Cleaning robot

Abstract

The application relates to a cleaning robot, which comprises a machine body, a moving unit, a mopping unit provided with a mopping working head and a control unit, the moving unit is arranged on the machine body and is used for supporting the machine body and driving the robot to move on the surface of a working area; the mopping unit is arranged on the machine body and is used for performing a preset mopping action; the control unit is used for controlling the moving unit to automatically drive the machine body to move on the surface of the working area and controlling the mopping unit to automatically perform the mopping action; and the mopping working head is movable in the width direction of the machine body compared with the machine body. The application can maximize the coverage rate of the moving area of the robot and avoid scratching the wall or furniture due to the collision between the rear side of the robot and the wall or furniture.

Description

[0001] The present application claims priority to Chinese Patent Application No. 202011403286X, filed on December 4, 2020, entitled "Cleaning Robot" and Chinese Patent Application No. 2020228763688, filed on December 4, 2020, entitled "Cleaning Robot", the contents of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of robots, in particular to a cleaning robot. BACKGROUND

[0003] With the rapid development of artificial intelligence technology, various robots appear in people's daily life. For example, cleaning robots can intelligently and automatically help people clean the ground, becoming one of the most common and favorite household robot products.

[0004] However, in the cleaning process of traditional household cleaning robots, it is difficult to guarantee a high "ground coverage rate", resulting in the existence of uncleaned dead angle areas; since the robot itself is difficult to be made into a standard circle, when the robot turns, the back side of the robot is easy to collide with the wall or furniture, which has the risk of scratching the wall or furniture. SUMMARY

[0005] Therefore, it is necessary to provide a cleaning robot that improves the area coverage rate and avoids scratching the wall or furniture.

[0006] To achieve the above-mentioned purpose and other purposes, one aspect of the present application provides a cleaning robot, comprising a machine body, a moving unit, a mopping unit provided with a mopping working head, and a control unit. The moving unit is arranged on the machine body and is used to support the machine body and drive the robot to move on the surface of a working area. The mopping unit is arranged on the machine body and is used to perform a preset mopping action. The control unit is used to control the moving unit to automatically drive the machine body to move on the surface of the working area and control the mopping unit to automatically perform the mopping action. The mopping working head is movable in the width direction of the machine body compared with the machine body.

[0007] In the cleaning robot in the above-mentioned embodiment, by arranging the mopping working head to be movable in the width direction of the machine body compared with the machine body, the mopping working head has a component of movement in the width direction, and the detection unit can improve the area coverage rate of the robot to the maximum while avoiding the situation of scratching the wall or furniture due to the collision between the back side of the robot and the wall or furniture.

[0008] In one of the embodiments, the body comprises a mopping unit mounting area above the mopping working head, the mopping working head is movable between a first position and a second position, the mopping working head comprises a mopping main area and a mopping compensation area located at one side of the mopping main area, when the mopping working head is in the first position, the projection of the mopping main area in the vertical direction overlaps with the projection of the mopping unit mounting area in the vertical direction, and the projection of the mopping compensation area in the vertical direction does not overlap with the projection of the mopping unit mounting area in the vertical direction at least in the width direction.

[0009] In one of the embodiments, the distance between the edge of the side of the mopping compensation area away from the body and the edge of the corresponding side of the body is less than a threshold value.

[0010] In one of the embodiments, the threshold value is 10mm.

[0011] In one of the embodiments, when the mopping working head is in the second position, the projection of the mopping compensation area in the vertical direction at least partially overlaps with the projection of the mopping unit mounting area in the vertical direction.

[0012] In one of the embodiments, when the mopping working head is in the second position, the projection of the mopping compensation area in the vertical direction is completely located within the projection of the mopping unit mounting area in the vertical direction.

[0013] In one of the embodiments, a straight line extending along the advancing direction of the body and passing through the edge of the body in the width direction is defined as an edge line, the inner side of the edge line is defined as the side of the edge line close to the body, and at least one side of the mopping unit mounting area is located on the inner side of the edge line of the corresponding side of the body.

[0014] In one of the embodiments, the body comprises a body middle area located in the middle of the body, in the advancing direction of the body, the mopping unit mounting area is located in front of and / or behind the body middle area, and the edge of the body in the width direction is located in the body middle area.

[0015] In one of the embodiments, the mopping working head is movable from the first position to the second position under the action of an external force, and the cleaning robot further comprises a restoring member for providing a restoring force to the mopping working head to restore it from the second position to the first position when the external force is removed.

[0016] In one of the embodiments, the cleaning robot further comprises a detection unit for detecting whether there is an obstacle on the side of the mopping unit mounting area and a driving unit for driving the mopping working head to move between the first position and the second position.

[0017] In one of the embodiments, when the detection unit does not detect an obstacle on the side of the mopping unit installation area, the mopping working head is maintained at the first position; when the detection unit detects an obstacle on the side of the mopping unit installation area, the driving unit drives the mopping working head to move from the first position to the second position.

[0018] In one of the embodiments, when the detection unit detects that the obstacle on the side of the mopping unit installation area disappears, the driving unit drives the mopping working head to move from the second position to the first position.

[0019] The present application also provides a cleaning robot, comprising:

[0020] a body having a width direction;

[0021] a moving unit arranged on the body for supporting the body and moving the robot on the surface of a working area;

[0022] a mopping unit provided with a mopping working head, the mopping unit being arranged on the body for performing a preset mopping action;

[0023] a control unit for controlling the moving unit to automatically move the body on the surface of a working area and controlling the mopping unit to automatically perform a mopping action;

[0024] the mopping working head is movably mounted on the body to switch from a first position to a second position in response to an obstacle, wherein the mopping working head extends beyond the body in the width direction when in the first position and retreats from the first position in the width direction of the body when in the second position.

[0025] In one of the embodiments, a direction perpendicular to the body is defined as a vertical direction; when the mopping working head is in the first position, a projection of the mopping working head in the vertical direction extends beyond a projection of the body in the vertical direction in the width direction, the mopping working head can be maintained in the first position to perform a cleaning task to approach the obstacle and clean the working area near the obstacle; when the mopping working head retreats from the first position to the second position in response to the obstacle, the mopping working head is farther away from the obstacle in the width direction than when in the first position, the mopping working head can be maintained in the second position to avoid collision with the obstacle.

[0026] In one of the embodiments, the body includes a mopping unit mounting area above the mopping working head, the mopping working head includes a mopping main area and a mopping compensation area on at least one side of the mopping main area, when the mopping working head is retracted from the first position to the second position in response to the obstacle, the projection of the mopping main area on the vertical direction overlaps with the projection of the mopping unit mounting area on the vertical direction, and the projection of the mopping compensation area on the vertical direction overlaps with the projection of the mopping unit mounting area on the vertical direction at least in the width direction.

[0027] In one of the embodiments, when the mopping working head is in the second position, the projection of the mopping compensation area on the vertical direction at least partially overlaps with the projection of the mopping unit mounting area on the vertical direction.

[0028] In one of the embodiments, when the mopping working head is in the second position, the projection of the mopping compensation area on the vertical direction is completely within the projection of the mopping unit mounting area on the vertical direction.

[0029] In one of the embodiments, the entire mopping working head is configured to move between the first position and the second position.

[0030] In one of the embodiments, the cleaning robot moves along a movement track, when the cleaning robot encounters or detects the obstacle on the movement track, the mopping working head moves from the first position to the second position in response to the obstacle, and is maintained in the second position to perform a cleaning task to avoid collision with the obstacle.

[0031] In one of the embodiments, when there is no obstacle on the movement track, the mopping working head is in the first position, and is maintained in the first position to perform a cleaning task to clean a working area near the obstacle.

[0032] In one of the embodiments, the cleaning robot includes a connecting component movably connecting the mopping working head to the body, the mopping working head is movable from the first position to the second position under the action of an external force exerted by the obstacle.

[0033] In one of the embodiments, the cleaning robot further includes a restoring element connected to at least one of the mopping working head and the body, the restoring element provides a restoring force to the working head when the external force is removed, so that the mopping working head moves from the second position to the first position.

[0034] In one of the embodiments, the cleaning robot further comprises a limiting structure arranged at least one of the body and the mopping head to prevent the mopping head from moving further towards the obstacle when the mopping head is in the first position.

[0035] In one of the embodiments, the cleaning robot further comprises a detecting unit for detecting whether the obstacle exists at the side of the body and a driving unit for driving the mopping head to move between the first position and the second position, and the control unit controls the driving unit to drive the mopping head to move between the first position and the second position based on a detection signal of the detecting unit.

[0036] In one of the embodiments, the detecting unit detects that the obstacle exists at the side of the body, the cleaning robot identifies a cleaning scene where the obstacle is located, and the driving unit drives the mopping head to move between the first position and the second position according to the cleaning scene where the obstacle is located.

[0037] In one of the embodiments, the detecting unit detects that the cleaning robot is cleaning a working area near the obstacle, and the driving unit drives the mopping head to move to the first position.

[0038] In one of the embodiments, the working area comprises a boundary which is the obstacle to prevent the cleaning robot from moving further, and the detecting unit detects that the cleaning robot is cleaning a long straight side of the boundary or a external corner of the boundary, and the driving unit drives the mopping head to move to the first position.

[0039] In one of the embodiments, the working area comprises a boundary which is the obstacle to prevent the cleaning robot from moving further, and the detecting unit detects that the cleaning robot is cleaning an internal corner of the boundary, and the driving unit drives the mopping head to move to the second position.

[0040] In one of the embodiments, the detecting unit detects that the cleaning robot has passed the internal corner, and the driving unit drives the mopping head to move from the second position to the first position.

[0041] In one of the embodiments, the detecting unit detects that the cleaning robot has not passed the internal corner, and the driving unit drives the mopping head to move to the first position.

[0042] In one of the embodiments, the cleaning robot further comprises a position detection unit arranged on the body and configured to detect whether the mopping head is in the first position or the second position, and the control unit is configured to control the driving unit to drive the mopping head to stop at the first position or the second position according to a signal detected by the position detection unit.

[0043] In one of the embodiments, when the cleaning robot returns to the base station for maintenance, the driving unit drives the mopping head to move to the second position; or the body has a body center line in the length direction, the mopping head has a mopping head center line in the length direction, and when the cleaning robot returns to the base station for maintenance, the driving unit drives the mopping head to move to a position where the body center line and the mopping head center line coincide or are within a preset distance.

[0044] In one of the embodiments, the working area includes an intermediate area, and when the cleaning robot cleans the intermediate area, the mopping head moves to the first position and is maintained at the first position to perform a cleaning task to clean the intermediate area.

[0045] In one of the embodiments, the working area includes an intermediate area, and when the cleaning robot cleans the intermediate area, the mopping head moves to the second position and is maintained at the second position to perform a cleaning task to clean the intermediate area.

[0046] In one of the embodiments, in the width direction of the body, the distance between the edge of the side of the mopping compensation area away from the body and the edge of the corresponding side of the body is within an active range.

[0047] In one of the embodiments, the active range is greater than 0 and less than or equal to 20 mm.

[0048] In one of the embodiments, the active range is greater than or equal to 5 mm.

[0049] In one of the embodiments, the active range is less than or equal to 20 mm.

[0050] In one of the embodiments, a straight line extending along the advancing direction of the body and passing through the edge of the body in the width direction is defined as an edge line, and the side of the edge line close to the body is defined as the inner side of the edge line, and at least one side of the mopping unit mounting area is located on the inner side of the edge line of the corresponding side of the body.

[0051] In one of the embodiments, the machine body comprises a middle region of the machine body located in the middle of the machine body, the mopping unit mounting region is located in front of and / or behind the middle region of the machine body in the advancing direction of the machine body, and the most edge of the machine body in the width direction is located in the middle region of the machine body or in front of the middle region of the machine body.

[0052] In one of the embodiments, the mopping working head contacts the surface of the working area to continuously perform the cleaning task in the first position and the second position of the mopping working head. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings of other embodiments can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0054] Figure 1 A structural schematic diagram of a cleaning robot provided in the first embodiment of the present application;

[0055] Figure 2 A structural schematic diagram of a cleaning robot provided in the second embodiment of the present application;

[0056] Figure 3a A structural schematic diagram of a cleaning robot provided in the third embodiment of the present application;

[0057] Figure 3b A structural schematic diagram of a cleaning robot provided in the fourth embodiment of the present application; Figure 3a A structural schematic diagram of a cleaning robot in another state provided in the fourth embodiment of the present application;

[0058] Figure 4 A structural schematic diagram of a cleaning robot provided in the fifth embodiment of the present application;

[0059] Figure 5a A structural schematic diagram of a cleaning robot provided in the sixth embodiment of the present application;

[0060] Figure 5b A structural schematic diagram of a cleaning robot in another state provided in the sixth embodiment of the present application; Figure 5a

[0061] A structural schematic diagram of a cleaning robot in another state provided in the sixth embodiment of the present application; Figure 5c Figure 5a A structural schematic diagram of a cleaning robot provided in the seventh embodiment of the present application and

[0062] Figure 5d Figure 5a ​​A structural schematic view of a cleaning robot in the same state as shown in the middle;

[0063] Figure 5e A structural schematic view of a mop provided in the seventh embodiment of the present application;

[0064] Figure 6 A structural schematic view of a cleaning robot provided in the eighth embodiment of the present application;

[0065] Figure 7 A structural schematic view of a cleaning robot provided in the ninth embodiment of the present application;

[0066] Figure 8 A structural schematic view of a cleaning robot provided in the tenth embodiment of the present application;

[0067] Figure 9 A structural schematic view of a cleaning robot provided in the eleventh embodiment of the present application;

[0068] Figure 10a A structural schematic view of a cleaning robot provided in the twelfth embodiment of the present application;

[0069] Figure 10b A structural schematic view of Figure 10a A structural schematic view of a cleaning robot in another state as shown in the middle;

[0070] Figure 10c A structural schematic view of Figure 10a A structural schematic view of a cleaning robot in another state as shown in the middle;

[0071] Figure 10d A structural schematic view of Figure 10a A structural schematic view of a cleaning robot in another state as shown in the middle;

[0072] Figure 11a A structural schematic view of a cleaning robot provided in the thirteenth embodiment of the present application;

[0073] Figure 11b A structural schematic view of Figure 11a A structural schematic view of a cleaning robot in another state as shown in the middle;

[0074] Figure 12a A structural schematic view of a cleaning robot provided in the fourteenth embodiment of the present application;

[0075] Figure 12b A structural schematic view of Figure 12a A structural schematic view of a cleaning robot in another state as shown in the middle;

[0076] Figure 13aFigure 8 is a left view structural schematic diagram of a cleaning robot according to an embodiment of the present application;

[0077] Figure 13b Figure 9 is a left view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application; Figure 13a Figure 10 is a left view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;

[0078] Figure 14a Figure 11 is a left view structural schematic diagram of a cleaning robot according to an embodiment of the present application;

[0079] Figure 14b Figure 12 is a left view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application; Figure 14a

[0080] Figure 13 is a left view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application; Figure 14c Figure 14a Figure 14 is a partial cross-sectional structural schematic diagram of a cleaning robot according to an embodiment of the present application;

[0081] Figure 14d Figure 14c Figure 15 is a partial cross-sectional structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;

[0082] Figure 14e Figure 16 is a partial cross-sectional structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application; Figure 14d

[0083] Figure 17 is a bottom view structural schematic diagram of a cleaning robot according to an embodiment of the present application; Figure 15a

[0084] Figure 18 is a bottom view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application; Figure 15b Figure 15a Figure 19 is a bottom view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;

[0085] Figures 16a-16d Figure 20 is a bottom view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;

[0086] Figure 17 Figure 21 is a bottom view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;

[0087] Figures 18a-18d Figure 22 is a bottom view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;

[0088] Figures 19a-19b Figure 23 is a bottom view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;

[0089] Figures 19c-19e Figure 24 is a bottom view structural schematic diagram of a cleaning robot according to another state of the embodiment of the present application;​​​

[0090] Figures 19f-19g FIG. 8 is a bottom view of a cleaning robot cleaning a corner in accordance with an embodiment of the present application;

[0091] Figures 20a-20c FIG. 9 is a bottom view of a cleaning robot returning to a base station for maintenance in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0092] For the purpose of understanding the present application, a more complete description of the present application will be rendered by referring to the attached drawings. The drawings disclosed herein are included to provide a more thorough understanding of the present application. The application may, however, be practiced without these specific details. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring the present application. It is to be understood that the specific embodiments of the application are shown by way of illustration and not as limitations of the application as defined by the appended claims.

[0093] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the terms "may" and "can" include any one of, or all of, the possible equivalents. The term "and / or" includes any and all combinations of one or more of the associated listed items.

[0094] In the case of using "include", "have", and "contain" in the present document, unless an explicit limiting term is used, such as "only", "consisting of", and the like, another component can be added. Unless otherwise mentioned, the singular form of the term can include the plural form, and it is not understood as the number of one.

[0095] It should be understood that although the terms "first", "second", etc. can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application. The first element and the second element are either the same element or different elements.

[0096] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "connection" and the like should be interpreted in a broad sense, for example, it can be directly connected or indirectly connected through an intermediate medium, and it can be internal connection of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0097] Reference should be made to Figure 1In an embodiment of the present application, a cleaning robot 100 is provided, comprising a body 10, a moving unit 20, a mopping unit 40 provided with a mopping head 41, and a control unit 50. The moving unit 20 is arranged on the body 10 for supporting the body 10 and moving the robot 100 on a surface of a working area. The mopping unit 40 is arranged on the body 10 for performing a preset mopping action. The control unit 50 is configured to control the moving unit 20 to automatically move the body 10 on the surface of the working area, and control the mopping unit 40 to automatically perform the mopping action. The mopping head 41 is movable relative to the body 10 in a width direction of the body 10.

[0098] In an embodiment of the present application, the mopping head is movably mounted on the body 10 to switch from a first position to a second position in response to an obstacle, wherein the mopping head protrudes beyond the body 10 in the width direction in the first position, and the mopping head is retracted from the first position in the width direction of the body 10 in the second position.

[0099] In an embodiment of the present application, a direction perpendicular to the body 10 is defined as a vertical direction. In the first position, a projection of the mopping head in the vertical direction protrudes beyond a projection of the body 10 in the vertical direction in the width direction. The mopping head can be maintained in the first position to perform a cleaning task, so as to approach the obstacle and clean the working area near the obstacle. When the mopping head is retracted from the first position to the second position in response to the obstacle, the mopping head is away from the obstacle in the width direction compared to the mopping head in the first position. The mopping head can be maintained in the second position to avoid collision with the obstacle. It should be noted that the obstacle can be furniture in the working area, such as a table, a chair, a bed, etc., or a boundary of the working area, such as a wall. The response to the obstacle can be that the cleaning robot 100 contacts or collides with the obstacle, or that the cleaning robot 100 reacts after detecting the presence of the obstacle. By arranging the mopping head to be movable relative to the body 10 in the width direction of the body 10, the mopping head has a component of movement in the width direction, which maximizes the coverage of the mopping head in the moving area of the cleaning robot while avoiding the mopping head scratching the wall or furniture due to collision with the wall or furniture.

[0100] Preferably, the mopping head contacts the surface of the working area to continuously perform the cleaning task in both the first position and the second position.

[0101] In one embodiment of this application, the body includes a mopping unit mounting area located above the mopping head. The mopping head includes a main mopping area and a mopping compensation area located on at least one side of the main mopping area. When the mopping head retracts from a first position to a second position in response to an obstacle, the projections of the main mopping area and the mopping unit mounting area in the vertical direction overlap. The projections of the mopping compensation area in the vertical direction and the projections of the mopping unit mounting area in the vertical direction overlap at least in the width direction.

[0102] Preferably, when the mopping head is in the second position, the projection of the mopping compensation area in the vertical direction at least partially overlaps with the projection of the mopping unit mounting area in the vertical direction. Furthermore, when the mopping head is in the second position, the projection of the mopping compensation area in the vertical direction is completely within the projection of the mopping unit mounting area in the vertical direction.

[0103] As an example, please continue to refer to Figure 1 By setting the mopping head 41 to be movable relative to the body 10 in the width direction of the body 10, the mopping head can move in the width direction ( Figure 1 The component of movement in the W direction (as shown) can be used to define the forward direction of the cleaning robot 100 as Oy, with the width direction perpendicular to Oy. When the edge of the mopping head 41 extends beyond the edge of the body 10 and contacts an obstacle such as a wall or furniture, the mopping head 41 can move away from the obstacle. Therefore, the cleaning robot 100 provided in this embodiment maximizes the coverage of the robot's movement area while avoiding scratches to the walls or furniture caused by collisions between the rear of the machine and the walls or furniture.

[0104] Further, please refer to Figure 2 In one embodiment of this application, a cleaning robot 100 is provided, wherein the detection unit includes an edge sensor 301 and a distance limiting module 302. The edge sensor 301 is disposed on the body 10 and distributed along the right front side of the body in a first direction, for detecting the minimum distance between the cleaning robot 100 and an obstacle, the first direction being the forward direction of the cleaning robot 100; the distance limiting module 302 is disposed on the body 10 and distributed along the right rear side of the body 10 in the first direction, spaced apart from the edge sensor 301, for limiting the minimum distance between the cleaning robot 100 and the obstacle; wherein, the moving unit is configured as follows:

[0105] When the real-time minimum distance value is less than or equal to a first preset distance threshold, the cleaning robot 100 continues to move towards the obstacle; when the real-time minimum distance value is within a first preset distance range, the distance limiting module 302 acts to limit the minimum distance value between the cleaning robot 100 and the obstacle to be within a second preset distance range, the maximum value of the second preset distance range being less than or equal to the minimum value of the first preset distance range, and the first preset distance threshold being greater than or equal to the maximum value of the first preset distance range.

[0106] In the cleaning robot in the above embodiment, the edge-following sensor is arranged to preliminarily detect the minimum distance value of the robot to the edge of the obstacle, so as to provide preparation for the action of the distance limiting module; the edge-following sensor is arranged to cooperate with the distance limiting module to accurately detect and limit the minimum distance value of the robot to the edge of the obstacle, so as to maximize the coverage of the moving area of the robot and avoid scratching the wall or furniture due to the collision of the rear side of the robot with the wall or furniture.

[0107] Further, referring to Figure 3a and Figure 3b In one embodiment of the cleaning robot 100 provided in the present application, the distance limiting module includes a touch roller 3021, a connecting rod 3022, and a signal detector 3023, the touch roller 3021 being connected to the body 10 via the connecting rod 3022; when the real-time minimum distance value between the cleaning robot 100 and the obstacle is within the first preset distance range, the touch roller 3021 rotates towards the body 10 with the connecting rod 3022 as the rotation axis, and when the touch roller 3021 contacts the signal detector 3023, the signal detector 3023 generates a first distance limiting signal to control the movement unit 20 to stop and / or move away from the obstacle, so as to limit the minimum distance value between the cleaning robot 100 and the obstacle to be within the second preset distance range.

[0108] Further, referring to Figure 4 In one embodiment of the cleaning robot 100 provided in the present application, the distance limiting module includes a contact sensor 3024, the contact sensor 3024 being configured to generate a second distance limiting signal based on the contact of the obstacle 400 to control the movement unit 20 to stop and / or move away from the obstacle 400, so as to limit the minimum distance value between the cleaning robot 100 and the obstacle 400 to be within the second preset distance range.

[0109] Further, in the cleaning robot provided in an embodiment of the present application, the distance limiting module comprises a non-contact distance measuring element and / or a mop moving motor; the non-contact distance measuring element is configured to generate outgoing light and receive reflected light of the outgoing light after the outgoing light meets the obstacle, and calculate a real-time distance value of the obstacle according to a time point of generation of the outgoing light and a time point of reception of the reflected light; wherein the moving unit is configured to stop and / or move away from the obstacle when the real-time distance value is within the first preset distance range, so that the minimum distance value between the cleaning robot and the obstacle is within the second preset distance range; and the mop moving motor is configured to move the mop of the cleaning robot away from the obstacle if the real-time distance value is within the first preset distance range. In an embodiment of the present application, the outgoing light comprises at least one of structured light, laser light or infrared light. The mop moving motor can be a DC servo motor.

[0110] Further, in the cleaning robot provided in an embodiment of the present application, the cleaning robot further comprises a cleaning unit configured to perform a preset cleaning action when the robot moves on the surface and the cleaning unit at least partially contacts the surface.

[0111] Further, please refer to Figure 5a , Figure 5b , Figure 5c , Figure 5d and Figure 5e In an embodiment of the present application, the robot body 10 comprises a mopping unit mounting area 11 above the mopping working head, and the mopping working head is movable between a first position and a second position. The mopping working head has a first position for normal mopping and a second position for avoiding obstacles. For example, Figure 5a illustrates that the mopping working head is in the first position, Figure 5b illustrates that the mopping working head moves in the width direction indicated by the arrow, Figure 5c illustrates that the mopping working head moves to the second position; the mopping working head comprises a mopping main area 101 and a mopping compensation area 12 on at least one side of the mopping main area 101, when the mopping working head is in the first position (as shown in Figure 5a ), the projection of the mopping main area 101 in the direction perpendicular to the working area surface overlaps with the projection of the mopping unit mounting area 11 in the vertical direction, and the projection of the mopping compensation area 12 in the vertical direction does not overlap with the projection of the mopping unit mounting area 11 in the vertical direction at least in the width direction, so as to maximize the coverage rate of the robot moving area while avoiding the situation that the back of the robot collides with the wall or furniture and scratches the wall or furniture.

[0112] Further, the mopping compensation area 12 is arranged on one side of the mopping main area 101 close to the obstacle.

[0113] Alternatively, the mopping compensation area 12 is arranged on both sides of the mopping main area 101 in the width direction of the machine body 10. When the mopping working head 41 is in the first position, the mopping compensation area 12 of the mopping working head 41 close to the obstacle protrudes completely or partially in the width direction from the side of the mopping unit mounting area 11 close to the obstacle. When the mopping working head 41 is in the second position, the mopping compensation area 12 of the mopping working head 41 close to the obstacle is retracted completely or partially in the width direction into the side of the mopping unit mounting area 11 close to the obstacle.

[0114] Preferably, referring to Figure 16a , the mopping unit mounting area 11 is arranged on the bottom surface of the machine body 10, and the maximum width D1 of the mopping unit mounting area 11 is less than or equal to the maximum width D2 of the machine body.

[0115] Further, referring to Figure 5d In an embodiment of the present application, the distance d between the edge of the side of the mopping compensation area 12 away from the machine body 10 and the edge of the corresponding side of the machine body 10 is within an active range. The active range is greater than 0 and less than or equal to 20 mm. Preferably, the active range is greater than or equal to 5 mm and less than or equal to 20 mm.

[0116] Further, referring to Figure 5c In an embodiment of the present application, when the mopping working head is in the second position, the projection of the mopping compensation area 12 in the direction perpendicular to the working area surface at least partially overlaps the projection of the mopping unit mounting area 11 in the perpendicular direction. For example, the projection of the mopping compensation area 12 in the perpendicular direction can be arranged to be completely within the projection of the mopping unit mounting area 11 in the perpendicular direction when the mopping working head is in the second position, so that the mopping working head is completely covered by the machine body when in the second position.

[0117] Further, referring to Figure 6 In an embodiment of the present application, a straight line L1 extending along the advancing direction of the machine body and passing through the edge of the machine body in the width direction is defined as an edge line, and the inner side of the edge line is defined as the side of the edge line close to the machine body. At least one side of the mopping unit mounting area 11 is located on the inner side of the edge line of the corresponding side of the machine body, so as to avoid damage to the object being touched by the sharp corners at the corners of the machine body.

[0118] Further, in an embodiment of the present application, the main body comprises a middle region of the main body located in the middle of the main body, the mopping unit mounting region is located in front of and / or behind the middle region of the main body in the advancing direction of the main body, and the most edge of the main body in the width direction is located in the middle region of the main body or in front of the middle region of the main body. The most edge of the main body 10 in the width direction is the widest region of the main body, which can be arranged in the middle region of the main body or in front of the middle region of the main body.

[0119] In an embodiment of the present application, the cleaning robot moves along a movement trajectory, when the cleaning robot encounters or detects an obstacle on the movement trajectory, the mopping working head moves from the first position to the second position in response to the obstacle and is maintained at the second position to perform a cleaning task to avoid collision with the obstacle.

[0120] Further, when there is no obstacle on the movement trajectory, the mopping working head is in the first position and is maintained at the first position to perform a cleaning task to clean the working area near the obstacle.

[0121] In an embodiment of the present application, the cleaning robot 100 comprises a connecting component movably connecting the mopping working head 41 to the main body 10, and the mopping working head 41 can move from the first position to the second position under the action of an external force applied by the obstacle. Further, the cleaning robot 100 further comprises a restoring element connected to at least one of the mopping working head 41 and the main body 10, and the restoring element provides a restoring force to the working head when the external force is removed, so that the mopping working head 41 moves from the second position to the first position. The mopping working head 41 is connected to the main body 10 through the connecting component and can move relative to the main body 10 in the width direction. The movement of the mopping working head 41 can be that the mopping working head 41 collides with furniture or a wall, and the mopping working head 41 is pushed from the first position to the second position to avoid the obstacle interfering with the movement of the cleaning robot 100 and to enable the mopping working head 41 to clean the working area as close to the obstacle as possible. When the pushing of the obstacle is lost, the mopping working head 41 moves from the second position to the first position to continue cleaning. The restoring element acts on the mopping working head 41 when the external force applied by the obstacle is removed to move the mopping working head 41 back to the first position. It should be noted that the restoring element can be a spring, such as a compression spring, a tension spring, a torsion spring, or the like, which has a restoring ability when an external force is applied or lost.

[0122] Further, the cleaning robot further comprises a limiting structure arranged on at least one of the body and the mopping head to prevent the mopping head from moving towards the obstacle when the mopping head is in the first position. The limiting structure can be a stopper arranged on the body to prevent the mopping head from moving towards the obstacle when the mopping head is in the first position, and then the connecting part is disconnected from the body.

[0123] In an embodiment of the present application, the mopping head is movable from the first position to the second position under an external force, and the cleaning robot further comprises a restoring member for providing a restoring force to the mopping head to restore the mopping head from the second position to the first position when the external force is removed.

[0124] In an embodiment of the present application, the cleaning robot further comprises a detecting unit for detecting whether there is an obstacle on the side of the body and a driving unit for driving the mopping head to move between the first position and the second position. The driving unit can be one of a motor and a solenoid.

[0125] Further, the control unit controls the driving unit to drive the mopping head to move between the first position and the second position based on the detection signal of the detecting unit.

[0126] In an embodiment of the present application, when the detecting unit does not detect an obstacle on the side of the mopping unit installation area, the mopping head is maintained in the first position; and when the detecting unit detects an obstacle on the side of the mopping unit installation area, the driving unit drives the mopping head to move from the first position to the second position.

[0127] In an embodiment of the present application, the detection unit detects that the side of the body 10 is blocked by an obstacle, the cleaning robot 100 identifies the cleaning scene where the obstacle is located, and the driving unit drives the mopping working head 41 to move between the first position and the second position according to the cleaning scene where the obstacle is located. The cleaning robot 100 can set the position of the mopping working head 41 according to the cleaning scene where the obstacle is located. The detection unit can be a laser radar responsible for real-time mapping and navigation on the main machine, can be a visual sensor such as a monocular or binocular RGB camera, can be a ranging sensor such as an infrared ranging sensor, a TOF ranging sensor, a structured light ranging sensor, can be a bumper provided on the body 10 and directly in contact with the obstacle, or can be any combination of the above detection elements. Preferably, the cleaning robot 100 comprises a connecting component connecting the body 10 and the mopping working head 41, and the connecting component comprises an eccentric structure provided on the mopping working head 41 or the body 10, which moves under the drive of the driving unit to drive the mopping working head 41 to move between the first position and the second position.

[0128] In one embodiment, when the cleaning robot 100 cleans the working area near the obstacle, the driving unit drives the mopping working head 41 to move to the first position. Please refer to Figures 16a-16d When the cleaning robot 100 cleans the working area near the obstacle, the mopping working head 41 is in the first position under the drive of the driving unit, the mopping working head 41 extends beyond the body 10 in the width direction, and the side of the mopping working head 41 near the obstacle extends or at least partially extends the side of the body 10 near the obstacle, so that the mopping working head 41 is closer to the obstacle, to clean the working surface near the obstacle as close as possible to the obstacle, maximize the coverage of the robot moving area, and avoid the mopping working head 41 of the cleaning robot 100 colliding with and scratching the obstacle. The cleaning scene where the obstacle is located is, for example, the cleaning robot 100 cleaning around the legs of tables and chairs.

[0129] In one embodiment, the working area includes a boundary, which is an obstacle that prevents the cleaning robot from continuing to move, and when the cleaning robot 100 cleans the long straight side of the boundary or the external corner of the boundary, the driving unit drives the mopping working head 41 to move to the first position. Please refer to Figure 17When the cleaning robot 100 cleans the working area, it can encounter the boundary of the working area, such as a wall with a long straight side and a corner, and the like. When the obstacle is located in the long straight side of the wall, the cleaning robot 100 needs to clean as close to the long straight side of the wall as possible. The driving unit drives the mopping working head 41 to move to the first position, and the side of the mopping working head 41 close to the obstacle extends or at least partially extends out of the side of the body 10 close to the obstacle in the width direction, so that the mopping working head 41 is closer to the wall, and the long straight side of the wall is cleaned. Please refer to Figures 18a-18d When the obstacle is the wall of the boundary of the working area, the two wall supports form an included angle, and the external corner is an obtuse angle formed between the two walls. When the obstacle is located in the external corner of the wall, the cleaning robot 100 needs to turn and clean the obtuse angle region as much as possible. The driving unit drives the mopping working head 41 to move to the first position, and the side of the mopping working head 41 close to the obstacle extends or at least partially extends out of the side of the body 10 close to the obstacle in the width direction, so that the mopping compensation area 12 of the mopping working head 41 is closer to the wall, and the external corner of the wall is cleaned.

[0130] Preferably, the detection unit detects the distance between the body 10 and the obstacle, and the control unit moves the unit 20 to drive the body 10 to move, so that the distance between the side of the body 10 close to the obstacle and the obstacle is greater than the distance between the edge of the side of the mopping compensation area 12 away from the body and the edge of the corresponding side of the body when the mopping working head 41 is in the first position. Please refer to Figure 17 The transverse distance d1 of the mopping unit installation area 11 of the side of the mopping compensation area 12 extending out of the side of the body 10 when the mopping working head 41 is in the first position cannot exceed the distance d2 between the side of the body 10 close to the obstacle and the obstacle, otherwise it will interfere with the movement of the cleaning robot 100.

[0131] In one of the embodiments, the working area includes a boundary, and the boundary is the obstacle that prevents the cleaning robot from continuing to move. When the cleaning robot 100 cleans the internal corner of the boundary, the driving unit drives the mopping working head 41 to move to the second position. Please refer to Figures 19c-19eWhen the obstacle is a wall that is the boundary of the working area, an angle is formed between the two walls, the internal corner is an acute angle or a right angle formed between the two walls, the obstacle is located at the internal corner of the wall, the cleaning robot 100 needs to turn through the internal corner, the driving unit drives the mopping working head 41 to move to the second position, the side of the mopping working head 41 close to the obstacle is retracted or at least partially retracted in the width direction of the side of the body 10 close to the obstacle, so that the mopping working head 41 is further away from the wall, avoiding the mopping working head 41 colliding with the wall and causing interference when the cleaning robot 100 passes through the internal corner. Further, when the detection unit detects that the cleaning robot 100 passes through the internal corner, the driving unit drives the mopping working head 41 to move to the first position. Please refer to Figures 19a-19b , 19f-19g, before and after the cleaning robot 100 passes through the internal corner, it is cleaning the long straight edge of the boundary, as described above, when the cleaning robot 100 cleans the long straight edge of the boundary, the driving unit drives the mopping working head 41 to move to the first position.

[0132] Further, the cleaning robot further comprises a position detection unit arranged on the body and detecting whether the mopping working head is in the first position or the second position, and the control unit controls the driving unit to drive the mopping working head to stop in the first position or the second position according to the signal detected by the position detection unit. The position detection unit can be a micro switch or a position detection sensor, for example, a Hall sensor, a photoelectric sensor, etc., to avoid the mopping working head being continuously driven to move by the driving unit after moving to the first position or the second position, causing the mopping working head to be separated from the body.

[0133] In one embodiment, when the cleaning robot 100 returns to the base station 200 for maintenance, the driving unit drives the mopping working head 41 to move to the second position. Please refer to Figures 20a-20cWhen the cleaning robot 100 returns to the base station 200 for maintenance, the cleaning robot 100 can need to enter the interior of the base station 200. Considering that the base station 200 occupies a large area in the working area, which affects the user experience, the structure of the base station 200 needs to be as compact as possible so that the volume of the base station 200 is not too large, and the space for accommodating the cleaning robot 100 to enter and park in the base station 200 also needs to be strictly controlled. Therefore, in order to avoid the interference between the mopping working head 41 and the shell of the base station 200 when the cleaning robot 100 enters the interior of the base station 200, when the driving unit drives the mopping working head 41 to move to the second position, the side of the mopping working head 41 close to the obstacle is retracted or at least partially retracted in the width direction of the side of the body 10 close to the obstacle, so that the cleaning robot 100 can smoothly enter the interior of the base station 200. The timing when the driving unit drives the mopping working head 41 to move to the second position can be any time before the cleaning robot 100 moves to the interior of the base station 200. Further, the mopping working head 41 can be accurately detached or parked in the corresponding maintenance module in the base station 200 for maintenance.

[0134] Alternatively, the body 10 has a body center line L1 in the length direction, and the mopping working head 41 has a mopping working head center line L2 in the length direction. When the cleaning robot 100 returns to the base station 200 for maintenance, the driving unit drives the mopping working head 41 to move to a position where the body center line L1 and the mopping working head center line L2 coincide or are within a preset distance.

[0135] In one of the embodiments, the working area includes an intermediate area. When the cleaning robot 100 cleans the intermediate area, the mopping working head 41 moves to the first position and maintains at the first position.

[0136] In one of the embodiments, the working area includes an intermediate area. When the cleaning robot 100 cleans the intermediate area, the mopping working head 41 moves to the second position and maintains at the second position. Further, in one of the embodiments of the present application, when the detection unit detects that the obstacle on the side of the mopping unit installation area disappears, the driving unit drives the mopping working head to move from the second position to the first position.

[0137] Further, please refer to Figure 5a , Figure 5b and Figure 5c In one of the embodiments of the cleaning robot 100 provided in the present application, the mopping unit includes a mop 42, and the edge of the mop 42 is aligned with or partially exceeds the edge of the contour of the body 10.

[0138] Further, please continue to refer to Figure 5a , Figure 5b and Figure 5cIn one embodiment of the cleaning robot 100 provided in the present application, the mopping unit further comprises a mop plate (not shown) and a sliding assembly (not shown), the mop plate is connected with the body via the sliding assembly, and the sliding assembly is used to define the direction and distance of the sliding of the mop plate. The stroke of the sliding of the mop plate relative to the body is limited within 30 mm, preferably 10-30 mm, further preferably 5-20 mm, for example, the stroke can be set to 5 mm, 10 mm, 15 mm, 20 mm, 25 mm or 30 mm, etc. The size of the mop plate in the width direction of the body is substantially equal to the width of the body minus the stroke of the sliding of the mop plate. The outer contour of the mop plate 42 or the contour of the tail of the body 10 at least partially protrudes from the center of the rotation of the body 10 in the original rotation as the center and the circle with the width of the body as the diameter. The planar shape of the mop plate is substantially rectangular with at least two right angles and obvious chamfering characteristics. When the mop plate contacts an obstacle, the mop plate slides away from the obstacle, thereby maximizing the coverage of the mop while avoiding scratching the wall or furniture due to the collision of the rear side of the machine with the wall or furniture.

[0139] In one embodiment of the present application, the shape of the body is one of a circle, a D shape, a rectangle or a chamfered D shape.

[0140] For example, refer to Figure 6 In one embodiment of the present application, the shape of the body 10 is a chamfered D shape, so as to improve the obstacle avoidance capability of the rear side of the robot 100.

[0141] Further, refer to Figure 7 In one embodiment of the cleaning robot 100 provided in the present application, the cleaning unit further comprises a sweeping unit 30 and a control unit 50. The sweeping unit 30 is arranged on the body 10 and is used to perform a preset sweeping action when the robot 100 moves on the surface of the area to be cleaned and the sweeping unit 30 contacts the surface. The control unit 50 is connected with the moving unit 20, the sweeping unit 30 and the mopping unit 40. The control unit 50 is configured to control the sweeping unit and / or the mopping unit to contact the surface according to the obtained function selection control signal, and control the moving unit to move the robot, so as to realize the functions of “sweeping alone”, “mopping alone” or “sweeping and mopping in one” based on the control of the user, improve the cleaning performance and avoid the intervention of the user to the machine. Since the detection unit 300 can detect the real-time minimum distance value between the cleaning robot 100 and the obstacle, and limit the minimum distance value between the cleaning robot 100 and the obstacle according to the real-time minimum distance value, the wall or furniture is scratched due to the collision of the rear side of the machine with the wall or furniture is avoided while the coverage of the mopping area of the robot is maximized.

[0142] Further, in one embodiment of the cleaning robot provided in the present application, the function selection control signal comprises a single-sweeping control signal, a single-mopping control signal and a sweeping-mopping integrated control signal; the control unit is configured to:

[0143] According to the obtained single-sweeping control signal, the sweeping unit is controlled to be in contact with the surface, and the movement unit is controlled to move the robot to perform a preset sweeping action;

[0144] According to the obtained single-mopping control signal, the mopping unit is controlled to be in contact with the surface, and the movement unit is controlled to move the robot to perform a preset mopping action;

[0145] According to the obtained sweeping-mopping integrated control signal, the sweeping unit and the mopping unit are both controlled to be in contact with the surface, and the movement unit is controlled to move the robot to simultaneously perform a preset sweeping action and a preset mopping action.

[0146] Further, in one embodiment of the present application, a cleaning robot is provided, further comprising a communication unit and / or an operation unit, the communication unit is connected with the control unit, the control unit is connected with a mobile terminal via the communication unit to obtain a function selection control signal from the mobile terminal, realizing remote intelligent control of the cleaning robot; the operation unit is connected with the control unit, the control unit locally receives a function selection control signal from a user via the operation unit, realizing local control of the cleaning robot.

[0147] As an example, please refer to Figure 8 In one embodiment of the present application, a cleaning robot 100 is provided, further comprising a communication unit 60, the communication unit 60 is connected with the control unit 50, the control unit 50 is connected with a mobile terminal 200 via the communication unit 60 to obtain a function selection control signal from the mobile terminal 200, realizing control of the cleaning robot based on the function selection control signal input by the user to perform the functions of "single sweeping", "single mopping" or "sweeping-mopping integrated", improving the cleaning performance, and avoiding the need for the user to manually replace the working module of the robot in the process of switching the working mode of the cleaning robot. In the present embodiment, the mobile terminal 200 can be at least one of a remote controller, a mobile phone, a tablet computer, a computer or a smart wearable device.

[0148] As an example, please refer to Figure 9In an embodiment of the present application, a cleaning robot 100 is provided, further comprising an operation unit 70 connected with the control unit 50, the control unit 50 locally receiving a function selection control signal from a user via the operation unit 70, and performing a control of the cleaning robot based on the function selection control signal from the user to realize a function of "sweeping only", "mopping only" or "sweeping and mopping", so as to improve the cleaning performance and avoid the need of manually replacing the working module of the cleaning robot by the user in the process of switching the working mode of the cleaning robot. In the embodiment, the operation unit 70 can be a physical button, a touch screen or a voice control unit, or other equivalent devices capable of inputting signals.

[0149] Further, in an embodiment of the present application, a cleaning robot is provided, wherein the mopping unit comprises a mop plate, a mop and a second lifting component, the first surface of the mop plate is connected with the body; the mop is arranged on the second surface of the mop plate opposite to the first surface, and is used to contact with the surface to perform a preset mopping action; and the second lifting component is connected with the control unit, and is used to perform a second preset action based on the control of the control unit to drive the mop on the mop plate to contact or leave the surface of the working area of the cleaning robot.

[0150] Further, in an embodiment of the present application, a cleaning robot is provided, wherein the cleaning robot further comprises a side brush and a rolling brush. The side brush and the rolling brush together constitute a sweeping cleaning width. The sum of the width of the main mopping area of the mopping working head of the cleaning robot and the width of the mopping compensation area is greater than or equal to the sweeping cleaning width. The moving unit of the cleaning robot has a wheel track. The sum of the width of the main mopping area of the mopping working head of the cleaning robot and the width of the mopping compensation area is greater than the wheel track. When the mopping working head of the cleaning robot is in the second position, the projection of the moving unit is within the width range of the mopping working head.

[0151] Further, please refer to Figure 10a , Figure 10b , Figure 10c and Figure 10d In an embodiment of the present application, a cleaning robot 100 is provided, wherein the sweeping unit comprises a side brush assembly (not shown in the drawings), a rolling brush assembly 32 and a first lifting component (not shown in the drawings). Figures 10a-10d Figures 10a-10d ​The edge brush assembly is arranged at one end of the main body 10, and the other end of the edge brush assembly is provided with a first cleaning part, such as a bristle. One end of the roller brush assembly 32 is arranged at the main body 10, and the other end of the roller brush assembly 32 is provided with a second cleaning part, such as a cleaning head. The first cleaning part and the second cleaning part are used to contact the surface of the working area of the cleaning robot 100 to perform a preset cleaning action. The first lifting part is connected with the control unit and is used to perform a first preset action based on the control of the control unit to drive the first cleaning part and / or the second cleaning part to contact or leave the surface. In an embodiment of the present application, at least two edge brush assemblies are symmetrically arranged on both sides of the main body 10, and the roller brush assembly 32 is arranged in the middle of the main body 10 and between the edge brush assemblies on both sides of the main body, which can optimize the structural layout of the cleaning robot and reduce the volume of the main body.

[0152] Further, please refer to Figure 10a , Figure 10b , Figure 10c and Figure 10d In an embodiment of the cleaning robot 100 provided in the present application, the first lifting part includes a first motor 35 and a first cam 36. The first motor 35 is connected with the control unit. The first cam 36 is used to rotate with the first motor. The free end of the first cam 36 is connected with one end of the roller brush assembly 32 away from the second cleaning part (not shown). According to the received single-drag control signal, the control unit controls the first motor to rotate in a preset first direction, drives the first cam 36 to rotate, lifts the roller brush assembly 32, and makes the second cleaning part leave the surface of the working area of the cleaning robot 100. According to the received single-sweep control signal and / or the sweep-drag integrated control signal, the control unit controls the first motor 35 to rotate in a preset second direction and drives the first cam 36 to move downward, drives the roller brush assembly 32 to move downward, and makes the second cleaning part (not shown) contact the surface of the working area of the cleaning robot 100. The second direction is opposite to the first direction.

[0153] Further, in an embodiment of the cleaning robot provided in the present application, the first lifting part further includes a cam sleeve. The cam sleeve at least covers part of the first cam and is connected with the first cam, used to rotate with the first cam and drive the roller brush assembly to move upward or downward.

[0154] As an example, please continue to refer to Figure 10a , Figure 10b , Figure 10c and Figure 10dIn the cleaning robot 100 provided in an embodiment of the present application, the first lifting component further comprises a cam sleeve 37, which covers and is connected with the first cam 36, and is used to rotate with the first cam 36 and drive the roller brush assembly 32 to move up or down.

[0155] Figure 10a It is shown that the cleaning robot 100 works in the "sweeping and mopping integrated" state, that is, the sweeping unit and the mopping unit 40 of the cleaning robot 100 are both in contact with the surface of the working area of the cleaning robot 100, and the moving unit 20 drives the cleaning robot 100 to move to simultaneously perform the preset sweeping action and the preset mopping action.

[0156] Figure 10b It is shown that the cleaning robot 100 works in the "single mopping" state, that is, the mopping unit 40 of the cleaning robot 100 is in contact with the surface of the working area of the cleaning robot 100, and the moving unit 20 drives the cleaning robot 100 to move to perform the preset mopping action. In the embodiment, the control unit can be configured to control the first motor to rotate in the preset first direction according to the received single mopping control signal, drive the first cam 36 to rotate, lift the roller brush assembly 32, and make the second cleaning part leave the surface of the working area of the cleaning robot 100, and the control unit controls the moving unit 20 to drive the cleaning robot 100 to move while the mopping unit 40 is in contact with the surface of the working area of the cleaning robot 100, to perform the preset mopping action.

[0157] Figure 10c It is shown that the cleaning robot 100 works in the "single sweeping" state, that is, the sweeping unit of the cleaning robot 100 is in contact with the surface of the working area of the cleaning robot 100, and the mopping unit 40 leaves the surface. The control unit controls the first motor 35 to rotate in the preset second direction according to the received single sweeping control signal and drives the first cam 36 to move down, to drive the roller brush assembly 32 to move down, so that the second cleaning part (not shown) contacts the surface of the working area of the cleaning robot 100, and the control unit controls the moving unit 20 to drive the cleaning robot 100 to move while the mopping unit 40 leaves the surface, to perform the preset sweeping action.

[0158] Figure 10d It is shown that the cleaning robot 100 works in the "shuttle" state, and the control unit controls the moving unit 20 to drive the cleaning robot 100 to move while controlling the sweeping unit and the mopping unit 40 to leave the surface of the working area of the cleaning robot 100. That is, the cleaning robot 100 only moves but does not perform the preset sweeping action or the preset mopping action.

[0159] Further, please refer to Figure 11a and Figure 11b In one embodiment of this application, a cleaning robot 100 is provided, wherein the first lifting component further includes a second cam 310 and a bushing 311, the second cam 310 being used to follow the first motor ( Figure 11a and Figure 11b (Not shown in the image) Rotation; The bushing 311 can be set to be cylindrical, with one end of the bushing 311 connected to the end of the side brush assembly 31 away from the first cleaning part, and the other end of the bushing 311 connected to the free end of the second cam 310; When the first motor rotates along the first direction, the second cam 310 rotates with the first motor and drives the bushing 311 to rotate, thereby driving the side brush assembly 31 to rotate, so that the first cleaning part located at the free end of the side brush assembly 31 leaves the surface of the working area of ​​the cleaning robot 100; When the first motor rotates along the second direction, the second cam 310 rotates with the first motor and drives the bushing 311 to rotate, thereby driving the side brush assembly 31 to rotate, so that the first cleaning part located at the free end of the side brush assembly 31 contacts the surface of the working area of ​​the cleaning robot 100.

[0160] For further information, please continue to refer to [link / reference]. Figure 11a and Figure 11b In one embodiment of this application, a cleaning robot 100 is provided, which further includes a paddle block 312. One end of the paddle block 312 is connected to the end of the bushing 311 away from the side brush assembly 31, and the other end of the paddle block 312 is connected to the free end of the second cam 310. When the second motor rotates along the first direction and drives the second cam 310 to rotate, the paddle block 312 follows the second cam 310 to rotate and drives the bushing 311 to rotate, so that the side brush assembly 31 rotates and drives the first cleaning part away from the surface of the working area of ​​the cleaning robot 100. When the second motor rotates along the second direction and drives the second cam 310 to rotate, the paddle block 312 follows the second cam 310 to rotate and drives the bushing 311 to rotate, so that the side brush assembly 31 rotates and drives the first cleaning part to contact the surface of the working area of ​​the cleaning robot 100.

[0161] Further, please refer to Figure 12a and Figure 12b In one embodiment of this application, a cleaning robot 100 is provided, wherein the first lifting component further includes a second motor. Figure 12a and Figure 12b (Not shown in the image) and a motor bushing 313, the second motor is connected to the control unit; the motor bushing 313 is cylindrical, used to follow the second motor and rotate around a preset axis 314, the axis 314 forms a first preset angle with the surface of the working area of ​​the cleaning robot 100, and the end of the side brush assembly 31 away from the first cleaning part is connected to the motor bushing 313; wherein, the control unit is configured as follows:

[0162] According to the received single-sweeping control signal and / or the sweeping-mopping integrated control signal, the second motor is controlled to rotate in a preset fourth direction by the second preset angle and drive the motor shaft sleeve 313 to rotate, so as to drive the side brush assembly 31 to rotate by the third preset angle, so that the first cleaning part contacts the surface of the working area of the cleaning robot 100, and the fourth direction is opposite to the third direction.

[0163] According to the received single-sweeping control signal and / or the sweeping-mopping integrated control signal, the second motor is controlled to rotate in a preset fourth direction by the second preset angle and drive the motor shaft sleeve 313 to rotate, so as to drive the side brush assembly 31 to rotate by the third preset angle, so that the first cleaning part contacts the surface of the working area of the cleaning robot 100, and the fourth direction is opposite to the third direction.

[0164] Further, please refer to Figure 13a and Figure 13b , in an embodiment of the cleaning robot 100 provided in the present application, the first lifting component includes an electromagnetic assembly 315 connected with the control unit; wherein one end of the roller brush assembly 32 close to the electromagnetic assembly 315 is at least partially made of magnetic metal material, and the metal includes at least one of iron, nickel or cobalt; the control unit is configured to:

[0165] According to the received single-sweeping control signal and / or the sweeping-mopping integrated control signal, the second motor is controlled to rotate in a preset fourth direction by the second preset angle and drive the motor shaft sleeve 313 to rotate, so as to drive the side brush assembly 31 to rotate by the third preset angle, so that the first cleaning part contacts the surface of the working area of the cleaning robot 100, and the fourth direction is opposite to the third direction.

[0166] According to the received single-sweeping control signal and / or the sweeping-mopping integrated control signal, the second motor is controlled to rotate in a preset fourth direction by the second preset angle and drive the motor shaft sleeve 313 to rotate, so as to drive the side brush assembly 31 to rotate by the third preset angle, so that the first cleaning part contacts the surface of the working area of the cleaning robot 100, and the fourth direction is opposite to the third direction.

[0167] Further, in an embodiment of the cleaning robot provided in the present application, please refer to Figure 14a , Figure 14b , Figure 14c , Figure 14d and Figure 14e , the second lifting component further includes a third motor (not shown), a fixed shaft 44, a mop plate support 45, a fixed shaft sleeve 46 and a third cam 47, the middle part of the fixed shaft 44 is connected with the chassis of the body 10; the fixed shaft 44 is connected with the mop plate support 45 through the fixed shaft sleeve 46; the fixed shaft sleeve 46 is used to define the moving direction and / or moving distance of the mop plate support 45.

[0168] In an embodiment of the present application, please continue to refer to Figure 14a , Figure 14b , Figure 14c , Figure 14d and Figure 14e The fixed bushing 46 is used to limit the vertical movement of the mop plate support 45 and the distance it moves up or down. The free end of the third cam 47 is connected to the surface of the mop plate support 45 away from the mop 42, and the third cam 47 is used to follow the rotation of the third motor; wherein, the control unit is configured to:

[0169] According to the received single-sweep control signal, the third motor is controlled to rotate along the preset fifth direction, driving the third cam 47 to rotate, so as to lift the mop plate bracket 45 upward and make the mop 42 leave the surface of the working area of ​​the cleaning robot 100.

[0170] Based on the received single-mop control signal and / or sweep-mop integrated control signal, the third motor is controlled to rotate along a preset sixth direction and drive the third cam 47 to move downward, so as to drive the mop plate bracket 45 to move downward and make the mop 42 contact the surface of the working area of ​​the cleaning robot 100. The sixth direction is opposite to the fifth direction.

[0171] Furthermore, in one embodiment of this application, the sweeping unit and the mopping unit partially overlap; the control unit is configured to:

[0172] Based on the acquired single mop control signal and / or sweeping and mopping integrated control signal, the moving unit is controlled to move and drive the cleaning robot to the preset mop loading area, where the preset mop loading area is provided with a self-adhesive mop of preset shape and size.

[0173] When the self-adhesive mop is located within the preset mop positioning area below the bottom of the body, the first cleaning part of the side brush assembly is controlled to move down and connect with the self-adhesive mop, so that the side brush assembly contacts the surface via the self-adhesive mop.

[0174] The control unit moves the cleaning robot.

[0175] Furthermore, in one embodiment of this application, the control unit is also configured to control the roller brush assembly to leave the surface according to the acquired single-mop control signal, so as to avoid the second cleaning part of the roller brush assembly, which is covered with dust, from contaminating the surface to be cleaned when mopping alone.

[0176] Further, please refer to Figure 15a and Figure 15b In one embodiment of this application, a cleaning robot 100 is provided, wherein the moving unit includes a drive wheel assembly 21 and a sensor assembly (not shown). The drive wheel assembly 21 is connected to the control unit; the sensor assembly is connected to the control unit and is used to collect position information and / or obstacle information; wherein the control unit is further configured to:

[0177] generate real-time control information according to the received position information and / or obstacle information, to control the driving wheel group to drive the cleaning robot to perform at least one of positioning, path planning, recharging, or obstacle avoidance.

[0178] Further, please continue to refer to Figure 15a and Figure 15b In an embodiment of the cleaning robot 100 provided in the present application, a dust container 34 and a fan system 60 are further included, and the fan system 60 is connected to the control unit; wherein the control unit is further configured to:

[0179] control the fan system to work and generate suction force according to the obtained function selection control signal, so as to suck the debris on the surface into the dust container 34.

[0180] Further, in an embodiment of the cleaning robot provided in the present application, the mopping unit further includes a water tank and a mopping assembly, and the mopping assembly is in communication with the water tank; wherein the mopping assembly is used to contact the surface to perform a preset mopping action.

[0181] Further, in an embodiment of the cleaning robot provided in the present application, a filter is further included, and the filter is arranged in the fan system to filter the debris entering the fan system.

[0182] Further, in an embodiment of the present application, a cleaning robot system is provided, which includes the cleaning robot described in any embodiment of the present application and a base station, and the base station is used to provide communication and / or maintenance service for the cleaning robot, and the maintenance service includes at least one of charging, providing a mop, adding water, or dust removal. By providing the base station to provide communication and / or maintenance service for the cleaning robot, and the maintenance service includes at least one of charging, providing a mop, adding water, or dust removal, the cleaning robot can be moved to the base station to install / replace the mop, or to perform maintenance operations such as charging, adding water, or dust removal, according to the needs of the work.

[0183] The technical features of the above-described embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure. The technical features of the above-described embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0184] The above embodiments only express several implementation ways of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A cleaning robot, characterized in that, The robot cleaner comprises: a body having a width direction; a moving unit arranged on the body for supporting the body and moving the robot cleaner on a surface of a working area; a mopping unit provided with a mopping head, the mopping unit being arranged on the body for performing a preset mopping action, the mopping head comprising a main mopping area and a mopping compensation area located on at least one side of the main mopping area; a detecting unit for detecting whether there is an obstacle on the side of the body and detecting the distance between the body and the obstacle; a driving unit for driving the mopping head to move between a first position and a second position; a control unit for controlling the moving unit to automatically move the body on the surface of the working area and controlling the mopping unit to automatically perform the mopping action; the mopping head is movably mounted on the body and is switched from a first position to a second position in response to the obstacle, wherein the mopping head exceeds the body in the width direction when in the first position and is retracted from the first position in the width direction of the body when in the second position; when the detecting unit detects that there is the obstacle on the side of the body and the cleaning robot cleans the working area near the obstacle, the driving unit drives the mopping head to move to the first position, and the control unit controls the moving unit to move the body based on the distance between the body and the obstacle detected by the detecting unit, so that the distance between the side of the body close to the obstacle and the obstacle is greater than the distance between the edge of the side of the mopping compensation area away from the body and the edge of the corresponding side of the body when the mopping head is in the first position, and the distance between the edge of the side of the mopping compensation area away from the body and the edge of the corresponding side of the body is within an active range, which is greater than or equal to 5 mm and less than or equal to 20 mm.

2. The cleaning robot according to claim 1, characterized in that, the direction perpendicular to the body is defined as the vertical direction, the projection of the mopping head in the vertical direction exceeds the projection of the body in the vertical direction when the mopping head is in the first position, and the mopping head can be maintained in the first position to clean the working area near the obstacle; when the mopping head is retracted from the first position to the second position in response to the obstacle, the mopping head is away from the obstacle in the width direction compared to when the mopping head is in the first position, and the mopping head can be maintained in the second position to avoid collision with the obstacle.

3. The cleaning robot according to claim 2, wherein, the body comprises a mopping unit mounting area above the mopping head, when the mopping head is retracted from the first position to the second position in response to the obstacle, the projection of the main mopping area and the mopping unit mounting area in the vertical direction overlaps, and the projection of the mopping compensation area in the vertical direction overlaps the projection of the mopping unit mounting area in the vertical direction at least in the width direction.

4. The cleaning robot according to claim 3, wherein, When the mopping working head is in the second position, a projection of the mopping compensation area in the vertical direction at least partially overlaps with a projection of the mopping unit mounting area in the vertical direction.

5. The cleaning robot according to claim 4, wherein, When the mopping working head is in the second position, a projection of the mopping compensation area in the vertical direction is completely located within a projection of the mopping unit mounting area in the vertical direction.

6. The cleaning robot according to claim 1, wherein, The entire mopping working head is configured to move between the first position and the second position.

7. The cleaning robot according to claim 1, wherein, When the cleaning robot moves along a movement track and encounters or detects the obstacle on the movement track, the mopping working head moves from the first position to the second position in response to the obstacle and is maintained in the second position to perform a cleaning task to avoid collision with the obstacle.

8. The cleaning robot according to claim 7, wherein, When there is no obstacle on the movement track, the mopping working head is in the first position and is maintained in the first position to perform a cleaning task to clean a working area near the obstacle.

9. The cleaning robot of claim 1, wherein, The cleaning robot comprises a connecting component movably connecting the mopping working head to the body, and the mopping working head can move from the first position to the second position under the action of an external force exerted by the obstacle. 10.The cleaning robot according to claim 9, wherein, The cleaning robot further comprises a restoring element connected to at least one of the mopping working head and the body, and the restoring element provides a restoring force to the working head when the external force is removed, so that the mopping working head moves from the second position to the first position. 11.The cleaning robot according to claim 9 or 10, characterized in that, The cleaning robot further comprises a limiting structure provided on at least one of the body and the mopping working head to prevent the mopping working head from continuously moving towards the obstacle when the mopping working head is in the first position.

12. The cleaning robot of claim 1, wherein, The control unit controls the driving unit to drive the mopping working head to move between the first position and the second position based on the detection signal of the detection unit.

13. The cleaning robot according to claim 12, wherein, The detection unit detects the obstacle on the side of the body, the cleaning robot identifies a cleaning scene where the obstacle is located, and the driving unit drives the mopping working head to move between the first position and the second position according to the cleaning scene where the obstacle is located.

14. The cleaning robot according to claim 13, wherein, The working area comprises a boundary which is the obstacle preventing the cleaning robot from continuing to move, and the driving unit drives the mopping working head to move to the first position when the detection unit detects that the cleaning robot cleans a long straight side of the boundary or a positive corner of the boundary.

15. The cleaning robot of claim 13, wherein, The working area comprises a boundary which is the obstacle preventing the cleaning robot from continuing to move, and the driving unit drives the mopping working head to move to the second position when the detection unit detects that the cleaning robot cleans a negative corner of the boundary.

16. The cleaning robot of claim 15, wherein, The driving unit drives the mopping working head to move from the second position to the first position when the detection unit detects that the cleaning robot passes through the negative corner.

17. The cleaning robot of claim 15, wherein, The detection unit detects that the cleaning robot passes the corner, and the driving unit drives the mopping head to move to the first position.

18. The cleaning robot according to any one of claims 12-17, wherein, The cleaning robot further comprises a position detection unit arranged on the body and detecting whether the mopping head is in the first position or the second position, and the control unit controls the driving unit to drive the mopping head to stop at the first position or the second position according to the signal detected by the position detection unit.

19. The cleaning robot of claim 12, wherein, When the cleaning robot returns to the base station for maintenance, the driving unit drives the mopping head to move to the second position; or the body has a body center line in the length direction, the mopping head has a mopping head center line in the length direction, and when the cleaning robot returns to the base station for maintenance, the driving unit drives the mopping head to move to a position where the body center line and the mopping head center line coincide or are within a preset distance.

20. The cleaning robot of claim 1, wherein, The working area comprises an intermediate area, and when the cleaning robot cleans the intermediate area, the mopping head moves to the first position and is maintained at the first position to perform a cleaning task to clean the intermediate area.

21. The cleaning robot of claim 1, wherein, The working area comprises an intermediate area, and when the cleaning robot cleans the intermediate area, the mopping head moves to the second position and is maintained at the second position to perform a cleaning task to clean the intermediate area.

22. The cleaning robot according to any one of claims 3-5, wherein, A straight line extending along the advancing direction of the body and passing through the most edge of the body in the width direction is defined as an edge line, and a side of the edge line close to the body is defined as the inner side of the edge line, and at least one side of the mopping unit mounting area is located on the inner side of the edge line corresponding to the side of the body.

23. The cleaning robot of claim 22, wherein, The body comprises a body middle area located in the middle of the body, and in the advancing direction of the body, the mopping unit mounting area is located in front of and / or behind the body middle area, and the most edge of the body in the width direction is located in the body middle area or in front of the body middle area.

24. The cleaning robot of claim 2, wherein, When the mopping head is in the first position and the second position, the mopping head contacts the surface of the working area to continuously perform a cleaning task.

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