Cleaning robot

Abstract

The utility model provides a cleaning robot, and relates to the technical field of cleaning robots. The cleaning mechanism comprises a swing arm and a cleaning part; the swing arm is rotatably connected with the machine body so as to move between an inward retracting position and an outward swinging position relative to the machine body, and the cleaning piece is arranged on the swing arm so as to move along with the swing arm; the collision assembly comprises a collision plate arranged on the machine body, the collision plate at least covers the front side wall of the machine body, the collision plate can generate displacement to detect collision when making contact with an obstacle, and the collision plate is provided with a containing opening; when the swing arm is located at the outward swing position, the swing arm extends out of the outer side of the machine body through the containing opening. When the swing arm is located at the inward retracting position, the swing arm retracts into the containing opening. According to the cleaning robot, the cleaning range of the cleaning part is enlarged, and the cleaning robot can cope with more complex cleaning working conditions. Moreover, on the premise that the anti-collision function of the collision plate is not affected, structural interference between the swing arm and the collision plate is avoided, and the reliability of the swing arm in the swing process is guaranteed.

Description

[0001] This application claims the priority of the Chinese patent application with application number 202323371141.8 and application name “Cleaning Robot” filed with the China Patent Office on December 11, 2023, the Chinese patent application with application number 202410050718.5 and application name “Control Method, Device, Equipment, Medium and Product of Cleaning Equipment” filed with the China Patent Office on January 13, 2024, the PCT international application with international application number PCT / CN2023 / 100210 and application name “Cleaning Equipment” filed with the China Patent Office on June 14, 2023, and the PCT international application with international application number PCT / CN2023 / 100199 and application name “Control Method, Cleaning Equipment and Storage Medium of Cleaning Equipment” filed with the China Patent Office on June 14, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning robot. Background Art

[0003] With the improvement of living standards, household cleaning robots have become more and more popular. In the related art, a cleaning mechanism is usually arranged at the bottom of the cleaning robot, and the cleaning mechanism includes cleaning parts such as a roller brush and a side brush. The side brush is usually arranged at the front edge of the cleaning robot body. When the cleaning robot is running, the side brush can rotate around its own axis to gather the garbage on the ground to the inside of the cleaning robot, so that the garbage is sucked into the cleaning robot cavity through the roller brush and the suction port on the cleaning robot body to clean the ground.

[0004] However, in the related art, the cleaning robot has a technical problem of limited cleaning range for areas that are difficult to clean, such as corners. Utility Model Content

[0005] In view of the above problems, the present application provides a cleaning robot that can improve the coverage of corners and other areas that are difficult to clean, thereby increasing the cleaning range of the cleaning robot. It can also avoid structural interference between the swing arm and the impact plate without affecting the function of the impact plate itself, thereby ensuring the reliability of the swing arm's swinging process.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] The present application provides a cleaning robot, comprising: a body; a cleaning mechanism, comprising a swing arm and a cleaning member; the swing arm and the body are rotatably connected to move between a retracted position and an outward swing position relative to the body, and the cleaning member is arranged on the swing arm to follow the movement of the swing arm; a collision assembly, comprising a collision plate arranged on the body, the collision plate at least covering the front side wall of the body, the collision plate being able to generate displacement when contacting an obstacle to detect a collision, and the collision plate having a receiving opening; wherein, when the swing arm is located at the outward swing position, the swing arm extends out of the outside of the body through the receiving opening; when the swing arm is located at the retracted position, the swing arm is retracted into the receiving opening.

[0008] According to the cleaning robot of the present application, by making the swing arm rotatably connected to the body and moving between the outward swing position and the inward retracted position relative to the body, the cleaning member is arranged on the swing arm to follow the movement of the swing arm, so that the swing arm drives the cleaning member to move between the outward swing position and the inward retracted position, thus increasing the cleaning range of the cleaning member, avoiding the problem of cleaning dead corners, enabling the cleaning robot to cope with more complex cleaning conditions, and improving the user experience. In addition, by arranging a receiving opening on the collision plate, the swing arm can reach the outward swing position or the inward retracted position through the receiving opening during the movement of the swing arm. On the one hand, the swing arm will not affect the overall shape of the collision plate, so that the collision plate can still maintain a large collision sensing range, and can avoid the swing arm's own activity from affecting the function of the collision plate; on the other hand, when the swing arm is swinging, because the collision plate can avoid the moving trajectory of the swing arm without causing a large loss to its own anti-collision function, therefore, the swing arm can be set with priority given to its own swing and cleaning functions, thereby being set as a structure with relatively complete swing and cleaning functions. In this way, the swing arm and the striker plate can be prevented from having structural interference without affecting the coverage of the striker plate on the machine body and the anti-collision function, so as to ensure that the functions of the striker plate and the swing arm are realized at the same time. In addition, the swing arm can at least partially overlap with the machine body / striker plate in the height direction, thereby saving space of the machine body in the height direction.

[0009] In some embodiments, the machine body includes a bottom shell, the striker plate vertically extends at least to the bottom shell, and the receiving opening is located at a lower half of the striker plate.

[0010] In this way, it can be ensured that the area covered by the impact plate on the side wall of the machine body is large enough, which can better protect the machine body and expand the range of the impact plate to detect obstacles. In addition, the receiving opening can correspond to the setting height of the cleaning mechanism, which is convenient for the swing arm to swing out or retract through the receiving opening, and is also beneficial to saving the size of the machine body in the height direction.

[0011] In some embodiments, the bottom shell includes a notch connected to the receiving opening of the impact plate, and when the swing arm is in the retracted position, the swing arm is in a receiving cavity formed by at least the receiving opening and the notch.

[0012] In this way, the cleaning mechanism can be better protected and the swing arm can be prevented from colliding with other objects and being damaged.

[0013] In some embodiments, when the swing arm moves from the outward swing position to the inward retracted position, the movement trajectory of the swing arm and the edge of the receiving opening do not interfere with each other.

[0014] In this way, it is possible to prevent the swing arm from colliding with the strike plate from the side of the strike plate facing away from the machine body, thereby preventing the collision component from misjudging that there is an obstacle in the direction of travel.

[0015] In some embodiments, the collision plate includes a plate body and a reinforcement portion, and the reinforcement portion is connected to a side of the plate body facing the machine body.

[0016] By providing the reinforcement part, the structural strength of the plate body can be increased to prevent the collision plate from being damaged.

[0017] In some embodiments, the reinforcement portion is disposed around at least a portion of an edge of the receiving opening, and at least a portion of the edge of the receiving opening has a flange to form the reinforcement portion.

[0018] In this way, when there is a receiving opening, the flange can ensure the structural strength of the collision plate at the edge of the receiving opening, avoiding the receiving opening from breaking due to collision and being not easily damaged. In addition, the structure of the reinforcement part is relatively simple and easy to process.

[0019] In some embodiments, the flange includes a first section and a second section, the first section extends vertically, and the second section extends along the circumference of the body.

[0020] In this way, the flange can surround the receiving opening and enhance the structural strength of the collision plate near the receiving opening. In addition, the structure is simple, can be integrally formed, and the flange is formed by utilizing the original space, so the overall structure is relatively compact.

[0021] In some embodiments, the collision assembly also includes a collision trigger unit, which is arranged between the collision plate and the body and is suitable for being triggered when the collision plate collides with an obstacle. At least one of the collision trigger units is arranged on the rear side of the receiving opening to avoid the receiving opening, wherein the collision trigger unit is a micro switch or an optical coupler sensor.

[0022] In this way, the collision trigger unit is more sensitive and can accurately detect the displacement of the collision plate to improve the accuracy of obstacle detection, and is conducive to reducing the space occupied by the collision trigger unit, thereby reducing the space required for the collision plate.

[0023] In some embodiments, the collision assembly further includes a collision sensor, which is disposed on the swing arm to at least detect a collision caused by contact between the receiving opening and an obstacle.

[0024] In this way, the collision sensor on the swing arm can at least partially assist or replace the function of the collision plate, and because the swing arm can be swung outward to the outside of the body, the cleaning robot has a wider detection range for obstacles.

[0025] In some embodiments, the collision sensor is disposed on the outer side of the swing arm, and when the swing arm is in the retracted position, the outer side of the swing arm is used to at least partially define the outer contour of the body.

[0026] In this way, when the swing arm is in the outward swing position or the inward retracted position, the collision sensor can detect the collision between the body and the surrounding obstacles.

[0027] In some embodiments, the swing arm includes an outer side surface and an inner side surface of the swing arm, the cleaning member is arranged at the outer end portion of the swing arm, the outer side surface of the swing arm is transitionally connected to the inner side surface of the swing arm through the outer end portion of the swing arm, the swing arm includes a flexible member, the flexible member is arranged on the outer side surface of the swing arm and / or the inner side surface of the swing arm, or the flexible member at least partially covers the outer end portion of the swing arm.

[0028] In this way, by arranging the flexible part on any one of the outer side surface of the swing arm, the inner side surface of the swing arm and the outer end portion of the swing arm, when the corresponding position of the swing arm collides with the machine body or an obstacle, the flexible part can play a buffering role to protect the swing arm and the structure arranged on the swing arm.

[0029] In some embodiments, the cleaning robot further includes at least one downward-looking sensor, which is disposed on the body, and the at least one downward-looking sensor includes a first downward-looking sensor, which is disposed on a side of the body where the impact plate is disposed.

[0030] By setting the first downward-looking sensor, the working conditions on the front travel route of the cleaning robot can be accurately detected, thereby providing a control basis for the operation of the cleaning mechanism.

[0031] In some embodiments, at least one of the downward-looking sensors is disposed on the rear side of the notch of the bottom shell to avoid the notch, the cleaning member is a side brush, and the extended length of the bristles of the side brush interferes with the downward-looking sensor at least in part, and when the swing arm is in the retracted position and the side brush stops rotating, the downward-looking sensor is located in the gap between two adjacent groups of the bristles to avoid obstruction.

[0032] In this way, when the cleaning robot is in a scenario where the side brush assembly is not required to work, for example, when it is in the single-mopping mode, it can be ensured that the work of the downward-looking sensor is not affected by the cleaning component.

[0033] In some embodiments, the at least one downward-looking sensor includes a second downward-looking sensor, which is disposed on the swing arm, and when the swing arm is located in the retracted position, the second downward-looking sensor is suitable for extending out of the body along with the swing arm.

[0034] In this way, the detection function of the original downward-looking sensor can be replaced or enhanced. In addition, when the swing arm is in the outward swing state, the second downward-looking sensor can detect it quickly and provide feedback in time before the machine body reaches the suspended scene, so as to adjust the route and working state.

[0035] In some embodiments, the downward-looking sensor is adapted to detect an interference state of a cleaning member, and the cleaning robot is configured to control the cleaning member to stop rotating only when it is detected that the cleaning member does not interfere with the downward-looking sensor.

[0036] In this way, when the cleaning member stops rotating, it will not interfere with the detection of the downward-looking sensor, thereby ensuring the accuracy of the downward-looking sensor detection. Even when the cleaning robot is in the single-drag mode, the downward-looking sensor can work normally.

[0037] In some embodiments, the downward-looking sensor also includes a mechanical trigger device, which is arranged at the bottom of the body. The mechanical trigger device has a compression state and a compression release state. When the mechanical trigger device changes from the compression state to the compression release state, it is confirmed that the cleaning robot is in a suspended state.

[0038] In this way, by setting up a mechanical trigger device, since the mechanical trigger device is not easily interfered with by components such as cleaning parts, even if part of the structure of the downward-looking sensor is blocked by the cleaning parts and cannot work, the mechanical trigger device can be used to judge the working conditions on the travel route, thereby improving the stability and reliability of the mechanical trigger device detection.

[0039] In some embodiments, the at least one downward-looking sensor includes a third downward-looking sensor, which is arranged on the side of the receiving opening, and when the swing arm is in the retracted position, the cleaning member at least partially blocks the third downward-looking sensor when performing a cleaning action; the cleaning member can be raised and lowered on the swing arm to switch between a cleaning position and a raised position, wherein, in the cleaning position, the cleaning member cleans the surface to be cleaned; in the raised position, the cleaning member is separated from the surface to be cleaned; the cleaning robot is suitable for switching the side brush between the cleaning position and the raised position after the cleaning member moves to a position where the third downward-looking sensor is not blocked.

[0040] In this way, in a scenario where the side brush does not need to rotate for cleaning and the cleaning robot continues to run, the third downward-looking sensor can be prevented from being blocked, thereby ensuring that the third downward-looking sensor operates normally.

[0041] In some embodiments, when the swing arm is in the retracted position, the cleaning robot walks along the edge path and the cleaning member performs edge cleaning; when the swing arm is in the outward swing position, the cleaning member can clean the angle between the edge path and a preset obstacle.

[0042] In some embodiments, when the cleaning member is in the retracted position, there is a gap between the cleaning member and the angle; when the cleaning member is in the outward swing position, the cleaning member contacts the angle and deforms to perform cleaning; the edge path is the first wall edge, and the preset obstacle is an obstacle that the cleaning robot needs to turn to avoid when cleaning along the first wall edge.

[0043] When the cleaning robot is cleaning along the edges, the side brush assembly at least partially extends beyond the edge of the body, so that the side brush assembly can perform edge cleaning when in the retracted position, avoiding frequent outward swinging of the side brush assembly and reducing the life of the side brush assembly; when there is a preset obstacle on the edge cleaning path of the cleaning robot, an angle is formed between the edge path and the preset obstacle. Since the side brush is a flexibly deformable structure, when it is deformed by contact with the angle, the side brush has already reached the depth of the angle, so that it can clean deep into the angle, that is, it is easier to clean the narrow angle area, thereby improving the cleaning effect at the angle.

[0044] In some embodiments, when the cleaning robot identifies a target obstacle, the cleaning member is in the swing-out position for cleaning, the target obstacle has a cavity that is reachable by the cleaning member when in the swing-out position, the target obstacle is recessed inward toward a side away from the body at least at the height of the cleaning member to form the cavity, and the depth of the cleaning member entering the cavity in the swing-out position is greater than the depth of the cleaning member entering the cavity in the retracted position.

[0045] In this way, when the body itself cannot approach the concave cavity of the target obstacle, the cleaning member can be extended to clean the cavity, so as to better clean the inside of the cavity, improve the cleaning effect, and enhance the ability of the cleaning robot to adapt to more complex cleaning conditions.

[0046] In some embodiments, when the cleaning element assembly of the cleaning robot is in an outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or the wet stains, the driving mechanism drives the cleaning element assembly to switch from the outward swing position to the inward retracted position so that the cleaning element avoids the linear obstacles and / or the wet stains.

[0047] In this way, the cleaning piece can be retracted to the retracted position before it reaches the linear obstacle and / or wet stain, thereby preventing the cleaning piece from being hooked on the linear obstacle and causing the cleaning piece to fall off or be deformed and damaged, and also preventing the cleaning piece from being stained with wet stains and causing itself to be contaminated and its cleaning ability to be weakened.

[0048] In some embodiments, the body includes: a battery unit, wherein the battery unit is used to provide power to the body, and when the swing arm is in the retracted position, the projection of the cleaning member in the reference plane coincides with the projection of the battery unit in the reference plane, and the reference plane is perpendicular to the rotation axis of the swing arm.

[0049] In this way, the impact plate helps to protect the internal battery cells. The battery cells can be configured to avoid the swing arm to prevent the battery cells from affecting the installation and movement of the swing arm. In addition, the avoidance method of the battery cells is relatively simple and easy to implement.

[0050] In some embodiments, the cleaning member is rotatably connected to the swing arm, and the cleaning mechanism also includes a first driving unit, which is configured to drive the cleaning member rotatably connected to the swing arm; the cleaning robot includes a second driving unit for driving the cleaning member to swing outward and / or retract inward, and the second driving unit includes an outward swing motor.

[0051] In this way, the first driving unit can be used to drive the cleaning element to rotate to clean the surface to be cleaned, and the second driving unit can be used to drive the cleaning element to swing outward and retract inward, so that the cleaning action and swinging action of the cleaning element can be carried out in an orderly manner and are easy to implement.

[0052] In some embodiments, the second drive unit and the first drive unit share the outward swing motor, and the second drive unit further includes a clutch, and the outward swing motor drives at least one of the swing arm and the cleaning member to rotate via the clutch.

[0053] In this way, by setting up the clutch, a set of driving devices can be used to drive the swing arm and the cleaning member to rotate respectively, thereby improving the integration of the third driving mechanism and the second driving mechanism, which is beneficial to reducing the space occupied by the side brush assembly.

[0054] In some embodiments, when the cleaning member is in the retracted position, the clutch member is used to enable the outward swing motor to drive the cleaning member to rotate and drive the swing arm not to rotate, so that the swing arm is locked in the retracted position.

[0055] In this way, when the side brush assembly is in the retracted position to clean the surface to be cleaned, it can keep its position fixed, thereby ensuring the smooth progress of the cleaning work and helping to improve the cleaning efficiency.

[0056] In some embodiments, the cleaning member includes: a rubber strip, a first end of which is connected to the third driving unit; and bristles, which are arranged at the second end of the rubber strip to clean the surface to be cleaned.

[0057] Thus, the structure of the cleaning element is relatively simple.

[0058] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the cleaning robot provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0060] Figure 1 A schematic diagram of the structure of a cleaning robot provided in an embodiment of the present application from one angle;

[0061] Figure 2 A schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application from another angle;

[0062] Figure 3 A schematic structural diagram of the cleaning robot provided in an embodiment of the present application from another angle;

[0063] Figure 4 A schematic diagram of a portion of the structure of the cleaning robot provided in an embodiment of the present application;

[0064] Figure 5 A schematic diagram of a portion of the structure of the cleaning robot provided in an embodiment of the present application;

[0065] Figure 6 A schematic diagram of a portion of the structure of the cleaning robot provided in an embodiment of the present application;

[0066] Figure 7 An exploded view of the cleaning robot provided in an embodiment of the present application.

[0067] Description of reference numerals:

[0068] 100-Cleaning robot;

[0069] 110-body;

[0070] 111-upper shell; 112-bottom shell; 1121-recessed area; 113-accommodating cavity;

[0071] 120-cleaning agency;

[0072] 121-swing arm; 122-cleaning part; 1221-rubber strip; 1222-side brush body;

[0073] 130-impact plate; 131-accommodation opening; 132-detection window; 133-plate body; 134-reinforcement part;

[0074] 140-visual sensor; 150-lidar. DETAILED DESCRIPTION

[0075] With the development of science and technology and the improvement of living standards, household cleaning robots have become more and more popular, reducing the burden of human housework. A cleaning mechanism is usually set at the bottom of the cleaning robot, and the cleaning mechanism includes cleaning parts such as a roller brush, a side brush, and a mopping member. The side brush is usually set at the front edge of the cleaning robot body. When the cleaning robot is running, the side brush can rotate around its own axis to gather the garbage on the ground to the inside of the cleaning robot, so that the garbage is sucked into the cleaning robot cavity through the roller brush and the suction port on the cleaning robot body to clean the ground; the mopping member can usually perform wet cleaning or dry cleaning on the surface to be cleaned, and the mopping member is used to mop the surface to be cleaned to remove dirt. However, in the related art, the cleaning robot has a technical problem of limited cleaning range for areas that are not easy to clean, such as corners. If the cleaning mechanism is swung outward to solve this problem, it may interfere with the setting of other components such as the collision plate. If the collision plate is small in size and coverage to avoid the cleaning mechanism, it will affect the collision-proof function of the collision plate itself.

[0076] In order to solve the above problems, the embodiment of the present application provides a cleaning robot, wherein the cleaning mechanism includes a swing arm and a cleaning member, wherein the swing arm is rotatably connected to the body so that the swing arm moves between an outward swing position and an inward retracted position relative to the body, and the cleaning member is arranged on the swing arm to follow the movement of the swing arm, thereby increasing the cleaning range of the cleaning member, avoiding the problem of cleaning dead corners, and improving the user experience. In addition, by arranging a receiving opening on the collision plate, the swing arm can reach the outward swing position or the inward retracted position through the receiving opening during the movement of the swing arm, thereby avoiding structural interference between the swing arm and the collision plate without reducing the coverage range of the collision plate on the body and the anti-collision function, thereby ensuring the reliability of the swing arm swing process.

[0077] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0078] Combine the following Figure 1-Figure 7 A cleaning robot 100 according to an embodiment of the present invention is described.

[0079] The cleaning robot 100 of this embodiment may be a wet and dry cleaning robot 100. The cleaning robot 100 may be a sweeping robot or a sweeping and mopping robot. The cleaning robot 100 includes: a body 110, a collision component and a cleaning mechanism 120.

[0080] The machine body 110 is suitable for walking along the ground, tabletop, carpet and other surfaces to be cleaned. For example, the machine body 110 may be provided with running wheels, and the machine body 110 walks on the surface to be cleaned by the running wheels. At the same time, the running wheels can also keep the machine body 110 at a certain height, so as to facilitate the installation of other devices at the bottom of the machine body 110. The machine body 110 is usually formed in a circular, D-shaped, rectangular and other shapes. The outline of the machine body 110 refers to the circular outline, D-shaped outline or rectangular outline of the machine body 110. For example, the range of the outline of the machine body 110 can be determined according to the projection of the shell of the machine body 110 on the horizontal plane.

[0081] refer to Figure 1-Figure 7The collision assembly may include a collision plate 130, which is disposed on the body 110. The collision plate 130 at least covers the front side wall of the body 110. For example, the collision plate 130 may only cover the front side wall of the body 110, and may also cover a part of the top wall or bottom wall of the body 110. The collision plate 130 can generate displacement to detect the collision when it contacts an obstacle. In this way, the collision plate 130 is located at the front end of the body 110 along the travel direction, and can first contact and detect the obstacle. The collision plate 130 has a receiving opening 131, and the receiving opening 131 may be located at the side of the body 110.

[0082] The cleaning mechanism 120 includes a swing arm 121 and a cleaning member 122. The swing arm 121 and the body 110 are rotatably connected to move between an outward swing position and an inward retracted position relative to the body 110, and the cleaning member 122 is arranged on the swing arm 121, so that the cleaning member 122 can rotate relative to the body 110 with the swing arm 121. Exemplarily, the cleaning member 122 can be a side brush, a mopping member, etc., the side brush can be, for example, a rubber strip 1221 or a brush, and the mopping member can be, for example, a disc-type cleaning cloth, so that the cleaning member 122 cleans or wipes the ground during the rotation. Alternatively, the cleaning member 122 can also be a flexibly deformable structure, so that when the cleaning member 122 contacts an external obstacle, it has good flexible deformation performance, avoids rigid collision to ensure the passability of the cleaning robot 100. Exemplarily, the cleaning member 122 is rotatably disposed on the swing arm 121 , so that when the cleaning member 122 rotates relative to the swing arm 121 , the cleaning member 122 can clean the floor by sweeping or wiping.

[0083] When the swing arm 121 is in the outward swing position, the swing arm 121 extends out of the machine body 110 through the receiving opening 131, and when the swing arm 121 is in the retracted position, the swing arm 121 is retracted into the receiving opening 131. That is to say, by providing the receiving opening 131 on the collision plate 130, it is possible to avoid interference and collision between the swing arm 121 and the collision plate 130 when the swing arm 121 moves between the outward swing position and the retracted position. The outward swing position corresponds to the state in which the cleaning mechanism 120 is extended relative to the machine body 110, at which time, the cleaning mechanism 120 (for example, including the swing arm 121) is in the extended position, and correspondingly, the cleaning member 122 is in the extended position, that is, the cleaning mechanism 120 at least partially extends outside the machine body 110; the retracted position corresponds to the state in which the cleaning mechanism 120 is retracted relative to the machine body 110, at which time, the cleaning mechanism 120 (for example, including the swing arm 121) is in the retracted position, and correspondingly, the cleaning member 122 is in the retracted position. In this way, areas other than those that the body 110 can move to can be cleaned. For example, areas with right-angled edges or deep concave areas can be cleaned. Areas that are difficult to clean, such as corners, can be covered, thereby increasing the cleaning range, avoiding cleaning dead corners, and improving the user experience.

[0084] According to the cleaning robot 100 of the embodiment of the present application, the swing arm 121 is rotatably connected to the body 110, and moves between an outward swing position and an inward retracted position relative to the body 110. The cleaning member 122 is arranged on the swing arm 121 to follow the movement of the swing arm 121, so that the swing arm 121 drives the cleaning member 122 to move between the outward swing position and the inward retracted position. In this way, the cleaning range of the cleaning member 122 is increased, and the problem of cleaning dead corners is avoided, so that the cleaning robot 100 can cope with more complex cleaning conditions and enhance the user experience. At the same time, the cleaning robot 100 sets a receiving opening 131 on the collision plate 130, so that the swing arm 121 can reach the outward swing position or the retracted position through the receiving opening 131 during the movement. On the one hand, the swing arm 121 will not affect the overall shape of the collision plate 130, so that the collision plate 130 can still maintain a large collision sensing range, and can avoid the movement of the swing arm 121 itself from affecting the function of the collision plate 130; on the other hand, when the swing arm 121 is swinging, since the collision plate 130 can avoid the moving trajectory of the swing arm 121 without causing a large loss to its own anti-collision function, the swing arm 121 can be set with priority given to its own swing and cleaning functions, so as to be set as a structure with relatively complete swing and cleaning functions. In this way, without affecting the coverage range of the collision plate 130 on the body 110 and the anti-collision function, the structural interference between the swing arm 121 and the collision plate 130 can be avoided, so as to ensure that the functions of the collision plate 130 and the swing arm 121 are realized at the same time. In addition, the swing arm 121 swings out from the receiving opening 131, so that the swing arm 121 can at least partially overlap with the body 110 / the impact plate 130 in the height direction, thereby saving the space occupied by the cleaning robot 100 in the height direction.

[0085] In some embodiments, the cleaning structure may further include a driving mechanism (not shown), which is suitable for driving the swing arm 121 to move between an outward swing position and a retracted position relative to the machine body 110. For example, the retracted position corresponds to the state in which the cleaning mechanism 120 is retracted relative to the machine body 110, at which time the cleaning mechanism 120 (for example, including the swing arm 121) is in the retracted position, and correspondingly, the cleaning member 122 is in the retracted position; the outward swing position corresponds to the state in which the cleaning mechanism 120 is extended relative to the machine body 110, at which time the cleaning mechanism 120 (for example, including the swing arm 121) is in the extended position, and correspondingly, the cleaning member 122 is in the extended position, that is, the cleaning mechanism 120 at least partially extends out of the machine body 110, so that the area outside the machine body 110 that can move can be cleaned, for example, the area with right-angled edges or relatively deep concave can be cleaned, and the corners and other areas that are not easy to clean can be covered, thereby increasing the cleaning range, avoiding the existence of cleaning dead corners, and improving the user experience.

[0086] In some embodiments, the driving mechanism may include a first driving unit and a second driving unit, the second driving unit being configured to at least partially drive the swing arm 121 to move from the retracted position to the outward swing position, and the first driving unit being configured to at least partially overcome the force of the second driving unit to drive the swing arm 121 to move from the outward swing position to the retracted position. In this way, the swing arm 121 moves between the outward swing position and the retracted position under the driving action of the first driving unit and the second driving unit, respectively, to meet the cleaning requirements of different scenes, increase the cleaning range, avoid cleaning dead corners, and enhance the user experience.

[0087] When performing cleaning operations, the cleaning robot 100 may encounter low obstacles, such as protrusions on the floor or wires laid on the ground. If the collision plate 130 does not cover a sufficient vertical range, the collision between the cleaning robot 100 and these low obstacles may not be detected. Figure 1 , Figure 2 and Figure 7 , the striker plate 130 extends to the lower half of the side wall of the machine body 110 in the vertical direction. For example, the striker plate 130 may only extend to a position below half the height of the side wall of the machine body 110, or may extend to the bottom of the side wall of the machine body 110. In this way, it is ensured that the striker plate 130 covers a large enough area of ​​the side wall of the machine body 110, and can better detect relatively low obstacles, thereby better protecting the machine body 110, and can expand the range of obstacle detection by the striker plate 130.

[0088] In some embodiments, in combination Figure 3 and Figure 5 The body 110 may include an upper shell 111 and a bottom shell 112, the bottom shell 112 is supported under the upper shell 111, and the impact plate 130 extends at least to the bottom shell 112 in the vertical direction. It can be understood that since the bottom shell 112 needs to carry a large number of functional components of the cleaning robot 100, such as cleaning structures, battery units, electronic control components, roller brushes, etc., the impact plate 130 is extended to the bottom shell 112 in this embodiment, which can better protect the bottom shell 112 from impact by external obstacles. In addition, the connection stability between the impact plate 130 and the body 110 can also be enhanced.

[0089] In some embodiments, the center angle of the collision plate 130 in the circumferential direction of the body 110 is greater than or equal to 120°. For example, the center angle of the collision plate 130 in the circumferential direction of the body 110 may be 120°, 150° or 180°. Of course, the utility model is not limited thereto. The center angle of the collision plate 130 in the circumferential direction of the body 110 may be reasonably selected within the above range according to actual needs. 180° is preferred, so that the collision plate 130 can cover the front end and the left and right ends of the body 110, ensuring that when there is an obstacle in the path of the body 110, the collision plate 130 contacts the obstacle first, and the part not covered by the collision plate 130 will not be hit by the obstacle.

[0090] In some embodiments, reference Figure 2 The receiving opening 131 is located at the lower half of the impact plate 130, so that it can correspond to the setting height of the cleaning mechanism 120, making it convenient for the swing arm 121 to swing out or retract through the receiving opening 131. In addition, it is also beneficial to save the space occupied by the impact plate 130 in the height direction, thereby making the structure of the body 110 more compact.

[0091] refer to Figure 2 When the cleaning member 122 is a side brush, the cleaning strip of the side brush has a certain extension length, and in this embodiment, the receiving opening 131 is connected to the lower edge of the collision plate 130. In this way, it can be ensured that there is no frame structure on the lower side of the receiving opening 131, thereby avoiding interference with the cleaning member 122.

[0092] In some embodiments, when the swing arm 121 moves from the outward swing position to the inward retracted position, the moving track of the swing arm 121 and the edge of the receiving opening 131 do not interfere with each other. Since the swing arm 121 moves from the outward swing position to the inward retracted position from the outside of the machine body 110 to the inside of the machine body 110, in this embodiment, the receiving opening 131 is constructed so that the moving track of the swing arm 121 and the edge of the receiving opening 131 do not interfere with each other, which can prevent the swing arm 121 from colliding with the collision plate 130 from the side of the collision plate 130 facing away from the machine body 110, thereby preventing the collision component from misjudging that there is an obstacle in the direction of travel.

[0093] In some embodiments, reference Figure 3 The bottom shell 112 is provided with a notch, which is communicated with the receiving opening 131. The notch and the receiving opening 131 together form the receiving chamber 113 of the body 110. At this time, the receiving opening 131 constitutes the side opening of the receiving chamber 113. When the swing arm 121 is located at the retracted position, the cleaning mechanism 120 is received in the receiving chamber 113. In this way, the cleaning mechanism 120 can be better received in the receiving chamber 113 to better protect the swing arm 121 and the components disposed on the swing arm 121, and avoid collision with obstacles outside the body 110 and damage.

[0094] Optional, reference Figure 3 The accommodating cavity 113 is formed between the bottom shell 112 and the upper shell 111 of the body 110 , and the accommodating cavity 113 corresponds to the edge position of the bottom shell 112 , so that the accommodating cavity 113 and the receiving opening 131 are in communication.

[0095] In some embodiments, reference Figure 3 The portion of the bottom shell 112 opposite to the accommodating chamber 113 is recessed upward to form a recessed area 1121. The recessed area 1121 and the accommodating chamber 113 are respectively located on both sides of the bottom shell 112 in the vertical direction. The recessed area 1121 is formed with an avoidance opening. The recessed area 1121 is connected to the accommodating chamber 113 through the avoidance notch. The avoidance opening is vertically connected to the accommodating chamber 113. When the swing arm 121 is in the retracted position, the side brush body 1222 of the cleaning member 122 can be located in the accommodating chamber 113, and the cleaning strip composed of the rubber strip 1221 and the bristles can be located in the recessed area 1121. In this way, it is possible to avoid increasing the space of the accommodating chamber 113 to accommodate the cleaning member 122.

[0096] In some embodiments, reference Figure 7 The impact plate 130 may include a plate body 133 and a reinforcement portion 134, wherein the plate body 133 may cover the front end side wall and part of the top wall and bottom wall of the body 110, and the reinforcement portion 134 is connected to the side of the plate body 133 facing the body 110. For example, the reinforcement portion 134 may be a reinforcement rib, a reinforcement protrusion or the like. Of course, the present application does not limit this. By setting the reinforcement portion 134, the structural strength of the plate body 133 can be increased to prevent the impact plate 130 from being damaged.

[0097] In some embodiments, the reinforcing portion 134 is disposed around at least a portion of the edge of the receiving opening 131. For example, the reinforcing portion 134 may be disposed only along a portion of the edge of the receiving opening 131, or may completely surround the receiving opening 131 along the periphery of the receiving opening 131. In this way, the structural strength of the edge of the receiving opening 131 can be increased to prevent the receiving opening 131 from being broken due to collision.

[0098] In some embodiments, at least part of the edge of the receiving opening 131 has a flange, which extends toward one side of the body 110 to form a reinforcing portion 134. In this way, the structure of the reinforcing portion 134 is relatively simple and easy to process. Moreover, when the impact plate 130 is provided with the receiving opening 131, the structural strength of the impact plate 130 can be ensured, making the impact plate 130 not easily damaged.

[0099] In some embodiments, the flange may include a first section and a second section, the first section extends vertically, the second section extends circumferentially of the body 110, the second section is located on the top of the first section and connected to the first section, so that the flange can surround the receiving opening 131 and enhance the structural strength of the receiving opening 131 of the impact plate 130, and the flange structure is simple and can be integrally formed, so that the structure of the receiving opening 131 is strengthened without increasing the occupied space, and the overall structure is relatively compact.

[0100] In some embodiments, the collision component may further include a collision trigger unit, which is disposed between the collision plate 130 and the body 110 and is suitable for being triggered when the collision plate 130 collides with an obstacle. It can be understood that the collision plate 130 can generate displacement after colliding with the obstacle, and the collision trigger unit detects the collision based on the displacement, thereby determining that the cleaning robot 100 encounters an obstacle.

[0101] In some specific examples, the collision trigger unit is a micro switch or an optical coupling sensor. In this way, the collision trigger unit is more sensitive and can accurately detect the displacement of the collision plate 130 to improve the accuracy of obstacle detection, and is helpful to reduce the space occupied by the collision trigger unit, thereby reducing the space required for the collision plate 130.

[0102] In some embodiments, at least one collision trigger unit is disposed on the rear side of the receiving opening 131 to avoid the receiving opening. In this way, the effective installation of the collision trigger unit at the receiving opening 131 can be ensured, avoiding the inability to install the collision trigger unit due to the receiving opening 131 being set on the collision plate 130.

[0103] In a specific example, the collision trigger unit may include a plurality of optical coupling sensors, which are evenly and spacedly arranged between the collision plate 130 and the body 110 along the circumference of the collision plate 130, and at least one of the plurality of optical coupling sensors corresponds to the receiving opening 131 at an angle in the circumferential direction of the body 110. At this time, the optical coupling sensor can be avoided from the receiving opening 131, for example, set on the rear side of the receiving opening 131.

[0104] For example, multiple optical coupler sensors may include a first optical coupler sensor, a second optical coupler sensor, a third optical coupler sensor, and a fourth optical coupler sensor, and the first optical coupler sensor, the second optical coupler sensor, the third optical coupler sensor, and the fourth optical coupler sensor are evenly distributed along the circumference of the impact plate 130, wherein the first optical coupler sensor, the second optical coupler sensor, and the third optical coupler sensor are located at other angular positions of the impact plate 130 in the circumferential direction, and the circumferential position of the impact plate 130 in the fourth optical coupler sensor corresponds to the receiving opening 131. In order to avoid the receiving opening 131 affecting the installation and detection function of the fourth optical coupler sensor, the fourth optical coupler sensor can be set at the rear of the impact plate 130 on the upper side of the receiving opening 131, thereby ensuring that the optical coupler sensor at this position can work normally.

[0105] In some embodiments, in combination Figure 1 , Figure 2 as well as Figure 6 and Figure 7 A detection window 132 is provided at the front end of the collision plate 130 located in the direction of travel of the body 110, and a visual sensor 140 is provided in the detection window 132. The visual sensor 140 can be a camera. The visual sensor 140 can be used to detect obstacles on the travel route of the cleaning robot 100 and the dirt status on the surface to be cleaned, etc., and feed back the detection results to the controller so that the controller can control the working status of the cleaning structure.

[0106] In some embodiments, reference Figure 5 and Figure 7 A laser radar 150, such as a PSD laser radar 150, is also provided between the impact plate 130 and the body 110. The laser radar 150 can be provided at one end of the baffle along the circumference of the body 110. The laser radar 150 can be used to detect the distance between the cleaning robot 100 and the obstacle, and feed back the detection result to the controller so that the controller can control the working state of the cleaning structure.

[0107] In some embodiments, the collision assembly may further include a collision sensor, which is disposed on the swing arm 121 to at least detect a collision caused by contact with an obstacle at the receiving opening 131. In this way, the collision sensor on the swing arm 121 may at least partially assist or replace the function of the collision plate 130, and may detect a collision caused by contact with an obstacle at the receiving opening 131. Moreover, the collision sensor disposed on the swing arm 121 is beneficial to expanding the detection range of the cleaning robot 100 for obstacles, compared with the collision sensor only disposed on the body 110 itself.

[0108] In some embodiments, the collision sensor is arranged on the outside of the swing arm 121. When the swing arm 121 is in the retracted position, the outside of the swing arm 121 is used to at least partially define the outer contour of the body 110. In this way, it can be ensured that the collision sensor can detect obstacles around the body 110 even when the swing arm 121 is in the retracted position, thereby making the cleaning robot 100 have a wider detection range for obstacles.

[0109] In some embodiments, the swing arm 121 includes an outer side surface of the swing arm and an inner side surface of the swing arm, the cleaning member 122 is disposed at the outer end of the swing arm 121, and the swing arm 121 may include a flexible member, the flexible member is disposed on the outer side surface of the swing arm and / or the inner side surface of the swing arm, or the flexible member at least partially covers the outer end of the swing arm 121. In other words, the flexible member may be disposed on at least one of the inner side surface of the swing arm, the outer side surface of the swing arm, and the outer end of the swing arm 121. Preferably, the inner side surface of the swing arm, the outer side surface of the swing arm, and the outer end of the swing arm 121 are all provided with a flexible member. In this way, when the swing arm 121 collides with the machine body 110 or other structures, the flexible member can be deformed to a certain extent to better absorb the collision energy and play a role in buffering and noise reduction. Alternatively, the flexible member is at least partially wrapped around the outer end portion of the swing arm, and the outer side surface of the swing arm is transitionally connected to the inner side surface of the swing arm through the outer end portion of the swing arm. When the swing arm is in the outward swing position, the outer end portion of the swing arm is farthest from the fuselage. When the outer side of the swing arm contacts an obstacle, the outer end portion of the swing arm is more likely to contact the obstacle first. At least partially wrapping the flexible member around the outer end portion of the swing arm is beneficial to achieving better collision buffering effect of the swing arm while reducing the distribution range of the flexible member.

[0110] In some embodiments, the cleaning robot 100 may further include at least one downward-looking sensor, for example, the downward-looking sensor may be one or more. The downward-looking sensor is disposed on the body 110, and the at least one downward-looking sensor may include a first downward-looking sensor, which is disposed on a side of the body 110 where the collision plate 130 is disposed. By disposing the first downward-looking sensor, the working conditions on the front side of the cleaning robot 100 can be accurately detected, thereby providing a control basis for the operation of the cleaning mechanism 120.

[0111] Optionally, the cleaning mechanism 120 is arranged on at least one side of the central axis of the body 110 along the traveling direction. For example, the cleaning mechanism 120 is only arranged on one side of the central axis of the body 110 along the traveling direction, such as the left side or the right side, or, the cleaning mechanism 120 is arranged on both sides of the central axis of the body 110 along the traveling direction, and the first downward-looking sensor is arranged in the middle position of the front end of the body 110. In this way, the swing arm 121 and the cleaning member 122 of the cleaning structure can be prevented from blocking the first downward-looking sensor when they are swinging or working, so that the operation of the first downward-looking sensor is not affected by the cleaning structure.

[0112] Optionally, the first downward-looking sensor is located outside the cleaning range of the cleaning member 122. Here, the cleaning range of the cleaning member 122 refers to the sum of the areas that can be cleaned when the swing arm 121 is in the outward swing position and the inward swing position. In this way, the swing arm 121 and the cleaning member 122 of the cleaning structure are prevented from blocking the first downward-looking sensor when they are swinging or working, so that the operation of the first downward-looking sensor is not affected by the cleaning structure.

[0113] Optionally, the downward-looking sensor is disposed on at least one side of the cleaning mechanism 120 along the travel direction of the body 110. For example, the downward-looking sensor can be disposed on the front side of the cleaning structure, or the downward-looking sensor can be disposed on the rear side of the cleaning structure. In this way, the arrangement of the downward-looking sensor is diversified, which is conducive to the cleaning robot 100 adapting to more and more complex cleaning conditions.

[0114] In some embodiments, at least one downward-looking sensor is disposed on the rear side of the notch of the bottom shell 112 to avoid the notch. The cleaning member 122 can be a side brush, and the extended length of the bristles of the side brush interferes with the downward-looking sensor at least in part. When the swing arm 121 is in the retracted position and the side brush stops rotating, the downward-looking sensor is located in the gap between two adjacent groups of bristles to avoid obstruction.

[0115] In this way, when the cleaning robot 100 is in the single-mopping mode, it can be ensured that the operation of the visual sensor is not affected by the cleaning member.

[0116] In some embodiments, the at least one downward-looking sensor may further include a second downward-looking sensor, which is disposed on the swing arm 121, and when the swing arm 121 is in the retracted position, the second downward-looking sensor is adapted to extend out of the body 110 along with the swing arm 121. In this way, the detection function of the original downward-looking sensor may be replaced or enhanced, and when the swing arm 121 is in the outward swing state, the second downward-looking sensor may detect faster, and provide feedback in time when the body 110 has not yet reached the suspended scene, so as to adjust the path and working state.

[0117] In some embodiments, the downward-looking sensor is suitable for detecting the interference state of the cleaning member 122, and the cleaning robot 100 is configured to control the cleaning member 122 to stop rotating only when it is detected that the cleaning member 122 does not interfere with the downward-looking sensor. In this way, when the cleaning member 122 stops rotating, it will not interfere with the detection of the downward-looking sensor, thereby ensuring the accuracy of the detection of the downward-looking sensor. In this way, even when the cleaning robot is in the single-mopping mode (mopping operation), the downward-looking sensor can work normally.

[0118] In some embodiments, the cleaning robot 100 may further include a controller, and the downward-looking sensor may be connected to the controller in communication. The controller is configured to control the working state of the cleaning robot 100 according to the detection result of the downward-looking sensor. The working state of the cleaning robot 100 includes at least the operating state of the cleaning member 122, for example, the start, stop, running speed, rotation direction, etc. of the cleaning member 122. In this way, the automation level of the cleaning robot 100 can be improved, which is conducive to improving the user experience. In addition, when the cleaning member 122 stops rotating, it will not interfere with the detection of the downward-looking sensor, thereby ensuring the accuracy of the detection of the downward-looking sensor. Even when the cleaning robot 100 is in the single-drag mode, the downward-looking sensor can work normally.

[0119] In some embodiments, the downward-looking sensor may further include a mechanical trigger device (not shown). Specifically, the mechanical trigger device may be disposed at the bottom of the body 110, and the mechanical trigger device has a clamping state and a clamping release state. When the mechanical trigger device changes from the clamping state to the clamping release state, it is confirmed that the cleaning robot is in a suspended state. In this way, by providing a mechanical trigger device, since the mechanical trigger device is not easily interfered with by components such as the cleaning member 122, even if part of the structure of the downward-looking sensor is blocked by the cleaning member 122 and cannot work, the working condition on the route can be judged by the mechanical trigger device, and the stability and reliability of the detection of the mechanical trigger device are improved.

[0120] Optionally, the mechanical trigger device can be arranged on the running device of the body 110, such as the running wheel, and the running wheel is configured to have a pressing force on the mechanical trigger device during the movement. In this way, when the running wheel is in a suspended state, the pressing force on the mechanical trigger device is reduced or disappears, and it can be judged that it is in a suspended state, and the downward-looking sensor can be controlled to perform downward-looking detection.

[0121] In some embodiments, at least one downward-looking sensor may further include a third downward-looking sensor, and the third downward-looking sensor may be disposed on the side of the receiving opening 131. For example, the third downward-looking sensor may be disposed on at least one side of the receiving opening 131 along the circumference of the body 110. When the swing arm 121 is in the retracted position, that is, when the swing arm 121 is in the accommodating chamber 113, the cleaning member 122 at least partially blocks the third downward-looking sensor when performing the cleaning action. The cleaning member 122 is movably disposed on the swing arm 121 to switch between a cleaning position and a raised position, wherein, in the cleaning position, the cleaning member 122 cleans the surface to be cleaned; and in the raised position, the cleaning member 122 is separated from the surface to be cleaned. In this way, the cleaning member 122 can be controlled to separate from the ground as needed to avoid the cleaning member 122 from contaminating the surface to be cleaned. Among them, the cleaning robot 100 is suitable for switching the side brush between the cleaning position and the raised position after the cleaning member 122 moves to a position where the third downward-looking sensor is not blocked. In this way, in a scenario where the side brush does not need to rotate for cleaning and the cleaning robot 100 continues to run, the third downward-looking sensor can be prevented from being blocked, thereby ensuring that the third downward-looking sensor operates normally.

[0122] For example, when the cleaning robot 100 is walking on a carpet, it needs to reduce the travel resistance, or in single-mopping mode, only the mop assembly needs to work, as well as in other scenarios where the side brush does not need to rotate, the cleaning robot 100 needs to raise the side brush to a raised position. However, at this time, the cleaning robot 100 is still in operation and needs the third downward-looking sensor to continue to detect the working conditions on the travel route. Therefore, the cleaning robot 100 can be configured to switch the side brush between the cleaning position and the raised position after the cleaning member 122 moves to a position that does not block the third downward-looking sensor.

[0123] Optionally, when the third downward-looking sensor detects that the cleaning member 122 is blocking itself, the cleaning robot 100 can control the side brush to continue rotating for a preset time until the third downward-looking sensor is not blocked by the cleaning member 122, and then control the cleaning member 122 to lift, so that the cleaning member 122 can be lifted at a preset angle.

[0124] In some embodiments, the cleaning member 122 includes a side brush. When the swing arm 121 is in the retracted position, the cleaning robot 100 performs edge cleaning along the edge path; when the swing arm 121 is in the outward swing position, the side brush contacts the angle to produce deformation, so that the side brush penetrates into the angle between the edge path and the preset obstacle for cleaning. When the cleaning robot cleans along the edge, the side brush assembly at least partially exceeds the edge of the body, so that the side brush assembly can perform edge cleaning when in the retracted position, avoiding frequent outward swinging of the side brush assembly and reducing the life of the side brush assembly; when there is a preset obstacle on the edge cleaning path of the cleaning robot, an angle is formed between the edge path and the preset obstacle. Since the side brush is a flexibly deformable structure, when it contacts the angle to produce deformation, the side brush has already reached the depth of the angle, so that it can penetrate into the angle for cleaning, that is, it is easier to clean the narrow angle area, thereby improving the cleaning effect at the angle.

[0125] In some embodiments, when the side brush is in the retracted position, there is a gap between the side brush and the angle; when the side brush is in the outward swing position, the side brush contacts the angle to deform for cleaning; the edge path is the first wall, and the preset obstacle is an obstacle that the cleaning robot 100 needs to turn to avoid when cleaning along the first wall. For example, the preset obstacle can be a table and chair leg, a columnar object, a flower pot, etc. When the side brush cannot clean the gap between the side brush and the angle in the retracted position, the swing arm can be controlled to rotate to the outward swing position, so that the side brush is in the outward swing position, and the side brush contacts the angle to deform. The deformed side brush has reached the depth of the angle, so that it can go deep into the angle for cleaning, that is, it is easier to clean the narrow angle area, thereby improving the cleaning effect at the angle.

[0126] In some embodiments, when the cleaning robot 100 identifies a target obstacle, the side brush is in an outward swing position for cleaning, the target obstacle has a cavity that the side brush can touch when it is in the outward swing position, and the target obstacle is at least concave at the height of the side brush toward the side away from the body to form a cavity. For example, the lower edge of the target obstacle may have an arc and / or a broken line structure to form an inner concave portion. It is understandable that since the body is relatively large in size, the side brush has bristles, and the bristles are easier to clean a small space, and the overall volume of the side brush is relatively small, and the movement is more flexible, therefore, the side brush is more suitable for cleaning the cavity of the target obstacle. When the body itself cannot approach the concave cavity of the target obstacle, the side brush can be extended to clean the cavity, so as to better clean the inside of the cavity, improve the cleaning effect, and improve the cleaning robot 100 to adapt to more complex cleaning conditions.

[0127] In some embodiments, the depth of the side brush entering the cavity in the outward swing position is greater than the depth of the side brush entering the cavity in the retracted position. In this way, it can be ensured that the side brush can effectively clean the inside of the cavity.

[0128] In some embodiments, when the side brush of the cleaning robot 100 is in an outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacles and / or wet stains, the drive mechanism drives the side brush to switch from the outward swing position to the retracted position so that the side brush avoids the linear obstacles and / or wet stains. Here, the preset distance can be pre-set by the user, or it can be determined by the cleaning data collected by the cleaning robot 100. The preset distance can be the same or different for different preset obstacles. In the embodiment of the present application, the linear obstacle may refer to obstacles with linear characteristics such as electric wires and knitted fabrics, and the wet stain may refer to stains with moisture such as water stains, tea stains, and feces. The embodiment of the present application does not specifically limit the linear obstacles and wet stains.

[0129] In this way, the side brush can be retracted to the retracted position before it reaches the linear obstacle and / or wet stain, thereby preventing the side brush from getting hooked on the linear obstacle and causing the side brush to fall off or be deformed and damaged. It can also prevent the side brush from being stained with wet stains, causing itself to be contaminated and its cleaning ability to be weakened.

[0130] In some embodiments, an obstacle detection sensor can be provided on the body 110. That is, when a preset type of obstacle is detected based on environmental information, such as obstacles such as wiring harnesses, fabrics, wet stains, etc., if the side brush is in an outward swing position, it is easy to get entangled or contaminated. Then, a retraction switching instruction can be generated to control the cleaning robot 100 to control the side brush to switch from an outward swing position to a retracted position at a preset distance. In this way, the side brush can be actively retracted to avoid contact with linear obstacles and / or wet stains, thereby preventing the side brush from being contaminated and reducing the number of cleanings.

[0131] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in an outward swing position when there are a first obstacle and a second obstacle on the travel path of the cleaning robot 100, wherein the first obstacle and the second obstacle extend in different horizontal directions respectively, and there is an angle between the first obstacle and the second obstacle. For example, at the angle formed in a corner of a wall or between the legs of a table or chair, the swing arm 121 can be controlled to extend so as to extend the cleaning element 122 to the corner for cleaning.

[0132] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in an outward swing position when there is a third obstacle in the path of the cleaning robot 100, wherein the third obstacle has an inwardly recessed area, for example, the space at the bottom of the washing machine, or other third obstacles are recessed inward at a corresponding height of the cleaning member 122 toward the side away from the body 110 to form a cavity. At this time, the swing arm 121 can be controlled to extend into the cavity for cleaning.

[0133] In some embodiments, the controller is suitable for controlling the swing arm 121 to be in a retracted position when there is a fourth obstacle on the path of the cleaning robot 100, wherein the fourth obstacle is an obstacle that hinders the operation of the cleaning member 122, for example, the fourth obstacle may be a linear obstacle and / or a wet stain, and at a preset distance relative to the linear obstacle and / or the wet stain, the swing arm 121 is controlled to switch from the outward swing position to the retracted position so that the swing arm 121 avoids the linear obstacle and / or the wet stain.

[0134] In this way, the cleaning robot 100 can avoid obstacles better during operation, and can effectively clean the corner spaces around obstacles, thereby improving the adaptability of the cleaning robot 100 to complex working conditions, being more intelligent, and helping to improve the user experience.

[0135] In some embodiments, the body 110 may include a battery cell. Specifically, the battery cell is used to provide power for the body 110, and the striker plate 130 covers the outside of the battery cell, which helps to protect the internal battery cell through the striker plate 130. The battery cell can be configured to avoid the swing arm 121, so that the battery cell can be prevented from affecting the installation and movement of the swing arm 121.

[0136] In some embodiments, at least part of the structure of the battery unit is located on one side of the receiving opening 131 along the vertical direction, and when the swing arm 121 is in the retracted position, the projection of the cleaning member 122 in the reference plane coincides with the projection of the battery unit in the reference plane, and the reference plane is perpendicular to the rotation axis of the swing arm 121. For example, the battery unit in the related art can be thinned, and then the battery unit is arranged in the internal space of the body 110 on the upper side of the swing arm 121 to avoid the accommodating cavity 113 of the cleaning mechanism 120 in terms of height space. In this way, the avoidance method of the battery unit is relatively simple and easy to implement.

[0137] In other embodiments, the battery unit and the cleaning mechanism 120 are respectively arranged on both sides of the central axis of the moving direction of the machine body 110. For example, the cleaning mechanism 120 can be arranged on the left side of the central axis of the moving direction of the machine body 110, and the battery unit can be arranged on the right side of the central axis of the moving direction of the machine body 110. In this way, the battery unit and the cleaning mechanism 120 can be avoided, and when the swing arm 121 is in the retracted position, the projection of the cleaning member 122 in the reference plane does not overlap with the projection of the battery unit in the reference plane.

[0138] In some embodiments, the battery unit is arranged on one side of the central axis of the body 110 along the direction of travel, and the swing arm 121 of the cleaning mechanism is arranged on the other side. At this time, an avoidance area can be formed between the swing arm 121 and the battery unit, and the avoidance area can be used to avoid the LDS (laser navigation system) component of the cleaning robot 100.

[0139] Furthermore, the battery unit can extend from one side of the central axis of the machine body to the other side of the central axis, and when the swing arm is in the retracted position, the projections of the cleaning member 122 and the battery unit on the horizontal plane at least partially overlap. In this way, the battery unit can also avoid the cleaning structure.

[0140] In some embodiments, the cleaning robot 100 includes at least one swingable mop assembly and at least one swingable side brush assembly (i.e., the above-mentioned cleaning mechanism 120), wherein the mop assembly may include a cleaning disc and a mop disposed on the cleaning disc, the mop assembly may be used for wet cleaning of the surface to be cleaned, the side brush assembly may include a side brush housing and the above-mentioned cleaning member (such as a side brush), and the swingable mop assembly and the swingable side brush assembly are located on the same side relative to the direction of travel of the body 110.

[0141] In this way, the mop assembly and the side brush assembly can be swung out from the same side of the body 110 to clean the corner areas outside the body 110. The corner areas on the same side can be cleaned by sweeping first and then mopping, which can avoid the mop assembly and the side brush assembly being located on both sides of the moving direction of the body 110. When the mop assembly and the side brush assembly need to clean the area on the same side of the body 110, it is necessary to control the steering of the body 110, which can simplify the control method and improve the cleaning efficiency. In addition, for the corner areas that one of the side brush assembly and the mop assembly cannot clean, the other one can perform supplementary cleaning in time to improve the cleaning effect.

[0142] In some embodiments, the cleaning member 122 is rotatably connected to the swing arm 121, so that the cleaning member 122 can rotate relative to the swing arm 121 to clean the surface to be cleaned.

[0143] In some embodiments, the cleaning mechanism 120 may further include a first driving unit, which is configured to drive the cleaning member 122 to be rotatably connected to the swing arm 121, so that when the cleaning member 122 rotates, for example, the dust particles on the ground can be swept by the cleaning member 122 and gathered toward the inner side of the body 110, so as to be adsorbed into the dust suction chamber through the dust suction port; or; when the first driving unit drives the cleaning member 122 to rotate relative to the swing arm 121, the cleaning member 122 is, for example, a cleaning cloth, so as to wipe and clean the ground with the cleaning cloth. The cleaning robot 100 also includes a second driving unit for driving the cleaning member to swing outward and / or retract inward, and the second driving unit includes an outward swing motor, that is, the second driving unit drives the swing arm to move between the retracted position and the outward swing position through the outward swing motor. In this way, through the first driving unit, it is possible to drive the cleaning member 122 to rotate to clean the surface to be cleaned, and through the second driving unit, it is possible to drive the cleaning member 122 to swing outward and retract inward, so that the cleaning action and swinging action of the cleaning member 122 can be carried out in an orderly manner and are easy to implement.

[0144] In some embodiments, the second drive unit and the first drive unit share an outer swing motor, and the second drive unit further includes a clutch, and the outer swing motor drives at least one of the swing arm 121 and the cleaning member 122 to rotate through the clutch. In this way, by providing the clutch, a set of drive devices can be used to drive the swing arm 121 and the cleaning member 122 to rotate respectively, thereby improving the integration of the first drive unit and the second drive unit, and helping to reduce the space occupied by the cleaning mechanism 120.

[0145] In some embodiments, when the cleaning member 122 is in the retracted position, the clutch member is used to only allow the outer swing motor to drive the cleaning member 122 to rotate, so that the swing arm 121 is locked in the retracted position. In this way, when the cleaning mechanism 120 cleans the surface to be cleaned in the retracted position, it can keep its position fixed, thereby ensuring the smooth progress of the cleaning work, which is conducive to improving the cleaning efficiency.

[0146] In some embodiments, the first drive unit can be arranged on the swing arm 121, so that the external dimensions of the cleaning mechanism 120 can be reduced, thereby improving the structural compactness of the cleaning mechanism 120; in addition, the first drive unit is electrically connected to the electrical connector, and the electrical connector is used to energize the first drive unit.

[0147] In other embodiments, the first drive unit can be arranged on the machine body. For example, when the side brush outward swing motor and the side brush self-rotation motor are shared, it is arranged on the machine body. In this way, it is unnecessary to configure drive motors separately for the two cleaning actions and the swinging action, further reducing the occupied size and manufacturing cost.

[0148] In addition, by setting the first driving unit on the swing arm 121 and electrically connecting the electrical connector to the first driving unit, the first driving unit and the electrical connector will move synchronously with the swing arm 121, thereby reducing the relative movement between the electrical connector and the swing arm 121, thereby reducing the wear on the electrical connector and extending the service life of the electrical connector.

[0149] In some embodiments, the first driving unit includes a second driving motor, the second driving motor is electrically connected to the electrical connector, and the second driving motor is configured to drive the cleaning member 122 to rotate around the second rotation axis. In this way, the cleaning member 122 can be driven.

[0150] Furthermore, the first drive unit includes a second drive motor and a reducer, the second drive motor is electrically connected to the electrical connector, and the reducer is arranged between the second drive motor and the cleaning member 122, for example, the reducer is connected to the output shaft of the second drive motor, and the output shaft of the reducer is connected to the cleaning member 122, wherein the second drive motor drives the cleaning member 122 to rotate around a second rotation axis through the reducer, wherein the cleaning member 122 is, for example, a disc structure, and the second rotation axis is, for example, coaxially arranged with the central axis of the disc-shaped cleaning member 122.

[0151] Exemplarily, the cleaning member 122 includes a disc base and a brush, a cleaning cloth or a rubber strip 1221, etc., arranged on the disc base. The second rotation axis is coaxially arranged with the central axis of the disc base. In this way, the second drive motor drives the disc base to rotate around the second rotation axis through the reducer, so that the brush, the cleaning part or the rubber strip 1221, etc. on the disc base rotates with the disc base to clean the floor.

[0152] It can be understood that the reducer in the first drive unit is also used to adjust the rotation speed of the cleaning member 122. The reducer can also be provided with a first-stage reducer, a second-stage reducer or a third-stage reducer according to user needs. In this way, the rotation rate of the cleaning member 122 can be adjusted according to different cleaning needs to enhance the user's experience.

[0153] The structure of the reducer can refer to the relevant technology and will not be described in detail here.

[0154] In some embodiments, the cleaning member 122 is a side brush, and the cleaning member 122 may include: a rubber strip 1221 and bristles. Specifically, the first end of the rubber strip 1221 is connected to the first drive unit, and the rubber strip 1221 may be directly connected to the first drive unit or connected to the first drive unit through an intermediate transmission device. The bristles are arranged at the second end of the rubber strip 1221, and the bristles are used to clean the surface to be cleaned. The rubber strip 1221 and the bristles together constitute the cleaning strip of the side brush. In this way, the structure of the cleaning member 122 is relatively simple.

[0155] In some embodiments, in order to better realize the connection between the cleaning strip and the first drive unit, the cleaning member 122 may further include a side brush body 1222, and the side brush body 1222 may include a side brush upper cover and a side brush lower cover, which are interlocked with each other to form a mounting cavity together, and the side wall of the cleaning body may be provided with a projection, one end of the cleaning strip (e.g., the first end of the adhesive strip 1221) is located in the mounting cavity and is suitable for connection with the first drive unit, and the other end of the cleaning strip extends out of the mounting cavity from the projection to facilitate cleaning the surface to be cleaned. Optionally, the cleaning strip may be at least partially received in the side brush body 1222. In this way, the side brush body 1222 can provide a mounting support for the cleaning strip, so that the cleaning member 122 can perform cleaning work.

[0156] In a specific embodiment, when the swing arm 121 is in the retracted position, i.e., the inner side of the body 110, the side brush body 1222 can be located on the inner side of the outline of the body 110, and the cleaning strip can be located on the outer side of the outline of the body 110; when the swing arm 121 is in the outward swing position, i.e., the outer side of the body 110, at least part of the structure of the side brush body 1222 extends outside the outline of the body 110.

[0157] Furthermore, when the swing arm 121 is in the outward swing position, the entire side brush body 1222 is located outside the outline of the body 110.

[0158] In some embodiments, the cleaning member 122 is a flexible cleaning member 122 , so that the cleaning member 122 can be prevented from being squeezed, bent, or deformed, thereby increasing the service life.

[0159] In some embodiments, the swing arm 121 is a flexible member, so that the swing arm 121 can be deformed to a certain extent and can be more easily extended around the obstacle, so that the cleaning member 122 can clean the area around the obstacle.

[0160] In some embodiments, the cleaning mechanism 120 is arranged on both sides of the central axis of the body 110 along the traveling direction, and the swing arms 121 of the cleaning mechanisms 120 on both sides are suitable for moving between an outward swing position and an inward retracted position relative to the body 110. In this way, the cleaning mechanisms 120 on both sides of the cleaning robot 100 can be swung outward, so that the cleaning member 122 can clean a larger range.

[0161] In some embodiments, the cleaning member 122 can be raised and lowered on the swing arm 121 to switch between a cleaning position and a raised position. In the cleaning position, the cleaning member 122 contacts the surface to be cleaned to clean the surface. In the raised position, the cleaning member 122 is separated from the surface to be cleaned to avoid secondary contamination of the surface to be cleaned by dirt on the cleaning member 122.

[0162] For example, when the cleaning robot 100 moves to a floor with liquid stains or sticky stains, the cleaning member 122 can be controlled to switch from a cleaning position to a raised position to prevent the cleaning member 122 from contacting the stains and carrying the stains to other locations on the floor, such as locations that have been cleaned, thereby preventing secondary contamination of the floor; alternatively, when the cleaning member 122 has cleaned the floor that has already been cleaned and there is a lot of dirt attached to the cleaning member 122, the cleaning member 122 can be controlled to switch from a cleaning position to a raised position to prevent the cleaning member 122 from contacting the surface to be cleaned, thereby preventing secondary contamination of the floor.

[0163] In some embodiments, the cleaning mechanism 120 can be set at a position near the edge of the bottom of the body 110. For example, the cleaning mechanism 120 is set at the bottom of the body 110 near the front edge. In this way, when the cleaning robot 100 moves, the cleaning member 122 rotates relative to the swing arm 121 to gather dust and foreign particles on the ground to the inner side of the body 110 of the cleaning robot 100.

[0164] In addition, a dust suction chamber (not shown in the figure) is provided in the body 110, and a dust suction port (not shown in the figure) and a roller brush (not shown in the figure) connected to the dust suction chamber are provided at the bottom of the body 110. A negative pressure generating device such as rotating blades can be provided in the dust suction chamber (not shown in the figure). In this way, negative pressure suction can be generated in the dust suction chamber through, for example, the rotation of the blades. When the side brush rotates to gather dust and foreign particles on the ground to the inner side of the cleaning robot 100, the dust and foreign particles can be sucked into the dust suction chamber of the body 110 through the roller brush and the dust suction port.

[0165] In some embodiments, the cleaning robot 100 includes at least two cleaning mechanisms 120, and at least two cleaning mechanisms 120 are spaced apart and movably connected to the front of the body 110. For example, the cleaning mechanism 120 can be one, two or more. When there are two or more cleaning mechanisms 120, the two or more cleaning mechanisms 120 are spaced apart at the edge of the body 110, for example, in the front. It can be understood that the front of the body 110 refers to the movement direction of the body 110. The side of the body 110 facing forward is the front of the body 110, and the opposite is the rear of the body 110. The left side of the body 110 is the left, and the right side of the body 110 is the right. Exemplarily, when there are two cleaning mechanisms 120, the two cleaning mechanisms 120 can be symmetrically arranged in front of the body 110, so that the dust and foreign particles on the ground can be gathered to the inner side of the body 110 by the two cleaning mechanisms 120, thereby improving the cleaning efficiency of the cleaning robot 100.

[0166] Exemplarily, the cleaning mechanism 120 includes a swingable cleaning mechanism 120 and a non-swinging cleaning mechanism 120. The swingable cleaning mechanism 120 swings relative to the body 110 through a swing arm 121, and the non-swinging cleaning mechanism 120 is relatively fixed to the body 110. Exemplarily, the cleaning robot 100 includes a cleaning mechanism 120, which adopts a swingable cleaning mechanism 120. The swingable cleaning mechanism 120 can be set at the upper right corner of the body 110 (also referred to as the right front corner). In this way, when the swing arm 121 is extended relative to the body 110, the cleaning member 122 can clean the right-angled or concave area to avoid the existence of cleaning dead corners, thereby increasing the cleaning range of the cleaning robot 100 and improving the user experience. Alternatively, the cleaning robot 100 includes two cleaning mechanisms 120, both of which are swingable cleaning mechanisms 120, or one of the two cleaning mechanisms 120 is a swingable cleaning mechanism 120, and the other is a non-swinging cleaning mechanism 120, wherein the swingable cleaning mechanism 120 can be arranged on the right side of the cleaning robot 100.

[0167] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0168] 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 embodiments or examples are included in at least one embodiment or example of the present application. 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 may be combined in any one or more embodiments or examples in a suitable manner.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that: include: Body; The cleaning mechanism comprises a swing arm and a cleaning member; the swing arm and the machine body are rotatably connected to move between a retracted position and an outward swing position relative to the machine body, and the cleaning member is arranged on the swing arm to follow the movement of the swing arm; A collision assembly, comprising a collision plate disposed on the body, the collision plate at least covering the front side wall of the body, the collision plate being able to generate displacement when in contact with an obstacle to detect a collision, and the collision plate having a receiving opening; Wherein, when the swing arm is located at the outward swing position, the swing arm extends out of the outside of the machine body through the receiving opening; when the swing arm is located at the inward retracted position, the swing arm is retracted into the receiving opening.

2. The cleaning robot according to claim 1, characterized in that: The machine body comprises a bottom shell, the strike plate at least extends to the bottom shell in a vertical direction, and the receiving opening is located at a lower half of the strike plate.

3. The cleaning robot according to claim 2, characterized in that: The bottom shell includes a notch communicated with the receiving opening of the striker plate. When the swing arm is in the retracted position, the swing arm is in a receiving cavity formed by at least the receiving opening and the notch.

4. The cleaning robot according to any one of claims 1 to 3, characterized in that: When the swing arm moves from the outward swing position to the inward retracted position, the movement trajectory of the swing arm and the edge of the receiving opening do not interfere with each other.

5. The cleaning robot according to any one of claims 1 to 3, characterized in that: The collision plate includes a plate body and a reinforcement portion, wherein the reinforcement portion is connected to a side of the plate body facing the machine body.

6. The cleaning robot according to claim 5, characterized in that: The reinforcing portion is arranged around at least a portion of the edge of the receiving opening, and at least a portion of the edge of the receiving opening has a flange to form the reinforcing portion.

7. The cleaning robot according to claim 6, characterized in that: The flange includes a first section and a second section, wherein the first section extends vertically, and the second section extends circumferentially of the body.

8. The cleaning robot according to any one of claims 1 to 3, characterized in that: The collision assembly also includes a collision trigger unit, which is arranged between the collision plate and the body and is suitable for being triggered when the collision plate collides with an obstacle. At least one of the collision trigger units is arranged on the rear side of the receiving opening to avoid the receiving opening, wherein the collision trigger unit is a micro switch or an optical coupler sensor.

9. The cleaning robot according to any one of claims 1 to 3, characterized in that: The collision assembly further comprises a collision sensor, which is arranged on the swing arm to at least detect a collision caused by contact between the receiving opening and an obstacle.

10. The cleaning robot according to claim 9, characterized in that: The collision sensor is arranged on the outer side of the swing arm. When the swing arm is in the retracted position, the outer side of the swing arm is used to at least partially define the outer contour of the body.

11. The cleaning robot according to claim 10, characterized in that: The swing arm comprises an outer side surface of the swing arm and an inner side surface of the swing arm, the cleaning member is arranged at the outer end portion of the swing arm, and the outer side surface of the swing arm is transitionally connected to the inner side surface of the swing arm through the outer end portion of the swing arm. The swing arm comprises a flexible member, and the flexible member is arranged on the outer side surface of the swing arm and / or the inner side surface of the swing arm, or the flexible member at least partially covers the outer end portion of the swing arm.

12. The cleaning robot according to claim 2, characterized in that: It also includes at least one downward-looking sensor, which is arranged on the machine body. The at least one downward-looking sensor includes a first downward-looking sensor, which is arranged on a side of the machine body where the collision plate is arranged.

13. The cleaning robot according to claim 12, characterized in that: At least one downward-looking sensor is disposed at the rear side of the notch of the bottom shell to avoid the notch. The cleaning member is a side brush, and the extended length of the bristles of the side brush interferes with the downward-looking sensor at least in part. When the swing arm is in the retracted position and the side brush stops rotating, the downward-looking sensor is located in the gap between two adjacent groups of bristles to avoid obstruction.

14. The cleaning robot according to claim 12, characterized in that: The at least one downward-looking sensor also includes a second downward-looking sensor, which is arranged on the swing arm, and when the swing arm is located at the outward swing position, the second downward-looking sensor is suitable for extending out of the body along with the swing arm.

15. The cleaning robot according to claim 12, characterized in that: The downward-looking sensor is adapted to detect an interference state of the cleaning member, and the cleaning robot is configured to control the cleaning member to stop rotating only when it is detected that the cleaning member does not interfere with the downward-looking sensor.

16. The cleaning robot according to claim 12, characterized in that: The downward-looking sensor also includes a mechanical trigger device, which is arranged at the bottom of the body. The mechanical trigger device has a compression state and a compression release state. When the mechanical trigger device changes from the compression state to the compression release state, it is confirmed that the cleaning robot is in a suspended state.

17. The cleaning robot according to claim 12, characterized in that: The at least one downward-looking sensor comprises a third downward-looking sensor, the third downward-looking sensor is arranged at the side of the receiving opening, and when the swing arm is located at the retracted position, the cleaning member at least partially blocks the third downward-looking sensor when performing a cleaning action; the cleaning member is liftably arranged on the swing arm to switch between a cleaning position and a raised position, wherein in the cleaning position, the cleaning member cleans the surface to be cleaned; in the raised position, the cleaning member is separated from the surface to be cleaned; The cleaning robot is suitable for switching the cleaning mechanism between the cleaning position and the lifting position after the cleaning member moves to a position where the third downward-looking sensor is not blocked.

18. The cleaning robot according to any one of claims 1 to 3, characterized in that: When the swing arm is in the retracted position, the cleaning robot walks along the edge path, and the cleaning member performs edge cleaning; when the swing arm is in the outward swing position, the cleaning member can clean the angle between the edge path and a preset obstacle.

19. The cleaning robot according to claim 18, characterized in that: When the cleaning member is in the retracted position, there is a gap between the cleaning member and the included angle; When the cleaning member is in the outward swing position, the cleaning member contacts the angle and deforms to clean; The edge path is the first wall edge, and the preset obstacle is an obstacle that the cleaning robot needs to turn to avoid when cleaning along the first wall edge.

20. The cleaning robot according to claim 18, characterized in that: When the cleaning robot identifies a target obstacle, the cleaning member is in the swing-out position for cleaning, and the target obstacle has a cavity that is accessible to the cleaning member when in the swing-out position. The target obstacle is recessed at least at the height of the cleaning member toward a side away from the machine body to form the cavity, and the depth of the cleaning member entering the cavity in the outward swing position is greater than the depth of the cleaning member entering the cavity in the inward retracted position.

21. The cleaning robot according to claim 18, characterized in that: When the cleaning element of the cleaning robot is in an outward swing position to perform cleaning work, when there are linear obstacles or wet stains on the travel path, at a preset distance relative to the linear obstacle and / or the wet stain, the cleaning element assembly is switched from the outward swing position to the inward swing position to enable the cleaning element to avoid the linear obstacle and / or the wet stain.

22. The cleaning robot according to any one of claims 1 to 3, characterized in that: The machine body includes: a battery unit, which is used to provide power for the machine body. When the swing arm is in the retracted position, the projection of the cleaning member in the reference plane coincides with the projection of the battery unit in the reference plane, and the reference plane is perpendicular to the rotation axis of the swing arm.

23. The cleaning robot according to any one of claims 1 to 3, characterized in that: The cleaning member is rotatably connected to the swing arm, and the cleaning mechanism further comprises a first driving unit, wherein the first driving unit is configured to drive the cleaning member to be rotatably connected to the swing arm; The cleaning robot comprises a second driving unit for driving the cleaning member to swing outward and / or retract inward, and the second driving unit comprises an outward swing motor.

24. The cleaning robot according to claim 23, characterized in that: The second drive unit and the first drive unit share the outer swing motor, and the second drive unit further includes a clutch. The outer swing motor drives at least one of the swing arm and the cleaning member to rotate through the clutch member.

25. The cleaning robot according to claim 24, characterized in that: When the cleaning member is in the retracted position, the clutch member is used to enable the outward swing motor to drive the cleaning member to rotate and drive the swing arm not to rotate, so that the swing arm is locked in the retracted position.

26. The cleaning robot according to claim 23, characterized in that: The cleaning element comprises: A rubber strip, a first end of which is connected to the first driving unit; Bristles are arranged at the second end of the rubber strip to clean the surface to be cleaned.

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