Cleaning robot

Abstract

The embodiment of the invention provides a cleaning robot. The cleaning robot comprises a machine body; the mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, the dirt removal mechanism is used for cleaning the cleaning unit, and when the cleaning unit rotates, the dirt removal mechanism scrapes and collects dirt on the cleaning unit. The dirt removing mechanism is located on the rear side of the cleaning unit in the advancing direction of the cleaning robot. According to the technical scheme provided by the embodiment of the invention, the decontamination mechanism is arranged on the rear side of the cleaning unit and is closer to the sewage tank, the blow-off pipeline is short, the internal space occupation amount can be reduced, meanwhile, the decontamination mechanism can be taken down by slightly lifting the tail of the cleaning robot, and maintenance is convenient.

Description

[0001] Cross-reference

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

[0003] Application date Application Number Patent Name 2024-01-05 202410018264.3 Self-moving cleaning equipment, control method and cleaning system 2024-08-05 202411067857.5 Cleaning robot and mopping components Technical Field

[0004] This application relates to the field of robot technology, and particularly to cleaning robots. Background Art

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

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

[0007] In addition, for self-cleaning the roller, the cleaning robot needs to continuously supply cleaning liquid to the roller and also be able to scrape off the dirt on the roller for self-cleaning by continuously supplying cleaning liquid and scraping. The scraped dirt cannot fall on the surface to be cleaned, so a dirt collection device needs to be set up. How to reasonably set up the dirt collection device and cooperate it with the scraping strip and the cleaning liquid supply to achieve the best self-cleaning effect of the roller is a problem that needs to be solved currently. Summary of the Invention

[0008] In view of the above problems, this application provides a cleaning robot to solve the above problems or at least partially solve the above problems.

[0009] In one embodiment of this application, a cleaning robot is provided. The cleaning robot includes a body and a mopping and washing assembly disposed on the body; wherein, the mopping and washing assembly includes:

[0010] A cleaning unit motor that outputs driving force;

[0011] A cleaning unit connected to the cleaning unit motor for cleaning the surface to be cleaned;

[0012] A liquid supply mechanism for supplying cleaning liquid to the cleaning unit;

[0013] A decontamination mechanism for cleaning the cleaning unit. When the cleaning unit rotates, the decontamination mechanism scrapes off and collects the dirt on the cleaning unit. The decontamination mechanism is located behind the cleaning unit in the traveling direction of the cleaning robot; along the rotation direction of the cleaning unit, after the cleaning unit is replenished with water by the liquid supply mechanism, it cleans the ground, and then the decontamination mechanism scrapes off the dirt.

[0014] Optionally, the cleaning robot further includes:

[0015] A driving device provided on the body and connected to the mopping component;

[0016] Along the width direction of the body, the driving device can drive the mopping component relative to the body to extend from at least one side of the body so that a part of the mopping component is exposed.

[0017] Optionally, the driving device can also drive the mopping component to lift relative to the body.

[0018] Optionally, the rotation direction of the cleaning unit is the same as the rotation direction of the driving wheels of the body.

[0019] Optionally, the decontamination mechanism includes a scraping strip assembly and a dirt collection box; the end of the scraping strip assembly contacts the cleaning unit, and the dirt collection box is located below the scraping strip assembly; the liquid supply port of the liquid supply mechanism is located above the cleaning unit; during the rotation of the cleaning unit, the liquid supply mechanism supplies cleaning liquid to the cleaning unit, and the cleaning unit infiltrated with the cleaning liquid cleans the surface to be cleaned, and then the scraping strip assembly acts on the cleaning unit to scrape off the dirt and enter the dirt collection box.

[0020] Optionally, the mopping component further includes a mopping support; the mopping support has a drum installation cavity with an opening facing downwards, the cleaning unit motor and the cleaning unit are arranged in the drum installation cavity, and the cleaning unit contacts the surface to be cleaned through the opening; the power end of the driving device is connected to the mopping support; the decontamination mechanism is arranged on the rear cavity wall of the drum installation cavity, and the dirt collection box can be disassembled and assembled through the opening facing downwards of the drum installation cavity.

[0021] Optionally, the dirt collection box is detachable; the disassembly direction of the dirt collection box is substantially perpendicular to the disassembly direction of the cleaning unit.

[0022] Optionally, the mopping and washing assembly has a first limit position in a retracted state and a second limit position in an extended state; when the mopping and washing assembly is in the first limit position in the retracted state, the dirt collection box is located inside the projection of the edge of the body.

[0023] Optionally, along the traveling direction of the body, the body has left and right sides; the mopping and washing assembly extends out of the body from the right side of the body; the outer surface of the right side of the dirt collection box is the same as the arc surface at the corresponding position of the body.

[0024] Optionally, the squeegee assembly includes a water guide plate and a squeegee; the water guide plate is located below the squeegee; the lower surface of the water guide plate is an upwardly arched arc surface, and the arc surface is a water guiding surface; a plurality of water guide grooves are provided on the water guiding surface; the position where the water guide plate acts on the cleaning unit is the water scraping position; at the water scraping position, the notch of the water guide groove close to the water scraping position penetrates the water guide plate, and the notch of the water guide groove far from the water scraping position does not penetrate the water guide plate.

[0025] Optionally, the driving device can also drive the mopping and washing assembly to retract relative to the body; or

[0026] The cleaning robot further includes a resilient device, and the mopping and washing assembly is connected to the resilient device; when an external force in the retracting direction is applied to the mopping and washing assembly in the extended state, the resilient device is deformed by the force, and the mopping and washing assembly retracts adaptively.

[0027] Optionally, the cleaning robot further includes a control device;

[0028] The control device is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing assembly to move relative to the body to change the position of the mopping and washing assembly relative to the body.

[0029] In the second embodiment of the present application, a cleaning robot is provided. The cleaning robot includes a body and a mopping and washing assembly provided on the body; wherein, the mopping and washing assembly includes:

[0030] A cleaning unit motor that outputs a driving force;

[0031] A cleaning unit, connected to the cleaning unit motor, for cleaning the surface to be cleaned;

[0032] A liquid supply mechanism for supplying cleaning liquid to the cleaning unit;

[0033] A decontamination mechanism is used to clean the cleaning unit. When the cleaning unit rotates, the decontamination mechanism scrapes off and collects the dirt on the cleaning unit, and the decontamination mechanism is located behind the cleaning unit along the traveling direction of the cleaning robot.

[0034] In the third embodiment of the present application, a cleaning robot is provided. The cleaning robot includes a body and a mopping assembly disposed on the body; wherein, the mopping assembly includes:

[0035] A cleaning unit motor that outputs driving force;

[0036] A cleaning unit, connected to the cleaning unit motor, for cleaning the surface to be cleaned;

[0037] A decontamination mechanism is used to clean the cleaning unit. When the cleaning unit rotates, the decontamination mechanism scrapes off and collects the dirt on the cleaning unit, and the decontamination mechanism is located behind the cleaning unit along the traveling direction of the cleaning robot.

[0038] In the technical solution provided by the embodiment of the present application, the mopping assembly moves relative to the body of the cleaning robot as a whole. In any position of the mopping assembly, the liquid supply mechanism can provide cleaning liquid for the cleaning unit, the decontamination mechanism can scrape off the dirt on the cleaning unit, and the cleaning unit can self-clean while working. When the cleaning unit extends outwards for edge cleaning, the cleaning unit will not be overly dirty, and it can still have a good cleaning effect after long-term cleaning, providing a better user experience. In addition, along the traveling direction of the cleaning robot, the decontamination mechanism is disposed behind the cleaning unit, the rotation direction of the cleaning unit is the same as the rotation direction of the driving wheel, and the decontamination mechanism can scrape off the dirt on the cleaning unit. The direction of the frictional force of the cleaning unit on the ground is the same as the traveling direction of the cleaning robot, making the cleaning robot more labor-saving when traveling. In addition, the number of components at the rear of the cleaning unit is small and the space is relatively spacious, which does not prevent the user from cleaning the decontamination mechanism. Moreover, usually the sewage tank is disposed at the rear of the body, the decontamination mechanism is disposed behind the cleaning unit, the decontamination mechanism is closer to the sewage tank, the sewage discharge pipe is short, the internal space occupancy can be reduced, and the decontamination mechanism can be removed by slightly lifting the tail of the cleaning robot, which is convenient for maintenance. Description of the Drawings

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1a and1b Shows the schematic diagram of edge cleaning in two states where the roller is not extended and extended;

[0041] Figure 1c Shows the schematic diagram of the dirt removal mechanism arranged at the rear side of the cleaning roller;

[0042] Figure 2 Schematic diagram of the structure of the cleaning robot provided by an embodiment of the present application;

[0043] Figure 3a Internal schematic diagram of the cleaning robot after removing the upper cover provided by an embodiment of the present application;

[0044] Figure 3b Is Figure 3a Partial view of;

[0045] Figure 4 Explosion schematic diagram of the structure of the cleaning robot provided by an embodiment of the present application;

[0046] Figure 5 Explosion diagram of the mopping and washing assembly provided by an embodiment of the present application;

[0047] Figure 6 Schematic diagram of the mopping and washing assembly arranged on the cavity housing provided by an embodiment of the present application;

[0048] Figure 7a Shows the external structure view of the mopping and washing assembly provided by an embodiment of the present application;

[0049] Figure 7b Shows a specific implementation structure schematic diagram of the liquid supply mechanism in an embodiment of the present application;

[0050] Figure 8 Bottom view of a mopping and washing bracket provided by an embodiment of the present application;

[0051] Figure 9a Explosion diagram of the mopping and washing assembly provided by an embodiment of the present application;

[0052] Figure 9b Cross-sectional view of the mopping and washing assembly provided by an embodiment of the present application;

[0053] Fig.10a Schematic diagram of the state of edge cleaning of a cleaning robot provided by an embodiment of the present application;

[0054] Fig.10b Comparison schematic diagram of two situations where the mopping and washing assembly extends and does not extend when the cleaning robot provided by an embodiment of the present application performs a cleaning task;

[0055] Fig.11 Schematic diagram of a mopping and washing assembly in a lifted state provided by an embodiment of the present application;

[0056] Fig.12 Schematic diagram of a mopping and washing component in an extended state provided by an embodiment of the present application;

[0057] Fig.13 Schematic structural diagram of a driving device provided by an embodiment of the present application;

[0058] Fig.14 Stereogram of an action execution mechanism provided by an embodiment of the present application;

[0059] Fig.15 Another perspective stereogram of an action execution mechanism provided by an embodiment of the present application;

[0060] Fig.16 Schematic semi-sectional view of a mopping and washing component provided by an embodiment of the present application;

[0061] Fig.17 Schematic partial structural diagram of an action execution mechanism provided by an embodiment of the present application;

[0062] Fig.18 Schematic diagram of a slider structure provided by an embodiment of the present application;

[0063] Fig.19 Schematic partial cross-sectional view of an action execution mechanism provided by an embodiment of the present application;

[0064] Fig.20a Schematic partial cross-sectional view of a combination of a cavity shell and a housing cover provided by an embodiment of the present application;

[0065] Fig.20b Schematic structural diagram of a housing cover provided by an embodiment of the present application;

[0066] Fig.21 Schematic diagram of the setting positions of a grating structure and a fourth optoelectronic switch in a cleaning robot provided by an embodiment of the present application;

[0067] Fig. 22 Schematic structural diagram of respectively arranging a first connection end and a second connection end for connecting an elastic member on a sliding plate and a slider in an embodiment of the present application;

[0068] Fig.23 Schematic structural diagram showing the setting of a hovering surface at the top of a lifting part;

[0069] Fig.24 Schematic structural diagram of a mopping and washing component being lifted relative to the ground provided by an embodiment of the present application;

[0070] Fig.25 Front view of another mopping and washing component provided by an embodiment of the present application;

[0071] Fig.26 Another cross-sectional view of the mopping and washing component provided by the embodiment of the present application;

[0072] Fig.27a Another perspective view of the mopping and washing component provided by the embodiment of the present application in the initial state;

[0073] Figure 27b Another front view of the mopping and washing component provided by the embodiment of the present application in the initial state;

[0074] Fig.27c Another cross-sectional view of the mopping and washing component provided by the embodiment of the present application in the initial state;

[0075] Fig.28a Another perspective view of the mopping and washing component provided by the embodiment of the present application in the lifted state;

[0076] Fig.28b Another front view of the mopping and washing component provided by the embodiment of the present application in the lifted state;

[0077] Fig.28c Another cross-sectional view of the mopping and washing component provided by the embodiment of the present application in the lifted state;

[0078] Fig.29a Another perspective view of the mopping and washing component provided by the embodiment of the present application in the extended state;

[0079] Fig.29b Another front view of the mopping and washing component provided by the embodiment of the present application in the extended state;

[0080] Fig.29c Another cross-sectional view of the mopping and washing component provided by the embodiment of the present application in the extended state;

[0081] Fig.30 A perspective view of a mopping bracket provided by the embodiment of the present application;

[0082] Fig.31 A perspective structural diagram of a sliding plate provided by the embodiment of the present application;

[0083] Fig.32 A perspective structural diagram of a rotating bracket provided by the embodiment of the present application;

[0084] Fig.33 A perspective structural diagram of the cavity shell corresponding to another mopping and washing component provided by the embodiment of the present application;

[0085] Fig.34 A cross-sectional view of a mopping and washing component provided by the embodiment of the present application;

[0086] Fig.35aA cross-sectional view of a mopping bracket provided by an embodiment of the present application;

[0087] Fig.35b A schematic diagram of a front side of a sewage collection box in a mopping component provided by an embodiment of the present application having an oblique angle;

[0088] Fig.35c A schematic structural diagram of a cleaning robot provided by an embodiment of the present application;

[0089] Fig.36 A cross-sectional view of another mopping component provided by an embodiment of the present application;

[0090] Fig.37 A cross-sectional view of another perspective of another mopping component provided by an embodiment of the present application;

[0091] Fig.38a An exploded view of a scraper assembly provided by an embodiment of the present application;

[0092] Figure 38b A schematic cross-sectional view of a water guide plate provided by an embodiment of the present application;

[0093] Fig.38c A schematic structural diagram of an adaptive adjustment device provided on a cleaning robot according to an embodiment of the present application;

[0094] Fig.39 A three-dimensional structure diagram of a scraper assembly provided by an embodiment of the present application;

[0095] Fig.40 A schematic implementation structure diagram of another driving device provided by an embodiment of the present application;

[0096] Fig.41 Shows in Fig.40 Schematic diagrams of two states of the mopping component rising and extending driven by the driving device of the structure shown;

[0097] Fig.42a A schematic diagram of a mopping component exposed on one side of the body in a cleaning robot provided by an embodiment of the present application;

[0098] Figure 42b A schematic diagram of the sewage collection box removed from the mopping component provided by an embodiment of the present application;

[0099] Fig.42c A schematic diagram of a release component in a locked state provided by an embodiment of the present application;

[0100] Fig.42d A schematic diagram of a release component in an unlocked state provided by an embodiment of the present application;

[0101] Figure 42eSchematic diagram of the disassembly process of the sewage collection box provided by the embodiment of the present application;

[0102] Figure 42f Explosion diagram of the sewage collection box, release component and filter component provided by the embodiment of the present application. Detailed implementation manners

[0103] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only parts related to the present application rather than all structures are shown in the drawings. In the description of the present application, unless otherwise clearly specified and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations. In the present application, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above and over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below and under", and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is at a lower horizontal height than the second feature. In the description of this embodiment, the orientation or positional relationship terms such as "above", "below", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0104] At present, the bodies of many cleaning robots are circular. The circular body is more flexible and easy to get out of trouble. When a dust suction roller 01 and a mopping roller 02 are simultaneously arranged on the cleaning robot, generally the dust suction roller 01 is located on the front side of the roller 02, so that the cleaning robot can suck dust first and then mop the floor during movement. Due to the circular shape of the cleaning robot, for the need of avoiding obstacles and getting out of trouble during movement, the driving wheels are generally arranged at the maximum width position perpendicular to the forward direction, and the roller is generally placed at the rear side of the driving wheels, and the whole does not protrude from the projection of the circular body on the ground. This causes the roller located at the rear part of the body to be shorter, and the distance from the end of the roller to the outermost edge in the width direction of the body is relatively far, as Figure 1a shown. When the cleaning robot is to clean along the wall or wardrobe, etc., after the cleaning robot maintains the minimum safe distance from the wall or wardrobe and other objects, in the corner area with a relatively large dimension d of the object, the cleaning robot cannot mop. To solve this problem, some cleaning robots are designed with a retractable roller structure.

[0105] To make the functions of the cleaning robot more comprehensive, some cleaning robots are designed with a telescopic roller. The roller can be extended to clean along the wall or to clean around obstacles. However, after the roller is extended, although some robots can ensure the supply of clean water, the scraper is still inside the body. That is, only the extended part of the roller can receive clean water, and the dirt remains on the roller all the time. The roller cannot be cleaned, and there is still a problem of smearing similar to the rag tray, and the cleaning effect is poor.

[0106] As Figure 1b shown, the extension of the roller can make the roller touch the corner area, and the coverage rate is improved. However, when only the roller is extended, the roller will be attached with dirt during the cleaning process, and the roller will become dirtier and dirtier. The corner area (such as Figure 1a the area with a width d along the edge in) cannot get good cleaning effect, but gets dirtier and dirtier during mopping.

[0107] To make the roller have a better cleaning effect after extension, it is necessary for the roller to be self-cleaned in time when it is in the extended state. When the roller brush contacts the ground again for mopping, it can have a better cleaning degree and there will be no problem of smearing.

[0108] In the prior art, for some cleaning robots with rollers, in order to perform edge cleaning or cleaning along the edge of an obstacle, there are solutions where a single roller or the roller and the liquid supply mechanism can extend accordingly. However, these robots only extend the roller when edge cleaning is required or when cleaning around an obstacle, and during most of the cleaning process, the roller is in the initial position within the projected area of the main body. For a floor sweeper with the initial position of the roller within the projected area of the main body, when performing edge cleaning or cleaning around a target, the robot controls the roller to extend according to the distance threshold from the edge and the target. When an obstacle appears at the edge or the target position, the robot controls the roller to retract inward according to the distance threshold from the obstacle. That is, if the environment at the edge or the target position is complex and there are many obstacles, and the distance of the robot is between the distance threshold from the edge and the target and the distance threshold from the obstacle, the controller of the robot needs to continuously receive and calculate the thresholds and frequently perform extension, retraction, and re-extension actions, seriously wasting the computing power of the robot and affecting the reliability of the extension and retraction drive device. In addition, for a floor sweeper robot that selects a roller as the mopping unit, there is a certain distance between the left and right sides of the roller and the maximum width position in the robot's walking direction. This distance is a cleaning blind spot during traversal. When the robot traverses, a robot with an initial position within the projected area of the main body has two blind spots. When the roller extends from one side to a position parallel to or exceeding the maximum width position in the robot's walking direction, the robot only has one blind spot. That is, if the robot with the roller in the extended state normally performs traversal, the coverage of the traversal blind spot will be simpler.

[0109] In addition, if the decontamination mechanism 44 is arranged between the cleaning roller 42 and the traveling system 8, the space between the cleaning roller 42 and the traveling system 8 is crowded and narrow. When maintenance and cleaning of the decontamination mechanism 44 are required, the narrow space is not convenient for users to operate. For example, when removing the dirt collection box in the decontamination mechanism 44 for cleaning, the narrow space is inconvenient for users to operate, increasing the difficulty of disassembling and assembling the dirt collection box.

[0110] To this end, each embodiment of the present application provides a cleaning robot. The cleaning unit of the cleaning robot is retractable and can ensure continuous supply of cleaning water at any position. The wiper strip can also continuously act to scrape off the dirt on the cleaning unit, so that the cleaning unit can clean and self-clean while retracting to any position. If the rag solution in the prior art: continuously supply cleaning liquid to the rag, the rag cleans the ground, and the rag cannot be cleaned during operation, is called dead water cleaning. Then the solution provided by the embodiments of the present application can be called live water cleaning, that is, when the cleaning unit works (i.e., mops the ground), there is a continuous supply of active cleaning liquid, and the cleaning unit can be continuously decontaminated and cleaned by the decontamination mechanism. After the cleaning unit is decontaminated, clean cleaning liquid is replenished, so that the cleaning unit can maintain a high degree of cleanliness for a long time, thereby improving the cleaning degree of the cleaning robot on the ground. In addition, in the embodiments of the present application, the decontamination mechanism is arranged at the rear side of the cleaning roller (such as Figure 1c shown).

[0111] In each embodiment of the present application, the cleaning unit may be, but is not limited to, a cleaning roller, a track-type cleaning member, etc. Among them, the cleaning roller may be a cylindrical roller, that is, the surface of the cylindrical roller has cleaning fluff. The track-type cleaning member, also called a track-type roller, includes two spaced track wheels, and a track-shaped wiping cloth in the shape of an annular runway is sleeved on the two track wheels. The outer side of the track-shaped wiping cloth has cleaning fluff. One side of the track-shaped wiping cloth is in contact with the ground. As the track wheels rotate, the track-shaped wiping cloth will move relative to the ground, so as to realize mopping the ground. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor can be called a roller motor, and the cleaning roller is driven by the roller motor to rotate to mop the ground. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor can be called a pulley motor, and the pulley motor drives the track to rotate to drive the track-shaped wiping cloth to move to mop the ground.

[0112] Before introducing the mopping assembly and the driving device provided by the embodiments of the present application, first briefly introduce the structure of the cleaning robot. In the following embodiments, the cleaning unit is taken as an example of a cleaning roller for illustration.

[0113] See Figure 2 、 3a and Figure 4, the cleaning robot includes, but is not limited to: a body 1, a vacuum cleaning system 3, a mopping system, a traveling system 8, a sensing system 640, a control system, and a side brush assembly 7. Among them, the vacuum cleaning system 3, the mopping system, the traveling system 8, the sensing system 640, and the control system are all arranged on the body 1. Such as Figure 3aAs shown, the vacuum cleaning system 3 may include but is not limited to: a dust box 301, a vacuum fan 302, a roller brush (not shown in the figure), etc. The control system includes a hardware part and also includes a software part. The hardware part is like the main board 2, as Figure 4 shown. The main board may be provided with a processor, a storage medium (such as a memory), etc. The software part is a computer program stored in the storage medium. The processor executes these computer programs to control the components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, path planning, obstacle recognition, cleaning around obstacles, edge cleaning, returning to the base station and completing docking, area recognition, cleaning mode switching (only vacuuming, only mopping, or vacuuming first and then mopping), and so on. The traveling system 8 may include driving wheels and driving wheel motors; the driving motors output corresponding power under the control of the main board 2 to drive the driving wheels to rotate, so as to realize the forward, backward, stopping, turning, etc. of the cleaning robot. Further, the traveling system 8 may further include a caster wheel, and the caster wheel is a follower wheel and may be arranged at the front of the body 1. The side brush assembly 7 may be one or two. As Figure 2 shown in the example, one side brush assembly 7 is arranged on one side (such as the right side) of the front of the body 1. If the side brush assembly 7 is two, the two side brush assemblies may be respectively arranged on both sides of the front of the body 1 (such as one on each of the left and right sides).

[0114] The control system in the embodiment of the present application may include a control device, and the main board mentioned above can be called the control device.

[0115] The mopping system may include but is not limited to: a clean water tank 5, a sewage tank 9, a mopping assembly 4, etc. As Figure 5 shown, the mopping assembly 4 may include but is not limited to: a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45 and a decontamination mechanism 44. Among them, the roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is communicated with the clean water tank 5 through a clean water pipe. The decontamination mechanism 44 is communicated with the sewage tank 9 through a sewage pipe. The cleaning robot further includes a driving device 10, and the driving device 10 is arranged on the body 1 and is connected to the mopping assembly. As Figure 6 shown, along the width direction of the body 1, the driving device 10 can drive the mopping assembly 4 relative to the body 1 to extend from at least one side of the body 1 so that part of the mopping assembly is exposed. Figure 6 In the reference coordinate system, the X direction is the width direction of the body; the Y direction is the traveling direction of the cleaning robot.

[0116] It should be supplemented and explained here that: from the components included in the mopping assembly 4, the mopping assembly 4 in this embodiment can mop the object to be cleaned (such as the ground), and at the same time can use its own liquid supply mechanism 45 and decontamination mechanism 44 to realize the self-cleaning function to maintain a better cleanliness of the cleaning roller.

[0117] As can be seen from the above, in the solution provided by the embodiment of the present application, the driving device 10 can drive the whole mopping and washing assembly to move relative to the body, so as to extend a part outside the body. That is to say, no matter where the mopping and washing assembly 4 is located, the liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller, the dirt removal mechanism 44 can scrape the dirt on the cleaning roller 42, and the cleaning roller 42 can clean itself while working. When the cleaning roller 42 extends outwards for edge cleaning, the cleaning roller 42 will not get overly dirty, and can still have a good cleaning effect after long-term cleaning, providing a better user experience.

[0118] In fact, the mopping and washing assembly 4 in this embodiment can also be in an extended state under normal conditions. For example, when the cleaning robot is started, the main board 2 controls the driving device 10 to drive the mopping and washing assembly 4 to move relative to the body, so as to extend a part from one side of the body 1 and be in an extended state. When the cleaning robot is performing a cleaning task and traversing the area to be cleaned, the mopping and washing assembly 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board 2 controls the driving device 10 to drive the mopping and washing assembly 4 to retract so as to hide inside the body 1, facilitating obstacle avoidance or passing through a narrow space. When the cleaning roller 42 is in the extended state, the outer edge of the cleaning roller 42 can be flush with the widest edge of the body 1, or the outer edge of the cleaning roller 42 can extend beyond the widest edge of the body 1.

[0119] As Figure 5 shown in the example, the mopping and washing assembly 4 further includes a mopping and washing bracket 43; the mopping and washing bracket 45 has a drum mounting cavity with an opening facing downwards. The drum motor 41 and the cleaning roller 42 are arranged in the drum mounting cavity. The cleaning roller 42 contacts the surface to be cleaned through the opening; the liquid supply mechanism 45 and the dirt removal mechanism 44 are both arranged on the mopping and washing bracket 43; the power end of the driving device 10 is connected to the mopping and washing bracket 43.

[0120] Specifically, the mopping and washing bracket 43 has a first opening facing downwards and a second opening on the side. The lower part of the cleaning roller 42 passes through the first opening to contact the surface to be cleaned. The cleaning roller 42 can be detached through the second opening, and the second opening is on the same side as the position on the body 1 where the mopping and washing assembly extends. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position on the body 1 where the mopping and washing assembly extends, and then detach the cleaning roller 42 at the second opening. During installation, the cleaning roller 42 can be inserted through the second opening. After the end of the cleaning roller 42 is connected to the drum motor 41, the other end of the cleaning roller 42 is connected at the second opening. That is, the disassembly and assembly direction of the cleaning roller 42 is the direction of the cylinder axis.

[0121] See Figure 3a As shown, a water tank 5 is provided on the body 1 of the cleaning robot. As Figure 7b shown, the mopping and washing bracket 43 further has a drum bracket 421. The liquid supply mechanism 45 can be arranged on the drum bracket 421. Figure 7b Fig. 1 shows a feasible structure of the liquid supply mechanism 45, which includes a water distributor 452. The water distributor 452 has a main pipeline, a plurality of branch pipelines and a plurality of liquid supply ports 453 (as Figure 8 shown). The plurality of liquid supply ports 453 face the cleaning roller 42 and are distributed along the axial line of the cleaning roller 42. The main pipeline of the water distributor 452 is connected to the clean water tank 5 through a first flexible pipeline 443. One end of the first flexible pipeline 443 is connected to the water supply port 451 of the main pipeline, and the other end is connected to the clean water tank 5. The plurality of branch pipelines communicate with the main pipeline, and the plurality of liquid supply ports respectively correspond to the plurality of branch pipelines.

[0122] As Figure 5 shown, the dirt removal mechanism 44 includes a scraping strip 441 and a dirt collection box 442. The end of the scraping strip 441 contacts the cleaning roller 42, and the dirt collection box 442 is located below the scraping strip 441. When the cleaning roller 42 rotates, the dirt scraped by the scraping strip 441 enters the dirt collection box 442. The dirt removal mechanism is located at the rear side of the cleaning roller, that is, the scraping strip 441 and the dirt collection box 442 are located at the rear side of the cleaning roller. Refer to Figure 3b It can be seen that the sewage tank 9 is located at the rear side of the machine body 1. In this way, the sewage discharge pipeline (such as the second flexible pipeline, etc.) is relatively short, and the internal space of the machine body can be saved for arranging other components.

[0123] The disassembly and assembly direction of the cleaning roller 42 is the axial line direction of the cylinder. The disassembly direction of the dirt collection box 442 can be different from that of the cleaning roller 42. For example, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42. Since the cleaning roller 42 and the dirt collection box 442 are jointly arranged on the first opening provided downward by the mopping bracket 43 and are relatively close, the inventor found that if the disassembly directions of the two are the same, the positioning devices of the cleaning roller 42 and the dirt collection box 442 may interfere with each other, and when a single component is disassembled, they may come into contact, rub against each other, or even drive the other component to move. Therefore, in this solution, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, ensuring the separation in the fixing method and the disassembly without interference. And for the downward disassembly method of the dirt collection box, as long as the user lifts the tail of the cleaning robot, the dirt collection box can be seen and conveniently taken out downward, eliminating the risk of the dirt in the dirt collection box being poured out. The content related to the disassembly and assembly of the dirt collection box 442 is described in detail below, and reference can be made to the following content.

[0124] Refer to Figure 3a , a sewage tank 9 is provided on the machine body 1. Correspondingly, as Figure 3b and Figure 9aIn an implementation solution shown, the scraping strip 441 has an avoidance hole 446, and a sewage collection pipe 542 is provided at the avoidance hole 446. One end of the sewage collection pipe 542 communicates with the avoidance hole 446, and the other end communicates with the sewage collection box 442. The sewage collection box 442 communicates with the sewage tank 9 through a second flexible pipe 456. The dirt scraped off from the cleaning roller 42 by the scraping strip 441 enters the sewage collection pipe 542 through the avoidance hole 446 and enters the sewage collection box 442 through the sewage collection pipe 542. In a specific implementation, the decontamination mechanism 44 may further include a sewage pump (not shown in the drawings), and the sewage pump is used to pump the dirt in the sewage collection box 442 into the sewage tank 9 through the second flexible pipe 456. Wherein, the sewage pump can work regularly to pump away the dirt in the sewage collection box 442; it can also be started to work when the dirt volume in the sewage collection box 442 reaches a threshold value to pump away the dirt in the sewage collection box 442, and this embodiment does not limit this. As Figure 3b shown, the second flexible pipe 456 further includes a second end pipe 457. The length of the second end pipe 457 remains unchanged. One end of it is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0125] Since the cleaning roller 42 and the sewage collection box 442 are both arranged on the first opening provided downward by the mopping bracket 43 and are relatively close, the inventor found that if the disassembly directions of the two are the same, the positioning devices of the cleaning roller 42 and the sewage collection box 442 may interfere with each other, and when a single component is disassembled, there may be contact, friction, and even one component driving the other to move. Therefore, in this solution, the disassembly direction of the sewage collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, ensuring separation in the fixing method and non-interference in disassembly. And for the way of downward disassembly of the sewage collection box, as long as the user lifts the tail of the cleaning robot, the sewage collection box can be seen and conveniently taken out downward, eliminating the risk of the dirt in the sewage collection box being poured out.

[0126] See Figure 3b 、 Figure 7a 、 Figure 8 and Figure 9a, in an embodiment provided by the present application, the clean water tank 5 is communicated with the liquid supply mechanism 45 through the first flexible pipe 443. The cleaning liquid stored in the clean water tank 5 can be transported to the liquid supply mechanism 45 through the first flexible pipe 443, and then the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42. The sewage tank 9 is communicated with the sewage removal mechanism 44 through the second flexible pipe 456. The sewage collected by the sewage removal mechanism 44 can be transported to the sewage tank 9 through the second flexible pipe 456. When the mopping assembly 4 moves outwards, the first flexible pipe 443 and the second flexible pipe 456 will move together with the mopping assembly 4, and the bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually elongate. The first flexible pipe 443 keeps the liquid supply mechanism 45 and the clean water tank 5 always communicated, and the second flexible pipe 456 keeps the sewage removal mechanism 44 and the sewage tank 9 always communicated.

[0127] See Figure 7a and Figure 7b , the liquid supply inlet 451 is connected to the first flexible pipe 443, and the sewage removal outlet 4410 is connected to the second flexible pipe 456. The liquid supply inlet 451 and the sewage removal outlet 4410 extend from above the mopping bracket 43 to be connected to the first flexible pipe 443 and the second flexible pipe 456 respectively. See Figure 6 , the first flexible pipe 443 and the second flexible pipe 456 are arranged horizontally (i.e., in the negative X-axis direction in the figure) below the cavity shell 46, and then come out upwards from Figure 6 the empty space 03 in to be connected to the clean water tank 5 and the sewage tank 9 on the body 1. See Figure 6 , a pipe space for accommodating the first flexible pipe 443 and the second flexible pipe 456 is arranged beside the empty space 03. Since the mopping assembly 4 is to move relative to the cavity shell 46 in the positive and negative X-axis directions, the first flexible pipe 443 and the second flexible pipe 456 can deform with the movement of the mopping assembly 4 to supply the cleaning liquid to the cleaning roller and discharge the dirt in the dirt collection box in real time.

[0128] To avoid bending, springs (not shown in both Fig. 9 and Fig. 38) may be provided on the outer sides of the first flexible pipe 443 and the second flexible pipe 456, so that there will be no bending blockage during the overall movement (lifting and / or telescoping) of the mopping assembly 4, which may affect sewage discharge and liquid supply. In a specific embodiment, the first flexible pipe 443 and the second flexible pipe 456 are respectively elastic pipes. When the mopping assembly 4 extends outwards, the first flexible pipe 443 and the second flexible pipe 456 will be stretched and extended and / or bent. When the mopping assembly 4 retracts, the first flexible pipe 443 and the second flexible pipe 456 will contract and shorten and / or bend. In another embodiment, the first flexible pipe 443 and the second flexible pipe 456 may also be bendable plastic pipes. When the mopping assembly 4 is in a retracted state, the first flexible pipe 443 and the second flexible pipe 456 are in a bent state, but the first flexible pipe 443 and the second flexible pipe 456 are not in a blocked state. In this bent state, both flexible pipes are unobstructed. When the mopping assembly 4 extends outwards, the bent first flexible pipe 443 and the second flexible pipe 456 move along with it and gradually extend, thus ensuring that the connection of the pipes is not interrupted.

[0129] A cleaning robot provided in an embodiment of the present application has a mopping assembly 4 that can telescopically move relative to the body 1. When the body 1 is on the ground performing a mopping task, the cleaning roller 42 in the mopping assembly 4 contacts the ground. Or rather, the cleaning roller 42 not only contacts the ground but also has a certain pressure on the ground, which helps to improve the cleaning effect of the cleaning roller on the ground. As Figure 3a shown, a receiving cavity 101 is provided at the bottom of the body 1, and the mopping assembly 4 is arranged in the receiving cavity 101. The receiving cavity 101 extends along the width direction of the body 1. In the width direction of the body 1, at least one end of the receiving cavity 101 is open.

[0130] It should be noted that Figure 1b the direction of arrow X in

[0131] Figure 3a can be considered as the length direction of the mopping assembly 4 or the width direction of the body 1. Figure 3a In the example shown, from the

[0132] The extension of the mopping assembly 4 can be driven by the driving device 10. When the mopping assembly 4 extends outwards, as viewed from the top view of the cleaning robot (as shown in Fig. 10), the outermost edge of the mopping assembly 4 extends outwards beyond the edge of the body 1. Therefore, when the body 1 maintains a safe distance from the edges of objects such as the wall edge and the edge of furniture, the cleaning roller 42 can achieve edge cleaning of the object. Of course, in an open space, the cleaning roller 42 can also extend out, as shown in the state of Fig. 10, to perform the cleaning task. In a specific embodiment, the dashed box E in Fig. 10 represents a schematic diagram of the mopping assembly 4 in the retracted state (initial state), and the solid box F represents a schematic diagram of the mopping assembly 4 extending outwards or swinging outwards. When the cleaning robot performs edge cleaning along the edge of an object, the edge of the body 10 of the cleaning robot maintains a safe distance from the edge of the object, and the mopping assembly 4 extends outwards relative to the edge of the body 10 by a distance D, and the value range of D is [10 mm to 3 mm], specifically 5 mm. Of course, in order to prevent the outer edge of the mopping assembly 4 from directly colliding or scratching the edge of the object, there is also a safe distance between the outer edge of the mopping assembly 4 and the edge of the object, and this safe distance is d, and the value range of d is [10 mm to 1 mm], specifically 2 mm. The moving stroke of the mopping assembly 4 relative to the body 1 can be 40 to 60 mm, such as an extension stroke of 50 mm.

[0133] The driving device 10 can drive the mopping assembly 4 to extend outwards from the opening on the side of the accommodating cavity 101. For the retraction of the mopping assembly 4, it can be retracted under the drive of the driving device 10. Or, the retraction of the mopping assembly is not driven by the driving device 10, and it can be retracted under the drive of an elastic member provided between the cavity shell 45 (as Figure 6 shown) and the mopping assembly 4. For example, when the driving device 10 drives the mopping assembly 4 to extend outwards, the elastic member provided between the cavity shell 46 and the mopping assembly 4 deforms (such as compresses). When the mopping assembly 4 needs to retract, the driving device 10 is decoupled from the mopping assembly 4, and the mopping assembly 4 is driven to retract under the restoring force of the elastic member. Of course, this is only an embodiment provided by the present application. In other embodiments, the extension action and the retraction action of the mopping assembly 4 are both driven by the driving device 10. Among them, it should be added here that: the cavity shell 46 can be understood as a part of the bottom wall of the base of the body 1, and this part of the bottom wall forms the accommodating cavity 101. Or, a cavity shell 46 as Figure 6 shown is provided on the base of the body 1.

[0134] The above text briefly introduced the structure of the cleaning robot provided in the embodiments of the present application. Next, the structure of the mopping and washing component in the present application, the structure for realizing the telescopic function of the mopping and washing component (i.e., the specific implementation of the driving device), etc. will be described in more detail. The key point of the solutions provided in the embodiments of the present application lies in the mopping and washing component 4. The mopping and washing component 4 can extend from at least one side of the body of the cleaning robot relative to the body of the cleaning robot, so that a part of the mopping and washing component 4 is exposed, so that the mopping and washing component 4 can maintain a good cleanliness during self-cleaning at any position. The following will first describe in detail the telescopic function of the mopping and washing component 4. There can be various structures for realizing the telescopic function of the mopping and washing component, which will be introduced one by one below.

[0135] See Figure 6 、 11 to Fig.12 In an embodiment of the present application, a driving device 10 is provided. The driving device 10 includes: a first power source 102 and a first motion execution mechanism 103. The first motion execution mechanism 103 includes a power access end and a power output end. The power access end is connected to the first power source 102. The first motion execution mechanism 103 is used to convert the rotational power output by the power source into linear power, and the power output end is connected to the mopping and washing component 4.

[0136] The first power source 102 may include, but is not limited to: a first motor and a speed reducer. The first motion execution mechanism 103 may include, but is not limited to: a first gear 13 and a first rack 14. Specifically, in the initial position of the first motion execution mechanism 103, as Fig.13 shown in the example, relative to the first gear 13, most of the teeth of the first rack 14 are located on the left side of the first gear 13. This state can be referred to as the rack being in the origin position. At this time, the mopping and washing component 4 is in the initial state, that is, Fig.11 the state shown. From the perspective of the overall cleaning robot, Fig.11 in this state, the mopping and washing component 4 is hidden in the body 1. When the mopping and washing component 4 needs to extend, the first motor of the first power source 102 rotates forward (from Fig.13 the perspective of the first motor outputting power in the counterclockwise direction) to drive the first rack 14 to move in the first direction ( Fig.13 the direction of the arrow X in). Fig.12 shows a schematic diagram of the mopping and washing component 4 in the extended state. When the mopping and washing component 4 needs to retract, the first motor 12 of the first power source 102 rotates in reverse (from Fig.13 the perspective of the first motor outputting power in the clockwise direction) to drive the first rack 14 to move in the opposite direction of the first direction (the second direction).

[0137] See Fig.13, in an embodiment provided by the present application, at least one slide rail 15 is provided on the cavity shell 46 of the accommodation cavity 101 of the body 1. The first motion execution mechanism 103 further includes a sliding plate, and the first rack 14 can be arranged on the sliding plate. The sliding plate is slidably connected to the slide rail 15. The first power source 102 can be arranged at the installation position of the cavity shell 46, the first gear 13 is arranged on the output shaft of the first power source 102, and the first gear 13 meshes with the first rack 14. After the first power source 102 outputs power, the sliding plate 20 can be driven to slide back and forth on the slide rail 15 through the first gear 13 and the first rack 14. The sliding plate is connected to the mopping and washing assembly 4 to drive the mopping and washing assembly 4 to act. In addition, the first rack 14 and the sliding plate 20 can be an integral structure, or the first rack 14 and the sliding plate 20 can be fixedly connected.

[0138] As mentioned above, the sliding plate is arranged on the upper surface of the cavity shell 46. Refer to Fig.16 , a connecting column 241 is provided on the mopping and washing assembly 4, and the mopping and washing assembly 4 is connected to the sliding plate through the connecting column 241. In order to avoid interference between the connecting column 241 and the cavity shell 46, corresponding to the movement range of the connecting column 241, a slot hole 27 is provided on the cavity shell 46 (as Fig.14 shown), and the connecting column 241 extends above the sliding plate 20 through the slot hole 27 and the through hole 23 on the sliding plate 20. The length of the slot hole 27 is greater than or equal to the maximum movement distance of the mopping and washing assembly 4.

[0139] Furthermore, as Fig.20a and 20b shown, the body 1 includes a shell cover 47, and the shell cover 47 can be cooperatively connected above the cavity shell 46. When the shell cover 47 is cooperatively connected to the cavity shell 46, a hollow cavity is formed, and the driving device 10 (i.e., the first power source 102 and the first motion execution mechanism 103) is located in the hollow cavity. The shell cover 47 can not only provide effective protection for the driving device 10 to prevent garbage and foreign objects from entering and affecting the normal operation of the driving device 10. In addition, a mating groove 471 is provided on the bottom surface of the shell cover 47, and the top end of the second baffle 26 contacts in the mating groove 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the mating groove 461. The shell cover 47 can play a role in limiting the second baffle 26, effectively preventing the sliding plate 20 from moving upward or bulging.

[0140] In this embodiment, the mopping and washing assembly 4 can be telescopic relative to the body 1, and the mopping and washing assembly 4 can have a first limit position in the retracted state and a second limit position in the extended state. In addition, the mopping and washing assembly 4 can also stop at the first limit position and the second limit position to work at any position between the first limit position and the second limit position to adapt to various working scenarios. The main board 2 of the cleaning robot can determine the target position of the mopping and washing assembly relative to the body based on the information detected by the sensing system 64; then control the driving device to drive the mopping and washing assembly to move to the target position. The main board 2 can achieve the mopping and washing assembly to stop and work at any position by controlling the driving device.

[0141] In order to further improve the control accuracy, multiple detection units are added in this embodiment to detect the position information of the mopping and washing assembly 4 relative to the body 1, which is convenient for the main board of the cleaning robot to make corresponding controls. For example Fig.13 As shown in the example, multiple detection units can be arranged on the cavity shell 46. Multiple detection units can be respectively arranged at multiple positions within the stroke range of the mopping and washing assembly 4. For example, the first limit position in the retracted state, the second limit position in the extended state, and at least one intermediate position between the first limit position and the second limit position. The detection units can include but are not limited to: photoelectric switches, microswitches, Hall elements, etc. The multiple detection units can include a first detection unit and a second detection unit. The first detection unit can be located at the first limit position where the mopping and washing assembly 4 is in the retracted state, and the second detection unit can be located at the second limit position where the mopping and washing assembly 4 is in the extended state. Taking the detection unit as a photoelectric switch as an example, as Fig.13 shown, a first photoelectric switch 281 and a second photoelectric switch 282 are provided on the cavity shell 46. These two photoelectric switches are respectively arranged at different positions on the cavity shell 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located at the first limit position where the mopping and washing assembly 4 is in the retracted state and the first limit position where the mopping and washing assembly 4 is in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be located on the same side of the first motion execution mechanism 103, or on different sides. Of course, at least one photoelectric switch for detecting the intermediate position can also be arranged between the first photoelectric switch 281 and the second photoelectric switch 282.

[0142] Correspondingly, a triggering structure may be provided on the first motion actuator 103. When the first photoelectric switch 281 and the second photoelectric switch 282 can be located on the same side of the first motion actuator 103, only one triggering structure needs to be provided. If the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located on both sides of the first motion actuator 103, two triggering structures need to be provided on the first motion actuator 103. As shown in 14, the first triggering structure 291 and the second triggering structure 292. More specifically, the first triggering structure 291 and the second triggering structure 292 can be provided on the sliding plate in the first motion actuator 103. When the mopping assembly 4 is at the first extreme position in the retracted state, the first triggering structure 291 triggers the first photoelectric switch 281. When the mopping assembly 4 moves along Fig.23 the arrow X direction in the figure to the second extreme position in the extended state, the second triggering structure 292 can trigger the second photoelectric switch 282, indicating that the mopping assembly 4 extends out to the farthest distance.

[0143] Although the second triggering structure 292 and the second photoelectric switch 282 can detect whether the mopping assembly 4 reaches the second extreme position in the extended state, the main board can control the first power source 102 to stop working based on the triggering signal of the second photoelectric switch 282, so that the mopping assembly 4 stops at the second extreme position. However, for the sake of safety, a limiting structure can also be provided on the cavity shell 46. When the sliding plate 20 slides to the second extreme position, the first motion actuator 103 abuts against the limiting structure (more specifically, the sliding plate of the first motion actuator 103 abuts against the limiting structure).

[0144] As mentioned above, when the mopping assembly 4 extends outwards, it has multiple gears. At different gears, the position of the mopping assembly 4 relative to the body is different. Of course, it can also be said that at different gears, the distance that the mopping assembly extends outwards is different. Refer to Fig.13 、 Fig.14 and Fig.21 . In order to achieve precise gear adjustment, the solution provided in this embodiment may further include a fourth detection unit and a fourth triggering structure. Among them, the fourth detection unit can be a fourth photoelectric switch, a fourth microswitch or a fourth Hall element. Taking the fourth detection unit as the fourth photoelectric switch and the fourth triggering structure as the grating structure as an example. A fourth photoelectric switch 284 is also provided on the cavity shell 46, and a grating structure 294 is provided on the first motion actuator 103. The length of the grating structure 294 is equal to or less than the maximum stroke of the mopping assembly 4. When performing gear adjustment, the fourth photoelectric switch 284 can accurately detect the counting scale on the grating structure 294, so as to determine the gear at which the mopping assembly 4 extends outwards.

[0145] The implementation process of the driving device 10 will be described in detail below in combination with the usage scenario.

[0146] Scenario 1: When the cleaning robot is performing a cleaning task, the mopping component extends. In special situations such as encountering an obstacle, the mopping component retracts.

[0147] When the cleaning robot is not performing a task, it docks at the base station for replenishment (charging and / or filling with clean water), sewage discharge (such as discharging the garbage in the dust box and / or the sewage in the sewage tank), self-cleaning (cleaning the cleaning roller), etc. The user can start the cleaning robot to perform a cleaning task by touching the controls on the base station, or operating the interactive device on the base station, or through the smart device APP, or the controls on the cleaning robot, etc. When the cleaning robot is inside the base station, the mopping component is in a retracted state. When the cleaning robot drives out of the base station and detects that it has driven out of the base station, the main board of the cleaning robot controls the driving device 10 to drive the mopping component to extend to a set position. This set position can be the second limit position in the extended state mentioned above, or a position between the first limit position in the retracted state and the second position in the extended state. This embodiment does not make a specific limitation on this. Then, the cleaning robot maintains the posture with the mopping component extended at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0148] During the cleaning process of the cleaning robot, when an obstacle is detected by the sensing system, the main board controls the driving device 10 to drive the mopping component to retract a certain distance. The "certain distance" retracted here can be calculated by the main board based on the information of the obstacle sensed by the sensing system; or it is the distance for the mopping component to retract from the current extended state to the first limit position. After bypassing the obstacle, the main board then controls the driving device to make the mopping component extend to continue the cleaning task.

[0149] It should be supplemented here that special situations may include but are not limited to: the user instructs the mopping component to retract, passing through a narrow passage, etc.

[0150] Scenario 2: When the cleaning robot is performing a cleaning task, the mopping component is in a retracted state. When edge cleaning is required, the mopping component extends.

[0151] The cleaning robot plans a cleaning path according to the map of the area to be cleaned. Assume the cleaning path is to clean the open area first and then perform edge cleaning. Such as cleaning along the wall, the edge of the cabinet, etc. The mopping component of the cleaning robot is in a retracted state (such as the first limit position), and the open area is cleaned according to the zigzag travel path. After the open area is cleaned, the main board of the cleaning robot controls the driving device to control the mopping component to extend (it can extend a set length or extend to the second limit position), and perform edge cleaning according to the planned edge path. After the edge cleaning is completed, the cleaning robot retracts the mopping component (such as the first limit position) to move to the next area to be cleaned, or return to the base station for replenishment, sewage discharge, or self-cleaning, etc.

[0152] See Fig.16As shown, the mopping and washing assembly 4 is floatingly connected to the first motion execution mechanism 103. For example, assume Fig.16 In the state shown, the mopping and washing assembly 4 is in contact with the ground. Since the mopping and washing assembly 4 is floatingly arranged, when the mopping and washing assembly travels on an uneven ground, it can float up and down according to the change of the ground. The first motion execution mechanism 103 is connected to the mopping and washing assembly 4 through the connection assembly 24. As Fig.16 shown, the connection assembly 24 may include: a connection post 241 and a slider 242. Above the mopping bracket 43 of the mopping and washing assembly 4, there is a connection post 241. The first motion execution mechanism 103 includes a slider 242 as Fig.18 shown. There is a mounting hole on the slider 242, and a screw enters the hole of the connection post 241 through the mounting hole to connect the slider 242 with the connection post 241. In Fig.16 the state shown, there is a gap between the upper part of the mopping and washing assembly 4 and the cavity shell 46, and this gap provides space for the mopping and washing assembly 4 to float up and down.

[0153] In the above text, it is only mentioned that the driving device 10 can drive the mopping and washing assembly 4 to move in the width direction of the body 1. In fact, in the technical solution provided in this embodiment, the mopping and washing assembly 4 can not only move in the width direction of the body, but also move up and down. The mopping and washing assembly moving in the width direction of the body and moving up and down can be respectively driven by two driving devices, or can be realized by only one driving device. That is, the driving device 10 can not only drive the mopping and washing assembly 4 to move in the width direction of the body 1 in the accommodation cavity 101, but also move up and down.

[0154] The mopping and washing assembly 4 is floatingly connected to the cavity shell 46. Within a certain range, the mopping and washing assembly 4 can move up and down in the accommodation cavity 101 in the vertical direction. The mopping and washing assembly 4 presses the cleaning roller 42 on the ground by its own gravity. When the cleaning roller on the mopping and washing assembly 4 encounters an uneven ground or a raised obstacle, the mopping and washing assembly 4 can float up and down relative to the body 10 of the cleaning robot with the undulation of the ground. Whether the ground is flat or not, the mopping and washing assembly 4 always presses on the ground by its own gravity, and the acting force on the ground is relatively small and stable, so that it can effectively avoid the sudden increase of the acting force of the mopping and washing assembly 4 on the ground due to the uneven terrain. For some softwood floor surfaces, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0155] It can be considered that at any position in the width direction of the body 1, the mopping and washing assembly 4 floats relative to the cavity shell 46. The mopping and washing assembly 4 floating relative to the cavity shell means that the mopping and washing assembly 4 floats relative to the body.

[0156] See Figures 13 to 22, the driving device 10 can move in multiple directions to drive the mopping and washing assembly 4 to lift, lower, extend, and retract relative to the body 1. The driving device 10 includes a first power source 102 and a first motion execution mechanism 103. Specifically, when the first power source 102 outputs power in a first direction, it can drive the mopping and washing assembly 4 to move outward relative to the body 1 along the Fig.16 X1 direction in Fig.16 , and can also drive the mopping and washing assembly 4 to lift relative to the body 1 along the Fig.16 Z2 direction in Fig.16 . When the first power source 102 outputs power in a second direction, it can drive the mopping and washing assembly 4 to retract relative to the body 1 along the Fig.16 X2 direction in Fig.16 , and can also drive the mopping and washing assembly 4 to lower relative to the body 1 along the Fig.16 Z1 direction in Fig.16 . The first direction and the second direction are two different directions. For example, one of the first direction and the second direction can be the clockwise direction, and the other is the counterclockwise direction.

[0157] The above content can also be understood as that the first motion execution mechanism 103 moves along the X1 direction as in Fig.16 Fig.16 , driving the mopping and washing assembly 4 to extend; the first motion execution mechanism 103 moves along the Fig.16 X2 direction in Fig.16 , driving the mopping and washing assembly 4 to retract. When the mopping and washing assembly 4 is at the first extreme position and the second extreme position, if the mopping and washing assembly 4 is at a low position, the power execution component 103 moves along the X2 direction, which can drive the mopping and washing assembly 4 to lift; if the mopping and washing assembly 4 is at a high position, the power execution component 103 moves along the X1 direction, which can drive the mopping and washing assembly 4 to lower.

[0158] It should be noted that Fig.16 the directions of the arrows X1 and X2 in Fig.16 can be regarded as the length direction of the mopping and washing assembly, or the width direction of the body 101; Fig.16 the directions of the arrows Z1 and Z2 in Fig.16 can be regarded as the height direction of the mopping and washing assembly, or the height direction of the body 101.

[0159] Figure 6 is a schematic diagram of the first extreme position where the mopping and washing assembly 4 is in the retracted state and in the lowered state. Fig.11 is a schematic diagram of the first extreme position where the mopping and washing assembly 4 is in the retracted state and in the lifted state. Fig.12 is a schematic diagram of the second extreme position where the mopping and washing assembly 4 is in the extended state and in the lowered state. The following will introduce the driving device 10 provided by the present application in detail through more embodiments.

[0160] During the lifting or lowering of the mopping component 4, the decontamination mechanism 44 and the liquid supply mechanism 45 can be lifted or lowered simultaneously with the cleaning roller 42 and the roller motor 41. Of course, it is also possible that the decontamination mechanism 44 and the liquid supply mechanism 45 remain in a fixed position, and the decontamination mechanism 44 and the liquid supply mechanism 45 only come into contact with the cleaning roller when the cleaning roller is in the lowered state. When the cleaning roller is in the lifted state, the decontamination mechanism 44 and the liquid supply mechanism 45 do not come into contact with the cleaning roller. For the extension or retraction of the mopping component 4, to ensure that the cleaning roller maintains its self-cleaning ability and a certain level of cleanliness, the decontamination mechanism 44 and the liquid supply mechanism 45 will extend or retract simultaneously with the mopping component 4. Additionally, to adapt to different cleaning environments, when the mopping component 4 extends outward, it has multiple gears, and at different gears, the distance by which the mopping component 4 extends outward relative to the body 10 is different.

[0161] Combined with Fig.14 and Fig.15 , the sliding plate includes a main body portion 21 and at least one lifting portion 22. The first rack 14 is disposed on the main body portion 21, and the lifting portion 22 is disposed at the end of the main body portion 21. When the sliding plate has two lifting portions 22, the two lifting portions 22 are respectively disposed at both ends of the main body portion 21. Specifically, the lifting portion 22 has an inclined slope, and the slope extends obliquely upward from the surface of the main body portion 21, as Fig.15 shown. Additionally, a through hole 23 is provided at the middle position of the lifting portion 22. The connecting column 241 on the mopping component 4 can pass through the through hole 23 and extend from below the sliding plate to above the sliding plate, and the connecting column 241 can come into contact with the sliding plate. When the first power source 102 outputs rotational power and the sliding plate in the motion execution mechanism 103 slides, a force can be applied to the connecting column 241, thereby driving the mopping component 4 to perform actions such as lifting, lowering, extending, and retracting.

[0162] Refer to Fig.13 and Fig.16 , taking the connecting component 24 with the connecting column 241 and the slider 242 as an example, one end of the connecting column 241 is connected to the mopping component 4, and the other end extends from below the sliding plate through the through hole 23 to above the sliding plate. The slider 242 is detachably connected to the connecting column 241 through a fastener (such as a screw). The slider 242 comes into contact with the sliding plate, and the size of the slider 242 is larger than the size of the through hole 23, thereby effectively preventing the connecting component 24 from separating from the sliding plate. Connecting the sliding plate to the connecting column 241 in a detachable manner facilitates the installation of the mopping component 4.

[0163] Refer to Figures 13 to 15 , for each lifting portion 22, a first baffle 25 is correspondingly provided. The area A between the first baffle 25 and the lowest point of the lifting portion 22 is used to place the slider 242. As Fig.13As shown, when the sliding plate slides from the first limit position of the retracted state in the direction of arrow X, the first baffle 25 will contact the side wall of the slider 242, and the sliding plate can push the slider 242 to slide in the direction of arrow X, thereby driving the mopping assembly 4 to extend outward. Fig.19 A gap groove 251 is provided on the surface of the first baffle plate 25 that abuts against the slider 242. The cross-sectional shape of the first baffle plate 25 is "L"-shaped. The gap groove 251 can be used to store grease or impurities entering from the outside to improve the smoothness of the up and down floating action of the connecting column 241.

[0164] like Fig.16 As shown, when the sliding plate slides from the first limit position of the retracted state to the direction of arrow X2, one side of the mop-washing assembly 4 in the retracted state abuts against the side wall shell 411 of the cavity shell 46, limiting the further movement of the mop-washing assembly 4 relative to the cavity shell 46 in the direction of arrow X2. However, driven by the first power source 102, the sliding plate will continue to move relative to the cavity shell 46 in the direction of arrow X2, and the side wall of the other side of the slider 242 will abut against the inclined surface of the lifting part 22, and as the sliding plate 20 moves, the slider 242 climbs along the inclined surface, thereby driving the mop-washing assembly 4 to lift upward. Fig.15 In order to prevent the slider 242 from climbing over the inclined plane, there is a second baffle 26 at the top of the inclined plane; when the slider 242 climbs to the top of the inclined plane, the slider 242 will abut against the second baffle 26, and the mop-washing assembly 4 is also at the highest position of the lifting. Further, at this time, if the sliding plate 20 slides in the opposite direction of the arrow X2, the slider 242 can slide down along the inclined plane, and the mop-washing assembly 4 is in a descending state. The slider 242 slides down to the lowest point of the lifting part 22, and the mop-washing assembly 4 also descends to the low position.

[0165] Furthermore, in some cases, the mopping assembly 4 needs to remain in the lifted state for a long time. To facilitate the slider 242 to hover at the top of the lifting part 22, a horizontal hovering surface 220 is provided at the top of the lifting part 22. Fig.23 When the slider 242 climbs up along the inclined plane to the top of the lifting portion 22, the slider 242 can stably stay on the hovering surface 220, so that the mopping and washing assembly 4 remains in a lifted state.

[0166] In one embodiment provided in this application, Fig.15 and 17 As shown, the inclined surface of the lifting part 22 includes a first slope surface 221 and a second slope surface 222, and the inclination angle of the first slope surface 221 is greater than the inclination angle of the second slope surface 222. When the slider 242 climbs along the inclined surface of the lifting part 22, it first climbs up the first slope surface 221 with a larger inclination angle, and then climbs up the second slope surface 222. This technical solution will facilitate the rapid lifting of the mopping and washing assembly 4.

[0167] Further, in order to avoid excessive sliding resistance of the slider 242 on the inclined plane, refer to Fig.17 . A cylindrical sliding member 2421 is provided on the side of the slider 242 that abuts against the inclined plane of the lifting portion 22. Of course, the cylindrical sliding member 2421 can also roll when sliding on the inclined plane. For another example, refer to Fig.18 . The side of the slider 242 that abuts against the inclined plane of the lifting portion 22 is an arc structure 2422. That is, the portion of the slider 242 in contact with the lifting portion 22 is the arc structure 2422.

[0168] When the sliding plate slides from the second extreme position in the extended state of the mopping assembly 4 to the first extreme position in the retracted state, the slider 242 can have various states. For example, the resistance to retraction of the mopping assembly 4 is small. As the sliding plate slides, the slider 242 does not have enough force to climb the inclined plane. At this time, the slider 242 will abut against the bottom of the inclined plane, and then the sliding plate 20 pushes the mopping assembly 4 to retract slowly. It can be understood that in this state, the retraction of the mopping assembly 4 does not have a lifting action, and the mopping assembly 4 always contacts the ground when retracting. For another example, the resistance to retraction of the mopping assembly 4 is large. As the sliding plate 20 slides, the slider 242 can climb the inclined plane. At this time, the mopping assembly 4 will lift upward and simultaneously complete the retraction action as the sliding plate 20 slides. It can be understood that in this state, when the mopping assembly 4 retracts, it first performs a lifting action and then retracts to the first extreme position along with the sliding plate 20.

[0169] Refer to Fig. 22 . In an embodiment provided in the present application, a first connection end 211 is provided on the sliding plate, and a second connection end 2423 is provided on the slider 242. The first connection end 211 and the second connection end 2423 can be used to arrange an elastic member. Specifically, one end of the elastic member is connected to the first connection end 211, and the other end of the elastic member is connected to the second connection end 2423. When the slider 242 climbs upward along the inclined plane of the lifting portion 22, the elastic member will be stretched. The elastic force of the elastic member can be used to assist the slider 242 to move down from the top of the lifting portion 22. In addition, during the retraction process of the mopping assembly 4, the pulling force provided by the elastic member can also keep the slider 242 in contact with the first baffle 25 all the time, so as to prevent the slider 242 from climbing the inclined plane, and finally the mopping assembly 4 will not be easily lifted when retracting.

[0170] Furthermore, as Fig.13 shown, in the solution provided in this embodiment, the detection unit provided on the cavity shell 46 may further include at least one detection unit for detecting the lifting state of the mopping assembly. For example, Fig.13In the illustrated example, a third detection unit, such as the third optoelectronic switch 283, is provided on the cavity housing 46; a third triggering structure 293 is provided on the sliding plate of the first action execution mechanism 103. After the mopping and scrubbing assembly 4 is lifted, the third triggering structure 293 triggers the third optoelectronic switch 283, and the main board 2 can then learn that the mopping and scrubbing assembly has been lifted, and can control the power source, the liquid supply mechanism, and the dirt removal mechanism to stop working.

[0171] The first power source 102 drives the first gear 13 to rotate forward (such as clockwise or counterclockwise), and the sliding plate moves to the right. During the movement of the sliding plate, it will contact the connection assembly 24 on the mopping and scrubbing assembly 4, and drive the mopping and scrubbing assembly 4 to extend outwards through the connection assembly 24. When the second optoelectronic switch 282 is triggered, the first power source 102 stops rotating. At this time, the mopping and scrubbing assembly is in a fully extended state and can perform edge cleaning at the edge of an object. After the mopping and scrubbing assembly 4 completes the edge cleaning, the power source drives the first gear 13 to rotate in the reverse direction, the sliding plate moves to the left, and during the movement, it drives the mopping and scrubbing assembly 4 to retract into the accommodation cavity 101; when the first optoelectronic switch 281 at the initial position (i.e., the first limit position) is triggered, the first power source 102 stops rotating, and at this time, the mopping and scrubbing assembly 4 is in a fully retracted state. Next, when the cleaning robot needs to clean a carpet, to avoid secondary pollution, the mopping and scrubbing assembly needs to be switched to the lifted state. Subsequently, the first power source 102 rotates in the reverse direction, and the sliding plate moves to the left. The lifting portion 22 on the sliding plate gradually jacks up the connection assembly 24. When the third optoelectronic switch 283 is triggered, the first power source 102 stops rotating. At this time, the mopping and scrubbing assembly 4 is switched to the lifted state, and then the carpet can be cleaned. After the carpet cleaning is completed, the first power source 102 rotates forward, the sliding plate moves to the right, and the mopping and scrubbing assembly descends and resets to the initial state.

[0172] In the technical solution provided in this application, the driving device 10 has a simple structure. Only one power source is required to drive the mopping and scrubbing assembly 4 to perform four actions: extending, retracting, lifting, and descending, meeting the use of the mopping and scrubbing assembly 4 under various working conditions. The power source has low performance requirements, a simple control logic, and lower production costs.

[0173] In the above-mentioned embodiment, during the lifting process of the mopping and scrubbing assembly 4, the sliding plate slides, and then the lifting portion 22 on the sliding plate drives the slider 242 on the mopping and scrubbing assembly 4 to move upward, so that the mopping and scrubbing assembly 4 is lifted upward. The lifting process of the mopping and scrubbing assembly 4 can be understood as the mopping and scrubbing assembly 4 being lifted as a whole.

[0174] After the mopping and scrubbing assembly 4 is lifted, the cleaning roller 42 can stop rotating, and both the liquid supply mechanism 45 and the dirt removal mechanism 44 can stop working.

[0175] The cleaning robot can lift the mopping and scrubbing assembly in the following situations, such as:

[0176] When the cleaning robot moves onto the carpet, it raises the mopping component;

[0177] When it needs to cross an obstacle, it can raise the mopping component;

[0178] The user instructs to raise the mopping component;

[0179] When the cleaning robot works in the floor-sweeping mode, it raises the mopping component; and so on.

[0180] In another embodiment provided by the present application, the raising process of the mopping component 4 can also be that one end of the mopping component 4 rotates around an axis, so that the height of the cleaning roller 42 at the other end of the mopping component 4 relative to the ground is raised. Refer to Fig.24 As shown, this figure schematically shows a structural diagram of the mopping component 4 being raised relative to the ground. Fig.24 In it, the mopping component 4 includes a cleaning roller 42 and a mopping bracket 43. The mopping bracket 43 is slidably connected to the rotating bracket 31. The rotating bracket 31 is rotatably connected to the base through a rotating shaft 4131. The base can also be considered as the cavity shell 46 or the body 1 of the cleaning robot. A connecting component 24 is provided on the mopping bracket 43. The connecting component 24 passes through the rotating bracket 31 through an avoidance groove on the rotating bracket 31 and extends to the outside of the rotating bracket 31. A sliding plate 20 is also provided on the base. The sliding plate 20 can slide relative to the base. The sliding plate 20 has a lifting portion 22. The sliding plate 20 can slide left or right relative to the base, so as to drive the mopping component 4 to rise or extend out respectively. Specifically, when the sliding plate 20 moves rightward from the initial position relative to the base, the connecting component 24 contacts the side wall of the sliding plate 20. The sliding plate 20 can drive the connecting component 24 to move rightward at the same time, as in Fig.32 the direction of arrow X in it. At this time, the mopping component 4 will extend to the right relative to the rotating bracket 31. It can be considered that the mopping component 4 switches from the retracted state to the extended state. When the sliding plate 20 moves leftward from the initial position relative to the base, the connecting component 24 contacts the inclined surface of the lifting portion 22, and as the sliding plate 20 moves leftward, the connecting component 24 climbs up the inclined surface of the lifting portion 22. The connecting member will simultaneously drive the rotating bracket 31 and the mopping component 4 to rotate upward along Fig.32 the direction of arrow a in it. When the mopping component 4 needs to be reset to the initial position, only need to slide the sliding plate 20 to the initial position in the reverse direction, and the mopping component 4 can be reset from the lifted state or the extended state to the initial state. Among them, the initial state can be: the mopping component 4 is in the retracted state and at a low position.

[0181] Based on the above principles of the lifting and telescoping of the mopping component 4, another driving device 10 provided by the present application will be described in detail below in combination with specific embodiments.

[0182] Refer to Fig.24, Fig.25 and Fig.26 , in an embodiment of the present application, a driving device 10 is provided. The driving device includes a first power source 102 and a first action execution mechanism 103. The first action execution mechanism 103 is disposed on the cavity housing 46. The first action execution mechanism 103 is movably connected to the cavity housing 46. The mopping and washing assembly 4 is floatingly connected to the first action execution mechanism 103 through the connection assembly 24. When the first power source 102 drives the first action execution mechanism 103 to act in different directions, the first action execution mechanism 103 can drive the mopping and washing assembly 4 to perform actions such as lifting, lowering, extending, or retracting through the connection assembly 24.

[0183] In a specific embodiment, referring to Fig.25 and Fig.26 , the first action execution mechanism 103 includes a sliding plate 20. The sliding plate 20 is slidably connected to the cavity housing 46. The output power of the first power source 102 can drive the sliding plate 20 to move relative to the cavity housing 46 along the Fig.25 directions of arrow X1 and arrow X2. The cavity housing 46 is fixedly connected to the body 1, and the cavity housing 46 has a receiving cavity 101. The mopping and washing assembly 4 and the rotating bracket 31 are located in the receiving cavity 101. The mopping bracket 43 is rotatably connected to the cavity housing 46 or the body 1 through a rotating shaft 4131.

[0184] Referring to Figures 27a to 27c , schematic diagrams showing the mopping and washing assembly 4 in the initial state are shown from different perspectives. Among them, the initial state means that the mopping and washing assembly 4 is in the retracted state (such as the first limit position of the retracted state), and the cleaning roller 42 is in contact with the ground. Referring to 28a to 28c, schematic diagrams showing the mopping and washing assembly 4 in the lifted state are shown from different perspectives. The mopping and washing assembly 4 is in the retracted state (such as the first position of the retracted state). In the lifted state, the distance between the lowest point of the cleaning roller 42 of the mopping and washing assembly 4 and the ground is H1. Referring to 29a to 29c, schematic diagrams showing the mopping and washing assembly 4 in the extended state (such as the second limit position of the extended state) are shown from different perspectives. In the extended state, the distance that the outermost edge of the mopping and washing assembly 4 extends relative to the body 1 is H2.

[0185] When the mopping and washing assembly 4 needs to extend, the first power source 102 drives the sliding plate 20 to move from the initial position along the Fig.25 direction of arrow X1. The rotating bracket 31 does not act, and the connection assembly 24 in contact with the sliding plate 20 will drive the roller bracket 421 to extend outward relative to the rotating bracket 31 along the direction of arrow X1. When the sliding plate 20 moves to the limit position in the X1 direction, the roller bracket 421 will extend the maximum distance outward (as shown in Fig.29b ). When the mopping and washing assembly 4 needs to retract, the first power source 102 drives the sliding plate 20 along the Fig.25It moves in the direction of arrow X2. When it moves to the initial position, the roller bracket 421 is fully retracted.

[0186] Among them, the mopping bracket 43 may include the roller bracket 421.

[0187] See Figures 25 to 28c , when the mopping assembly 4 needs to be lifted, the first power source 102 drives the sliding plate 20 to move from the initial position along the Fig.25 direction of arrow X2 in At this time, the rotating bracket 31 will rotate and swing upward around the rotating shaft 4131 under the drive of the sliding plate 20. The position of the mopping bracket 43 remains unchanged with respect to the rotating bracket 31, and the mopping bracket 43 will rotate and swing upward together with the rotating bracket 31, thereby realizing the rotational lifting of the mopping assembly 4. When the sliding plate 20 moves to the extreme position in the X2 direction, the lifting height of the mopping assembly 4 is the maximum, and the lowest point of the cleaning roller 42 is also at the maximum height from the ground (as shown in Fig.28c ). When the mopping assembly 4 needs to be lowered, the first power source 102 drives the sliding plate 20 to move along the Fig.25 direction of arrow X1 in When it moves to the initial position, the mopping bracket 43 completes the lowering and returns to the initial state (as shown in Fig.27a ).

[0188] See Fig.25 and Fig.26 , in an embodiment provided by the present application, the first power source 102 and the first action execution mechanism 103 (such as the sliding plate 20) can be arranged inside the accommodating cavity 101, or both can be arranged outside the accommodating cavity 101, or one can be arranged inside the accommodating cavity 101 and the other can be arranged outside the accommodating cavity 101.

[0189] The following takes the first power source 102 being arranged outside the accommodating cavity 101 and the sliding plate 20 being arranged inside the accommodating cavity 101 as a detailed introduction. It should be noted that the action execution mechanisms in the above embodiments include but are not limited to: lead screw motor devices, push rod motor devices, linear motor devices, hydraulic devices, cylinder piston devices, gear rack devices, etc.

[0190] In a specific embodiment, see Fig.25 and Fig.26 , taking the first power source 102 as a lead screw motor device as an example, the lead screw motor device includes: a second motor 12, a lead screw 17 and a nut slider 18. The lead screw 17 is connected to the output end of the second motor 12. When the second motor 12 rotates, it can drive the lead screw 17 to rotate. The nut slider 18 is cooperatively connected to the lead screw 17. When the lead screw 17 rotates, the nut slider 18 can slide horizontally along the axis of the lead screw 17.

[0191] As shown in Fig.25 , the lead screw 17 is arranged along the length direction of the mopping assembly 4 (for example Fig.25 in the directions of arrows X1 and X2), when the second motor 12 outputs power in one direction, the lead screw 17 can drive the nut slider 18 to move leftward ( Fig.25 in the direction of arrow X2), when the second motor 12 outputs power in the other direction, the lead screw 17 can drive the nut slider 18 to slide rightward ( Fig.25 in the direction of arrow X1). Among them, the second motor 12 can output clockwise power and counterclockwise power, and one of the powers in the above two directions can be clockwise power and the other can be counterclockwise power.

[0192] Further, referring to Fig.25 and Fig.31 , in an embodiment provided by the present application, a driving portion 214 is provided on the sliding plate 20. The driving portion 214 extends outward from the plate surface of the sliding plate 20, and the end portion of the driving portion 214 has a concave structure that cooperates with the lead screw 17. An activity opening 415 is also provided on the cavity shell 46. The driving portion 214 on the sliding plate 20 can pass through the activity opening 415 and be connected to the nut slider 18. When the second motor 12 drives the lead screw 17 to rotate, the moving nut slider 18 can drive the driving portion 214 to move together. In order to prevent the driving portion 214 from interfering with the cavity shell 46 during the movement, the length of the activity opening 415 is greater than or equal to the maximum distance that the mopping assembly 4 can extend.

[0193] Referring to Fig.25 and Fig.26 , the cavity shell 46 is provided on the body 1, and it can be fixedly connected to the body 1, or the cavity shell 46 and the body 1 are of an integral structure. The rotating bracket 31 is rotationally connected to the body 1 or the cavity shell 46 through a rotating shaft 4131. A track groove 32 is provided on the rotating bracket 31, and a sliding portion 33 is provided on the mopping bracket 43. The sliding portion 33 is cooperatively connected to the track groove 32. The mopping bracket 43 has an installation cavity with an opening facing downward, and the cleaning roller 42 is provided in the installation cavity. A plurality of sliding portions 33 are provided on the top of the mopping bracket 43, and the sliding portions 33 can be cooperatively connected to the sliding groove. Specifically, the sliding portion 33 is a slider. A ridge rib is provided on the top end of the mopping bracket 43, and a plurality of sliders are symmetrically distributed on both sides of the ridge rib. The plurality of sliders can be clamped in the track groove 32, so that the mopping bracket 43 is suspended and installed below the rotating bracket 31.

[0194] Referring to Fig.26 , Fig.30 and Fig.32 , in a specific embodiment, a track groove 32 is provided on the inner top surface of the rotating bracket 31. The track groove 32 has a reduced opening facing downward, and the sliding portion 33 can be connected to the track groove 32 through the reduced opening. At least one rotating connection arm 311 is further provided on the outer wall surface at the rear side of the rotating bracket 31. The rotating connection arm 311 is connected to the cavity shell 46 or the body 1 through a rotating shaft 4131.

[0195] See Fig.26 and Fig.30 , at least one connecting component 24 is provided on the mopping bracket 43. Specifically, the connecting component 24 is a connecting rod 243, and the connecting rod 243 is provided on the front side wall of the mopping bracket 43. Taking the example that two connecting rods 243 are provided on the front side wall of the mopping bracket 43 at intervals, along Fig.26 the direction of arrow M in

[0196] Fig.26 Fig.31 and Fig.33 , the sliding plate 20 has at least one hollow structure to form a lifting part 22 on the sliding plate 20. The lifting part 22 has an inclined slope, and a limiting part 212 is provided at the top of the slope. The limiting part 212 is arranged in the horizontal direction. The sliding plate 20 also includes a connecting buckle 213, and the connecting buckle 213 is used to connect with the cavity shell 46. Specifically, referring to Fig.33 , a through slot 414 is provided on the cavity shell 46, and the length of the slot 414 is equal to or greater than the maximum distance that the mopping component 4 can extend. The connecting buckle 213 on the sliding plate 20 can be fitted and connected in the slot 414. When the power source drives the sliding plate 20 to slide, the connecting buckle 213 will slide in the slot 414.

[0197] Further, referring to Fig.33 , in an embodiment provided by the present application, a guiding groove 416 is further provided on the cavity shell 46. The guiding groove 416 includes a first groove 4161, a second groove 4162 and a third groove 4163. Among them, the setting direction of the second groove 4162 is the same as the length direction of the cavity shell 46 (such as Fig.33 the direction of arrow X in

[0198] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guiding groove 416. The sliding groove can not only guide the sliding of the connecting rod 243, but also enable the mopping component 4 and the cavity shell 46 to be floatingly connected in multiple directions. See Figure 27b, when the mopping and washing assembly 4 is in the initial state (such as the first limit position in the retracted state, and the cleaning roller 42 is in contact with the ground), the connecting rod 243 is located at the leftmost end of the second groove 4162 and also at the bottommost end of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, since the connecting rod 243 cannot move leftward any further, the connecting rod 243 can only climb upward along the inclined surface of the lifting part 22. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top of the first groove 4161 (such as Fig.28b shown), and at this time the mopping and washing assembly 4 is in the lifted state. In the initial state, when the power source drives the sliding plate 20 to move rightward, the connecting rod 243 will move from the leftmost end to the rightmost end along the second groove 4162, as shown in Fig.29b shown, and the connecting rod 243 is also located at the bottommost end of the third groove 4163. At this time, the mopping and washing assembly 4 is in the extended state, and the distance that the mopping and washing assembly 4 extends outward relative to the cavity housing 46 is H2. Usually, the length of the second groove 4162 is equal to the maximum distance that the mopping and washing assembly 4 can extend.

[0199] The settings of the first groove 4161 and the third groove 4163 can also enable the mopping and washing assembly 4 to be floatingly connected to the cavity housing 46, so as to adapt to the ground. Specifically, suppose the mopping and washing assembly 4 is cleaning on an uneven ground or encounters a raised obstacle. Since the distance between the cavity housing 46 and the ground remains unchanged or changes little, if the mopping and washing assembly 4 is rigidly connected to the cavity housing 46, then the mopping and washing assembly 4 will be severely impacted and it cannot adjust its height to adapt to the change of the ground. In the technical solution of the present application, referring to Figure 27b , in the initial state of the mopping and washing assembly 4, the connecting rod 243 is also located at the bottom end of the first groove 4161. At this time, if the mopping and washing assembly 4 is impacted, then the mopping and washing assembly 4 will float upward under the action of the ground, so as to avoid excessive force between the mopping and washing assembly 4 and the ground. In addition, when the mopping and washing assembly 4 is in the extended state, the connecting rod 243 is located at the bottom end of the third groove 4163. Similarly, when the extended mopping and washing assembly 4 is impacted by the ground, the connecting rod 243 will move upward along the third groove 4163 from bottom to top to achieve floating upward relative to the ground, and can also avoid excessive force between the mopping and washing assembly 4 and the ground.

[0200] After the mopping and washing component 4 extends out, during the movement of the cleaning robot, the mopping and washing component 4 is very likely to encounter obstacles. In order to avoid damage to the mopping and washing component 4 due to collision with obstacles, in an embodiment of the present application, when the mopping and washing component 4 is in the extended state, after being subjected to an external force, the mopping and washing component 4 can automatically retract into the accommodation cavity 101. Specifically, a resilient device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping and washing component is in the initial state (such as the first limit position in the retracted state), the resilient device is in a compressed state. When the mopping and washing component 4 is in the extended state, the resilient device is in an extended state. When the extended mopping and washing component 4 retracts into the accommodation cavity 101 under the action of an external force, the resilient device will be compressed.

[0201] In a specific implementation, the resilient device includes, but is not limited to: springs, hydraulic cylinders, pneumatic cylinders, elastic blocks, etc. Taking the resilient device as a spring as an example, see Fig.30 , a cavity 34 is provided on the rib of the mopping bracket 43, and the spring can be arranged in the cavity 34. See Fig.32 , an elastic member mounting seat 312 is provided in the track groove 32 of the rotating bracket 31. When the rib and the track groove 32 are cooperatively connected, one end of the elastic member will be sleeved on the elastic member mounting seat 312, and the other end of the elastic member will contact the mopping bracket 43.

[0202] As mentioned above, the power source is a lead screw motor device. If the driving part 214 on the sliding plate 20 is fixedly connected to the nut slider 18, then when the extended mopping and washing component 4 is hit, due to the self-locking effect of the lead screw 17 and the nut slider 18, the nut slider 18 will limit the movement of the driving part 214, so the sliding plate 20 will also be limited, and finally the mopping and washing component 4 cannot be automatically retracted.

[0203] In the technical solution of the present application, the nut slider 18 and the driving part 214 are not fixedly connected. When the mopping and washing component 4 automatically retracts under the action of an external force, the driving part 214 on the sliding plate 20 will be separated from the nut slider 18, and the sliding plate 20 can freely move along the Fig.25 direction of the arrow X2 in. In an embodiment provided by the present application, along the extending direction of the mopping and washing component 4 ( Fig.25 the direction of the arrow X1 in), the driving part 214 is located on the left side of the nut slider 18, and the driving part 214 contacts the nut slider 18. As mentioned above, a resilient device is provided between the mopping bracket 43 and the rotating bracket 31. When the mopping and washing component 4 is in the initial state, the resilient device is in a compressed state, and the direction of the elastic force of the resilient device is Fig.25In the direction of arrow X1, the elastic force will drive the mopping component 4 to extend outwards. However, the nut slider 18 contacts the right side of the driving part 214, and based on the self-locking function of the lead screw motor device, the sliding plate 20 will be restricted from automatically moving to the right. Only when the lead screw 17 rotates and the nut slider 18 moves to the right can the driving part 214 move to the right with the nut slider 18. It can be simply understood that the power for the mopping component 4 to extend outwards is provided by the spring-back device. The nut slider 18 can restrict the free rightward movement of the sliding plate 20. Only after the nut slider 18 moves to the right can the sliding plate 20 move to the right. When the mopping component 4 changes from the extended state to the retracted state, and when the mopping component 4 changes from the low position state (such as the state where the cleaning roller contacts the ground) to the lifted state, the sliding plate 20 always moves from right to left, and the moving direction of the sliding plate 20 is the same as Fig.25 the direction of arrow X2 in []. The process of the sliding plate 20 moving to the right is provided by the lead screw motor device. Specifically, the second motor 12 outputs power in one direction, and the lead screw 17 drives the nut slider 18 to move in the direction of arrow X2. Since the driving part 214 of the sliding plate 20 is located on the left side of the nut slider 18, the nut slider 18 can push the sliding plate 20 to move to the left during the movement. During this process, the spring-back device will be further compressed.

[0204] Furthermore, in an embodiment provided by the present application, the mopping component 4 has multiple gears when in the extended state and the lifted state. In different gears of the extended state, the distance that the mopping component 4 extends relative to the cavity shell 46 is different; in different gears of the lifted state, the distance that the mopping component 4 is lifted relative to the ground is different. In order to enable the mopping component 4 to extend in different gears, or the mopping component 4 to be lifted by different distances relative to the ground, a counting module is also provided on the second motor 12. The counting module records the number of turns of the second motor 12 or the lead screw 17 rotating forward or backward. By recording the number of rotations of the second motor 12 or the lead screw 17, the moving distance of the nut slider 18 on the lead screw 17 can be calculated, so as to determine the different gears of the mopping component 4 in the extended state and the lifted state.

[0205] For example, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates forward 100 turns, the nut slider 18 moves to an extreme position. At this time, the distance that the mopping assembly 4 extends is the largest (i.e., the second extreme position in the extended state). After dividing these 100 turns into ten parts, starting from the first position, every 10 forward rotations of the second motor 12 or the lead screw 17 can represent that the mopping assembly 4 switches to a gear. Similarly, when the nut slider 18 is in the first position, after the second motor 12 or the lead screw 17 rotates backward 20 turns, the nut slider 18 moves to another extreme position. At this time, the distance that the mopping assembly 4 lifts is the highest. Similarly, dividing these 20 turns into five parts, starting from the first position, every 4 backward rotations of the second motor 12 or the lead screw 17 can represent that the mopping assembly 4 lifts one gear. During the process of adjusting the lifting gear of the mopping assembly 4, due to the self-locking function of the lead screw motor device, when the second motor 12 stops rotating, the self-locking force can limit the displacement of the sliding plate 20, and the connecting rod 243 can also stably stay on the inclined surface of the lifting part 22, thereby ensuring that the lifting gear of the mopping assembly 4 remains unchanged.

[0206] In another embodiment provided by the present application, during gear adjustment, as mentioned above, multiple detection units can also be provided on the cavity housing 46, and different detection units can respectively detect whether the nut slider 18 or the sliding plate 20 is at the first position, different extreme positions, and different positions corresponding to different gears.

[0207] The operation process of the mopping assembly 4 will be described in detail below in combination with the usage scenario.

[0208] After the mopping assembly 4 completes part of the cleaning task in the initial state (such as the first extreme position in the retracted state and the cleaning roller in contact with the ground), it needs to switch to the extended state. Subsequently, the second motor 12 drives the lead screw 17 to rotate forward, and the nut slider 18 on the lead screw 17 moves to the right (see Fig.25From the perspective shown, under the action of the resilient device between the rotating bracket 31 and the mopping bracket 43, the mopping bracket 43 extends outward relative to the rotating bracket 31. As the nut slider 18 moves, the mopping assembly 4 extends outward to the farthest position. During the outward extension of the mopping bracket 43, the sliding plate 20 will move synchronously to the right, and the driving portion 214 on the sliding plate 20 will always be in contact with the nut slider 18. A counter may also be provided on the cleaning robot, and the counter records the number of rotation cycles of the power output by the second motor 12. Based on the number of rotation cycles of the power output by the second motor 12 recorded by the counter, the main board 2 of the cleaning robot can calculate the position of the nut slider 18, and then determine the position of the mopping assembly 4. If the mopping assembly 4 has reached the second limit position in the extended state, the main board 2 controls the second motor 12 to stop working. The mopping assembly 4 is in the extended state, and the cleaning robot maintains the posture of the mopping assembly 4 in the extended state to perform the cleaning task.

[0209] After the mopping assembly 4 completes the tasks to be performed in the extended state, the main board 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, and the nut slider 18 moves to the left (see Fig.25 the perspective shown), and drives the sliding plate 20 to move to the left. During the movement of the sliding plate 20, it can drive the mopping assembly 4 to retract into the accommodating cavity 101. Similarly, the main board 2 can calculate the moving position of the nut slider 18 based on the number of rotation cycles of the reverse power output by the second motor 12, and then determine the retracted position of the mopping assembly. If it is determined that the mopping assembly has reached the first limit position in the retracted state, the main board 2 controls the second motor 12 to stop working.

[0210] Next, when the cleaning robot recognizes a carpeted floor, in order to avoid secondary pollution, the mopping assembly 4 needs to be switched to the lifted state. The main board 2 controls the second motor 12 to drive the lead screw 17 to rotate in one direction, and the nut slider 18 moves to the left (refer to Fig.25 the perspective shown). At this time, the nut slider 18 will drive the sliding plate 20 to move to the left together. As the sliding plate 20 moves, the lifting portion 22 on the sliding plate 20 gradually jacks up the connecting rod 243, and the mopping bracket 43 will rotate and lift around the rotating shaft 4131. After the mopping assembly 4 is in the lifted state, it can drive into the carpet area and clean the carpet. After the carpet cleaning is completed, it drives out of the carpet area. If the cleaning robot still needs to continue performing the cleaning task, the main board 2 can control the second motor 12 to drive the lead screw 17 to rotate in the other direction, and the sliding plate 20 moves to the right (see Fig.25 the perspective), and the mopping assembly descends.

[0211] Compared with a cleaning robot equipped with a cleaning cloth or a mopping turntable, the cleaning robot with the mopping and washing assembly provided in this embodiment has a better cleaning effect and higher cleaning efficiency. During the cleaning process of the cleaning roller on the ground, self-cleaning can be carried out simultaneously. The dirt removal mechanism 44 can scrape off the sewage on the cleaning roller 42, and the liquid supply mechanism 45 can provide clean cleaning liquid for the cleaning roller 42. Subsequently, the cleaning roller 42 can mop and wash the ground again. This cleaning method can not only bring a better cleaning effect, but also has a longer cleaning endurance for the mopping and washing assembly 4. During a single cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning maintenance.

[0212] During the cleaning operation of the cleaning robot, it needs to face various cleaning environments. For example, tile floors, wooden floors, and carpet floors, etc. When cleaning a carpet floor, in order to avoid wetting the carpet with a wet cleaning roller, it is necessary to lift the cleaning roller at this time to prevent the cleaning roller from contacting the carpet. In addition, for some corner areas (such as the edge of the wall, the edge of furniture, etc.), due to the influence of the external shape structure of the cleaning robot, the cleaning robot cannot achieve edge cleaning. In the technical solution provided in the embodiment of the present application, the mopping and washing assembly of the cleaning roller can not only rise and fall. When edge cleaning is required, the mopping and washing assembly extends from one side of the cleaning robot, so that when avoiding the collision between the body of the cleaning robot and the wall or furniture, the mopping and washing assembly can achieve edge cleaning.

[0213] When a cleaning robot is cleaning a dirty floor, in order to reduce the number of times of switching back and forth between the retracted state and the extended state, the mopping component 4 on the cleaning robot preferentially uses the extended state for floor cleaning (i.e., normally extended or normally swung out). When avoiding obstacles, the mopping component 4 on the cleaning robot retracts into the accommodation cavity 101, and after completing the obstacle avoidance in the retracted state, it switches to the extended state. This working method can not only reduce the number of times of switching of the mopping component 4 between the retracted state and the extended state, but also reduce the total time of the cleaning task. Specifically, first, when the mopping component 4 is in the extended state, it can also complete the cleaning of the regular floor (non-corner floor). Since there are not only large wall corner areas on the household floor, but also corner areas of multiple scattered household objects. If the mopping component 4 on the cleaning robot preferentially cleans in the retracted state, it is necessary to switch back and forth between the retracted state and the extended state, and each time during the state switching process, a long wait is required, or the switching of the motion algorithm of the cleaning robot. This not only increases the total time required for the cleaning robot to complete the cleaning, but also increases the computational workload of the control computing unit on the main board 2 for the motion algorithm. The working scenario of the cleaning robot is very complex. In order to achieve a better comprehensive coverage cleaning effect, the cleaning robot needs to detect and judge in real time whether it is necessary to extend the mopping component 4. The environment is complex, and there are many conditions for the cleaning robot to judge, and it is impossible to list them all. Therefore, the cleaning robot cannot control the mopping component 4 to extend in time every time it needs to extend.

[0214] Therefore, the solution provided by the embodiment of the present application is: instead of determining whether the cleaning robot needs to perform edge cleaning, directly adopt the mode in which the mopping component 4 is in the extended state when performing the cleaning task. This solution eliminates the recognition of complex edge conditions, and only retracts the mopping component 4 in several simple scenarios such as when avoiding obstacles and turning. The control logic is simple, the design difficulty is not great, and it is easy to implement. In addition, see Fig.10b, in the left figure (G) of the drawing, the mopping and washing assembly 4 is shown in the first position (such as the first limit position in the retracted state), and in the right figure (H), the mopping and washing assembly 4 is shown in the second position (such as the second limit position in the extended state). The cleaning robot works according to the cleaning path shown in FIG. 10. It can be seen that when the mopping and washing assembly 4 is in the first position, the edge of the mopping and washing assembly 4 in the width direction is at a distance of L3 from the widest edge of the body 1. If the cleaning robot cleans according to the "bow-shaped" cleaning path shown in the drawing, on the path where the cleaning robot travels, there will be a shaded area as shown in FIG. (G), and this shaded area is the area not cleaned by the mopping and washing assembly 4. By adopting the scheme that the mopping and washing assembly is normally extended, when the cleaning robot performs the cleaning task, the mopping and washing assembly 4 is extended. When cleaning according to the "bow-shaped" cleaning path shown in the drawing, since the outer edge of the mopping and washing assembly 4 is basically flush with the widest edge of the body 1, there will be no situation where the shaded area as shown in the left figure (G) cannot be cleaned after the cleaning robot finishes cleaning. Although the shaded area can be covered by adjusting the cleaning path of the cleaning robot so that the cleaning robot can cover it after turning around, it increases the complexity of software control. By adopting the scheme that the mopping and washing assembly is normally extended as shown in the right figure (H), there is no need to consider the problem of covering the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0215] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0216] S11. When performing a cleaning task in an open area, the mopping and washing assembly performs the cleaning task in the extended state;

[0217] S12. When it is detected that the surrounding environment determines that the mopping and washing assembly needs to retract, the mopping and washing assembly retracts, and the mopping and washing assembly performs the cleaning task in the retracted state or the cleaning robot travels with the mopping and washing assembly in the retracted state;

[0218] Wherein, in the extended state, the mopping and washing assembly extends from one side of the body, and a part of the mopping and washing assembly is exposed; in the retracted state, the outer edge of the mopping and washing assembly is located inside the outer edge of the body, or a part of the outer edge of the mopping and washing assembly is flush with the outer edge of the body.

[0219] Wherein, "detecting that the surrounding environment determines that the mopping and washing assembly needs to retract" in the above S12 may specifically include but is not limited to at least one of the following:

[0220] When it is detected that the cleaning robot needs to turn to avoid an obstacle, it is determined that the mopping and washing assembly needs to retract;

[0221] When it is detected that the cleaning robot is in a narrow space and needs to escape, it is determined that the mopping and washing assembly needs to retract;

[0222] When it is detected that the user issues a retraction instruction, it is determined that the mopping and washing component needs to retract.

[0223] Further, the method provided in this embodiment may further include:

[0224] When the mopping and washing component performs a cleaning task in the extended state and it is detected that the surrounding environment determines that the mopping and washing component needs to be lifted, after the mopping and washing component retracts to the first limit position, the mopping and washing component is lifted to have a gap with the ground.

[0225] When the mopping and washing component is in the third position, the projection of the mopping and washing component is within the projection of the body; when the mopping and washing component is displaced to the fourth position, the edge of the mopping and washing component extends outside the edge of the body, and the projection of the mopping and washing component is within the projection of the body. In the general cleaning mode, the mopping and washing component is in the fourth position; in the special cleaning mode, the mopping and washing component is in the third position to walk along the edge of the obstacle. The main board controls the driving device to enable the mopping and washing component to stop and work at any position. Wherein, the mopping and washing component has a first limit position in the retracted state and a second limit position in the extended state; the any position is the first limit position, or the second limit position, or any position between the first limit position and the second limit position; the third position is the first limit position or any position between the first limit position and the second limit position; the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0226] A control method or working method of a cleaning robot provided in another embodiment of the present application may be: the control device dynamically controls the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

[0227] Wherein, the behavior information of the body may include: traveling speed, traveling direction, turning radius when turning, acceleration, etc. For example, when turning quickly, control the driving device to quickly retract the extended mopping and washing component; or, when traveling in a straight line after turning, control the driving device to expand the retracted mopping and washing component again.

[0228] In addition, it should be added that the drum motor in the mopping and washing assembly needs to have a continuous current supply during the movement of the mopping and washing assembly. Therefore, a conductive groove assembly is further provided on the body of the cleaning robot in the embodiment of the present application. The conductive groove assembly includes a conductive groove body and an electricity connection member. The electricity connection member is arranged in the conductive groove body and can move in the conductive groove body. The electricity connection member is electrically connected to the electrical interface of the drum motor. When the mopping and washing assembly moves, the electricity connection member moves in the conductive groove to follow the mopping and washing assembly, so that the drum motor can maintain a powered state while moving. The conductive groove assembly is not clearly shown in the attached drawings of the specification of the present application.

[0229] Next, the specific structure of the mopping and washing assembly will be described in detail.

[0230] As Figure 5 shown in FIGS. 6, 7, 8, and 9, in an embodiment provided by the present application, the decontamination mechanism 44 and the liquid supply mechanism 45 in the mopping and washing assembly 4 are respectively arranged on the mopping bracket 43, or are integrated with the mopping bracket 43. The scraping strip on the decontamination mechanism 44 can contact the cleaning drum 42 and scrape the sewage on the cleaning drum 42 clean during the rotation of the cleaning drum 42. Of course, the decontamination mechanism 44 does not simply scrape off the sewage. It also has the function of collecting sewage. After the scraping strip scrapes off the sewage, the sewage can directly enter the collection assembly. After the collection assembly filters the sewage, it can be transported to the sewage tank 9 through the pipeline connected to the decontamination water outlet 4410. In this embodiment, the mopping and washing assembly 4 includes a decontamination mechanism 44 and a liquid supply mechanism 45, that is, when the cleaning drum moves up and down and / or expands and contracts, the decontamination mechanism 44 and the liquid supply mechanism 45 also move up and down and / or expand and contract together.

[0231] The liquid supply mechanism 45 can provide cleaning liquid for the cleaning drum 42. For example, when the cleaning drum 42 is dry, the liquid supply mechanism 45 evenly sprinkles clean water on the surface of the cleaning drum 42, and the cleaning drum 42 is fully wetted, and its cleaning ability will be significantly improved. For another example, when the cleaning drum 42 is in a relatively dirty state, the liquid supply mechanism 45 can evenly sprinkle the cleaning solution mixed with the cleaning agent on the surface of the cleaning drum 42, and the cleaning solvent dissolves the stains, so as to facilitate the decontamination mechanism 44 to remove the stains on the cleaning drum 42 clean. For still another example, when the cleaning drum 42 is in the self-cleaning mode, the liquid supply mechanism 45 can sprinkle a large amount of cleaning solution on the surface of the cleaning drum 42. After dissolving the stains, the decontamination mechanism 44 can clean the stains and sewage clean, which is beneficial to quickly and efficiently self-clean the cleaning drum 42.

[0232] The liquid supply mechanism 45 can be an integrated structure with the mopping bracket 43. As Figure 7bIn the shown example, a liquid supply inlet 451 is provided on the outer surface of the mopping bracket 43. The liquid supply inlet 451 can be connected to the clean water tank 5 through a pipeline. A water distributor 452 is also provided on the mopping bracket 43. The water distributor 452 is arranged along the length direction of the mopping bracket 43 and is communicated with multiple water outlets of the liquid supply mechanism 45. The water distribution path can evenly disperse the cleaning solution supplied by the liquid supply inlet 451 to multiple water outlets, and then the multiple water outlets can evenly sprinkle the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 has better dry-wet uniformity.

[0233] Furthermore, the liquid supply mechanism 45 further includes a liquid supply pump. The liquid supply pump is arranged on the first flexible pipeline 443. The liquid supply pump can generate a suction force to transport the cleaning liquid in the clean water tank 5 to the liquid supply mechanism 45.

[0234] When the mopping assembly 4 on the cleaning robot performs self-cleaning, there are mainly two processes. One is that the decontamination mechanism 44 removes the sewage on the cleaning roller 42 completely, and the other process is that the liquid supply mechanism 45 provides clean cleaning liquid to the cleaning roller 42. As the decontamination mechanism 44 continuously removes the sewage and stains completely, and the liquid supply mechanism 45 continuously provides the cleaning liquid, the mopping assembly 4 can perform self-cleaning while mopping the ground, and the mopping assembly 4 will always have a better cleaning effect.

[0235] See Fig.34 , the mopping bracket 43 has a roller installation cavity 51, and the cleaning roller 42 is arranged in the roller installation cavity 51. Specifically, the mopping assembly 4 further includes a roller motor 41. On one side of the roller installation cavity 51, there is a motor mounting seat. The roller motor 41 is arranged on the motor mounting seat. The cleaning roller 42 is sleeved outside the roller motor 41 and is drivingly connected to the roller motor 41. The roller motor 41 can drive the cleaning roller 42 to rotate, so as to realize the cleaning of the ground. Both the roller motor 41 and the cleaning roller 42 are arranged in the roller installation cavity 51. The roller installation cavity 51 has an opening facing downward and a lateral opening. The cleaning roller 42 can contact the ground through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning roller 42.

[0236] Both the decontamination mechanism 44 and the liquid supply mechanism 45 are arranged on the mopping bracket 43. Specifically, the decontamination mechanism 44 is arranged in the roller installation cavity 51 and is located on the cavity wall of the roller installation cavity 51. The decontamination mechanism 44 includes a scraping strip assembly 53. The scraping strip assembly 53 extends towards the direction close to the cleaning roller 42 and inserts into the fluff inside the cleaning roller 42. When the roller motor 41 drives the cleaning roller 42 to rotate, the scraping strip assembly 53 can scrape off the sewage and stains on the cleaning roller 42. The scraping strip assembly 53 includes a scraping strip 441.

[0237] The liquid supply mechanism 45 is arranged above the mopping bracket 43. The liquid supply mechanism 45 has a water distributor 452 and a plurality of liquid supply ports 453. The water distributor 452 can evenly distribute the cleaning liquid to the plurality of liquid supply ports 453, and then the cleaning liquid is evenly supplied and sprinkled from the liquid supply ports 453 to the cleaning roller 42. The liquid supply mechanism 45 further includes a first flexible pipe 443, and the first flexible pipe 443 communicates with the clean water tank 5 and the liquid supply water inlet 451.

[0238] Correspondingly, there are openings on the cavity wall of the roller installation cavity 51, so that the plurality of liquid supply ports 453 of the liquid supply mechanism 45 above the mopping bracket 43 can supply and sprinkle the cleaning liquid on the cleaning roller 42 in the roller installation cavity 51 through the openings. Of course, the liquid supply mechanism 45 can also be directly arranged in the roller installation cavity 51. The liquid supply mechanism 45 is located above the cleaning roller 42 or directly contacts the cleaning roller 42, and the liquid supply mechanism 45 can directly supply and sprinkle the cleaning liquid to the cleaning roller 42 through a plurality of liquid supply ports.

[0239] Fig.34 In the figure, the direction of arrow Y represents the width direction of the mopping assembly 4, and it can also be considered that when the cleaning robot performs the cleaning task, it is the traveling direction of the cleaning robot or the moving direction of the mopping assembly. Fig.34 In the figure, the direction of arrow Z represents the height direction of the mopping assembly 4; Fig.34 In the figure, the direction of arrow b represents the rotation direction of the cleaning roller 42 when the cleaning roller 42 cleans the ground. In an embodiment provided by the present application, along Fig.34 In the direction of arrow Y in the figure, the liquid supply mechanism 45 is located on the front side of the decontamination mechanism 44; along Fig.34 In the direction of arrow Z in the figure, the liquid supply mechanism 45 is located above the decontamination mechanism 44.

[0240] As the cleaning roller 42 rotates along Fig.34 In the direction of arrow b in the figure, the liquid supply mechanism 45 first supplies and sprinkles the cleaning liquid on the cleaning roller 42. After the wetted cleaning roller 42 mops the ground, the stains are dissolved in the sewage of the cleaning roller 42 or adhered to the surface of the cleaning roller 42. Then, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning roller 42, and then the liquid supply mechanism 45 supplies and sprinkles the cleaning liquid on the surface of the cleaning roller 42 again.

[0241] In a specific embodiment, the value range of the included angle α between the setting position of the liquid supply mechanism 45 and the setting position of the decontamination mechanism 44 is [20 degrees to 120 degrees], for example, it can be 60 degrees. Generally, in order to prevent the cleaning liquid from dripping onto the ground when the liquid supply mechanism 45 supplies and sprinkles the cleaning liquid to the cleaning roller 42, the liquid supply mechanism 45 is located directly above the cleaning roller 42, and the cleaning liquid dripping from the liquid supply port can be effectively absorbed by the cleaning roller 42, and different situations of water leakage to the ground will not occur.

[0242] Further, refer to Fig.34 , on the dirt removing mechanism 44, the squeegee assembly 53 is located above the center line J of the mopping assembly 4, and the straight line F where the contact angle between the end of the squeegee assembly 53 and the cleaning roller 42 is located generally passes through the center of the cleaning roller 42. It can be understood that the extending direction of a section at the front end of the squeegee assembly 53 and the center of the cleaning roller 42 are generally on the same straight line, and the tangent line at the contact point between the squeegee assembly 53 and the cleaning roller 42 is generally perpendicular. This can make the scraping effect of the squeegee assembly 53 on the cleaning roller 42 the best, the force exerted by the squeegee assembly 53 on the cleaning roller 42 is smaller, and the wear rate of the squeegee assembly 53 is also smaller.

[0243] See Fig.34 , in an embodiment provided by the present application, in the height direction of the mopping assembly 4, the liquid supply mechanism 45 is located above the cleaning roller 42. In the width direction of the mopping assembly 4, the dirt removing mechanism 44 is located behind the contact point between the cleaning roller 42 and the surface to be cleaned. When the cleaning roller 42 rotates clockwise, a certain area on the cleaning roller 42 sequentially passes through the liquid supply mechanism 45, the surface to be cleaned, and the dirt removing mechanism 44, and finally returns to the liquid supply mechanism 45, and the liquid supply mechanism 45 conveys the cleaning liquid to the surface of the cleaning roller 42 again.

[0244] Further, along the first center line P in the vertical direction of the cleaning roller 42, the liquid supply mechanism 45 is located directly above the first center line P, or, with the rotation center of the cleaning roller 42 as the vertex of the angle, the value range of the angle formed by the position where the liquid supply mechanism 45 is located and the first center line P is [-30 degrees to +30 degrees].

[0245] Further, along the second center line J in the lateral direction of the cleaning roller 42, the dirt removing mechanism 44 is located above the second center line J, or the position where the dirt removing mechanism 44 is located is flush with the second center line J.

[0246] See Figure 9a , Figure 34 to Figure 35a , in an embodiment provided by the present application, the mopping bracket 43 includes an installation shell 4211 and an installation cover 4212. The installation shell 4211 has an inner cavity, the dirt removing mechanism 44 and the liquid supply mechanism 45 are arranged in the inner cavity, an opening communicating with the roller installation cavity 51 is provided in the inner cavity, and the dirt removing mechanism 44 and the liquid supply mechanism 45 are respectively arranged corresponding to the opening position. The installation cover 4212 can be cooperatively connected above the installation shell 4211 to close the inner cavity. In a specific implementation, the mopping bracket 43 is generally in an L-shaped structure. Along Fig.34 the direction of the arrow Y in the figure, a square accommodating inner cavity is provided on the left side of the cleaning roller 42, and the dirt removing mechanism 44 is arranged in the accommodating inner cavity.

[0247] Such as Fig.35bAs shown, the front bottom of the dirt collection box 442 may have an oblique angle as shown in the figure. This oblique angle may also be referred to as a chamfer. In this way, when moving on a special traveling surface, such as a carpet with long hair, this oblique angle design can reduce the traveling resistance of the machine body. When the cleaning robot moves onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0248] Furthermore, as Fig.35c shown, the front bottom of the machine body 1 may also have an oblique angle 1005 as shown in Fig.35c . This oblique angle 1005 may also be referred to as a chamfer. Similarly, when moving on a special traveling surface, such as a carpet with long hair, this oblique angle design can reduce the traveling resistance of the machine body. When the cleaning robot moves onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0249] Of course, the oblique angles of the dirt collection box 442 and the bottom of the machine body can also be arc-shaped oblique angles or the straight-line oblique angles shown in the figure. This embodiment does not make specific limitations in this regard. The oblique angle between the dirt collection box 442 and the bottom of the machine body is an oblique angle surface formed at the front bottom end of the dirt collection box 442. The included angles between the oblique angle surface on the dirt collection box 442 and the oblique angle surface on the machine body and the horizontal plane (such as the ground) can be the same or different. The included angle between this oblique angle surface and the horizontal plane (such as the ground) can be an angle between 10 and 60 degrees.

[0250] The liquid supply port of the liquid supply mechanism 45 is directly an liquid outlet hole facing the cleaning roller. Generally, the liquid discharged from the liquid outlet hole has pressure. After the liquid with pressure comes out of the liquid outlet hole and spreads, a part of it will be sprayed onto the cleaning roller 42, and some liquid will also splash onto the cavity wall. After the water droplets on the cavity wall condense into large water droplets, they will fall onto the cleaning roller 42 and also fall onto the ground along the cavity wall. This may result in an insufficient amount of cleaning liquid on the cleaning roller 42, and users may mistake the water droplets on the ground for water leakage. If the amount of cleaning liquid on the cleaning roller is insufficient, the roller cannot be fully wetted, and it will not only fail to achieve the desired mopping effect but also the desired self-cleaning effect. If the liquid supply amount of the liquid supply mechanism 45 is increased to solve this problem, it may cause water accumulation on the ground due to too much cleaning liquid supply, which will still directly affect the cleaning effect of the cleaning robot.

[0251] Therefore, the embodiment of this application has made improvements to the liquid supply mechanism. Specifically, one side of the corresponding inner cavity of the liquid supply mechanism 45 is an arc-shaped surface adapted to the inner cavity arc surface. Refer to Fig.35a and 35b shown. The arc-shaped surface of the liquid supply mechanism 45 facing the cleaning roller has the same arc degree as the arc surface of the inner cavity, and is the same as or close to the arc degree of the cleaning roller 42. In addition, as shown in Figure 38, the liquid supply port 453 has an arc-shaped water guiding surface 4531 for guiding the cleaning liquid onto the cleaning roller 42.

[0252] The outlet of the liquid supply port 453 is provided with a liquid outlet hole, and an arc-shaped water guiding surface is provided around the liquid outlet hole. The arc-shaped water guiding surface has at least two levels of water guiding surfaces with different radii; along the water outlet direction, the radii increase step by step. The mopping bracket has a drum installation cavity with an opening facing downwards; the periphery of the arc-shaped water guiding surface protrudes from the drum installation cavity and forms a step on the wall surface of the drum installation cavity.

[0253] As Figure 8 shown, the liquid supply port 453 is arranged in a circular ring shape. In this way, the liquid sprayed by the liquid supply mechanism 45 can flow along the arc-shaped surface and supply the liquid to the cleaning drum 42 through the circular-ring-shaped liquid supply port 453, and the liquid can drip smoothly, with high liquid supply efficiency. The liquid supply port 453 is in a circular ring shape, and the center of the circular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is communicated with the branch for liquid supply in the liquid supply mechanism 45. As shown in Fig. 38, the inner ring wall of the circular-ring-shaped liquid supply port is an arc surface.

[0254] Along the liquid outflow direction, the inner ring wall of the liquid supply port 453 is a stepped structure with an opening size gradually increasing; the inner ring wall surface of each stepped section is an arc surface for guiding the liquid flow to the cleaning drum 42. More specifically, as shown in the partial enlarged view in Fig. 38, the liquid supply port 453 is in a circular ring shape, and the center of the circular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is communicated with one of the multiple branches. The inner ring wall of the liquid supply port 453 is a two-level stepped structure with an opening size gradually increasing, and the inner wall of each level of the stepped structure is an arc surface. The cleaning liquid coming out of the liquid outlet hole 4530 falls on the arc surface and can also flow along the arc surface to the cleaning drum 42, so that the cleaning liquid coming out of the liquid outlet hole 4530 can basically be sprayed onto the cleaning drum 42 without splashing onto the cavity wall outside the circular ring. The cleaning robot can also more accurately control the liquid supply volume of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning drum 42 has a better dry-wet degree and a good mopping effect; also because the cleaning drum 42 has a better dry-wet degree, the self-cleaning of the cleaning drum 42 by the decontamination mechanism 44 has a better effect, which positively promotes the mopping effect.

[0255] In order to enable the cleaning robot to have a better cleaning effect, in the solution provided in this embodiment, the liquid supply port 453 is also improved, and an arc water guide surface is added at the liquid supply port 453 to guide the cleaning liquid onto the cleaning roller; because of the arc water guide surface, basically all the cleaning liquid provided by the liquid supply mechanism 45 can flow to the cleaning roller 42, and will not splash everywhere to other places. The cleaning robot can also more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a better dry-wet state, and the mopping effect is good; also because the cleaning roller 42 has a better dry-wet state, the self-cleaning mechanism 44 performs self-cleaning on the cleaning roller 42, and its self-cleaning effect is also relatively good, which positively promotes the mopping effect.

[0256] Further, as Fig.37 shown, a water wiping structure 80 is provided on the cavity wall of the mopping bracket facing the cleaning roller 42. The water wiping structure 80 is located on one side of the liquid supply port 453. If the scraping strip assembly is located on the front side of the cleaning roller 42, then the water wiping structure 80 can be located on the rear side of the liquid supply port. If the scraping strip assembly is located on the rear side of the cleaning roller 42, then the water wiping structure can be located on the front side of the liquid supply port.

[0257] The included angle β between the line connecting the water wiping structure 80 and the center of the cross-section of the cleaning roller and the line connecting the liquid supply port and the center can be 5 to 30 degrees. There can be a gap between the water wiping structure 80 and the cleaning roller 42, or there can be no gap, but the water wiping structure cannot apply force to the cleaning roller 42. The function of the water wiping structure 80 is to block the liquid floating on the surface of the cleaning roller that has not been absorbed by the cleaning roller from flowing to the ground. Because the cleaning roller rotates during operation, if the cleaning liquid cannot be absorbed by the roller, the cleaning liquid floating on the cleaning roller will be thrown out to the ground, resulting in the ground being too wet.

[0258] Since it takes a certain amount of time for the cleaning liquid to spread evenly on the cleaning roller 42 after the liquid supply mechanism 45 supplies and sprinkles the cleaning liquid on the cleaning roller 42, in order to ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 mops the ground, the rotation speed of the cleaning roller 42 cannot be too fast. Secondly, after the rotation speed of the cleaning roller 42 is too fast, the scraping efficiency of the scraping strip assembly 53 on the cleaning roller 42 is also lower. In the technical solution provided in this application, when the cleaning roller 42 mops the ground, the value range of its rotation speed is [100 rmp / min to 300 rmp / min], specifically 200 rmp / min.

[0259] In the technical solution provided in this application, the rotation direction of the cleaning roller 42 is opposite to the rotation direction of the traveling wheels of the cleaning robot, which can improve the cleaning effect of the cleaning roller 42.

[0260] See Figure 9, Fig.34To FIGS. 35, in an embodiment provided by the present application, the decontamination mechanism 44 further includes a sewage collection assembly 54, and the sewage collection assembly 54 is disposed below the squeegee assembly 53. When the squeegee assembly 53 scrapes the sewage on the cleaning roller 42, the sewage collection assembly 54 can collect the sewage and stains, avoiding secondary pollution.

[0261] Further, the sewage collection assembly 54 includes a sewage collection box 442 and a sewage collection pipe 542. The sewage collection box 442 is located below the squeegee assembly 53, and the sewage and stains scraped by the squeegee assembly 53 can directly fall into the sewage collection box 442, and the sewage collection box 442 collects them. Along the traveling direction of the cleaning robot, the front side and the rear side are distinguished. The sewage collection box 442 can be located at the rear side of the cleaning roller 42. As Figure 1c shown, the bottom surface of the sewage collection box 442 is m higher than the bottom surface of the body 1, such as 1 mm to 5 mm.

[0262] One end of the sewage collection pipe 542 is disposed in the sewage collection box 442, and the other end is connected to the sewage tank 9 of the cleaning robot through a pipeline, so as to suck the sewage in the sewage collection box 442 into the sewage tank 9. Refer to Fig.35a shown, the direction indicated by the arrow in the figure is the flow path when the sewage scraped by the squeegee assembly 53 enters the sewage collection box 442 and is sucked away by the sewage collection pipe 542. In order to be able to suck the sewage in the sewage collection box 442 into the sewage tank in time, a water pump and a pipeline can be provided on the sewage collection pipe 542, or, an air pump and a pipeline are connected to the sewage tank, and the air pump can provide negative pressure for the sewage tank. Under the action of the negative pressure, the sewage in the sewage collection box 442 can be sucked into the sewage tank through the pipeline. Refer to Figure 9a and Figure 9b , in a specific embodiment, the decontamination mechanism 44 further includes a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 through a pipeline or directly, and the negative pressure pump can pump negative pressure into the sewage tank 9 when working. The valve body 545 is disposed on the sewage collection pipe 542 and can be used to control the on-off of the sewage collection pipe 542. First, the negative pressure pump can pump negative pressure into the sewage tank 9, and then the valve body 545 is opened, and the negative pressure in the sewage tank 9 can suck the sewage in the sewage collection box 442 into the sewage tank 9 through the second flexible pipeline 456.

[0263] The sewage collection pipe 542, the squeegee assembly 53 and the sewage collection box 442 are all distributed on the same side of the cleaning roller 42. For example, the sewage collection pipe 542, the squeegee assembly 53 and the sewage collection box 442 are all on the front side of the cleaning roller 42.

[0264] Refer to Figure 9a and Figure 9b, in an embodiment provided by the present application, the mopping and washing assembly 4 further includes a joint assembly 455. The joint assembly 455 includes a clean water pipe joint and a sewage pipe joint. The clean water pipe joint can be considered as the liquid supply inlet 451 mentioned above, and the sewage pipe joint can be considered as the sewage discharge outlet 4410 mentioned above. One end of the clean water pipe joint is used to connect the first flexible pipe 443 (which can also be called the flexible clean water pipe), and the other end is connected to the liquid supply mechanism 45 through the first pipe 447. One end of the sewage pipe joint is used to connect the second flexible pipe 456 (which can also be called the flexible sewage pipe), and the other end is connected to the interface of the sewage collection pipe 542 through the horizontal pipe 546. The horizontal pipe 546 is a pipe with a fixed length, and the horizontal pipe 546 can also be a flexible pipe. As Figure 9b shown, along the length direction of the mopping and washing assembly 4, through the first pipe 447 and the horizontal pipe 546, the joint assembly 455 can be biased to one side of the mopping and washing assembly 4, so that it is more convenient to connect the first flexible pipe 443 and the second flexible pipe 456 to the joint assembly 455. Imagine that if there were no first pipe 447, horizontal pipe 546 and joint assembly 455, then the first flexible pipe 443 and the second flexible pipe 456 would be directly connected to the joints of the liquid supply mechanism 45 and the sewage collection pipe 542 at the middle position of the mopping and washing assembly 4. This would not only require longer first flexible pipe 443 and second flexible pipe 456, but also make it difficult to effectively utilize the space above the mopping and washing assembly 4. Figure 7a shown, the interfaces of the flexible clean water pipe and the flexible sewage pipe, that is, the joint assembly 455, which includes the liquid supply inlet 451 and the sewage discharge outlet 4410, are all distributed on the front side of the cleaning roller, that is, above the sewage collection box. The flexible clean water pipe and the flexible sewage pipe are also located on the front side of the cleaning roller. With such an arrangement, the second flexible pipe 456 is closer to the sewage collection box, making the overall sewage discharge pipe shorter, requiring fewer bent pipes, increasing the sewage discharge efficiency, eliminating the possibility of blockage, and at the same time, the first flexible pipe 443 is also arranged on the front side of the cleaning roller and adjacent to the second flexible pipe 456, so that the two flexible pipes can share a pipe space, and there is no need to specifically arrange a pipe space for the second flexible pipe 456.

[0265] Currently, the rotation direction of the drum of some cleaning devices is the same as that of the device's drive wheel. Although this can assist the device in moving forward and reduce energy consumption, the collaborative working process of the cleaning drum, the squeegee assembly, and the liquid supply mechanism becomes: the cleaning drum replenishes water through the liquid supply mechanism -> the squeegee assembly scrapes off the liquid on the cleaning drum -> the cleaning drum cleans the ground. There are also some cleaning devices where the rotation direction of the drum is different from that of the device's drive wheel, but the sewage tank and the squeegee are arranged behind the drum. At this time, the collaborative working process of the cleaning drum, the squeegee assembly, and the liquid supply mechanism is also: the cleaning drum replenishes water through the liquid supply mechanism -> the squeegee assembly scrapes off the liquid on the cleaning drum -> the cleaning drum cleans the ground. It can be seen that for such current cleaning devices, the water replenished is immediately scraped off, and it is not very reasonable for the cleaning drum to clean the ground next. The scraped liquid contains the freshly replenished clean water, and this part of the clean water is recycled without participating in the cleaning.

[0266] When the drum of an existing cleaning robot performs a cleaning task, it first goes through a water replenishment step, that is, the liquid supply mechanism transports cleaning liquid to the surface of the cleaning drum. Then, the decontamination mechanism scrapes off the dirt on the surface of the cleaning drum. Finally, the cleaning drum cleans the ground. There are mainly three problems with this execution step;

[0267] First, immediately after the liquid supply mechanism replenishes water, the decontamination mechanism scrapes off the mixture of clean water and sewage. The stains on the surface of the cleaning drum may not have been completely dissolved in the clean water, so most of what is scraped off is clean water rather than sewage, resulting in ineffective self-cleaning.

[0268] Second, after the decontamination mechanism scrapes off the sewage on the surface of the cleaning drum, due to the action of the squeegee, the water content of the drum decreases by 90% before and after scraping. As the water content of the cleaning drum decreases, the cleaning power of the cleaning drum on the ground will also decrease.

[0269] Third, after the squeegee of the cleaning robot scrapes off water, when the relatively dry drum scrubs the dirt on the ground, it needs to rotate 180° before entering the water replenishment position. At this time, the dirt stuck on the overly dry drum is likely to be thrown out during the relatively long rotation process and finally fall onto the ground, resulting in poor cleaning effect.

[0270] However, the technical solution provided by the embodiments of the present application is different from some of the cleaning devices mentioned above. In the solution provided by the embodiments of the present application, the cleaning roller rotates in the reverse direction (i.e., in the opposite direction to the rotation direction of the driving wheel), the wiper assembly is located on the front side of the cleaning roller, and the liquid supply mechanism is located above the cleaning roller. In this way, the cooperation process of the cleaning roller, the wiper assembly and the liquid supply mechanism is as follows: the cleaning roller is replenished with water through the liquid supply mechanism -> the cleaning roller cleans the ground -> the wiper assembly scrapes off the liquid on the cleaning roller. It can be seen that the solution provided by this embodiment is more reasonable. The freshly replenished clean water directly participates in the ground cleaning without being scraped by the wiper, and at this time, the evenly wet wiper has a better effect of wiping and adsorbing the ground dirt, especially stubborn dirt. Then the roller rotates a small angle (usually only about 90°), and then is scraped by the wiper. The dirt is not easily thrown out, and at this time, most of the scraped liquid is sewage, and the clean water is fully utilized. Specifically, during the rotation of the cleaning roller, the liquid supply mechanism supplies cleaning liquid to an area of the cleaning roller, and the area infiltrated with the cleaning liquid cleans the surface to be cleaned. Subsequently, the decontamination mechanism acts on the area to scrape off the dirt and collect it, and the area after scraping off the dirt enters the liquid supply range of the liquid supply mechanism again. It can be understood that when the cleaning roller cleans the ground, first, the water replenishment step is carried out, the surface of the cleaning roller is fully wetted, and the water content of the cleaning roller is also more. Subsequently, the cleaning roller cleans the ground again. At this time, the cleaning force of the cleaning roller on the ground is stronger, and more stains can be dissolved. Finally, the decontamination mechanism scrapes off the sewage and stains on the cleaning roller, and then the liquid supply mechanism replenishes the liquid again, and this process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism and the decontamination efficiency of the decontamination mechanism are higher throughout the process, the cleaning liquid used by the cleaning roller during self-cleaning is less, and at the same time, the amount of sewage generated is also less, and the cleaning endurance time of the cleaning robot will be significantly improved.

[0271] In order to prevent the sewage from leaking sideways during the water scraping process of the wiper assembly 53, the length of the dirt collection box 442 is greater than or equal to the length of the wiper assembly 53. Referring to FIG. 35, from the setting direction of the wiper assembly 53, the setting direction of the dirt collection box 442 is substantially perpendicular to the setting direction of the wiper assembly 53, so that the sewage and stains scraped off by the wiper assembly 53 can directly fall into the dirt collection box 442 and are not easily leaked. In addition, in order to ensure that all the sewage scraped off by the wiper assembly 53 can enter the dirt collection box 442, the end of the wiper assembly 53 is located in the dirt collection box 442, so that the sewage scraped off by the wiper assembly 53 can directly enter the dirt collection box 442 along the end of the wiper assembly 53.

[0272] When the squeegee assembly 53 scrapes the sewage on the cleaning roller 42, it is very easy to scrape the stains attached to the cleaning roller 42 into the sewage collection box 442 at the same time. When the sewage collection pipe 542 sucks the sewage, it may be blocked by these stains. To avoid this situation, see Fig.36 and Fig.37 , in an embodiment provided by the present application, the decontamination mechanism 44 further includes a filtering assembly 543. The filtering assembly 543 is arranged in the sewage collection box 442. After the sewage scraped off by the squeegee assembly 53 enters the sewage collection box 442, it is first filtered by the filtering assembly 543 and then enters below the sewage collection box 442, and then can be collected into the sewage tank through the sewage collection pipe 542.

[0273] To facilitate the cleaning of the sewage collection box 442, the sewage collection box 442 can be detached from the mopping assembly 4 for cleaning, and the filtering assembly 543 in the sewage collection box 442 can also be detached for cleaning. During the disassembly process, first, the mopping assembly 4 is switched to the extended state, then the cleaning roller 42 is detached from the lateral opening of the mopping bracket 43, and finally the sewage collection box 442 can be detached from the roller installation cavity 51. See Figure 9b and Fig.36 As shown, the sewage collection box 442 has a V-shaped bottom surface, that is, along the axis direction of the cleaning roller, both ends of the bottom surface of the sewage collection box 442 are high and the middle is low. The low point of the V-shaped bottom surface is matched with the pipe orifice of the sewage collection pipe 542 to communicate with the sewage collection pipe 542.

[0274] To avoid bending, springs (not shown in FIGS. 9 and Fig.37 ) can be provided on the outer sides of the second flexible pipe 456 and the first flexible pipe 443. In this way, when the mopping assembly moves as a whole (lifting and / or telescoping), there will be no bending to affect sewage discharge and liquid supply.

[0275] See Fig.37 and 38a , in an embodiment provided by the present application, the squeegee assembly 53 includes a squeegee 531 and a water guide plate 532. The end of the squeegee 531 is a squeegee strip 441. The materials of the squeegee and the squeegee strip can be the same or different, and this embodiment does not limit this. The water guide plate 532 is connected below the squeegee 531. The distance that the end of the squeegee 531 extends outwards is greater than the end of the water guide plate 532. The squeegee strip 441 at the end of the squeegee 531 contacts the cleaning roller 42. When the cleaning roller 42 rotates, the squeegee 531 can scrape the sewage on the cleaning roller 42, and then it is guided into the sewage collection box 442 by the water guide plate 532. In a specific embodiment, as Fig.35a shown, the cross-section of the water guide plate 532 is wedge-shaped. This structure can make a guiding water channel with a larger curvature formed on the surface of the water guide plate 532 after the water guide plate 532 is connected to the squeegee 531.

[0276] Furthermore, as Fig.38a The squeegee 531 has a first plate segment 5311 and a second plate segment 5312. The first plate segment 5311 and the second plate segment 5312 are arranged at an obtuse angle, and the length of the second plate segment 5312 is greater than that of the first plate segment 5311. The first plate segment 5311 is the end that plays a major role during water scraping, and the second plate segment 5312 is used to connect with the water guide plate 532. Specifically, the water guide plate 532 is connected below the second plate segment 5312. The leading end of the water guide plate 532 is close to the first plate segment 5311, the trailing end of the water guide plate 532 is close to the trailing end of the second plate segment 5312, and the trailing end of the second plate segment 5312 extends into the dirt collection box 442.

[0277] A plurality of water guide grooves 5321 are provided on the water guide plate 532. The plurality of water guide grooves 5321 are arranged at intervals, and the arrangement direction of the water guide grooves 5321 is the same as the extension direction of the water guide plate 532. To ensure that the water guide grooves 5321 can divert sewage into the dirt collection box 442, refer to Figure 8 , the number of liquid supply ports 453 on the liquid supply mechanism 45 is less than the number of water guide grooves 5321 on the water guide plate 532. The position where the water guide plate acts on the cleaning roller is the water scraping position. Refer to Fig.38a , the water guide groove 5321 can be a through groove (i.e., the groove opening is open) at the water scraping position 53211 (i.e., the end near the cleaning roller) for convenient water diversion. The end position 53210 (i.e., the tail) of the water guide groove 5321 is closed for convenient drainage. The tail of the water guide groove 5321 is located at the opening of the dirt collection box. Refer to Figure 38b As shown, the lower surface of the water guide plate 532 is an upwardly arched arc surface, and this arc surface is the water guiding surface 5322. Since the squeegee 531 itself bends downward, the water moves towards the upward arc surface of the water guide groove by the centrifugal force of the roller to overcome its own gravity. The best scraping effect is achieved when the extension line at the end of the squeegee assembly 53 passes through the center of the roller, that is, the squeegee assembly 53 has a bent portion, which results in an upwardly arched arc surface of the water guide groove 5321. The water guiding surface 5322 has two arc-shaped surfaces; from the water guiding to the drainage direction of the water guiding surface 5322, the corresponding arc curvature of the surface decreases. As shown by the P1 segment and the P2 segment in the figure, where the P1 segment is a section near the water guiding side of the cleaning roller 42, and the P2 segment is a section on the drainage side. It can be seen from the figure that the arc curvature of the P1 segment is greater than that of the P2 segment.

[0278] A plurality of water guide grooves 5321 are provided on the water-facing side of the squeegee assembly 52, and the water guide grooves 5321 at least extend to the collection opening of the dirt collection assembly (dirt collection box 442). The water-facing side (lower surface) refers to the side towards which the squeegee faces when the cleaning roller 42 rotates. When the roller rotates, it contacts the squeegee from bottom to top; in the case of no suction, in the prior art, the roller contacts the squeegee from top to bottom, and the water flows down along the squeegee, and there is no need for a water guide groove.

[0279] As Fig.37 shown, the lowest point 53220 of the P2 section is lower than the highest point 4421 of the sewage collection box 442. As Figure 8 shown, the length of the water guide plate 532 is less than the actual water receiving length of the sewage collection box 442. As Fig.34 shown, the vertical distance Q between the opening position of the sewage collection box 442 near the cleaning roller 42 and the scraping strip assembly 53 is 3 - 5 mm.

[0280] In an embodiment provided by the present application, the water guide plate 532 and the scraping plate 531 can be connected by fasteners 533, or the water guide plate 532 and the scraping plate 531 are of an integral structure. When the water guide plate 532 and the scraping plate 531 are of a split structure, the water guide plate 532 and the scraping plate 531 are made of different materials. For example, the scraping plate 531 is made of a metal material, which has good stiffness and better wear resistance; while the water guide plate 532 is made of a plastic material, which is convenient for processing, and complex water guide grooves 5321 can be processed on its surface by injection molding or stamping, and the cost is lower.

[0281] The surface of the cleaning roller 42 has fluff, and the fluff materials and / or lengths of different models will be different. In the following several cases, if the position of the scraping strip assembly 53 remains unchanged, it is possible that the distance between the scraping strip assembly 53 and the cleaning roller 42 is too far, resulting in the scraping strip assembly 52 being ineffective, or the distance is too close, which is extremely likely to cause damage (such as damage to the scraping strip assembly) or the rotational resistance of the roller is too large, which is extremely likely to cause abnormal operation of the roller motor:

[0282] Replace the cleaning roller with a different model; or

[0283] The cleaning roller is displaced due to some factors during long-term operation; or

[0284] The fluff of the cleaning roller is worn out during long-term operation, and so on.

[0285] Refer to Fig.34 and Fig.35a shown. When the cleaning roller 42 rotates in the direction of arrow b, the scraping strip assembly 53 will receive a force in the direction of arrow T. If this force is too large due to the close distance, the scraping strip assembly 53 is very likely to be damaged. In order to avoid problems caused by the above several situations, refer to Fig.38a and 39, in an embodiment provided by the present application, the cleaning robot further includes an adaptive adjustment device. The adaptive adjustment device includes a swing assembly. The squeegee assembly 53 is connected to the mopping bracket 43 through the swing assembly. The squeegee assembly 53 can adaptively adjust its pose through the swing assembly to have a more suitable positional relationship with the cleaning roller 42, and can continuously act on the cleaning roller 42 to scrape off the dirt thereon. As shown in the figure, the swing assembly 500 includes a swing seat 534. A connection hole 5342 is provided on the swing seat 534. The swing seat 534 is connected to the mopping bracket 43 through a swing shaft 535. Further, a mounting hole 5341 is provided on the swing seat 534. An elastic member 536 is disposed in the mounting hole 5341. One end of the elastic member 536 is connected to the swing seat 534, and the other end is in contact with the mounting shell 4211 of the mopping bracket 43. The elastic member 536 can make the contact force between the squeegee assembly 53 and the cleaning roller 42 an elastic force. When the squeegee 531 is subjected to excessive force, the squeegee assembly 53 rotates slightly around the swing shaft 535, thereby increasing the distance between the end of the squeegee 531 and the cleaning roller 42. Then the contact force between the squeegee 531 and the cleaning roller 42 also becomes smaller. For example, when the squeegee 531 is subjected to excessive force, the squeegee assembly 53 will rotate along the swing shaft 535, and the end of the squeegee 531 will move upward along the Fig.32 arrow T direction in the figure, so that the acting force between the squeegee 531 and the cleaning roller 42 will become smaller, thereby realizing the adaptive adjustment of the squeegee assembly 53 and avoiding damage due to excessive force. Another example is that due to long-term operation, some positional deviations occur in the cleaning roller 42. The swing assembly will act adaptively to keep a suitable positional relationship between the squeegee assembly 53 and the cleaning roller 42, and there is a suitable (neither too large nor too small) mutual acting force between the two. The squeegee assembly can continuously act on the cleaning roller to scrape off the dirt thereon.

[0286] It should be added here that: the swing assembly 500 can be an integral structure with the squeegee assembly 53, or the swing assembly and the squeegee assembly are two components connected together by a connection method.

[0287] Further, along the axial direction of the cleaning roller from one end of the cleaning roller to the other end, the surface of the cleaning roller is in contact with the end of the squeegee assembly. In addition, refer to Fig.38cAs shown, the adaptive adjustment device in this embodiment further includes an elastic mechanism 300. The mopping and washing assembly 4 is connected to the body 1 through the elastic mechanism 300. For example, one end of the elastic mechanism 300 can be connected to the cavity housing 46 of the body 1, and the other end can be connected to the mopping and washing assembly 4. Among them, the elastic mechanism 300 can be an elastic component such as a spring. The squeegee assembly 53 adjusts its position and posture through the adaptive adjustment device so as to continuously act on the cleaning roller to scrape off the dirt thereon. That is, the position and posture adjustment of the squeegee assembly 53 is achieved by the combined action of the elastic mechanism 300 and the swing assembly 500. The mopping and washing assembly 4 can adaptively adjust the relative position and posture between it and the body 1 through the elastic mechanism 300. The squeegee assembly is in the mopping and washing assembly 4 and changes its position and posture together with the mopping and washing assembly. Inside the mopping and washing assembly 4, the squeegee assembly 53 adjusts the phase position and attitude relationship with the cleaning roller 42 through the swing assembly 500 to be in a more appropriate position and posture, and can apply an appropriate scraping force to the cleaning roller 42, so as to finally keep continuously acting on the cleaning roller to scrape off the dirt thereon.

[0288] It can be seen that by setting the adaptive adjustment device, the squeegee assembly can float relative to the cleaning roller to keep the squeegee always pressing against the roller. When the mopping and washing assembly moves relative to the body, the elastic mechanism moves with the mopping and washing assembly, or the mopping and washing assembly moves relative to the body and the elastic mechanism.

[0289] The above-mentioned adaptive adjustment assembly can also be called a biasing assembly. That is, the decontamination mechanism further includes a biasing assembly. Under the biasing force provided by the biasing assembly, the squeegee assembly moves in the direction of pressing against the cleaning roller. Under the action of the biasing force provided by the biasing assembly, the depth of the squeegee inserted into the cleaning roller is at least 1-2 mm. The biasing assembly includes a swing seat and an elastic member. The squeegee assembly is rotatably mounted on the mopping and washing assembly or the body through the swing seat.

[0290] The above introduces a solution that uses one power source to realize the lifting and telescoping of the mopping and washing assembly. The present application also supplements a solution here that uses two motors to respectively realize the lifting and telescoping functions of the mopping and washing assembly. That is, the driving device 10 includes two power sources. Such as Fig.40As shown, the drive device 10 includes a first power source and a second power source. Among them, the first power source may include a first motor 60. The second power source includes a third motor 61. In specific implementation, both the first motor 60 and the third motor 61 can be connected to a speed reducer at the output end to output power outward through the speed reducer. Among them, the first power source is used to drive the telescopic movement of the mopping assembly, and its corresponding first motion execution mechanism 103 is the same as the structure mentioned in the above embodiments, that is, the first motion execution mechanism 103 includes: a first gear 13 and a first rack 14. The first motion execution mechanism 103 may include a sliding plate, and the sliding plate is slidably connected to the slide rail 15. At least one slide rail 15 can be provided on the cavity shell 46. In addition, the first photoelectric switch 281, the first trigger structure on the sliding plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, the grating structure 294, etc., all have the same functions as those in the above embodiments. For specific content, reference can be made to the above, and details will not be elaborated here.

[0291] The second power source is used to drive the mopping assembly 4 to lift, and its corresponding second motion execution mechanism, such as Fig.40 As shown, may include: a second gear 62 and a second rack 63. The arrangement of the second rack 63 is different from that of the first rack 14. Refer to Fig.41 , the first rack 14 is horizontally arranged, and the second rack 63 is vertically arranged.

[0292] The specific implementation process is as follows: When the mopping assembly 4 is in the initial state (i.e., the first limit position in the retracted state, the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate. The first rack 14 is driven by the first gear 14 to translate towards one side of the machine body. The first rack 14 pushes the mopping assembly outward through the connecting structure located on the track 15, so that a part of the mopping assembly extends out of the machine body (such as Fig.41 (B)). If the mopping assembly 4 extends to the second limit position in the extended state, the first motor 60 stops working. When the mopping assembly needs to retract, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the reverse direction. The first rack 14 is driven by the first gear 13 to translate towards the inside of the machine body. The first rack 14 contracts the mopping assembly inward through the connecting structure located on the track 15. After the mopping assembly 4 retracts to the initial state, the first motor 60 stops working. When the mopping assembly 4 needs to be lifted, the second motor 61 outputs power to drive the second gear 62 to rotate. The second rack 63 drives the mopping assembly 4 to rise along the axial direction of the connecting column 241 (refer to Fig.16 as shown), (such as Fig.41(A)). After the mopping and washing assembly 4 rises to the high position and the third optoelectronic switch 283 is triggered, the third motor 61 stops working. When the mopping and washing assembly 4 needs to descend, the third motor 61 outputs reverse power to drive the second gear 62 to rotate in reverse, the second rack 63 moves downward, and the mopping and washing assembly descends along the axial direction of the connecting column 241 (see Fig.16 shown). When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e., the time used by the third motor to drive the mopping and washing assembly to lift), the third motor 61 stops moving. In addition, by adding a counting light-shielding sheet and a counting optocoupler to this assembly, step-by-step extension can also be achieved during the extension process. For the specific implementation, please refer to the above content and will not be elaborated here.

[0293] The embodiments of the present application provide a solution for a single power source to achieve the telescopic and lifting of the mopping and washing component, and also provide a solution for a dual power source to achieve the telescopic and lifting of the mopping and washing component (that is, one power source for telescoping and the other for lifting). No matter which implementation solution is adopted, a problem is faced: how to control each power source to make the mopping and washing component telescopic and lift at the appropriate time. For example, the mopping and washing component descends while extending outwards, or ascends while retracting, or retracts first and then lifts, or lifts first and then retracts, or descends first and then extends outwards, and so on. In a specific scenario, for example, the mopping and washing component 1 of the current cleaning robot is in the extended state. When the cleaning robot needs to enter a specific area (such as a designated area where mopping is not required or a carpet area), it is necessary to lift the mopping and washing component 1 to have a certain distance from the ground. Another example is that when the cleaning robot drives from the living room into the kitchen, there is a small step at the kitchen door, and the cleaning robot needs to overcome the obstacle to drive into the kitchen. At this time, in order to facilitate overcoming the obstacle, it is necessary to lift the mopping and washing component. Whether the mopping and washing component is directly lifted in the extended state or retracted to the innermost side (i.e., the first limit position) and then lifted requires the cleaning robot to make a judgment by sensing the environmental information. If the current environment is open and there are no obstacles in height, the mopping and washing component 1 in the extended state can also be directly lifted. However, if the current environment is relatively complex and the detection information of the cleaning robot is limited, when the mopping and washing component 1 is directly lifted in the extended state, it is very likely that the mopping and washing component 1 will collide with an object during the lifting process. If the lifting action does not stop, it is very likely to damage the mopping and washing component. That is to say, lifting the out-swinging cleaning roller is a great risk to the host. Therefore, the roller cannot participate in the cleaning function at this time. Also, due to the length protruding from the projection of the host, the cleaning robot needs to intelligently control the action of the mopping and washing component according to the real-time detected environmental information at all times, which will inevitably increase the computing amount of the cleaning robot, not only consuming power but also affecting the cleaning robot's execution of the main task (i.e., the cleaning task). Therefore, in order to simplify the control logic of the cleaning robot and reduce the complexity of control, the embodiments of the present application provide a solution in which the mopping and washing component retracts to a preset position (such as the first limit position in the retracted state) and then lifts. Specifically, the solution provided by the embodiments of the present application includes the following steps. The execution subject of each of the following steps can be the main board 2 in the embodiments of the present application. As described above, the mopping and washing component control solution includes:

[0294] S1. When it is determined that the mopping and washing component needs to be lifted, obtain the current position of the mopping and washing component;

[0295] S2. If the mopping and washing component is in the first limit position, control the driving device to drive the mopping and washing component to lift; if the mopping and washing component is in the extended state, control the driving device to drive the mopping and washing component to first retract to the first limit position and then lift.

[0296] When the mopping and washing component is in the extended state, the mopping and washing component can be located at any position between the first limit position and the second limit position, or at the second limit position.

[0297] After adopting the above solution, the cleaning robot does not need to detect the environmental information detected by the sensing system and perform complex calculations to determine whether there is enough space to lift the mopping and washing component in the current environment. The entire process does not require the participation of the sensing system, which can ensure the lifting safety of the mopping and washing component and is simple and easy to implement.

[0298] During the cleaning process of the cleaning robot, the cleaning roller 42 will adsorb the dirt on the ground, and the dirt on the roller will be scraped and collected by the decontamination mechanism 44. After working for a long time, the dirt collection box 442 needs to be cleaned. Currently, for some cleaning robots, if users want to disassemble the detachable components (such as the sewage tank, roller, etc.) at the bottom of the body, they need to turn the body over with the bottom facing up before they can remove them, which results in a poor user experience.

[0299] As can be seen from the above, the mopping and washing component 4 in the embodiment of the present application includes a liquid supply mechanism 45, a decontamination mechanism 44, and a cleaning roller 42. Among them, although the dirt in the dirt collection box 442 of the decontamination mechanism 44 can enter the sewage tank 9 through the sewage pump. However, after the dirt collection box 442 works for a long time, if it is not cleaned, there will still be deposited dirt, which is extremely easy to breed bacteria and generate odors. Therefore, it needs to be disassembled relatively frequently to facilitate users to clean. In addition, although the cleaning roller 42 in this embodiment can be self-cleaned with flowing water during the task execution, it still needs to be disassembled for manual cleaning after a long time, or the cleaning roller 42 is worn and needs to be disassembled and replaced with a new cleaning roller. If users need to turn the body over with the bottom facing up to remove them, it will not be very convenient.

[0300] Therefore, an embodiment of the present application provides a solution that enables the dirt collection box 442 in the mopping and washing component to be easily disassembled without the user having to turn the body over, improving the disassembly convenience and meeting the ergonomic design. In addition, another embodiment of the present application provides a solution for easily disassembling the cleaning roller. The dirt collection box disassembly solution will be introduced sequentially below, and then the cleaning roller disassembly solution will be introduced.

[0301] See Figures 42a to 42f , at least one side of the mopping and washing component 4 is exposed. As Fig.42a shown in an example, the mopping and washing component 4 is exposed on one side of the body. With reference to the forward direction of the body 1, the mopping and washing component 4 is exposed on the right side of the body. The dirt collection box 442 can be located behind the cleaning roller 42. See Figure 42b c~42f, a release component is provided on the side of the dirt collection box corresponding to the exposed mopping and washing component. Users can see and touch the release component on the exposed side without having to turn the body 1 over, and then operate the release component to remove the dirt collection box.

[0302] The release component has an operating handle; the operating handle is located at the bottom of the dirt collection box 442; during disassembly, the operating handle acts, the release component is in an unlocked state, the first end of the dirt collection box 442 detaches from the mopping bracket, and the dirt collection box 442 is pulled outwards at the bottom of the machine body; during installation, after the second end of the dirt collection box 442 is inserted into place from the bottom of the machine body, the first end of the dirt collection box 442 moves upwards to the locking position, and at the locking position, the release component is triggered to switch to the locked state.

[0303] Specifically, as Figure 42b and Fig.42c , along the length direction of the dirt collection box 442, the dirt collection box 442 has two ends, namely the first end 4421 and the second end 4422 respectively. It should be added here that: in the length direction of the dirt collection box 442 and the axial direction of the cleaning roller 42, the length of the dirt collection box 442 can be equal to or greater than the length of the cleaning roller 42. At the position of the mopping bracket 43 corresponding to the dirt collection box 442, there are a first fixing structure 431 and a second fixing structure 432 respectively that cooperate with the first end 4421 and the second end 4422. The second end 4422 of the dirt collection box 442 cooperates with the second fixing structure 432. For example, the second fixing structure 432 is a jack, and the second end 4422 of the dirt collection box 442 is a convex block structure adapted to the jack. The first end 4421 of the dirt collection box 442 is provided with a release component 70, and the release component 70 may include: an elastic operating member 71 and a fixing pin 72. The elastic operating member 71 is connected to the fixing pin 72. The first fixing structure 431 may be a pin hole adapted to the fixing pin 72. When the user operates the elastic operating member 71, the elastic deformation of the elastic operating member 71 drives the fixing pin 72 to move, so that the fixing pin 72 disengages from the pin hole, and the dust collection box 442 can be detached from the mopping bracket 73.

[0304] As Fig.42d shown, after the first end 4421 of the dirt collection box 442 detaches from the first fixing structure 431, the first end 4421 descends, and the user can hold or grasp the first end 4421 and take out the dirt collection box from the machine body 1 along the length direction of the dirt collection box 442 (or the axial direction of the cleaning roller).

[0305] More specifically, as Fig.42a , 42cWith respect to 42f, the elastic operating member 71 may include: a release button and a release spring 712. Among them, the fixed pin 72 is provided with a chute 722. The release button may be a knob. For example, the release button has a rotating shaft 714, and the release button is rotatably connected to the dirt collection box 442 through the rotating shaft 714. On both sides of the rotating shaft 714, there are respectively provided: an abutting structure 713 and an operating handle 711. The user can rotate the operating handle 711, and the rotating direction is downward around the rotating shaft 714, which is exactly the same as the direction in which the dirt collection box is removed. In this setting method, when the user holds the operating handle 711 with the hand and rotates the operating handle 711 downward around the rotating shaft 714 to a certain angle, the fixed pin 72 disengages from the pin hole, and the dirt collection box 442 can be disengaged from the mopping bracket 73. At this time, the dirt collection box rotates downward with the second end as the center. Since the user's hand has been holding the operating handle 711, on the one hand, it prevents the sudden drop of the dirt collection box, and on the other hand, it can naturally continue to hold the operating handle 711 and rotate downward, and then take out the dirt collection box 442.

[0306] In another embodiment, the release button may be a push-pull member that moves linearly. The abutting structure 713 of the release button is located in the chute 722. A spring seat 4423 is provided at the first end of the dirt collection box 442, the release spring 712 is arranged in the spring seat 4423, one end of the fixed pin 72 is provided with a plug 721 adapted to the pin hole, and the other end is connected to the release spring 712. When the release button is a pulling member, the user can drive the fixed pin to act by pushing and pulling operations (such as pushing and pulling operations along the length direction of the fixed pin), so that the abutting structure drives the fixed pin to act by abutting against the chute.

[0307] As Figure 42e shown, when the user wants to remove the dirt collection box 442, the user applies an external force to the release button, such as rotating the release button. The abutting structure 713 on the release button abuts against the fixed pin 72 in the chute. At this time, the plug 721 of the fixed pin 72 disengages from the pin hole, and the first end of the dirt collection box 442 falls downward. The user pulls here, and the second end of the dirt collection box 442 disengages from the mopping bracket. At this time, the dirt collection box 442 is completely removed. When the user wants to reinstall the dirt collection box 442, first install the second end of the dirt collection box 442 (that is, the convex block structure at the second end is inserted into the jack). The user holds the first end of the dirt collection box 442 with the hand and presses it upward. The release spring deforms, and the fixed pin 72 acts to enable the fixing to enter the installation groove of the mopping bracket. After the dirt collection box 442 is installed in place, the position of the fixed pin 72 just corresponds to the position of the pin hole. Under the action of the elastic restoring force of the release spring, the fixed pin 72 moves, and the plug is inserted into the pin hole. At this time, the dirt collection box 442 is completely installed.

[0308] To ensure the installation stability of the dirt collection box 442, the release button is also provided with a locking structure, and the corresponding position of the dirt collection box 442 is provided with a locking cooperation structure. After the dirt collection box 442 is installed, the user can rotate the release button so that the locking structure cooperates with the locking cooperation structure to lock the position of the release button, so that the fixing pin will not come out of the pin hole due to vibration or the like. In this embodiment, the specific implementation of the locking structure on the release button and the locking cooperation structure on the dirt collection box 442 is not specifically limited.

[0309] Further, as shown in Figure 42f Fig. 5, a filter assembly 543 is further provided in the dirt collection box 442. The filter assembly 543 is used to filter large particle dirt in the dirt entering the dirt collection box 442. As shown in Figure 42f Fig. 6, the filter assembly 543 may be a filter element provided with a plurality of filter holes thereon. The filter element can be placed and stabilized in the dirt collection box 442 through some cooperation structures. The filter element is also provided with a through hole, and the dirt collection pipe 542 can pass through the through hole from above the filter element and extend below the filter element to be close to the bottom of the dirt collection box 442. After the user removes the dirt collection box 442, the filter assembly 543 can be taken out of the dirt collection box 442 to clean the dirt collection box and the filter assembly respectively. One end of the filter assembly 543 is provided with a handle 5431 for the user to easily pick up. When the user picks up the filter assembly 543, the user can pinch the handle 5431 with fingers and take out the filter assembly 543 from the dirt collection box 442. The handle 5431 can be a plate-shaped body with a certain bending arc.

[0310] In addition, a detection element 4425 is further provided in the dirt collection box 442. The detection element 4425 can be a detection magnet or the like. A sensing element (not shown in the accompanying drawings of the specification) is provided at the corresponding position on the mopping bracket. The sensing element can detect whether the dirt collection box 442 is installed on the mopping bracket by sensing the detection element on the dirt collection box 442. The reason for setting this detection element is to avoid the situation where the user starts the cleaning robot without installing the dirt collection box 442. If the sensing element senses that the dirt collection box 442 is not installed on the mopping bracket, the cleaning robot can remind the user to install the dirt collection box by voice and / or display. If the sensing element and the detection element are not set, the cleaning robot may perform the cleaning task without a dirt collection box, and the dirt scraped from the cleaning roller may be discharged to the ground because the dirt cannot be collected in the front and back during cleaning. Therefore, it is very necessary to set the sensing element and the detection element, and the machine can only be started to perform the cleaning task after the dirt collection box is installed on the body.

[0311] For the disassembly of the cleaning roller 42, see Fig.42aAs shown, the mopping and washing component 4 is in a retracted state, that is, the end of the mopping and washing component 4 is located inside the body 1. Looking down from above the body 1, that is, when the cleaning robot is on the ground and the user's perspective of looking at the cleaning robot, the user cannot see the mopping and washing component 4. If the user wants to disassemble the cleaning roller in the mopping and washing component 4, they need to squat down, tilt their head sideways to look at the position of the mopping and washing component 4 inside the body 1, and then manually remove the cleaning roller. During the disassembly process, the user may be blindly disassembling, and during installation, it is almost the same as blindly installing, and there is a high possibility of pinching the hand. Obviously, this solution that allows the cleaning roller to be disassembled without flipping the body is not very convenient. The embodiment of the present application provides a more convenient solution for disassembling and assembling the cleaning roller. Specifically,

[0312] An interaction device is provided on the body of the cleaning robot, and this interaction device can be a button, a touch screen, a voice interaction unit, etc. The user can trigger the mopping and washing component 4 to extend from one side of the body 1 through the interaction device, such as extending to a set position (which can be the second limit position in the extended state) or extending until the end of the mopping and washing component exposes outside the outer edge of the body 1. For example, when the user presses a button in the interaction device, after the main board 2 receives the operation signal triggered by the button, it controls the driving device 10 to drive the mopping and washing component 4 to extend from one side of the body 1 to the set position or extend a set length so that the end of the mopping and washing component is exposed. At this time, the user can disassemble the cleaning roller from the mopping and washing component 4. After the user cleans the cleaning roller or obtains a new replacement roller, the roller is then installed back onto the mopping and washing component 4.

[0313] See Figure 5 As shown, in this embodiment, a roller motor 41 is provided at the first end in the length direction (the direction of the arrow in the figure) of the mopping bracket 43, and an opening is provided at the second end. The cleaning roller 42 can be inserted into the roller cavity of the mopping bracket 43 from this opening to be connected to the roller motor 41. A first structure 430 is provided at the second end of the mopping bracket 43. Correspondingly, a second structure is provided inside the end cover 420 of the cleaning roller 42. The first structure 430 and the second structure can be magnetic components used in cooperation. For example, one of the first structure 430 and the second structure is a groove, and the other is a convex block, and the groove and the convex block are adapted; the convex block is a magnet, and a magnetic material is provided in the groove; or, a magnet is provided in the groove, and a magnetic material is provided on the convex block, etc. This embodiment does not make specific limitations on this.

[0314] After the user triggers the mopping and washing component 4 to extend by means of a button, voice or touch screen, such as Fig.12 As shown, the mopping and washing component 4 extends outside the edge 1001 of the body 1. At this time, when the user bends down and looks from the upper part of the body, they can see the mopping and washing component and can also see the end of the cleaning roller 42. As Fig.12In the shown example, the end cap 420 of the cleaning roller 42 is similar to a whistle shape. The user can easily pull out the cleaning roller by pinching the end cap 420 with one hand along the pulling-out direction (i.e., the width direction of the body 1), and thus it is disassembled. During installation, since the mopping component is in the extended state, that is Fig.12 the state shown, the user can also see the opening of the roller cavity of the mopping bracket. The user inserts one end of the cleaning roller through the opening, and the end cap 420 of the cleaning roller contacts and engages with the first structure 430 on the mopping bracket, and thus the end cap 420 is connected to the mopping bracket. If, after installation, the cleaning robot needs to perform a cleaning task, the cleaning robot performs the cleaning task while maintaining the current extended state of the mopping component 4. If, after installation, the cleaning robot needs to return to the base station, after detecting that the cleaning roller is installed, the cleaning robot automatically retracts the mopping component 4; alternatively, the user triggers the main board 2 of the cleaning robot through the interaction device to control the driving device to retract the mopping component.

[0315] Furthermore, the driving device 10 can also drive the mopping component to lift relative to the body. Correspondingly, when the cleaning roller needs to be disassembled, the driving device 10 drives the mopping component 4 to extend to expose the end cap of the cleaning roller 42, and at the same time drives the mopping component 4 to lift to have a gap from the ground, facilitating the user to remove the cleaning roller 42. Since there is a gap between the cleaning roller and the ground, it is easier to pull out the cleaning roller.

[0316] In addition to triggering the retraction of the mopping component 4 through the interaction device, the following solution can also be adopted: after the cleaning roller 42 is installed on the mopping bracket 43, the user pushes the mopping component 4, and the driving device 10 starts to work to drive the mopping component 4 to retract to the first limit position. The cleaning robot further includes a sensing system and a main board 2; the main board 2 is electrically connected to the sensing system; the sensing system includes a sensing unit for detecting the retraction thrust of the mopping component 4; after the sensing unit detects the installation thrust of the mopping component 4, it sends a retraction signal to the main board 2, and the main board 2 controls the driving device 10 to start working to drive the mopping component 4 to retract to the first limit position.

[0317] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that, It includes a body and a mopping and washing assembly arranged on the body; wherein, the mopping and washing assembly includes: A cleaning unit motor that outputs driving force; A cleaning unit connected to the cleaning unit motor for cleaning the surface to be cleaned; A liquid supply mechanism for supplying cleaning liquid to the cleaning unit; A dirt removal mechanism for cleaning the cleaning unit. When the cleaning unit rotates, the dirt removal mechanism scrapes and collects the dirt on the cleaning unit. The dirt removal mechanism is located behind the cleaning unit in the advancing direction of the cleaning robot; along the rotation direction of the cleaning unit, after the cleaning unit is replenished with water through the liquid supply mechanism, it cleans the ground, and then the dirt is scraped off by the dirt removal mechanism.

2. The cleaning robot according to claim 1, wherein, It further includes: A driving device arranged on the body and connected to the mopping and washing assembly; Along the width direction of the body, the driving device can drive the mopping and washing assembly to extend from at least one side of the body, so that a part of the mopping and washing assembly is exposed.

3. The cleaning robot according to claim 2, characterized in that, The driving device can also drive the mopping and washing assembly to lift relative to the body.

4. The cleaning robot according to claim 1, characterized in that, The rotation direction of the cleaning unit is the same as the rotation direction of the driving wheels of the body.

5. The cleaning robot according to any one of claims 1 to 4, characterized in that The dirt removal mechanism includes a scraping strip assembly and a dirt collection box; The end of the scraping strip assembly contacts the cleaning unit, and the dirt collection box is located below the scraping strip assembly; The liquid supply port of the liquid supply mechanism is located above the cleaning unit.

6. The cleaning robot according to claim 5, wherein, The mopping and washing assembly further includes a mopping and washing bracket; The mopping and washing bracket has a drum installation cavity with an opening facing downwards. The cleaning unit motor and the cleaning unit are arranged in the drum installation cavity, and the cleaning unit contacts the surface to be cleaned through the opening; the power end of the driving device is connected to the mopping and washing bracket; The dirt removal mechanism is arranged on the rear cavity wall of the drum installation cavity, and the dirt collection box can be disassembled and assembled through the opening facing downwards of the drum installation cavity.

7. The cleaning robot according to claim 5, characterized in that, The dirt collection box is detachable; The disassembly direction of the dirt collection box is different from the disassembly direction of the cleaning unit; Or, the disassembly direction of the dirt collection box is substantially perpendicular to the disassembly direction of the cleaning unit.

8. The cleaning robot according to claim 5, characterized in that The mopping and washing assembly has a first limit position in the retracted state and a second limit position in the extended state; When the mopping and washing assembly is in the first limit position in the retracted state, the dirt collection box is located inside the projection of the edge of the body.

9. The cleaning robot according to claim 5, wherein Along the advancing direction of the body, the body has left and right sides; The mopping and washing assembly extends out of the body from the right side of the body; All or part of the outer surface on the right side of the dirt collection box is the same as the arc surface at the corresponding position of the body.

10. The cleaning robot according to any one of claims 1 to 4, characterized in that, The dirt removal mechanism includes a scraping strip assembly, and the scraping strip assembly includes a water guide plate and a scraping plate; The water guide plate is located below the scraping plate; The lower surface of the water guide plate has an upwardly arched arc surface, and the arc surface is a water guide surface; A plurality of water guide grooves are arranged on the water guide surface.

11. The cleaning robot according to claim 10, wherein The position where the water guide plate acts on the cleaning unit is the water scraping position; At the water scraping position, the notch of the water guide groove close to the water scraping position penetrates the water guide plate, and the notch of the water guide groove far from the water scraping position does not penetrate the water guide plate.

12. The cleaning robot according to any one of claims 2 to 4, characterized in that, The driving device can also drive the mopping and washing assembly to retract relative to the body; or The cleaning robot further includes a resilient device, and the mopping and washing assembly is connected to the resilient device; when an external force in the retracting direction is applied to the mopping and washing assembly in the extended state, the resilient device is deformed by the force, and the mopping and washing assembly retracts adaptively.

13. The cleaning robot according to any one of claims 2 to 4, characterized in that It further includes a control device; The control device is electrically connected to the driving device and is configured to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing assembly to move relative to the body, thereby changing the position of the mopping and washing assembly relative to the body.

14. A cleaning robot, characterized in that, It includes a body, and a mopping and washing assembly and a driving device are arranged on the body; wherein, the mopping and washing assembly includes: A cleaning unit motor that outputs a driving force; A cleaning unit, which is connected to the cleaning unit motor and is used for cleaning the surface to be cleaned; A liquid supply mechanism for supplying cleaning liquid to the cleaning unit; A decontamination mechanism for cleaning the cleaning unit. When the cleaning unit rotates, the decontamination mechanism scrapes off and collects the dirt on the cleaning unit, and the decontamination mechanism is located behind the cleaning unit in the traveling direction of the cleaning robot; Along the width direction of the body, the driving device can drive the mopping and washing assembly to extend from at least one side of the body, so that a part of the mopping and washing assembly is exposed.

15. A cleaning robot, characterized in that, It includes a body and a mopping and washing assembly arranged on the body; wherein, the mopping and washing assembly includes: A cleaning unit motor that outputs a driving force; A cleaning unit, which is connected to the cleaning unit motor and is used for cleaning the surface to be cleaned; A decontamination mechanism for cleaning the cleaning unit. When the cleaning unit rotates, the decontamination mechanism scrapes off and collects the dirt on the cleaning unit, and the decontamination mechanism is located behind the cleaning unit in the traveling direction of the cleaning robot.

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