Mechanical structure and control system of cleaning robot

Abstract

The invention discloses a mechanical structure and a control system of a cleaning robot, the mechanical structure comprises a dust cleaning mechanism, a classification mechanism and a packaging mechanism, the dust cleaning mechanism is used for sweeping and dust collection, the positions of related assemblies for sweeping and dust collection can ascend or descend, and the classification mechanism comprises a plurality of garbage cans and transposition assemblies. The packaging mechanism is used for providing corresponding garbage cans when garbage needs to be thrown in, and the packaging mechanism is used for packaging bag openings of garbage bags in the filled garbage cans. The mechanical structure control system comprises a first control module, a second control module and a third control module which are respectively used for realizing the functions of conventional cleaning, garbage classified collection and garbage bag packaging. The mechanical structure has the functions of garbage classified collection and automatic packaging, the use value of the robot is improved, the efficiency of garbage classification and garbage collection is also greatly improved, continuous operation of the garbage collection function of the robot is guaranteed, the position of a conventional sweeping assembly can be raised, and maneuverability is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning robots, and particularly relates to a mechanical structure and control system of a cleaning robot. BACKGROUND

[0002] At present, a sweeping robot is an intelligent cleaning device that has been widely used. Although the market demand and the development of technology have driven the sweeping robot to have functions beyond sweeping and dust collection, the new generation of sweeping robots are developing towards multi-purpose and becoming comprehensive cleaning robots with more functions. Considering that the area to be cleaned by the cleaning robot is mostly a public place with a high flow of people, people often encounter the situation that they cannot find a garbage can or the garbage can is full when they need to throw garbage in such places. According to this feature, a cleaning robot with a garbage collection function can be designed. This robot can not only be used for cleaning, but also can be used to throw garbage when needed. In addition, in order to efficiently and conveniently handle garbage, garbage classification has become an important development trend of various garbage collection devices, especially intelligent garbage collection devices. For example, Chinese Patent Application No. 202110192599.3, entitled "Intelligent Cleaning Robot and Intelligent Cleaning Method", proposes a combination of a sweeping robot and an intelligent garbage can. The intelligent garbage can can not only classify the thrown garbage into dry and wet categories, but also can serve as a storage device for the robot and classify the garbage collected by the robot into dry and wet categories. The intelligent garbage can can also automatically pack the garbage bag. Another example is Chinese Patent Application No. 202510915753.3, entitled "Intelligent Classification Device for Domestic Garbage", which proposes a classification device that can identify and classify garbage according to the image of the garbage and put the garbage into the corresponding garbage can.

[0003] Both of the above-mentioned devices have classification functions, but each has its own shortcomings. The above-mentioned intelligent garbage can can classify and automatically pack, but it can only be roughly classified into dry and wet categories, which is not conducive to subsequent efficient processing. Moreover, the intelligent garbage can cannot move with the robot and cannot flexibly meet the needs of people throwing garbage. The above-mentioned intelligent classification device can classify garbage carefully, but it does not have an automatic packing function, and the operator cannot determine whether the garbage can is full. In addition, the device also does not have the ability to move. In order to enable the cleaning robot to have a more detailed garbage classification ability, facilitate the subsequent process, and enable the garbage can to have the ability to move, so that people can conveniently throw garbage when needed, it is necessary to design a mechanical structure and control system that enables the cleaning robot to have a more detailed garbage classification ability and synchronously moves with the robot. SUMMARY

[0004] The present application aims to provide a kind of mechanical structure and control system of cleaning robot, by the design of robot mechanical structure and control system level, make the cleaning robot not only have traditional sweeping, dust collection and mopping function, and can be classified collection to garbage, and realize the automatic packing of garbage when a garbage can is filled, to improve the use value of robot, promote the development of garbage classification work.

[0005] The technical scheme adopted by the present application is as follows: A kind of mechanical structure of cleaning robot, including dust removal mechanism, classification mechanism and packing mechanism, wherein dust removal mechanism includes sweeping assembly and dust collection assembly, sweeping assembly and dust collection assembly are all driven by first drive assembly, the first drive assembly includes motor M1 and multiple lead screws, multiple lead screws are all vertically connected to robot body, all lead screws are driven by motor M1, power is transmitted between different lead screws by gear chain transmission form, sweeping assembly and dust collection assembly are all controlled to lift by motor M1.

[0006] Classification mechanism includes multiple garbage cans and displacement assembly, each garbage can corresponds to a garbage category, the position of all garbage cans is controlled by displacement assembly, displacement assembly includes motor M4, first carrier and bearing disc, the bearing disc is driven by motor M4 and rotationally connected to first carrier, first carrier is fixedly connected to robot body;Robot body is provided with garbage throwing opening, at the same time, only the garbage can opening of one of multiple garbage cans is directed to garbage throwing opening, the position of the garbage can is called throwing position, only the garbage can in throwing position can be thrown garbage.

[0007] Packing mechanism includes conveying assembly and bag sealing assembly, each garbage can is provided with a garbage bag with upwardly open bag opening, the conveying assembly includes motor M5, slide rail and first movement assembly, the slide rail is vertically fixed to robot body, the first movement assembly is driven by motor M5 to move along the slide rail, at the same time, only one of multiple garbage cans is in lifting position, after a certain garbage can is rotated to lifting position, the first movement assembly lifts the garbage can to bag sealing position;The bag sealing assembly includes second movement assembly, second carrier and motor M6, the second movement assembly is used to seal the bag opening of garbage bag in bag sealing position, the second movement assembly is driven by motor M6 and placed on second carrier, and the second carrier is fixedly connected to robot body.

[0008] The cleaning robot in the prior art does not have the function of garbage collection, and the cleaning robot in the application adds a classification mechanism and a packaging mechanism on the basis of the traditional dust cleaning mechanism to realize the function of garbage classification and collection. The classification mechanism can realize the classification of garbage, and when someone needs to throw garbage, the displacement assembly can move the garbage can of the corresponding category to the throwing position, at this time only the garbage can of the corresponding category can throw garbage, and other garbage cans cannot, so people can only throw garbage into the garbage can of the correct category, so as to realize the classification of garbage. In addition, when one of the garbage cans is full, the packaging mechanism will automatically move the full garbage can to a certain position, and then the bag sealing assembly will seal the bag opening of the garbage can. Then only the sealed garbage bag needs to be taken out and a new garbage bag can be used.

[0009] Further optimization, the plurality of garbage cans are placed on a bearing disc, and all the garbage cans are distributed circumferentially around the central axis of the bearing disc; the bearing disc has a plurality of groups of notches, any two groups of notches are the same in shape and size and are located below different garbage cans, the number of groups of notches is equal to the number of garbage cans, and all the notches are distributed circumferentially around the central axis of the bearing disc; the bearing disc is power-connected with the motor M4, and the bearing disc is controlled by the motor M4 to rotate around the central axis; in addition, the displacement assembly further comprises an acoustic sensor, and the acoustic sensor is used to receive voice information.

[0010] In addition, the displacement assembly further comprises a cover plate and a motor M8, the cover plate is power-connected with the motor M8, and the cover plate has two states of closing and opening, when the cover plate is in the closing state, the garbage throwing opening is completely covered by the cover plate, and when the cover plate is in the opening state, the garbage throwing opening is open.

[0011] Placing a plurality of garbage cans on the bearing disc and marking the position of each garbage can on the bearing disc can rotate the different garbage cans to the throwing position by rotating the bearing disc, and the structure is simple and reliable and suitable for long-term operation of the robot. The notches below each garbage can can facilitate the handling of the garbage can by the conveying assembly, and the components in the conveying assembly can lift the garbage can from the bottom to ensure the long-term and reliable operation of the conveying assembly. The design of the cover plate is to prevent sundries from falling into the garbage can and affecting the garbage classification effect, and at any time there is always a garbage can at the throwing position, and the garbage can opening needs to be covered when there is no need to throw garbage. The acoustic sensor can realize the voice control of the cleaning robot, and considering that many people do not understand the names of garbage and specific classification items, a voice control system needs to be designed to determine the category of the garbage when people only say the name of the garbage and provide the garbage can of the corresponding category, so as to help realize efficient garbage classification and collection.

[0012] In addition, the presence of the voice control system can also make the cleaning robot become a mobile garbage truck that can be stopped at any time according to the user's call. Therefore, the cleaning robot can not only be used as a garbage can when it is not sweeping, but also can be set to a control program. If the voice control system captures the voice information that makes the robot stop during the sweeping process, the robot will immediately pause the sweeping and stay in place to realize the function of the cleaning robot that can be stopped at any time according to the user's call. The cover plate is usually in a closed state. When it is necessary to throw garbage, the cover plate is first opened through a voice instruction, and then the name of the garbage is spoken out to make the robot provide the corresponding garbage can. After the garbage is thrown, the cover plate is closed again through a voice instruction.

[0013] Further optimization, the conveying assembly further comprises a space sensor for detecting whether the garbage can is filled; the first movement assembly comprises a sliding block and a bracket, the sliding rail is a linear guide rail, the sliding block is arranged on the sliding rail and moves up and down along the sliding rail under the drive of the motor M5, and the bracket is fixedly connected with the sliding block.

[0014] If the garbage can is filled without corresponding processing measures, the cleaning robot will lose the function of garbage collection. The space sensor is arranged to monitor the space state in the garbage can. If it is found that the garbage can is filled, the filled garbage can should be immediately packaged to ensure the continuous operation of the garbage collection function.

[0015] Further optimization, the bag sealing assembly further comprises a limiting plate and a switch l4, the switch l4 is an electronic switch, the second movement assembly comprises a driving wheel, a second fixing member and an electric heating rod, the limiting plate is parallel to the vertical direction and is fixedly connected with the robot body, the driving wheel is rotationally connected to the second bearing member, the central axis of the driving wheel is also parallel to the vertical direction, and the second bearing member is fixedly connected with the robot body; a through hole is formed in the driving wheel, the rotating shaft of the motor M6 penetrates through the through hole, and the rotating shaft of the motor M6 is collinear with the central axis of the driving wheel; the second fixing member is fixedly connected with the electric heating rod and the driving wheel, the electric heating rod is electrically connected with the main power supply of the robot, and the communication state between the electric heating rod and the main power supply is controlled by the switch l4; when the driving wheel rotates to a certain position, the electric heating rod abuts against the limiting plate, and the extension direction of the electric heating rod is parallel to the limiting plate.

[0016] The material of the garbage bag is mostly polypropylene, which can be easily melted and bonded under heating. Therefore, the hot sealing method is selected to facilitate the rapid packaging of the garbage bag.

[0017] Further optimization, the dust cleaning mechanism comprises a plurality of sweeping assemblies, each sweeping assembly comprising a rotating brush and a motor M2, and the motor M2 drives the rotating brush to rotate; the dust cleaning mechanism further comprises a mounting frame, and the sweeping assembly is fixedly arranged on the mounting frame.

[0018] The first driving assembly further comprises a fixing frame and a second driving block, the lead screw comprises a second lead screw and a third lead screw, the second driving block is threadedly connected to the second lead screw, the second lead screw is power-connected to the motor M1, the second driving block is fixedly connected to the mounting frame, and the second driving block can move up and down along the second lead screw; in addition, a driving wheel is fixedly arranged on the second lead screw, a driven wheel is fixedly arranged on the third lead screw, and the driving wheel drives the driven wheel to rotate in the form of chain transmission; the motor M2 in all sweeping assemblies is fixedly arranged on the fixing frame, the fixing frame is threadedly connected to the third lead screw, and the fixing frame can move up and down along the third lead screw.

[0019] It is considered that the robot needs to have a certain mobility to facilitate the transfer and deployment as a garbage can, and if the sweeping assembly and the dust collection assembly are always in the position during cleaning, that is, close to the ground, the robot will be subjected to a large resistance when moving, and is also easily hindered by low obstacles or uneven terrain. In order to improve the mobility of the robot, the sweeping assembly and the dust collection assembly need to be able to be lifted.

[0020] Further optimization also includes a cleaning mechanism, the cleaning mechanism comprising a mopping assembly, the mopping assembly comprising a mop and a mounting frame, the mop being fixedly arranged on the mounting frame in an unfolded state and located on the side of the mounting frame close to the ground, the mopping assembly being driven by a second driving assembly, the second driving assembly comprising a motor M3, and the mounting frame being controlled to lift and lower by the motor M3.

[0021] Also for the consideration of mobility, the mop needs to be able to be stowed when the cleaning robot is not working, and the present application realizes the lifting and lowering of the mop through a simple mechanical structure composed of a lead screw, a driving block and a connecting rod.

[0022] Further optimization, the cleaning mechanism further comprises a humidifying assembly, the humidifying assembly comprising a humidity sensor, a liquid storage container, an electromagnetic valve and a liquid delivery pipe, the liquid storage container containing cleaning liquid, the liquid delivery pipe being connected to and communicating with the liquid storage container, the electromagnetic valve being used to control the communication state of the liquid delivery pipe and the liquid storage container, and the humidity sensor being used to monitor the humidity of the mop in real time, the liquid storage container being located above the mop, and the cleaning liquid in the liquid storage container flowing to the mop through the liquid delivery pipe.

[0023] It is considered that the cleaning liquid on the mop will be consumed during mopping, and if the cleaning liquid on the mop is too little, it will not only affect the cleaning effect, but also easily cause the mop to wear, because the cleaning liquid needs to be replenished in real time to keep the mop at a certain humidity.

[0024] A control system of a mechanical structure of a cleaning robot, any one of the cleaning robots of the present application, the control system as a whole comprises three modules, namely a first control module, a second control module and a third control module.

[0025] The first control module comprises a control element, a first decision element, a first instruction element, a motor M1 and all the motors M2, the control element is signal connected with the first decision element, the first decision element is signal connected with the first instruction element, and the first instruction element is electrically connected with the motor M1 and all the motors M2; the control element is used for sending an indication signal representing starting cleaning or stopping cleaning, the first decision element is used for judging the type of the indication signal, and according to the judgment result, corresponding signals are sent to the first instruction element, so that the first instruction element executes corresponding instruction programs, and the instruction programs are processes for starting or stopping the motor at a certain time according to a certain specific order.

[0026] The second control module comprises an acoustic sensor, an acoustic processor, a transpose instruction element, a second decision element, a second instruction element, a motor M4 and a motor M8, the acoustic sensor is signal connected with the acoustic processor, the acoustic processor is signal connected with the transpose instruction element and the second decision element, the transpose instruction element is electrically connected with the motor M4, the second decision element is signal connected with the second instruction element, and the second instruction element is electrically connected with the motor M8; the acoustic processor is used for identifying the sampling signal obtained by the acoustic sensor and obtaining a result, and then sending signals to the transpose instruction element or the second decision element according to the result, the transpose instruction element is used for controlling the bearing disc to rotate the required garbage can to the throwing position, and the second decision element is used for sending corresponding signals to the second instruction element according to the received signals, so that the second instruction element executes corresponding instruction programs.

[0027] The third control module comprises a space sensor, a packaging controller, a conveying instruction element, a reset switch, a third decision element, a third instruction element, a prompter, a motor M4, a motor M5, a motor M6 and a switch l4, the space sensor is signal connected with the packaging controller, the space sensor is an ultrasonic detection device, the packaging controller is signal connected with the third decision element and the conveying instruction element, the reset switch is also signal connected with the third decision element, the third decision element is signal connected with the third instruction element, the conveying instruction element is electrically connected with the motor M4, and the third instruction element is electrically connected with the motor M5, the motor M6 and the switch l4; the prompter is a signal emitter used for contacting the operator to handle the garbage bag, and the prompter is signal connected with the third instruction element; the packaging controller is used for judging whether the garbage can is filled according to the echo signal of the ultrasonic detection device, and controlling the packaging mechanism to package the garbage bag in the filled garbage can, the conveying instruction element is used for controlling the bearing disc to rotate the filled garbage can to the lifting position, the third decision element is used for sending corresponding signals to the third instruction element according to the received signals, so that the third instruction element executes corresponding instruction programs, the reset switch is controlled by the operator, and is used for sending signals to make the garbage can return to the bearing disc after the garbage bag is handled.

[0028] The control system is divided into three modules because the cleaning robot has three relatively independent function classifications, namely, control of a conventional cleaning function, control of a garbage throwing function, and control of a garbage packing function. The control of the conventional cleaning function involves lifting of the sweeping assembly and the dust collecting assembly, the control of the garbage throwing function involves switching of the cover plate state and changing of the garbage can position, and the control of the garbage packing function involves changing of the garbage can position and overall operation of the packing mechanism. The third control module is designed with a prompter and a reset switch because the garbage needs to be removed after accumulation, and the robot will eventually lose the garbage collection function. The present application adopts the method of manually removing the garbage and installing a new garbage bag, the prompter is used to prompt the operator to come, and since the time for installing a new garbage bag is unknown, the reset switch is needed to reset the garbage can after the operator completes the operation.

[0029] Further optimization, any one of the cleaning robot mechanical structures according to claim 6 or 7, the first control module further comprises a motor M3, the motor M3 and the first instruction element electrically connected.

[0030] Further optimization, the cleaning robot mechanical structure according to claim 7, the first control module further comprises a humidity sensor, a humidity controller and a solenoid valve, the humidity controller is used to judge the humidity of the mop, and control the opening and closing state of the solenoid valve, the humidity sensor and the solenoid valve are electrically connected with the humidity controller.

[0031] The above two parts of the optimization content, the first part is used to realize the lifting of the sweeping assembly, and the second part is used to realize the automatic wetting of the mop.

[0032] The cleaning robot mechanical structure and its control system have the following advantages: 1. The cleaning robot mechanical structure can not only enable the robot to realize the functions of traditional sweeping, dust collecting and mopping, but also realize the functions of garbage classification collection and automatic packing, thereby enriching the types of robot functions and improving the use value of the robot. 2. The mechanical structure can provide the corresponding garbage can under the premise that the person speaks the name of the garbage, thereby greatly improving the efficiency of garbage classification. 3. The mechanical structure can automatically package the garbage bag in the garbage can when the garbage can is filled, the operator only needs to take away the packaged garbage bag and put in a new garbage bag, thereby greatly improving the efficiency of garbage collection and being conducive to the continuous operation of the garbage classification collection function. 4. The sweeping assembly, the dust collecting assembly and the mopping assembly can be lifted to a high position when not performing cleaning work, thereby increasing the mobility of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The front view of the mechanical structure of the cleaning robot according to the present application; Figure 2 The schematic diagram of the structure of the sweeping assembly; Figure 3 The schematic diagram of the structure of the mopping assembly; Figure 4 The schematic diagram of the distribution of the overall structure of the cleaning mechanism; Figure 5 The schematic diagram of the structure of the transfer assembly and the conveying assembly; Figure 6 The schematic diagram of the cover in the closed state and the opened state; Figure 7 The schematic diagram of the sound sensor, the space sensor and the bag sealing assembly; Figure 8 The schematic diagram of the control logic of the first control module indication signal; Figure 9 The schematic diagram of the control logic of the second control module cover state; Figure 10 The schematic diagram of the overall control logic of the third control module. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below through specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] Embodiment one

[0036] The mechanical structure of the cleaning robot comprises a dust cleaning mechanism, a sorting mechanism and a packaging mechanism.

[0037] The dust cleaning mechanism comprises a sweeping assembly and a dust suction assembly, both of which are driven by a first driving assembly. The first driving assembly comprises a motor M1 and four lead screws, all of which are vertically connected to the body and driven by the motor M1. The sweeping assembly and the dust suction assembly are controlled to rise and fall by the motor M1.

[0038] In this embodiment, the dust cleaning mechanism comprises two sweeping assemblies. Each sweeping assembly comprises a rotating brush 3, a third driving shaft 2 and a motor M2. The rotating shaft of the motor M2 is power-connected to the third driving shaft 2. The third driving shaft 2 is fixedly connected to the rotating brush 3, and the third driving shaft 2 and the rotating brush 3 are coaxial. The rotating brush 3 is located below the motor M2. The overall structure of the sweeping assembly is shown in Figure 2 Figure 1 ,​Figure 2 The rotating brush bristles are not shown. The dust removal mechanism further comprises a mounting frame 5, and the dust removal assembly is fixedly arranged on the mounting frame 5 and driven by a motor M2. All the motors M2 are electrically connected with the controller. The mounting frame 5 is as shown in Figure 1 .

[0039] The first driving assembly in the embodiment further comprises a fixing frame 15, a second driving block 12 and a chain 10. The lead screws in the first driving assembly are two second lead screws 13 and two third lead screws 14, and the second lead screws 13 are parallel to the third lead screws 14. The second lead screws 13 are power-connected with the motor M1. The second driving block 12 is fixedly connected with the mounting frame 5, and a second threaded hole is drilled in the second driving block 12 and the second driving block 12 can move up and down along the second lead screws 13. In addition, a driving wheel 9 is fixedly arranged on the second lead screw 13, and a driven wheel 11 is fixedly arranged on the third lead screw 14, and the driving wheel drives the driven wheel to rotate through the chain 10. All the motors M2 in the sweeping assembly are fixedly arranged on the fixing frame 15. The fixing frame 15 is drilled with a third threaded hole and can move up and down along the third lead screw 14. The overall structural layout of the dust removal mechanism is as shown in Figure 1 . In the figure, 8 is the motor M1. A first transmission wheel is fixedly arranged on each of the two second lead screws 13, and the two first transmission wheels transmit power through a first transmission chain. When the robot body is in a horizontal state, all the rotating brushes are at the same height. When the motor M1 rotates forward, the fixing frame and the mounting frame move downward at the same time. When the motor M1 reverses, the fixing frame and the mounting frame move upward at the same time. When the fixing frame moves to a certain position in its stroke range, all the rotating brushes touch the ground.

[0040] The sorting mechanism comprises four garbage cans and a displacement assembly. Each garbage can corresponds to a garbage category. The positions of all the garbage cans are controlled by the displacement assembly. The displacement assembly comprises a motor M4, a first carrier and a carrier disc. The carrier disc is driven by the motor M4 and placed on the first carrier. The first carrier is fixedly connected with the robot body. The robot body is provided with a garbage throwing opening. At the same time, only the opening of one of the garbage cans faces the garbage throwing opening. The position of the garbage can is called a throwing position. The garbage can in the throwing position can be thrown with garbage.

[0041] The displacement assembly further comprises a first driving shaft. The motor M4 in the embodiment is an SG90 steering engine. The four garbage cans are placed on the carrier disc, and all the garbage cans are distributed circumferentially around the central axis of the carrier disc. The carrier disc is placed on the first carrier. The first carrier is a horizontal rod, one end of which is fixedly connected with the robot body, and the other end is provided with a through hole. The carrier disc has four groups of notches. Any two groups of notches are the same in shape and size and are located below different garbage cans. The shape of the carrier disc and the notches thereon is as shown in Figure 5The first driving shaft is arranged in the through hole and fixedly connected with the bearing disc, and the first driving shaft and the bearing disc are collinear with the axis, the rotating shaft of the motor M4 is power-connected with the first driving shaft, Figure 5 (a) The first driving shaft is not shown in the figure. The transposition assembly further comprises a cover plate, a motor M8 and a sound sensor. A garbage throwing opening parallel to the horizontal direction is formed on the robot body, and the bearing disc is located below the garbage throwing opening. Only the garbage can opening in the throwing position is directed to the garbage throwing opening. The cover plate is power-connected with the motor M8. The cover plate has two states of closing and opening. In this embodiment, the conversion mode between the opening state and the closing state is that the cover plate rotates around the fixed shaft. When in the closing state, the cover plate covers the garbage throwing opening. When the motor M8 rotates forward, the cover plate changes from the closing state to the opening state. When the motor M8 reverses, the cover plate changes from the opening state to the closing state. The closing state and the opening state of the cover plate are respectively as shown in Figure 6 (a) and 6(b). The sound sensor is used for receiving voice information, and the sound sensor is signal-connected with the controller to realize voice control of garbage classification collection. Figure 7 E is the sound sensor.

[0042] The packing mechanism comprises a conveying assembly and a bag sealing assembly. Each garbage can is provided with a garbage bag with an upwardly open bag opening. The conveying assembly comprises a motor M5, a sliding rail and a first moving assembly. The sliding rail is fixedly connected with the robot body. The first moving assembly is driven by the motor M5 to move along the sliding rail. The first moving assembly is used to move the filled garbage can to a bag sealing position. The bag sealing assembly comprises a second moving assembly, a second bearing and a motor M6. The second moving assembly is used to seal the bag opening of the garbage bag in the garbage can at the bag sealing position. The second moving assembly is driven by the motor M6 and placed on the second bearing. The second bearing is fixedly connected with the robot body. As shown in the overall state of the robot of the present application, Figure 1 The cleaning robot further comprises a control system. The control system comprises a controller. The motor M1, the motor M4, the motor M5 and the motor M6 are electrically connected with the controller.

[0043] The conveying assembly further comprises a space sensor. The first moving assembly comprises a sliding block 30 and a bracket 29. The sliding rail 31 is a linear guide rail. The extension direction of the sliding rail 31 is the vertical direction, and the sliding rail is fixedly connected with the robot body. In this embodiment, the sliding rail 31 is a ball guide rail. The ball guide rail is provided with a ball screw. The ball screw is power-connected with the motor M5. The sliding block 30 can move up and down along the ball screw. When the motor M5 rotates forward, the sliding block 30 moves upward. When the motor M5 reverses, the sliding block 30 moves downward. The bracket 29 is fixedly connected with the sliding block 30. The overall structure of the conveying assembly is as shown in Figure 5 The space sensor is used for detecting whether the garbage can is filled, Figure 7F in the diagram represents a space sensor. The space sensor is connected to the controller signal. When the trash can is full, the support plate rotates it to the raised position. The states of the trash can before and after being rotated to the raised position are as follows: Figure 5 As shown in (a) and 5(b), the trash can is indicated by the red arrow in the figure; at any given time, only one of the four trash cans is in the raised position. After a trash can is moved to the raised position, the bracket 29 passes through the notch on the support plate and lifts the trash can to the sealing position. The state in which the bracket 29 lifts the trash can is as follows. Figure 5 As shown in (c).

[0044] The sealing assembly also includes a limiting plate and a switch 14, which is an electronic switch. The second motion assembly includes a drive wheel 33, a second fixing member 35, an electric heating rod, a limiting plate 34, and a second drive shaft 32. The limiting plate 34 is parallel to the vertical direction, and the central axis of the drive wheel 33 is also parallel to the vertical direction and placed on the second support member. The limiting plate 34 is fixedly connected to the robot body. The second support member is also a crossbar, one end of which is fixedly connected to the robot body, and the other end has a through hole. A hole is also formed on the drive wheel 33. The second drive shaft 32 is inserted through two holes simultaneously. The second drive shaft 32 is collinear with and fixedly connected to the central axis of the drive wheel 33. The motor M6 is located below the second support member, and the second drive shaft 32 is poweredly connected to the motor M6. The second fixing member 35 is a strip-shaped shell with an opening on the side. One end of the shell is fixedly connected to the drive wheel. The electric heating rod is partially housed in the shell and is electrically connected to the robot's main power supply. The connection status between the electric heating rod and the main power supply is controlled by switch l4. The overall structure of the sealing assembly is as follows: Figure 7 As shown in the diagram, 36 represents motor M6, while the electric heating rod and switch l4 are not shown. When the drive wheel rotates to a certain position, the electric heating rod contacts the limiting plate 34, and the extension direction of the electric heating rod is parallel to the limiting plate 34. When motor M6 rotates forward, the electric heating rod approaches the limiting plate 34; when motor M6 rotates in reverse, the electric heating rod moves away from the limiting plate. When the trash can is in the sealed position, the opening of the trash bag is between the housing and the limiting plate. Then, motor M6 starts, and the housing drives the electric heating rod closer to the limiting plate. Finally, the bag opening is clamped between the electric heating rod and the limiting plate. Afterward, switch l4 connects the main power supply, causing the electric heating rod to heat the opening of the trash bag, melting and sealing the trash bag to complete the sealing.

[0045] Example 2

[0046] The embodiment is based on the mechanical structure of the cleaning robot in embodiment one. In the embodiment, the mechanical structure further comprises a cleaning mechanism, the cleaning mechanism comprises a mopping assembly, the mopping assembly comprises a mop and a mounting rack, and is driven by a second driving assembly; the mop is fixedly arranged under the mounting rack in an unfolded state, the second driving assembly comprises a motor M3, four long connecting rods 17, four short connecting rods 18, two first driving blocks 20, a first fixing member 22 and the mounting rack 16, the mop is fixedly arranged under the mounting rack in an unfolded state, an upper cross rod is rotatably arranged above the mounting rack, upper ends of the four long connecting rods 17 are rotatably connected with the upper cross rod, the four long connecting rods 17 are divided into two groups, each group has two long connecting rods 17, lower ends of the long connecting rods 17 in the same group are rotatably connected with the same first driving block 20; each long connecting rod 17 is fixedly provided with a connecting block 19 on the upper end, one side of the long connecting rod 17 facing the other long connecting rod 17 in the same group is defined as an inner side, all the connecting blocks 19 are mounted on the outer side of the long connecting rod 17, upper ends of the four short connecting rods 18 are rotatably connected with the connecting blocks 19 respectively, the first fixing member is a lower cross rod, lower ends of the short connecting rods 18 are rotatably connected with the lower cross rod, and the lower cross rod is fixedly arranged relative to the robot body; a first threaded hole is drilled in the first driving block 20, a first screw rod 21 is coaxially fixedly connected with the motor M3, the first driving block 20 can move forward and backward along the first screw rod 21, and the first screw rod is fixedly arranged relative to the robot body; the connection between the upper end of the short connecting rod and the connecting block is recorded as a first connection, the connection between the lower end of the long connecting rod and the first driving block is recorded as a second connection, the rotation axes of the first connection and the second connection are not collinear, the first screw rod is coaxially fixedly connected with the rotation shaft of the motor M3, the first driving block moves backward when the motor M3 rotates in a forward direction, the first driving block moves forward when the motor M3 rotates in a reverse direction, the motor M3 is electrically connected with a controller, and the mop is in contact with the ground when the first driving block moves to a certain position in the stroke range. The overall structural layout of the mopping assembly is shown in Figure 3 Figure 4 The motor M3 is arranged in the first driving block 20, two second transmission wheels are fixedly arranged on the two first screw rods 21 respectively, and power is transmitted between the two second transmission wheels through a second transmission chain. The other parts of the embodiment are the same as those in embodiment one.

[0047] Embodiment three

[0048] ​The embodiment is based on the mechanical structure of the cleaning robot in embodiment two. In the embodiment, the cleaning mechanism further comprises a humidifying assembly for keeping the mop at a certain humidity during mopping. The humidifying assembly comprises a solenoid valve 25, a humidity sensor, a liquid storage container 26 and a liquid delivery pipe 24. The liquid storage container 26 is provided with an opening, and the solenoid valve 25 is fixedly arranged on the opening. One end of the liquid delivery pipe 24 is in communication with the solenoid valve 25, and the other end is not closed and hangs above the mop. The humidity sensor is used to monitor the humidity of the mop in real time. The liquid storage container 26 is located above the mop, and the cleaning liquid in the liquid storage container 26 flows to the mop through the liquid delivery pipe 24. The structure of the humidifying assembly is shown in Figure 4 . In the figure, A is the humidity sensor, B is the mopping assembly, and C is the humidifying assembly. The humidity sensor is signal-connected with the controller, and the solenoid valve 25 is electrically connected with the controller. When the humidity of the mop is lower than a certain value, the solenoid valve 25 is automatically opened to make the cleaning liquid flow to the mop through the liquid delivery pipe 24. When the humidity reaches a certain value, the solenoid valve 25 is automatically closed. The other parts of the embodiment are the same as those in embodiment two.

[0049] Embodiment four

[0050] A control system of a mechanical structure of a cleaning robot, based on any one of the mechanical structures of the cleaning robot in embodiments one to three. The control system as a whole comprises three modules, namely a first control module, a second control module and a third control module.

[0051] The operation method of the dust cleaning mechanism and the cleaning mechanism is as follows: The first control module comprises a control element, a first decision element, a first instruction element, a motor M1 and all motors M2. The control element is signal-connected with the first decision element, the first decision element is signal-connected with the first instruction element, and the first instruction element is electrically connected with the motor M1 and all motors M2. The overall operation process of the first control module is shown in the following steps: S1.1. The control element transmits an indication signal to the first decision element. The indication signal is one of start and stop. In the embodiment, the control element is a switch l1 and l2 controlled by an operator to transmit the indication signal. The high potential indication signal "1" transmitted by l1 is start, and the low potential indication signal "0" transmitted by l2 is stop. The control logic of the first control system related to the indication signal is shown in Figure 8 . In the figure, var is a starting variable for recording the indication signal and submitting it to the first decision element for judgment, and b is a machine state variable for balancing the potential in the first decision element to avoid repeated execution of the instruction.

[0052] S1.2. The first decision element makes a decision on the indication signal, if the indication signal is on, the first decision element sends an on signal to the first instruction element, if the indication signal is off, the first decision element sends an off signal to the first instruction element.

[0053] S1.3. If the first instruction element receives an on signal, the first instruction element executes the first instruction, if the instruction element receives an off signal, the instruction element executes the second instruction.

[0054] The first instruction is: first start the motor M1 to make it forward rotation, after 2s, close the motor M1, and then start all the motors M2.

[0055] The second instruction is: first start the motor M1 to make it reverse rotation, after 2s, close the motor M1, and then close all the motors M2.

[0056] The second control module includes an acoustic sensor, an acoustic processor, a transposed instruction element, a second decision element, a second instruction element, a motor M4 and a motor M8, the acoustic sensor is signal connected with the acoustic processor, the acoustic processor is signal connected with the transposed instruction element and the second decision element, the transposed instruction element is electrically connected with the motor M4, the second decision element is signal connected with the second instruction element, and the second instruction element is electrically connected with the motor M8. The overall operation process of the second control module is shown in the following steps: S2.1. The acoustic sensor samples the collected voice signal, and transmits the obtained sampling signal to the acoustic processor.

[0057] S2.2. The acoustic processor identifies the received sampling signal and obtains an identification result; the acoustic processor is pre-provided with a first database, a second database and a third database, the first database contains a plurality of opening instructions, the second database contains a plurality of garbage names, and each garbage name has a corresponding category, and each category has a corresponding garbage can, and the third database contains a plurality of closing instructions; if the cover is in a closed state, the acoustic processor compares the identification result with the first database, and records this situation as C1; if the cover is in an open state, the acoustic processor compares the identification result with the second database, and records this situation as C2.

[0058] S2.3. If the acoustic processor finds an opening instruction matching the identification result under situation C1, the acoustic processor sends an opening signal to the second decision element, and the second decision element receives the signal and makes the second instruction element execute a third instruction, i.e. starting the motor M8 to make it forward rotation, and after 1s, sending a signal to close the motor M8.

[0059] In scenario C2, if the sound processor can find a garbage name that matches the recognition result, it determines the corresponding garbage bin based on the category described in the garbage name and records this garbage bin as the target garbage bin. Then, it sends a signal containing the target garbage bin information to the transposition command element. Upon receiving the signal, the transposition command element compares the current position of the target garbage bin with the throwing position to determine the distance between the two positions. This distance is then used to calculate the time required for motor M4 to move the target garbage bin to the throwing position, and this time is recorded as... δt 1. Then, the transpose command element sends a signal to motor M4 to make it run, and after a certain time... δt 1. Then send a signal to turn off motor M4; in case C2, if the sound processor does not find a garbage name that matches the recognition result, continue to step S2.5.

[0060] S2.4. The sound processor continues to compare the recognition results with the third database. If the sound processor finds a closing instruction that matches the recognition result, it sends a closing signal to the second decision element. Upon receiving the signal, the second decision element instructs the second instruction element to execute the fourth instruction, which turns on motor M8 to reverse it. After 1 second, it sends a signal to turn off motor M8. The control logic for the opening and closing of the cover is as follows: Figure 9 As shown in the figure, LS is a sound processor. The high potential "1" emitted by LS is the turn-on signal, and the low potential "0" is the turn-off signal.

[0061] The third control module includes a space sensor, a packing controller, a transport command element, a reset switch, a third decision element, a third command element, a prompter, motors M4, M5, and M6, and switch l4. The space sensor, which is an ultrasonic detection device, is signal-connected to the packing controller. The packing controller is signal-connected to the third decision element and the transport command element. The reset switch is also signal-connected to the third decision element. The third decision element is signal-connected to the third command element. The transport command element is electrically connected to motor M4. The third command element is electrically connected to motors M5 and M6, as well as switch l4. The overall operation flow of the third control module is as follows: S3.1. The ultrasonic detection device sends detection signals to the opening of all trash cans and receives echo signals, and then transmits all echo signals to the packaging controller in real time.

[0062] S3.2. The packing controller determines whether the opening of the trash can is blocked by an object based on the characteristics of the echo signal. The packing controller has a preset number of times threshold. If the packing controller determines that the opening of a trash can is blocked by an object multiple times in a row, and the number of times the object is blocked reaches the number of times threshold, then the trash can is considered to be full.

[0063] S3.3. The packing controller records the filled trash can as a trash can to be processed, and then sends a signal containing the information of the trash can to be processed to the conveying instruction element. After receiving the signal, the conveying instruction element obtains the current position of the trash can to be processed, and according to the distance between the current position of the trash can to be processed and the lifting position, obtains the running time of the motor M4 required for moving the trash can to be processed to the lifting position, and records the time as δt 2, and then sends a signal to the motor M4 to make it run, and after the time δt 2, sends a signal to the motor M4 to make it stop.

[0064] S3.4. The packing controller sends a packing signal to the third decision element. After receiving the conveying signal, the third decision element makes the third instruction element execute the fifth instruction, that is, first sends a signal to the prompter to the operator, and then starts the motor M5 to make it rotate in the positive direction, drives the bracket 29 to rise, and after 3 s, sends a signal to make the motor M5 stop; then sends a signal to the motor M6 to start the motor M6 to make it rotate in the positive direction, drives the electric heating rod to approach the limiting plate, and after 2 s, sends a signal to make the motor M6 stop; then sends a signal to the switch l4 to open the switch l4 to connect the electric heating rod and the main power supply of the robot, and after the time t 6, sends a signal to close the switch l4.

[0065] S3.5. The operator takes out the packaged trash bag from the trash can, and puts a new trash bag into the trash can.

[0066] S3.6. The operator controls the switch l3 to send a reset signal to the third decision element. After receiving the reset signal, the third decision element makes the third instruction element execute the sixth instruction, that is, starts the motor M6 to make it rotate in the negative direction, and after 2 s, sends a signal to make the motor M6 stop; then sends a signal to the motor M5 to start the motor M5 to make it rotate in the negative direction, and after 3 s, sends a signal to make the motor M5 stop. The control logic of the packing and resetting processes of the trash can is shown in Figure 10 , in which LP is the packing controller, the high potential "1" sent by LP is the packing signal, the low potential "0" is the reset signal, and 02-Alarm is the prompter.

[0067] Example Five

[0068] This embodiment is based on the control system of the mechanical structure of the cleaning robot described in Example Four, and the control system is based on any one of the mechanical structures of the cleaning robot described in Examples Two or Three. In this embodiment, the first control module further comprises a motor M3, which is electrically connected with the first instruction element.

[0069] In the embodiment, the first instruction is: first start the motor M1 to make it rotate forward, after 2 s, turn off the motor M1, then start all the motors M2, 1 s later, start the motor M3 to make it rotate forward, after 3 s, turn off the motor M3.

[0070] The second instruction is: first start the motor M1 to make it rotate backward, after 2 s, turn off the motor M1, then turn off all the motors M2, 1 s later, start the motor M3 to make it rotate backward, after 3 s, turn off the motor M3.

[0071] The other parts of the embodiment are the same as those described in embodiment four.

[0072] Embodiment six

[0073] The embodiment is based on the control system of the mechanical structure of the cleaning robot described in embodiment five, and the control system is based on the mechanical structure of the cleaning robot described in embodiment three. In the embodiment, the first control module further comprises a humidity sensor, a humidity controller and a solenoid valve, and the humidity sensor and the solenoid valve are electrically connected with the humidity controller.

[0074] In the embodiment, step S1.2 is: the first decision element judges the indication signal, if the indication signal is start, the first decision element sends a start signal to the first instruction element, and at the same time, the humidity sensor and the humidity controller are started; if the indication signal is stop, the first decision element sends a stop signal to the first instruction element, and at the same time, the humidity sensor and the humidity controller are turned off.

[0075] In the embodiment, the operation process of the first control module further comprises the following contents: the humidity sensor transmits the measured humidity value to the humidity controller in real time, the humidity controller compares the received humidity value with the preset humidity threshold value, if the humidity value at a certain moment is less than the humidity threshold value, and the solenoid valve is in the closed state, the humidity controller sends a signal to open the solenoid valve, if the humidity value at a certain moment is not less than the humidity threshold value, and the solenoid valve is in the open state, the humidity controller sends a signal to close the solenoid valve. If the solenoid valve is in the open state when the stop signal is received, the humidity controller first sends a signal to close the solenoid valve and then stops operating.

Claims

1. A mechanical structure for a cleaning robot, mounted on the robot body, characterized in that: It includes a dust removal mechanism, a sorting mechanism, and a packaging mechanism. The dust removal mechanism includes a sweeping component and a vacuuming component. Both the sweeping component and the vacuuming component are driven by a first drive component. The first drive component includes a motor M1 and multiple lead screws. The multiple lead screws are vertically connected to the robot body. All lead screws are driven by the motor M1. The different lead screws transmit power to each other through a gear chain transmission. The sweeping component and the vacuuming component are both controlled to lift and lower by the motor M1. The sorting system includes multiple trash cans and a transfer component. Each trash can corresponds to a type of waste. The position of all trash cans is controlled by the transfer component, which includes a motor M4, a first support member, and a support plate. The support plate is driven by the motor M4 and rotatably connected to the first support member. The first support member is fixedly connected to the robot body. The robot body has a trash throwing port. At any given time, only one trash can has its opening facing the trash throwing port. The position of this trash can is called the throwing position. Only trash cans in the throwing position can be used to throw trash. The packaging mechanism includes a conveying component and a sealing component. Each trash can contains a trash bag with its opening facing upwards. The conveying component includes a motor M5, a slide rail, and a first motion component. The slide rail is vertically fixed to the robot body. The first motion component is driven by the motor M5 to move along the slide rail. At any given time, only one trash can is in the raised position among the multiple trash cans. After a trash can is rotated to the raised position, the first motion component lifts the trash can to the sealing position. The sealing component includes a second motion component, a second support member, and a motor M6. The second motion component is used to seal the opening of the trash bag in the trash can in the sealing position. The second motion component is driven by the motor M6 and placed on the second support member, which is fixedly connected to the robot body.

2. The mechanical structure of a cleaning robot as described in claim 1, characterized in that: The multiple trash cans are all placed on a support plate, and all trash cans are circumferentially distributed around the central axis of the support plate. The support plate has multiple sets of notches, any two sets of notches are the same in shape and size and are located below different trash cans. The number of notch sets is equal to the number of trash cans. All notches are circumferentially distributed around the central axis of the support plate. The support plate is powered by a motor M4, and the support plate is rotated around its central axis by the motor M4. In addition, the transposition assembly also includes an acoustic sensor, which is used to receive voice information.

3. The mechanical structure of a cleaning robot as described in claim 2, characterized in that: The conveying component also includes a space sensor for detecting whether the trash can is full; the first motion component includes a slider and a bracket, the slide rail is a linear guide rail, the slider is mounted on the slide rail and moves up and down along the slide rail driven by motor M5, and the bracket is fixedly connected to the slider.

4. The mechanical structure of a cleaning robot as described in claim 3, characterized in that: The sealing assembly also includes a limiting plate and a switch l4, which is an electronic switch. The second motion assembly includes a drive wheel, a second fixing member, and an electric heating rod. The limiting plate is parallel to the vertical direction and fixedly connected to the robot body. The drive wheel is rotatably connected to the second support member, and the central axis of the drive wheel is also parallel to the vertical direction. The second support member is fixedly connected to the robot body. A through hole is opened on the drive wheel, and the shaft of motor M6 passes through the through hole, and the shaft of motor M6 is collinear with the central axis of the drive wheel. The second fixing member is fixedly connected to both the electric heating rod and the drive wheel. The electric heating rod is electrically connected to the robot's main power supply, and the connection state between the electric heating rod and the main power supply is controlled by the switch l4. When the drive wheel rotates to a certain position, the electric heating rod abuts against the limiting plate, and the extension direction of the electric heating rod is parallel to the limiting plate.

5. The mechanical structure of a cleaning robot as described in claim 4, characterized in that: The dust removal mechanism includes multiple sweeping components, each of which includes a rotary brush and a motor M2, with the motor M2 driving the rotary brush to rotate. The dust removal mechanism also includes a mounting frame, on which the dust collection components are fixedly mounted. The first drive assembly further includes a fixed frame and a second drive block. The lead screw includes a second lead screw and a third lead screw. The second drive block is threadedly connected to the second lead screw. The second lead screw is powered by the motor M1. The second drive block is fixedly connected to the mounting frame and can move up and down along the second lead screw. In addition, a drive wheel is fixedly mounted on the second lead screw, and a driven wheel is fixedly mounted on the third lead screw. The drive wheel drives the driven wheel to rotate in the form of chain drive. All the motors M2 in the sweeping assemblies are fixedly mounted on the fixed frame. The fixed frame is threadedly connected to the third lead screw and can move up and down along the third lead screw.

6. The mechanical structure of a cleaning robot as described in claim 5, characterized in that: It also includes a cleaning mechanism, which includes a mopping assembly, which includes a mop and a mounting bracket. The mop is fixedly mounted on the mounting bracket in an unfolded state and is located on the side of the mounting bracket closest to the ground. The mopping assembly is driven by a second drive assembly, which includes a motor M3. The mounting bracket is raised and lowered by the motor M3.

7. The mechanical structure of a cleaning robot as described in claim 6, characterized in that: The cleaning mechanism also includes a humidification component, which includes a humidity sensor, a liquid storage container, a solenoid valve, and a delivery tube. The liquid storage container contains cleaning fluid, and the delivery tube is connected to and communicates with the liquid storage container. The solenoid valve is used to control the communication state between the delivery tube and the liquid storage container. The humidity sensor is used to monitor the humidity of the mop in real time. The liquid storage container is located above the mop, and the cleaning fluid in the liquid storage container flows to the mop through the delivery tube.

8. A control system for the mechanical structure of a cleaning robot, characterized in that: Based on the mechanical structure of any of the cleaning robots described in claims 1 to 7, the control system as a whole includes three modules, namely a first control module, a second control module and a third control module; The first control module includes a control element, a first decision element, a first instruction element, a motor M1, and all motors M2. The control element is signal-connected to the first decision element, and the first decision element is signal-connected to the first instruction element. The first instruction element is electrically connected to motor M1 and all motors M2. The control element is used to issue an indication signal representing the start or stop of cleaning. The first decision element is used to determine the type of the indication signal and, based on the determination result, issues a corresponding signal to the first instruction element, causing the first instruction element to execute a corresponding instruction program. The instruction program is a process of starting or stopping the motors in a specific order at a specific time. The second control module includes a sound sensor, a sound processor, a transposition command element, a second decision element, a second command element, a motor M4, and a motor M8. The sound sensor and the sound processor are connected by signals; the sound processor is connected by signals to the transposition command element and the second decision element; the transposition command element is electrically connected to motor M4; the second decision element and the second command element are connected by signals; and the second command element is electrically connected to motor M8. The sound processor is used to identify the sampled signal obtained by the sound sensor and obtain a result. Then, based on the result, it sends a signal to the transposition command element or the second decision element. The transposition command element is used to control the carrier plate to rotate the required trash can to the throwing position. The second decision element is used to send a corresponding signal to the second command element based on the received signal, so that the second command element executes the corresponding instruction program. The third control module includes a space sensor, a packing controller, a transport command element, a reset switch, a third decision element, a third command element, a prompter, motors M4, M5, and M6, and switch l4. The space sensor is signal-connected to the packing controller; the space sensor is an ultrasonic detection device. The packing controller is signal-connected to the third decision element and the transport command element. The reset switch is also signal-connected to the third decision element. The third decision element is signal-connected to the third command element. The transport command element is electrically connected to motor M4. The third command element is electrically connected to motors M5 and M6, as well as switch l4. The indicator is a signal transmitter used to contact operators to handle garbage bags, and the indicator is signal-connected to the third command element. The packing controller is used to determine whether the garbage bin is full based on the echo signal from the ultrasonic detection device, and controls the packing mechanism to pack the garbage bags in the full garbage bin. The transport command element is used to control the carrier plate to rotate the full garbage bin to the raised position. The third decision element is used to send a corresponding signal to the third command element based on the received signal, so that the third command element executes the corresponding instruction program. The reset switch is operated by the operator and is used to send a signal to return the garbage bin to the carrier plate after the garbage bags are processed.

9. The control system for the mechanical structure of a cleaning robot as described in claim 8, characterized in that: Based on the mechanical structure of any of the cleaning robots described in claim 6 or 7, the first control module further includes a motor M3, which is electrically connected to the first command element.

10. The control system for the mechanical structure of a cleaning robot as described in claim 9, characterized in that: Based on the mechanical structure of the cleaning robot according to claim 7, the first control module further includes a humidity sensor, a humidity controller, and a solenoid valve. The humidity controller is used to determine the humidity of the mop and control the opening and closing state of the solenoid valve. The humidity sensor and the solenoid valve are both electrically connected to the humidity controller.

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