example shown can be considered as the length direction of the mopping and washing assembly 4 or the width direction of the body 1. Figure 3aFrom this perspective, one end of the accommodation cavity 101 on the right side of the body 1 is open. The mopping and washing assembly 4 can extend out through the opening at the open end to expose a part outside the body 1. In a specific implementation, both ends of the accommodation cavity 101 are open. In this case, the mopping and washing assembly 4 can extend out from the opening on the right side of the body 1 or from the opening on the left side of the body 1. The cleaning robot can control the mopping and washing assembly 4 to extend out on the corresponding side according to the actual scenario requirements.

[0140] The extension of the mopping and washing assembly 4 can be driven by the driving device 10. When the mopping and washing assembly 4 extends outwards, as seen from the top view of the cleaning robot (as Fig.10a shown), the outermost edge of the mopping and washing assembly 4 extends outwards beyond the edge of the body 1. Therefore, when the body 1 of the cleaning robot maintains a safe distance from the edges of objects such as the edge of a wall or a piece 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, as in the Fig.10a state shown, to perform the cleaning task. In a specific embodiment, Fig.10a the dashed box E in the figure represents a schematic diagram of the mopping and washing assembly 4 in the retracted state (initial state), and the solid box F represents a schematic diagram of the mopping and washing assembly 4 extending outwards or swinging outwards. When the cleaning robot performs edge cleaning along the edge of an object, the edge of the body 1 of the cleaning robot maintains a safe distance from the edge of the object, and the distance that the mopping and washing assembly 4 extends outwards relative to the edge of the body 1 is D, and the value range of D is [10 mm to 0 mm], for example, 5 mm. Of course, in order to prevent the outer edge of the mopping and washing assembly 4 from directly colliding or scratching the edge of the object, there is also a safe distance between the outer edge of the mopping and washing assembly 4 and the edge of the object, and this safe distance is d, and the value range of d is [10 mm to 1 mm], for example, 2 mm. The moving stroke of the mopping and washing assembly 4 relative to the body 1 can be 40 - 60 mm, such as an extension stroke of 50 mm.

[0141] The driving device 10 can drive the mopping and washing assembly 4 to extend outwards from the lateral opening of the accommodation cavity 101. For the retraction of the mopping and washing assembly 4, it can be retracted under the drive of the driving device 10. Or, the retraction of the mopping and washing assembly 4 is not driven by the driving device 10, and it can be retracted through the cavity shell 46 (as Figure 6When the driving device 10 drives the mopping assembly 4 to extend outward, the elastic member provided between the cavity shell 46 and the mopping assembly 4 deforms (such as being compressed). When the mopping assembly 4 needs to retract, the driving device 10 is decoupled from the mopping assembly 4, and the mopping 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 retracting action of the mopping assembly 4 are both driven by the driving device 10. Here, it should be added that the cavity shell 46 can be understood as a part of the bottom wall of the base of the body 1 of the cleaning robot, and this part of the bottom wall forms the accommodating cavity 101. Or, a cavity shell 46 as shown in Figure 6 is provided on the base of the body 1.

[0142] The structure of the cleaning robot provided in the embodiments of the present application is briefly introduced above. Next, the structure of the mopping assembly 4 in the present application, the structure for realizing the telescopic function of the mopping assembly (that is, 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 assembly 4. The mopping assembly 4 can extend out 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 assembly 4 is exposed, so that the mopping assembly 4 can maintain a good cleaning degree by self-cleaning at any position. The telescopic function of the mopping assembly 4 will be described in detail below. There are various structures for realizing the telescopic function of the mopping assembly 4, which will be introduced one by one below.

[0143] 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 assembly 4.

[0144] The first power source 102 may include, but is not limited to: a first motor and a speed reducer. The first motion execution mechanism 103 may include, but is not limited to: a first gear 13 and a first rack 14. Specifically, in the initial position of the first motion execution mechanism 103, such as in the example shown in Fig.13 , 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 assembly 4 is in the initial state, that is, the state shown in Fig.11 . From the perspective of the overall cleaning robot, Fig.11 in this state, the mopping assembly 4 is hidden inside the body 1. When the mopping assembly 4 needs to extend, the first motor of the first power source 102 rotates forward (from Fig.13 Looking from an 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 the figure). Fig.12 The figure shows a schematic diagram of the mopping component 4 in the extended state. When the mopping component 4 needs to retract, the first motor of the first power source 102 reverses (from Fig.13 Looking from an 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).

[0145] 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, it can drive the sliding plate 20 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 component 4 to drive the mopping component 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.

[0146] As mentioned above, the sliding plate is arranged on the upper surface of the cavity shell 46. See Fig.16 , a connecting column 241 is provided on the mopping component 4, and the mopping component 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 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 component 4.

[0147] Furthermore, as Fig.20a and 20bAs shown, the body 1 includes a housing cover 47, which can be cooperatively connected above the cavity housing 46. When the housing cover 47 is cooperatively connected with the cavity housing 46, a hollow cavity is formed, and the driving device 10, i.e., the first power source 102 and the first motion execution mechanism 103, are located in this hollow cavity. The housing cover 47 can not only provide effective protection for the driving device 10 to prevent garbage and foreign objects from entering and affecting the normal operation of the driving device 10. In addition, a mating groove 471 is provided on the bottom surface of the housing 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 housing cover 47 can play a role in limiting the second baffle 26, effectively preventing the sliding plate 20 from moving upward or bulging.

[0148] In this embodiment, the mopping and washing assembly 4 can be telescopic relative to the body 1, and the mopping and washing assembly 4 can have a first limit position in the retracted state and a second limit position in the extended state. In addition, the mopping and washing assembly 4 can also stop at the first limit position and the second limit position to work at any position between the first limit position and the second limit position to adapt to various working scenarios. The main board 2 of the cleaning robot can determine the target position of the mopping and washing assembly 4 relative to the body based on the information detected by the sensing system 640; then control the driving device to drive the mopping and washing assembly to move to the target position. The main board 2 can realize the mopping and washing assembly 4 to stop and work at any position by controlling the driving device 10.

[0149] In order to further improve the control accuracy, multiple detection units are added in this embodiment to detect the position information of the mopping and washing assembly 4 relative to the body 1, facilitating the main board assembly of the cleaning robot to make corresponding controls. Such as Fig.13 In the example shown, multiple detection units can be arranged on the cavity housing 46. Multiple detection units can be respectively arranged at multiple positions within the stroke range of the mopping and washing assembly 4. For example, the first limit position in the retracted state, the second limit position in the extended state, and at least one intermediate position between the first limit position and the second limit position. The detection unit can include but is not limited to: photoelectric switch, microswitch, Hall element, etc. The multiple detection units can include a first detection unit and a second detection unit. The first detection unit can be located at the first limit position where the mopping and washing assembly 4 is in the retracted state, and the second detection unit can be located at the second limit position where the mopping and washing assembly 4 is in the extended state. Taking the detection unit as a photoelectric switch as an example, as Fig.13, on the cavity housing 46, there are provided: a first photoelectric switch 281 and a second photoelectric switch 282. These two photoelectric switches are respectively arranged at different positions on the cavity housing 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located at the first limit position when the mopping and washing assembly 4 is in the retracted state and the first limit position when it is in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be on the same side of the first motion execution mechanism 103, or on different sides. Of course, at least one photoelectric switch for detecting the intermediate position can also be provided between the first photoelectric switch 281 and the second photoelectric switch 282.

[0150] Correspondingly, the first motion execution mechanism 103 can be provided with a triggering structure. When the first photoelectric switch 281 and the second photoelectric switch 282 are on the same side of the first motion execution mechanism 103, only one triggering structure needs to be provided. If the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located on both sides of the first motion execution mechanism 103, then two triggering structures need to be provided on the first motion execution mechanism 103. As shown in FIG. 14, a first triggering structure 291 and a second triggering structure 292. More specifically, the first triggering structure 291 and the second triggering structure 292 can be arranged on the sliding plate in the first motion execution mechanism 103. When the mopping and washing assembly 4 is at the first limit position in the retracted state, the first triggering structure 291 triggers the first photoelectric switch 281. When the mopping and washing assembly 4 moves along Fig.13 the direction of arrow X in the figure to the second limit position in the extended state, the second triggering structure 292 can trigger the second photoelectric switch 282, indicating that the mopping and washing assembly 4 extends out to the farthest distance.

[0151] Although the second triggering structure 292 and the second photoelectric switch 282 can detect whether the mopping and washing assembly 4 reaches the second limit position in the extended state, and the main board assembly can control the first power source 102 to stop working based on the triggering signal of the second photoelectric switch 282 to make the mopping and washing assembly 4 stop at the second limit position. However, for the sake of safety, a limiting structure can also be provided on the cavity housing 46. When the sliding plate 20 slides to the second limit position, the first motion execution mechanism 103 abuts against the limiting structure (more specifically, the sliding plate of the first motion execution mechanism 103 abuts against the limiting structure).

[0152] As mentioned above, when the mopping and washing assembly 4 extends outwards, it has multiple gears. At different gears, the position of the mopping and washing assembly 4 relative to the body is different. Of course, it can also be said that at different gears, the distance that the mopping and washing assembly extends outwards is different. Refer to 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 trigger structure. Among them, the fourth detection unit may be a fourth photoelectric switch, a fourth microswitch or a fourth Hall element. Taking the fourth detection unit as the fourth photoelectric switch as an example and the fourth trigger structure as a grating structure. A fourth photoelectric switch 284 is further provided on the cavity housing 46, and a grating structure 294 is arranged on the first motion execution mechanism 103. The length of the grating structure 294 is equal to or less than the maximum stroke of the mopping assembly 4. When performing gear adjustment, the fourth 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.

[0153] The implementation process of the driving device 10 will be described in detail below in combination with the usage scenarios.

[0154] Scenario 1: When the cleaning robot performs a cleaning task, the mopping assembly extends. In case of special situations such as encountering an obstacle, the mopping assembly retracts

[0155] When the cleaning robot does not perform tasks, it docks at the base station for replenishment (charging and / or filling with clean water), sewage discharge (such as discharging the garbage in the dust box and / or the sewage in the sewage tank), self-cleaning (cleaning the cleaning roller), etc. The user can start the cleaning robot to perform a cleaning task by touching the controls on the base station, or operating the interactive device on the base station, or through the smart device APP, or the controls on the cleaning robot, etc. When the cleaning robot is in the base station, the mopping assembly is in a retracted state. When the cleaning robot drives out of the base station and detects that it has driven out of the base station, the main board assembly of the cleaning robot controls the driving device 10 to drive the mopping assembly to extend to a set position. This set position can be the second limit position in the extended state mentioned above, or a position between the first limit position in the retracted state and the second position in the extended state. This embodiment does not make a specific limitation on this. Then, the cleaning robot maintains the posture of the mopping assembly extending at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0156] During the cleaning process of the cleaning robot, when an obstacle is detected by the sensing system, the main board assembly controls the driving device 10 to drive the mopping assembly to retract a certain distance. The "certain distance" retracted here can be calculated by the main board assembly based on the information of the obstacle sensed by the sensing system; or, it is the distance for the mopping assembly to retract from the current extended state to the first limit position. After bypassing the obstacle, the main board assembly then controls the driving device to make the mopping assembly extend to continue the cleaning task.

[0157] It should be added here that special situations may include but are not limited to: the user instructs the mopping assembly to retract, passing through a narrow passage, etc.

[0158] Scenario 2: When the cleaning robot is performing a cleaning task, the mopping component is in a retracted state. When edge cleaning is required, the mopping component extends

[0159] The cleaning robot plans a cleaning path according to the map of the area to be cleaned. Assume that the cleaning path is to clean the open area first and then perform edge cleaning, such as cleaning along the wall, cabinet edge, etc. The mopping component of the cleaning robot is in a retracted state (such as the first limit position), and the open area is cleaned according to the zigzag travel path. After the open area is cleaned, the main board 2 of the cleaning robot controls the driving device to control the mopping component to extend (it can extend a set length or extend to the second limit position), and edge cleaning is performed according to the planned edge path. After the edge cleaning is completed, the cleaning robot retracts the mopping component (such as the first-level position), moves forward to the next area to be cleaned, or returns to the base station for replenishment, sewage discharge, self-cleaning, etc.

[0160] See Fig.16 As shown, the mopping component 4 is floatingly 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 floatingly arranged, it can float up and down according to the change of the ground when the mopping component travels on an uneven ground. The first motion execution mechanism 103 is connected to the mopping component 4 through the connection component 24. As 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. An installation hole is provided on the slider 242, and a screw enters the hole of the connection column 241 through the installation 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 a space for the mopping component 4 to float up and down.

[0161] In the above text, it is only mentioned that the driving device 10 can drive the mopping component 4 to move in the width direction of the body 1. In fact, in the technical solution provided in this embodiment, the mopping component 4 can not only move in the width direction of the body, but also move up and down. The mopping component moving in the width direction of the body and moving up and down can be respectively driven by two driving devices, or can be realized by only one driving device. That is, the driving device 10 can not only drive the mopping component 4 to move in the width direction of the body 1 in the accommodation cavity 101, but also move up and down.

[0162] The mopping and washing assembly 4 is floatingly connected to the cavity housing 46. Within a certain range, the mopping and washing assembly 4 can move up and down in the vertical direction within the accommodating cavity 101. The mopping and washing assembly 4 presses the cleaning roller 42 against the ground by its own gravity. When the cleaning roller on the mopping and washing assembly 4 encounters an uneven ground or a raised obstacle, the mopping and washing assembly 4 can float up and down relative to the body 1 of the cleaning robot along with the undulation of the ground. Whether the ground is flat or not, the mopping and washing assembly 4 always presses against the ground by its own gravity, with a relatively small and stable force on the ground, thus effectively avoiding an abrupt increase in the force of the mopping and washing assembly 4 on the ground due to the uneven terrain. For some soft-wood floor surfaces, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0163] It can be considered that at any position in the width direction of the body 1, the mopping and washing assembly 4 floats relative to the cavity housing 46. The mopping and washing assembly 4 floating relative to the cavity housing means that the mopping and washing assembly 4 floats relative to the body.

[0164] See Figures 13 to 22 , the driving device 10 can move in multiple directions to drive the mopping and washing assembly 4 to lift, lower, extend, and retract relative to the body 1. The driving device 10 includes a first power source 102 and a first motion execution mechanism 103. Specifically, when the first power source 102 outputs power in the first direction, it can drive the mopping and washing assembly 4 to move outward relative to the body 1 along the Fig.16 X1 direction in Fig.16 , and can also drive the mopping and washing assembly 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 the second direction, it can drive the mopping and washing assembly 4 to retract relative to the body 1 along the Fig.16 X2 direction in Fig.16 , and can also drive the mopping and washing assembly 4 to lower relative to the body 1 along the Fig.16 Z1 direction in

[0165] The first direction and the second direction are two different directions. For example, one of the first direction and the second direction can be the clockwise direction and the other can be the counterclockwise direction.

[0165] 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 and washing assembly 4 to extend; the first motion execution mechanism 103 moves along the Fig.16 X2 direction in

[0166] It should be noted that Fig.16The directions of arrows X1 and X2 can be regarded 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 regarded as the height direction of the mopping component or the height direction of the body 1.

[0167] 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 will introduce the driving device 10 provided by the present application in detail through more embodiments.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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, 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.

[0174] 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 the first slope surface 221 with a larger inclination angle, and then climbs the second slope surface 222. This technical solution is beneficial to the quick lifting of the mopping and washing assembly 4.

[0175] Further, 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. See again 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.

[0176] 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 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 the inclined surface. At this time, the mopping and washing assembly 4 will lift upward and at the same time complete the retraction action as the sliding plate 20 slides. It can be understood that in this state, when the mopping 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.

[0177] 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 set 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 portion 22, the elastic member will be stretched. The elastic force of the elastic member can be used to assist the slider 242 to descend from the top of the lifting portion 22. In addition, during the retraction process of the mopping and washing assembly 4, the pulling force provided by the elastic member can also keep the slider 242 in contact with the first baffle 25 all the time, so as to prevent the slider 242 from climbing up the inclined surface, and finally the mopping and washing assembly 4 will not be easily lifted when retracting.

[0178] 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 main board 2 can know that the mopping and washing assembly has been lifted and can control the power source, the liquid supply mechanism and the decontamination mechanism to stop working.

[0179] The first power source 102 drives the first gear 13 to rotate forward (such as clockwise or counterclockwise), the sliding plate moves to the right, and the sliding plate will contact the connection assembly 24 on the mopping and washing assembly 4 during the movement and drive the mopping and washing assembly 4 to extend out through the connection assembly 24. When the second photoelectric switch 282 is triggered, the first power source 102 stops rotating. At this time, the mopping and washing assembly is in a fully extended state and can perform edge cleaning on the edge of the object. When the mopping and washing assembly 4 completes the edge cleaning, the power source drives the first gear 13 to rotate in the reverse direction, the sliding plate moves to the left, and drives the mopping and washing assembly 4 to retract into the accommodating cavity 101 during the movement; when the first photoelectric switch 281 at the initial position (i.e., the first limit position) is triggered, the first power source 102 stops rotating, and at this time the mopping and washing assembly 4 is in a fully retracted state. Next, 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 lifting state. Subsequently, the first power source 102 rotates in the reverse direction, and the sliding plate moves to the left. The lifting portion 22 on the sliding plate gradually lifts 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 lifting 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.

[0180] 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 of extending, retracting, lifting, and lowering, meeting the use of the mopping and washing assembly 4 under various working conditions. The power source has low performance requirements, simple control logic, and lower production costs.

[0181] In the embodiment mentioned above, during the lifting process of the mopping and washing assembly 4, the sliding plate slides, and then the lifting part 22 on the sliding plate drives the slider 242 on the mopping and washing assembly 4 to move upward, so that the mopping and washing assembly 4 is lifted upward. The lifting process of the mopping and washing assembly 4 can be understood as the mopping and washing assembly 4 being lifted as a whole.

[0182] After the mopping and washing assembly 4 is lifted, the cleaning roller 42 can stop rotating, and the liquid supply mechanism 45 and the dirt removal mechanism 44 can both stop working.

[0183] The cleaning robot can lift the mopping and washing assembly 4 under the following circumstances, such as:

[0184] When the cleaning robot moves onto the carpet, it lifts the mopping and washing assembly 4;

[0185] When it needs to cross an obstacle, it can lift the mopping and washing assembly 4;

[0186] When the user instructs to lift the mopping and washing assembly 4;

[0187] When the cleaning robot is working in the floor sweeping mode, it lifts the mopping and washing assembly 4; and so on.

[0188] 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 shows a schematic structural diagram of the mopping and washing assembly 4 being lifted relative to the ground. Fig.24 In the figure, 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 the 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 respectively driving the mopping and washing assembly 4 to lift or extend outward. Specifically, when the sliding plate 20 moves to the right from the initial position relative to the base, the connecting component 24 contacts the side wall of the sliding plate 20, and the sliding plate 20 can drive the connecting component 24 to move to the right simultaneously, as Fig.24In the direction of arrow X, at this time, the mopping and washing assembly 4 extends to the right relative to the rotating bracket 31, and it can be considered that the mopping and washing assembly 4 switches from the retracted state to the extended state. When the sliding plate 20 moves leftward relative to the base from the initial position, the connecting assembly 24 contacts the inclined surface of the lifting part 22, and as the sliding plate 20 moves leftward, the connecting assembly 24 climbs up the inclined surface of the lifting part 22, and the connecting piece will simultaneously drive the rotating bracket 31 and the mopping and washing assembly 4 to rotate upward along Fig.24 the direction of arrow a in the figure. When the mopping and washing assembly 4 needs to be reset to the initial position, only by resetting the sliding plate 20 to the initial position in the reverse direction, the mopping and washing assembly 4 can be reset from the lifted state or the extended state to the initial state. Among them, the initial state can be: the mopping and washing assembly is in the retracted state and at a low position.

[0189] Based on the above principles of lifting and telescoping of the mopping and washing assembly 4, another driving device 10 provided by the present application will be described in detail below in combination with specific embodiments.

[0190] See Fig.24 、 Fig.25 and Fig.26 In an embodiment of the present application, a driving device 10 is provided. The driving device 10 includes: a first power source 102 and a first action execution mechanism 103. The first action execution mechanism 103 is arranged on the cavity shell 46, the first action execution mechanism 103 is movably connected to the cavity shell 46, and the mopping and washing assembly 4 is floatingly connected to the first action execution mechanism 103 through the connecting assembly 24. When the first power source 102 drives the first action execution mechanism 103 to act in different directions, the first action execution mechanism 103 can drive the mopping and washing assembly 4 to perform actions such as lifting, lowering, extending or retracting through the connecting assembly 24.

[0191] 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 first power source 102 outputs power to drive the sliding plate 20 to move relative to the cavity shell 46 along Fig.25 the directions of arrow X1 and arrow X2 in the figure. The cavity shell 46 is fixedly connected to the body 1, and the cavity shell 46 has a receiving cavity 101. The mopping and washing assembly 4 and the rotating bracket 31 are located in the receiving cavity 101. The mopping bracket 43 is rotatably connected to the cavity shell 46 or the body 1 through the rotating shaft 4131.

[0192] 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 by which the outermost edge of the mopping and washing assembly 4 extends relative to the body 1 is H2.

[0193] 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 figure. The rotating bracket 31 remains stationary, 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 (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 the figure. When it moves to the initial position, the roller bracket 421 completes the retraction.

[0194] Among them, the mopping bracket 43 may include the roller bracket 421.

[0195] 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 the figure. At this time, the rotating bracket 31 will be driven by the sliding plate 20 to rotate and swing upward around the rotation axis 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 the figure. When it moves to the initial position, the mopping bracket 43 completes the descent and returns to the initial state (as Fig.27a shown).

[0196] 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 is arranged in the accommodation cavity 101 and the other is arranged outside the accommodation cavity 101.

[0197] 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.

[0198] 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 cooperatively connected to the lead screw 17. When the lead screw 17 rotates, the nut slider 18 can slide horizontally along the axis direction of the lead screw 17.

[0199] As Fig.25 shown, the lead screw 17 is arranged along the length direction of the mopping component 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

[0200] ). Further, refer to Fig.25 and Fig.31 , in an embodiment provided by the present application, a driving part 214 is provided on the sliding plate 20. The driving part 214 extends outward from the plate surface of the sliding plate 20, and the end of the driving part 214 has a concave structure that cooperates with the lead screw 17. An activity opening 415 is also provided on the cavity shell 46. The driving part 214 on the sliding plate 20 can pass through the activity opening 415 and be connected to the nut slider 18. When the second motor 12 drives the lead screw 17 to rotate, the moving nut slider 18 can drive the driving part 214 to move together. In order to prevent the driving part 214 from interfering with the cavity shell 46 during the movement process, the length of the activity opening 415 is greater than or equal to the maximum distance that the mopping component 4 can extend.

[0201] Refer to Fig.25 and Fig.26 , the cavity shell 46 is arranged on the machine body 1, and it can be fixedly connected to the machine body 1, or the cavity shell 46 and the machine body 1 are of an integral structure. The rotating bracket 31 is rotationally connected to the machine body 1 or the cavity shell 46 through the rotating shaft 4131. The rotating bracket 31 is provided with a track groove 32, and the mopping bracket 43 is provided with a sliding part 33, and the sliding part 33 is connected and matched 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 connected and matched in the sliding groove. Specifically, the sliding part 33 is a slider. A ridge rib is arranged 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.

[0202] See Fig.26 , Fig.30 and Fig.32 , in a specific embodiment, a track groove 32 is arranged 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 arranged 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 shell 46 or the machine body 1 through the rotating shaft 4131.

[0203] See Fig.26 and Fig.30 , at least one connection component 24 is arranged on the mopping bracket 43. Specifically, the connection component 24 is a connecting rod 243, and the connecting rod 243 is arranged on the front side wall of the mopping bracket 43. Taking the example that two connecting rods 243 are arranged at intervals on the front side wall of the mopping bracket 43, along 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 component 4.

[0204] In addition to being able to drive the mopping component 4 to extend and retract relative to the machine body, the driving device provided by the embodiment of the present application can also drive the mopping component 4 to lift relative to the machine 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 arranged at the top of the slope. The limiting part 212 is arranged along the horizontal direction. The sliding plate 20 further includes a connecting buckle 213, and the connecting buckle 213 is used to connect to the cavity shell 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. When the power source drives the sliding plate 20 to slide, the connection buckle 213 will slide in the slot 414.

[0205] Further, referring to Fig.33 , in an embodiment provided by the present application, a guiding groove 416 is further provided on the cavity housing 46. The guiding groove 416 includes a first groove 4161, a second groove 4162, and a third groove 4163. Among them, the setting direction of the second groove 4162 is the same as the length direction of the cavity housing 46 (such as Fig.33 the arrow X direction in), the first groove 4161 and the third groove 4163 are respectively located at both ends of the second groove 4162, and both are communicated with the second groove 4162. The first groove 4161 and the third groove 4163 respectively extend in the vertical direction. It can be understood that the first groove 4161 and the third groove 4163 are respectively perpendicular to the second groove 4162.

[0206] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guiding groove 416. The sliding groove 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, the cleaning roller 42 is in contact with the ground), the connecting rod 243 is located at the leftmost end of the second groove 4162 and also at the bottommost end of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, since the connecting rod 243 cannot move leftward any further, the connecting rod 243 can only climb upward along the inclined surface of the lifting part 22. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top end of the first groove 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 groove 4162. As shown in Fig.29b , the connecting rod 243 is also located at the bottommost end of the third groove 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 groove 4162 is equal to the maximum distance that the mopping assembly 4 can extend.

[0207] 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, suppose 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, then the mopping component 4 will be severely impacted and it cannot adjust its height to adapt to the change of the ground. In the technical solution of the present application, referring to Figure 27b , in the initial state of the mopping 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, then 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, and it can also avoid excessive force between the mopping component 4 and the ground.

[0208] 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 caused by the collision between the mopping component 4 and the obstacle, in an embodiment of the present application, when the mopping component 4 is in the extended state and is subjected to an external force, the mopping component 4 can automatically retract into the accommodating cavity 101. Specifically, a resilience 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 in the retracted state), the resilience device is in a compressed state. When the mopping component 4 is in the extended state, the resilience 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 resilience device will be compressed.

[0209] In a specific implementation, the resilience device includes but is not limited to: springs, hydraulic cylinders, pneumatic cylinders, elastic blocks, etc. Taking the resilience device as a spring as an example, referring to Fig.30 , a cavity 34 is provided on the rib of the mopping bracket 43, and the spring can be arranged in the cavity 34. Referring to Fig.32 , an elastic member mounting seat 312 is provided in the track groove 32 of the rotating bracket 31. When the 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.

[0210] 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.

[0211] 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 the driving part 214 is in contact with the nut slider 18. As mentioned above, a spring-back device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping assembly 4 is in the initial state, the spring-back device is in a compressed state, and the direction of the elastic force of the spring-back device is 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, the sliding plate 20 can move to the right. When the mopping assembly 4 changes from the extended state to the retracted state, and when the mopping assembly 4 changes from the low position state (such as the state where the cleaning roller contacts the ground) to the lifting state, the sliding plate 20 always moves from right to left, and the moving direction of the sliding plate 20 is the same as 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.

[0212] 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 rotations 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.

[0213] For example, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates forward one hundred turns, the nut slider 18 moves to the first limit position. At this time, the distance that the mopping and washing assembly 4 extends is the largest (i.e., the second limit position in the extended state). After dividing these one hundred turns into ten parts, starting from the first position, every time the second motor 12 or the lead screw 17 rotates forward ten turns, it can represent that the mopping and washing assembly 4 switches to a gear. Similarly, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates backward twenty turns, the nut slider 18 moves to another limit position. At this time, the distance that the mopping and washing assembly 4 is lifted is the highest. Similarly, after dividing these twenty turns into five parts, starting from the first position, every time the second motor 12 or the lead screw 17 rotates backward four turns, it can represent that the mopping and washing assembly 4 is lifted by one gear. During the process of adjusting the lifting gear of the mopping and washing assembly 4, due to the self-locking function of the lead screw motor device, when the motor 12 stops rotating, the self-locking force can limit the displacement of the sliding plate 20, and the connecting rod 243 can also stay stably on the inclined surface of the lifting part 22, so as to ensure that the lifting gear of the mopping and washing assembly 4 remains unchanged.

[0214] In another embodiment provided by the present application, during gear adjustment, as mentioned above, multiple detection units can also be provided on the cavity housing 46, and different detection units can respectively detect whether the nut slider 18 or the sliding plate 20 is in the first position, different limit positions, and different positions corresponding to different gears.

[0215] The operation process of the mopping and washing assembly 4 will be described in detail below in combination with the usage scenario.

[0216] After the mopping and washing assembly 4 completes part of the cleaning task in the initial state (such as the first limit position in the retracted state and the cleaning roller 42 is in contact with the ground), it needs to switch to the extended state. Subsequently, the second motor 12 drives the lead screw 17 to rotate forward, and the nut slider 18 on the lead screw 17 moves to the right (see Fig.25In the perspective shown, under the action of the resilient 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 portion 214 on the sliding plate 20 will always be in contact with the nut slider 18. A counter may 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 main board 2 of the cleaning robot can calculate the position of the nut slider 18, and then determine the position of the mopping assembly 4. If the mopping assembly 4 has reached the second limit position in the extended state, the main board 2 controls the second motor 12 to stop working. The mopping assembly 4 is in the extended state, and the cleaning robot maintains the posture with the mopping assembly 4 in the extended state to perform the cleaning task.

[0217] After the mopping assembly 4 completes the tasks to be performed in the extended state, the main board 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, and the nut slider 18 moves to the left (see 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 main board 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 main board 2 controls the second motor 12 to stop working.

[0218] Next, when the cleaning robot recognizes a carpeted floor, in order to avoid secondary pollution, the mopping assembly 4 needs to be switched to the lifted state. The main board 2 controls the second motor 12 to drive the lead screw 17 to rotate in one direction, and the nut slider 18 moves to the left (refer to 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 portion 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 cleaning is completed, it drives out of the carpet area. If the cleaning robot still needs to continue to perform the cleaning task, the main board 2 can control the second motor 12 to drive the lead screw 17 to rotate in the other direction, and the sliding plate 20 moves to the right (see Fig.25 the perspective), and the mopping assembly descends.

[0219] Compared with a cleaning robot equipped with a cleaning cloth or a mopping turntable, the cleaning robot with the mopping and washing assembly provided in this embodiment has a better cleaning effect and higher cleaning efficiency. During the process of cleaning the ground, the cleaning roller can also perform self-cleaning 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 a better cleaning effect, but also has a longer cleaning endurance for the mopping and washing assembly 4. During a single cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning maintenance.

[0220] During the cleaning operation, the cleaning robot needs to face various cleaning environments. For example, tile floors, wooden floors, and carpet floors, etc. When cleaning a carpet floor, in order to prevent the wet cleaning roller from wetting the carpet, it is necessary to lift the cleaning roller at this time to avoid contact between the cleaning roller and the carpet. In addition, for some corner areas (such as the edges of walls and 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 the embodiment of the present application, the mopping and washing assembly 4 with the cleaning roller 42 can not only move up and down. When edge cleaning is required, the mopping and washing assembly 4 extends partially from one side of the cleaning robot, so that when avoiding the collision between the body of the cleaning robot and the wall or furniture, the mopping and washing assembly 4 can achieve edge cleaning.

[0221] When a cleaning robot cleans a dirty floor, in order to reduce the number of back-and-forth switches between the retracted state and the extended state, the mopping and washing component 4 on the cleaning robot preferentially uses the extended state for floor cleaning (i.e., normally extended or normally swung outwards). During obstacle avoidance, the mopping and washing component 4 on the cleaning robot retracts into the accommodation cavity 101, and after completing obstacle avoidance in the retracted state, it switches to the extended state. This working method can not only reduce the number of switches of the mopping and washing component 4 between the retracted state and the extended state, but also reduce the total time of the cleaning task. Specifically, first, when the mopping and washing component 4 is in the extended state, it can also complete the cleaning of the regular floor (non-corner floor). Since there are not only large wall corner areas on the household floor, but also corner areas of multiple scattered household objects. If the mopping and washing component 4 on the cleaning robot preferentially cleans in the retracted state, it is necessary to switch back and forth between the retracted state and the extended state, and during each state switch, 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 required for the cleaning robot to complete cleaning, but also increases the computational workload of the control calculation unit on the main board 2 for the motion algorithm. The working scenario of the cleaning robot is very complex. In order to achieve a better comprehensive coverage cleaning effect, the cleaning robot needs to detect and judge in real time whether it is necessary to extend the mopping and washing component 4. The environment is complex, and there are many conditions for the cleaning robot to judge, and it is impossible to list them all. Therefore, the cleaning robot cannot control the mopping and washing component 4 to extend in time every time it needs to extend.

[0222] Therefore, the solution provided in the embodiment of the present application is: instead of determining whether the cleaning robot needs to perform edge cleaning, directly adopt the mode in which the mopping and washing component 4 is in the extended state when performing the cleaning task. This solution eliminates the recognition of complex edge situations, and only retracts the mopping and washing component 4 in a few simple scenarios such as when encountering obstacles or turning. The control logic is simple, the design difficulty is not great, and it is easy to implement. In addition, see Fig.10b, in the left figure (G) of the drawing, the mopping and washing assembly 4 is shown in the first position (such as the first extreme position in the retracted state), and in the right figure (H), the mopping and washing assembly 4 is shown in the second position (such as the second extreme position in the extended state). The cleaning robot works according to the cleaning path shown in FIG. 10. It can be seen that when the mopping and washing assembly 4 is in the first position, the edge of the mopping and washing assembly 4 in the width direction is at a distance of L3 from the widest edge of the body 1. If the cleaning robot cleans according to the "bow-shaped" cleaning path shown in the drawing, 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 assembly 4. By adopting the scheme that the mopping and washing assembly 4 is normally extended, when the cleaning robot performs the cleaning task, the mopping and washing assembly 4 is extended. When cleaning according to the "bow-shaped" cleaning path shown in the drawing, since the outer edge of the mopping and washing assembly 4 is basically flush with the widest edge of the body 1, there will be no situation where the shaded area as shown in the left figure (G) cannot be cleaned after the cleaning robot finishes cleaning. Although the shaded area can be covered by adjusting the cleaning path of the cleaning robot so that the cleaning robot can cover the shaded area after turning around, it increases the complexity of software control. By adopting the scheme that the mopping and washing assembly 4 is normally extended as shown in the right figure (H), there is no need to consider the problem of covering the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0223] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0224] S11. When performing a cleaning task in an open area, the mopping and washing assembly 4 performs the cleaning task in the extended state;

[0225] S12. When it is detected that the surrounding environment determines that the mopping and washing assembly 4 needs to retract, the mopping and washing assembly 4 retracts, and the mopping and washing assembly 4 performs the cleaning task in the retracted state or the cleaning robot travels with the mopping and washing assembly 4 in the retracted state;

[0226] Wherein, in the extended state, the mopping and washing assembly 4 extends from one side of the body, and a part of the mopping and washing assembly 4 is exposed; in the retracted state, the outer edge of the mopping and washing assembly 4 is located inside the outer edge of the body, or a part of the outer edge of the mopping and washing assembly 4 is flush with the outer edge of the body.

[0227] Wherein, "detecting that the surrounding environment determines that the mopping and washing assembly needs to retract" in the above S12 may specifically include but is not limited to at least one of the following:

[0228] When it is detected that the cleaning robot needs to turn to avoid an obstacle, it is determined that the mopping and washing assembly 4 needs to retract;

[0229] When it is detected that the cleaning robot is in a narrow space and needs to escape, it is determined that the mopping and washing assembly 4 needs to retract;

[0230] When it is detected that the user issues a retraction instruction, it is determined that the mopping and washing component 4 needs to retract.

[0231] Furthermore, the method provided in this embodiment may further include:

[0232] When the mopping and washing component 4 performs a cleaning task in the extended state and it is detected that the surrounding environment determines that the mopping and washing component 4 needs to be lifted, after the mopping and washing component 4 retracts to the first limit position, the mopping and washing component 4 is lifted to have a gap with the ground.

[0233] When the mopping and washing component 4 is in the third position, the projection of the mopping and washing component 4 is within the projection of the body; when the mopping and washing component 4 is displaced to the fourth position, the edge of the mopping and washing component 4 extends outside the edge of the body, and the projection of the mopping and washing component 4 is within the projection of the body. In the general cleaning mode, the mopping and washing component 4 is in the fourth position; in the special cleaning mode, the mopping and washing component 4 is in the third position to walk along the edge of the obstacle. The main board 2 controls the driving device to enable the mopping and washing component to stop and work at any position. Among them, the mopping and washing component 4 has a first limit position in the retracted state and a second limit position in the extended state; the any position is the first limit position, or the second limit position, or any position between the first limit position and the second limit position; the third position is the first limit position or any position between the first limit position and the second limit position; the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0234] 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 and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

[0235] Among them, the behavior information of the body may include: traveling speed, traveling direction, turning radius when turning, acceleration, etc. For example, when turning quickly, control the driving device to quickly retract the extended mopping and washing component; or, when traveling in a straight line after turning, control the driving device to expand the retracted mopping and washing component again.

[0236] In addition, it should be supplemented that the drum motor in the mopping and washing assembly needs to have continuous current supply during the movement of the mopping and washing assembly. Therefore, a conductive groove assembly is further provided on the body of the cleaning robot in the embodiment of the present application. The conductive groove assembly 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 drum motor. When the mopping and washing assembly moves, the electricity connection member moves in the conductive groove to follow the mopping and washing assembly, so that the drum motor can maintain a power supply state while moving. The conductive groove assembly is not clearly shown in the accompanying drawings of the specification of the present application.

[0237] Next, the specific structure of the mopping and washing assembly 4 will be described in detail.

[0238] As Figure 5 shown in FIG. 7, Figure 8 and FIG. 9, in an embodiment provided by the present application, the decontamination mechanism 44 and the liquid supply mechanism 45 in the mopping and washing assembly 4 are respectively arranged on the mopping bracket 43, or are integrated with the mopping bracket 43. The scraping strip on the decontamination mechanism 44 can contact the cleaning drum 42, and scrape the sewage on the cleaning drum 42 clean during the rotation of the cleaning drum 42. Of course, the decontamination mechanism 44 does not simply scrape off the sewage, but also has the function of collecting sewage. After the scraping strip scrapes off the sewage, the sewage can directly enter the collection assembly. After the collection assembly filters the sewage, it can be transported to the sewage tank 9 through the pipeline connected to the decontamination water outlet 4410. In this embodiment, the mopping and washing assembly 4 includes a decontamination mechanism 44 and a liquid supply mechanism 45, that is, when the cleaning drum 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.

[0239] The liquid supply mechanism 45 can provide cleaning liquid for the cleaning drum 42. For example, when the cleaning drum 42 is dry, the liquid supply mechanism 45 evenly sprays clean water on the surface of the cleaning drum 42, and the cleaning drum 42 is fully wetted, and its cleaning ability will be significantly improved. For another example, when the cleaning drum 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 drum 42, and the cleaning solvent dissolves the stains, so as to facilitate the decontamination mechanism 44 to remove the stains on the cleaning drum 42 clean. For still another example, when the cleaning drum 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 drum 42. After dissolving the stains, the decontamination mechanism 44 can clean the stains and sewage clean, which is beneficial to quickly and efficiently self-clean the cleaning drum 42.

[0240] The liquid supply mechanism 45 can be integrated with the mopping bracket 43. As Figure 7bIn the illustrated example, a liquid supply inlet 451 is provided on the outer surface of the mopping bracket 43. The liquid supply 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 multiple outlets of the liquid supply mechanism 45. The water distribution path can evenly disperse the cleaning solution supplied from the liquid supply inlet 451 to multiple outlets, and then the multiple outlets can evenly sprinkle the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 has better dry-wet uniformity.

[0241] Furthermore, the liquid supply mechanism 45 further includes a liquid supply pump. The liquid supply pump is arranged on the first flexible pipeline 443. The liquid supply pump can generate a suction force to transport the cleaning liquid in the clean water tank 5 to the liquid supply mechanism 45.

[0242] 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 ground, and the mopping assembly 4 will always have a better cleaning effect.

[0243] See Fig.34 , the mopping bracket 43 has a roller installation cavity 51, and the cleaning roller 42 is arranged in the roller installation cavity 51. Specifically, the mopping assembly 4 further includes a roller motor 41. On one side of the roller installation cavity 51, there is a motor mounting seat. The roller motor 41 is arranged on the motor mounting seat. The cleaning roller 42 is sleeved outside the roller motor 41 and is drivingly connected to the roller motor 41. The roller motor 41 can drive the cleaning roller 42 to rotate, so as to realize the cleaning of the ground. The roller motor 41 and the cleaning roller 42 are both arranged in the roller installation cavity 51. The roller installation cavity 51 has an opening facing downwards and a lateral opening. The cleaning roller 42 can contact the ground through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning roller 42.

[0244] 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 roller installation cavity 51, and the decontamination mechanism 44 is located on the cavity wall of the roller installation cavity 51. The decontamination mechanism 44 includes a scraping strip assembly 53. The scraping strip assembly 53 extends towards the direction close to the cleaning roller 42 and inserts into the fluff of the cleaning roller 42. When the roller motor 41 drives the cleaning roller 42 to rotate, the scraping strip assembly 53 can scrape off the sewage and stains on the cleaning roller 42. The scraping strip assembly 53 includes a scraping strip 441.

[0245] 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 from the liquid supply ports 453 to the cleaning roller 42. The liquid supply mechanism 45 further includes a first flexible pipe 443, and the first flexible pipe 443 communicates with the clean water tank 5 and the liquid supply inlet 451.

[0246] Correspondingly, there are openings on the wall of the roller 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 roller 42 in the roller installation cavity 51 through the openings. Of course, the liquid supply mechanism 45 can also be directly arranged in the roller installation cavity 51. The liquid supply mechanism 45 is located above the cleaning roller 42 or directly in contact with the cleaning roller 42, and the liquid supply mechanism 45 can directly supply and sprinkle the cleaning liquid to the cleaning roller 42 through a plurality of liquid supply ports.

[0247] Fig.34 In the figure, the direction of arrow Y represents the width direction of the mopping assembly 4, and 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 In the figure, the direction of arrow Z represents the height direction of the mopping assembly 4; Fig.34 In the figure, the direction of arrow b represents the rotation direction of the cleaning roller 42 when the cleaning roller 42 is cleaning the ground. In an embodiment provided by the present application, along Fig.34 In the direction of arrow Y in the figure, 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 in the figure, the liquid supply mechanism 45 is located above the decontamination mechanism 44.

[0248] As the cleaning roller 42 rotates along Fig.34 In the direction of arrow b in the figure, the liquid supply mechanism 45 first supplies and sprinkles the cleaning liquid on 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, and then the liquid supply mechanism 45 supplies and sprinkles the cleaning liquid on the surface of the cleaning roller 42 again.

[0249] 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. Usually, in order to prevent the cleaning liquid from dripping onto the ground when the liquid supply mechanism 45 supplies and sprinkles the cleaning liquid to 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 different situations of water leakage to the ground will not occur.

[0250] Further, refer to Fig.34 , on the dirt removing mechanism 44, the squeegee assembly 53 is located above the center line J of the mopping assembly 4, and the straight line F where the contact angle between the end of the squeegee assembly 53 and the cleaning roller 42 is located generally passes through the center of the cleaning roller 42. It can be understood that the extending direction of a section at the front end of the squeegee 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 squeegee assembly 53 and the cleaning roller 42 is generally perpendicular. This can make the scraping effect of the squeegee assembly 53 on the cleaning roller 42 the best, the force exerted by the squeegee assembly 53 on the cleaning roller 42 is smaller, and the wear rate of the squeegee assembly 53 is also smaller.

[0251] See Fig.34 , in an embodiment provided by the present application, in the height direction of the mopping assembly 4, the liquid supply mechanism 45 is located above the cleaning roller 42. In the width direction of the mopping assembly 4, the dirt removing 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 dirt removing mechanism 44, and finally returns to the liquid supply mechanism 45, and the liquid supply mechanism 45 conveys the cleaning liquid to the surface of the cleaning roller 42 again.

[0252] Furthermore, along the first center line P in the vertical direction of the cleaning roller 42, the liquid supply mechanism 45 is located directly above the first center 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 where the liquid supply mechanism 45 is located and the first center line P is [-30 degrees to +30 degrees].

[0253] Furthermore, along the second center line J in the lateral direction of the cleaning roller 42, the dirt removing mechanism 44 is located above the second center line J, or the position where the dirt removing mechanism 44 is located is flush with the second center line J.

[0254] See Figure 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 removing 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, and the dirt removing 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 the arrow Y in the figure, a square accommodating inner cavity is provided on the left side of the cleaning roller 42, and the dirt removing mechanism 44 is arranged in the accommodating inner cavity.

[0255] Such as Fig.35bAs shown, the front bottom of the dirt collection box 442 may have an inclined angle as shown in the figure. In this way, when moving 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 moves onto the carpet, the carpet hair can enter the bottom of the machine body along the inclined angle.

[0256] Furthermore, as Fig.35c shown, the front bottom of the machine body 1 may also have an inclined angle 1005 as shown in the figure. Similarly, when moving 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 moves onto the carpet, the carpet hair can enter the bottom of the machine body along the inclined angle.

[0257] 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 between 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°.

[0258] The liquid supply port of the liquid supply mechanism 45 is directly an liquid outlet hole facing the cleaning roller. Generally, the liquid discharged from the liquid outlet hole has pressure. After the liquid with pressure comes out of the liquid outlet hole and spreads out, a part of it will be sprayed onto the cleaning roller, and some liquid will also splash onto the cavity wall. After the water droplets on the cavity wall condense into large water droplets, they will fall onto the cleaning roller 42 and also fall onto the ground along the cavity wall. This may result in insufficient cleaning liquid on the cleaning roller 42, and users may mistake the water droplets on the ground for water leakage. If the cleaning liquid on the cleaning roller 42 is insufficient, the roller cannot be fully wetted, and not only the effect of mopping cannot be achieved, but also the effect of self-cleaning 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.

[0259] Therefore, the embodiment of this application has improved the liquid supply mechanism. Specifically, one side surface of the corresponding inner cavity of the liquid supply mechanism 45 is an arc-shaped surface adapted to the inner cavity arc surface. Refer to Fig.35a and 35b shown, the arc-shaped 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-shaped water guiding surface 4531 for guiding the cleaning liquid onto the cleaning roller 42.

[0260] As Figure 8As shown, the liquid supply port 453 is arranged in an annular shape. In this way, the liquid ejected by the liquid supply mechanism 45 can flow along the arc surface, and the liquid is supplied 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 liquid outlet hole 4530. The liquid 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.

[0261] Along the liquid outflow direction, the inner ring wall of the liquid supply port 453 is a stepped structure with gradually increasing opening dimensions; the inner ring wall surfaces of each stepped section are all arc surfaces, which are used to guide the liquid flow to the cleaning roller 42. More specifically, as Fig.38 In the partial enlarged view in, the liquid supply port 453 is annular, and the center of the annular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is communicated 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 dimensions, 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 on 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 ring. The cleaning robot can also more accurately control the liquid supply volume of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a better dry-wet degree and a good mopping effect; also because the cleaning roller 42 has a better dry-wet degree, the self-cleaning of the cleaning roller 42 by the decontamination mechanism 44 has a better self-cleaning effect, which positively promotes the mopping effect.

[0262] 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 water guide surface is added at the liquid supply port 453 to guide the cleaning liquid to the cleaning roller; because of the arc water guide surface, the cleaning liquid provided by the liquid supply mechanism 45 can basically flow to the cleaning roller 42 without splashing everywhere else. The cleaning robot can also more accurately control the liquid supply volume of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a better dry-wet degree and a good mopping effect; also because the cleaning roller 42 has a better dry-wet degree, the self-cleaning of the cleaning roller 42 by the decontamination mechanism 44 has a better self-cleaning effect, which positively promotes the mopping effect.

[0263] Furthermore, as Fig.38As shown in the figure, a water wiping structure 80 is provided on the cavity wall of the mopping bracket facing the cleaning roller 42. The water wiping structure 80 is located on one side of the liquid supply port 453. If the squeegee 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 squeegee assembly is located on the rear side of the cleaning roller 42, then the water wiping structure 80 can be located on the front side of the liquid supply port.

[0264] 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.

[0265] 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 and sprays 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 squeegee assembly 53 on the cleaning roller 42 is also lower. In the technical solution provided in this 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.

[0266] In the technical solution provided in this 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.

[0267] See FIGS. 9, 34 to Fig.35a , in an embodiment provided in this application, the decontamination mechanism 44 further includes a sewage collection assembly 54, and the sewage collection assembly 54 is arranged below the squeegee assembly 53. When the squeegee 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.

[0268] 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 squeegee assembly 53. The sewage and stains scraped off by the squeegee assembly 53 can directly fall into the sewage collection box 442, and the sewage collection box 442 collects them. 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 assembly longer, as shown in Fig. 36, the mopping assembly can generally be set at a position with a distance G from the center O of the machine body. The left figure (E) in Fig. 36 shows the situation where the sewage collection box 442 is located on the front side of the cleaning roller 42, and the figure (F) shows the situation where the sewage collection box 442 is located on the rear side of the cleaning roller 42. It can be seen from this figure that when the mopping assembly 4 is in the extended state and working (the extended length of the mopping 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 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 lengths of the front edge and the rear edge of the cleaning roller 42 extending out of the machine body 1, that is, the lengths exposed outside the machine body 1. It can also be known that the area S1 of the cleaning roller 42 shown in the figure (E) exposed outside the machine body 1 is larger than the area S2 of the cleaning roller 42 shown in the figure (F) exposed outside the machine body 1.

[0269] The larger the area of the cleaning roller 42 exposed outside the machine body 1, the larger its cleaning coverage area, especially in the case of the cleaning robot turning, etc. The structure shown in the left figure (E) with the sewage collection box located on the front side of the cleaning roller 42, when the mopping assembly 4 is working in the extended state, has a large cleaning coverage area, and the cleaning blind area is smaller than the structure shown in the right figure (F) with the sewage collection box located on the rear side of 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’), the sewage collection box 442 is located on the front side of the cleaning roller 42, and the distance from the cleaning roller 42 to the wall or the edge of the obstacle is D3. In the right figure (F’), the sewage collection box 442 is located on the rear side of the cleaning roller 42, and the distance from the cleaning roller 42 to the wall or the obstacle is D4. It can be clearly seen that D3 is less than D4, that is, the distance from the cleaning roller in the scheme of the left figure (E’) to the wall or the obstacle is closer, which means that for the cleaning with the cleaning roller 42 at the rear, its cleaning coverage area is larger and the cleaning blind area is smaller.

[0270] One end of the sewage collection pipe 542 is arranged in the sewage 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 sewage collection box 442 into the sewage tank 9. See Fig.35aAs shown, the direction indicated by the arrow in the figure is the flow path of the sewage scraped off by the scraping strip assembly 53 into the sewage collection box 442 and being pumped away by the sewage collection pipe 542. In order to be able to timely suck the sewage in the sewage collection box 442 into the sewage tank 9, a water pump and pipelines can be provided on the sewage collection pipe 542, or alternatively, an air pump and pipelines are connected to the sewage tank 9. The air pump can provide negative pressure for the sewage tank 9. Under the action of the negative pressure, the sewage in the sewage collection box 442 can be sucked into the sewage tank 9 through the pipelines. Refer to Figure 9a and Figure 9b , in a specific embodiment, the decontamination mechanism 44 further includes a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 through pipelines or directly. When the negative pressure pump works, it can pump negative pressure into the sewage tank 9. The valve body 545 is arranged on the sewage collection pipe 542 and can be used to control the on-off of the sewage collection pipe 542. First, the negative pressure pump can pump negative pressure into the sewage tank 9, and then the valve body 545 is opened. The negative pressure in the sewage tank 9 can suck the sewage in the sewage collection box 442 into the sewage tank 9 through the second flexible pipeline 456.

[0271] Refer to Figure 9a and Figure 9b , in an embodiment provided by the present application, the mopping and washing assembly 4 further includes a joint assembly 455. The joint assembly 455 includes a clean water pipe joint and a sewage pipe joint. The clean water pipe joint can be regarded as the liquid supply water inlet 451 mentioned above, and the sewage pipe joint can be regarded as the decontamination water outlet 4410 mentioned above. One end of the clean water pipe joint is used to connect the first flexible pipeline 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 pipeline 447. One end of the sewage pipe joint is used to connect the second flexible pipeline 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 pipeline 546. The transverse pipeline 546 is a pipeline with a fixed length, and this transverse pipeline 546 can also be a flexible pipeline. As Figure 9b shown, along the length direction of the mopping and washing assembly 4, through the first pipeline 447 and the transverse pipeline 546, the joint assembly 455 can be biased to one side of the mopping and washing assembly 4, so as to more conveniently connect the first flexible pipeline 443 and the second flexible pipeline 456 to the joint assembly 455. Just imagine, if there were no the first pipeline 447, the transverse pipeline 546 and the joint assembly 455, then the first flexible pipeline 443 and the second flexible pipeline 456 would 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 would not only require longer first flexible pipeline 443 and second flexible pipeline 456, but also make it difficult to effectively utilize the space above the mopping and washing assembly 4. Figure 7aAs shown in the figure, the interface of the flexible clean water pipe and the flexible sewage pipe, that is, the joint assembly 455, includes a liquid supply inlet 451 and a decontamination outlet 4410, both of which are 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.

[0272] Currently, for some cleaning devices, the rotation direction of the cleaning roller 42 is the same as that of the device driving wheel. Although this can assist the device in moving forward and reduce energy consumption, the collaborative working process of the cleaning roller 42, the scraping strip assembly 53, and the liquid supply mechanism 45 becomes: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the scraping strip assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. There are also some cleaning devices where the rotation direction of the cleaning roller 42 is opposite to that of the device driving wheel, but the sewage collection box 442 and the scraping strip are arranged behind the roller. At this time, the collaborative working process of the cleaning roller 42, the scraping strip assembly 53, and the liquid supply mechanism 45 is also: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the scraping strip assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. It can be seen that for current such cleaning devices, the clean water is immediately scraped off after being replenished, and it is not very reasonable for the cleaning roller 42 to clean the ground afterwards. The scraped liquid contains the freshly replenished clean water, and this part of the clean water is recycled without participating in the cleaning.

[0273] At the same time, since the cleaning roller of the mopping component of the cleaning robot does not have suction, in order to improve the cleaning effect, when the rotation direction of the roller is opposite to that of the device driving wheel, the roller can push the dirt forward, and 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.

[0274] When the existing cleaning roller 42 of the cleaning robot performs a cleaning task, first, a water replenishment step is carried out, that is, the liquid supply mechanism 45 transports the cleaning liquid to the surface of the cleaning roller 42, then the decontamination mechanism 44 scrapes the dirt on the surface of the cleaning roller 42, and finally the cleaning roller 42 cleans the ground. There are mainly three problems in this execution step;

[0275] First, immediately after the liquid supply mechanism 45 replenishes water, the decontamination mechanism 44 scrapes the mixture of clean water and sewage. The stains on the surface of the cleaning roller 42 may not have been completely dissolved in the clean water, so most of the scraped is clean water rather than sewage, resulting in incomplete self-cleaning.

[0276] Second, after the decontamination mechanism 44 scrapes off the sewage on the surface of the cleaning roller 42, due to the action of the scraping strip, the water content of the roller before and after scraping decreases by 90%. As the water content of the cleaning roller 42 decreases, the cleaning power of the cleaning roller 42 on the ground will also decrease.

[0277] Third, after the scraping strip of the cleaning robot wipes off the water, when the relatively dry roller scrubs the dirt on the ground, it still needs to rotate 180° before entering the water replenishing position. At this time, the dirt stuck on the overly dry roller is easily thrown out during the relatively long rotation process and finally falls to the ground, resulting in poor cleaning effect.

[0278] However, the technical solution provided by the embodiment of the present application is different from some of the above-mentioned cleaning devices. In the solution provided by the embodiment of the present application, the cleaning roller 42 rotates in the reverse direction (i.e., opposite to the rotation direction of the driving wheel), the scraping strip assembly 53 is located on the front side of the cleaning roller 42, and the liquid supply mechanism 45 is located above the cleaning roller 42. In this way, the cooperation process of the cleaning roller 42, the scraping strip assembly 53 and the liquid supply mechanism 45 is as follows: the cleaning roller 42 replenishes water through the liquid supply mechanism 45 -> the cleaning roller cleans the ground -> the scraping strip assembly 53 scrapes off the liquid on the cleaning roller 42. It can be seen that the solution provided by this embodiment is more reasonable. The freshly replenished clean water directly participates in the ground cleaning without being affected by the water scraping action of the scraping strip. At this time, the evenly wet scraping strip has a better wiping and adsorption effect on the ground dirt, especially stubborn dirt. Then the roller rotates a small angle (usually only about 90°), and then is scraped off by the scraping strip. The dirt is not easily thrown out, and at this time, most of the scraped-off is sewage, and the clean water is fully utilized. Specifically, during the rotation of the cleaning roller 42, the liquid supply mechanism 45 supplies cleaning liquid to a region of the cleaning roller 42, and the region infiltrated with the cleaning liquid cleans the surface to be cleaned. Subsequently, the decontamination mechanism 44 acts on the region to scrape off the dirt and collect it, and the region after scraping off the dirt enters the liquid supply range of the liquid supply mechanism 45 again. It can be understood that when the cleaning roller 42 cleans the ground, it first performs the water replenishing step, the surface of the cleaning roller 42 is fully wetted, and the water content of the cleaning roller 42 is also more. Subsequently, the cleaning roller 42 cleans the ground again. At this time, the cleaning power of the cleaning roller 42 on the ground is stronger, and it can also dissolve more stains. Finally, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning roller 42, and then the liquid supply mechanism 45 replenishes the liquid again, and this process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism 45 and the decontamination efficiency of the decontamination mechanism 44 are higher during the whole process, the cleaning roller 42 uses less cleaning liquid during the self-cleaning process, and at the same time, the amount of sewage generated is also less, and the cleaning endurance time of the cleaning robot will be significantly improved.

[0279] To prevent the sewage from leaking out during the water scraping process of the scraping strip assembly 53, the length of the sewage collection box 442 is greater than or equal to the length of the scraping strip assembly 53. Refer to Fig.35a , from the setting direction of the scraping strip assembly 53, the setting direction of the sewage collection box 442 is substantially perpendicular to the setting direction of the scraping strip assembly 53. In this way, the sewage and stains scraped off by the scraping strip assembly 53 can directly fall into the sewage collection box 442 and are not likely to leak out. In addition, to ensure that all the sewage scraped off by the scraping strip assembly 53 can enter the sewage collection box 442, the end of the scraping strip assembly 53 is located in the sewage collection box 442. In this way, the sewage scraped off by the scraping strip assembly 53 can directly enter the sewage collection box 442 along the end of the scraping strip assembly 53.

[0280] When the scraping strip assembly 53 scrapes the sewage on the cleaning roller 42, it is very easy to scrape the stains attached to the cleaning roller 42 into the sewage collection box 442 at the same time. When the sewage collection pipe 542 sucks the sewage, it may be blocked by these stains. To avoid this situation, refer to Fig.37 and Fig.38 , in an embodiment provided by the present application, the decontamination mechanism 44 further includes a filtering component 543. The filtering component 543 is arranged in the sewage collection box 442. After the sewage scraped off by the scraping strip assembly 53 enters the sewage collection box 442, it is first filtered by the filtering component 543 and then enters below the sewage collection box 442, and then can be collected into the sewage tank through the sewage collection pipe 542.

[0281] To facilitate the cleaning of the sewage collection box 442, the sewage collection box 442 can be detached from the mopping component 4 for cleaning, and the filtering component 543 in the sewage collection box 442 can also be detached for cleaning. During the disassembly process, first, the mopping component 4 is switched to the extended state, then the cleaning roller 42 is detached from the lateral opening of the mopping bracket 43, and finally, the sewage collection box 442 can be detached from the roller installation cavity 51. Refer to Figure 9b As shown, the sewage collection box 442 has a V-shaped bottom surface, that is, along the axis direction of the cleaning roller, both ends of the bottom surface of the sewage collection box 442 are high and the middle is low. The low point of the V-shaped bottom surface is matched with the pipe orifice of the sewage collection pipe 542 to communicate with the sewage collection pipe 542.

[0282] To avoid bending, springs (not shown in both Fig. 9 and Fig. 38) can be provided on the outer sides of the second flexible pipe 456 and the first flexible pipe 443. In this way, when the mopping component moves as a whole (lifts and / or extends), there will be no bending to affect sewage discharge and liquid supply.

[0283] 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 can 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 the water guide plate 532 guides it 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 formed on the surface of the water guide plate 532 after it is connected to the squeegee 531.

[0284] 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.

[0285] 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 divert the sewage into the sewage collection box 442, see 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. See Fig.39a , the water guide groove 5321 can be a through groove (i.e., the groove opening is 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 groove 5321 is closed for convenient drainage. The tail of the water guide groove 5321 is located at the opening of the sewage collection box. See Fig.39bAs shown, the lower surface of the water guide plate 532 is an upwardly arched arc surface, which is the water guide surface 5322. Since the scraping plate 531 itself is bent downward, the water moves upward along the arc surface of the water guide groove 5321 by the centrifugal force of the drum to overcome its own gravity. The best scraping effect is achieved 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 arc surface. The water guide surface 5322 has two arc surfaces; from the water guide to the drainage direction of the water guide surface 5322, the curvature of the corresponding arc of the 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.

[0286] 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, and the drum contacts the scraping strip from bottom to top when rotating; 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.

[0287] 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.

[0288] 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 stiffness and better wear resistance; while the water guide plate 532 is made of a plastic material, which is convenient for processing, and complex water guide grooves 5321 can be processed on its surface by injection molding or stamping, and the cost is lower.

[0289] The surface of the cleaning drum 42 has fluff, and the fluff materials and / or lengths of different models will be different. In the following several cases, 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:

[0290] Replace the cleaning roller 42 with different models; or

[0291] Position deviation of the cleaning roller 42 caused by some factors during long-term operation; or

[0292] Villus loss of the cleaning roller 42 during long-term operation, etc.

[0293] Participate Fig.34 and Fig.35a As shown, when the cleaning roller 42 rotates in the direction of arrow b, the scraping strip assembly 53 will receive a force in the direction of arrow T. If this force is too large due to too close a 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 swing assembly. The scraping strip assembly 53 is connected to the mopping bracket 43 through the swing assembly. The scraping strip assembly 53 can adaptively adjust its pose through the swing assembly to have a more suitable positional relationship with the cleaning roller 42 and can continuously act on the cleaning roller 42 to scrape off the dirt thereon. As shown in the figure, the swing assembly 500 includes a swing seat 534. A connection hole 5342 is provided on the swing seat 534. The swing seat 534 is connected to the mopping bracket 43 through a swing shaft 535. Further, an installation hole 5341 is provided on the swing seat 534. An elastic member 536 is arranged in the installation hole 5341. One end of the elastic member 536 is connected to the swing seat 534, and the other end is in contact with the installation shell 4211 of the mopping bracket 43. The elastic member 536 can make the contact force between the 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 swing shaft 535, thereby increasing the distance between the end of the scraping plate 531 and the cleaning roller 42, and 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 swing shaft 535, and the end of the scraping plate 531 will move upward along Fig.35a the direction of arrow T in, then the acting force between the scraping plate 531 and the cleaning roller 42 will become smaller, so as to realize the adaptive adjustment of the scraping strip assembly 53 and avoid damage due to excessive force. Another example is that if the cleaning roller 42 has some position deviations due to long-term operation, the swing assembly will act adaptively to keep a suitable positional relationship between the scraping strip assembly 53 and the cleaning roller 42, and there is a suitable (neither too large nor too small) mutual acting force between the two, and the scraping strip assembly can continuously act on the cleaning roller to scrape off the dirt thereon.

[0294] It should be added here that: the swing assembly 500 can be an integral structure with the scraping strip assembly 53, or the swing assembly and the scraping strip assembly are two components connected together by a connection method.

[0295] 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 swing 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 swing assembly 500 so as 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.

[0296] 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.

[0297] 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 squeegee inserts into the cleaning roller by at least 1-2 mm. The biasing assembly includes a swing seat and an elastic member. The squeegee assembly is rotatably mounted on the mopping assembly or the body through the swing seat.

[0298] 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. Such as Fig.41As shown, the drive device 10 includes a first power source and a second power source. Among them, the first power source may include a first motor 60. The second power source includes a third motor 61. In specific implementation, both the first motor 60 and the third motor 61 can be connected to a speed reducer at the output end to output power outward through the speed reducer. Among them, the first power source is used to drive the telescoping of the mopping and washing assembly, and its corresponding first action execution mechanism 103 is the same as the structure mentioned in the above embodiments, 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 embodiments. For specific content, reference can be made to the above, and details will not be elaborated here.

[0299] The second power source is used to drive the mopping and washing assembly 4 to lift, and its corresponding second action execution mechanism, such as Fig.41 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.

[0300] The specific implementation process is as follows: When the mopping and washing assembly 4 is in the initial state (that is, the first limit position in the retracted state, and the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate. The first rack 14 is driven by the first gear 13 to translate toward one side of the machine body. The first rack 14 pushes the mopping and washing assembly outward through the connection structure located on the slide rail 15, so that a part of the mopping and washing assembly extends out of the machine body (such as Fig.42 (B)). If the mopping and washing assembly 4 extends to the second limit position in the extended state, the first motor 60 stops working. When the mopping and washing assembly 4 needs to retract, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the reverse direction. The first rack 14 is driven by the first gear 13 to translate toward the inside of the machine body. The first rack 14 contracts the mopping and washing assembly 4 inward through the connection structure located on the slide rail 15. After the mopping and washing assembly 4 retracts to the initial state, the first motor 60 stops working. When the mopping and washing assembly 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 and washing assembly 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 component 4 rises to the high position and the third optoelectronic switch 283 is triggered, the third motor 61 stops working. When the mopping component 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 component descends along the axial direction of the connecting column 241 (see Fig.16 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 component to lift), the third motor 61 stops moving. In addition, by adding a counting light-shielding sheet and a counting optocoupler to this component, 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.

[0301] Furthermore, 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 lowering state multiple times. It may even occur that the mopping component first switches from the extended state to the retracted state, and then switches to the lifting state. In this way, before the cleaning robot walks onto the carpet floor from the ordinary floor, it needs to pause and wait, and only after fully switching to the lifting state can it walk onto the carpet floor for cleaning. This will inevitably consume too much waiting time.

[0302] To avoid this problem, in an embodiment provided in the present application, the mopping component 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 component is in the extended state, or in different gears of the extended state, the mopping component can simultaneously switch to the lifting state. In this way, when the mopping component is in the extended state, it does not need to first retract to the initial state and then switch to the lifting state. Before the cleaning robot walks onto the carpet floor or crosses an obstacle, it does not need to wait for too long. Even if the cleaning robot needs to cross the obstacle back and forth multiple times or go up and down the carpet floor multiple times, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0303] The present application supplements another solution here that uses two motors to respectively realize the lifting and telescoping functions of the mopping component 4. 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 optoelectronic switch 281, the first trigger structure on the sliding plate for triggering the first optoelectronic switch 281, the fourth optoelectronic switch 284, the grating structure 294, etc. all have the same functions as those in the above embodiments. The same points will not be elaborated here, and 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.

[0304] 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 raised, 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 optoelectronic switch 283 is triggered when the mopping and washing assembly 4 rises to a high position, the third motor 61 stops working. When the mopping and washing assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the reel 64 to reverse, and the mopping and washing assembly 4 descends axially along the connecting column 241 under the action of gravity. When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e., the time used by the third motor to drive the mopping and washing assembly to lift), the third motor 61 stops moving. In addition, by adding a counting light-shielding piece and a counting optocoupler to this assembly, it can also be realized to extend step by step during the extension process. For the specific implementation, refer to the above content and will not be elaborated here.

[0305] The embodiments of the present application provide a solution for a single power source to achieve the telescoping and lifting of the mopping and washing assembly 4, and also provide a solution for a dual power source to achieve the telescoping and lifting of the mopping and washing assembly (i.e., one power source for telescoping and the other for lifting). No matter which implementation solution is adopted, a problem is faced: how to control each power source to make the mopping and washing assembly 4 telescope and lift at an appropriate time. For example, the mopping and washing assembly 4 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 outward, and so on. In a specific scenario, for example, the mopping and washing assembly 4 of the current cleaning robot is in an extended state. When the cleaning robot needs to enter a specific area (such as a designated area where mopping is not required or a carpet area), it is necessary to lift the mopping and washing assembly 4 to have a certain distance from the ground. Another example is that when the cleaning robot drives from the living room into the kitchen, there is a small step at the kitchen door, and the cleaning robot needs to cross the obstacle to drive into the kitchen. At this time, in order to facilitate crossing the obstacle, it is necessary to lift the mopping and washing assembly. Whether the mopping and washing assembly is directly lifted in the extended state or retracted to the innermost side (i.e., the first limit position) and then lifted requires the cleaning robot to make a judgment by sensing the environmental information. If the current environment is open and there are no obstacles in height, the mopping and washing assembly 4 can be directly lifted in the extended state. However, if the current environment is relatively complex and the detection information of the cleaning robot is limited, if the mopping and washing assembly 4 is directly lifted in the extended state, it is very likely that the mopping and washing assembly 4 will collide with an object during the lifting process. If the lifting action does not stop, it is very likely to damage the mopping and washing assembly. That is to say, lifting the outward-swinging cleaning roller 42 is a great risk to the main body of the machine. Therefore, at this time, the roller cannot participate in the cleaning function. Also, due to the length protruding from the projection of the main body of the machine, the cleaning robot needs to always intelligently control the action of the mopping and washing assembly 4 according to the real-time detected environmental information, which will inevitably increase the computing amount of the cleaning robot, not only consuming power but also affecting the execution of the main task of the cleaning robot (i.e., the cleaning task). Therefore, in order to simplify the control logic of the cleaning robot and reduce the complexity of control, the embodiments of the present application provide a solution in which the mopping and washing assembly 4 retracts to a preset position (such as the first limit position in the retracted state) and then lifts. Specifically, the solution provided by the embodiments of the present application includes the following steps, and the execution subject of each of the following steps can be the main board 2 in the embodiments of the present application. As the mopping and washing assembly control solution includes:

[0306] S1. When it is determined that the mopping and washing assembly 4 needs to be lifted, obtain the current position of the mopping and washing assembly 4;

[0307] S2. If the mopping and washing assembly 4 is in the first limit position, control the driving device to drive the mopping and washing assembly 4 to lift; if the mopping and washing assembly 4 is in the extended state, control the driving device 10 to drive the mopping and washing assembly 4 to first retract to the first limit position and then lift.

[0308] When the mopping and washing assembly 4 is in the extended state, the mopping and washing assembly 4 can be located at any position between the first limit position and the second limit position, or at the second limit position.

[0309] 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 whole 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.

[0310] 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. At present, for some cleaning robots, if users want to disassemble the detachable parts (such as the sewage tank, roller, etc.) at the bottom of the machine body, they need to turn the machine body over with the bottom facing up before they can remove them, which results in a poor user experience.

[0311] As can be seen from the above, the mopping and washing assembly 4 in the embodiment of the present application includes a liquid supply mechanism 45, a decontamination mechanism 44, and a cleaning roller 42. Among them, although the dirt in the dirt collection box 442 of the decontamination mechanism 44 can enter the sewage tank 9 through the sewage pump. However, if the dirt collection box 442 is not cleaned after working for a long time, there will still be deposited dirt, which is extremely easy to breed bacteria and generate 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 42. If users need to turn the machine body over with the bottom facing up to remove them, it will not be very convenient.

[0312] For this reason, an embodiment of the present application provides a solution that can easily disassemble the dirt collection box 442 in the mopping and washing assembly without the user turning over the machine body, which improves the disassembly convenience and meets the ergonomic design. In addition, another embodiment of the present application provides a solution for easily disassembling the cleaning roller 42. The disassembly solution of the dirt collection box 442 will be introduced sequentially below, and then the disassembly solution of the cleaning roller 42 will be introduced.

[0313] See Figures 44a to 44f , at least one side of the mopping and washing assembly 4 is exposed. As Fig.44a shown in an example, the mopping and washing assembly 4 is exposed on one side of the machine body. Taking the forward direction of the machine body 1 as a reference, the mopping and washing assembly 4 is exposed on the right side of the machine body. The dirt collection box 442 can be located in front of or behind the cleaning roller 42. See Figures 44a to 44f , a release component is provided on the side of the dirt collection box 442 corresponding to the exposed mopping and washing assembly. The user can see and touch the release component on the exposed side without turning over the machine body 1, and then operate the release component to remove the dirt collection box 442.

[0314] The release component has an operating handle; the operating handle is located at the bottom of the dirt collection box 442; when disassembling, the operating handle acts, the release component is in an unlocked state, the first end of the dirt collection box 442 disengages from the mopping bracket, and the dirt collection box 442 is pulled outwards at the bottom of the body; when installing, after the second end of the dirt collection box 442 is inserted into place from the bottom of the 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.

[0315] 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 bump 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 disengages from the pin hole, and the dirt collection box 442 can be detached from the mopping bracket 73.

[0316] As Fig.44d shown, after the first end 4421 of the dirt collection box 442 disengages 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 body 1 along the length direction of the dirt collection box 442 (or the axis direction of the cleaning roller).

[0317] More specifically, as Fig.44a , 44cWith respect to 44f, the elastic operating member 71 may include: a release button and a release spring 712. Among them, the fixed pin 72 is provided with a chute 722. The release button may be a knob. For example, the release button has a rotating shaft 714, and the release button is rotatably connected to the sewage collection box 442 through the rotating shaft 714. On both sides of the rotating shaft 714, there are respectively provided: a pressing structure 713 and an operating handle 711. Alternatively, the release button is a push-pull member that moves linearly. The pressing structure 713 of the release button is located within the chute 722. At the first end of the sewage collection box 442, there is a spring seat 4423, the release spring 712 is arranged within the spring seat 4423, one end of the fixed pin 72 is provided with a plug 721 adapted to the pin hole, and the other end is connected to the release spring 712.

[0318] When the release button is a knob, the user can rotate the release button, so that the pressing structure 713 drives the fixed pin 72 to act by pressing against the chute 722. When the release button is a pull-push member, the user can perform a push-pull operation (such as a push-pull operation along the length direction of the fixed pin), so that the pressing structure drives the fixed pin to act by pressing against the chute.

[0319] As Figure 44e shown, when the user wants to remove the sewage collection box 442, the user applies an external force to the release button, such as rotating the release button. The pressing structure 713 on the release button presses against the fixed pin 72 within the chute. At this time, the plug 721 of the fixed pin 72 disengages from the pin hole, and the first end of the sewage collection box 442 drops downward. The user pulls at this position, and the second end of the sewage collection box 442 disengages from the mopping bracket. At this time, the sewage collection box 442 is completely removed. When the user wants to reinstall the sewage collection box 442, first install the second end of the sewage 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 sewage collection box 442 with the hand and presses it upward. The release spring deforms, and the fixed pin 72 acts to enable the fixing to enter the installation groove of the mopping bracket. After the sewage collection box 442 is installed in place, the position of the fixed pin 72 just corresponds to the position of the pin hole. Under the action of the elastic restoring force of the release spring, the fixed pin 72 moves, and the plug is inserted into the pin hole. At this time, the sewage collection box 442 is installed.

[0320] In order to ensure the installation stability of the sewage collection box 442, the release button is further provided with a locking structure, and the sewage collection box 442 is provided with a locking cooperation structure at the corresponding position. After the sewage collection box 442 is installed, the user can rotate the release button so that the locking structure cooperates with the locking cooperation structure to lock the position of the release button, so that the fixed pin 72 will not disengage from the pin hole due to vibration or the like. In this embodiment, the specific implementation of the locking structure on the release button and the locking cooperation structure on the sewage collection box 442 is not specifically limited.

[0321] Furthermore, referring to Figure 44fAs shown, a filtering component 543 is further provided in the dirt collection box 442. The filtering component 543 is used to filter large-particle dirt in the dirt entering the dirt collection box 442. As Figure 44f shown, the filtering component 543 may be a filtering member provided with a plurality of filtering holes on it. The filtering member can be placed and stabilized in the dirt collection box 442 through some matching structures. The filtering member is also provided with a through hole. The dirt collection pipe 542 can pass through the through hole from above the filtering member and extend below the filtering member to be close to the bottom of the dirt collection box 442. After the user removes the dirt collection box 442, the filtering component 543 can be taken out of the dirt collection box 442 to clean the dirt collection box 442 and the filtering component 543 respectively. One end of the filtering component 543 is provided with a handle 5431 for the user to easily take. When the user takes the filtering component 543, the user can pinch the handle 5431 with fingers to take out the filtering component 543 from the dirt collection box. The handle 5431 can be a plate-like body with a certain bending arc.

[0322] In addition, a detection member 4425 is further provided in the dirt collection box 442. The detection member 4425 can be a detection magnet or the like. A sensing element (not shown in the attached drawings of the specification) is provided at a 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 member on the dirt collection box 442. The reason for setting this detection member is to avoid the situation that the user starts the cleaning robot to work without installing the dirt collection box 442. If the sensing element senses that the dirt collection box 442 is not installed on the mopping bracket 43, the cleaning robot can remind the user to install the dirt collection box 442 by means of voice and / or display. If the sensing element and the detection member 4425 are not set, the cleaning robot may perform the cleaning task without the dirt collection box 442. The dirt scraped from the cleaning roller 42 may be discharged to the ground because the dirt cannot be collected when cleaning the front and the back. Therefore, it is very necessary to set the sensing element and the detection member. The machine can only be started to perform the cleaning task after the dirt collection box 442 is installed on the body.

[0323] For the disassembly of the cleaning roller 42, see Fig.44a shown, the mopping assembly 4 is in a retracted state, that is, the end of the mopping assembly 4 is located inside the body 1. Looking down from above the body 1, that is, when the cleaning robot is on the ground and the user's viewing angle of the cleaning robot, the user cannot see the mopping assembly 4. If the user wants to disassemble the cleaning roller in the mopping assembly 4, the user needs to squat down and tilt the head sideways to look at the position of the mopping assembly 4 inside the body 1, and then reach out to disassemble the cleaning roller 42. During the disassembly process, the user may disassemble it blindly, and it is almost the same when installing, and it is very likely that the user's hand will be pinched. Obviously, this solution that the cleaning roller 42 can be disassembled without flipping the body is not very convenient. The embodiment of the present application provides a more convenient solution for disassembling and assembling the cleaning roller 42. Specifically,

[0324] An interaction device is provided on the body of the cleaning robot, and the interaction device can be a button, a touch screen, a voice interaction unit, etc. The user can trigger the mopping and washing component 4 to extend from one side of the body 1 through the interaction device, such as extending to a set position (which can be the second limit position in the extended state) or extending until the end of the mopping and washing component exposes the outer edge of the body 1. For example, when the user presses a button on the interaction device, after the main board 2 receives the operation signal triggered by the button, it controls the driving device 10 to drive the mopping and washing component 4 to extend from one side of the body 1 to the set position or extend a set length so that the end of the mopping and washing component 4 is exposed. At this time, the user can detach the cleaning roller 42 from the mopping and washing component 4. After the user cleans the cleaning roller 42 or gets a new replacement roller, the roller is then reinstalled onto the mopping and washing component 4.

[0325] 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 the opening to be connected to the roller motor 41. A first structure 430 is provided at the second end of the mopping bracket 43. Correspondingly, a second structure is provided on the inner side of the end cap 420 of the cleaning roller 42. The first structure 430 and the second structure can be magnetic attraction 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 attraction material is provided in the groove; or, a magnet is provided in the groove, and a magnetic attraction material is provided on the convex block, etc. This embodiment does not make specific limitations on this.

[0326] After the user triggers the extension of the mopping and washing component 4 by means of a button, voice or touch screen, as Fig.12 shown, the mopping and washing component 4 extends outside the edge 1001 of the body 1. At this time, when the user bends down and looks from the upper part of the body, the mopping and washing component can be seen, and the end of the cleaning roller 42 can also be seen. As Fig.12 shown in the example, the end cap 420 of the cleaning roller 42 is similar to a whistle shape. The user can easily pull out the cleaning roller by pinching the end cap 420 with one hand along the pulling-out direction (i.e., the width direction of the body 1), and thus it is disassembled. When installing, since the mopping and washing component is in the extended state, that is, Fig.12In the state shown, the user can also see the opening of the drum cavity of the mopping bracket. The user inserts one end of the cleaning drum through the opening, and the end cap 420 of the cleaning drum contacts and engages with the first structure 430 on the mopping bracket, completing the connection between the end cap 420 and the mopping bracket. If the cleaning robot needs to perform a cleaning task after installation, the cleaning robot performs the cleaning task while maintaining the extended state of the current mopping assembly 4. If the cleaning robot needs to return to the base station after installation, the cleaning robot automatically retracts the mopping assembly 4 after detecting that the cleaning drum is installed; alternatively, the user triggers the main board 2 of the cleaning robot through the interaction device to control the driving device to retract the mopping assembly 4.

[0327] Furthermore, the driving device 10 can also drive the mopping assembly 4 to move up and down relative to the body. Correspondingly, when the cleaning drum needs to be disassembled, the driving device 10 drives the mopping assembly 4 to extend to expose the end cap of the cleaning drum 42, and at the same time drives the mopping assembly 4 to lift to have a gap from the ground, facilitating the user to remove the cleaning drum 42. Because there is a gap between the cleaning drum 42 and the ground, it is easier to pull out the cleaning drum 42.

[0328] In addition to triggering the retraction of the mopping assembly 4 through the interaction device, the following solution can also be adopted: after the cleaning drum 42 is installed on the mopping bracket 43, the user pushes the mopping assembly 4, and the driving device 10 starts to work to drive the mopping assembly 4 to retract to the first limit position. The cleaning robot also includes a sensing system and a main board 2; the main board 2 is electrically connected to the sensing system; the sensing system includes a sensing unit for detecting the retraction thrust of the mopping assembly 4; after the sensing unit detects the installation thrust of the mopping assembly 4, it sends a retraction signal to the main board 2, and the main board 2 controls the driving device 10 to start working to drive the mopping assembly 4 to retract to the first limit position.

[0329] 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 described in the foregoing embodiments, or perform equivalent replacements for 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; A driving device, the driving device includes a first power source and a sliding plate connected to the first power source; The sliding plate has a lifting part; A mopping and washing assembly, the mopping and washing assembly is connected to the sliding plate through a connecting assembly, and the connecting assembly and the sliding plate can move relative to each other; When the first power source outputs a driving force in the first direction, the first power source drives the sliding plate to drive the connecting assembly to move from the first working position to the second working position, so that part of the mopping and washing assembly is exposed; When the first power source outputs a driving force in the second direction, the first power source drives the sliding plate to move relative to the connecting assembly from the second working position to the first working position, and after the connecting assembly reaches the first position, the connecting assembly climbs along the lifting part of the sliding plate, driving the mopping and washing assembly to move upward.

2. The cleaning robot according to claim 1, wherein The first power source and the sliding plate are connected through a gear and rack structure; A first rack is provided on the sliding plate, and the lifting part is located at the end of the sliding plate; The first power source is connected to a first gear, and the first gear meshes with the first rack; A through hole is provided at the middle position of the lifting part; The connecting assembly passes through the through hole, extends from below the sliding plate to above the sliding plate, and is located on one side of the lifting surface of the lifting part.

3. The cleaning robot according to claim 2, wherein, The connecting assembly includes a connecting column and a slider; One end of the connecting column is connected to the mopping and washing assembly, and the other end extends from below the sliding plate through the through hole to the mopping and washing assembly; the connecting column is suspended above the sliding plate through the slider.

4. The cleaning robot according to claim 1, characterized in that At least one slide rail for the sliding connection of the sliding plate is provided on the body, and the length of the slide rail is greater than the maximum stroke of the mopping and washing assembly extending outwards.

5. The cleaning robot according to claim 3, wherein A first baffle is provided on one side of the lifting surface of the lifting part, and the area between the first baffle and the lowest point of the lifting part is adapted to the size of the slider.

6. The cleaning robot according to claim 5, characterized in that, The cross-sectional shape of the first baffle is "L" shaped, and the end surface below the "L" shape can abut against the connecting column.

7. The cleaning robot according to claim 6, wherein A sliding friction member is provided on one side of the slider, and the contact position of the sliding friction member with the lifting part is an arc structure.

8. The cleaning robot according to claim 7, characterized in that, A first connection end is provided on the sliding plate, and a second connection end is provided on the slider; An elastic member is connected between the first connection end and the second connection end.

9. The cleaning robot according to claim 1, wherein A horizontal hovering surface is provided at the top end of the lifting part, and a second baffle is further provided on one side of the hovering surface.

10. The cleaning robot according to claim 1, wherein, From the bottom to the top of the lifting part, the inclined surface of the lifting part at least includes a first slope surface and a second slope surface, and the inclination angle of the first slope surface is greater than the inclination angle of the second slope surface.

11. The cleaning robot according to claim 9, characterized in that, The body includes a cavity shell, and a slot hole is provided on the cavity shell, and the length of the slot hole is greater than or equal to the maximum stroke of the mopping and washing assembly extending outwards.

12. The cleaning robot according to claim 11, characterized in that, The body further includes a shell cover, the shell cover can be cooperatively connected above the cavity shell, and a protruding part is provided on the shell cover.

13. The cleaning robot according to claim 12, characterized in that, A mating groove that can contact the second baffle is provided on the bottom surface of the shell cover.

14. The cleaning robot according to claim 1, wherein, At least one detection unit is provided on the body for detecting the position information of the mopping and washing assembly; The body controls the operation of the driving device according to the position information.

15. The cleaning robot according to claim 14, wherein, Corresponding to the sliding plate being in the first position, the second position, and the raised position relative to the body, a first detection unit, a second detection unit, and a third detection unit are respectively provided on the body; a first trigger structure, a second trigger structure, and a third trigger structure are provided on the sliding plate.

16. The cleaning robot according to claim 15, characterized in that, A fourth detection unit is further provided on the body, and a fourth trigger structure is provided on the sliding plate. As the sliding plate moves, the position of the fourth trigger structure relative to the fourth detection unit changes to detect the sliding distance of the sliding plate.

17. A cleaning robot, characterized in that, Comprising: A body having a drum accommodating cavity horizontally arranged along the width direction of the body; A mopping and washing assembly provided in the drum accommodating cavity. 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; A driving device provided on the body. Along the width direction of the body, the driving device can drive the mopping and washing assembly to extend from at least one side of the body, so that a part of the mopping and washing assembly is exposed, and the driving device can also drive the mopping and washing assembly to lift and lower; Wherein, an opening is provided at a position close to the edge of the body in the drum accommodating cavity, and a cavity wall is provided on one side of the drum accommodating cavity opposite to the opening; when the mopping and washing assembly retracts to the first working position, and / or when the mopping and washing assembly lifts and lowers, the mopping and washing assembly abuts against the cavity wall; when the mopping and washing assembly needs to swing outwards, the mopping and washing assembly can extend outwards from the opening.

18. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, 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; A driving device provided on the body. Along the width direction of the body, the driving device can drive the mopping and washing assembly relative to the body to extend from at least one side of the body so that a part of the mopping and washing assembly is exposed, and the driving device can also drive the mopping and washing assembly to lift and lower relative to the body; Wherein, when the mopping and washing assembly is in the retracted state and the extended state, when the mopping and washing assembly is subjected to an external force, in the vertical direction, the mopping and washing assembly can perform a floating action relative to the body.

19. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, including a cleaning unit motor and a cleaning unit; The cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate self - relatively around the rotating shaft; A driving device provided on the body and connected to the mopping and washing assembly; A control device provided on the body and controlling the driving device to drive the mopping and washing assembly along the width direction of the body to extend from at least one side of the body so that a part of the mopping and washing assembly is exposed; The mopping and washing assembly has at least two working positions, namely a first extreme working position and a second extreme working position, and the driving device can drive the mopping and washing assembly to change between the first extreme working position and the second extreme working position; When in the first extreme working position, the mopping and washing assembly does not extend out of the projection area of the body edge, and when in the second extreme working position, the mopping and washing assembly extends out of the projection area of the body edge; It also has a sensing system. When the cleaning robot detects an obstacle through the sensing system, the control device controls the stopping position of the mopping and washing assembly between the first extreme working position and the second extreme working position according to the distance between the body and the obstacle, so as to dynamically adjust the cleaning distance between the mopping and washing assembly and the obstacle.

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