Cleaning robot and working method thereof

Abstract

The embodiment of the invention provides a cleaning robot and a working method thereof. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the driving device is arranged on the machine body and comprises a first power source and a second power source, and the first power source and the second power source are both connected with the mopping assembly. In the width direction of the machine body, the first power source can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body, so that part of the mopping assembly is exposed; the second power source can drive the mopping assembly to ascend and descend relative to the machine body in the height direction of the machine body. The first power source and the second power source can work independently or simultaneously, and the mopping assembly can move to any position relative to the robot body, so that the cleaning robot is suitable for more use scenes.

Description

[0001] Cross-reference

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

[0003] Filing Date Application No. Patent Title 2024-01-05 202410018264.3 Self - moving Cleaning Device, Control Method and Cleaning System 2024-08-05 202411067857.5 Cleaning Robot and Mopping Component Technical Field

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

[0005] Most existing integrated sweeping and mopping 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 smear during 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 squeegee, and a sewage collection device. During each rotation of the roller, it receives clean water supplied by the clean water supply device. After mopping the floor, it is self-cleaned by the squeegee while cleaning, realizing a live water mopping with self-cleaning while mopping, which can improve the smear problem.

[0006] In order to make the cleaning robot more functional, the rollers of some cleaning robots are designed to be retractable. When the roller extends, it can clean along the wall or perform circumferential cleaning around obstacles. However, after the roller extends, although some robots can ensure the supply of clean water, the squeegee is still inside the body. That is, only the extended part of the roller can receive clean water, and the dirt remains on the roller all the time, and the dirt cannot be scraped off. The roller cannot be cleaned, and there is still a smear problem similar to that of the rag tray, resulting in poor cleaning effect.

[0007] In addition, the working environment of the cleaning robot is diverse and complex, and various amounts of roller extension are required. The existing technology has a single state of roller extension. Summary of the Invention

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

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

[0010] A body;

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

[0012] A driving device is provided on the body. The driving device includes a first power source and a second power source, and both the first power source and the second power source are connected to the mopping and washing assembly.

[0013] Wherein, along the width direction of the body, the first power source can drive the mopping and washing assembly relative to the body to extend from at least one side of the body so that a part of the mopping and washing assembly is exposed; along the height direction of the body, the second power source can drive the mopping and washing assembly to move up and down relative to the body.

[0014] The first power source and the second power source can work independently or simultaneously.

[0015] Optionally, the mopping and washing assembly has multiple gears.

[0016] In different gears, the relative position between the mopping and washing assembly and the body is different.

[0017] The body determines the target gear of the mopping and washing assembly according to the detected environmental information; and controls the driving device to make the mopping and washing assembly in the target gear.

[0018] Wherein, the position of the mopping and washing assembly relative to the body includes height and / or horizontal displacement.

[0019] Optionally, the driving device further includes a first action execution mechanism and a second action execution mechanism.

[0020] The first power source is connected to the mopping and washing assembly through the first action execution mechanism, and the first action execution mechanism converts the power output by the first power source into a linear motion along the width direction of the body to drive the mopping and washing assembly to have a horizontal displacement relative to the body.

[0021] The second power source is connected to the mopping and washing assembly through the second action execution mechanism, and the second action execution mechanism converts the power output by the second power source into a linear motion along the height direction of the body to drive the mopping and washing assembly to move up and down relative to the body.

[0022] Optionally, the first action execution mechanism includes a first gear and a first rack.

[0023] The first gear is connected to the first power source.

[0024] The first gear meshes with the first rack.

[0025] The first rack is slidably arranged on the body.

[0026] The mopping and washing assembly is connected to the first rack.

[0027] Optionally, the first action execution mechanism further includes a sliding plate;

[0028] The first rack is arranged on the sliding plate;

[0029] The sliding plate is arranged on a slide rail on the body;

[0030] The mopping and washing assembly is located below the sliding plate and is connected to the sliding plate;

[0031] A triggering structure is arranged on the sliding plate, and a plurality of detection units are arranged on the body;

[0032] When the sliding plate moves, the triggering structure triggers one of the plurality of detection units;

[0033] The body determines the position of the mopping and washing assembly based on the triggered detection unit.

[0034] Optionally, the second action execution mechanism includes a second gear and a second rack; the second gear is connected to the second power source, the second gear meshes with the second rack; the second rack is vertically arranged and can move in the height direction relative to the body; the mopping and washing assembly is connected to the second rack.

[0035] Optionally, the second action execution mechanism includes a reel and a pulling rope, the pulling rope is wound around the reel, the reel is connected to the second power source, and one end of the pulling rope is connected to the mopping and washing assembly.

[0036] Optionally, the mopping and washing assembly further includes a mopping and washing bracket;

[0037] The mopping and washing bracket has a drum installation cavity with an opening facing downwards, and the cleaning unit motor and the cleaning unit are arranged in the drum installation cavity;

[0038] The cleaning unit contacts the surface to be cleaned through the opening;

[0039] The liquid supply mechanism and the decontamination mechanism are both arranged on the mopping and washing bracket;

[0040] The power end of the driving device is connected to the mopping and washing bracket.

[0041] Optionally, a first obstacle avoidance module is arranged on the body on the side where the mopping and washing assembly extends outwards, and the first obstacle avoidance module is located in front of the mopping and washing assembly;

[0042] The monitoring range of the first obstacle avoidance module is the area in the vertical direction beside the body, and is used to detect the height of obstacles in front of the mopping and washing assembly extending outwards.

[0043] The mopping and washing assembly has multiple lifting gears, and the height at which the mopping and washing assembly lifts relative to the body is different under different lifting gears;

[0044] Based on the detection information of the first obstacle avoidance module, the target gear of the mopping and washing assembly is determined. When the lifting gear needs to be adjusted, the second power source drives the mopping and washing assembly to lift to the target gear.

[0045] Optionally, when the mopping and washing assembly needs to extend outwards or retract inwards, the second power source first drives the mopping and washing assembly to lift relative to the body, and then the first power source drives the mopping and washing assembly to perform the extending or retracting action;

[0046] Or, the second power source drives the mopping and washing assembly to lift relative to the body, and the first power source simultaneously drives the mopping and washing assembly to perform the extending or retracting action.

[0047] Optionally, a second obstacle avoidance module is provided on the body, and the second obstacle avoidance module can detect the first distance between an obstacle on the outward extending side of the mopping and washing assembly and the body;

[0048] Based on the first distance, a second distance for the mopping and washing assembly to extend outwards is determined, and the first power source drives the mopping and washing assembly to extend outwards to the second distance. The second distance is the distance between the mopping and washing assembly and the obstacle, and the second distance is less than the first distance.

[0049] Optionally, the mopping and washing assembly has a retracted state and an extended state; in the retracted state, the mopping and washing assembly is in a first position relative to the body; in the extended state, the mopping and washing assembly is in a second position relative to the body;

[0050] When the cleaning robot is performing a cleaning operation, the mopping and washing assembly preferentially uses the extended state for cleaning;

[0051] When encountering an obstacle, the mopping and washing assembly moves from the second position to the first position, or moves to a certain position between the second position and the first position to avoid the obstacle.

[0052] Optionally, it further includes a control device;

[0053] 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.

[0054] In another embodiment of the present application, a working method of the above-mentioned cleaning robot is further provided, including:

[0055] Determine the behavior information of the body;

[0056] Dynamically control the first power source and / or the second power source according to the behavior information, so that the mopping and washing assembly moves correspondingly following the behavior of the body, so as to change the position of the mopping and washing assembly relative to the body;

[0057] Wherein, the position of the mopping and washing assembly relative to the body includes position information in the vertical direction and position information in the horizontal direction.

[0058] Optionally, the behavior information includes: the behavior actions of the body and / or the environmental information triggering the behavior actions.

[0059] In another embodiment of the present application, a cleaning robot is provided, including: a body;

[0060] A mopping and washing assembly, including a cleaning unit motor, a cleaning unit and a decontamination mechanism; the cleaning unit motor is connected to the cleaning unit, and the decontamination mechanism is used to scrape off the dirt on the cleaning unit;

[0061] A driving device is arranged on the body, the driving device includes a first power source and a second power source, and both the first power source and the second power source are connected to the mopping and washing assembly;

[0062] Wherein, along the width direction of the body, the first power source can drive the mopping and washing assembly relative to the body to extend from at least one side of the body so that a part of the mopping and washing assembly is exposed; along the height direction of the body, the second power source can drive the mopping and washing assembly to lift relative to the body;

[0063] The first power source and the second power source can work independently or simultaneously.

[0064] In the technical solution provided by the embodiment of the present application, the mopping and washing assembly moves as a whole relative to the body of the cleaning robot. At any position of the mopping and washing assembly, the liquid supply mechanism can supply cleaning liquid to the cleaning roller, the decontamination mechanism can scrape off the dirt on the cleaning roller, and the cleaning roller can self-clean while working. When the cleaning roller extends outwards for edge cleaning, the cleaning roller will not be overly dirty, and it can still have a good cleaning effect after long-term cleaning, and the use experience is better. In addition, in the solution provided by the embodiment of the present application, two power sources are used to drive the mopping and washing assembly to move along the width direction of the body and can also lift along the height direction of the body, so that the roller can be at any horizontal position and / or height relative to the body to adapt to various use scenarios. Description of the Drawings

[0065] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0066] Figure 1a and 1b shows schematic diagrams of edge cleaning in two states where the drum is not extended and extended;

[0067] Figure 1c is the left view of the cleaning robot provided by the embodiment of the present application;

[0068] Figure 2 is the structural schematic diagram of the cleaning robot provided by an embodiment of the present application;

[0069] Figure 3a is the internal schematic diagram of the cleaning robot after removing the upper cover provided by the embodiment of the present application;

[0070] Figure 3b is Figure 3a a partial view;

[0071] Figure 4 is the exploded schematic diagram of the structure of the cleaning robot provided by an embodiment of the present application;

[0072] Figure 5 is the exploded view of the mopping and washing assembly provided by an embodiment of the present application;

[0073] Figure 6 is the schematic diagram of the mopping and washing assembly arranged on the cavity shell provided by the embodiment of the present application;

[0074] Figure 7a is the external structural view of the mopping and washing assembly provided by the embodiment of the present application;

[0075] Figure 7b shows a specific implementation structural schematic diagram of the liquid supply mechanism in the embodiment of the present application;

[0076] Figure 8 is the bottom view of a mopping bracket provided by the embodiment of the present application;

[0077] Figure 9a is the exploded view of the mopping and washing assembly provided by an embodiment of the present application;

[0078] Figure 9b is the cross-sectional view of the mopping and washing assembly provided by an embodiment of the present application;

[0079] Figure 10aSchematic diagram of the edge cleaning state of a cleaning robot provided by an embodiment of the present application;

[0080] Figure 10b Schematic diagrams showing edge cleaning in two states where the roller is not extended and extended;

[0081] Figure 11 Schematic diagram of a mopping and washing component in a lifted state provided by an embodiment of the present application;

[0082] Figure 12 Schematic diagram of a mopping and washing component in an extended state provided by an embodiment of the present application;

[0083] Figure 13 Schematic diagram of the structure of a driving device provided by an embodiment of the present application;

[0084] Figure 14 Stereogram of a power execution mechanism provided by an embodiment of the present application;

[0085] Figure 15 Another perspective stereogram of a power execution mechanism provided by an embodiment of the present application;

[0086] Figure 16 Schematic diagram of the half-section structure of a mopping and washing component provided by an embodiment of the present application;

[0087] Figure 17 Schematic diagram of the partial structure of an action execution mechanism provided by an embodiment of the present application;

[0088] Figure 18 Schematic diagram of a slider structure provided by an embodiment of the present application;

[0089] Figure 19 Partial cross-sectional view of an action execution mechanism provided by an embodiment of the present application;

[0090] Figure 20a Partial cross-sectional view of the combination of a cavity shell and a housing cover provided by an embodiment of the present application;

[0091] Figure 20b Schematic diagram of the structure of a housing cover provided by an embodiment of the present application;

[0092] Figure 21 Schematic diagram of the setting positions of the grating structure and the fourth photoelectric switch in a cleaning robot provided by an embodiment of the present application;

[0093] Figure 22 Schematic diagram of the structure of respectively setting a first connection end and a second connection end for connecting an elastic member on a sliding plate and a slider in an embodiment of the present application;

[0094] Figure 23The schematic structural diagram showing the hovering surface is provided at the top of the lifting part;

[0095] Figure 24 The cross-sectional view of a mopping and washing assembly provided by an embodiment of the present application;

[0096] Figure 25a The cross-sectional view of a mopping and washing bracket provided by an embodiment of the present application;

[0097] Figure 25b The cross-sectional view of another mopping and washing bracket provided by an embodiment of the present application;

[0098] Figure 25c The position relationship diagram of the driving wheel and the mopping and washing assembly on the body is shown;

[0099] Figure 26a The comparison schematic diagram showing the dirt collection box is arranged on the front side and the rear side of the cleaning roller;

[0100] Figure 26b The comparative structural schematic diagram showing the dirt collection box is arranged on the front side and the rear side of the cleaning roller;

[0101] Figure 27 The cross-sectional view of another mopping and washing assembly provided by an embodiment of the present application;

[0102] Figure 28 The cross-sectional view from another perspective of another mopping and washing assembly provided by an embodiment of the present application;

[0103] Figure 29a The exploded view of a scraper assembly provided by an embodiment of the present application;

[0104] Figure 29b The cross-sectional schematic diagram of the water guide plate provided by an embodiment of the present application;

[0105] Figure 29c The schematic structural diagram of the adaptive adjustment device provided on the cleaning robot provided by an embodiment of the present application;

[0106] Figure 30 The three-dimensional structure diagram of a scraper assembly provided by an embodiment of the present application;

[0107] Figure 31 The implementation structural schematic diagram of another driving device provided by an embodiment of the present application;

[0108] Figure 32 It shows that in Figure 31 The schematic diagrams of two states of the mopping and washing assembly rising and extending driven by the driving device of the shown structure;

[0109] Figure 33 The implementation structural schematic diagram of another driving device provided by an embodiment of the present application;

[0110] Figure 34a Structural diagram of a cleaning device provided by an embodiment of the present application;

[0111] Figure 34b Disassembly schematic diagram of the dirt collection box on a mopping and washing component provided by an embodiment of the present application;

[0112] Figure 34c Cross-sectional view of a mopping and washing component and a dirt collection box provided by an embodiment of the present application;

[0113] Figure 34d Cross-sectional view of a mopping and washing component and a dirt collection box in a disassembled state provided by an embodiment of the present application;

[0114] Figure 34e Schematic diagram of the disassembly steps of the dirt collection box on a mopping and washing component provided by an embodiment of the present application;

[0115] Figure 34f Explosion schematic diagram of a dirt collection box provided by an embodiment of the present application. Detailed implementation manners

[0116] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only the parts related to the present application rather than all the structures are shown in the accompanying drawings. In the description of the present application, unless otherwise clearly specified and defined, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside 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 circumstances. In the present application, unless otherwise clearly specified and defined, 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 therebetween. Moreover, the first feature being "above", "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 horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature. In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the accompanying 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.

[0117] Currently, the bodies of many cleaning robots are circular. The circular body is relatively flexible and easy to get out of trouble. When a dust suction roller 01 and a mopping roller 02 are simultaneously provided on the cleaning robot, generally the dust suction roller 01 is located in front of the roller 02, so that the cleaning robot can vacuum first and then mop during movement. Due to the circular shape of the cleaning robot, for the need of avoiding obstacles and getting out of trouble during movement, the drive wheels are generally arranged at the maximum width position perpendicular to the forward direction, the roller is generally placed behind the drive wheels, and the whole does not protrude beyond 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 closet, etc., after maintaining the minimum safe distance from the object such as the wall or closet, in the corner area with a relatively large dimension d from the object, the cleaning robot cannot mop. To solve this problem, some cleaning robots design the roller into a retractable structure.

[0118] In order to make the functions of the cleaning robot more comprehensive, the rollers of some cleaning robots are designed to be retractable. When the roller extends, it can clean along the wall or clean around obstacles. However, after the roller extends, although some robots can ensure the supply of clean water, the squeegee is still inside the body. That is, only the extended part of the roller can receive clean water, and the dirt remains on the roller all the time. The dirt cannot be scraped off, the roller cannot be cleaned, and there is still a problem of smearing similar to that of the mop plate, resulting in poor cleaning effect.

[0119] As Figure 1b shown, the extension of the roller allows the roller to reach the corner area, and the coverage rate is improved. However, when only the roller extends, the roller will adhere to dirt during the cleaning process, and the roller will become dirtier and dirtier. The corner area (such as the area with the edge width d in Figure 1a ) cannot achieve good cleaning effect, but will become dirtier and dirtier as it is dragged.

[0120] To enable the roller to have a good cleaning effect after extension, it is necessary for the roller to be self-cleaned in a timely manner when it is in the extended state. When the roller brush contacts the ground for mopping, it can have a good cleaning degree and there will be no problem of smearing.

[0121] In the prior art, some cleaning robots with rollers can only perform single retraction or lifting, and the state of the cleaning roller is single. The cleaning roller cannot perform lifting and lowering actions when it extends. In addition, this working method cannot adapt to various working environments. When the cleaning robot encounters a complex environment, the cleaning efficiency of the cleaning robot will be significantly reduced.

[0122] Each embodiment of the present application provides a cleaning robot. The cleaning unit of the cleaning robot is retractable, and it can also ensure that there is a continuous supply of cleaning water at any position of the cleaning unit. The squeegee can also continuously act to scrape off the dirt on the cleaning unit, so that the cleaning unit can clean and self-clean while extending to any position. If the mop solution in the prior art: continuously supply cleaning liquid to the mop, the mop cleans the ground, and the mop cannot be cleaned during work, is called dead water cleaning. Then the solution provided by the embodiments of the present application can be called live water cleaning, that is, when the cleaning unit works (i.e., mopping the ground), there is 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. In this way, the cleaning unit can maintain a long-term cleanliness, and thus can improve the cleaning degree of the cleaning robot for the ground.

[0123] 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 known as a track-type roller, includes two spaced-apart track wheels, and an annular runway-shaped track-type wiping cloth is sleeved on the two track wheels. The outer surface of the track-type wiping cloth has cleaning fluff. One side of the track-type wiping cloth is in contact with the ground. As the track wheels rotate, the track-type wiping cloth will move relative to the ground, so as to realize mopping and washing the ground. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor may be called a roller motor, and the cleaning roller is driven by the roller motor to rotate to mop and wash the ground. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor may be called a pulley motor, and the pulley motor drives the track to rotate to drive the track-type wiping cloth to move to mop and wash the ground.

[0124] In addition, in the technical solution provided by the present application, the body of the cleaning robot includes two power sources, and the two power sources can work independently or work simultaneously. One of the power sources can be used to drive the cleaning roller to extend outward and retract inward, and the other power source can be used to drive the cleaning roller to lift and lower. By the coordinated work of the two power sources, not only can the cleaning roller perform the actions of lifting or lowering simultaneously in the retracted state, but also the cleaning roller can perform the actions of lifting or lowering simultaneously in the extended state. The cleaning roller on the cleaning robot can perform multiple actions simultaneously, and the state of the cleaning roller is rich. It can not only easily cope with various complex environments, but also improve the cleaning efficiency of the cleaning robot.

[0125] Before introducing the mopping and washing assembly and the driving device provided in the embodiments of the present application, the structure of the cleaning robot will be briefly introduced. In the following embodiments, the cleaning unit is taken as an example of a cleaning roller for description.

[0126] See Figure 2 、 3a As shown in FIGS. 3 and 4, the cleaning robot includes, but is not limited to: a body 1, a vacuum cleaning system 3, a mopping and washing 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 and washing system, the traveling system 8, the sensing system 640, and the control system are all arranged on the body 1. As shown in FIG. 3, the vacuum cleaning system 3 may include, but is not limited to: a dust box 301, a vacuum suction fan 302, a roller brush (not shown in the figure), etc. The control system includes a hardware part and also includes a software part. The hardware part is such as a main board 2, such as Figure 4As shown below. The main board assembly mentioned below can also be considered as main board 2. A processor, a storage medium (such as a memory), etc. can be provided on the main board 2. The software part is the computer program stored in the storage medium. The processor executes these computer programs to control the components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, path planning, obstacle recognition, cleaning around obstacles, edge cleaning, returning to the base station and completing docking, area recognition, cleaning mode switching (only vacuuming, only mopping, or vacuuming first and then mopping), and so on. The traveling system 8 can include drive wheels and drive wheel motors; the drive motors output corresponding power under the control of the main board to drive the drive wheels to rotate, so as to realize the forward, backward, stop, and turning of the cleaning robot, etc. Further, the traveling system 8 can also include caster wheels, and the caster wheels are follower wheels and can be arranged at the front of the body. The side brush assembly 7 can be one or two. As Figure 2 shown in the example, a side brush assembly 7 is provided on one side (such as the right side) of the front part of the body 1. If the side brush assembly 7 is two, the two side brush assemblies can be respectively arranged on both sides of the front part of the body 1 (such as one on each of the left and right sides).

[0127] The mopping system can 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 can include but is not limited to: a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45, and a decontamination mechanism 44. Among them, the roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is connected to the clean water tank 5 through a clean water pipe. The decontamination mechanism 44 is connected to the sewage tank 9 through a sewage pipe. The cleaning robot further includes a driving device 10, 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.

[0128] It should be noted here that: As can be seen from the components included in the mopping and washing assembly 4, the mopping and washing assembly 4 in this embodiment can mop and scrub the object to be cleaned (such as the ground), and at the same time can utilize its own liquid supply mechanism 45 and dirt removal mechanism 44 to achieve self-cleaning function to maintain a good cleanliness of the cleaning roller. In addition, the cleaning roller 42 on the mopping and washing assembly 4 can be a cylindrical roller, that is, the surface of the cylindrical roller has cleaning fluff. The cleaning roller 42 can also be a tracked roller. This tracked roller includes two spaced track wheels, and an annular track-shaped wiping cloth is sleeved on the two track wheels. The outer side of the tracked wiping cloth has cleaning fluff. One side of the tracked wiping cloth contacts the ground, and as the track wheels rotate, the tracked wiping cloth will rotate relative to the ground at the same time, so as to achieve mopping and washing of the ground.

[0129] As can be seen from the above, in the solution provided by the embodiment of the present application, the driving device 10 can drive the mopping and washing assembly 4 as a whole to move relative to the body, so as to extend out a part outside the body. That is to say, in any position of the mopping and washing assembly 4, 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 out for edge cleaning, the cleaning roller 42 will not be overly dirty, and can still have a good cleaning effect after long-term cleaning, and the use experience is better.

[0130] In fact, the mopping and washing assembly 4 in this embodiment can also be in an extended state normally. For example, when the cleaning robot is started, the main board controls the driving device 10 to drive the mopping and washing assembly 4 to move relative to the body, so as to extend out 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 controls the driving device 10 to drive the mopping and washing assembly 4 to retract so as to hide inside the body 1, which is convenient for obstacle avoidance or passing through a narrow space. When the cleaning roller 42 is in the extended state, the outer edge of the cleaning roller 42 can be flush with the widest edge of the body 1, or the outer edge of the cleaning roller 42 can extend beyond the widest edge of the body 1. 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.

[0131] As Figure 5 shown in the example, the mopping and washing assembly 4 further includes a mopping and washing bracket 43; the mopping and washing bracket 43 has a roller installation cavity with an opening facing downwards. The roller motor 41 and the cleaning roller 42 are arranged in the roller installation cavity. The cleaning roller 42 contacts the surface to be cleaned through the opening; the liquid supply mechanism 45 and the dirt removal mechanism 44 are both arranged on the mopping and washing bracket 43; the power end of the driving device 10 is connected to the mopping and washing bracket 43.

[0132] Specifically, the mopping bracket 43 has a downward first opening and a lateral second opening. Below the cleaning roller 42 passes through the first opening and contacts the surface to be cleaned. The cleaning roller 42 is detachable through the second opening, and the second opening and the position on the body 1 where the mopping assembly extends are on the same side. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position on the body 1 where the mopping assembly extends, and then can 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 roller motor 41, the other end of the cleaning roller 42 is connected at the second opening. That is, the disassembly and assembly direction of the cleaning roller 42 is the direction of the cylinder axis.

[0133] See Figure 3a As shown, a water tank 5 is provided on the body 1 of the cleaning robot. As Figure 7b As shown, the mopping bracket 43 has a roller bracket 421. The liquid supply mechanism 45 can be arranged on the roller bracket 421. Figure 7b Shows an implementable structure of the liquid supply mechanism 45. The liquid supply mechanism 45 includes a water distributor 452. The water distributor 452 has a main trunk, a plurality of branches 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 axis of the cleaning roller 42. The main trunk of the water distributor 452 is connected to the water tank 5 through a first flexible pipe 443. One end of the first flexible pipe 443 is connected to the water supply port 451 of the main trunk, and the other end is connected to the water tank 5. The plurality of branches communicate with the main trunk, and the plurality of liquid supply ports respectively correspond to the plurality of branches.

[0134] As Figure 5 shown, the dirt removal mechanism 44 includes a scraping strip 441 and a dirt collection box 442. The end of the scraping strip 441 contacts the cleaning roller 42, and the dirt collection box 442 is located below the scraping strip 441. When the cleaning roller 42 rotates, the dirt scraped by the scraping strip 441 enters the dirt collection box 442. As Figure 1c shown, the bottom surface of the dirt collection box 442 is m higher than the bottom surface of the body 1, such as 1 mm to 5 mm.

[0135] The disassembly and assembly direction of the cleaning roller 42 and the direction of the drum axis. The disassembly direction of the dirt collection box 442 can be different from the disassembly direction of the cleaning roller 42. For example, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42. Since the cleaning roller 42 and the dirt collection box 442 are 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, there may be mutual contact, friction, or even the other component is driven to move. Therefore, in this solution, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, ensuring separation in the fixing method and non-interference during disassembly. And with the downward disassembly method of the dirt collection box, 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. Please refer to the following content.

[0136] See Figure 3a , a sewage tank 9 is provided on the body 1. Correspondingly, as Figure 3b and Figure 9a shown in an implementation solution, the squeegee 441 has an avoidance hole 446, and a sewage collection pipe 542 is provided at the avoidance hole 446. One end of the sewage collection pipe 542 is communicated with the avoidance hole 446, and the other end is communicated with the dirt collection box 442. The dirt collection box 442 is communicated with the sewage tank 9 through a second flexible pipe 456. The dirt scraped off from the cleaning roller 42 by the squeegee 441 enters the sewage collection pipe 542 through the avoidance hole 446. It enters the dirt collection box 442 through the sewage collection pipe 542. In specific implementation, the decontamination mechanism 44 may further include a sewage pump (not shown in the drawings), and the sewage pump is used to pump the dirt in the dirt collection box 442 into the sewage tank 9 through the second flexible pipe 456. Among them, the sewage pump can work regularly to pump away the dirt in the dirt collection box 442; it can also be started to work when the dirt volume in the dirt collection box 442 reaches a threshold value to pump away the dirt in the dirt collection box 442. 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 is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0137] See Figure 3b , Figure 7a , Figure 8 and Figure 9a, in an embodiment provided by the present application, the water tank 5 is communicated with the liquid supply mechanism 45 through the first flexible pipe 443. The cleaning liquid stored in the water tank 5 can be transported to the liquid supply mechanism 45 through the first flexible pipe 443, and then the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42. The sewage tank 9 is communicated with the sewage removal mechanism 44 through the second flexible pipe 456. The sewage collected by the sewage removal mechanism 44 can be transported to the sewage tank 9 through the second flexible pipe 456. When the mopping assembly 4 moves outwards, the first flexible pipe 443 and the second flexible pipe 456 will move together with the mopping assembly 4. The bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually extend. The first flexible pipe 443 keeps the liquid supply mechanism 45 and the water tank 5 always communicated, and the second flexible pipe 456 keeps the sewage removal mechanism 44 and the sewage tank 9 always communicated.

[0138] See Figure 7a and Figure 7b , the liquid supply water inlet 451 is connected to the first flexible pipe 443, and the sewage removal water outlet 4410 is connected to the second flexible pipe 456. The liquid supply water inlet 451 and the sewage removal water outlet 4410 extend from above the mopping bracket 43 to be connected to the first flexible pipe 443 and the second flexible pipe 456 respectively. See Figure 6 , the first flexible pipe 443 and the second flexible pipe 456 are arranged horizontally (i.e., in the negative X-axis direction in the figure) below the cavity shell 46, and then come out upwards from Figure 6 the empty space 03 in to be connected to the water tank 5 and the sewage tank 9 on the body 1. See Figure 6 , a pipe space for accommodating the first flexible pipe 443 and the second flexible pipe 456 is arranged beside the empty space 03. Since the mopping assembly 4 is to move relative to the cavity shell 46 in the positive and negative X-axis directions, the first flexible pipe 443 and the second flexible pipe 456 can deform with the movement of the mopping assembly 4 to provide cleaning liquid for the cleaning roller 42 and can discharge the dirt in the dirt collection box 442 in real time.

[0139] To avoid bending, springs (not shown in FIG. 9) may be provided on the outer sides of the first flexible pipe 443 and the second flexible pipe 456, so that when the mopping assembly 4 moves as a whole (lifts and / or extends), there will be no bending blockage to affect sewage discharge and liquid supply. In a specific embodiment, the first flexible pipe 443 and the second flexible pipe 456 are respectively elastic pipes. When the mopping 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 the retracted state, the first flexible pipe 443 and the second flexible pipe 456 are in the bent state, but the first flexible pipe 443 and the second flexible pipe 456 are not in 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, so as to ensure that the connection of the pipes is not interrupted.

[0140] A cleaning robot provided by an embodiment of the present application has a mopping assembly 4 that can extend and retract 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. At least one end of the receiving cavity 101 is open in the width direction of the body 1.

[0141] It should be noted that Figure 1b the direction of arrow X in

[0142] 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

[0143] angle in Figure 10aAs shown, the outermost edge of the mopping and washing assembly 4 extends outward beyond the edge of the body 1. Therefore, when the body 1 of the cleaning robot maintains a safe distance from the edges of objects such as the wall edge and the edge of furniture, the cleaning roller 42 can achieve edge cleaning of the object. Of course, in an open space, the cleaning roller 42 can also extend out, such as Figure 10a In the state shown, the cleaning task is performed. In a specific embodiment, Figure 10a In the figure, the dashed box E represents a schematic diagram of the mopping and washing assembly 4 in the retracted state (initial state), and the solid box F represents a schematic diagram of the mopping and washing assembly 4 extending outward or swinging outward. When the cleaning robot performs edge cleaning along the edge of an object, the edge of the body 1 of the cleaning robot maintains a safe distance from the edge of the object. The distance that the mopping and washing assembly 4 extends outward relative to the edge of the body 1 is D, and the value range of D is [10 mm to 0 mm], for example, 5 mm. Of course, in order to prevent the outer edge of the mopping and washing assembly 4 from directly bumping or scratching the edge of the object, there is also a safe distance between the outer edge of the mopping and washing assembly 4 and the edge of the object, and this safe distance is d, and the value range of d is [10 mm to 1 mm], for example, 2 mm. The moving stroke of the mopping and washing assembly 4 relative to the body 1 can be 40 - 60 mm, such as an extension stroke of 50 mm.

[0144] The driving device 10 can drive the mopping and washing assembly 4 to extend outward from the opening on the side of the accommodating cavity 101. For the retraction of the mopping and washing assembly 4, it can be retracted under the drive of the driving device 10. Or, the retraction of the mopping and washing assembly 4 is not driven by the driving device 10, and it can be retracted under the drive of an elastic member provided between the cavity housing 46 (as Figure 6 shown) and the mopping and washing assembly 4. For example, when the driving device 10 drives the mopping and washing assembly 4 to extend outward, the elastic member provided between the cavity housing 46 and the mopping and washing assembly 4 deforms (such as compresses). When the mopping and washing assembly 4 needs to be retracted, the driving device 10 is decoupled from the mopping and washing assembly 4, and the mopping and washing assembly 4 is driven to retract under the restoring force of the elastic member. Of course, this is only an embodiment provided by the present application. In other embodiments, the extending action and the retracting action of the mopping and washing assembly 4 are both driven by the driving device 10. Here, it should be added that: the cavity housing 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 housing 46 as Figure 6 shown is provided on the base of the body 1.

[0145] The above briefly introduced the structure of the cleaning robot provided by the embodiments of the present application. Next, the structure of the mopping and washing component 4 in the present application, the structure for realizing the telescopic function of the mopping and washing component (i.e., the specific implementation of the driving device), etc. will be described in more detail. The solutions provided by the embodiments of the present application focus on the mopping and washing component 4. The mopping and washing component 4 can extend from at least one side of the body of the cleaning robot relative to the body of the cleaning robot, so that a part of the mopping and washing component 4 is exposed, so that the mopping and washing component 4 can maintain good cleanliness during self-cleaning at any position. The following first details the telescopic function of the mopping and washing component 4. There are various implementation structures for the telescopic function of the mopping and washing component 4, which will be introduced one by one below.

[0146] See Figure 6 、 11 to Figure 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.

[0147] 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 Figure 13 shown in the example, relative to the first gear 13, most of the teeth of the first rack 14 are on the left side of the first gear 13. This state can be called the rack being in the origin position. At this time, the mopping and washing component 4 is in the initial state, that is, Figure 11 the state shown. From the perspective of the overall cleaning robot, Figure 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 Figure 13 looking at the first motor, it outputs power in the counterclockwise direction) to drive the first rack 14 to move along the first direction ( Figure 13 the direction of the arrow X in). Figure 12 shows a schematic diagram of the mopping and washing component 4 in the extended state. When the mopping and washing component 4 needs to retract, the first motor of the first power source 102 rotates in reverse (from Figure 13 looking at the first motor, it outputs power in the clockwise direction) to drive the first rack 14 to move along the opposite direction of the first direction (the second direction).

[0148] See Figure 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.

[0149] As mentioned above, the sliding plate is arranged on the upper surface of the cavity shell 46. Refer to Figure 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 Figure 14 shown), and the connecting column 241 extends above the sliding plate 20 through the slot hole 27 and the through hole 23 on the sliding plate 20. The length of the slot hole 27 is greater than or equal to the maximum moving distance of the mopping and washing assembly 4.

[0150] Furthermore, as Figure 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 will be formed, and the driving device 10 (i.e., the first power source 102 and the first motion execution mechanism 103) is located in the hollow cavity. The shell cover 47 can not only provide effective protection for the driving device 10 to prevent garbage and foreign objects from entering and affecting the normal operation of the driving device 10. In addition, a mating groove 471 is provided on the bottom surface of the shell cover 47, and the top end of the second baffle 26 contacts in the mating groove 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the mating groove 461. The shell cover 47 can play a role in limiting the second baffle 26, effectively preventing the sliding plate 20 from moving upward or protruding.

[0151] 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 a variety of working scenarios. The main board 2 of the cleaning robot can determine the target position of the mopping and washing assembly 4 relative to the body based on the information detected by the sensing system 640; then control the driving device to drive the mopping and washing assembly to move to the target position. The main board 2 can realize the mopping and washing assembly 4 to stop and work at any position by controlling the driving device 10.

[0152] 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, so as to facilitate the main board assembly of the cleaning robot to make corresponding controls. As Figure 13 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 Figure 13 shown, the cavity shell 46 is provided with: a first photoelectric switch 281 and a second photoelectric switch 282. 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.

[0153] Correspondingly, a triggering structure may be provided on the first motion execution mechanism 103. When 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, only one triggering structure needs to be provided. If the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located on both sides of the first motion execution mechanism 103, two triggering structures need to be provided on the first motion execution mechanism 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 execution mechanism 103. When the mopping assembly 4 is in the first extreme position of the retracted state, the first triggering structure 291 triggers the first photoelectric switch 281. When the mopping assembly 4 moves along Figure 23 the arrow X direction in the figure to the second extreme position of the extended state, the second triggering structure 292 can trigger the second photoelectric switch 282, indicating that the mopping assembly 4 extends out to the farthest distance.

[0154] Although the second triggering structure 292 and the second photoelectric switch 282 can detect whether the mopping assembly 4 reaches the second extreme position of the extended state, the main board assembly can control the first power source 102 to stop working based on the triggering signal of the second photoelectric switch 282, so that the mopping assembly 4 stops at the second extreme position. However, for the sake of safety, a limiting structure may also be provided on the cavity shell 46. When the sliding plate 20 slides to the second extreme position, the first motion execution mechanism 103 abuts against the limiting structure (more specifically, the sliding plate of the first motion execution mechanism 103 abuts against the limiting structure).

[0155] As mentioned above, when the mopping assembly 4 extends outwards, it has multiple gears. In different gears, the position of the mopping assembly 4 relative to the body is different. Of course, it can also be said that in different gears, the distance that the mopping assembly extends outwards is different. Refer to Figure 13 、 Figure 14 and Figure 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 execution mechanism 103. The length of the grating structure 294 is equal to or less than the maximum stroke of the mopping assembly 4. When performing gear adjustment, the fourth photoelectric switch 284 can accurately detect the counting scale on the grating structure 294, so as to determine the gear at which the mopping assembly 4 extends outwards.

[0156] The implementation process of the driving device 10 will be described in detail below in combination with the usage scenario.

[0157] 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.

[0158] 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 dustbin 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 interaction 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 component of the cleaning robot controls the driving device 10 to drive the mopping component to extend to a set position. This set position can be the second limit position of the extended state mentioned above, or a position between the first limit position of the retracted state and the second position of the extended state. This embodiment does not make specific limitations on this. Then, the cleaning robot maintains the posture with the mopping component extended at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0159] During the cleaning process of the cleaning robot, when an obstacle is detected by the sensing system, the main board component controls the driving device 10 to drive the mopping component to retract a certain distance. Here, the "certain distance" of retraction can be calculated by the main board component based on the information of the obstacle sensed by the sensing system; or it is the distance for the mopping component to retract from the current extended state to the first limit position. After bypassing the obstacle, the main board component then controls the driving device to make the mopping component extend to continue the cleaning task.

[0160] 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.

[0161] 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.

[0162] The cleaning robot plans a cleaning path according to the map of the area to be cleaned. Assume that the cleaning path is to clean the open area first and then perform edge cleaning. Such as cleaning along the wall, 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 2 of the cleaning robot controls the driving device to control the mopping component to extend (it can extend a set length or extend to the second limit position), and performs 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 level position) to move to the next area to be cleaned, or return to the base station for replenishment, sewage discharge or self-cleaning, etc.

[0163] SeeFigure 16 As shown, the mopping and washing assembly 4 is floatingly connected to the first motion execution mechanism 103. For example, assume that Figure 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, it can float up and down according to the change of the ground when the mopping and washing assembly travels on an uneven ground. The first motion execution mechanism 103 is connected to the mopping and washing assembly 4 through the connection assembly 24. As Figure 16 shown, the connection assembly 24 may include: a connection column 241 and a slider 242. Above the mopping bracket 43 of the mopping and washing assembly 4, there is a connection column 241. The first motion execution mechanism 103 includes a Figure 18 slider 242 as shown. The slider 242 is provided with a mounting hole, and a screw enters the hole of the connection column 241 through the mounting hole to connect the slider 242 with the connection column 241. In Figure 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.

[0164] In the above text, it is only mentioned that the driving device 10 can drive the mopping and washing assembly 4 to move along 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 along the width direction of the body, but also move up and down. The mopping and washing assembly moving along the width direction of the body and moving up and down can be respectively realized 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 accommodation cavity 101 along the width direction of the body 1, but also move up and down.

[0165] 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 1 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 in the acting force of the mopping and washing assembly 4 on the ground due to the uneven terrain. For some soft-wood floor surfaces, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0166] 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.

[0167] 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 better cleaning effect and higher cleaning efficiency. During the process of cleaning the ground, the cleaning roller can also perform self-cleaning 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 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.

[0168] During the cleaning operation, the cleaning robot needs to face various cleaning environments. For example, tile floors, wooden floors, carpet floors, etc. When cleaning a carpet floor, in order to prevent the wet cleaning roller from wetting the carpet, it is necessary to lift the cleaning roller at this time to avoid contact between the cleaning roller and the carpet. In addition, for some corner areas (such as the edge of the wall, 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 4 with the cleaning roller 42 can not only rise and fall. When edge cleaning is required, the mopping and washing assembly 4 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 4 can achieve edge cleaning.

[0169] When a cleaning robot is cleaning a dirty floor, in order to reduce the number of back-and-forth switches 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). During obstacle avoidance, the mopping component 4 on the cleaning robot retracts into the accommodating cavity 101, and after completing obstacle avoidance in the retracted state, it switches back to the extended state. This working method can not only reduce the number of switches 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 the household floor not only has a large area of wall corner regions, but also has corner regions of multiple scattered household objects. If the mopping component 4 on the cleaning robot preferentially performs cleaning in the retracted state, it is inevitable that it needs to switch back and forth between the retracted state and the extended state, and during each state switch, it requires a long time of waiting or the switching of the motion algorithm of the cleaning robot. This not only increases the total time for the cleaning robot to complete the cleaning, but also increases the computational load of the control calculation unit on the main board 2 for the motion algorithm. The working scenario of the cleaning robot is very complex. In order to achieve a better comprehensive coverage cleaning effect, the cleaning robot needs to detect and judge in real time whether it is necessary to extend the mopping component 4. With a complex environment, 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.

[0170] 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 situations and only retracts the mopping component 4 in several simple scenarios such as when encountering obstacles or turning. The control logic is simple, the design difficulty is not great, and it is easy to implement. In addition, refer to Figure 10b, in the figure, the left figure (G) shows that the mopping and washing component 4 is in the first position (such as the first limit position in the retracted state), and the right figure (H) shows that the mopping and washing component 4 is in the second position (such as the second limit position in the extended state). The cleaning robot works according to the cleaning path shown in Figure 10. It can be seen that when the mopping and washing component 4 is in the first position, the edge of the mopping and washing component 4 in the width direction is at a distance 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 figure, on the path where the cleaning robot travels, there will be a shaded area as shown in Figure (G), and this shaded area is the area not cleaned by the mopping and washing component 4. By adopting the solution that the mopping and washing component 4 is normally extended, when the cleaning robot performs the cleaning task, the mopping and washing component 4 is extended. When cleaning according to the "bow-shaped" cleaning path shown in the figure, because the outer edge of the mopping and washing component 4 is basically flush with the widest edge of the body 1, there will be no situation where the shaded area 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 solution that the mopping and washing component 4 is normally extended as shown in the right figure (H), there is no need to consider the problem of covering the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0171] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0172] S11. When performing a cleaning task in an open area, the mopping and washing component 4 performs the cleaning task in the extended state;

[0173] S12. When it is detected that the surrounding environment determines that the mopping and washing component 4 needs to retract, the mopping and washing component 4 retracts, and the mopping and washing component 4 performs the cleaning task in the retracted state or the cleaning robot travels with the mopping and washing component 4 in the retracted state;

[0174] Wherein, in the extended state, the mopping and washing component 4 extends from one side of the body, and a part of the mopping and washing component 4 is exposed; in the retracted state, the outer edge of the mopping and washing component 4 is located inside the outer edge of the body, or a part of the outer edge of the mopping and washing component 4 is flush with the outer edge of the body.

[0175] Wherein, "detecting that the surrounding environment determines that the mopping and washing component needs to retract" in the above S12 may specifically include but is not limited to at least one of the following:

[0176] When it is detected that the cleaning robot needs to turn to avoid an obstacle, it is determined that the mopping and washing component 4 needs to retract;

[0177] When it is detected that the cleaning robot is in a narrow space and needs to escape, it is determined that the mopping and washing component 4 needs to retract;

[0178] When it is detected that the user issues a retraction instruction, it is determined that the mopping and washing assembly 4 needs to retract.

[0179] Further, the method provided in this embodiment may further include:

[0180] When the mopping and washing assembly 4 performs a cleaning task in the extended state and it is detected that the surrounding environment determines that the mopping and washing assembly 4 needs to be lifted, after the mopping and washing assembly 4 retracts to the first limit position, the mopping and washing assembly 4 is lifted to have a gap from the ground.

[0181] When the mopping and washing assembly 4 is in the third position, the projection of the mopping and washing assembly 4 is within the projection of the body; when the mopping and washing assembly 4 is displaced to the fourth position, the edge of the mopping and washing assembly 4 extends outside the edge of the body, and the projection of the mopping and washing assembly 4 is within the projection of the body. In the general cleaning mode, the mopping and washing assembly 4 is in the fourth position; in the special cleaning mode, the mopping and washing assembly 4 is in the third position to walk along the edge of the obstacle. The main board 2 controls the driving device to enable the mopping and washing assembly to stop and work at any position. Among them, the mopping and washing assembly 4 has a first limit position in the retracted state and a second limit position in the extended state; the any position is the first limit position, or the second limit position, or any position between the first limit position and the second limit position; the third position is the first limit position or any position between the first limit position and the second limit position; the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0182] Next, the specific structure of the mopping and washing assembly 4 will be described in detail.

[0183] As Figure 5 shown in FIG. 7, Figure 8 and FIG. 9, in an embodiment provided in 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 and washing bracket 43, or are integrated with the mopping and washing bracket 43. The scraping strip on the decontamination mechanism 44 can contact the cleaning roller 42 and scrape the sewage on the cleaning roller 42 clean during the rotation of the cleaning roller 42. Of course, the decontamination mechanism 44 does not simply scrape off the sewage, but also has the function of collecting sewage. After the scraping strip scrapes off the sewage, the sewage can directly enter the collection assembly. After the collection assembly filters the sewage, it can be transported to the sewage tank 9 through the pipeline connected to the decontamination water outlet 4410. In this embodiment, the mopping and washing assembly 4 includes the decontamination mechanism 44 and the liquid supply mechanism 45, that is, when the cleaning roller moves up and down and / or expands and contracts, the decontamination mechanism 44 and the liquid supply mechanism 45 also move up and down and / or expand and contract together.

[0184] The liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller 42. For example, when the cleaning roller 42 is dry, the liquid supply mechanism 45 evenly sprays clean water on the surface of the cleaning roller 42, and the cleaning roller 42 is fully wetted, and its cleaning ability will also be significantly improved. For another example, when the cleaning roller 42 is in a relatively dirty state, the liquid supply mechanism 45 can evenly spray the cleaning solution mixed with the cleaning agent on the surface of the cleaning roller 42, and the cleaning solvent dissolves the stains, so that it is convenient for the decontamination mechanism 44 to remove the stains on the cleaning roller 42 completely. For still another example, when the cleaning roller 42 is in the self-cleaning mode, the liquid supply mechanism 45 can spray a large amount of cleaning solution on the surface of the cleaning roller 42. After dissolving the stains, the decontamination mechanism 44 can clean the stains and sewage, which is beneficial to the cleaning roller 42 to clean itself quickly and efficiently.

[0185] The liquid supply mechanism 45 and the mopping bracket 43 can be of an integral structure. As Figure 7b shown in the example, a liquid supply 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 a plurality of 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 the plurality of outlets, and then the plurality of outlets can evenly spray the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 has better dry-wet uniformity.

[0186] Furthermore, the liquid supply mechanism 45 also 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.

[0187] When the mopping assembly 4 on the cleaning robot performs self-cleaning, there are mainly two processes. One is that the decontamination mechanism 44 removes the sewage on the cleaning roller 42 completely, and the other process is that the liquid supply mechanism 45 provides clean cleaning liquid to the cleaning roller 42. As the decontamination mechanism 44 continuously removes the sewage and stains completely, and the liquid supply mechanism 45 continuously provides the cleaning liquid, the mopping assembly 4 can perform self-cleaning while mopping the floor, and the mopping assembly 4 will always have a better cleaning effect.

[0188] See Figure 24, the mopping bracket 43 has a drum installation cavity 51, and the cleaning drum 42 is arranged in the drum installation cavity 51. Specifically, the mopping assembly 4 further includes a drum motor 41. On one side of the drum installation cavity 51, there is a motor mounting seat. The drum motor 41 is arranged on the motor mounting seat. The cleaning drum 42 is sleeved outside the drum motor 41 and is drivingly connected to the drum motor 41. The drum motor 41 can drive the cleaning drum 42 to rotate, so as to realize the cleaning of the ground. Both the drum motor 41 and the cleaning drum 42 are arranged in the drum installation cavity 51. The drum installation cavity 51 has an opening facing downwards and a lateral opening. The cleaning drum 42 can contact the ground through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning drum 42.

[0189] The decontamination mechanism 44 and the liquid supply mechanism 45 are both arranged on the mopping bracket 43. Specifically, the decontamination mechanism 44 is arranged in the drum installation cavity 51, and the decontamination mechanism 44 is located on the cavity wall of the drum installation cavity 51. The decontamination mechanism 44 includes a squeegee assembly 53. The squeegee assembly 53 extends towards the direction close to the cleaning drum 42 and is inserted into the fluff of the cleaning drum 42. When the drum motor 41 drives the cleaning drum 42 to rotate, the squeegee assembly 53 can scrape off the sewage and stains on the cleaning drum 42. The squeegee assembly 53 includes a squeegee 441.

[0190] The liquid supply mechanism 45 is arranged above the mopping bracket 43. The liquid supply mechanism 45 has a water distributor 452 and a plurality of liquid supply ports 453. The water distributor 452 can evenly distribute the cleaning liquid to the plurality of liquid supply ports 453, and then the cleaning liquid is evenly supplied and sprinkled on the cleaning drum 42 by the liquid supply ports 453. The liquid supply mechanism 45 further includes a first flexible pipe 443. The first flexible pipe 443 communicates the water tank 5 and the liquid supply inlet 451.

[0191] Correspondingly, there are openings on the cavity wall of the drum installation cavity 51, so that the plurality of liquid supply ports 453 of the liquid supply mechanism 45 above the mopping bracket 43 can supply and sprinkle the cleaning liquid on the cleaning drum 42 in the drum installation cavity 51 through the openings. Of course, the liquid supply mechanism 45 can also be directly arranged in the drum installation cavity 51. The liquid supply mechanism 45 is located above the cleaning drum 42 or directly contacts the cleaning drum 42. The liquid supply mechanism 45 can directly supply and sprinkle the cleaning liquid on the cleaning drum 42 through a plurality of liquid supply ports.

[0192] Figure 24 The direction of arrow Y in the figure represents the width direction of the mopping assembly 4. It can also be considered that when the cleaning robot is performing a cleaning task, the traveling direction of the cleaning robot, or the moving direction of the mopping assembly. Figure 24 The direction of arrow Z in the figure represents the height direction of the mopping assembly 4; Figure 24The direction of arrow b indicates the rotation direction of the cleaning roller 42 when cleaning the ground. In an embodiment provided by the present application, along the direction of arrow Y in FIG. 34, the liquid supply mechanism 45 is located on the front side of the decontamination mechanism 44; along Figure 24 the direction of arrow Z, the liquid supply mechanism 45 is located above the decontamination mechanism 44.

[0193] As the cleaning roller 42 rotates along Figure 24 the direction of arrow b, the liquid supply mechanism 45 first supplies and sprays cleaning liquid onto the cleaning roller 42. After the wetted cleaning roller 42 mops the ground, the stains are dissolved in the sewage of the cleaning roller 42 or adhered to the surface of the cleaning roller 42. Then, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning roller 42, and then the liquid supply mechanism 45 supplies and sprays the cleaning liquid onto the surface of the cleaning roller 42 again.

[0194] In a specific embodiment, the value range of the included angle α between the setting position of the liquid supply mechanism 45 and the setting position of the decontamination mechanism 44 is [20 degrees to 120 degrees], for example, it can be 60 degrees. Usually, in order to avoid the cleaning liquid dripping onto the ground when the liquid supply mechanism 45 supplies and sprays the cleaning liquid onto the cleaning roller 42, the liquid supply mechanism 45 is located directly above the cleaning roller 42, and the cleaning liquid dripping from the liquid supply port can be effectively absorbed by the cleaning roller 42, and there will be no leakage of water to the ground.

[0195] Furthermore, referring to Figure 24 , the scraping strip assembly 53 on the decontamination mechanism 44 is located above the midline J of the mopping assembly 4, and the straight line F where the contact angle between the end of the scraping strip assembly 53 and the cleaning roller 42 is located generally passes through the center of the cleaning roller 42. It can be understood that the extending direction of a section at the front end of the scraping strip assembly 53 and the center of the cleaning roller 42 are generally on the same straight line, and the tangent line at the contact point between the scraping strip assembly 53 and the cleaning roller 42 is generally perpendicular. This can make the scraping effect of the scraping strip assembly 53 on the cleaning roller 42 the best, the force exerted by the scraping strip assembly 53 on the cleaning roller 42 is smaller, and the wear rate of the scraping strip assembly 53 is also smaller.

[0196] Referring to Figure 24 , in an embodiment provided by the present application, along the height direction of the mopping assembly 4, the liquid supply mechanism 45 is located above the cleaning roller 42. Along the width direction of the mopping assembly 4, the decontamination mechanism 44 is located behind the contact point between the cleaning roller 42 and the surface to be cleaned. When the cleaning roller 42 rotates clockwise, a certain area on the cleaning roller 42 passes through the liquid supply mechanism 45, the surface to be cleaned, and the decontamination mechanism 44 in sequence, and finally returns to the liquid supply mechanism 45, and the liquid supply mechanism 45 transports the cleaning liquid to the surface of the cleaning roller 42 again.

[0197] Further, along the first median line P in the vertical direction of the cleaning roller 42, the liquid supply mechanism 45 is located directly above the first median line P, or, with the rotation center of the cleaning roller 42 as the vertex of the angle, the value range of the angle formed by the position of the liquid supply mechanism 45 and the first median line P is [-30 degrees to +30 degrees].

[0198] Further, along the second median line J in the lateral direction of the cleaning roller 42, the dirt removal mechanism 44 is located above the second median line J, or the position of the dirt removal mechanism 44 is flush with the second median line J.

[0199] See Figure 9, Figures 24 to 25a , 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 removal 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. The dirt removal 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 Figure 24 the direction of the arrow Y in, a square accommodating inner cavity is provided on the left side of the cleaning roller 42, and the dirt removal mechanism 44 is arranged in the accommodating inner cavity.

[0200] As Figure 25b shown, the front bottom of the dirt collection box 442 may have an oblique angle as shown in the figure. In this way, when traveling 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 travels onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0201] Furthermore, as Figure 25c shown, the front bottom of the machine body 1 may also have an oblique angle 1005 as shown in the figure. Similarly, when traveling 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 travels onto the carpet, the carpet hair can enter the bottom of the machine body along the oblique angle.

[0202] 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 on this. The oblique angle of 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 the oblique angle surface and the horizontal plane (such as the ground) can be an angle between 10 and 60 degrees.

[0203] The liquid supply port of the liquid supply mechanism 45 is directly an outlet hole facing the cleaning roller. Generally, the liquid discharged from the outlet hole has pressure. After the liquid with pressure comes out of the outlet hole and spreads out, a part of it will be sprayed onto the cleaning roller, and some liquid will also splash onto the cavity wall. After the water droplets on the cavity wall condense into large water droplets, they will fall onto the cleaning roller 42 or fall along the cavity wall to the ground. 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 a leak. If the amount of cleaning liquid on the cleaning roller 42 is insufficient, the roller cannot be fully wetted, which not only fails to achieve the expected mopping effect but also fails to achieve the expected self-cleaning effect. If the liquid supply amount of the liquid supply mechanism 45 is increased to address this problem, it may cause water accumulation on the ground due to excessive cleaning liquid supply, which will still directly affect the cleaning effect of the cleaning robot.

[0204] Therefore, the embodiment of this application has improved 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 arc surface of the inner cavity. Refer to Figure 25a and 25b As 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, both of which are the same as or similar to the arc degree of the cleaning roller 42. In addition, as Figure 28 shown, the liquid supply port 453 has an arc-shaped water guiding surface 4531 for guiding the cleaning liquid onto the cleaning roller 42.

[0205] 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 liquid to the cleaning roller 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 circular-ring-shaped, and the center of the circular ring is the outlet hole 4530. The outlet hole 4530 is connected to the branch for liquid supply in the liquid supply mechanism 45. As Figure 28 shown, the inner ring wall of the circular-ring-shaped liquid supply port is an arc surface.

[0206] Along the liquid outflow direction, the inner ring wall of the liquid supply port 453 is a stepped structure with an increasingly larger opening size; the inner ring wall surfaces of each stepped section are all arc surfaces for guiding the liquid flow to the cleaning roller 42. More specifically, as Figure 28In the enlarged local view, the liquid supply port 453 is annular, and the center of the annular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 communicates with one of the multiple branches. The inner ring wall of the liquid supply port 453 is a two-stage stepped structure with gradually increasing opening sizes, and the inner wall of each stage of the stepped structure is an arc surface. The cleaning liquid coming out of the liquid outlet hole 4530 falls onto the arc surface and can also flow along the arc surface to the cleaning roller 42, so that the cleaning liquid coming out of the liquid outlet hole 4530 can basically be sprayed onto the cleaning roller 42 without splashing onto the cavity wall outside the ring. The cleaning robot can also more accurately control the liquid supply volume of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a good dry-wet state, and the mopping effect is good; also because the cleaning roller 42 has a good dry-wet state, the self-cleaning of the cleaning roller 42 by the dirt removal mechanism 44 has a relatively good effect, which also positively promotes the mopping effect.

[0207] In order to enable the cleaning robot to have a better cleaning effect, in the solution provided in this embodiment, the liquid supply port 453 is further improved, and an arc water guiding surface is added at the liquid supply port 453 to guide the cleaning liquid to the cleaning roller; because of the arc water guiding surface, the cleaning liquid provided by the liquid supply mechanism 45 can basically flow to the cleaning roller 42 without splashing everywhere to other places. The cleaning robot can also more accurately control the liquid supply volume of the liquid supply mechanism 45 in different scenarios. With an appropriate amount of cleaning liquid supply, the cleaning roller 42 has a good dry-wet state, and the mopping effect is good; also because the cleaning roller 42 has a good dry-wet state, the self-cleaning of the cleaning roller 42 by the dirt removal mechanism 44 has a relatively good effect, which also positively promotes the mopping effect.

[0208] Furthermore, as Figure 28 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, then the water wiping structure 80 can be located on the front side of the liquid supply port.

[0209] 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.

[0210] Since it takes a certain amount of time for the cleaning liquid to spread evenly on the cleaning roller 42 after the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42, in order to ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 mops the floor, the rotation speed of the cleaning roller 42 cannot be too fast. Secondly, when the rotation speed of the cleaning roller 42 is too fast, the scraping efficiency of the scraping strip assembly 53 on the cleaning roller 42 is also lower. In the technical solution provided by the present application, when the cleaning roller 42 mops the floor, the value range of its rotation speed is [100 rmp / min to 300 rmp / min], specifically 200 rmp / min.

[0211] In the technical solution provided by the present application, the rotation direction of the cleaning roller 42 is opposite to the rotation direction of the traveling wheels of the cleaning robot, which can improve the cleaning effect of the cleaning roller 42.

[0212] See FIGS. 9, 24 to Figure 25a In an embodiment provided by the present application, the decontamination mechanism 44 further includes a sewage collection assembly 54, and the sewage collection assembly 54 is arranged below the scraping strip assembly 53. When the scraping strip assembly 53 scrapes the sewage on the cleaning roller 42, the sewage collection assembly 54 can collect the sewage and stains to avoid secondary pollution.

[0213] Further, the sewage collection assembly 54 includes a sewage collection box 442 and a sewage collection pipe 542. The sewage collection box 442 is located below the scraping strip assembly 53, and the sewage and stains scraped off by the scraping strip assembly 53 can directly fall into the sewage collection box 442, and the sewage collection box 442 collects it. Along the traveling direction of the cleaning robot, the front side and the rear side are distinguished. The sewage collection box 442 can be located on the front side of the cleaning roller 42, which can reduce the cleaning blind area. Most cleaning robots are circular. From the perspective of the layout of each component of the whole machine, in order to make the cleaning roller in the mopping and washing assembly longer, as shown in FIG. 26, the mopping and washing assembly can generally be arranged at a position with a distance G from the center O of the body. The left figure (E) in FIG. 26 shows the situation where the sewage collection box 442 is located on the front side of the cleaning roller 42, and the figure (F) shows the situation where the sewage collection box 442 is located on the rear side of the cleaning roller 42. It can be seen from this figure that when the mopping and washing assembly 4 is in the extended state and works as a whole (the extended length of the mopping and washing assembly in both the left and right figures is L), the distance D1 from the rear edge of the cleaning roller 42 in the mopping and washing assembly 4 shown in FIG. (E) to the center O is greater than the distance D2 from the rear edge of the cleaning roller 42 shown in FIG. (F) to the center O. It can also be concluded from this that the larger the dimension from the center O of the circle, the longer the front edge and the rear edge of the cleaning roller 42 extend out of the body 1, that is, the longer the length exposed outside the body 1. It can also be known from this that the area S1 of the cleaning roller 42 exposed outside the body 1 shown in FIG. (E) is larger than the area S2 of the cleaning roller 42 exposed outside the body 1 shown in FIG. (F).

[0214] The area of the cleaning roller 42 exposed outside the body 1 is large, and the larger the cleaning coverage area is, especially in the case of the cleaning robot turning. The structure shown in the left figure (E) where the dirt collection box is located in front of the cleaning roller 42, when the mopping assembly 4 is in the extended state, the cleaning coverage area is large, and the cleaning blind area is smaller than that of the structure shown in the right figure (F) where the dirt collection box is located behind the cleaning roller. Also, as Figure 26b shown, in the corner area as shown in the figure, when the body of the cleaning robot maintains a safe distance from the wall corner or the edge of the obstacle, in the left figure (E’), the dirt collection box 442 is located in front of the cleaning roller 42, and the distance between the cleaning roller 42 and the wall or the edge of the obstacle is D3. In the right figure (F’), the dirt collection box 442 is located behind the cleaning roller 42, and the distance between the cleaning roller 42 and the wall or the obstacle is D4. It can be clearly seen that D3 is less than D4, that is, in the solution of the left figure (E’), the cleaning roller is closer to the wall or the obstacle, which means that for the cleaning with the cleaning roller 42 at the rear, the cleaning coverage area is larger and the cleaning blind area is smaller.

[0215] One end of the dirt collection pipe 542 is arranged in the dirt collection box 442, and the other end is connected to the sewage tank 9 of the cleaning robot through a pipeline, so as to suck the sewage in the dirt collection box 442 into the sewage tank 9. Refer to Figure 25a shown, the direction indicated by the arrow in the figure is the flow path when the sewage scraped off by the scraping strip assembly 53 enters the dirt collection box 442 and is drawn away by the dirt collection pipe 542. In order to be able to suck the sewage in the dirt collection box 442 into the sewage tank 9 in time, a water pump and a pipeline can be arranged on the dirt collection pipe 542, or alternatively, an air pump and a pipeline are connected to the sewage tank 9, and the air pump can provide negative pressure for the sewage tank 9. Under the action of the negative pressure, the sewage in the dirt collection box 442 can be sucked into the sewage tank 9 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. When the negative pressure pump works, it can pump negative pressure into the sewage tank 9. The valve body 545 is arranged on the dirt collection pipe 542 and can be used to control the on-off of the dirt collection pipe 542. First, the negative pressure pump can pump negative pressure into the sewage tank 9, and then the valve body 545 is opened. The negative pressure in the sewage tank 9 can suck the sewage in the dirt collection box 442 into the sewage tank 9 through the second flexible pipeline 456.

[0216] Refer to Figure 9a and Figure 9b, in an embodiment provided by the present application, the mopping and washing assembly 4 further includes a joint assembly 455. The joint assembly 455 includes a clean water pipe joint and a sewage pipe joint. The clean water pipe joint can be regarded as the liquid supply inlet 451 mentioned above, and the sewage pipe joint can be regarded as the sewage 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 as to more conveniently 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 outlet 4410, are all distributed on the front side of the cleaning roller, that is, above the sewage collection box. The flexible clean water pipe and the flexible sewage pipe are also located on the front side of the cleaning roller. With such a setting, the second flexible pipe 456 is closer to the sewage collection box, making the overall sewage discharge pipe shorter, requiring fewer bent pipes, increasing the sewage discharge efficiency, eliminating the possibility of blockage. 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.

[0217] Currently, for some cleaning devices, the rotation direction of the cleaning roller 42 is the same as that of the device drive wheel. Although this can assist the device in moving forward and reduce energy consumption, the collaborative working process of the cleaning roller 42, the wiper assembly 53, and the liquid supply mechanism 45 becomes: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the wiper assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. There are also some cleaning devices where the rotation direction of the cleaning roller 42 is different from that of the device drive wheel, but the dirt collection box 442 and the wiper are arranged behind the roller. At this time, the collaborative working process of the cleaning roller 42, the wiper assembly 53, and the liquid supply mechanism 45 is also: the cleaning roller 42 is replenished with water through the liquid supply mechanism 45 -> the wiper assembly 53 scrapes the liquid on the cleaning roller 42 -> the cleaning roller 42 cleans the ground. It can be seen that for such current cleaning devices, the water just replenished is immediately scraped off, and it is not very reasonable for the cleaning roller 42 to clean the ground afterwards. The scraped liquid contains the freshly replenished clean water, and this part of the clean water is recycled without participating in the cleaning.

[0218] At the same time, since the cleaning roller 42 of the mopping component of the cleaning robot does not have suction, to improve the cleaning effect, when the rotation direction of the cleaning roller 42 is opposite to that of the device drive wheel, the roller can push the dirt forward. The dirt that was not cleaned by the cleaning roller 42 for the first time has the opportunity to be picked up by the cleaning roller 42 again later, so that multiple cleanings can be achieved.

[0219] When the existing cleaning robot's cleaning roller 42 performs a cleaning task, first, a water replenishment step is carried out, that is, the liquid supply mechanism 45 transports the cleaning liquid to the surface of the cleaning roller 42. Then, the dirt removal mechanism 44 scrapes off the dirt on the surface of the cleaning roller 42. Finally, the cleaning roller 42 cleans the ground again. There are mainly three problems with this execution step;

[0220] First, after the liquid supply mechanism 45 replenishes water, the dirt removal mechanism 44 immediately scrapes off the mixture of clean water and sewage. The stains on the surface of the cleaning roller 42 may not have been completely dissolved in the clean water, so most of the scraped-off is clean water rather than sewage, resulting in incomplete self-cleaning.

[0221] Second, after the dirt removal mechanism 44 scrapes off the sewage on the surface of the cleaning roller 42, due to the action of the wiper, the water content of the roller before and after scraping decreases by 90%. As the water content of the cleaning roller 42 decreases, the cleaning power of the cleaning roller 42 on the ground will also decrease.

[0222] Third, after the cleaning robot's wiper scrapes water, when the relatively dry roller scrubs the dirt on the ground and then needs to rotate 180° to enter the water replenishment position, the dirt stuck on the overly dry roller is likely to be thrown out during the long rotation process and finally fall onto the ground, resulting in poor cleaning effect.

[0223] 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 drum 42 rotates in the reverse direction (i.e., in the opposite direction to the rotation direction of the driving wheel), the scraping strip assembly 53 is located on the front side of the cleaning drum 42, and the liquid supply mechanism 45 is located above the cleaning drum 42. In this way, the cooperation process of the cleaning drum 42, the scraping strip assembly 53 and the liquid supply mechanism 45 is as follows: the cleaning drum 42 replenishes water through the liquid supply mechanism 45 -> the cleaning drum cleans the ground -> the scraping strip assembly 53 scrapes the liquid on the cleaning drum 42. It can be seen that the solution provided by this embodiment is more reasonable. The freshly replenished clean water directly participates in the ground cleaning without being scraped by the scraping strip. At this time, the evenly wet scraping strip has a better wiping and adsorption effect on the ground dirt, especially stubborn dirt. Then the drum rotates a small angle (usually only about 90°), and then is scraped by the scraping strip. The dirt is not easily thrown out, and at this time, most of the scraped is sewage, and the clean water is fully utilized. Specifically, during the rotation of the cleaning drum 42, the liquid supply mechanism 45 supplies cleaning liquid to an area of the cleaning drum 42, and the area infiltrated with the cleaning liquid cleans the surface to be cleaned. Subsequently, the decontamination mechanism 44 acts on the area to scrape off the dirt and collect it. The area after scraping off the dirt enters the liquid supply range of the liquid supply mechanism 45 again. It can be understood that when the cleaning drum 42 cleans the ground, it first performs a water replenishment step. The surface of the cleaning drum 42 is fully wetted, and the water content of the cleaning drum 42 is also more. Subsequently, the cleaning drum 42 cleans the ground again. At this time, the cleaning force of the cleaning drum 42 on the ground is stronger, and more stains can be dissolved. Finally, the decontamination mechanism 44 scrapes off the sewage and stains on the cleaning drum 42, and then the liquid supply mechanism 45 replenishes the liquid again, and this process is repeated in turn. Since the liquid supply efficiency of the liquid supply mechanism 45 and the decontamination efficiency of the decontamination mechanism 44 are higher during the whole process, the cleaning liquid used by the cleaning drum 42 during the self-cleaning process 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.

[0224] To prevent the sewage from leaking to the side during the water scraping process of the scraping strip assembly 53, the length of the dirt collection box 442 is greater than or equal to the length of the scraping strip assembly 53. Refer to Figure 25a , from the setting direction of the scraping strip assembly 53, the setting direction of the dirt collection box 442 is substantially perpendicular to the setting direction of the scraping strip assembly 53. In this way, the sewage and stains scraped off by the scraping strip assembly 53 can directly fall into the dirt collection box 442 and are not easily leaked. In addition, to ensure that all the sewage scraped off by the scraping strip assembly 53 can enter the dirt collection box 442, the end of the scraping strip assembly 53 is located in the dirt collection box 442. In this way, the sewage scraped off by the scraping strip assembly 53 can directly enter the dirt collection box 442 along the end of the scraping strip assembly 53.

[0225] When the squeegee assembly 53 scrapes off the sewage on the cleaning roller 42, it is very easy to scrape the stains attached to the cleaning roller 42 into the sewage collection box 442 at the same time. When the sewage collection pipe 542 sucks the sewage, it may be blocked by these stains. To avoid this situation, refer to Figure 27 and Figure 28 , 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.

[0226] 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. Refer to Figure 9b As shown, the sewage collection box 442 has a V-shaped bottom surface, that is, along the axis direction of the cleaning roller, both ends of the bottom surface of the sewage collection box 442 are high and the middle is low. The low point of the V-shaped bottom surface is matched with the pipe orifice of the sewage collection pipe 542 to communicate with the sewage collection pipe 542.

[0227] To avoid bending, springs (not shown in FIG. 9) can be provided on the outer sides of the second flexible pipe 456 and the first flexible pipe 443, so that there will be no bending during the overall movement (lifting and / or telescoping) of the mopping assembly, which may affect sewage discharge and liquid supply.

[0228] Refer to Figure 28 and 29a , in an embodiment provided by the present application, the squeegee assembly 53 includes a squeegee 531 and a water guide plate 532. The end of the squeegee 531 is a squeegee strip 441. The materials of the squeegee and the squeegee strip can be the same or different, and this embodiment does not limit this. The water guide plate 532 is connected below the squeegee 531. The distance that the end of the squeegee 531 extends outward is greater than the end of the water guide plate 532. The squeegee strip 441 at the end of the squeegee 531 contacts the cleaning roller 42. When the cleaning roller 42 rotates, the squeegee 531 can scrape off the sewage on the cleaning roller 42, and then the water guide plate 532 guides it into the sewage collection box 442. In a specific embodiment, as Figure 25a shown, the cross-section of the water guide plate 532 is wedge-shaped. This structure can make a guiding water channel with a larger curvature formed on the surface of the water guide plate 532 after it is connected to the squeegee 531.

[0229] Furthermore, as Figure 29a, 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 to 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 sewage collection box 442.

[0230] The water guide plate 532 is provided with a plurality of water guide grooves 5321. 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 sewage collection box 442, see Figure 8 , the number of liquid supply ports 453 on the liquid supply mechanism 45 is less than the number of water guide grooves 5321 on the water guide plate 532. The position where the water guide plate 532 acts on the cleaning roller is the water scraping position. See Figure 29a , the water guide groove 5321 can be a through groove (i.e., the groove opening is open) at the water scraping position 53211 (i.e., the end near the cleaning roller) for convenient water guiding. The end position 53210 (i.e., the tail) of the water guide groove 5321 is closed for convenient drainage. The tail of the water guide groove 5321 is located at the opening of the sewage collection box. See Figure 29b 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 toward the upward arc surface of the water guide groove 5321 by the centrifugal force of the roller to overcome its own gravity. The extension line at the end of the squeegee assembly 53 passing through the center of the roller has the best scraping effect, 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 surfaces; from the water guiding to the drainage direction of the water guiding surface 5322, the curvature of the corresponding arc of the surface decreases. As shown by the P1 section and the P2 section in the figure, where the P1 section is a section on the water guiding side near the cleaning roller 42, and the P2 section is a section on the drainage side. It can be seen from the figure that the arc curvature of the P1 section is greater than that of the P2 section.

[0231] A plurality of water guide grooves 5321 are provided on the water-facing side of the squeegee assembly 53, and the water guide grooves 5321 at least extend to the collection opening of the sewage collection assembly (sewage collection box 442). The water-facing side (lower surface) refers to the side where the squeegee faces the rotation of the roller 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.

[0232] As Figure 28 shown, the lowest point 53220 of the P2 section is lower than the highest point 4521 of the sewage collection box 442. As Figure 8 shown, the length of the water guide plate 532 is less than the actual water receiving length of the sewage collection box 442. As shown in FIG. 34, 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 to 5 mm.

[0233] In an embodiment provided by the present application, the water guide plate 532 and the scraping plate 531 can be connected by fasteners 533, or the water guide plate 532 and the scraping plate 531 are of an integral structure. When the water guide plate 532 and the scraping plate 531 are of a split structure, the water guide plate 532 and the scraping plate 531 are made of different materials. For example, the scraping plate 531 is made of a metal material, which has good rigidity and better wear resistance; while the water guide plate 532 is made of a plastic material, which is convenient for processing, and complex water guide grooves 5321 can be processed on its surface by injection molding or stamping, and the cost is lower.

[0234] 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 situations, if the position of the scraping strip assembly 53 remains unchanged, it is possible that the distance between the scraping strip assembly 53 and the cleaning roller 42 is too far, resulting in the scraping strip assembly 53 not working, or the distance is too close, which is extremely easy to cause damage (such as damage to the scraping strip assembly) or the rotation resistance of the roller is too large, which is extremely easy to cause abnormal operation of the roller motor:

[0235] Replace the cleaning roller 42 with different models; or

[0236] The position deviation of the cleaning roller 42 caused by some factors during long-term operation; or

[0237] The fluff loss of the cleaning roller 42 during long-term operation, etc.

[0238] Refer to Figure 24 and Figure 25a 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 likely to be damaged. In order to avoid problems caused by the above several situations, refer to Figure 29a and 30, in an embodiment provided by the present application, the cleaning robot further includes an adaptive adjustment device. The adaptive adjustment device includes a swinging component. The squeegee component 53 is connected to the mopping bracket 43 through the swinging component. The squeegee component 53 can adaptively adjust its pose through the swinging component 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 swinging component 500 includes a swinging seat 534. A connecting hole 5342 is provided on the swinging seat 534. The swinging seat 534 is connected to the mopping bracket 43 through a swinging shaft 535. Further, a mounting hole 5341 is provided on the swinging seat 534. An elastic member 536 is arranged in the mounting hole 5341. One end of the elastic member 536 is connected to the swinging seat 534, and the other end is in contact with the mounting shell 4211 of the mopping bracket 43. The elastic member 536 can make the contact force between the squeegee component 53 and the cleaning roller 42 an elastic force. When the squeegee 531 is subjected to excessive force, the squeegee component 53 rotates slightly around the swinging shaft 535, thereby increasing the distance between the end of the squeegee 531 and the cleaning roller 42, and 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 component 53 will rotate along the swinging shaft 535, and the end of the squeegee 531 will move upward along the Figure 24 arrow T direction in the figure, so the acting force between the squeegee 531 and the cleaning roller 42 will become smaller, thereby realizing the adaptive adjustment of the squeegee component 53 and avoiding damage due to excessive force. Another example is that if the cleaning roller 42 has some positional deviations due to long-term operation, the swinging component will act adaptively to keep a suitable positional relationship between the squeegee component 53 and the cleaning roller 42, and there is a suitable (neither too large nor too small) mutual acting force between the two, and the squeegee component can continuously act on the cleaning roller to scrape off the dirt thereon.

[0239] It should be added here that: the swinging component 500 and the squeegee component 53 can be of an integral structure, or the swinging component and the squeegee component are two components connected together by a connection method.

[0240] Further, along the axial direction of the cleaning roller from one end to the other end of the cleaning roller, the surface of the cleaning roller is in contact with the end of the squeegee component. In addition, see Figure 29cAs shown, the adaptive adjustment device in this embodiment further includes an elastic mechanism 300. The mopping and scrubbing assembly 4 is connected to the body 1 through the elastic mechanism 300. For example, one end of the elastic mechanism 300 can be connected to the cavity shell 46 of the body 1, and the other end can be connected to the mopping and scrubbing 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 scrubbing 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 scrubbing assembly 4 and changes its position and posture together with the mopping and scrubbing assembly. Inside the mopping and scrubbing assembly 4, the squeegee assembly 53 adjusts the phase position and posture 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.

[0241] 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 scrubbing assembly moves relative to the body, the elastic mechanism moves with the mopping and scrubbing assembly, or the mopping and scrubbing assembly moves relative to the body and the elastic mechanism.

[0242] 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 at which the squeegee inserts 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 scrubbing assembly or the body through the swing seat.

[0243] This application also supplements a solution here that uses two motors to separately realize the lifting and telescopic functions of the mopping and scrubbing assembly. That is, the driving device 10 includes two power sources. Such as Figure 31As shown, the driving device 10 includes a first power source and a second power source. Among them, the first power source may include a first motor 60. The second power source includes a third motor 61. In a specific implementation, both the first motor 60 and the third motor 61 can be connected to a speed reducer at the output end to output power outward through the speed reducer. Among them, the first power source is used to drive the telescopic movement of the mopping component, and its corresponding first action execution mechanism 103 is the same as the structure mentioned in the above embodiment, that is, the first action execution mechanism 103 includes: a first gear 13 and a first rack 14. The first action execution mechanism 103 may include a sliding plate, and the sliding plate is slidably connected to the slide rail 15. At least one slide rail 15 can be arranged on the cavity shell 46. In addition, the first photoelectric switch 281, the first trigger structure on the sliding plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, the grating structure 294, etc., all have the same functions as those in the above embodiment. For specific content, reference can be made to the above, and details will not be elaborated here.

[0244] The second power source is used to drive the mopping component 4 to lift, and its corresponding second action execution mechanism, such as Figure 31 As shown, may include: a second gear 62 and a second rack 63. The arrangement mode of the second rack 63 is different from that of the first rack 14. Refer to Figure 31 , the first rack 14 is horizontally arranged, and the second rack 63 is vertically arranged.

[0245] The specific implementation process is as follows: When the mopping component 4 is in the initial state (that is, the first limit position in the retracted state, and the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate. The first rack 14 is driven by the first gear 13 to translate toward one side of the machine body. The first rack 14 pushes the mopping component outward through the connection structure located on the slide rail 15 so that the mopping component extends out of the machine body by a part (such as Figure 32 (B)). If the mopping component 4 extends to the second limit position in the extended state, the first motor 60 stops working. When the mopping component 4 needs to retract, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the reverse direction. The first rack 14 is driven by the first gear 13 to translate toward the inside of the machine body. The first rack 14 contracts the mopping component 4 inward through the connection structure located on the slide rail 15. After the mopping component 4 retracts to the initial state, the first motor 60 stops working. When the mopping component 4 needs to be lifted, the second motor 61 outputs power to drive the second gear 62 to rotate. The second rack 63 drives the mopping component 4 to rise along the axial direction of the connecting column 241 (refer to Figure 16 as shown) (such as Figure 32(A)). After the mopping and washing assembly 4 rises to the high position and the third optoelectronic switch 283 is triggered, the third motor 61 stops working. When the mopping and washing assembly 4 needs to descend, the third motor 61 outputs reverse power to drive the second gear 62 to reverse, the second rack 63 moves downward, and the mopping and washing assembly descends along the axial direction of the connecting column 241 (see Figure 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, reference can be made to the above content, which will not be elaborated here.

[0246] Furthermore, if the cleaning robot is cleaning a carpeted floor, the cleaning robot will repeatedly clean back and forth between the carpet area and the ordinary floor area. Then the cleaning robot will need to repeatedly switch between the lifting state and the lowering state, and it may even occur that the mopping and washing assembly first switches from the extended state to the retracted state, and then switches to the lifting state. In this way, before the cleaning robot walks onto the carpeted floor from the ordinary floor, it needs to pause and wait, and only after fully switching to the lifting state can it walk onto the carpeted floor for cleaning. This will inevitably consume too much waiting time.

[0247] To avoid this problem, in an embodiment provided by the present application, the mopping and washing assembly on the cleaning robot can quickly switch to the lifting state in both the retracted state and the extended state. For example, when the mopping and washing assembly is in the extended state, or in different gears of the extended state, the mopping and washing assembly can simultaneously switch to the lifting state. In this way, when the mopping and washing assembly is in the extended state, it does not need to first retract to the initial state and then switch to the lifting state. Before the cleaning robot walks onto the carpeted floor or crosses an obstacle, it does not need to wait for too long. Even if the cleaning robot needs to repeatedly cross obstacles or move up and down on the carpeted floor multiple times, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0248] The present application supplements another solution here that uses two motors to separately realize the lifting and telescopic functions of the mopping and washing assembly 4. That is, the driving device 10 includes two power sources. Different from the Figure 31 structure shown above, it is realized by the second power source and the corresponding second action execution mechanism, the winch structure. See Figure 33As shown, the first power source, the slide rail 15, the first optoelectronic switch 281, the first triggering structure on the sliding plate for triggering the first optoelectronic switch 281, the fourth optoelectronic switch 284, the grating structure 294, etc. all have the same functions as those in the above embodiments. The same parts will not be elaborated here. The differences are as follows: The second action execution mechanism corresponding to the second power source is the reel 64 and the pulling rope 65. That is, the third motor 61 is connected to the reel 64. The pulling rope 65 is arranged on the reel 64.

[0249] The specific implementation process is as follows: The telescoping of the mopping and washing assembly 4 is the same as above. When the mopping and washing assembly 4 needs to be lifted, the third motor 61 outputs power to drive the reel 64 to rotate. The pulling rope 65 drives the mopping and washing assembly to rise axially along the connecting column 241 under the drive of the reel 64. After the third optoelectronic switch 283 is triggered when the mopping and washing assembly 4 rises to a high position, the third motor 61 stops working. When the mopping and washing assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the reel 64 to reverse, and the mopping and washing assembly 4 descends axially along the connecting column 241 under the action of gravity. When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e., the time used by the third motor to drive the mopping and washing assembly to lift), the third motor 61 stops moving. In addition, by adding a counting light-shielding sheet and a counting optocoupler to this assembly, it can also be realized to extend step by step during the extending process. For the specific implementation, refer to the above content and will not be elaborated here.

[0250] The embodiments of the present application provide a solution for realizing the telescopic and lifting of the mopping and washing component by two power sources (i.e., one power source realizes telescoping and the other realizes lifting). No matter which implementation solution is adopted, a problem is faced, that is, how to control each power source to make the mopping and washing component 4 telescope and lift at the appropriate time. For example, the mopping and washing component 4 extends while descending, or retracts while ascending, or retracts first and then lifts, or lifts first and then retracts, or descends first and then extends, and so on. In a specific scenario, for example, the mopping and washing component 4 of the current cleaning robot is in the extended state. When the cleaning robot needs to enter a specific area (such as a designated non-mopping area or a carpet area), it is necessary to lift the mopping and washing component 4 to have a certain distance from the ground. Another example is that when the cleaning robot drives from the living room into the kitchen and there is a small step at the kitchen door, the cleaning robot needs to cross the obstacle to drive into the kitchen. At this time, in order to facilitate crossing the obstacle, it is necessary to lift the mopping and washing 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 4 can be directly lifted in the extended state. However, if the current environment is relatively complex and the detection information of the cleaning robot is limited, when the mopping and washing component 4 is directly lifted in the extended state, it is very likely that the mopping and washing component 4 will collide with an object during the lifting process. If the lifting action does not stop, it is very likely to damage the mopping and washing component. That is to say, lifting the outwardly swinging cleaning roller 42 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 4 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 control complexity, the embodiments of the present application provide a solution in which the mopping and washing component 4 retracts to a preset position (such as the first limit position in the retracted state) and then lifts. Specifically, the solution provided in this embodiment includes the following steps, and the execution subject of each of the following steps can be the main board 2 in the embodiments of the present application. As the mopping and washing component control solution includes:

[0251] S1. When it is determined that the mopping and washing component 4 needs to be lifted, obtain the current position of the mopping and washing component 4;

[0252] S2. If the mopping and washing component 4 is in the first limit position, control the driving device to drive the mopping and washing component 4 to lift; if the mopping and washing component 4 is in the extended state, control the driving device 10 to drive the mopping and washing component 4 to first retract to the first limit position and then lift.

[0253] When the mopping and washing assembly 4 is in the extended state, the mopping and washing assembly 4 can be located at any position between the first extreme position and the second extreme position, or at the second extreme position.

[0254] After adopting the above solution, the cleaning robot does not need to detect the environmental information detected by the sensing system and perform complex calculations to determine whether there is enough space to lift the mopping and washing assembly in the current environment. The entire process does not require the participation of the sensing system, which can ensure the lifting safety of the mopping and washing assembly and is simple and easy to implement.

[0255] When the mopping and washing assembly 4 on the cleaning robot performs edge cleaning after extending, if there are protruding obstacles beside the cleaning robot, such as floor grooves, thresholds, etc. If the mopping and washing assembly 4 cannot avoid the obstacles by retracting, it is easy to be damaged after colliding with the obstacles. Therefore, it is necessary to detect the obstacles on the extending side of the cleaning robot when the mopping and washing assembly 4 on the cleaning robot extends.

[0256] In an embodiment provided by the present application, the body of the cleaning robot is further provided with a first obstacle avoidance module. The first obstacle avoidance module is located on the body on the outward extending side of the mopping and washing assembly 4 and in front of the mopping and washing assembly 4. The monitoring range of the first obstacle avoidance module is the vertical area beside the body. The side of the body can be considered as the extending side of the mopping and washing assembly 4 relative to the body. Taking the mopping and washing assembly 4 extending to the right side relative to the body as an example. The detection range of the first obstacle avoidance module is the vertical area on the right side of the body. When there is an obstacle on the right side of the body, the first obstacle avoidance module can detect the height of the obstacle. After confirming the height of the obstacle, the mopping and washing assembly 4 can perform corresponding actions to avoid the obstacle.

[0257] For example, the cleaning robot can extend the roller (cleaning roller 42) to perform cleaning operations. If the surface to be cleaned is a step parallel to the walking direction of the cleaning robot and there is a certain height difference between the step surface and the area where the body projection of the cleaning robot is located, then the monitoring data of the first obstacle avoidance module can be introduced at this time. When the height difference is within the first threshold range, for example, less than the maximum lifting height of the mopping and washing assembly, the control system controls the second power source at this time to lift the extended roller, so as to realize the cleaning of the step. If there is no intervention of the first obstacle avoidance module or the roller cannot be lifted alone, the body of the cleaning robot will straddle the step surface obliquely at this time. It can be seen that the solution of this embodiment expands the cleaning area of the cleaning robot and can better clean surfaces with a certain height difference such as steps and thresholds.

[0258] For another example, the cleaning robot performs cleaning operations by extending a roller. When there is a suspended obstacle at a certain height, the cleaning robot can walk parallel to the suspended obstacle. The first obstacle avoidance module monitors the suspended height. If the distance from the suspended height to the ground is greater than the maximum lifting height of the mopping component, then the cleaning robot does not need to worry about the roller hitting the obstacle. However, if the distance from the suspended height to the ground is not greater than the maximum lifting height of the mopping component, then when the cleaning robot lifts the roller, it needs to calculate the height that the mopping component can be lifted according to the suspended height. Further, at this time, the height that the roller component (mopping component) can be lifted, for example, is the first height. The second power source is controlled to raise the roller to the first height, and the bottom surface of the suspended obstacle can also be cleaned. Thus, the cleaning ability of the cleaning robot is expanded.

[0259] It is mentioned in the text that the cleaning robot is provided with a first power source and a second power source. The first power source can drive the mopping component 4 to extend and retract, and the second power source can drive the mopping component 4 to lift and lower. The first power source and the second power source can work independently of each other, that is, when the mopping component 4 is in the extended state, the second power source can still drive the mopping component 4 to lift and lower, so as to achieve lifting and obstacle avoidance.

[0260] In addition, when the second power device drives the mopping component 4 to lift, the mopping component 4 has multiple lifting gears, and the height of the mopping component 4 relative to the body is different under different lifting gears. The second power source can work in coordination with the first obstacle avoidance module. Specifically, when the first obstacle avoidance module detects the specific height of the obstacle, the second power source can drive the mopping component to lift according to the specific height of the obstacle, and the lifting height of the mopping component 4 is greater than or equal to the specific height of the obstacle. Since the mopping component 4 necessarily requires a certain waiting time and electric energy during the lifting process, in order to improve the obstacle avoidance efficiency of the cleaning robot and save energy, the lifting height of the mopping component 4 can be equal to the height of the obstacle, or slightly greater than the height of the obstacle. Thus, it can effectively avoid the mopping component 4 being lifted too high and consuming a longer waiting time and more energy. When the first obstacle avoidance module detects that the height of the obstacle is greater than the maximum height that the mopping component 4 can be lifted, then the cleaning robot will perform an emergency brake, or re-plan the moving path to avoid the obstacle.

[0261] When the mop and wash assembly 4 extends outward or retracts inward, the movement direction of the cleaning roller 42 relative to the ground is the lateral direction. In this movement state, the cleaning roller 42 will inevitably be subjected to a large friction force, and the resistance to the mop and wash assembly 4 extending outward or retracting inward is also greater. The telescopic action of the mop and wash assembly 4 is not only more difficult, but also easily causes wear of the cleaning roller 42 after long-term use. In an embodiment provided in the present application, when the mop and wash assembly 4 needs to extend outward or retract, the second power source first drives the mop and wash assembly 4 to lift relative to the body, and then the first power source drives the mop and wash assembly 4 to extend or retract. In this way, when the mop and wash assembly 4 is extended and retracted, the cleaning roller 42 first leaves the ground, and then the mop and wash assembly 4 retracts and retracts, so the mop and wash assembly 4 will not be affected by the ground resistance when extending and retracting.

[0262] In addition, in another embodiment provided by the present application, in order to prevent the cleaning roller 42 from being separated from the ground when the mop-washing assembly 4 is extended outward, causing part of the ground to be missed, the mop-washing assembly 4 is not lifted during the process of extending outward, and the mop-washing assembly 4 is always in contact with the ground when extending outward. When the mop-washing assembly 4 is retracted inward, the second power source first drives the mop-washing assembly 4 to be lifted relative to the machine body, and then the first power source drives the mop-washing assembly 4 to retract.

[0263] Of course, the cleaning robot cannot achieve all-round obstacle avoidance only by using the first obstacle avoidance module. When the extended side of the cleaning robot exceeds the detection range of the first obstacle avoidance module, the cleaning robot cannot avoid obstacles by lifting the mopping and washing component 4. At this time, the mopping and washing component 4 can be retracted into the body to achieve obstacle avoidance. In one embodiment provided in the present application, a second obstacle avoidance module is provided on the body, and the second obstacle avoidance module can be provided on the front side of the body or on the extended side of the body. The second obstacle avoidance module can detect a first distance between the obstacle on the extended side of the mopping and washing component 4 and the body. After determining the first distance, based on the first distance, the cleaning robot calculates the second extended distance. The first power source drives the mopping and washing component to extend outward to the second distance. The second distance is less than the first distance, and then the mopping and washing component 4 can achieve obstacle avoidance.

[0264] During the cleaning process of the cleaning robot, the cleaning roller 42 absorbs the dirt on the ground, and the dirt removal mechanism 44 scrapes and collects the dirt on the roller. After working for a long time, the dirt collection box 442 needs to be cleaned. At present, if the user wants to disassemble the detachable parts at the bottom of some cleaning robots (such as sewage tanks, rollers, etc.), the user needs to turn the body over with the bottom facing up before removing them, which is not a good user experience.

[0265] As can be seen from the above, the mopping and washing assembly 4 in the embodiments of the present application includes a liquid supply mechanism 45, a dirt removal mechanism 44 and a cleaning roller 42. Among them, although the dirt in the dirt collection box 442 of the dirt removal mechanism 44 can enter the sewage tank 9 through the sewage pump, 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 the user to clean. In addition, although the cleaning roller 42 in this embodiment can be self-cleaned with flowing water during the task execution, it also needs to be disassembled for manual cleaning after a long time, or the cleaning roller 42 is worn and needs to be disassembled and replaced with a new cleaning roller 42. If the user needs to turn the machine body over with the bottom facing up to remove it, it will not be very convenient.

[0266] For this reason, an embodiment of the present application provides a solution that allows the user to easily disassemble the dirt collection box 442 in the mopping and washing assembly without turning over the machine body, improving the disassembly convenience and meeting the ergonomic design. In addition, another embodiment of the present application provides a solution for easily disassembling the cleaning roller 42. The disassembly solution of the dirt collection box 442 will be introduced sequentially below, and then the disassembly solution of the cleaning roller 42 will be introduced.

[0267] See Figures 34a to 34f , at least one side of the mopping and washing assembly 4 is exposed. As Figure 34a shown in an example, the mopping and washing assembly 4 is exposed on one side of the machine body. With reference to the forward direction of the machine body 1, the mopping and washing assembly 4 is exposed on the right side of the machine body. The dirt collection box 442 can be located in front of or behind the cleaning roller 42. See Figure 34b c to 34f, a release component is provided on the side of the dirt collection box 442 corresponding to the exposed mopping and washing assembly. The user can see and touch the release component on the exposed side without turning over the machine body 1, and then operate the release component to remove the dirt collection box 442.

[0268] The release component has an operation handle; the operation handle is located at the bottom of the dirt collection box 442; during disassembly, the operation handle moves, the release component is in an unlocked state, the first end of the dirt collection box 442 is detached from the mopping bracket, and the dirt collection box 442 is pulled outwards from 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 is raised to the locking position, and at the locking position, the release component is triggered to switch to the locked state.

[0269] Specifically, as Figure 34b and 34c, 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 axis direction of the cleaning roller 42, the length of the dirt collection box 442 can be equal to or greater than the length of the cleaning roller 42. At the position of the dirt collection box 442 on the mopping bracket 43, there are respectively a first fixing structure 431 and a second fixing structure 432 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. A release component 70 is provided at the first end 4421 of the dirt collection box 442, 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 deformation of the elastic operating member 71 drives the fixing pin 72 to move, so that the fixing pin 72 disengages from the pin hole, and the dirt collection box 442 can be detached from the mopping bracket 73.

[0270] As Figure 34d shown, after the first end 4421 of the dirt collection box 442 disengages from the first fixing structure 431, the first end 4421 descends, and the user can hold or grasp the first end 4421 and take out the dirt collection box from the body 1 along the length direction of the dirt collection box 442 (or the axis direction of the cleaning roller).

[0271] More specifically, as Figure 34a , 34c and 34f, the elastic operating member 71 may include: a release button and a release spring 712. Among them, the fixing pin 72 is provided with a chute 722. The release button can 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: a top structure 713 and an operating handle 711. Alternatively, the release button is a push-pull member that moves in a straight line. The top 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 fixing pin 72 is provided with a plug 721 adapted to the pin hole, and the other end is connected to the release spring 712.

[0272] When the release button is a knob, the user can rotate the release button, so that the top structure 713 drives the fixing pin 72 to act by abutting against the chute 722. When the release button is a pulling member, the user can make the top structure drive the fixing pin to act by pushing and pulling operations (such as pushing and pulling operations along the length direction of the fixing pin).

[0273] As Figure 34eAs shown in the figure, when the user wants to remove the sewage collection box 442, the user applies an external force to the release button, such as rotating the release button. The 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 sewage collection box 442 drops downward. The user pulls here, and the second end of the sewage collection box 442 disengages from the mopping bracket. At this time, the sewage collection box 442 is completely removed. When the user wants to reinstall the sewage collection box 442, first install the second end of the sewage collection box 442 (that is, insert the convex block structure at the second end into the jack). The user holds the first end of the sewage collection box 442 with the hand and presses it upward. The release spring deforms, and the fixed pin 72 moves so that the fixing can enter the installation groove of the mopping bracket. After the sewage collection box 442 is installed in place, the position of the fixed pin 72 just corresponds to the position of the pin hole. Under the action of the elastic restoring force of the release spring, the fixed pin 72 moves, and the plug inserts into the pin hole. At this time, the sewage collection box 442 is installed.

[0274] To ensure the installation stability of the sewage collection box 442, the release button is also provided with a locking structure, and the sewage collection box 442 is provided with a locking cooperation structure at the corresponding position. After the sewage collection box 442 is installed, the user can rotate the release button so that the locking structure cooperates with the locking cooperation structure to lock the position of the release button, so that the fixed pin 72 will not disengage from the pin hole due to vibration or the like. In this embodiment, the specific implementation of the locking structure on the release button and the locking cooperation structure on the sewage collection box 442 is not specifically limited.

[0275] Further, as shown in Figure 34f the figure, a filter assembly 543 is also provided in the sewage collection box 442. The filter assembly 543 is used to filter large particle dirt in the dirt entering the sewage collection box 442. As shown in Figure 34f the figure, the filter assembly 543 can be a filter element provided with a plurality of filter holes on it. The filter element can be placed and stabilized in the sewage collection box 442 through some cooperation structures. The filter element is also provided with a through hole. The sewage 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 sewage collection box 442. After the user removes the sewage collection box 442, the filter assembly 543 can be taken out of the sewage collection box 442 to clean the sewage collection box 442 and the filter assembly 543 respectively. One end of the filter assembly 543 is provided with a handle 5431 for the user to easily take. When the user takes the filter assembly 543, the user can pinch the handle 5431 with fingers and take out the filter assembly 543 from the sewage collection box. The handle 5431 can be a plate-shaped body with a certain bending arc.

[0276] In addition, a detection component 4425 is also provided in the dirt collection box 442. The detection component 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 component on the dirt collection box 442. The reason for setting this detection component 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 43, the cleaning robot can remind the user to install the dirt collection box 442 by means of voice and / or display. If the sensing element and the detection component 4425 are not set, the cleaning robot may perform the cleaning task without the dirt collection box 442, and the dirt scraped from the cleaning roller 42 may be discharged onto 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 component, and the machine can only be started to perform the cleaning task after the dirt collection box 442 is installed on the body.

[0277] For the disassembly of the cleaning roller 42, see Figure 34a As shown, the mopping assembly 4 is in a retracted state, that is, the end of the mopping assembly 4 is located inside the body 1. Looking down from above the body 1, that is, when the cleaning robot is on the ground and the user's perspective of looking at the cleaning robot, the user cannot see the mopping assembly 4. If the user wants to disassemble the cleaning roller in the mopping assembly 4, the user needs to squat down and tilt the head sideways to look at the position of the mopping assembly 4 inside the body 1, and then reach out to remove the cleaning roller 42. During the removal process, the user may be blindly disassembling, and during installation, it is almost the same as blind installation, and there may be a situation of pinching the hand. Obviously, this solution that allows the cleaning roller 42 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 42. Specifically,

[0278] An interaction device is provided on the body of the cleaning robot. The interaction device can be a button, a touch screen, a voice interaction unit, etc. The user can trigger the mopping assembly 4 to extend from one side of the body 1 through the interaction device, such as extending to a set position (which can be the second limit position in the extended state) or extending until the end of the mopping assembly exposes 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 assembly 4 to extend from one side of the body 1 to the set position or extend a set length so that the end of the mopping assembly 4 is exposed. At this time, the user can disassemble the cleaning roller 42 from the mopping assembly 4. After the user cleans the cleaning roller 42 or gets a new replacement roller, the roller is then installed back onto the mopping assembly 4.

[0279] See Figure 5As shown in the figure, in this embodiment, a drum motor 41 is provided at the first end of the mopping bracket 43 in the length direction (the direction of the arrow in the figure), and an opening is provided at the second end. The cleaning drum 42 can be inserted into the drum cavity of the mopping bracket 43 from this opening to be connected to the drum motor 41. A first structure 430 is provided at the second end of the mopping bracket 43. Correspondingly, a second structure is provided inside the end cap 420 of the cleaning drum 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 bump, and the groove and the bump are adapted; the bump 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 bump, etc. This embodiment does not make specific limitations on this.

[0280] After the user triggers the mopping component 4 to extend by means of a button, voice or touch screen, as Figure 12 shown, the mopping component 4 extends outside the edge 1001 of the body 1. At this time, when the user bends down and looks from the upper part of the body, the mopping component can be seen, and the end of the cleaning drum 42 can also be seen. As Figure 12 shown in the example, the end cap 420 of the cleaning drum 42 is similar to a whistle shape. The user can easily pull out the cleaning drum 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, because the mopping component is in the extended state, that is, Figure 12 the state shown, the user can also see the opening of the drum cavity of the mopping bracket. The user inserts one end of the cleaning drum from the opening, and the end cap 420 of the cleaning drum contacts and attracts the first structure 430 on the mopping bracket, and the end cap 420 completes the connection with the mopping bracket. If the cleaning robot needs to perform a cleaning task after installation, the cleaning robot performs the cleaning task while maintaining the extended state of the current mopping component 4. If the cleaning robot needs to return to the base station after installation, the cleaning robot automatically retracts the mopping component 4 after detecting that the cleaning drum is installed; or, 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 4.

[0281] Furthermore, the driving device 10 can also drive the mopping component 4 to lift relative to the body. Correspondingly, when the cleaning drum needs to be disassembled, the driving device 10 drives the mopping component 4 to extend to expose the end cap of the cleaning drum 42, and at the same time drives the mopping component 4 to lift to have a gap from the ground, facilitating the user to take out the cleaning drum 42. Because there is a gap between the cleaning drum 42 and the ground, it is easier to pull out the cleaning drum 42.

[0282] In addition to triggering the retraction of the mopping and washing assembly 4 through the interaction device, the following solutions can also be adopted: after the cleaning roller 42 is installed on the mopping and washing bracket 43, the user pushes the mopping and washing assembly 4, and the driving device 10 starts to work to drive the mopping and washing assembly 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 and washing assembly 4; after the sensing unit detects the installation thrust of the mopping and washing assembly 4, it sends a retraction signal to the main board 2, and the main board 2 controls the driving device 10 to start working to drive the mopping and washing assembly 4 to retract to the first limit position.

[0283] A control method or working method of the cleaning robot provided by another embodiment of the present application may be: the control device dynamically controls the driving device 10 according to the behavior information of the body 1, so that the driving device 10 drives the mopping and washing assembly 4 to move relative to the body 1 to change the position of the mopping and washing assembly 4 relative to the body 1.

[0284] Among them, the behavior information of the body 1 may include the behavior actions of the body 1 and / or the environmental information triggering the behavior actions. The behavior actions may include, but are not limited to, traveling speed, traveling direction, turning radius when turning, acceleration, etc. For example, when turning quickly, control the driving device 10 to quickly retract the expanded mopping and washing assembly 4; or, when traveling in a straight line after turning, control the driving device 10 again to expand the retracted mopping and washing assembly 4. The environmental information triggering the behavior actions includes: the position information where the behavior action occurs, the surrounding environmental information (such as the position of obstacles, the distance from obstacles, the size of obstacles, etc.).

[0285] In addition, it should be added that the roller motor in the mopping and washing assembly 4 needs to have continuous current supply during the movement of the mopping and washing assembly 4. Therefore, a conductive groove assembly is further provided on the body of the cleaning robot in the embodiment of the present application. Among them, the conductive groove assembly includes a conductive groove body and an electricity connecting member. The electricity connecting member is arranged in the conductive groove body and can move in the conductive groove body; the electricity connecting member is electrically connected to the electrical interface of the roller motor; when the mopping and washing assembly 4 moves, the electricity connecting member moves in the conductive groove to follow the mopping and washing assembly 4, so that the roller motor can maintain a powered state while moving. The conductive groove assembly is not clearly shown in the accompanying drawings of the present application specification.

[0286] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; The cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape the dirt on the cleaning unit; A driving device is arranged on the body, the driving device includes a first power source and a second power source, and both the first power source and the second power source are connected to the mopping and washing assembly; Wherein, along the width direction of the body, the first power source 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; along the height direction of the body, the second power source can drive the mopping and washing assembly to lift relative to the body; The first power source and the second power source can work independently or simultaneously.

2. The cleaning robot according to claim 1, characterized in that The mopping and washing assembly has multiple gears; Under different gears, the relative positions of the mopping and washing assembly and the body are different; The body determines the target gear of the mopping and washing assembly according to the detected environmental information; and makes the mopping and washing assembly in the target gear by controlling the driving device.

3. The cleaning robot according to claim 1, wherein The driving device further includes a first action execution mechanism and a second action execution mechanism; The first power source is connected to the mopping and washing assembly through the first action execution mechanism, and the first action execution mechanism converts the power output by the first power source into a linear motion along the width direction of the body to drive the mopping and washing assembly to have a horizontal displacement relative to the body; The second power source is connected to the mopping and washing assembly through the second action execution mechanism, and the second action execution mechanism converts the power output by the second power source into a linear motion along the height direction of the body to drive the mopping and washing assembly to lift relative to the body.

4. The cleaning robot according to claim 3, characterized in that The first action execution mechanism includes a first gear and a first rack; The first gear is connected to the first power source; The first gear meshes with the first rack; The first rack is slidably arranged on the body; The mopping and washing assembly is connected to the first rack.

5. The cleaning robot according to claim 3, characterized in that, The first action execution mechanism further includes a sliding plate; The first rack is arranged on the sliding plate; The sliding plate is arranged on the slide rail on the body; The mopping and washing assembly is located below the sliding plate and is connected to the sliding plate; A trigger structure is arranged on the sliding plate, and two or more detection units are arranged on the body; When the sliding plate moves, the trigger structure triggers one of the two or more detection units; The body determines the position of the mopping and washing assembly based on the triggered detection unit.

6. The cleaning robot according to claim 3, characterized in that, The second action execution mechanism includes a second gear and a second rack; the second gear is connected to the second power source, the second gear meshes with the second rack; the second rack is vertically arranged and can move in the height direction of the body; the mopping and washing assembly is connected to the second rack.

7. The cleaning robot according to claim 3, characterized in that The second action execution mechanism includes a reel and a pulling rope, the pulling rope is wound on the reel, the reel is connected to the second power source, and one end of the pulling rope is connected to the mopping and washing assembly.

8. The cleaning robot according to any one of claims 1 to 7, characterized in that 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, and the cleaning unit motor and the cleaning unit are arranged in the drum installation cavity; The cleaning unit contacts the surface to be cleaned through the opening; The liquid supply mechanism and the dirt removal mechanism are both arranged on the mopping and washing bracket; The power end of the driving device is connected to the mopping and washing bracket.

9. The cleaning robot according to any one of claims 1 to 7, characterized in that, A first obstacle avoidance module is arranged on the body on the side where the mopping and washing assembly extends outwards; The first obstacle avoidance module detects the height of the obstacle; The mopping and washing assembly has multiple lifting gears, and the height of the mopping and washing assembly relative to the body is different at different lifting gears; Based on the detection information of the first obstacle avoidance module, the target gear of the mopping and washing assembly is determined. When the lifting gear needs to be adjusted, the second power source drives the mopping and washing assembly to lift to the target gear.

10. The cleaning robot according to any one of claims 1 to 7, characterized in that, When the mopping and washing assembly needs to extend outwards or retract inwards, the second power source first drives the mopping and washing assembly to lift relative to the body, and then the first power source drives the mopping and washing assembly to perform the extending or retracting action; Or, the second power source drives the mopping and washing assembly to lift relative to the body, and the first power source simultaneously drives the mopping and washing assembly to perform the extending or retracting action.

11. The cleaning robot according to claim 10, wherein, A second obstacle avoidance module is arranged on the body, and the second obstacle avoidance module detects the first distance between the obstacle on the side where the mopping and washing assembly extends outwards and the body; Based on the first distance, the second distance at which the mopping and washing assembly extends outwards is determined, and the first power source drives the mopping and washing assembly to extend outwards to the second distance. The second distance is the distance between the outermost side of the mopping and washing assembly and the obstacle, and the second distance is less than the first distance.

12. The cleaning robot according to claim 1, characterized in that, The mopping and washing assembly has a retracted state and an extended state; in the retracted state, the mopping and washing assembly is in a first position relative to the body; in the extended state, the mopping and washing assembly is in a second position relative to the body; When the cleaning robot is performing a cleaning operation, the mopping and washing assembly preferentially uses the extended state for cleaning; When encountering an obstacle, the mopping and washing assembly moves from the second position to the first position, or moves to a certain position between the second position and the first position to perform a cleaning operation close to the obstacle.

13. The cleaning robot according to any one of claims 1 to 7, characterized in that It further includes a control device; 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.

14. A working method of the cleaning robot according to any one of claims 1 to 13 above, characterized in that, It includes: Determine the behavior information of the body; Dynamically control the first power source and / or the second power source according to the behavior information, so that the mopping and washing assembly makes corresponding movements following the behavior of the body to change the position of the mopping and washing assembly relative to the body; Wherein, the position of the mopping and washing assembly relative to the body includes position information in the vertical direction and position information in the horizontal direction.

15. The method according to claim 14, wherein The behavior information includes: the behavior actions of the body and / or the environmental information triggering the behavior actions.

16. A cleaning robot, characterized in that, It includes: Body; The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, and a dirt removal mechanism; The cleaning unit motor is connected to the cleaning unit, and the dirt removal mechanism is used to scrape off the dirt on the cleaning unit; A driving device is arranged on the body. The driving device includes a first power source and a second power source, and both the first power source and the second power source are connected to the mopping and washing assembly; Wherein, along the width direction of the body, the first power source 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; along the height direction of the body, the second power source can drive the mopping and washing assembly to lift relative to the body; The first power source and the second power source can work independently or simultaneously.

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