Cleaning robot and cleaning system

Abstract

The utility model provides a cleaning robot and a cleaning base station, and the cleaning robot comprises a housing assembly which is provided with an avoiding opening; the detection assembly is arranged on the machine shell assembly and comprises a detection part; the driving assembly is used for driving the detection assembly to move relative to the machine shell assembly, and the detection assembly is provided with a first working position and a second working position; wherein under the condition that the detection assembly is located at the first working position, the detection part extends out of the machine shell assembly; and under the condition that the detection assembly is located at the second working position, the detection part retracts into the machine shell assembly.

Description

Technical Field

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

[0002] In the related art, cleaning robots are usually equipped with a position detection system to facilitate navigation and obstacle avoidance during cleaning operations. However, in actual applications, it is found that the position detection components of some cleaning robots are easily damaged, which increases the maintenance and use costs of the product, and the detection range is easily limited by the body structure, which affects the detection effect and is not conducive to the user experience of the product. Utility Model Content

[0003] The present disclosure aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In view of this, according to a first aspect of an embodiment of the present disclosure, a cleaning robot is provided, comprising:

[0005] Housing components;

[0006] The detection component is arranged on the housing component, and the detection component includes a detection part;

[0007] A driving assembly, used for driving the detection assembly to move relative to the housing assembly, wherein the detection assembly has a first working position and a second working position;

[0008] Wherein, when the detection component is located at the first working position, the detection part extends out of the housing component; when the detection component is located at the second working position, the detection part retracts into the housing component.

[0009] According to a second aspect of an embodiment of the present disclosure, a cleaning system is provided, comprising:

[0010] Clean the base station;

[0011] The cleaning robot proposed in any one of the first aspects above can be detachably arranged on the cleaning base station.

[0012] The above description is only an overview of the technical solution provided by the present disclosure. In order to more clearly understand the technical means of the present disclosure, it can be implemented according to the contents of the specification. In order to make the above and other features and effects of the present disclosure more obvious and easy to understand, the implementation methods of the present disclosure are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the exemplary embodiments below. The accompanying drawings are only for the purpose of illustrating exemplary embodiments and are not to be considered as limiting the present disclosure. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0014] Figure 1 A schematic structural diagram of a cleaning robot in a first state according to an embodiment of the present disclosure;

[0015] Figure 2 A schematic structural diagram of a cleaning robot in a second state according to an embodiment of the present disclosure;

[0016] Figure 3 A schematic partial structural diagram of a cleaning robot from a first perspective according to an embodiment of the present disclosure;

[0017] Figure 4 for Figure 3 A schematic cross-sectional view of the cleaning robot along the AA direction shown in FIG.

[0018] Figure 5 for Figure 3 A schematic cross-sectional view of the cleaning robot along the BB direction shown in FIG.

[0019] Figure 6 for Figure 4 Schematic partial enlarged view of the middle C area;

[0020] Figure 7 for Figure 3 Another schematic cross-sectional view of the cleaning robot along the AA direction shown in FIG.

[0021] Figure 8 A schematic partial structural diagram of a cleaning robot from a second perspective according to an embodiment of the present disclosure;

[0022] Fig. 9 A schematic partial structural diagram of a cleaning robot from a second perspective according to another embodiment of the present disclosure;

[0023] Fig.10 for Fig. 9 Schematic partial enlargement of area D in the middle.

[0024] in, Figures 1 to 10 The corresponding relationship between the reference numerals and the component names is as follows:

[0025] 100 housing assembly; 200 detection assembly; 300 driving assembly; 400 first positioning assembly; 500 second positioning assembly;

[0026] 110 housing portion; 120 accommodating portion; 130 first limiting portion; 140 second limiting portion;

[0027] 210 detection part; 220 base part; 230 cover part; 240 hinge part;

[0028] 310 driving unit; 320 transmission unit; 330 first collecting unit;

[0029] 410 elastic part;

[0030] 510 first action part; 520 second action part;

[0031] 121Guidance structure;

[0032] 321 active rod; 322 first driven rod; 323 second driven rod; 324 third driven rod;

[0033] 411 guide rod; 412 connecting seat; 413 elastic member;

[0034] 101 Avoidance. DETAILED DESCRIPTION

[0035] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0036] like Figures 1 to 10 As shown, according to the first aspect of an embodiment of the present disclosure, a cleaning robot is proposed, comprising: a casing assembly 100; a detection assembly 200, which is arranged on the casing assembly 100, and the detection assembly 200 includes a detection part 210; a driving assembly 300, which is used to drive the detection assembly 200 to move relative to the casing assembly 100, and the detection assembly 200 has a first working position and a second working position; wherein, when the detection assembly 200 is located at the first working position, the detection part 210 extends out of the casing assembly 100; when the detection assembly 200 is located at the second working position, the detection part 210 retracts into the casing assembly 100.

[0037] The cleaning robot provided by the embodiment of the present disclosure includes a housing component 100, a detection component 200 and a driving component 300, wherein the detection component 200 is arranged on the housing component 100, and the driving component 300 is used to drive the detection component 200 to move relative to the housing component 100, so that the relative position relationship between the detection component 200 and the housing component 100 can be adjusted, and accordingly, the detection component 200 has a first working position and a second working position; when the detection component 200 is located at the first working position, the detection portion 210 of the detection component 200 can extend out of the housing component 100, so that the detection portion 210 can be located outside the housing component 100, which can reduce the machine The structure of the shell component 100 affects the detection range of the detection unit 210, which can expand the detection range of the detection unit 210, which is conducive to ensuring the detection effect of the detection unit 210, and providing a guarantee for the cleaning robot to stably and reliably perform cleaning operations; when the detection component 200 is located in the second working position, the aforementioned detection unit 210 can be retracted into the interior of the housing component 100, and the degree of exposure of the detection unit 210 to the external environment can be relatively reduced. Correspondingly, the structural protection provided by the housing component 100 can be obtained, which can reduce the risk of the detection unit 210 being hit by external obstacles, reduce the damage probability and repair and maintenance costs of the detection component 200, and improve the user experience of the product. Therefore, the cleaning robot provided by the embodiment of the present disclosure can make the detection component 200 have higher flexibility based on the aforementioned settings, improve the adaptability of the cleaning robot to different working environments, ensure the detection effect and cleaning effect, and reduce the risk of structural damage to the detection component 200, and reduce the maintenance and use costs of the cleaning robot.

[0038] It can be understood that the aforementioned detection component 200 can be used to collect information about the environment in which the cleaning robot is located. The aforementioned information may include but is not limited to position information, image information, etc. When the detection component 200 is used to collect position information, the detection component 200 may include but is not limited to an optical ranging device and / or an optical ranging device, etc. For example, it may include a laser ranging device. When the detection component 200 is used to collect image information, the detection component 200 may include but is not limited to a camera, a camera, etc.; the aforementioned detection unit 210 may be the information collection end of the detection component 200, and accordingly, the detection unit 210 may include but is not limited to a laser ranging module, an image acquisition module, etc. For example, when the aforementioned detection component 200 includes a laser ranging device, the aforementioned detection unit 210 may be a laser emitting module and / or a laser receiving module of the laser ranging device.

[0039] It is understandable that, when the detection component 200 is located at the aforementioned second working position, the maximum height position of the detection component 200 can be set to be lower than or equal to the maximum height position of the housing component 100, so as to ensure the safety and reliability of the detection unit 210 while improving the integrity of the appearance of the sweeping robot and avoiding the detection component 200 from affecting the overall height of the cleaning robot; for example, Figure 2 As shown, when there is a portion of the peripheral wall of the housing component 100 protruding from the upper side of the top wall, the maximum height of the detection component 200 when it is in the aforementioned second working position can be set to be lower than the height of the top of the peripheral wall. Alternatively, when the detection component 200 is in the aforementioned second working position, the maximum height position of the detection component 200 can also be set to be slightly higher than the maximum height position of the housing component 100. In actual applications, the maximum height position of the detection component 200 when it is in the second working position can be set in combination with actual needs, and no excessive restrictions are made here.

[0040] It should be noted that Figure 1 , Figure 4 , Figure 5 , Figures 8 to 10 The schematic diagram shows the state of the detection component 200 when it is located at the first working position. Figure 2 and Figure 7 The state of the detection component 200 when it is located in the second working position is schematically shown; for the convenience of demonstration, Figures 3 to 10 Part of the structure of the housing assembly 100 is hidden.

[0041] It can be understood that the casing assembly 100 can have a limiting structure, which is used to limit the movement of the detection assembly 200 away from the second working position when the detection assembly 200 is located in the first working position, and / or can be used to limit the movement of the detection assembly 200 away from the first working position when the detection assembly 200 is located in the second working position, thereby constraining the movement range of the detection assembly 200, which is beneficial to improving the position stability of the detection assembly 200 when it is in the working position and ensuring the movement reliability of the detection assembly 200.

[0042] It can be understood that the cleaning robot provided by the embodiment of the present disclosure can be used as but not limited to a sweeping robot, a sweeping and mopping robot and other devices in actual applications.

[0043] like Figure 2 As shown, in some examples, the housing assembly 100 is provided with an escape opening 101 , and when the detection assembly 200 is located at the second working position, the detection portion 210 is arranged corresponding to the escape opening 101 .

[0044] In this technical solution, when the detection component 200 is located in the second working position, the detection unit 210 can be arranged corresponding to the avoidance opening 101 of the casing component 100. It can be understood that the avoidance opening 101 is located in the detection direction of the detection unit 210. Therefore, based on the setting of the avoidance opening 101, the casing component 100 can reduce the obstruction of the detection path of the detection unit 210, so that the detection unit 210 can perform detection operations through the avoidance opening 101 when it is in the second working position. Therefore, the cleaning robot can use the detection unit 210 to collect information when operating in a narrow space, which is conducive to ensuring the stability and reliability of the cleaning robot when operating in a narrow space, and improving the adaptability of the cleaning robot to operations in narrow spaces.

[0045] It is understandable that when the detection unit 210 is arranged corresponding to the avoidance opening 101, the detection unit 210 can output and receive signals through the avoidance opening. For example, when the detection unit 210 includes a laser acquisition module, the laser emitted by the detection unit 210 can be emitted to the external environment through the avoidance opening, and the laser can also be received through the avoidance opening.

[0046] Taking the cleaning robot as a sweeping robot as an example, the casing assembly 100 may have a top wall and a peripheral wall, the peripheral wall being connected to the top wall and arranged around the edge of the top wall, and the avoidance opening 101 may be opened in the peripheral wall, so that when the detection unit 210 is located at the second working position, it is convenient for the detection unit 210 to collect information about the surrounding environment of the casing assembly 100; accordingly, the detection unit 210 may extend out or retract into the casing assembly 100 through the top wall, so that when the detection unit 210 is located at the first working position, the position of the detection unit 210 is relatively high, and the shielding of the casing assembly 100 on the surrounding side of the detection unit 210 may be reduced, so as to facilitate widening the detection range of the detection assembly 200; when the detection unit 210 is located at the second working position, the relative position of the detection unit 210 is relatively low, which can reduce the space occupied by the cleaning robot while reducing the overall height of the cleaning robot, thereby improving the adaptability of the cleaning robot to low spaces and reducing the risk of collision of the detection assembly 200.

[0047] In some feasible examples, the housing assembly 100 may include a light-transmitting wall, and when the detection assembly 200 is located in the second working position, the detection unit 210 is arranged corresponding to the light-transmitting wall. It can be understood that the light-transmitting wall is located in the detection direction of the detection unit 210, so that the housing assembly 100 can reduce the obstruction of the detection path of the detection unit 210 based on the setting of the aforementioned light-transmitting wall, so that the detection unit 210 can perform detection operations through the light-transmitting wall when it is in the second working position, and then the cleaning robot can use the detection unit 210 to collect information when operating in a small space, which is conducive to ensuring the stability and reliability of the cleaning robot when operating in a small space, and improving the adaptability of the cleaning robot to operations in a small space.

[0048] It is understandable that the housing assembly may have the aforementioned avoidance opening and / or the aforementioned light-transmitting wall, so that the detection unit 210 can perform the detection operation when it is in the second working position.

[0049] like Figures 4 to 7 , Fig. 9 and Fig.10 As shown, in some examples, the cleaning robot also includes: a first positioning component 400, used to limit the detection component 200 from moving in a direction close to the second working position when the detection component 200 is located in the first working position; wherein the housing component 100 includes a first limiting portion 130, and when the detection component 200 is located in the first working position, the first limiting portion 130 is used to limit the detection component 200 from moving in a direction away from the second working position.

[0050] In this technical solution, the cleaning robot may also include a first positioning component 400, which is used to limit the movement of the detection component 200 to the second working position when the detection component 200 is located in the first working position. Based on the above-mentioned setting, the position stability of the detection component 200 in the first working position can be improved, and the detection component 200 is ensured to be outside the housing component 100, which provides reliable guarantee for the improvement of the detection range of the detection component 200, and is conducive to the detection component 200 to stably perform the detection operation, thereby improving the operating reliability and stability of the cleaning robot. At the same time, the first limiting portion 130 of the housing component 100 is used to limit the detection component 200 from moving away from the second working position when the detection component 200 is located in the first working position, so that the detection component 200 can be stably maintained in the first working position under the constraints of the first positioning component 400 and the first limiting portion 130, which is conducive to the detection component 200 to stably and reliably perform the detection operation.

[0051] It can be understood that the aforementioned limiting structure may include a first limiting portion 130 .

[0052] In some examples, the first positioning assembly 400 is connected between the driving assembly 300 and the detection assembly 200. When the detection assembly 200 is located in the first working position, the first positioning assembly 400 is used to apply a force to the detection assembly 200 to limit the movement of the detection assembly 200 in a direction close to the second working position.

[0053] In this technical solution, the first positioning component 400 can be connected between the aforementioned driving component 300 and the aforementioned detection component 200. The first positioning component 400 is used to apply a force to the detection component 200 when the detection component 200 is located in the first working position, so as to limit the movement of the detection component 200 toward the second working position. Based on the aforementioned setting, the resistance of the detection component 200 moving from the first working position to the second working position can be increased, and the position stability of the detection component 200 in the first working position can be improved. It is ensured that the detection component 200 is outside the housing component 100, which provides reliable guarantee for the improvement of the detection range of the detection component 200, and is conducive to the detection component 200 to stably perform detection operations, thereby improving the operating reliability and stability of the cleaning robot.

[0054] It can be understood that the direction of the force applied by the first positioning component 400 to the detection component 200 can be a direction parallel to the direction from the second working position to the first working position, or it can be other directions having a component greater than 0 in the direction from the second working position to the first working position.

[0055] In some examples, the length of the first positioning assembly 400 between the first working position and the second working position is adjustable.

[0056] In this technical solution, the length of the first positioning component 400 between the first working position and the second working position can be set to be adjustable. Based on the above-mentioned setting, when the detection component 200 is located in the first working position, if the casing component 100 and / or the driving component 300 and other structures that can constrain the detection component 200 are deformed, the length of the first positioning component 400 in the above-mentioned direction can be changed accordingly, so as to compensate for the deformation of the casing component 100 and / or the driving component 300 and other structures that can constrain the detection component 200 to a certain extent, weaken the influence of the deformation of the above-mentioned structure on the position of the detection component 200, provide reliable guarantee for the detection component 200 to stably maintain in the first working position, and improve the detection accuracy of the detection component 200.

[0057] In some examples, the first positioning assembly 400 includes an elastic portion 410 disposed between the driving assembly 300 and the detection assembly 200 , and the elastic portion 410 is used to apply a force to the detection assembly 200 when the detection assembly 200 is located at the first working position.

[0058] In this technical solution, the aforementioned first positioning component 400 may include an elastic portion 410 connected between the aforementioned driving component 300 and the aforementioned detection component 200. The elastic portion 410 is in a compressed state when the detection component 200 is located in the first working position, so that an elastic force can be applied to the detection component 200 to prevent the detection component 200 from moving toward the second working position, thereby ensuring the position stability of the detection component 200 when it is in the first working position. At the same time, since the elastic portion 410 can produce elastic expansion and contraction, when the detection component 200 is located in the first working position, if other structures that can constrain the detection component 200, such as the casing component 100 and / or the driving component 300, are deformed, the elastic portion 410 can, through elastic expansion and contraction, weaken the influence of the deformation of the aforementioned structure on the position of the detection component 200 to a certain extent, thereby providing a reliable guarantee for the detection component 200 to stably remain in the first working position, thereby improving the detection accuracy of the detection component 200, and improving the shockproof performance of the detection component 200, thereby further reducing the probability of damage to the detection component 200.

[0059] It is understandable that when the detection component 200 is located in the first working position, the elastic part 410 can produce elastic expansion and contraction and remain in a compressed state, that is, the compression amount of the elastic part 410 remains greater than 0, but its compression amount can be floating.

[0060] It can be understood that when the elastic portion 410 is in a compressed state, the direction of the force applied to the detection component 200 can be a direction parallel to the direction from the second working position to the first working position, or other directions having a component greater than 0 in the direction from the second working position to the first working position; accordingly, the expansion and contraction direction of the elastic portion 410 can be a direction parallel to the direction from the second working position to the first working position, or other directions having a component greater than 0 in the direction from the second working position to the first working position.

[0061] like Figure 6 As shown, in some examples, the elastic portion 410 includes: a guide rod 411, which is disposed on the detection component 200, and the guide rod 411 is arranged along the direction from the first working position to the second working position; a connecting seat 412, which is disposed at the output end of the driving component 300, and the connecting seat 412 is provided with a connecting hole, and the guide rod 411 is movably inserted into the connecting hole; a plurality of elastic members 413, which are sleeved on the guide rod 411, and one end of the elastic member 413 abuts against the connecting seat 412, and the other end abuts against the detection component 200.

[0062] In this technical solution, the elastic part 410 may include a guide rod 411, a connecting seat 412 and an elastic member 413, wherein the guide rod 411 and the connecting seat 412 are respectively arranged on the detection component 200 and the driving component 300, the elastic member 413 is sleeved on the guide rod 411 and the two ends are respectively abutted against the detection component 200 and the connecting seat 412, the guide rod 411 is arranged in the direction from the first working position to the second working position and is slidably passed through the connecting hole of the connecting seat 412, so that based on the above arrangement, the elastic member 413 can be telescopically deformed along the movement direction of the detection component 200, and can be in the case where the detection component 200 is located in the first working position. , an elastic force is applied to the detection component 200 in the direction from the second working position to the first working position to prevent the detection component 200 from moving toward the second working position, thereby ensuring the position stability of the detection component 200 in the first working position. At the same time, since the elastic member 413 can produce elastic expansion and contraction, the influence of the structural deformation on the position of the detection component 200 can be weakened to a certain extent by elastic expansion and contraction, thereby providing a reliable guarantee for the detection component 200 to stably maintain the first working position, improving the detection accuracy of the detection component 200, and improving the shockproof performance of the detection component 200, further reducing the probability of damage to the detection component 200.

[0063] It can be understood that the number of guide rods 411, connecting holes and elastic members 413 are all multiple and one-to-one corresponding, and the multiple guide rods 411 are arranged at intervals in the detection component 200, so that the elastic force generated by the elastic member 413 can affect different positions of the detection component 200, which can facilitate the first positioning component 400 to support the detection component 200 at multiple points, and help the detection component 200 to remain more stably in the first working position.

[0064] It can be understood that when the detection assembly 200 is located at the first working position, the elastic member 413 is in a compressed state.

[0065] It can be understood that the opening direction of the aforementioned connecting hole is consistent with the extension direction of the guide rod 411.

[0066] It can be understood that the elastic member 413 may be, but is not limited to, a spring.

[0067] like Figure 4 , Figure 7 and Fig.10As shown, in some examples, the cleaning robot also includes: a second positioning component 500, used to limit the detection component 200 from moving in a direction close to the first working position when the detection component 200 is located in the second working position; wherein the housing component 100 includes a second limiting portion 140, and when the detection component 200 is located in the second working position, the second limiting portion 140 is used to limit the detection component 200 from moving in a direction away from the first working position.

[0068] In this technical solution, the cleaning robot may also include a second positioning component 500, which is used to limit the movement of the detection component 200 toward the first working position when the detection component 200 is located in the second working position. Based on the above-mentioned setting, the position stability of the detection component 200 in the second working position can be improved, the corresponding relationship between the detection component 200 and the avoidance opening 101 can be ensured, and reliable guarantee is provided for the detection component 200 to stably perform the detection operation in the second working position, which is conducive to improving the operating reliability and stability of the cleaning robot. At the same time, the second limiting portion 140 of the housing component 100 is used to limit the movement of the detection component 200 in the direction away from the first working position when the detection component 200 is located in the second working position, so that the detection component 200 can be stably maintained in the second working position under the constraints of the second positioning component 500 and the second limiting portion 140.

[0069] It is understandable that the aforementioned limiting structure may include a second limiting portion 140 .

[0070] It is understandable that the cleaning robot may have both the first positioning assembly 400 and the second positioning assembly 500 .

[0071] like Figure 4 , Figure 7 and Fig.10 As shown, in some examples, the second positioning component 500 includes: a first acting portion 510, which is arranged on the detection component 200; and a second acting portion 520, which is arranged on the housing component 100; wherein the first acting portion 510 is used to apply a force to the second acting portion (520) along the direction from the first working position to the second working position.

[0072] In this technical solution, the aforementioned second positioning component 500 may include a first acting portion 510 and a second acting portion 520, and the first acting portion 510 and the second acting portion 520 are respectively arranged on the detection component 200 and the housing component 100, wherein the second acting portion 520 is used to apply a force to the first acting portion 510 along the direction from the first working position to the second working position. Based on the aforementioned setting, the mechanical action applied by the second acting portion 520 to the first acting portion 510 can prevent the detection component 200 from approaching the second working position, thereby ensuring the position stability of the detection component 200 in the second working position, providing a guarantee for the detection component 200 to stably and reliably perform the detection operation in the second working position, which is beneficial to ensuring the detection accuracy of the detection component 200.

[0073] It can be understood that the direction of the force applied by the second limit assembly to the detection assembly 200 can be a direction parallel to the direction from the first working position to the second working position, or it can be other directions having a component greater than 0 in the direction from the first working position to the second working position.

[0074] In some feasible examples, along the direction from the first working position to the second working position, the first acting portion 510 and the second acting portion 520 are arranged at intervals.

[0075] In this technical solution, the first action part 510 and the second action part 520 can be arranged at intervals along the direction from the first working position to the second working position. Accordingly, the second action part 520 can be used to apply a force along the direction from the first working position to the second working position to the first action part 510, which can be a non-contact force. Based on the above-mentioned setting, the connection structure between the second action part 520 and the first action part 510 can be reduced, thereby reducing the risk of damage and failure of the cleaning robot, which is beneficial to improving the reliability and lightweight level of the cleaning robot.

[0076] In some examples, one of the first acting portion 510 and the second acting portion 520 is a permanent magnet, and the other is made of a magnetic material; or both the first acting portion 510 and the second acting portion 520 are permanent magnets.

[0077] In this technical solution, one of the aforementioned first acting part 510 and the aforementioned second acting part 520 can be a permanent magnet, and the other can be made of magnetic material, that is, the first acting part 510 can be a permanent magnet and the second acting part 520 can be made of magnetic material, or the first acting part 510 can be made of magnetic material and the second acting part 520 can be a permanent magnet, so that a magnetic force can be generated between the first acting part 510 and the second acting part 520, and based on the action of the aforementioned magnetic force, the detection component 200 at the second working position is restricted from approaching the first working position, thereby ensuring the position stability of the detection component 200 when it is at the second working position, providing a guarantee for the detection component 200 to stably and reliably perform the detection operation at the second working position, which is beneficial to ensuring the detection accuracy of the detection component 200, and at the same time, the connection structure between the second acting part 520 and the first acting part 510 can be reduced, thereby reducing the risk of damage and failure of the cleaning robot, which is beneficial to improving the reliability and lightweight level of the cleaning robot, and the cost of permanent magnets and magnetic materials is relatively low, which is also beneficial to controlling the processing cost of the cleaning robot.

[0078] Alternatively, the first acting part 510 and the second acting part 520 can both be permanent magnets, so that a magnetic force can be generated between the first acting part 510 and the second acting part 520, and based on the effect of the aforementioned magnetic force, the detection component 200 at the second working position is restricted from approaching the first working position, thereby ensuring the position stability of the detection component 200 at the second working position, and providing a guarantee for the detection component 200 to stably and reliably perform the detection operation at the second working position, which is beneficial to ensuring the detection accuracy of the detection component 200, and at the same time can reduce the connection structure between the second acting part 520 and the first acting part 510, thereby reducing the risk of damage and failure of the cleaning robot, which is beneficial to improving the reliability and lightweight level of the cleaning robot, and the cost of permanent magnets is relatively low, which is also beneficial to controlling the processing cost of the cleaning robot.

[0079] It is understandable that the aforementioned permanent magnet may be but is not limited to alloy permanent magnets or ferrite permanent magnets, etc.; the aforementioned magnetic material may include but is not limited to metal materials or alloy materials that can be magnetically adsorbed, such as iron, cobalt, and nickel.

[0080] like Figure 3 , Figure 4 , Figures 6 to 9 As shown, in some examples, the driving component 300 includes: a driving part 310; a transmission part 320 connected between the driving part 310 and the detection component 200, and the driving part 310 is used to drive the detection component 200 to move through the transmission part 320.

[0081] In this technical solution, the driving component 300 may include a driving part 310 and a transmission part 320, wherein the driving part 310 can output the power required for the movement of the detection component 200, and can drive the detection component 200 to move through the transmission part 320. Accordingly, the transmission part 320 is connected between the driving part 310 and the detection component 200, and can be used for power transmission between the driving part 310 and the detection component 200. Based on the above-mentioned setting, the driving part 310 can indirectly drive the detection component 200, which can reduce the performance requirements of the driving part 310 and is conducive to reducing the cost of the driving component 300.

[0082] It is understandable that the aforementioned driving part 310 can be but not limited to a motor, an electric motor, etc.; the transmission form of the aforementioned transmission part 320 can be but not limited to connecting rod transmission, gear transmission, belt transmission, etc.

[0083] like Figure 4 and Figure 7 As shown, in some examples, the transmission part 320 includes a connecting rod mechanism, one end of the connecting rod mechanism is connected to the driving part 310 , and the other end is connected to the detection component 200 .

[0084] In this technical solution, the transmission part 320 may include a connecting rod mechanism, one end of which may be connected to the driving part 310, and the other end of which may be connected to the detection component 200, so that the transmission part 320 may receive the power output by the driving part 310 through the connecting rod mechanism and transmit the power to the detection mechanism, and based on the aforementioned setting, the driving component 300 may drive the detection component 200 to operate by means of connecting rod transmission, which is convenient for realizing the conversion of power forms and is beneficial to improving the flexibility of the driving component 300, and the connecting rod mechanism has a relatively high structural simplicity, is convenient for processing and manufacturing, and has good motion stability, which is beneficial for reducing the manufacturing cost of the driving component 300 while ensuring the reliable activity of the detection component 200.

[0085] In some feasible examples, the connecting rod mechanism may be made of wear-resistant material, which is beneficial to prolonging the service life of the connecting rod mechanism. The aforementioned wear-resistant material may be, but is not limited to, metal material, plastic material, composite material, etc.

[0086] In some feasible examples, the connecting rod mechanism can be made of self-lubricating material, so as to reduce the wear of the connecting rod mechanism during use and reduce the maintenance cost of the connecting rod mechanism. The aforementioned self-lubricating material can be but is not limited to metal material, plastic material, composite material, etc.

[0087] It can be understood that the connecting rod mechanism can be made of a material that is both wear-resistant and self-lubricating. The aforementioned material can be, but is not limited to, a metal material, a plastic material, a composite material, and the like.

[0088] In some examples, the linkage is made of a plastic material.

[0089] In this technical solution, the aforementioned connecting rod mechanism can be made of plastic material, so that the connecting rod mechanism can have a lower production cost while having good structural reliability, which is beneficial to ensuring the stable operation of the connecting rod mechanism; and, the plastic material has self-lubricating and vibration-damping properties, which is also beneficial to reducing the maintenance cost of the connecting rod mechanism and maintaining the stable position of the detection component 200.

[0090] For example, the aforementioned plastic material may be, but is not limited to, POM (Polyoxymethylene), polytetrafluoroethylene, polyimide or nylon.

[0091] like Figure 4 and Figure 7 As shown, in some examples, the connecting rod mechanism includes: an active rod 321, connected to the output end of the driving part 310; a first driven rod 322, one end of the first driven rod 322 is hinged to the active rod 321; a second driven rod 323, both ends of the second driven rod 323 are respectively hinged to the other end of the first driven rod 322 and the detection component 200; a third driven rod 324, both ends of the third driven rod 324 are respectively hinged to the other end of the first driven rod 322 and the housing component 100.

[0092] In this technical solution, the aforementioned connecting rod mechanism may include an active rod 321, a first driven rod 322, a second driven rod 323 and a third driven rod 324, wherein the active rod 321 is connected to the output end of the driving part 310, so that the connecting rod mechanism can receive power through the active rod 321, one end of the first driven rod 322 is hinged to the active rod 321, and the other end is hinged to the second driven rod 323 and the third driven rod 324 at the same time, the second driven rod 323 and the third driven rod 324 are also hinged to the detection component 200 and the housing component 100, respectively, so that based on the aforementioned setting, the connecting rod mechanism can be associated with the housing component 100 through the third driven rod 324, and then the degree of freedom of the connecting rod mechanism can be constrained by the housing component 100, and can obtain the structural support provided by the housing component 100, which is conducive to ensuring the movement stability and reliability of the connecting rod mechanism, and providing reliable guarantee for the stable activity of the detection component 200.

[0093] It can be understood that the second follower rod 323 can be directly hinged to the detection component 200, or can be indirectly hinged to the detection component 200; for example, in the case where the cleaning robot includes the aforementioned first positioning component 400, the second follower rod 323 can be hinged to the first positioning component 400, and thus indirectly hinged to the detection component 200 through the connection relationship between the first positioning component 400 and the detection component 200.

[0094] like Figure 4 , Figures 7 to 9 As shown, in some examples, the driving assembly 300 further includes: a first acquisition unit 330 for acquiring position information of the transmission unit 320 .

[0095] In this technical solution, the aforementioned driving component 300 may also include a first collecting unit 330 for obtaining position information of the transmission part 320. Based on the aforementioned setting, the driving component 300 can obtain the position information of the transmission part 320 through the first collecting unit 330, and then it is convenient to determine the position of the detection component 200 according to the position information of the transmission part 320 and the power transmission relationship between the transmission part 320 and the detection component 200, which can provide reference information for accurately performing motion control of the detection component 200.

[0096] Exemplarily, when the transmission part 320 includes the aforementioned active rod 321 , the first acquisition part 330 may be used to obtain position information of the active rod 321 .

[0097] like Figures 1 to 5 and Figures 7 to 10 As shown, in some examples, the housing assembly 100 includes: a shell portion 110, including a top wall and a peripheral wall connected to each other; a receiving portion 120, which is penetrated through the top wall, and the receiving portion 120 is formed with a receiving groove and a guide structure 121, and the guide structure 121 is located in the receiving groove and is arranged along the direction from the first working position to the second working position; wherein, the detection component 200 is slidably connected to the guide structure 121, and the detection portion 210 can extend or retract into the receiving groove.

[0098] In this technical solution, the housing assembly 100 may include a housing portion 110 and a receiving portion 120, wherein the housing portion 110 includes a top wall and a peripheral wall connected to each other. It can be understood that the peripheral wall is arranged around the edge of the top wall, so that when the detection portion 210 is located at the second working position, it is convenient for the detection portion 210 to collect information about the surrounding environment of the housing assembly 100; the receiving portion 120 is arranged on the top wall of the housing portion 110 and is formed with a receiving groove and a guide structure 121, and the detection assembly 200 is slidably connected to the guide structure 121. Thus, the movement direction of the detection component 200 can be constrained by the guide structure 121, which can improve the movement stability and reliability of the detection component 200. Accordingly, during the sliding process of the detection component 200, the detection part 210 can extend or retract into the accommodating groove, thereby realizing extension and retraction relative to the coupling component, making it convenient for the detection part 210 to perform different detection actions, and when the detection part 210 is located in the second working position, the accommodating part 120 can provide structural protection for the detection part 210, which is beneficial to further reduce the risk of damage to the detection part 210.

[0099] It is understandable that, when the housing assembly 100 has the aforementioned escape opening 101 , the escape opening 101 can be opened on the aforementioned peripheral wall.

[0100] It can be understood that when the detection component 200 is located at the first working position, the detection part 210 extends out of the accommodating groove; when the detection component 200 is located at the second working position, the detection part 210 is in the accommodating groove and is arranged corresponding to the aforementioned avoidance opening 101.

[0101] It is understandable that, in the case where the detection assembly 200 includes a laser distance measuring device, the aforementioned accommodating portion 120 can be made of a light-transmitting material or the portion of the accommodating portion 120 corresponding to the avoidance opening 101 can be made of a light-transmitting material.

[0102] like Figures 4 to 7 As shown, in some examples, the housing assembly 100 also includes: a first limiting portion 130, which is arranged in the accommodating portion 120. When the detection assembly 200 is located in the first working position, the detection assembly 200 abuts against the first limiting portion 130, and the first limiting portion 130 is used to limit the movement of the detection assembly 200 away from the second working position; and / or a second limiting portion 140, which is arranged in the accommodating portion 120. When the detection assembly 200 is located in the second working position, the detection assembly 200 abuts against the second limiting portion 140, and the second limiting portion 140 is used to limit the movement of the detection assembly 200 away from the first working position.

[0103] In this technical solution, the aforementioned casing assembly 100 may also include a first limiting portion 130 arranged in the aforementioned accommodating portion 120. The first limiting portion 130 is used to abut against the detection assembly 200 and limit the movement of the detection assembly 200 away from the second working position when the detection assembly 200 is located in the first working position, so that the movement range of the detection assembly 200 can be limited by the first limiting portion 130, and it can further facilitate the detection assembly 200 to stably maintain the first working position, which is beneficial for the detection assembly 200 to stably and reliably perform the detection operation.

[0104] Alternatively, the aforementioned casing assembly 100 may also include a second limiting portion 140 arranged on the aforementioned accommodating portion 120, and the second limiting portion 140 is used to abut against the detection assembly 200 and limit the movement of the detection assembly 200 in the direction away from the first working position when the detection assembly 200 is located in the second working position, so that the movement range of the detection assembly 200 can be limited by the second limiting portion 140, and it can further facilitate the detection assembly 200 to stably remain in the second working position, which is beneficial for the detection assembly 200 to stably and reliably perform the detection operation.

[0105] It is understandable that the housing assembly 100 may include both the first limiting portion 130 and the second limiting portion 140 .

[0106] It can be understood that, when the cleaning robot includes a first limiting portion 130 and an elastic portion 410, the detection component 200 can be first driven by the driving component 300 to the first working position so that the detection component 200 abuts against the first limiting portion 130, and then the driving component 300 can further output power to the elastic portion 410 along the direction from the second working position to the first working position to put the elastic portion 410 in a compressed state, so that the elastic portion 410 can apply the aforementioned elastic force to the detection component 200 at the first working position. Exemplarily, the driving component 300 and the elastic portion 410 can both be arranged on a side of the detection component 200 away from the top wall of the housing portion 110, and the driving component 300 has a first driving state and a second driving state. The direction of the power output by the driving component 300 in the first driving state is opposite to the direction of the power output in the second driving state. In the first driving state, the driving component 300 can have a first driving stroke and a locking stroke. In the driving stroke, the driving component 300 is used to drive the detection component 200 to move from the second working position to the first working position, and in the locking stroke , the driving component 300 drives the elastic part 410 to switch from a relaxed state to a compressed state; in the second driving state, the driving component 300 can have a first driving stroke and a relaxation stroke. In the relaxation stroke, the driving component is used to drive the elastic part 410 to switch from a compressed state to a relaxed state. In the first driving stroke, the driving component 300 is used to drive the detection component 200 to move from the first working position to the second working position; therefore, based on the above-mentioned arrangement, the state switching of the elastic part 410 can be driven by the driving component 300 at the same time, and it can be avoided to configure an independent driving device for the elastic part 410.

[0107] like Figures 4 to 10 As shown, in some examples, the detection component 200 also includes: a base portion 220, which is movably disposed on the housing component 100; a cover portion 230, which is disposed on the base portion 220, and the cover portion 230 and the base portion 220 enclose an installation space, and the detection portion 210 is disposed in the installation space.

[0108] In this technical solution, the aforementioned detection component 200 may also include a base portion 220 and a cover portion 230, wherein the base portion 220 is arranged on the casing assembly 100, and the cover portion 230 is arranged on the base portion 220 and forms an installation space with the base portion 220, and the aforementioned detection component 200 can be arranged in the aforementioned installation space, so that based on the aforementioned arrangement, the cleaning robot can utilize the base portion 220 and the cover portion 230 to more reliably protect the detection portion 210, which is beneficial to further reduce the risk of the detection portion 210 being subjected to collision and reduce the probability of damage to the detection portion 210.

[0109] It can be understood that when the detection assembly 200 is located at the first working position, the cover portion 230 is located outside the housing assembly 100 .

[0110] like Figure 5 and Fig. 9 As shown, in some examples, the detection component 200 also includes: a hinge portion 240, the cover portion 230 is hinged to the base portion 220 through the hinge portion 240, and the cover portion 230 has a closed state and an unfolded state; wherein, in the closed state, the cover portion 230 and the base portion 220 enclose an installation space; in the unfolded state, the installation space is open.

[0111] In this technical solution, the aforementioned detection component 200 may also include a hinge portion 240, and the aforementioned cover body portion 230 may be hinged to the aforementioned base portion 220 through the hinge portion 240, so that the cover body portion 230 can be flipped relative to the base portion 220, and accordingly, the cover body portion 230 has the aforementioned closed state and the aforementioned unfolded state. Based on the aforementioned setting, when the detection component 200 is located in the first working position, if the cover body portion 230 collides, it can switch from the closed state to the unfolded state by flipping relative to the base portion 220, thereby buffering the impact force, which can reduce the impact effect on the detection portion 210 and further reduce the risk of damage to the detection portion 210.

[0112] It can be understood that when the casing assembly 100 has the aforementioned avoidance opening 101, the hinge portion 240 is located on the side of the cover body portion 230 that is away from the avoidance opening 101. Based on the aforementioned arrangement, when the detection assembly 200 is located in the first working position, if the cover body portion 230 collides forward, it can be switched from a closed state to an expanded state by flipping relative to the base portion 220, thereby buffering the impact force, reducing the impact effect on the detection portion 210, and further reducing the risk of damage to the detection portion 210.

[0113] It can be understood that the aforementioned front collision refers to a collision between the detection unit 210 and a front object in the moving direction of the cleaning robot.

[0114] In some examples, the detection assembly 200 further includes: a reset portion connected between the cover portion 230 and the base portion 220, and configured to apply a force to the cover portion 230 so as to switch the cover portion 230 from an extended state to a closed state.

[0115] In this technical solution, the aforementioned detection component 200 may also include a reset portion connected between the cover body portion 230 and the base portion 220, and the reset portion can be used to apply a force to the cover body portion 230 to switch the cover body portion 230 from an expanded state to a closed state. Based on the aforementioned setting, it is convenient for the cover body portion 230 to return to the closed state after escaping from a front collision, so as to provide reliable structural protection for the detection portion 210, and can improve the ease of use of the detection component 200, and further improve the user experience of the product.

[0116] It can be understood that the aforementioned reset portion may include a reset spring.

[0117] In some examples, the detection component 200 further includes: a second collecting unit for acquiring status information of the cover body 230 .

[0118] In this technical solution, the aforementioned detection component 200 may also include a second collecting unit for obtaining status information of the cover body 230. Based on the aforementioned setting, the cleaning robot can determine whether the cover body 230 has a forward collision through the status information collected by the second collecting unit, and further provide a reference for the action control of the cleaning robot, which is conducive to further improving the automation and intelligence level of the cleaning robot.

[0119] It can be understood that the aforementioned state information may include expanded state information and closed state information.

[0120] Exemplarily, the aforementioned second collecting portion may include a touch switch, and the cover body 230 may be formed with a contact for abutting the touch switch; when the cover body 230 is in a closed state, the aforementioned contact abuts against the touch switch, and accordingly, the touch switch is in a first trigger state and is used to generate the aforementioned closed state information; when the cover body 230 is in an expanded state, the aforementioned contact is separated from the touch switch, and accordingly, the touch switch is in a second trigger state and is used to generate the aforementioned expanded state information.

[0121] According to a second aspect of an embodiment of the present disclosure, a cleaning system is proposed, comprising: a cleaning base station; and a cleaning robot as proposed in any one of the first aspects above, which can be detachably arranged on the cleaning base station.

[0122] Since the cleaning system provided by the embodiment of the present disclosure includes a cleaning robot as proposed in any one of the first aspects above, it has all the beneficial effects of the cleaning robot and will not be elaborated here.

[0123] In the present disclosure, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0124] In the description of the present disclosure, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "left", "right", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be understood as a limitation on the present disclosure.

[0125] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0126] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A cleaning robot, characterized in that: include: A housing assembly (100); A detection component (200) is arranged on the housing component (100), and the detection component (200) comprises a detection part (210); A driving assembly (300) for driving the detection assembly (200) to move relative to the housing assembly (100), wherein the detection assembly (200) has a first working position and a second working position; Wherein, when the detection component (200) is located at the first working position, the detection portion (210) extends out of the housing component (100); and when the detection component (200) is located at the second working position, the detection portion (210) retracts into the housing component (100).

2. The cleaning robot according to claim 1, characterized in that: The housing component (100) is provided with an escape opening (101), and when the detection component (200) is located at the second working position, the detection portion (210) is arranged corresponding to the escape opening (101).

3. The cleaning robot according to claim 1, characterized in that: Also includes: a first positioning component (400), used to restrict the detection component (200) from moving in a direction close to the second working position when the detection component (200) is located at the first working position; Wherein, the housing assembly (100) comprises a first limiting portion (130), and when the detection assembly (200) is located at the first working position, the first limiting portion (130) is used to limit the movement of the detection assembly (200) in a direction away from the second working position.

4. The cleaning robot according to claim 3, characterized in that: The first positioning component (400) is connected between the driving component (300) and the detection component (200). When the detection component (200) is located at the first working position, the first positioning component (400) is used to apply a force to the detection component (200) to limit the movement of the detection component (200) in a direction close to the second working position.

5. The cleaning robot according to claim 3, characterized in that: The length of the first positioning assembly (400) between the first working position and the second working position is adjustable.

6. The cleaning robot according to claim 3, characterized in that: The first positioning component (400) comprises: The elastic portion (410) is arranged between the driving component (300) and the detection component (200), and when the detection component (200) is located at the first working position, the elastic portion (410) is used to apply a force to the detection component (200).

7. The cleaning robot according to claim 6, characterized in that: The elastic portion (410) comprises: A guide rod (411) is provided on the detection assembly (200), and the guide rod (411) is arranged along a direction from the first working position to the second working position; A connecting seat (412) is arranged at the output end of the driving assembly (300), the connecting seat (412) is provided with a connecting hole, and the guide rod (411) is movably inserted into the connecting hole; An elastic member (413) is sleeved on the guide rod (411), one end of the elastic member (413) abuts against the connecting seat (412), and the other end abuts against the detection assembly (200).

8. The cleaning robot according to claim 1, characterized in that: Also includes: a second positioning component (500), used for limiting the movement of the detection component (200) in a direction close to the first working position when the detection component (200) is located at the second working position; Wherein, the housing assembly (100) comprises a second limiting portion (140), and when the detection assembly (200) is located at the second working position, the second limiting portion (140) is used to limit the movement of the detection assembly (200) in a direction away from the first working position.

9. The cleaning robot according to claim 8, characterized in that: The second positioning component (500) comprises: A first action portion (510) is disposed on the detection component (200); A second action portion (520) is disposed on the housing assembly (100); Wherein, the first acting portion (510) is used to apply an acting force to the second acting portion (520) along a direction from the first working position to the second working position.

10. The cleaning robot according to claim 9, characterized in that: Along the direction from the first working position to the second working position, the first acting portion (510) and the second acting portion (520) are arranged at intervals.

11. The cleaning robot according to claim 9, characterized in that: One of the first acting part (510) and the second acting part (520) is a permanent magnet, and the other is made of a magnetic material; or The first acting part (510) and the second acting part (520) are both permanent magnets.

12. The cleaning robot according to claim 1, characterized in that: The driving assembly (300) comprises: A driving unit (310); The transmission part (320) is connected between the driving part (310) and the detection component (200), and the driving part (310) is used to drive the detection component (200) to move through the transmission part (320).

13. The cleaning robot according to claim 12, characterized in that: The transmission part (320) comprises a connecting rod mechanism, one end of which is connected to the driving part (310), and the other end of which is connected to the detection component (200).

14. The cleaning robot according to claim 13, characterized in that: The connecting rod mechanism is made of plastic material.

15. The cleaning robot according to claim 13, characterized in that: The connecting rod mechanism comprises: An active rod (321) connected to the output end of the driving part (310); A first driven rod (322), one end of which is hinged to the active rod (321); A second driven rod (323), two ends of the second driven rod (323) being hinged to the other end of the first driven rod (322) and the detection assembly (200) respectively; A third driven rod (324), two ends of which are respectively hinged to the other end of the first driven rod (322) and the housing assembly (100).

16. The cleaning robot according to claim 12, characterized in that: The drive assembly (300) further comprises: The first collecting unit (330) is used to obtain the position information of the transmission unit (320).

17. The cleaning robot according to any one of claims 1 to 16, characterized in that: The housing assembly (100) comprises: The housing portion (110) includes a top wall and a peripheral wall connected to each other; A receiving portion (120) is formed on the top wall, wherein the receiving portion (120) is formed with a receiving groove and a guide structure (121), wherein the guide structure (121) is located in the receiving groove and is arranged along a direction from the first working position to the second working position; The detection component (200) is slidably connected to the guide structure (121), and the detection portion (210) can extend out of or retract into the accommodating groove.

18. The cleaning robot according to claim 17, characterized in that: The housing assembly (100) further comprises: a first limiting portion (130) disposed on the accommodating portion (120); when the detection component (200) is located at the first working position, the detection component (200) abuts against the first limiting portion (130); the first limiting portion (130) is used to limit the detection component (200) from moving in a direction away from the second working position; and / or A second limiting portion (140) is arranged on the accommodating portion (120); when the detection component (200) is located at the second working position, the detection component (200) abuts against the second limiting portion (140); and the second limiting portion (140) is used to limit the detection component (200) from moving in a direction away from the first working position.

19. The cleaning robot according to any one of claims 1 to 16, characterized in that: The detection component (200) further comprises: A base portion (220) movably disposed on the housing assembly (100); The cover part (230) is arranged on the base part (220), the cover part (230) and the base part (220) enclose an installation space, and the detection part (210) is arranged in the installation space.

20. The cleaning robot according to claim 19, characterized in that: The detection component (200) further comprises: A hinge portion (240), the cover portion (230) is hingedly connected to the base portion (220) via the hinge portion (240), and the cover portion (230) has a closed state and an unfolded state; Wherein, in the closed state, the cover portion (230) and the base portion (220) enclose the installation space; in the expanded state, the installation space is open.

21. The cleaning robot according to claim 20, characterized in that: The detection component (200) further comprises: A reset portion is connected between the cover portion (230) and the base portion (220) and is used to apply a force to the cover portion (230) so as to switch the cover portion (230) from the expanded state to the closed state.

22. The cleaning robot according to claim 20, characterized in that: The detection component (200) further comprises: The second collecting unit is used to obtain status information of the cover body (230).

23. A cleaning system, characterized in that: include: Clean the base station; The cleaning robot according to any one of claims 1 to 22 can be detachably arranged on the cleaning base station.

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