Cleaning robot and control method thereof

Abstract

The invention relates to the field of cleaning equipment, in particular to a cleaning robot and a control method thereof. A cleaning robot comprises a bottom shell, at least one disc brush, a swing assembly, a blocking strip and a rear scraping strip, and the at least one disc brush is installed at the bottom of the bottom shell; the swing assembly is connected with the bottom shell, located on the front side of the disc brush relative to the advancing direction of the cleaning robot and configured to ascend or descend according to the moving direction of the cleaning robot. The blocking strip is connected with the bottom shell and located between the swinging scraping strip and the disc brush, at least part of the cross section of the blocking strip is in an arc shape, and the blocking strip is bent towards the disc brush. The cleaning robot has the advantages that when the cleaning robot advances, the blocking strip can be lifted through large wind power, particulate matter enters the disc brush cavity, when the cleaning robot retreats, the wind power of the cleaning robot is reduced, the blocking strip is put down, and the particulate matter can be blocked in the disc brush cavity through the blocking strip, so that the cleaning effect is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, and in particular to a cleaning robot and a control method thereof. Background Art

[0002] As the pace of modern life accelerates, automated cleaning products appear more and more frequently in people's lives and are used more and more widely. However, users' overall satisfaction with mainstream cleaning products on the market is relatively low.

[0003] In order to solve the problem of mold and odor on rags, existing cleaning robots use many "cloth-free" cleaning brushes. However, due to the hard texture of the cleaning brushes, they cause problems such as large water stains, low efficiency of particle suction by the disc brush, and particles being knocked out. Therefore, new sustainable solutions are urgently needed. Summary of the invention

[0004] Based on this, the present invention provides a cleaning robot to solve the above technical problems.

[0005] A cleaning robot, comprising: a bottom shell; at least one disc brush, which is installed at the bottom of the bottom shell; a swing assembly, which is connected to the bottom shell and is located at the front side of the disc brush relative to the forward direction of the cleaning robot, and is configured to rise or fall according to the movement direction of the cleaning robot; a blocking bar, which is connected to the bottom shell and is located between the swing assembly and the disc brush, at least part of the cross-section of the blocking bar is in an arc shape and is bent toward the disc brush; a rear scraping bar, which is connected to the bottom shell and is located at the rear side of the disc brush relative to the forward direction of the cleaning robot.

[0006] With such a configuration, the swing assembly can rise and fall according to the moving direction of the cleaning robot. When the cleaning robot moves forward, the swing assembly can rise, so that particles and dust can smoothly enter the brush cavity below the brush; when the cleaning robot moves backward, the swing assembly can fall and contact the ground to prevent particles and dust that have not been cleaned and sucked into the cleaning robot from being missed, and can also scrape water stains evenly to improve the cleaning effect. Since the blocking bar is at least partially bent toward the brush, when the cleaning robot moves forward, the strong wind force will lift the blocking bar, and the particles can open the blocking bar and enter the brush cavity. When the cleaning robot moves backward, the wind force of the cleaning robot decreases, the blocking bar is lowered, and the particles will be stopped by the blocking bar in the brush cavity, thereby ensuring the cleaning effect.

[0007] In one embodiment, the blocking strip includes a connecting section and a blocking section, wherein the connecting section is connected to the bottom shell, and the blocking section is connected to the connecting section and extends away from the connecting section and is bent toward the disc brush.

[0008] In one embodiment, the blocking section has a plurality of notches, and the notches are evenly spaced along the length direction of the blocking section.

[0009] In one embodiment, a connecting groove is provided at the bottom of the bottom shell, the connecting section and part of the blocking section are arranged in the connecting groove, and the bottom shell also includes a fixing block, which is pressed on the blocking bar so that the fixing block and the blocking bar are both clamped in the connecting groove.

[0010] In one embodiment, the swing assembly includes a driving member, a swing arm and a swing scraper strip, one end of the driving member is used to connect to a driving source in the cleaning robot, and the other end is connected to the swing arm, and the end of the swing arm away from the driving member is connected to the swing scraper strip; wherein the driving member can rotate around the end connected to the driving source and drive the swing arm to rise or fall.

[0011] In one embodiment, a mating block is protruding from the swing arm, and the mating block can pass through the bottom shell and extend into the interior of the cleaning robot. The mating block abuts against the driving member, and as the driving member rotates upward, the mating block can follow the driving member to move upward, and as the driving member rotates downward, the mating block can follow the driving member to move downward.

[0012] In one embodiment, a first mounting groove is formed at one end of the swing arm away from the driving member, and a second mounting groove is formed at one end of the swing scraper strip close to the swing arm. Part of the swing arm is embedded in the second mounting groove, and part of the swing scraper strip is embedded in the first mounting groove, so that the swing arm and the swing scraper strip are interlocked.

[0013] In one embodiment, the cleaning robot as described above is provided with a plurality of spray holes capable of spraying cleaning agent on the bottom shell; obtaining the motion state of the cleaning robot; and adjusting the dosage of the cleaning agent sprayed from the spray holes according to the motion state;

[0014] The motion state includes forward and backward.

[0015] In one embodiment, the method further includes: adjusting the position state of the swing component according to the motion state; wherein the position state includes open and closed.

[0016] In one embodiment, the swing assembly has a first position, a second position and a third position; when the swing assembly is folded and in an open state, it is in the first position; when the swing assembly is lowered and in a closed state, it is in the third position; when the swing assembly is in a semi-open state, it is in the second position; the control method of the cleaning robot also includes:

[0017] Determining the operating status of the cleaning robot;

[0018] If the operating state is shutdown, the swing assembly is controlled to stay at the third position for a first preset time, stay at the second position for a second preset time, and finally fold to the third position for a third preset time.

[0019] Compared with the prior art, the present invention enhances the cleaning effect and reduces the dragged back water stains by means of a swinging assembly that can be raised or lowered according to the movement direction of the cleaning robot. When the cleaning robot moves forward, the swinging assembly can be raised so that particles and dust can smoothly enter the bottom of the bottom shell; when the cleaning robot moves backward, the swinging assembly can be lowered and abut against the ground to prevent particles and dust that have not been cleaned and sucked into the cleaning robot from being missed, and can also scrape the water stains evenly to improve the cleaning effect. Since the blocking bar is at least partially bent toward the disc brush, when the cleaning robot moves forward, the larger wind force will cause the blocking bar to be lifted, and the particles can prop up the blocking bar and enter the disc brush cavity. When the cleaning robot moves backward, the wind force of the cleaning robot decreases, the blocking bar is lowered, and the particles will be stopped by the blocking bar in the disc brush cavity, thereby ensuring the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A cross-sectional view of the swing assembly of the cleaning robot provided by the present invention in a first position;

[0021] Figure 2 A cross-sectional view of the swing assembly of the cleaning robot provided by the present invention being located at a second position;

[0022] Figure 3 A cross-sectional view of the swing assembly of the cleaning robot provided by the present invention in a third position;

[0023] Figure 4 A bottom view of the cleaning robot provided by the present invention;

[0024] Figure 5 A cross-sectional view of the cleaning robot provided by the present invention from another angle;

[0025] Figure 6 This is a flow chart of the operation mode of the cleaning robot provided by the present invention.

[0026] The symbols in the figure mean the following:

[0027] 100. Cleaning robot; 10. Bottom shell; 11. Disc brush; 12. Spray hole; 13. Connecting groove; 14. Fixing block; 15. Power-assisting wheel; 20. Swinging assembly; 21. Driving member; 22. Swinging arm; 221. Matching block; 222. First mounting groove; 23. Swinging scraper; 231. Second mounting groove; 30. Blocking strip; 31. Blocking section; 311. Notch; 32. Connecting section; 40. Rear scraper; 50. Air duct. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] It should be noted that when a mechanism is referred to as being "fixed to" or "set on" another mechanism, it may be directly on the other mechanism or there may be a central mechanism. When a mechanism is considered to be "connected to" another mechanism, it may be directly connected to the other mechanism or there may be a central mechanism at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0033] In order to solve the problem of rags getting moldy and smelly, existing cleaning robots use many "cloth-free" cleaning brushes. However, due to the hard texture of the cleaning brushes, they cause problems such as large water stains, low efficiency of brushing particle suction, and particles being knocked out.

[0034] In view of the above problems, the present invention provides a cleaning robot 100, which has a blocking bar 30 added to the bottom shell 10, which can prevent particles from entering and being knocked out. The operation logic of the cleaning robot 100 is also improved, so that its cleaning effect is better.

[0035] See also Figure 1-Figure 5 The cleaning robot 100 includes a bottom shell 10, a disc brush 11, a swing assembly 20, a blocking bar 30 and a rear scraping bar 40. There is at least one disc brush 11, which is installed at the bottom of the bottom shell 10. The swing assembly 20 is connected to the bottom shell 10. It is located at the front side of the disc brush 11 relative to the front direction of the cleaning robot 100 and is configured to rise or fall according to the movement direction of the cleaning robot 100. The blocking bar 30 is connected to the bottom shell 10 and is located between the swing assembly 20 and the disc brush 11. The cross-section of the blocking bar 30 is at least partially in the shape of an arc and is bent toward the disc brush 11. The rear scraping bar 40 is connected to the bottom shell 10 and is located at the rear side of the disc brush 11 relative to the forward direction of the cleaning robot 100.

[0036] The area enclosed by the rear scraping strip 40 , the disc brush 11 and the blocking strip 30 is defined as a disc brush cavity. The disc brush cavity can be covered and cleaned by the disc brush 11 , and can be sucked into the interior of the cleaning robot 100 through the air duct opening provided on the bottom shell 10 .

[0037] The swing assembly 20 can rise and fall according to the moving direction of the cleaning robot 100. When the cleaning robot 100 moves forward, the swing assembly 20 can rise, so that particles and dust can smoothly enter the bottom of the bottom shell 10; when the cleaning robot 100 moves backward, the swing assembly 20 can fall and contact the ground to prevent particles and dust that have not been cleaned and sucked into the cleaning robot 100 from being missed, and can also scrape water stains evenly to improve the cleaning effect. Since the blocking bar 30 is at least partially bent toward the disc brush 11, when the cleaning robot 100 moves forward, the strong wind force will cause the blocking bar 30 to be lifted, and the particles can open the blocking bar 30 and enter the disc brush cavity. When the cleaning robot 100 moves backward, the wind force of the cleaning robot 100 decreases, the blocking bar 30 is lowered, and the particles will be stopped by the blocking bar 30 in the disc brush cavity, thereby ensuring the cleaning effect.

[0038] The bottom shell 10 is also provided with an air duct opening, which is connected to the air duct 50 of the cleaning robot 100 and is located at the rear side of the disc brush 11 compared to the forward direction of the cleaning robot 100 and can suck away particle dust.

[0039] The blocking strip 30 includes a connecting section 32 and a blocking section 31. The connecting section 32 is connected to the bottom shell 10, and the blocking section 31 is connected to the connecting section 32, and extends away from the connecting section 32 and bends toward the disc brush 11. In this way, a part of the blocking strip 30 is used to connect to the bottom shell 10, and the other part is used to allow external particles to enter the brush disc cavity and block the particles in the disc brush cavity. The functions of the two do not affect each other, and changes in the structures of the two will not cause interference between the two.

[0040] Furthermore, the blocking section 31 has a plurality of notches 311, and the notches 311 are evenly spaced along the length direction of the blocking section 31. Thus, the notches 311 are formed so that the blocking bar 30 is divided into multiple independent sections, and the flexibility of each section is enhanced, so that the blocking bar 30 can be sucked up during the forward movement of the cleaning robot 100. The notches 311 are evenly spaced, so that the multiple sections of the blocking bar 30 have the same flexibility.

[0041] Of course, it is understandable that in other embodiments, the notch 311 may not be provided on the blocking section 31, but the material of the blocking section 31 may be reduced to reduce the overall hardness and increase flexibility, thereby facilitating the blocking strip 30 to be sucked in by wind, allowing external dust and particles to enter the disc brush cavity.

[0042] The bottom of the bottom shell 10 is provided with a connection groove 13, and the connection section 32 and part of the blocking section 31 are arranged in the connection groove 13. The bottom shell 10 also includes a fixing block 14, and the fixing block 14 is pressed on the blocking strip 30, so that the fixing block 14 and the blocking strip 30 are both clamped in the connection groove 13. In this way, the blocking strip 30 is connected to the bottom shell 10 through the fixing block 14 and the connection groove 13, so that the disassembly and assembly of the blocking strip 30 are convenient and quick, and there is no need to use difficult disassembly means such as bonding and welding, which is convenient for the later maintenance and replacement of the blocking strip 30.

[0043] Of course, in other embodiments, the blocking strip 30 may also be directly snapped into the connecting groove 13 through its own deformation and interference fit connection without providing a fixing block 14 to further simplify the installation steps, and is not limited to the above-mentioned connection method.

[0044] The swing assembly 20 includes a driving member 21, a swing arm 22 and a swing scraper 23. One end of the driving member 21 is used to connect to the driving source in the cleaning robot 100, and the other end is connected to the swing arm 22. The end of the swing arm 22 away from the driving member 21 is connected to the swing scraper 23, wherein the driving member 21 can rotate around the end connected to the driving source and drive the swing arm 22 to rise or fall. In this way, the rotation of the driving member 21 drives the swing arm 22 to rotate, and the rotation of the swing arm 22 drives the swing scraper 23 to rise and fall, thereby realizing the control of the opening and closing of the swing scraper 23.

[0045] In other embodiments, the swing scraper 23 can also be lifted and lowered in other ways, not limited to the above-mentioned scheme of rotating the swing arm 22. For example, the swing scraper 23 can be lifted and lowered by a screw rod that can be lifted and lowered.

[0046] When the oscillating scraper 23 is in the closed state, an interference fit is formed with the ground. In this embodiment, the interference fit between the oscillating scraper 23 and the ground is 1 mm. In other embodiments, it can also be adjusted to 0.5 mm or 1.5 mm according to work requirements to reduce damage to the oscillating scraper 23 or enhance the cleaning ability of the oscillating scraper 23.

[0047] Specifically, a matching block 221 is convexly provided on the swing arm 22, and the matching block 221 can pass through the bottom shell 10 and extend into the interior of the cleaning robot 100. The matching block 221 abuts against the driving member 21. As the driving member 21 rotates upward, the matching block 221 can move upward with the driving member 21, and as the driving member 21 rotates downward, the matching block 221 can move downward with the driving member 21. In this way, the swing arm 22 does not need to be directly connected to the driving member 21, and there is no need to add a rotating mechanism between the two. The rotation of the swing arm 22 can be achieved only through the abutment of the matching block 221 with the driving member 21.

[0048] In this embodiment, when the cleaning robot 100 is moving forward, a negative pressure environment is formed inside, so that the matching block 221 is adsorbed and moved upward, thereby driving the swing arm 22 to rotate, so that the swing scraper 23 is retracted, and when the driving member 21 pushes the matching block 221 downward, the swing arm 22 is pushed synchronously, so that the swing scraper 23 is lowered. In other embodiments, an elastic structure can also be added so that the swing arm 22 always has the force to rotate upward. When the driving member 21 abuts against the matching block 221 and rotates downward, the swing arm 22 is synchronously pushed down, and once the driving member 21 rotates upward, the swing arm 22 is pushed by the elastic structure to rotate upward and return to the initial position.

[0049] The end of the swing arm 22 away from the driving member 21 is provided with a first mounting groove 222, and the end of the swing scraper 23 close to the swing arm 22 is provided with a second mounting groove 231. Part of the swing arm 22 is embedded in the second mounting groove 231, and part of the swing scraper 23 is embedded in the first mounting groove 222, so that the swing arm 22 and the swing scraper 23 are interlocked. In this way, the two are mutually installed and embedded, and the connection strength between the swing arm 22 and the swing scraper 23 is improved by increasing the contact area between the two, so as to prevent the swing scraper 23 from falling off.

[0050] It is understandable that in other embodiments, the swing arm 22 may also be directly bonded or clamped to the swing scraper strip 23, etc., and is not limited to the above-mentioned connection method.

[0051] See also Figure 6 The present invention also provides a control method for a cleaning robot 100, including the above-mentioned cleaning robot 100, wherein a plurality of spray holes 12 capable of spraying detergent are provided on the bottom shell 10; the above-mentioned method includes obtaining the motion state of the cleaning robot 100, and adjusting the dosage of the detergent sprayed by the spray holes 12 according to the motion state, and the motion state includes forward and backward. In this way, the cleaning robot 100 can determine the dosage of the detergent sprayed based on forward or backward, and when the cleaning robot 100 moves forward, the spray amount of the detergent is increased to ensure the cleaning efficiency; when the cleaning robot 100 moves backward, the spray amount of the detergent is reduced, thereby reducing the back-dragging water stains when moving backward.

[0052] In addition, the method further includes: adjusting the position state of the swing assembly 20 according to the motion state, wherein the position state includes opening and closing. When the cleaning robot 100 moves forward, the swing assembly 20 can be raised, so that particles and dust can smoothly enter the bottom of the bottom shell 10; when the cleaning robot 100 moves backward, the swing assembly 20 can be lowered and abut against the ground to prevent particles and dust that have not been cleaned and sucked into the cleaning robot 100 from being missed, and can also scrape water stains evenly to improve the cleaning effect.

[0053] The swing assembly 20 has a first position, a second position and a third position; when the swing assembly 20 is folded and in an open state, it is the first position; when the swing assembly 20 is lowered and in a closed state, it is the third position; when the swing assembly 20 is in a semi-open state, it is the second position;

[0054] The control method of the cleaning robot 100 also includes obtaining the operating state of the cleaning robot 100; according to the operating state, the swing component 20 stays at the third position for a first preset time, stays at the second position for a second preset time, and finally folds to the third position for a third preset time. In this way, the default swing scraper 23 first accumulates energy at the third position, then stays at the second position and increases the fluid wind speed to quickly take away the particles, and then goes to the first position so that the large flow of wind takes away the residual water in the disc brush cavity, reducing the shutdown residue. In this embodiment, the first preset time, the second preset time and the third preset time are all 2 seconds. In other embodiments, the first preset time, the second preset time and the third preset time can also be set to 1 second, 1.5 seconds or 3 seconds, etc., and the first preset time, the second preset time and the third preset time can also be different from each other, and should be flexibly adjusted according to work requirements.

[0055] In addition, a power-assisting wheel 15 is provided at the bottom of the bottom shell 10 for pushing the cleaning robot 100 forward and backward. The cleaning robot 100 can determine whether the cleaning robot 100 is in a forward state or a backward state by detecting the movement state of the power-assisting wheel 15 .

[0056] Compared with the prior art, the present invention enhances the cleaning effect and reduces the dragging back water stains by means of a swing assembly 20 that can be raised or lowered according to the movement direction of the cleaning robot 100. When the cleaning robot 100 moves forward, the swing assembly 20 can be raised, so that particles and dust can smoothly enter the bottom of the bottom shell 10; when the cleaning robot 100 moves backward, the swing assembly 20 can be lowered and abut against the ground to prevent particles and dust that have not been cleaned and sucked into the cleaning robot 100 from being missed, and can also scrape the water stains evenly to improve the cleaning effect. Since the blocking bar 30 is at least partially bent toward the disc brush 11, when the cleaning robot 100 moves forward, the strong wind force will cause the blocking bar 30 to be lifted, and the particles can open the blocking bar 30 and enter the disc brush cavity. When the cleaning robot 100 moves backward, the wind force of the cleaning robot 100 is reduced, the blocking bar 30 is lowered, and the particles will be stopped by the blocking bar 30 in the disc brush cavity, thereby ensuring the cleaning effect.

[0057] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: Bottom shell (10); a disc brush (11), wherein the disc brush (11) is at least one and is installed at the bottom of the bottom shell (10); a swing assembly (20), connected to the bottom housing (10), located in front of the disc brush (11) relative to the forward direction of the cleaning robot, and configured to rise or fall according to the moving direction of the cleaning robot; a blocking bar (30) connected to the bottom shell (10) and located between the swing assembly (20) and the disc brush (11); at least a portion of the cross section of the blocking bar (30) is in an arc shape and is bent toward the disc brush (11); A rear scraping strip (40) is connected to the bottom shell (10) and is located at the rear side of the disc brush (11) relative to the forward direction of the cleaning robot.

2. The cleaning robot according to claim 1, characterized in that: The blocking strip (30) comprises a connecting section (32) and a blocking section (31), wherein the connecting section (32) is connected to the bottom shell (10), and the blocking section (31) is connected to the connecting section (32), extends away from the connecting section (32), and is bent toward the disc brush (11).

3. The cleaning robot according to claim 2, characterized in that: The blocking section (31) is provided with a plurality of notches (311), and the notches (311) are evenly spaced along the length direction of the blocking section (31).

4. The cleaning robot according to claim 2, characterized in that: The bottom of the bottom shell (10) is provided with a connecting groove (13), the connecting section (32) and part of the blocking section (31) are arranged in the connecting groove (13), and the bottom shell (10) further comprises a fixing block (14), the fixing block (14) is pressed on the blocking bar (30), so that the fixing block (14) and the blocking bar (30) are both clamped in the connecting groove (13).

5. The cleaning robot according to claim 1, characterized in that: The swing assembly (20) comprises a driving member (21), a swing arm (22) and a swing scraper (23); one end of the driving member (21) is used to connect to a driving source in the cleaning robot, and the other end is connected to the swing arm (22); and one end of the swing arm (22) away from the driving member (21) is connected to the swing scraper (23); The driving member (21) is capable of rotating around one end thereof connected to the driving source, and drives the swing arm (22) to rise or fall.

6. The cleaning robot according to claim 5, characterized in that: A matching block (221) is protruding from the swing arm (22), and the matching block (221) can pass through the bottom shell (10) and extend into the interior of the cleaning robot. The matching block (221) abuts against the driving member (21). As the driving member (21) rotates upward, the matching block (221) can follow the driving member (21) to move upward, and as the driving member (21) rotates downward, the matching block (221) can follow the driving member (21) to move downward.

7. The cleaning robot according to claim 5, characterized in that: A first mounting groove (222) is formed at one end of the swing arm (22) away from the driving member (21), and a second mounting groove (231) is formed at one end of the swing scraper (23) close to the swing arm (22). Part of the swing arm (22) is embedded in the second mounting groove (231), and part of the swing scraper (23) is embedded in the first mounting groove (222), so that the swing arm (22) and the swing scraper (23) are interlocked.

8. A control method for a cleaning robot, characterized in that: The cleaning robot comprises the cleaning robot as claimed in any one of claims 1 to 7, wherein the bottom shell (10) is further provided with a plurality of spray holes (12) capable of spraying cleaning agent; and the control method of the cleaning robot comprises: Acquiring the motion state of the cleaning robot; According to the movement state, adjusting the dosage of the cleaning agent sprayed out by the spray hole (12); The motion state includes forward and backward.

9. The control method of the cleaning robot according to claim 8, characterized in that: Also includes: According to the motion state, adjusting the position state of the swing component (20); The position status includes open and closed.

10. The control method of the cleaning robot according to claim 9, characterized in that: The swing assembly (20) has a first position, a second position and a third position; when the swing assembly (20) is folded and in an open state, it is in the first position; when the swing assembly (20) is lowered and in a closed state, it is in the third position; when the swing assembly (20) is in a semi-open state, it is in the second position; The control method of the cleaning robot also includes: Determining the operating status of the cleaning robot; If the operating state is shutdown, the swing assembly (20) is controlled to stay at the third position for a first preset time, stay at the second position for a second preset time, and finally fold to the third position for a third preset time.

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