Cleaning robot and cleaning system

Abstract

The utility model discloses a cleaning robot and a cleaning system. The cleaning robot comprises a robot body and cleaning accessories, the robot body comprises a machine shell assembly, a cleaning mechanism arranged at the bottom of the machine shell assembly and driving wheels, and the advancing and retreating direction of the robot body is perpendicular to the rotating axis of the driving wheels; the cleaning accessory comprises a first cleaning part, and the first cleaning part is arranged on the side portion of the robot body and used for cleaning the vertical wall face. According to the cleaning robot disclosed by the embodiment of the utility model, the cleaning accessory is arranged on the robot body, and the first cleaning part of the cleaning accessory is positioned on the side part of the robot body, so that when the vertical wall surface needs to be cleaned, the first cleaning part can be used for cleaning the vertical wall surface, and a user does not need to bend down to wipe; great convenience is brought to the daily life of the user, and more use requirements of the user can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a cleaning robot and a cleaning system. Background Art

[0002] In daily life, vertical walls (such as skirting boards, table legs, and chair legs) are usually prone to dust accumulation or dirt. When users clean them manually, they need to bend down and wipe them, which is extremely inconvenient. The cleaning robots in related technologies are mainly used for cleaning the floor, and have a single function and cannot meet the needs of users. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the utility model is to provide a cleaning robot that can automatically clean a vertical wall surface without the user having to clean the vertical wall surface, thereby freeing the user's hands and meeting more user needs.

[0004] According to the embodiment of the utility model, the cleaning robot includes: a robot body, the robot body includes a housing assembly, a cleaning mechanism and a driving wheel arranged at the bottom of the housing assembly, the forward and backward directions of the robot body are perpendicular to the rotation axis of the driving wheel; a cleaning accessory, the cleaning accessory includes a first cleaning part, the first cleaning part is arranged on the side of the robot body, and is used to clean the vertical wall surface.

[0005] According to the cleaning robot of the embodiment of the utility model, a cleaning accessory is arranged on the robot body so that the first cleaning part of the cleaning accessory is located on the side of the robot body. When the vertical wall surface needs to be cleaned, the first cleaning part can be used to clean the vertical wall surface without the user having to bend down to wipe it, which brings great convenience to the user's daily life and can meet more usage needs of the user.

[0006] According to some embodiments of the utility model, in the width direction of the robot body, the first cleaning part is set not to exceed the maximum width of the robot body; wherein the width direction of the robot body is perpendicular to the forward and backward direction of the robot body.

[0007] According to some embodiments of the utility model, in the width direction of the robot body, the first cleaning part is at least partially set to exceed the maximum width of the robot body; wherein the width direction of the robot body is perpendicular to the forward and backward direction of the robot body.

[0008] In some embodiments, the robot body is constructed as follows: when the vertical wall needs to be cleaned, the robot body rotates to drive the first cleaning part to deflect toward the vertical wall; and / or the first cleaning part can move along the width direction of the robot body, and when the vertical wall needs to be cleaned, the first cleaning part can move in a direction close to the vertical wall.

[0009] According to some embodiments of the utility model, the first cleaning portion is a flexible member, and the first cleaning portion can be deformed under the action of an external force; and / or, in the projection of the first cleaning portion and the cleaning mechanism on a horizontal plane, the cleaning mechanism is at least partially located behind the first cleaning portion.

[0010] According to some embodiments of the present utility model, the housing assembly has a first center line and a second center line that are perpendicular to each other, the first center line extends along the forward and backward direction of the robot body, and the second center line is the center line of the robot at the maximum width;

[0011] In the forward and backward direction of the robot body, the first cleaning part is located behind the second center line; and / or,

[0012] The housing assembly is circular; and / or,

[0013] The first cleaning portion and the cleaning mechanism are located on the same side of the second center line; and / or,

[0014] The robot body further comprises an edge sensor, wherein the edge sensor is arranged on a side wall of the housing assembly, and in the forward and backward direction of the robot body, the edge sensor is arranged in front of the second center line; and / or,

[0015] The robot body further comprises an edge sensor, wherein the edge sensor and the first cleaning portion are located on the same side relative to the first center line; and / or,

[0016] The robot body further includes a collision sensor, which is disposed on a side wall of the housing assembly, and in the forward and backward directions of the robot body, the collision sensor is disposed in front of the second center line.

[0017] According to some embodiments of the present invention, the cleaning accessory further includes: a bracket, the first cleaning part is arranged on the bracket and is arranged on the side of the robot body through the bracket.

[0018] In some embodiments, in the forward and backward directions of the robot, the bracket is set not to exceed the maximum width of the robot body; and / or the first cleaning part is detachably provided on the bracket; and / or the first cleaning part is bonded to the bracket.

[0019] In some examples, the bracket includes: a mounting portion, the mounting portion is located on a side of the casing assembly, and the first cleaning portion is disposed on the mounting portion; and a connecting portion, the connecting portion is connected to the mounting portion and to the bottom of the casing assembly or the interior of the casing assembly.

[0020] According to some embodiments of the present invention, the first cleaning portion is directly bonded to the side wall of the housing assembly.

[0021] According to some embodiments of the present invention, the cleaning accessory further includes a second cleaning portion, which is located below the first cleaning portion and is used for cleaning the floor and / or the vertical wall.

[0022] In some embodiments, in the width direction of the robot body, there is a spacing area between the cleaning mechanism and the maximum width of the robot body, and the second cleaning part is used to clean the ground corresponding to the spacing area.

[0023] According to some embodiments of the present invention, the first cleaning portion is movable relative to the housing assembly.

[0024] In some embodiments, the first cleaning part is movable in the height direction of the robot body; and / or, the first cleaning part is movable along a preset direction, the preset direction extends along the width direction of the robot body, or is set at an acute angle to the width direction of the robot body; and / or, the first cleaning part is rotatable relative to the housing assembly.

[0025] In some embodiments, the cleaning mechanism includes: a connecting seat, which is arranged at the bottom of the casing assembly; a floor cleaning piece, which is rotatably arranged on the connecting seat; the cleaning accessory is installed at one end of the cleaning mechanism in the width direction, or the cleaning accessory is installed at one end of the connecting seat in the width direction.

[0026] In some examples, the connecting seat is movable along the width direction of the robot body, and the cleaning accessory is connected to the connecting seat to move with the connecting seat; or, the floor cleaning piece is movable along the width direction of the robot body, and the cleaning accessory is connected to the floor cleaning piece to move with the floor cleaning piece.

[0027] According to some embodiments of the present utility model, the cleaning robot further includes a humidifying component, and the humidifying component is used to humidify the first cleaning part and / or the vertical wall surface.

[0028] In some embodiments, the humidification component includes: a water spraying part, which is used to spray water onto the first cleaning part and / or the vertical wall; a water tank, which is used to store water; a water supply pump, which is used to transport the water in the water tank to the water spraying part; and / or the first cleaning part is drum-shaped and rotatable relative to the housing assembly, and the rotation axis of the first cleaning part is parallel to the vertical wall.

[0029] In some specific examples, the robot body has a sewage suction channel and the robot body also includes: a scraper bar, which is abutted against the first cleaning part; a sewage box, which is connected to the sewage suction channel; and a suction piece, which is used to suck the sewage at the scraper bar into the sewage box.

[0030] The cleaning system according to the embodiment of the utility model comprises the cleaning robot and the base station as described above; the base station comprises a docking position, and the cleaning robot can be docked at the docking position.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 is a schematic diagram of the operation of a cleaning robot according to some embodiments of the utility model;

[0034] Figure 2 yes Figure 1 The side view shown in ;

[0035] Figure 3 is a schematic diagram of the operation of a cleaning robot according to other embodiments of the utility model;

[0036] Figure 4 yes Figure 1 The structural schematic diagram of the cleaning robot shown in;

[0037] Figure 5 yes Figure 4 A bottom view of the cleaning robot shown in ;

[0038] Figure 6 yes Figure 4An assembly diagram of the cleaning accessories of the cleaning robot shown in ;

[0039] Figure 7 yes Figure 4 An exploded view of the cleaning accessories of the cleaning robot shown in ;

[0040] Figure 8 is a schematic diagram of the operation of a cleaning robot according to other embodiments of the utility model;

[0041] Fig. 9 yes Figure 8 A schematic diagram of the structure of the cleaning accessories of the cleaning robot shown in ;

[0042] Fig.10 is a schematic diagram of the operation of a cleaning robot according to some other embodiments of the utility model;

[0043] Fig.11 is a schematic diagram of the operation of a cleaning robot according to some further embodiments of the utility model;

[0044] Fig.12 is a schematic diagram of a projection of a cleaning robot on the ground according to some embodiments of the utility model;

[0045] Fig.13 is a schematic diagram of the structure of the cleaning accessories of the cleaning robot according to other embodiments of the utility model;

[0046] Fig.14 is a schematic structural diagram of a cleaning robot according to some other embodiments of the utility model;

[0047] Fig.15 is a schematic structural diagram of a cleaning robot according to some further embodiments of the utility model;

[0048] Fig.16 yes Fig.15 The working schematic diagram of the cleaning robot shown in ;

[0049] Fig.17 is a control flow chart of a cleaning robot according to some embodiments of the utility model;

[0050] Fig.18 It is a control flow chart of a cleaning robot according to other embodiments of the utility model.

[0051] Reference numerals:

[0052] Cleaning robot 100,

[0053] The robot body 10,

[0054] Housing assembly 11, fixing portion 111, air outlet 112, fixing hole 113, mounting recess 114,

[0055] Cleaning mechanism 12, connecting seat 121, floor cleaning member 123,

[0056] Edge sensor 131, collision sensor 132,

[0057] Humidification component 14, water spraying part 141,

[0058] Scrape strip 151,

[0059] Radar 16, driving wheel 171, steering wheel 172,

[0060] Cleaning accessory 20, first cleaning part 21, bracket 22, mounting part 221, connecting part 222, buckle 223, fixing column 224, second cleaning part 23, adhesive layer 24,

[0061] Lifting drive assembly 30, driving motor 31, transmission mechanism 32, driving gear 321, driven gear 322, rack 323,

[0062] Wall 40, vertical wall 41, skirting 42,

[0063] First center line L1, second center line L2, tangent line L3. DETAILED DESCRIPTION

[0064] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0065] Reference below Figure 1-Figure 16 A cleaning robot 100 according to an embodiment of the present invention is described.

[0066] See also Figure 1-Figure 2 According to an embodiment of the utility model, the cleaning robot 100 includes a robot body 10, and the robot body 10 includes a housing assembly 11, a cleaning mechanism 12 and a driving wheel 171. The cleaning mechanism 12 and the driving wheel 171 are arranged at the bottom of the housing assembly 11, and the cleaning mechanism 12 is used to clean the floor.

[0067] The type of the cleaning mechanism 12 can be any type, and can be selected according to actual conditions. The driving wheel 171 is rotatable relative to the housing assembly 11, and the forward and backward directions of the robot body 10 are perpendicular to the rotation axis of the driving wheel 171. Figure 1 In the embodiment, the rotation axis of the driving wheel 171 extends in the left-right direction, and the forward and backward directions of the robot body 10 are the front-back directions.

[0068] In some embodiments, Figure 5-Figure 7 As shown, the cleaning robot 100 further includes a cleaning accessory 20 , and the cleaning accessory 20 includes a first cleaning portion 21 . The first cleaning portion 21 is disposed on a side of the robot body 10 and is used to clean the vertical wall surface 41 .

[0069] The vertical wall 41 can be the side wall of an obstacle on the ground (such as the side walls of table legs, chair legs, etc.), or it can be a wall, or it can be a skirting board, etc. As long as the wall is perpendicular or inclined to the surface to be cleaned (such as the ground), it can fall within the scope of the vertical wall 41 in this application.

[0070] For example, in a scenario with a skirting 42 , the first cleaning unit 21 can be used to clean the skirting 42 . Specifically, if the skirting 42 protrudes from the surface of the wall 40 , the first cleaning unit 21 can clean the sides of the skirting 42 and / or clean the top surface of the skirting 42 .

[0071] The first cleaning part 21 is arranged on the side of the robot body 10. It can be understood that the first cleaning part 21 can be directly installed on the side of the robot body 10. For example, the first cleaning part 21 can be directly installed on the side wall of the housing assembly 11 of the robot body 10, or it can be directly installed on the side of the component located at the bottom of the housing assembly 11 (such as the cleaning mechanism 12, the driving wheel 171, etc.).

[0072] Of course, it can also be understood that the first cleaning part 21 can be installed at the bottom of the robot body 10, but the first cleaning part 21 at least partially protrudes from the side of the robot body 10. For example, the first cleaning part 21 can at least partially protrude from the side wall of the housing assembly 11 of the robot body 10, or it can protrude from the side of the component located at the bottom of the housing assembly 11.

[0073] According to the cleaning robot 100 of the utility model embodiment, a cleaning accessory 20 is arranged on the robot body 10, so that the first cleaning part 21 of the cleaning accessory 20 is located on the side of the robot body 10. When the vertical wall 41 needs to be cleaned, the first cleaning part 21 can be used to clean the vertical wall 41 without the user bending down to wipe it, which brings great convenience to the user's daily life and can meet more usage needs of the user.

[0074] Please refer again Figure 1 and Figure 2 According to some embodiments of the present invention, in the width direction of the robot body 10 (i.e., the left-right direction in the figure), the first cleaning portion 21 is at least partially arranged to exceed the maximum width of the robot body 10. The width direction of the robot body 10 is perpendicular to the forward and backward direction of the robot body 10 (i.e., the front-back direction in the figure).

[0075] Specific to Figure 1 In the figure, the rotation axis of the driving wheel 171 extends in the left-right direction, and the width direction of the robot body 10 is the left-right direction, that is, the width direction of the robot body 10 is the extension direction of the rotation axis of the driving wheel 171, or, the width direction of the robot body 10 is parallel to the extension direction of the rotation axis of the driving wheel 171; the forward and backward direction of the robot body 10 is the front-back direction, then the forward and backward direction of the robot body 10 is perpendicular to the width direction of the robot body 10.

[0076] The projection shape of the robot body 10 on the horizontal plane can be circular, square, triangular, or irregular. The “maximum width of the robot body 10” refers to the maximum width of the robot body 10 in the projection of the horizontal plane along the direction of the robot body 10 moving forward and backward. For example, Figure 1-3 As shown, in the embodiment where the projection shape of the robot body 10 on the horizontal plane is a circle, the maximum width of the robot body 10 is the width position passing through the center of the circle in the forward and backward direction of the robot body 10; in the embodiment where the projection shape of the robot body 10 on the horizontal plane is a square circle, the maximum width of the robot body 10 is the width position passing through the center line of the square circle extending in the left and right direction in the forward and backward direction of the robot body 10. Of course, the projection shape of the robot body 10 on the horizontal plane is not limited to a circle or a square circle, but can also be other shapes.

[0077] For ease of understanding, Figure 1 , 2 As shown, the tangent L3 of the projection of the robot body 10 on the horizontal plane at the maximum width position, the first cleaning portion 21 at least partially exceeds the maximum width setting of the robot body 10, that is, the first cleaning portion 21 at least partially exceeds the tangent L3; the tangent L3 is a straight line parallel to the forward direction.

[0078] See also Figure 3 According to some embodiments of the present invention, in the width direction of the robot body 10, the first cleaning portion 21 is set not to exceed the maximum width of the robot body 10. The width direction of the robot body 10 is perpendicular to the forward and backward direction of the robot body 10 (i.e., the front and rear direction in the figure).

[0079] For ease of understanding, the robot body 10 is projected on a horizontal plane, and a tangent L3 is made at the maximum width position of the cleaning robot 100 in the forward and backward directions. The first cleaning portion 21 does not exceed the maximum width setting of the robot body 10, that is, the first cleaning portion 21 does not exceed the tangent L3.

[0080] According to some embodiments of the present invention, the robot body 10 is configured such that when the vertical wall surface 41 needs to be cleaned, the robot body 10 rotates to drive the first cleaning portion to deflect toward the vertical wall surface 41 .

[0081] It should be noted that the “rotation of the robot body 10 ” here refers to the self-rotation of the robot body 10 , and may also refer to the eccentric rotation or swing of the robot body 10 .

[0082] In an embodiment in which the first cleaning portion 21 does not exceed the maximum width of the robot body 10, when the vertical wall 41 needs to be cleaned, the first cleaning portion 21 cannot contact the vertical wall 41 as the robot body 10 moves straight forward. In this structural setting, the robot body 10 can be controlled to rotate a certain angle so that the first cleaning portion 21 exceeds the cross-section of the robot body 10 parallel to the vertical wall 41 without being restricted by the structure at the maximum width, so that the first cleaning portion 21 is close to the vertical wall 41 and can contact the vertical wall 41, thereby cleaning the vertical wall 41.

[0083] In the above technical scheme, during the process of cleaning the vertical wall 41, by controlling the rotation of the robot body 10, on the one hand, the first cleaning part 21 can exceed the cross-section parallel to the robot body 10 and the vertical wall 41, so that the first cleaning part 21 can clean the vertical wall 41, and it can also avoid the structure at the maximum width of the robot body 10 from hitting the vertical wall 41, thereby ensuring the reliability of the cleaning robot 100. On the other hand, the first cleaning part 21 can also wipe the vertical wall 41 back and forth under the drive of the robot body 10, which is beneficial to improve the cleaning effect.

[0084] In an embodiment where the first cleaning portion 21 is set to exceed the maximum width of the robot body 10, when the vertical wall 41 needs to be cleaned, the robot body 10 can rotate while moving along the vertical wall 41 to drive the first cleaning portion 21 to deflect toward the vertical wall 41. In this way, the contact force between the first cleaning portion 21 and the vertical wall 41 can be increased, thereby improving the cleaning effect.

[0085] When the length of the vertical wall 41 to be cleaned is short, for example, the length of the vertical wall 41 is smaller than the size of the first cleaning part 21, such as the side wall of a table leg, the first cleaning part 21 can complete the cleaning of the vertical wall 41 by deflecting it once toward the vertical wall 41. However, when the length of the vertical wall 41 to be cleaned is long, for example, the length of the vertical wall 41 is larger than the size of the first cleaning part 21, the first cleaning part 21 can only complete the cleaning of part of the vertical wall 41 by deflecting it once toward the vertical wall 41. At this time, the cleaning robot 100 needs to rotate the robot body 10 while moving along the vertical wall 41 to drive the first cleaning part 21 to deflect toward the vertical wall 41, so that the first cleaning part 21 contacts the vertical wall, thereby cleaning the vertical wall 41.

[0086] It should be noted that there are at least two ways for the cleaning robot 100 to move along the vertical wall 41:

[0087] First edge mode: in the process of moving along the vertical wall surface 41 , in order to complete the cleaning of the vertical wall surface 41 , the robot body 10 rotates so that the first cleaning part 21 approaches the vertical wall surface 41 .

[0088] Specifically, there are at least two implementation methods of the first edge mode:

[0089] The first method is "turning while walking", that is, after completing the deflection toward the vertical wall 41, the robot body 10 swings back to complete the cleaning of a short section of the vertical wall 41; the robot body 10 can perform multiple rotations and swings back and forth in the process of moving along the vertical wall 41, and periodically contact the vertical wall 41, that is, it moves and rotates at the same time, until a long section of the vertical wall 41 is cleaned;

[0090] The second type is “walking slantingly and sticking close to the vertical wall 41”, that is, after completing the deflection toward the vertical wall 41, the robot body 10 does not swing back, and the robot body 10 keeps the first cleaning part 21 beyond the cross-section parallel to the robot body 10 and the vertical wall 41, and continues to keep the first cleaning part 21 close to the vertical wall 41 to clean the vertical wall 41.

[0091] When the length of the vertical wall 41 is a short section, for example, cleaning can be completed by only one rotation of the robot body 10 , which is a kind of the first edge mode.

[0092] The second edge-adjacent mode: that is, when the cleaning robot 100 moves along the vertical wall 41 , the robot body 10 does not perform a deflection action.

[0093] In some embodiments, the first cleaning portion 21 may move along the width direction of the robot body 10 , and when the vertical wall surface 41 needs to be cleaned, the first cleaning portion 21 may move toward a direction close to the vertical wall surface 41 .

[0094] In an embodiment in which the first cleaning portion 21 does not exceed the maximum width of the robot body 10, when the vertical wall 41 needs to be cleaned, the first cleaning portion 21 cannot contact the vertical wall 41 as the robot body 10 moves straight forward. In the case of such a structural setting, the first cleaning portion 21 can be controlled to move and extend toward the vertical wall 41, so that the first cleaning portion 21 exceeds the cross-section of the robot body 10 parallel to the vertical wall 41, and is not limited by the structure at the maximum width, so that the first cleaning portion 21 is close to the vertical wall 41, and can then contact the vertical wall 41, thereby cleaning the vertical wall 41.

[0095] In an embodiment where the first cleaning portion 21 is set to exceed the maximum width of the robot body 10, when the vertical wall 41 needs to be cleaned, the first cleaning portion 21 moves and extends toward the vertical wall 41 during the movement of the robot body 10 along the vertical wall 41. In this way, the contact force between the first cleaning portion 21 and the vertical wall 41 can be increased, thereby improving the cleaning effect.

[0096] In other embodiments, when the vertical wall 41 needs to be cleaned, the first cleaning portion 21 can be driven by the robot body 10 to deflect toward the vertical wall 41, and at the same time, the first cleaning portion 21 can also be configured to be movable in the width direction of the robot body 10, so that the first cleaning portion 21 moves toward the vertical wall 41. That is, in order to clean the vertical wall 41, the robot body 10 can drive the first cleaning portion 21 to deflect toward the vertical wall 41, and at the same time, the first cleaning portion 21 moves in the width direction, so that the first cleaning portion 21 can more easily contact the vertical wall 41, thereby reducing the rotation angle of the robot body 10, thereby reducing the time spent on cleaning the vertical wall 41.

[0097] In those embodiments where the first cleaning portion 21 does not exceed the maximum width of the robot body 10 in the width direction of the robot body 10 , it is necessary to utilize the robot body 10 to adopt the first edge mode or move the first cleaning portion 21 toward the vertical wall 41 in order to clean the vertical wall 41 .

[0098] In the width direction of the robot body 10, for the technical solution of making the first cleaning part 21 at least partially exceed the maximum width of the robot body 10, the vertical wall surface 41 can also be cleaned by the first edge mode or the second edge mode or by extending the first cleaning part 21 close to the vertical wall surface 41. Under this structural setting, the second edge mode is preferably used, and the first cleaning part 21 can directly clean the vertical wall surface 41, thereby simplifying the movement form of the robot body 10 when cleaning the vertical wall surface 41, reducing the control difficulty, or saving the transmission structure for driving the first cleaning part 21 to extend, saving costs.

[0099] like Figure 5 As shown, in some embodiments, there are two driving wheels 171, which are arranged at intervals in the left-right direction, and the robot body 10 further includes a steering wheel 172, which can be arranged behind the two driving wheels 171 and between the two driving wheels 171. The floor cleaning member 123 of the cleaning mechanism 12 can be located between the driving wheel 171 and the steering wheel 172.

[0100] According to some embodiments of the present invention, the first cleaning portion 21 is a flexible member, and the first cleaning portion 21 can be deformed under the action of an external force.

[0101] The thickness of the mounting wall of the first cleaning part 21 on the robot body 10 can be selected as needed. The type of the first cleaning part 21 can also be selected as needed. For example, the first cleaning part 21 can be a cleaning cloth, a cleaning brush, a cleaning sponge, cleaning fluff, etc. When the first cleaning part 21 is cleaning fluff, the length of the cleaning fluff can be selected as needed.

[0102] In the above technical solution, by setting the first cleaning part 21 as a flexible part, on the one hand, when the first cleaning part 21 contacts the vertical wall 41, especially when the first cleaning part 21 at least partially exceeds the maximum width setting of the robot body 10, it can avoid damage caused by hard collision with the vertical wall 41; on the other hand, the first cleaning part 21 can stop against the vertical wall 41, so that it can better fit the vertical wall 41, which is conducive to improving the cleaning efficiency of the vertical wall 41 and improving the cleaning effect. When the vertical wall 41 is a skirting 42 protruding from the surface of the wall 40, the first cleaning part 21 can also clean the top surface of the skirting 42 to improve the cleaning effect.

[0103] In some embodiments, in a projection of the first cleaning portion 21 and the cleaning mechanism 12 on a horizontal plane, the cleaning mechanism 12 is at least partially located behind the first cleaning portion 21 .

[0104] That is to say, in the direction of the cleaning robot 100 moving forward and backward, the first cleaning part 21 is arranged in front of the cleaning mechanism 12. In some cases, since the cleaning mechanism 12 itself is relatively large, the cleaning mechanism 12 only needs to have at least part of the cleaning mechanism behind the first cleaning part 21 relative to the first cleaning part 21. If the cleaning robot 100 is large enough, it is also possible to arrange the cleaning mechanism 12 as a whole behind the first cleaning part 12. In this way, when the first cleaning part 21 is cleaning the vertical wall surface 41, after the dust falls to the ground, at least part of the cleaning mechanism 12 behind the first cleaning part 21 can immediately clean the dust that falls on the ground, which is conducive to improving the cleaning efficiency and cleaning effect.

[0105] Please refer again Figure 1 According to some embodiments of the present invention, the housing assembly 11 has a first center line L1 and a second center line L2, the first center line L1 and the second center line L2 are perpendicular to each other, the first center line L1 extends along the forward and backward directions of the robot body 10, and the second center line L2 is the center line of the robot body 10 at the maximum width.

[0106] Please refer again Figure 1-Figure 3 In some embodiments, in the forward and backward directions of the robot body 10 , the first cleaning portion 21 is located behind the second center line L2 .

[0107] That is, the first cleaning portion 21 is located behind the maximum width of the robot body 10. Figure 1-Figure 3 In the embodiment, the first cleaning portion 21 is located at the right rear of the maximum width of the robot body 10. Of course, the first cleaning portion 21 can also be located at the left rear of the maximum width of the robot body 10. The specific selection can be made according to needs.

[0108] Such arrangement can avoid other structures of the robot body 10 (such as the edge sensor 131) on the one hand, and can prevent the overall structure of the first cleaning part 21 from protruding from the cross-section of the robot body 10 at the maximum width on the other hand, thereby preventing the carrier of the first cleaning part 21 (such as the bracket 22 described below) from colliding with the vertical wall 41.

[0109] In some embodiments, the housing assembly 11 is circular. That is, the projection shape of the robot body 10 on the horizontal plane is circular, and the first center line L1 and the second center line L2 of the housing assembly 11 both pass through the center of the circle. For example, the first cleaning portion 21 may protrude from the wall of the housing assembly 11 between the right side of the first center line L1 and the rear side of the second center line L2.

[0110] In the above technical scheme, by setting the casing component 11 to be circular, while keeping the distance between the center of the casing component 11 and the vertical wall 41 unchanged, when the cleaning robot 100 is cleaning the vertical wall 41, no matter the robot body 10 is walking along the vertical wall 41 or periodically rotating along the vertical wall 41, the distance between the peripheral wall of the casing component 11 and the vertical wall 41 remains unchanged, thereby avoiding collision between the robot body 10 and the vertical wall 41.

[0111] In some embodiments, the first cleaning portion 21 and the cleaning mechanism 12 are located on the same side of the second center line L2.

[0112] With such a configuration, when the robot body 10 rotates, the first cleaning portion 21 and the cleaning mechanism 12 can both reach surfaces that the robot body 10 cannot reach when walking in a straight line. For example, the first cleaning portion 21 can exceed the tangent line L3 at the maximum width of the robot body 10 to contact the vertical wall surface 41, thereby cleaning the vertical wall surface 41. Fig.12 As shown, when there is a spacing area A between the cleaning mechanism 12 and the maximum width of the robot body 10 in the width direction of the cleaning robot 100, if the cleaning robot 100 goes straight, the ground corresponding to the spacing area will be a cleaning blind spot; but since the first cleaning part 21 and the cleaning mechanism 12 are located on the same side of the second center line L2, the route of the cleaning mechanism 12 is consistent with the route trend of the first cleaning part 21. As the robot body 10 rotates, the cleaning mechanism 12 can also reach the spacing area A that it cannot reach when it walks in a straight line. Therefore, locating the first cleaning part 21 and the cleaning mechanism 12 on the same side of the second center line L2 can clean the vertical wall 41 and the spacing area A at the same time, thereby improving the cleaning efficiency.

[0113] See also Figure 4 In some embodiments, the robot body 10 further includes an edge sensor 131, which is disposed on a side wall of the housing assembly 11, and in the forward and backward directions of the robot body 10, the edge sensor 131 is disposed in front of the second center line L2.

[0114] For example, the edge sensor 131 can be set on the peripheral wall of the casing assembly 11 of the robot body 10 at a position located on the right side of the first center line L1 and in front of the second center line L2, or it can be set on the peripheral wall of the casing assembly 11 of the robot body 10 at a position located on the left side of the first center line L1 and in front of the second center line L2.

[0115] Therefore, by setting the edge sensor 131 in front of the second center line L2, that is, setting the edge sensor 131 in a front position of the robot body 10, during the forward movement of the robot body 10, the edge sensor 131 can be used to accurately control the distance between the robot body 10 and the surface of the wall 40 or the vertical wall 41. On the one hand, the robot body 10 and the surface of the wall 40 or the vertical wall 41 can always maintain a reasonable distance to protect the robot body 10 and the surface of the wall 40 from collision. On the other hand, the coordination state of the first cleaning part 21 and the vertical wall 41 can be controlled to ensure the uniformity of cleaning the vertical wall 41.

[0116] In some embodiments, the edge sensor 131 and the first cleaning unit 21 are located on the same side relative to the first center line L1. Compared with setting the edge sensor 131 and the first cleaning unit 21 on different sides, such a setting can make the walking and cleaning control behavior algorithms of the cleaning robot 100 simpler.

[0117] In some embodiments, the robot body 10 further includes a collision sensor 132 , which is disposed on a side wall of the housing assembly 11 , and in the forward and backward directions of the robot body 10 , the collision sensor 132 is disposed in front of the second center line L2 .

[0118] Therefore, by setting the collision sensor 132 in front of the second center line L2, the collision sensor 132 can timely sense objects and obstacles around the robot body 10, so that the robot body 10 can avoid obstacles in time and continue to perform cleaning work.

[0119] In some embodiments, the edge sensor 131 and / or the collision sensor 132 are arranged in front of the second center line L2, and the first cleaning unit 21 is located behind the second center line. The sensor that will affect the walking direction and walking route of the cleaning robot 100 is arranged in front of the robot body 10, which can facilitate the cleaning robot 100 to identify the direction and navigation in advance and quickly, and provide data support for the subsequent actions that the cleaning robot 100 needs to perform. For example, if it is recognized that there is a vertical wall 41 that needs to be cleaned, and the first cleaning unit 21 is arranged behind the second center line, the cleaning action can be started after the sensor detects the corresponding vertical wall 41. Compared with locating the first cleaning unit 21 in front of the second center line and the sensor behind the second center line, this arrangement can prevent missed cleaning or simplify the cleaning route of the cleaning robot 100.

[0120] Please refer again Figure 4 and Figure 5A radar 16 is provided at the center of the top wall of the casing assembly 11, an air outlet 112 is provided on the rear side of the peripheral wall of the casing assembly 11, and two driving wheels 171 and a steering wheel 172 are provided on the bottom wall of the casing assembly 11. The two driving wheels 171 are located in front of the steering wheel 172 and are arranged at intervals in the left and right directions. The floor cleaning member 123 is located between the driving wheel 171 and the steering wheel 172. The cleaning accessory 20 is provided on the side of the casing assembly 11 and is located in the area between one of the driving wheels 171 and the floor cleaning member 123. The components are arranged reasonably, making the structure of the cleaning robot 100 more compact.

[0121] Please refer again Figure 1 , and see further Figure 5-Figure 7 According to some embodiments of the present invention, the cleaning accessory 20 further includes a bracket 22 , the first cleaning portion 21 is disposed on the bracket 22 , and the first cleaning portion 21 is disposed on a side of the robot body 10 through the bracket 22 .

[0122] In the above technical solution, by setting the bracket 22, the bracket 22 and the first cleaning part 21 can be combined into a component, which is convenient for the installation, disassembly, cleaning and replacement of the cleaning accessory 20. The user can choose to install and replace it according to needs, and can also clean it at any time, which is conducive to improving the user experience.

[0123] The bracket 22 may be a plastic part, which is convenient for molding and assembly and disassembly, and has low cost.

[0124] Please refer again Figure 1 In some embodiments, the support 22 is set not to exceed the maximum width of the robot body 10 in the direction of the robot moving forward and backward.

[0125] For ease of understanding, the tangent L3 of the projection of the robot body 10 on the horizontal plane at the maximum width position is made, and the bracket 22 does not exceed the maximum width setting of the robot body 10, that is, the bracket 22 does not exceed the tangent L3; L3 is a straight line parallel to the forward and backward direction of the robot.

[0126] Since the bracket 22 is used to support the first cleaning part 21, the bracket 22 is usually set to have a certain hardness. Therefore, setting the bracket 22 to not exceed the maximum width of the robot body 10 can prevent the first cleaning part 21 from directly contacting the vertical wall 41 or obstacles during cleaning the vertical wall 41 or normal walking, thereby preventing damage and ensuring the reliability of the cleaning robot 100.

[0127] In some embodiments, the first cleaning portion 21 is flexible, and the bracket 22 is set not to exceed the maximum width of the robot body 10 .

[0128] At this time, the first cleaning part 21 can exceed the maximum width setting, so that the vertical wall 41 can be cleaned without adjusting the posture of the robot body 10 (that is, without rotating or extending the first cleaning part 21), which can make the control method of the robot body 10 simpler. Alternatively, the first cleaning part 21 does not exceed the maximum width setting. At this time, the cleaning robot 100 is constructed as follows: during the cleaning of the vertical wall 41, the robot body 10 rotates to drive the first cleaning part 21 to deflect toward the vertical wall 41 so as to clean the vertical wall 41; and / or the first cleaning part 21 is controlled to move in the width direction so that the first cleaning part 21 approaches and contacts the vertical wall 41.

[0129] In some embodiments, the first cleaning part 21 is detachably provided on the bracket 22 , so that the first cleaning part 21 can be removed from the bracket 22 for cleaning and reuse, which is beneficial to improve the convenience of cleaning the first cleaning part 21 and reduce the difficulty of cleaning the first cleaning part 21 .

[0130] For example, the first cleaning portion 21 can be attached to the bracket 22 by Velcro. Alternatively, the first cleaning portion 21 can be fixed to the bracket 22 by a separate fixing member (such as a pressing member).

[0131] In some embodiments, the first cleaning unit 21 is bonded to the bracket 22. Specifically, Figure 7 As shown, an adhesive layer 24 is provided between the first cleaning portion 21 and the bracket 22 , and the first cleaning portion 21 is mounted on the bracket 22 via the adhesive layer 24 .

[0132] The adhesive layer 24 here can be formed by curing glue, or can be a double-sided tape. In the embodiment where the adhesive layer 24 is formed by curing glue, the glue can be first applied to the bracket 22, and then the first cleaning part 21 can be attached to the bracket 22 with glue, and after the glue is cured, the first cleaning part 21 and the bracket 22 can be bonded. In the embodiment where the adhesive layer 24 is a double-sided tape, the double-sided tape can be cut into a preset shape, and then the double-sided tape is attached to the bracket 22, and then the first cleaning part 21 is attached to the bracket 22 with the double-sided tape, and after the first cleaning part 21 is pressed, the bonding of the first cleaning part 21 and the bracket 22 is achieved.

[0133] The adhesive layer 24 may be laid on the side of the bracket 22 facing the first cleaning portion 21. The area where the adhesive layer 24 is laid may be equal to the overlapping area of ​​the bracket 22 and the first cleaning portion 21, that is, the adhesive layer 24 covers the overlapping area of ​​the bracket 22 and the first cleaning portion 21. Of course, the adhesive layer 24 may also be laid in the annular area within the overlapping area of ​​the bracket 22 and the first cleaning portion 21 to save the material of the adhesive layer 24.

[0134] In some specific examples, the first cleaning part 21 is mounted on the robot body 10 via a bracket 22. For example, a connecting structure can be provided on the side wall of the housing assembly 11 to connect with the bracket 22, or a through hole can be provided on the side wall of the housing assembly 11 so that the bracket 22 can support the first cleaning part 21 through the through hole. Furthermore, the movement of the first cleaning part 21 can be controlled through the through hole.

[0135] like Figure 7 As shown, in some examples, the bracket 22 includes a mounting portion 221 , the mounting portion 221 is located on a side of the housing assembly 11 , and the first cleaning portion 21 is disposed on the mounting portion 221 , so that the first cleaning portion 21 is located on a side of the housing assembly 11 .

[0136] In some specific examples, the bracket 22 further includes a connecting portion 222 , which is connected to the mounting portion 221 , and the connecting portion 222 is connected to the bottom of the housing assembly 11 , or the connecting portion 222 is connected to the inside of the housing assembly 11 .

[0137] It should be noted that the bottom of the housing assembly 11 here refers to the side of the robot body 10 facing the ground; the interior of the housing assembly 11 refers to the internal structure surrounded by the housing assembly 11.

[0138] The purpose of fixing the connection portion 222 through the bottom or inside of the housing assembly 11 is to set the fixing structure of the bracket 22 in a position that is not visible to the user, thereby maintaining the integrity of the exterior of the housing assembly 11 and achieving an aesthetic effect. For example, when the user does not clean the vertical wall 41, the cleaning accessory 20 can be removed, so that the installation structure will not be exposed outside the housing assembly 11, which can make the exterior of the housing assembly 11 intact and reliable, while also achieving an aesthetic effect.

[0139] Specifically, the shape of the mounting portion 221 may be adapted to the side wall of the housing assembly 11 . For example, the mounting portion 221 may form an arc-shaped structure adapted to the side wall of the housing assembly 11 .

[0140] Specifically, the connection between the connecting portion 222 and the bottom of the housing assembly 11 is taken as an example for explanation:

[0141] Please refer again Figure 5-Figure 7 In some embodiments, a fixing portion 111 is provided at the bottom of the housing assembly 11 , and the bracket 22 is connected to the fixing portion 111 .

[0142] Specifically, when installing the cleaning accessory 20 on the robot body 10, the cleaning accessory 20 can be installed on the casing assembly 11 from the bottom of the casing assembly 11. After the installation is completed, during the use of the cleaning robot 100, the user will not see the connection position between the casing assembly 11 and the bracket 22. The casing assembly 11 can be a whole, which improves reliability while avoiding affecting the appearance of the cleaning robot 100.

[0143] A fixing portion 111 is provided at the bottom of the housing, and a fixing matching portion is provided on the bracket 22 . The fixing matching portion cooperates with the fixing portion 111 to achieve connection between the bracket 22 and the housing assembly 11 .

[0144] In some examples, the fixing portion 111 may include a fixing hole 113 , and correspondingly, the fixing matching portion includes a fixing column 224 , and the fixing column 224 matches with the fixing hole 113 , so that the bracket 22 and the housing assembly 11 can be positioned and installed.

[0145] In some examples, the fixing portion 111 may include a fixing groove, and correspondingly, the fixing matching portion includes a buckle 223, and the buckle 223 cooperates with the fixing groove, so that the bracket 22 and the housing assembly 11 can be snap-connected.

[0146] In some examples, one end of the connecting portion 222 of the bracket 22 is connected to the lower end of the mounting portion 221 and the other end extends to the bottom of the casing assembly 11, and a fixed fitting portion is provided on the side of the connecting portion 222 facing the bottom of the casing assembly 11, so that the fixed fitting portion on the connecting portion 222 fits with the fixed portion 111 at the bottom of the casing assembly 11.

[0147] More specifically, a mounting recess 114 is provided at the bottom of the housing assembly 11, and the fixing portion 111 is located in the mounting recess 114. When the bracket 22 and the housing assembly 11 are installed in place, the fixing matching portion extends into the mounting recess 114 so that the fixing matching portion matches with the fixing portion 111.

[0148] In the above technical solution, by setting the bracket 22 into the above structure, the mounting portion 221 can be connected to the first cleaning portion 21 , and the connecting portion 222 can be connected to the housing assembly 11 , so that the first cleaning portion 21 is installed on the housing assembly 11 .

[0149] In addition, during the installation of the cleaning accessory 20, the mounting portion 221 of the bracket 22 can only be located on the side of the casing assembly 11 and the connecting portion 222 can only be located at the bottom or inside of the casing assembly 11. Only then can the bracket 22 be installed on the casing assembly 11. If it is installed upside down, the installation cannot be successful. Therefore, setting the bracket 22 into the above-mentioned structure can play a guiding role, achieve a fool-proof effect, reduce the occurrence of incorrect installation problems, and help improve installation efficiency.

[0150] See also Figure 8 and Fig. 9 According to some embodiments of the present invention, the first cleaning portion 21 is directly bonded to the side wall of the housing assembly 11. Specifically, a bonding layer 24 is provided on the side of the first cleaning portion 21 facing the housing assembly 11, and the first cleaning portion 21 can be directly bonded to the side wall of the housing assembly 11 through the bonding layer 24.

[0151] In the above technical solution, by directly bonding the first cleaning part 21 to the side wall of the housing assembly 11, the number of components can be reduced, the structure of the cleaning accessory 20 can be simplified, and the cost can be reduced. Specifically, the first cleaning part 21 can be set on the side wall of the housing assembly 11 by magnetic attraction, for example, a magnetic attraction member is set inside the housing assembly 11, and a magnetic attraction member is also set on the first cleaning part 21, and the suction force of the magnetic attraction member is used to set the first cleaning part 21 on the side wall of the housing assembly 11.

[0152] See also Fig.10 and Fig.11 According to some embodiments of the present invention, the cleaning accessory 20 further includes a second cleaning portion 23 , which is located below the first cleaning portion 21 , and is used to clean the floor and / or the vertical wall 41 .

[0153] The type of the second cleaning part 23 can be selected as needed, for example, the second cleaning part 23 can be a cleaning cloth, a cleaning brush, a cleaning sponge, cleaning fluff, etc. The type of the second cleaning part 23 can be the same as the type of the first cleaning part 21, and of course, the type of the second cleaning part 23 and the type of the first cleaning part 21 can also be different.

[0154] When the first cleaning portion 21 and the second cleaning portion 23 are of the same type and both are cleaning fluffs, the length of the cleaning fluffs of the first cleaning portion 21 can be equal to the length of the cleaning fluffs of the second cleaning portion 23. Of course, since the second cleaning portion 23 is close to the ground, in order to prevent the second cleaning portion 23 from getting wet, the length of the cleaning fluffs of the first cleaning portion 21 can also be set to be greater than the length of the cleaning fluffs of the second cleaning portion 23.

[0155] In some embodiments, in the width direction of the robot body 10 , there is a spacing area A between the cleaning mechanism 12 and the robot body 10 at the maximum width, and the second cleaning part 23 is used to clean the ground corresponding to the spacing area.

[0156] In order to more clearly define the position of the spacing area A, the following Fig.12 For instructions, see Fig.12In the width direction of the robot body 10 , the area between the cleaning mechanism 12 and the tangent line L3 at the maximum width of the robot body 10 is the spacing area A. The width of the second cleaning portion 23 needs to at least cover the width of the spacing area A so that the spacing area A can be cleaned directly.

[0157] That is to say, in a plane perpendicular to the first center line L1 and passing through the second center line L2, the projection of the cleaning mechanism 12 on the above plane and the projection of the second cleaning part 23 on the above plane are arranged in the extension direction of the second center line L2, so that the area where the second cleaning part 23 is located can at least cover the interval area A between the cleaning mechanism 12 and the maximum width of the robot body 10, that is, the blind area that the cleaning mechanism 12 cannot clean when the cleaning robot 100 walks along the vertical wall 41.

[0158] When the cleaning robot 100 cleans the vertical wall 41, the second cleaning part 23 is located between the vertical wall 41 and the cleaning mechanism 12, so that the second cleaning part 23 can clean both the position of the vertical wall 41 close to the ground and the ground between the vertical wall 41 and the cleaning mechanism 12, thereby reducing sanitary dead corners and improving the cleaning effect.

[0159] like Fig.10 As shown, the first cleaning part 21 and the second cleaning part 23 can be two separate structures, that is, the first cleaning part 21 and the second cleaning part 23 can be directly installed on the side wall of the casing assembly 11 and the bottom of the casing assembly 11 respectively. Of course, the first cleaning part 21 and the second cleaning part 23 can also be installed on one or two brackets 22 respectively, and then installed on the corresponding positions of the casing assembly 11 through the brackets 22.

[0160] like Fig.11 As shown, the first cleaning part 21 and the second cleaning part 23 can be an integral structure, that is, the first cleaning part 21 and the second cleaning part 23 can be directly installed on the casing assembly 11 together, and the first cleaning part 21 corresponds to the side wall of the casing assembly 11, and the second cleaning part 23 corresponds to the bottom of the casing assembly 11. Of course, the first cleaning part 21 and the second cleaning part 23 can also be installed on the bracket 22 together, and then installed to the corresponding position of the casing assembly 11 through the bracket 22.

[0161] According to some embodiments of the utility model, the first cleaning part 21 is movable relative to the housing assembly 11, so that the first cleaning part 21 can adjust its position relative to the housing assembly 11 as needed, and can clean the vertical wall 41 that needs to be cleaned according to the situation of the cleaning robot 100, thereby improving the flexibility of cleaning the vertical wall 41, further improving the cleaning effect, and thus improving the user experience. The first cleaning part 21 can be movable relative to the housing assembly 11 by the bracket 22, or by the cleaning accessory 20 as a whole being able to move relative to the first cleaning part 21.

[0162] In some embodiments, the first cleaning portion 21 is movable in the height direction of the robot body 10. That is, the first cleaning portion 21 can change its height position relative to the robot body 10 as needed.

[0163] For example, when the robot body 10 needs to overcome an obstacle, the first cleaning part 21 needs to be moved upward relative to the housing assembly 11 of the robot body 10 to raise the height of the first cleaning part 21. After the robot body 10 overcomes the obstacle, the first cleaning part 21 can be controlled to move downward relative to the housing assembly 11 of the robot body 10. In this way, the first cleaning part 21 can be prevented from affecting the obstacle-overcoming capability of the cleaning robot 100.

[0164] For another example, when the first cleaning part 21 needs to clean the upper position of the vertical wall 41, the first cleaning part 21 can be controlled to move upward relative to the housing assembly 11 of the robot body 10, and when the first cleaning part 21 needs to clean the lower position of the vertical wall 41, the first cleaning part 21 can be controlled to move downward relative to the housing assembly 11 of the robot body 10. With such a configuration, the first cleaning part 21 of a smaller size can be used to clean the vertical wall 41 with a larger area in the up and down directions, which is conducive to reducing the structural dimensions of the first cleaning part 21 and realizing a lightweight design. It is also possible to stop the first cleaning part 21 at the upper position of the housing assembly 11 without touching the ground when there is no need to clean the vertical wall 41, so as to prevent the first cleaning part 21 from causing secondary contamination to the ground.

[0165] See also Fig.13 A lifting drive assembly 30 is provided on the robot body 10, and the lifting drive assembly 30 is connected to the cleaning accessory 20 or the first cleaning part 21. The lifting drive assembly 30 can drive the cleaning accessory 20 or the first cleaning part 21 to move in the height direction of the casing assembly 11 to adjust the height position of the first cleaning part 21 relative to the casing assembly 11.

[0166] In some specific embodiments, the lifting drive assembly 30 includes a driving motor 31 and a transmission mechanism 32 , and the driving motor 31 is connected to the cleaning accessory 20 through the transmission mechanism 32 .

[0167] For example, the transmission mechanism 32 includes a gear and rack mechanism. Specifically, the transmission mechanism 32 includes a gear and a rack 323. The gear can be one, or the gear includes at least two and the at least two gears include a driving gear 321 and a driven gear 322. The drive motor 31 is connected to the driving gear 321, the rack 323 is connected to the cleaning accessory 20, and the driving gear 321 and the rack 323 are connected through the driven gear 322.

[0168] For another example, the transmission mechanism 32 includes a screw slider mechanism, a crank slider mechanism, etc.

[0169] In some embodiments, the first cleaning portion 21 is movable along a preset direction, the preset direction extends along the width direction of the robot body 10 , or the preset direction is arranged at an acute angle to the width direction of the robot body 10 .

[0170] Among them, the preset direction can be along the horizontal direction (for example, the width direction of the robot body 10), and the preset direction can also be set at an angle relative to the horizontal direction (for example, extending upward from left to right along the width direction of the robot body 10), so that the first cleaning part 21 can be extended and retracted relative to the robot body 10 in the width direction of the robot body 10.

[0171] For example, when the cleaning robot 100 does not need to clean the vertical wall 41, the first cleaning part 21 can be controlled to retract relative to the robot body 10 so that the first cleaning part 21 can avoid objects on the ground. When the cleaning robot 100 needs to clean the vertical wall 41, the first cleaning part 21 can be controlled to extend relative to the robot body 10 so that the first cleaning part 21 protrudes from the side of the robot body 10, such as the tangent L3 at the maximum width of the robot body 10, so that the vertical wall 41 can be cleaned.

[0172] Therefore, by moving the first cleaning part 21 along the above-mentioned preset direction, the position of the first cleaning part 21 relative to the robot body 10 in the preset direction can be changed, so that the first cleaning part 21 can be extended or retracted relative to the robot body 10 according to the situation to meet different usage requirements.

[0173] In some embodiments, the first cleaning portion 21 is rotatably disposed relative to the housing assembly 11. The first cleaning portion 21 can be rotated to increase the cleaning force when in contact with the vertical wall surface.

[0174] See also Figure 5 , Fig.14In some embodiments, the cleaning mechanism 12 includes a connecting seat 121 and a floor cleaning piece 123. The connecting seat 121 is disposed at the bottom of the housing assembly 11, and the floor cleaning piece 123 is rotatably disposed on the connecting seat 121; the cleaning accessory 20 is installed at one end of the cleaning mechanism 12 in the width direction, or the cleaning accessory 20 is installed at one end of the connecting seat 121 in the width direction.

[0175] The number of the floor cleaning member 123 may be one; or, the number of the floor cleaning member 123 may be multiple. In the embodiment where the number of the floor cleaning member 123 is two, the two floor cleaning members 123 may be arranged in the left-right direction or in the front-back direction.

[0176] The rotation axis of the floor cleaning member 123 may be perpendicular to the floor or parallel to the floor.

[0177] Please refer again Figure 5 In some embodiments, the floor cleaning member 123 can rotate around a rotation axis extending in the up-down direction. The floor cleaning member 123 can be rotatably disposed on the connecting seat 121. The floor cleaning member 123 can be a disc-shaped structure similar to a triangle or a circular disc-shaped structure.

[0178] See also Fig.14 In some embodiments, the floor cleaning member 123 rotates around a rotation axis extending in the left-right direction, and the floor cleaning member 123 is rotatably disposed on the connecting seat 121 .

[0179] The floor cleaning member 123 rotates around the rotation axis, so as to clean the floor. The floor cleaning member 123 may be a drum structure, so that the cleaning robot 100 is formed into a cleaning robot 100 having a drum-type floor cleaning member 123; the floor cleaning member 123 may also be a crawler structure, so that the cleaning robot 100 is formed into a cleaning robot 100 having a crawler-type floor cleaning member 123.

[0180] Furthermore, the cleaning accessory 20 is installed at one end of the cleaning mechanism 12 in the width direction, that is, the cleaning accessory 20 is installed at one end of the cleaning mechanism 12 in the left-right direction. Similarly, the cleaning accessory can also be installed at one end of the connecting seat 121 in the width direction, that is, the cleaning accessory 20 is installed at one end of the connecting seat 121 in the left-right direction. When the robot body 10 moves along the vertical wall 41, the floor cleaning member 123 can be used to clean the floor, and the first cleaning part 21 can be used to clean the vertical wall 41, without the user bending over to wipe.

[0181] Please refer again Fig.14In some examples, the connection base 121 is movable along the width direction of the robot body 10, and the cleaning accessory 20 is connected to the connection base 121 to move with the connection base 121, so that the cleaning accessory 20 can be extended and retracted in the width direction relative to the robot body 10; or

[0182] The floor cleaning member 123 is movable along the width direction of the robot body 10 , and the cleaning accessory 20 is connected to the floor cleaning member 123 to move along with the floor cleaning member 123 ; thus, the cleaning accessory 20 can be extended and retracted relative to the robot body 10 in the width direction.

[0183] For example, when the cleaning robot 100 needs to clean the middle area of ​​the floor (when there is no vertical wall 41 that needs to be cleaned), the cleaning mechanism 12 can be controlled to move inward, that is, by controlling the connecting seat 121 to move inward to retract the cleaning accessory 20, so that the cleaning accessory 20 can avoid objects on the floor; when the cleaning robot 100 needs to clean the vertical wall 41, the cleaning mechanism 12 can be controlled to move outward, that is, by controlling the connecting seat 121 or the floor cleaning piece 123 to move outward to extend the cleaning accessory 20, so that the cleaning accessory 20 protrudes from the side of the housing assembly 11, thereby cleaning the vertical wall 41.

[0184] The connecting seat 121 or the floor cleaning piece 123 can not only provide an installation carrier for the cleaning accessory 20, but also drive the cleaning accessory 20 to move by controlling the movement of the connecting seat 121 or the floor cleaning piece 123, so that the cleaning accessory 20 can be extended or retracted relative to the casing assembly 11 according to the situation to meet different usage requirements.

[0185] See also Fig.15 and Fig.16 According to some embodiments of the present invention, the cleaning robot 100 further includes a humidifying component 14 , and the humidifying component 14 is used to humidify the first cleaning portion 21 and / or the vertical wall surface 41 .

[0186] In some embodiments, in the embodiment where the humidifying component 14 can humidify the first cleaning part 21, when the cleaning robot 100 needs to clean the vertical wall 41 during operation, it can first use the first cleaning part 21 to dry wipe the vertical wall 41, then control the humidifying component 14 to humidify the first cleaning part 21, and then use the first cleaning part 21 to wet wipe the vertical wall 41, that is, the cleaning of the vertical wall 41 is completed. Of course, the humidifying component 14 can also be used directly to humidify the first cleaning part 21 and / or the vertical wall 41 without dry wiping.

[0187] Furthermore, in an embodiment where the cleaning robot 100 also includes a drying component, after wet wiping using the first cleaning part 21, the drying component can be controlled to dry the first cleaning part 21; then the first cleaning part 21 is used to dry-wipe the vertical wall 41 again to remove moisture and stains remaining on the vertical wall 41.

[0188] In some embodiments, in an embodiment where the humidifying component 14 can humidify the vertical wall 41, during the operation of the cleaning robot 100, when it is necessary to clean the vertical wall 41, the cleaning robot 100 can spray water on the vertical wall 41 while walking, and use the first cleaning part 21 to wipe the vertical wall 41 sprayed with water, thereby wiping away the stains and moisture on the vertical wall 41, thereby completing the cleaning of the vertical wall 41.

[0189] In the above technical solution, by providing the humidifying component 14, it is easier to clean the stains attached to the vertical wall surface 41, which is beneficial to improving the cleaning effect of the vertical wall surface 41, thereby improving the user experience.

[0190] In some embodiments, the humidifying assembly 14 includes a water spraying portion 141, which is used to spray water to the first cleaning portion 21 and / or the vertical wall 41. By providing the water spraying portion 141, a water guiding effect can be achieved, so that water can be directly sprayed to the first cleaning portion 21 or the vertical wall 41.

[0191] In some examples, the humidification component 14 also includes a water tank and a water supply pump (not shown in the figure). The water supply pump is used to transport the water in the water tank to the water spray part 141. The water tank can store water so that the cleaning robot 100 can take water and use it at any time. The water supply pump serves as a power source and can transport the water in the water tank to the water spray part 141, so that the water spray part 141 can be used to spray water to the first cleaning part 21 or the vertical wall 41, so that the stains attached to the vertical wall 41 can be more easily cleaned, which is beneficial to improve the cleaning effect of the vertical wall 41, thereby improving the user experience.

[0192] Please refer again Fig.15 and Fig.16 In some examples, the first cleaning portion 21 is in a drum shape, the first cleaning portion 21 is rotatable relative to the housing assembly 11 , and a rotation axis of the first cleaning portion 21 is parallel to the vertical wall surface 41 .

[0193] Therefore, by setting the first cleaning part 21 to be drum-shaped, when the robot body 10 stays in a fixed position, the first cleaning part 21 can rotate relative to the vertical wall 41, so that the local position of the vertical wall 41 can be deeply cleaned, which is beneficial to improve the cleaning effect of the cleaning robot 100 on the vertical wall 41.

[0194] In some specific examples, the robot body 10 has a sewage suction channel, and the robot body 10 also includes a scraper bar 151, a sewage box and a suction piece. The scraper bar 151 is abutted against the first cleaning part 21, the sewage box is connected to the sewage suction channel, and the suction piece is used to suck the sewage at the scraper bar 151 into the sewage box.

[0195] In the above technical solution, the scraper bar 151 and the first cleaning part 21 are stopped and cooperated. On the one hand, a negative pressure state can be formed in the sewage suction channel, so that the suction piece can more smoothly suck the sewage near the scraper bar 151 into the sewage box. On the other hand, the scraper bar 151 and the first cleaning part 21 are stopped and cooperated, which can gather the moisture on the first cleaning part 21, thereby improving the suction efficiency of the suction piece.

[0196] According to the cleaning system of the embodiment of the utility model, the cleaning system includes a cleaning robot 100 and a base station; the base station includes a docking position, and the cleaning robot 100 can be docked at the docking position.

[0197] Exemplarily, the cleaning system includes a cleaning robot 100 and a base station used in conjunction with the cleaning robot 100, wherein the base station has a docking position for the cleaning robot 100 to dock, and the base station is used in conjunction with the cleaning robot 100. For example, after the cleaning robot 100 cleans the surface to be cleaned, the solid-liquid mixed garbage composed of hair, sewage, etc. generated can be discharged into the base station; in addition, the base station can also be used to maintain the floor cleaning parts of the cleaning robot 100, such as cleaning or replacing the floor cleaning parts of the cleaning robot 100. According to an embodiment of the present application, the base station can provide a docking position for the cleaning robot 100. In addition, the base station can also charge the cleaning robot 100. For example, the cleaning robot 100 docks at the docking position of the base station during charging and maintenance, and leaves the docking position of the base station when performing cleaning tasks, such as mopping the floor. Only one embodiment is shown here, and specific implementation methods include but are not limited to this.

[0198] The control process of the cleaning robot 100 according to the embodiment of the present utility model is described below with reference to the accompanying drawings.

[0199] The cleaning robot 100 according to some embodiments of the present invention is the cleaning robot 100 described above.

[0200] like Fig.17 As shown, the control process of the cleaning robot 100 includes the following steps:

[0201] S1: Get the instruction to clean the vertical wall;

[0202] S2: When the robot moves along the vertical wall, the portion where the first cleaning portion is located is controlled to deflect toward the vertical wall and swing back away from the vertical wall to clean the vertical wall.

[0203] It should be noted that the above control steps can be used regardless of whether the setting of the first cleaning portion 21 exceeds the maximum width setting of the robot body 10; when the first cleaning portion 21 does not exceed the maximum width setting of the robot body 10, the cleaning robot 100 can use the above method to enable the first cleaning portion 21 to contact the vertical wall 41. When the first cleaning portion 21 exceeds the maximum width setting of the robot body 10, the cleaning robot 100 can use the above method to make the contact force between the first cleaning portion and the vertical wall 41 larger, thereby improving the cleaning effect.

[0204] Among them, "swing back" in the present invention refers to the first cleaning part 21 on the robot body 10 swinging back from the deflected position (the position at the end of the deflection). It should be noted that the present invention does not strictly limit the degree of "swing back", which can be swinging back to the straightened state (i.e., in the direction of travel along the vertical wall 41), or swinging back to a non-swinged state, for example, not yet in the straightened state or exceeding the straightened state.

[0205] That is, when the cleaning robot 100 receives the instruction to clean the vertical wall 41, the robot body 10 can be controlled to swing periodically, so that the first cleaning part 21 can exceed the section parallel to the robot body 10 and the vertical wall 41, so that the first cleaning part 21 can clean the vertical wall 41, or the cleaning effect can be improved by strengthening the contact force between the first cleaning part 21 and the vertical wall 41. On the other hand, the first cleaning part 21 wipes the vertical wall 41 back and forth under the drive of the robot body 10, which is conducive to improving the cleaning efficiency.

[0206] According to some embodiments of the present invention, during the cleaning process of the cleaning robot 100 along the vertical wall surface 41 , the cleaning robot 100 includes a first edge-adjacent mode and a second edge-adjacent mode.

[0207] Specifically, in the first edge mode, the robot body 10 can be controlled to deflect toward the vertical wall surface 41 and swing back away from the vertical wall surface 41; in the second edge mode, the robot body 10 can be controlled to move along the vertical wall surface without deflection;

[0208] Among them, the cleaning frequency of the cleaning robot 100 in the first edge mode is less than the cleaning frequency in the second edge mode, that is, the cleaning frequency of the cleaning robot 100 in the first edge mode is less than the cleaning frequency in the second edge mode.

[0209] That is to say, when the cleaning robot 100 is in the first edge mode, it can move along the vertical wall 41 while rotating, deflecting or swinging itself. For example, the robot body 10 can swing periodically while walking along the vertical wall 41, so that while the cleaning mechanism 12 is used to clean the floor, the first cleaning part 21 can be used to clean the vertical wall 41.

[0210] When the cleaning robot 100 is in the second edge-following mode, the robot body 10 can move along the vertical wall surface 41. For example, when the vertical wall surface 41 to be cleaned is a straight line, the robot body 10 can move straight along the vertical wall surface 41; for another example, when the vertical wall surface 41 to be cleaned is a curved line or a broken line, the robot body 10 can move along the curved or bent shape of the vertical wall surface 41 without rotating for the purpose of cleaning the vertical wall surface 41.

[0211] When the cleaning robot 100 is working in the first edge mode when cleaning the vertical wall 41, since in this mode it is necessary to control the robot body 10 to deflect toward the vertical wall 41 and swing back away from the vertical wall 41, it takes a relatively long time to clean the vertical wall 41. When the cleaning robot 100 is only cleaning the ground near the vertical wall 41, it can work in the second edge mode, in which it is not necessary to control the robot body 10 to deflect toward the vertical wall 41 and swing back away from the vertical wall 41, so it takes a relatively short time to clean the ground near the vertical wall 41. And since the vertical wall 41 (such as the skirting 42) is less dirty than the ground where users often move, the utility model can improve the cleaning efficiency of the cleaning robot 100 by limiting the cleaning frequency of the cleaning robot 100 in the first edge mode to be less than the cleaning frequency in the second edge mode.

[0212] It is understandable that the cleaning robot 100 can clean the area corresponding to the cleaning task map. The area corresponding to the cleaning task map can be any area to be cleaned, such as a family space, a room unit of a family space, a partial area of ​​a room unit, a large place, or a partial area of ​​a large place.

[0213] For a room unit in a home space where the area corresponding to the cleaning task map is a room unit, the cleaning robot 100 can first work in the first edge mode when it needs to clean the vertical wall 41 during a certain operation, so as to clean the vertical wall 41 in the room unit, and then clean the floor. For example, a larger area in the room unit can be cleaned for the first time, and then the missed areas can be cleaned, such as the obstacle area in the room unit.

[0214] Of course, the cleaning robot 100 can also clean the floor first. For example, it can perform an initial cleaning on a larger area in the room unit, and then perform a leak-filling sweep on the area, such as the obstacle area in the room unit, and finally work in the first edge mode to clean the vertical wall 41 in the room unit.

[0215] When the cleaning robot 100 is working at a certain time and does not need to clean the vertical wall 41, it can first work in the second edge mode, so as to clean the edge of the floor close to the vertical wall 41 in the room unit, and then clean other positions of the floor. For example, a larger area in the room unit can be cleaned for the first time, and then the area to be cleaned is repaired, such as the obstacle area in the room unit.

[0216] Of course, the cleaning robot 100 can also clean the floor first. For example, it can perform an initial cleaning on a larger area in the room unit, and then perform a leak-filling sweep on the area, such as the obstacle area in the room unit, and finally work in the second edge mode to perform edge cleaning on the floor near the vertical wall 41 in the room unit.

[0217] The cleaning robot 100 according to other embodiments of the present invention is the cleaning robot 100 described in the above embodiment. The control process of the cleaning robot 100 includes the following steps:

[0218] S1: Get the instruction to clean the vertical wall;

[0219] S2: When the robot body moves along the vertical wall surface, the portion where the first cleaning portion is located is controlled to move toward the vertical wall surface to clean the vertical wall surface.

[0220] For example, the first cleaning part 21 can move along the width direction of the robot body 10. When the vertical wall 41 needs to be cleaned, the first cleaning part 21 can be controlled to move toward the direction close to the vertical wall 41. As the robot body 10 moves along the vertical wall 41, the first cleaning part 21 can clean the vertical wall 41.

[0221] In an embodiment in which the first cleaning portion 21 does not exceed the maximum width of the robot body 10, when the vertical wall 41 needs to be cleaned, the first cleaning portion 21 cannot contact the vertical wall 41 as the robot body 10 moves straight forward. In the case of such a structural setting, the first cleaning portion 21 can be controlled to move and extend toward the vertical wall 41, so that the first cleaning portion 21 exceeds the cross-section of the robot body 10 parallel to the vertical wall 41, and is not limited by the structure at the maximum width, so that the first cleaning portion 21 is close to the vertical wall 41, and can then contact the vertical wall 41, thereby cleaning the vertical wall 41.

[0222] In an embodiment where the first cleaning portion 21 is set to exceed the maximum width of the robot body 10, when the vertical wall 41 needs to be cleaned, the first cleaning portion 21 moves and extends toward the vertical wall 41 during the movement of the robot body 10 along the vertical wall 41. In this way, the contact force between the first cleaning portion 21 and the vertical wall 41 can be increased, thereby improving the cleaning effect.

[0223] In the above technical scheme, when the cleaning robot 100 receives an instruction to clean the vertical wall 41, it can control the position where the first cleaning part 21 is located to move toward the vertical wall 41 while controlling the robot body 10 to move along the vertical wall 41, so that the first cleaning part 21 exceeds the cross-section parallel to the robot body 10 and the vertical wall 41, so that the first cleaning part 21 can clean the vertical wall 41, or the cleaning effect can be improved by strengthening the contact force between the first cleaning part 21 and the vertical wall 41.

[0224] In the description of the present invention, it should be understood that the terms "center", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0225] In the description of the present utility model, "first feature" and "second feature" may include one or more of the features. In the description of the present utility model, "plurality" means two or more. In the description of the present utility model, the first feature "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature between them. In the description of the present utility model, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.

[0226] Other structures and operations of the cleaning robot 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0227] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0228] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A cleaning robot, characterized in that: include: A robot body, the robot body comprising a housing assembly, a cleaning mechanism disposed at the bottom of the housing assembly, and a driving wheel, wherein the forward and backward directions of the robot body are perpendicular to the rotation axis of the driving wheel; The cleaning accessory comprises a first cleaning part, and the first cleaning part is arranged on the side of the robot body and is used for cleaning the vertical wall surface.

2. The cleaning robot according to claim 1, characterized in that: In the width direction of the robot body, the first cleaning portion is set not to exceed the maximum width of the robot body; wherein the width direction of the robot body is perpendicular to the forward and backward direction of the robot body; or, In the width direction of the robot body, the first cleaning portion is at least partially arranged to exceed the maximum width of the robot body; wherein the width direction of the robot body is perpendicular to the forward and backward direction of the robot body.

3. The cleaning robot according to claim 2, characterized in that: The robot body is constructed as follows: When the vertical wall surface needs to be cleaned, the robot body rotates to drive the first cleaning part to deflect toward the vertical wall surface; and / or, The first cleaning part can move along the width direction of the robot body, and when the vertical wall surface needs to be cleaned, the first cleaning part can move in a direction close to the vertical wall surface.

4. The cleaning robot according to claim 1, characterized in that: The first cleaning portion is a flexible member, and the first cleaning portion can be deformed under the action of an external force; and / or, In a projection of the first cleaning portion and the cleaning mechanism on a horizontal plane, the cleaning mechanism is at least partially located behind the first cleaning portion.

5. The cleaning robot according to claim 1, characterized in that: The housing assembly has a first center line and a second center line that are perpendicular to each other, the first center line extending along the forward and backward direction of the robot body, and the second center line being the center line of the robot body at the maximum width; In the forward and backward direction of the robot body, the first cleaning part is located behind the second center line; and / or, The housing assembly is circular; and / or, The first cleaning portion and the cleaning mechanism are located on the same side of the second center line; The robot body further comprises an edge sensor, wherein the edge sensor is arranged on a side wall of the housing assembly, and in the forward and backward direction of the robot body, the edge sensor is arranged in front of the second center line; and / or, The robot body further comprises an edge sensor, wherein the edge sensor and the first cleaning portion are located on the same side relative to the first center line; and / or, The robot body further includes a collision sensor, which is disposed on a side wall of the housing assembly, and in the forward and backward directions of the robot body, the collision sensor is disposed in front of the second center line.

6. The cleaning robot according to any one of claims 1 to 5, characterized in that: The cleaning accessory further includes a bracket, and the first cleaning part is arranged on the bracket and is arranged on the side of the robot body through the bracket.

7. The cleaning robot according to claim 6, characterized in that: In the direction of the robot body moving forward and backward, the bracket is arranged not to exceed the maximum width of the robot body; and / or, The first cleaning unit is detachably mounted on the bracket; and / or, The first cleaning portion is bonded to the bracket.

8. The cleaning robot according to claim 6, characterized in that: The support comprises: A mounting portion, the mounting portion being located at a side of the housing assembly, and the first cleaning portion being disposed at the mounting portion; A connecting portion is connected to the mounting portion and is connected to the bottom of the housing assembly or the inside of the housing assembly.

9. The cleaning robot according to any one of claims 1 to 5, characterized in that: The first cleaning portion is directly bonded to the side wall of the housing assembly.

10. The cleaning robot according to any one of claims 1 to 5, characterized in that: The cleaning accessory further comprises a second cleaning portion, which is located below the first cleaning portion and is used for cleaning the floor and / or the vertical wall.

11. The cleaning robot according to claim 10, characterized in that: In the width direction of the robot body, a spacing area is provided between the cleaning mechanism and the robot body at the maximum width, and the second cleaning part is used for cleaning the ground corresponding to the spacing area.

12. The cleaning robot according to any one of claims 1 to 5, characterized in that: The first cleaning portion is movable relative to the housing assembly.

13. The cleaning robot according to claim 12, characterized in that: The first cleaning part is movable in the height direction of the robot body; and / or, The first cleaning part is movable along a preset direction, and the preset direction extends along the width direction of the robot body, or is arranged at an acute angle to the width direction of the robot body; and / or, The first cleaning portion is rotatably arranged relative to the housing assembly.

14. The cleaning robot according to claim 12, characterized in that: The cleaning mechanism comprises: A connecting seat, the connecting seat is arranged at the bottom of the housing assembly; A floor cleaning member, the floor cleaning member being rotatably disposed on the connecting seat; The cleaning accessory is installed at one end of the cleaning mechanism in the width direction, or, The cleaning accessory is installed at one end of the connecting seat in the width direction.

15. The cleaning robot according to claim 14, characterized in that: The connecting seat is movable along the width direction of the robot body, and the cleaning accessory is connected to the connecting seat to move with the connecting seat; or, The floor cleaning member is movable along the width direction of the robot body, and the cleaning accessory is connected to the floor cleaning member to move with the floor cleaning member.

16. The cleaning robot according to claim 1, characterized in that: The cleaning robot further includes a humidifying component, and the humidifying component is used to humidify the first cleaning portion and / or the vertical wall surface.

17. The cleaning robot according to claim 16, characterized in that: The humidifying component comprises: a water spraying portion, the water spraying portion being used to spray water toward the first cleaning portion and / or the vertical wall surface; Water tanks, used to store water; a water supply pump, the water supply pump being used to deliver water in the water tank to the water spraying part; and / or, The first cleaning portion is in a drum shape and is rotatable relative to the housing assembly, and a rotation axis of the first cleaning portion is parallel to the vertical wall surface.

18. The cleaning robot according to claim 17, characterized in that: The robot body has a sewage suction channel and the robot body also includes: a scraper strip, the scraper strip being in abutment with the first cleaning portion; A sewage box, the sewage box is connected to the sewage suction channel; A suction piece is used to suck the sewage at the scraper bar into the sewage box.

19. A cleaning system, comprising the cleaning robot and the base station as claimed in claims 1-18; characterized in that: The base station includes a docking position, and the cleaning robot can dock at the docking position.

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