Cleaning robot, base station and cleaning system

Abstract

The utility model discloses a cleaning robot, a base station and a cleaning system. The cleaning robot comprises a robot body, a guide module, a cleaning module and a power module. The guiding module is arranged on the machine body and comprises a matching piece. The cleaning module comprises a body and a moving part arranged on the body, the body comprises a mopping and wiping assembly, the mopping and wiping assembly is used for cleaning the to-be-cleaned face, and the cleaning module is arranged on the machine body through cooperation of the moving part and the guide module. The power module is arranged on the machine body and connected with the body, and the power module is used for driving the cleaning module to move relative to the machine body so that the cleaning module can be switched among the first state, the second state and the third state. When the cleaning module is in the first state and the second state, the cleaning module is in contact with the to-be-cleaned surface; the target end of the cleaning module in the second state is farther away from the center line in the width direction of the cleaning robot than in the first state; and under the condition that the cleaning module is in the third state, the moving part is borne on the matching part, so that the cleaning module is separated from the to-be-cleaned surface.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robotics technology, and more specifically, to a cleaning robot, a base station, and a cleaning system. Background Art

[0002] A cleaning robot is a device used to automatically clean carpets or floors, and can be used for cleaning indoors or in large venues. In related technologies, a cleaning robot has a cleaning module installed at the bottom of its body, which allows it to clean the surface being cleaned. However, due to the limited size of the robot, the cleaning module cannot reach the corners of the surface being cleaned. For example, the cleaning module cannot clean the floor near a wall in a room, which affects the cleaning effect of the cleaning robot. Utility Model Content

[0003] The cleaning robot provided in the first aspect of the embodiment of the present application includes a fuselage, a guide module, a cleaning module and a power module. The guide module is arranged on the fuselage and includes a matching part. The cleaning module includes a main body and a moving part arranged on the main body, the main body includes a wiping assembly, the wiping assembly is used to clean the surface to be cleaned, and the cleaning module is arranged on the fuselage through the cooperation of the moving part and the guide module. The power module is arranged on the fuselage and connected to the main body, and the power module is used to drive the cleaning module to move relative to the fuselage so that the cleaning module switches between the first state, the second state and the third state. When the cleaning module is in the first and second states, the cleaning module is in contact with the surface to be cleaned; the target end of the cleaning module is farther away from the center line of the cleaning robot in the width direction in the second state than in the first state; when the cleaning module is in the third state, the moving part is carried on the matching part to separate the cleaning module from the surface to be cleaned; wherein, the target end of the cleaning module is the side of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the moving direction of the cleaning robot.

[0004] In some embodiments, when the cleaning module is in the first state, the cleaning module is in contact with the surface to be cleaned, and the cleaning module is located in the widest area of ​​the body; when the cleaning module is in the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is located outside the widest area of ​​the body, or the target end of the cleaning module is flush with the edge of the widest area of ​​the body; wherein the widest area is the area formed by two tangents of the projection of the body on the surface to be cleaned along the traveling direction of the cleaning robot.

[0005] In certain embodiments, the cleaning module includes a crawler-type cleaning element or a drum-type cleaning element.

[0006] In some embodiments, the power module is used to drive the moving part to move along the first direction in the guide module so that the cleaning module switches between the first state and the second state; when the moving part abuts the mating part, the power module is also used to drive the cleaning module to continue to move along the first direction, and drive the cleaning module to move along the second direction through the cooperation between the moving part and the mating part, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state, and the first direction intersects with the second direction.

[0007] In some embodiments, the first direction is parallel to the width direction of the cleaning robot.

[0008] In some embodiments, the second direction includes a height direction of the cleaning robot.

[0009] In some embodiments, the guide module further includes a guide member, the matching member is disposed on the guide member, and the guide member is used to guide the moving member to move relative to the fuselage, so as to drive the main body to move relative to the fuselage.

[0010] In some embodiments, the guide members include two, and the two guide members are arranged on two opposite sides of the cleaning module in the width direction.

[0011] In some embodiments, the guide member includes one, which is arranged on the top of the cleaning module and located in the middle position of the width direction of the cleaning module; wherein the width direction of the cleaning module is basically perpendicular to the width direction of the cleaning robot.

[0012] In some embodiments, a guide groove is provided on the body, the guide groove forms the guide member, the length direction of the guide groove is a first direction, and the matching member is arranged in the guide groove.

[0013] In some embodiments, the guide member is installed on the fuselage, a guide groove is provided on the guide member, the length direction of the guide groove is the first direction, and the matching member is arranged in the guide groove.

[0014] In some embodiments, the guide groove includes a first side wall and a second side wall relative to each other in the second direction, and in the second direction, the first side wall is closer to the surface to be cleaned than the second side wall; the mating piece is arranged on the first side wall, and when the moving piece abuts against the mating piece, the moving piece can move along the mating piece to be supported on the mating piece.

[0015] In some embodiments, the mating part includes a protrusion, which includes a first surface and a second surface opposite to each other in a first direction, and the first surface and / or the second surface are inclined, and the first surface and / or the second surface are used to guide the moving part to move to be supported on the protrusion.

[0016] In some embodiments, the mating element includes a protrusion, and the protrusion includes a first surface and a second surface opposite to each other in a first direction, and the first surface and / or the second surface are arc-shaped.

[0017] In some embodiments, the longitudinal section of the mating part cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the first direction and a straight line extending along the second direction. The upper side of the trapezoid corresponds to the surface of the mating part for supporting the movable part, the side sides of the trapezoid correspond to the first surface and the second surface, and the upper side of the trapezoid is smaller than the lower side of the trapezoid.

[0018] In some embodiments, the moving member comprises a pulley or a roller.

[0019] In some embodiments, the main body includes a first side and a second side opposite to each other in the width direction of the cleaning module, and two movable parts are provided on the first side of the main body and the second side of the main body, and the two movable parts are spaced apart along the first direction; the width direction of the cleaning module is basically perpendicular to the width direction of the cleaning robot; the mating part is opposite to the movable part, and the two mating parts opposite to the movable part on the first side of the body are spaced apart along the first direction, and the two mating parts opposite to the movable part on the second side of the body are spaced apart along the first direction.

[0020] In some embodiments, the body is provided with an installation space, and the side of the body is provided with an opening connected to the installation space, at least a portion of the cleaning module is arranged in the installation space, and when the cleaning module is in the second state, at least a portion of the cleaning module extends from the opening to the outside of the installation space.

[0021] In some embodiments, the power module includes a driving member and a transmission member, one end of the transmission member is connected to the driving member, and the other end is connected to the cleaning module, and the transmission member is used to transmit the driving force of the driving member to the cleaning module so that the cleaning module moves relative to the fuselage.

[0022] In some embodiments, the power module further includes a buffer component, and when the cleaning module is in the second state and subjected to a positive external force along the first direction, the buffer component is used to buffer the positive external force along the first direction applied to the cleaning module.

[0023] In some embodiments, the buffer assembly includes an elastic member, and when the cleaning module is in the second state and is subjected to a positive external force along the first direction, the elastic member is in an elastic deformation state; the elastic member includes at least one of the following: a spring, a spring, and a rubber member.

[0024] In some embodiments, the body is provided with a limiting groove. The transmission component includes a connecting member and a transmission member. At least a portion of the connecting member is disposed within the limiting groove; one end of the transmission member is connected to the driving member, and the other end is connected to the connecting member. The driving member drives the connecting member to move relative to the body via the transmission member, thereby driving the body to move relative to the body.

[0025] In some embodiments, the transmission member includes a gear and a rack, the gear is connected to the driving member, the rack is connected to the connecting member, and the gear cooperates with the rack. When the driving member drives the gear to rotate, the gear drives the rack to move, thereby driving the connecting member to move relative to the fuselage.

[0026] In some embodiments, in the opposite direction of the first direction, the limit groove includes a first limit side wall and a second limit side wall in sequence; the elastic member of the buffer assembly of the power module is arranged in the limit groove, and the elastic member is connected to both the connecting member and the first limit side wall, or the elastic member is connected to both the connecting member and the second limit side wall.

[0027] In some embodiments, when the elastic member includes a tension spring, the tension spring is fixedly connected to the connecting member and the first limiting side wall; when the elastic member includes a compression spring, the compression spring is connected to the connecting member and the second limiting side wall, and the compression spring is connected to at least one of the connecting member and the second limiting side wall in abutment manner.

[0028] In some embodiments, the transmission component includes a connecting member, which is wound around the output shaft of the driving member, and both opposite ends of the connecting member are connected to the cleaning module, and the driving member drives the cleaning module to move relative to the body through the connecting member.

[0029] In certain embodiments, the elastic member of the buffer assembly of the power module is disposed on the connecting member.

[0030] In some embodiments, the cleaning robot further includes a mobile module cooperating with the cleaning module, and the driving member is used to drive the mobile module to move relative to the body, thereby driving the cleaning module to move relative to the body. The buffer assembly of the power module includes an anti-collision member, the anti-collision member is disposed on the body and is capable of moving relative to the body, at least a portion of the mobile module is disposed on the anti-collision member and is capable of moving relative to the anti-collision member, opposite ends of the connecting member are connected to the anti-collision member, and the elastic member of the buffer assembly is connected between the anti-collision member and the mobile module along a first direction.

[0031] In some embodiments, the cleaning robot further includes a detection module, and the detection module is used to detect a current state of the cleaning module, where the current state includes the first state, the second state, and the third state.

[0032] In some embodiments, the detection module includes a code disk, which is disposed on a driving member of the power module and is used to detect the number of rotations of the driving member to determine the current state of the cleaning module.

[0033] In some embodiments, the detection module includes a transmitter and a receiver, one of the transmitter and the receiver is arranged on the main body, and the other is arranged on the fuselage, the transmitter is used to transmit a detection signal, and the receiver is used to receive the detection signal and indicate the current status of the cleaning module according to the received detection signal.

[0034] In the cleaning robot provided in the first aspect of the embodiment of the present application, the power module can drive the cleaning module to move relative to the fuselage so that the cleaning module switches between the first state, the second state and the third state, and when the cleaning module is in the first state and the second state, the cleaning module contacts the surface to be cleaned, and the target end of the cleaning module is further away from the center line of the cleaning robot in the width direction in the second state than in the first state, that is, the cleaning module is further away from the fuselage, and in the third state, the cleaning module can be separated from the surface to be cleaned. Therefore, compared with traditional cleaning robots, the cleaning module in this embodiment can achieve cleaning within the normal area in the first state, and can improve the cleaning effect of the corner position or the edge position after switching to the second state, and the cleaning module can be lifted off the ground to improve the obstacle crossing ability.

[0035] The cleaning robot provided in the second aspect of the embodiment of the present application includes a fuselage, a guide module, a cleaning module and a power module. The guide module is arranged on the fuselage and includes a matching part. The cleaning module includes a main body and a movable part arranged on the main body, the main body includes a wiping assembly, the wiping assembly is used to clean the surface to be cleaned, and the cleaning module is movably arranged on the fuselage through the cooperation between the movable part and the guide module. The power module is arranged on the fuselage, and the power module is used to drive the cleaning module to move along the first direction. In the process of the power module driving the cleaning module to move along the first direction, the movable part and the matching part can generate relative movement until the movable part is carried on the matching part, so that the cleaning module moves from the first position to the second position; wherein, when the cleaning module is in the first position, the cleaning module is in contact with the surface to be cleaned, and when the cleaning module is in the second position, the cleaning module is spaced apart from the surface to be cleaned.

[0036] In some embodiments, the guide module further includes a guide member, the matching member is disposed on the guide member, and the guide member is used to guide the movable member to move relative to the fuselage along the first direction to drive the main body to move relative to the fuselage along the first direction.

[0037] The cleaning module of the cleaning robot provided in the second aspect of the embodiment of the present application is connected to the body of the cleaning robot through a guide module, the power module can drive the cleaning module to move in a first direction, and the cleaning module cooperates with the moving part of the cleaning module through the matching part of the guide module, so that when the cleaning module moves in the first direction, the moving part of the cleaning module can move to be carried on the matching part, thereby allowing the cleaning module to move from a first position to a second position, that is, the cleaning module can move from a position in contact with the surface to be cleaned to a raised position during the process of moving in the first direction. In this way, it is relatively simple to switch the cleaning module of the cleaning robot between a normal cleaning state and a state separated from the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot, and the cleaning module can be lifted off the ground to improve the obstacle crossing ability.

[0038] The base station provided in the third aspect of an embodiment of the present application is used in conjunction with the cleaning robot as described above, and the base station includes a docking position for accommodating the cleaning robot.

[0039] The cleaning system provided in the fourth aspect of the embodiment of the present application includes the cleaning robot described above and a base station used in conjunction with the cleaning robot. The base station includes a docking position for accommodating the cleaning robot.

[0040] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0042] FIG1( a ) is a schematic diagram of a cleaning module in a first state when the cleaning robot is walking along an edge in some embodiments of the present application;

[0043] FIG1( b ) is a schematic diagram of the cleaning module in a second state when the cleaning robot is walking along an edge in some embodiments of the present application;

[0044] FIG2( a ) is a schematic diagram of a cleaning module in a first state when the cleaning robot is walking along an edge in some other embodiments of the present application;

[0045] FIG2( b ) is a schematic diagram of the cleaning module in the second state when the cleaning robot is walking along the edge in some other embodiments of the present application;

[0046] FIG3( a ) is a schematic diagram of a cleaning robot in some embodiments of the present application, when walking along a side, with a side brush (cleaning module) in a first state;

[0047] FIG3( b ) is a schematic diagram of the cleaning robot in some embodiments of the present application, when walking along the side, with the side brush (cleaning module) in the second state;

[0048] Figure 4 is a schematic diagram of the three-dimensional structure of a cleaning robot according to certain embodiments of the present application;

[0049] Figure 5(a) is Figure 4 A schematic diagram of the three-dimensional structure of the cleaning module and the guide module in the cleaning robot shown;

[0050] Figure 5(b) is Figure 4 A top view schematic diagram of the cleaning module and the guide module in the cleaning robot shown;

[0051] Figure 6 5 is a schematic exploded perspective view of the cleaning module and the guide module of the cleaning robot;

[0052] Figure 7 This is a schematic structural diagram of a mopping assembly of a cleaning module provided in some embodiments of the present application;

[0053] Figure 8 yes Figure 4 A schematic diagram of the planar structure of the cleaning robot shown;

[0054] Figure 9(a) is Figure 4 A structural schematic diagram of an embodiment of the relative positions between the moving part and the matching part when the cleaning module of the cleaning robot is in the first state, the second state and the third state is shown;

[0055] Figure 9(b) is Figure 4 A structural schematic diagram of another embodiment of the relative positions between the moving part and the matching part when the cleaning module of the cleaning robot is in the first state, the second state and the third state;

[0056] Figure 10 yes Figure 4 A schematic diagram of the three-dimensional structure of an embodiment of a power module in a cleaning robot is shown;

[0057] Figure 11 yes Figure 4 A schematic diagram of the three-dimensional structure of an embodiment of a power module and a mobile module in a cleaning robot is shown;

[0058] Figure 12 yes Figure 4 A schematic diagram of the three-dimensional structure of another embodiment of the power module and the mobile module in the cleaning robot is shown;

[0059] Figure 13 yes Figure 12The schematic diagram of the three-dimensional exploded view of the power module and the mobile module of the cleaning robot shown;

[0060] FIG14( a ) is a schematic diagram of the cleaning robot provided in an embodiment of the present application in a first state;

[0061] FIG14( b ) is a schematic diagram of the cleaning robot provided by an embodiment of the present application in a second state;

[0062] FIG14( c ) is a schematic diagram of the cleaning robot provided in an embodiment of the present application in a third state;

[0063] Figure 15 It is a schematic diagram of the three-dimensional structure of a cleaning system according to certain embodiments of the present application. DETAILED DESCRIPTION

[0064] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0065] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0067] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0068] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0069] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0070] A cleaning robot is an intelligent robot that can move autonomously across the surface to be cleaned. It is driven by drive wheels on its chassis, enabling navigation and mobile cleaning. The bottom of the cleaning robot is typically equipped with cleaning modules such as a brush-sweeping module and a mopping module. The brush-sweeping module can include a side brush and a roller brush. Typically, the side brush is located at the front of the cleaning robot, the roller brush is roughly located in the middle of the robot, and the mopping module is located at the rear. The robot's body is equipped with a roller brush housing for mounting the roller brush. The roller brush housing is equipped with a roller brush inlet and outlet, with the roller brush inlet located near the surface to be cleaned. During the cleaning process, the side brush sweeps debris into the roller brush inlet, where it is sucked into the robot's waste collection container by the suction air from the roller brush inlet and through the roller brush outlet. The roller brush itself also performs cleaning duties. The mopping module is used to contact and wipe the surface to be cleaned.

[0071] The inventors have discovered through creative work that in the related art, when a cleaning robot cleans a surface to be cleaned, there are some blind spots in the cleaning process, thereby affecting the cleaning effect of the cleaning robot on the surface to be cleaned.

[0072] For example, for the cleaning module including a mopping part, please refer to Figures 1(a) and 2(a). Due to the appearance and structural limitations of the cleaning robot, the mopping part of the cleaning robot generally does not protrude too much from the cleaning robot in the width direction of the cleaning robot. For example, as shown in Figure 1(a), the mopping part can be completely located within the body outline of the cleaning robot. Alternatively, as shown in Figure 2(a), the mopping part is partially located outside the body outline of the cleaning robot, but the mopping part still does not exceed the widest area of ​​the body in the width direction of the cleaning robot. Therefore, when the cleaning robot cleans along the edge (for example, cleaning along the wall), there will be a cleaning blind spot between the mopping part and the obstacle (such as the wall), resulting in poor cleaning effect of the cleaning robot along the edge.

[0073] Regarding the cleaning module including the side brush, please refer to FIG3(a). In the related art, when the side brush is in the normal installation state, it is necessary to ensure that the side brush will not be pressed by the driving wheel of the cleaning robot during the movement of the cleaning robot. Therefore, the bristles of the side brush itself will not be designed to be too long. In order to make it easier for the garbage cleaned by the side brush to be swept to the roller brush air inlet, the side brush will not be designed to be too far away from the roller brush air inlet, resulting in the side brush of the cleaning robot being basically installed in the state shown in FIG3(a) under normal installation. As a result, when this type of cleaning robot passes through a corner area during the cleaning process, the side brush cannot extend into the corner well and cannot effectively sweep out the dust and garbage in the corner, forming a cleaning blind spot in the corner, which in turn leads to poor corner cleaning effect of the cleaning robot.

[0074] Of course, when the cleaning module in FIG1( a ) and FIG1( b ) is a roller brush, the roller brush will also have a blind spot in cleaning.

[0075] In addition, for a cleaning robot, since the cleaning module needs to contact the surface to be cleaned (such as the ground) under normal cleaning conditions, when the cleaning robot needs to overcome obstacles, such as when crossing a threshold, it is desirable that the cleaning module does not hinder the cleaning robot from overcoming the obstacle, and in this case, it is also desirable that the cleaning module does not contact the surface to be cleaned. Alternatively, for a cleaning robot equipped with both a sweeping part and a mopping part, if only sweeping is required, it is desirable that the mopping part does not contact the surface to be cleaned, and if only mopping is required, it is desirable that the sweeping part does not contact the surface to be cleaned, so as to avoid contaminating the surface to be cleaned that has already been mopped.

[0076] Therefore, in order to solve the above technical problems, the embodiment of the present application provides a relatively simple mechanism to enable the cleaning robot to switch between normal cleaning of the cleaning module, sideways cleaning of the cleaning module, and lifting the cleaning module to detach from the surface to be cleaned.

[0077] See also Figures 4 to 6 The cleaning robot 100 of certain embodiments of the present application includes a body 10, a guide module 20, a cleaning module 30 and a power module 40. The guide module 20 is arranged on the body 10 and includes a matching part 21. The cleaning module 30 includes a main body 31 and a moving part 33 arranged on the main body 31. The main body 31 includes a wiping assembly 310. The wiping assembly 310 is used to clean the surface to be cleaned. The cleaning module 30 is arranged on the body 10 through the cooperation of the moving part 33 and the guide module 20. The power module 40 is arranged on the body 10 and connected to the body 31. The power module 40 is used to drive the cleaning module 30 to move relative to the body 10, so that the cleaning module 30 switches between the first state, the second state and the third state.

[0078] When the cleaning module 30 is in the first state and the second state, the cleaning module 30 is in contact with the surface to be cleaned (not shown); in the second state, the target end of the cleaning module 30 is further away from the center line of the cleaning robot 100 in the width direction than in the first state; when the cleaning module 30 is in the third state, the moving member 33 is carried on the matching member 21 to separate the cleaning module 30 from the surface to be cleaned; wherein, the target end of the cleaning module 30 is the side of the cleaning module 30 closer to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the travel direction Y of the cleaning robot. The "obstacle" can be a wall, cabinet, or other grounded object.

[0079] The cleaning robot 100 is an intelligent device capable of performing functions such as sweeping, vacuuming, and mopping. The cleaning robot 100 includes, but is not limited to, a sweeping robot, an intelligent robot, and a mobile robot. In some embodiments, the surface to be cleaned may be the floor of a building. In other embodiments, the surface to be cleaned may also be other surfaces that require cleaning, such as walls, beds, windows, and the like.

[0080] The cleaning module 30 is a device that can realize the mopping function (such as wet mopping or dry mopping, etc.) of the cleaning robot 100. It can also be a device that can realize the sweeping function of the cleaning robot 100.

[0081] For example, the cleaning module 30 may include a crawler type cleaning member or a roller type cleaning member. Figure 7The mopping assembly 310 may include a bracket assembly 311 and a mopping member 313, which is mounted on the bracket assembly 311. The body 31 also includes a mounting shell 314, in which the mopping assembly 310, consisting of the bracket assembly 311 and the mopping member 313, is mounted. The bracket assembly 311 is detachably mounted on the side of the mounting shell 314 facing the surface to be cleaned, so that the mopping assembly 310 can be detachably mounted in the mounting shell 314. When the cleaning robot 100 is in a normal cleaning state, the bracket assembly 311 can drive the mopping member 313 to rotate relative to the surface to be cleaned to clean the surface. It should be noted that in some embodiments, the mopping member 313 includes, but is not limited to, a disposable electrostatic mop, a disposable wet mop, or a reusable fabric mop.

[0082] The cleaning robot 100 may further include a brush sweeping module, which is disposed on the body 10 and is used to clean the surface to be cleaned. The brush sweeping module may include a roller brush and a side brush. When the cleaning robot 100 uses the brush sweeping module to clean the surface to be cleaned, the side brush sweeps dust and other dirt from the outside to the middle area, and the roller brush continues to sweep the dirt in the middle area into a garbage collection container (not shown). Along the travel direction Y of the cleaning robot 100, the side brush is located on the front side of the body 10, the roller brush is located in the middle of the body 10 (between the front side of the body 10 and the rear side of the body 10), and the cleaning module 30 including the mopping member 312 can be located on the rear side of the body 10. As a result, the cleaning robot 100 can achieve both sweeping and mopping functions, thereby improving the cleaning effect of the cleaning robot 100.

[0083] It should be noted that the orientations described in the embodiments of the present application are defined with the driving wheels of the cleaning robot supported on the surface to be cleaned. The "front side" and "rear side" are relative to the travel direction Y of the cleaning robot 100. When the cleaning robot 100 moves forward along the travel direction Y, the front end of the body 10 closest to the travel direction is the front side of the body 10, and the rear end of the body 10 closest to the travel direction is the rear side of the body 10. In some embodiments, the cleaning module 30 can switch between a first state, a second state, and a third state.

[0084] For example, please refer to the attached Figure 1(a) to Figure 1(b) ,as well as Figure 2(a) to Figure 2(b)As can be seen from Figures 1(a) and 2(a), when the cleaning robot is in the first state, there is a cleaning blind spot between the right side of the cleaning robot and the wall. In order to clean this cleaning blind spot, the cleaning module can be driven to move to the right by the power module, so that the cleaning module is switched to the second state, as shown in Figures 1(b) and 2(b). When the cleaning module is in the second state, the right edge of the cleaning module can fit well with the wall, or the distance between the right edge and the wall can be very small, so as to eliminate or reduce the cleaning blind spot, so that the cleaning module can better clean the area along the wall.

[0085] Alternatively, please combine the Figure 3(a) to Figure 3(b) Taking the cleaning module of the embodiment of the present application as an example, as shown in Figure 3(a), when the cleaning robot is in the first state, there is a cleaning blind spot between the right side of the cleaning robot and the corner. In order to clean this cleaning blind spot, the side brush can be driven to move toward the right side by the power module, so that the side brush is switched to the second state. As shown in Figure 3(b), when the side brush is in the second state, the side brush can extend further into the corner, thereby eliminating or reducing the cleaning blind spot in the corner, so that the cleaning module can better clean the corner area.

[0086] Therefore, in addition to working in the normal cleaning state (first state), the cleaning module 30 of the cleaning robot 100 can also work in the side-moving cleaning state (second state), so that the cleaning module 30 can clean the corners of the surface to be cleaned (for example, when the surface to be cleaned is the ground, the position close to the wall on the ground, or the position in the corner), thereby reducing the limitation of the external dimensions of the fuselage 10 and improving the cleaning effect of the cleaning robot 100.

[0087] In addition, when the cleaning module 30 is in the third state, the cleaning module 30 is spaced apart from the surface to be cleaned, so that the cleaning module 30 can be raised when there is a protrusion on the surface to be cleaned, so as to facilitate the cleaning robot to overcome the obstacle and improve the passing performance of the cleaning robot. Alternatively, when there is an area on the surface to be cleaned that the user does not want to mop (such as a carpet area, etc.), the cleaning module 30 is raised to ensure the cleaning effect and prevent the cleaning robot 100 from mopping the carpet area and contaminating the carpet area. This helps the cleaning robot 100 adapt to different cleaning environments and cleaning needs, and improves the cleaning effect of the cleaning robot 100.

[0088] The cleaning module 30 of the embodiment of the present application can be driven by the power module 40 to switch between the first state, the second state and the third state. Since the cleaning module 30 is arranged on the fuselage 10 by cooperating with the guide module 20, and the guide module 20 has a matching member 21, the cleaning module 30 has a moving member 33 that cooperates with the matching member 21. When it is necessary to drive the cleaning module 30 to switch between the first state, the second state and the third state, it is only necessary to drive the cleaning module 30 to move along a preset direction. During this process, the moving member 33 moves within the guide module 20. When the moving member 33 moves to the point where it is carried on the matching member 21, the cleaning module 30 breaks away from contact with the surface to be cleaned and is in the third state. Therefore, compared with traditional cleaning robots, the cleaning module 30 in the embodiment of the present application can achieve cleaning within the normal area in the first state, and can improve the cleaning effect of the edges or corners after switching to the second state. The cleaning module 30 switches to the third state in which it is lifted off the ground, which can improve the obstacle-crossing ability of the cleaning robot, or the cleaning module 30 can be driven away from the surface to be cleaned according to different cleaning scene requirements to avoid reverse contamination of the surface to be cleaned.

[0089] In some embodiments, when the cleaning module 30 is in a first state, the cleaning module 30 is in contact with the surface to be cleaned, and the cleaning module 30 is located in the widest area of ​​the body 10; when the cleaning module 30 is in a second state, the cleaning module 30 is in contact with the surface to be cleaned, and the target end of the cleaning module 30 is located outside the widest area of ​​the body 10, or the target end of the cleaning module 30 is flush with the edge of the widest area of ​​the body 10; wherein the widest area is the area formed by two tangents of the projection of the body 10 on the surface to be cleaned along the traveling direction of the cleaning robot 100.

[0090] Specifically, please combine Figure 8In some embodiments, the first state may be the state in which the cleaning module 30 is in contact with the surface to be cleaned, and the projection of the cleaning module 30 on the surface to be cleaned is located within the widest area of ​​the body 10. The second state may be the state in which the cleaning module 30 is in contact with the surface to be cleaned, and the target end of the projection of the cleaning module 30 on the surface to be cleaned is located outside the widest area of ​​the body 10, or the target end of the projection of the cleaning module 30 on the surface to be cleaned is flush with the edge of the widest area of ​​the body 10. For example, when the cleaning module 30 includes a crawler-type cleaning member, the second state of the cleaning module 30 may be such that the right end of the crawler-type cleaning member is flush with the edge of the widest area of ​​the body 10. Alternatively, the right end of the crawler-type cleaning member may extend beyond the edge of the widest area of ​​the body 10. The third state may be such that the moving member 33 is supported by the mating member 21, and the cleaning module 30 is spaced apart from the surface to be cleaned. The widest area is the area formed by two tangent lines to the projection of the body 10 on the surface to be cleaned along the travel direction Y of the cleaning robot 100. That is, the widest area is the area formed by a first tangent line L1 passing through the leftmost end of the projection of the body 10 on the surface to be cleaned and a second tangent line L2 passing through the rightmost end of the projection of the body 10 on the surface to be cleaned. The first tangent line L1 and the second tangent line L2 both extend in the same direction as the travel direction Y of the cleaning robot 100.

[0091] In particular, when the cleaning module 30 is a mopping member, when the cleaning module 30 is in the first state, the cleaning module 30 will not exceed the widest area of ​​the body 10 along the width direction of the cleaning robot 100. In this way, when the cleaning robot 100 performs normal cleaning of the surface to be cleaned (not edge cleaning or corner cleaning), the cleaning module 30 will not protrude too much from the body 10, thereby better ensuring the appearance of the cleaning robot 100. When the cleaning robot 100 is in the second state, the target end of the cleaning module 30 is further away from the center line of the cleaning robot 100 in the width direction.

[0092] It is understandable that when the cleaning module 30 is a side brush, the bristles of the side brush are soft and are not likely to interfere with other components on the chassis of the cleaning robot 100 and hinder its rotation. In addition, it is necessary to gather dust and garbage around the area passed by the cleaning robot 100 to the middle of the cleaning robot 100. Therefore, when the cleaning robot 100 is in normal cleaning (first state), the side brush can exceed the widest area of ​​the body 10, and when the cleaning robot 100 is in the second state, the target end of the side brush is further away from the center line of the width direction of the cleaning robot 100. It is worth noting that the target end of the side brush refers to the position closest to the obstacle in the cleaning area formed by the side brush during rotation.

[0093] It is understandable that, in some embodiments, when the cleaning module 30 is in the first state or the second state, the cleaning robot 100 is in a cleaning state, in which case the cleaning robot 100 can clean the surface to be cleaned. Specifically, when the cleaning module 30 is in the first state, the cleaning module 30 can clean any position of the surface to be cleaned except the corners; when the cleaning module 30 is in the second state, the cleaning module 30 can clean any position (including the corners) of the surface to be cleaned. When the cleaning module 30 is in the third state, the cleaning module 30 may be in a non-cleaning state, in which case the cleaning robot 100 does not perform the target cleaning task on the surface to be cleaned, and the target cleaning task may be a mopping task or a sweeping task. The cleaning robot 100 is further explained below with reference to the accompanying drawings.

[0094] See also Figure 4 、 Figure 6 and Figure 9(a) to Figure 9(b) In some embodiments, the power module 40 is used to drive the moving member 33 to move in the guide module 20 along the first direction (X1 / X2) so that the cleaning module 30 switches between the first state and the second state; when the moving member 33 abuts the matching member 21, the power module 40 is also used to drive the cleaning module 30 to move along the first direction (X1 / X2), and through the cooperation between the moving member 33 and the matching member 21, the cleaning module 30 is driven to move along the second direction Z so that the cleaning module 30 switches between the first state and the third state, or switches between the second state and the third state, and the first direction (X1 / X2) intersects with the second direction Z. It should be noted that in some embodiments, the first direction (X1 / X2) can be a direction perpendicular to the travel direction Y of the cleaning robot 100. More specifically, the first direction (X1 / X2) can be the width direction of the cleaning robot 100; the second direction Z can be the height direction of the cleaning robot 100, that is, the direction from the cleaning module 30 to the surface to be cleaned, or the direction from the surface to be cleaned to the cleaning module 30.

[0095] Specifically, in some embodiments, when the moving part 33 moves along the first direction (X1 / X2) in the guide module 20, the cleaning module 30 can switch between the first state and the second state, thereby, the cleaning module 30 can clean most of the position of the surface to be cleaned, reduce the blind spots of cleaning along the edges or corners, and thus improve the cleaning effect of the cleaning robot 100 as a whole; when the moving part 33 moves along the first direction (X1 / X2) in the guide module 20 until the moving part 33 cooperates with the mating part 21, the moving part 33 can drive the cleaning module 30 to move along the second direction Z, so that the cleaning module 30 can switch between the first state and the third state, or switch between the second state and the third state, thereby enabling the cleaning module 30 to cross over objects such as protrusions that hinder the movement of the cleaning robot 100, thereby helping the cleaning robot 100 to adapt to different cleaning environments and cleaning needs, and improving the cleaning effect of the cleaning robot 100.

[0096] For example, please refer to Figure 9(a), "A" in Figure 9(a) represents the relative position between the moving member 33 and the matching member 21 when the cleaning module 30 is in the first state; "B" in Figure 9(a) represents the relative position between the moving member 33 and the matching member 21 when the cleaning module 30 is in the second state; "C" in Figure 9(a) represents the relative position between the moving member 33 and the matching member 21 when the cleaning module 30 is in the third state. In some embodiments, when the cleaning module 30 is in the first state, the power module 40 can drive the moving member 33 to move in the reverse direction X2 relative to the fuselage 10 along the first direction (X1 / X2) so that the moving member 33 moves from A to B, thereby enabling the cleaning module 30 to switch from the first state to the second state; or the power module 40 can drive the moving member 33 to move in the forward direction X1 relative to the fuselage 10 along the first direction (X1 / X2) so that the moving member 33 moves from A to C, thereby enabling the cleaning module 30 to switch from the first state to the third state.

[0097] Please refer to Figure 9(b). In other embodiments, "A" in Figure 9(b) represents the relative position between the moving part 33 and the matching part 21 when the cleaning module 30 is in the first state; "B" in Figure 9(b) represents the relative position between the moving part 33 and the matching part 21 when the cleaning module 30 is in the second state; "C" in Figure 9(b) represents the relative position between the moving part 33 and the matching part 21 when the cleaning module 30 is in the third state. When the cleaning module 30 is in the first state, the power module 40 can drive the cleaning module 30 to move relative to the body 10 along the opposite direction X2 of the first direction (X1 / X2) until the moving part 33 cooperates with the matching part 21, so that the cleaning module 30 directly switches from the first state to the third state, and the moving part 33 of the cleaning module 30 moves from position A to position C; or the power module 40 can drive the cleaning module 30 to move relative to the body 10 along the opposite direction X2 of the first direction (X1 / X2) until the moving part 33 cooperates with the matching part 21, so that the cleaning module 30 switches from the first state to the third state, and then continues to drive the cleaning module 30 to move along the opposite direction X2 of the first direction (X1 / X2), so that the cleaning module 30 switches from the third state to the second state, and the moving part 33 of the cleaning module 30 moves from position C to movement B. When the cleaning module 30 is in the second state, the power module 40 can drive the cleaning module 30 to move relative to the fuselage along the positive direction X1 of the first direction (X1 / X2) until the moving part 33 cooperates with the matching part 21, so that the cleaning module 30 directly switches from the second state to the third state, and the moving part 33 of the cleaning module 30 moves from position B to position C; or the power module 40 can drive the cleaning module 30 to move relative to the fuselage 10 along the positive direction X1 of the first direction (X1 / X2) until the moving part 33 cooperates with the matching part 21, so that the cleaning module 30 switches from the second state to the third state, and then continues to drive the cleaning module 30 to move along the positive direction X1 of the first direction (X1 / X2), so that the cleaning module 30 switches from the third state to the first state, and the moving part 33 of the cleaning module 30 moves from position C to position A.

[0098] See also Figure 4 and Figure 6 In some embodiments, the guide module 20 further includes a guide member 23 , and the matching member 21 is disposed on the guide member 23 . The guide member 23 is used to guide the moving member 33 to move relative to the fuselage 10 , thereby driving the main body 31 to move relative to the fuselage 10 .

[0099] Specifically, in some embodiments, when the power module 40 drives the moving part 33 to move in the guide part 23 relative to the fuselage 10 along the first direction (X1 / X2), the moving part 33 can drive the main body 31 to move along the first direction (X1 / X2) relative to the fuselage 10, so that the cleaning module 30 switches between the first state and the second state; when the power module 40 drives the moving part 33 to move in the guide part 23 relative to the fuselage 10 along the first direction (X1 / X2) until the moving part 33 abuts against the mating part 21, the moving part 33 can cooperate with the mating part 21 and move to be supported by the mating part 21, so that the cleaning module 30 can move in the second direction Z, so that the cleaning module 30 can switch between the first state and the third state, or switch between the second state and the third state.

[0100] In some embodiments, as shown in FIG5(a), FIG5(b) and Figure 6 As shown, the guide members 23 may include two, and the two guide members 23 are arranged on opposite sides of the width direction of the cleaning module 30. The width direction of the cleaning module 30 is substantially perpendicular to the width direction of the cleaning robot 100. Here, "substantially perpendicular" means that the angle between the two is 90°±5° within the range allowed by the manufacturing process or assembly process error. Exemplarily, the two guide members 23 are symmetrically arranged on opposite sides of the width direction of the cleaning module 30. In this way, the force on the cleaning module 30 can be more balanced, which is beneficial to the stability of the cleaning module 30 during the movement process.

[0101] In some other embodiments, the guide member 23 can also be one, and the guide member 23 can be set at the top of the cleaning module 30 and located in the middle position in the width direction of the cleaning module 30, and the width direction of the cleaning module 30 is basically perpendicular to the width direction of the cleaning robot 100. Similarly, arranging the guide member 23 in the middle position in the width direction of the cleaning module 30 can also be beneficial to the force balance of the cleaning module 30. In some embodiments, a guide groove 231 is provided on the fuselage 10, and the guide groove 231 forms the guide member 23, and the length direction of the guide groove 231 is the first direction (X1 / X2), and the matching member 21 is arranged in the guide groove 231. Specifically, in some embodiments, at least a portion of the moving member 33 is arranged in the guide groove 231 and can move relative to the fuselage 10 along the first direction (X1 / X2) in the guide groove 231. Among them, a guide groove 231 is provided on the body 10, and the guide groove 231 forms a guide member 23, which enables the cleaning robot 100 to guide the moving member 33 without setting too many structural parts, thereby simplifying the installation steps of the cleaning robot 100.

[0102] In other embodiments, the guide member 23 is mounted on the fuselage 10, and a guide groove 231 is provided on the guide member 23, the centerline of the guide groove 231 extending in the first direction (X1 / X2), and the matching member 21 is disposed in the guide groove 231. Specifically, in some embodiments, at least a portion of the movable member 33 is disposed in the guide groove 231 and is capable of moving relative to the fuselage 10 in the guide groove 231 along the first direction (X1 / X2). In some embodiments, the guide member 23 and the fuselage 10 can be combined together in a non-detachable connection manner, thereby enhancing the bonding strength between the guide member 23 and the fuselage 10, preventing the guide member 23 from falling off the fuselage 10 when the cleaning module 30 is disposed on the fuselage 10, and thereby ensuring the stability and reliability of the installation of the cleaning robot 100. Non-detachable connection methods include, but are not limited to, bonding or welding. In other embodiments, the guide member 23 and the body 10 may be connected in a detachable manner, so that the guide member 23 can be easily removed and replaced when it is damaged (e.g., due to collision, wear, or deformation), thereby ensuring the normal operation of the cleaning robot 100. The detachable connection method includes but is not limited to a threaded connection or a snap connection.

[0103] In some further embodiments, the guide member 23 is mounted on the fuselage 10. Wherein, the guide member 23 includes a chain or a rack, and the extending direction of the chain or the rack is a first direction (X1 / X2), and the matching member 21 is arranged on the chain or the rack. Specifically, in some embodiments, the moving member 33 can cooperate with the chain or the rack and move along the chain or the rack relative to the fuselage 10 along the first direction (X1 / X2). In one example, the moving member 33 can be a gear, which meshes with the chain or the rack and can move relative to the chain or the rack. It is understandable that in other embodiments, the guide member 23 can also be other elements that can guide the moving member 33 to move relative to the fuselage 10 along the first direction (X1 / X2), and examples are not given one by one here.

[0104] In addition, in some embodiments, the mating member 21 can be integrally formed with the guide member 23, that is, the mating member 21 and the guide member 23 are a single unitary structure, thereby improving the bonding strength between the mating member 21 and the guide member 23, preventing the mating member 21 from falling off the guide member 23 when the moving member 33 is mated with the mating member 21, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the mating member 21 and the guide member 23 can be connected together using a non-detachable connection or a detachable connection, wherein the non-detachable connection includes but is not limited to bonding or welding, and the detachable connection includes but is not limited to a snap connection or a threaded connection.

[0105] In certain embodiments, when the cleaning module 30 includes a tracked cleaning member, the tracked cleaning member can be disposed on the body 10 via a guide groove 231. The tracked cleaning member can move relative to the body 10 in a first direction (X1 / X2) within the guide groove 231. Since tracked cleaning members are generally heavy, the guide groove 231 can bear the weight and guide the tracked cleaning member. Furthermore, since the centerline of the guide groove 231 extends in the first direction (X1 / X2), the guide groove 231 can better guide the tracked cleaning member, reduce shaking or movement of the tracked cleaning member during movement relative to the body 10, and improve the stability of the tracked cleaning member relative to the body 10. In addition, the setting of the guide groove 231 makes it possible for the cleaning module 30 including the crawler cleaning component to be removed from the body 10 of the cleaning robot by releasing the lateral limit of the cleaning module 30. Then, the cleaning module 30 can be slid out along the extension direction of the guide groove 231, thereby facilitating the installation and disassembly of the crawler cleaning component on the body 10, reducing the difficulty of loading and unloading, and improving the loading and unloading efficiency.

[0106] See also Figure 6 9(a) and 9(b), in some embodiments, the guide groove 231 includes a first side wall 233 and a second side wall 235 that are opposite to each other in the second direction Z. In the second direction Z, the first side wall 233 is closer to the surface to be cleaned than the second side wall 235. The matching member 21 is disposed on the first side wall 233. When the moving member 33 abuts against the matching member 21, the moving member 33 can move along the matching member 21 until it is supported on the matching member 21. Exemplarily, the top surface of the matching member 21 can be used to support the moving member 33, and its surface can be a flat surface or a curved surface.

[0107] Specifically, in some embodiments, the movable member 33 can be carried on the first side wall 233 under the action of gravity, and the movable member 33 can move relative to the body 10 along the first direction (X1 / X2) on the first side wall 233. When the movable member 33 moves relative to the body 10 along the first direction (X1 / X2) until it abuts against the mating member 21, the movable member 33 can continue to move along the mating member 21 until it is carried on the mating member 21, that is, the movable member 33 can move along the mating member 21 to the top of the mating member 21 (the side of the mating member 21 opposite to the second side wall 235). Thus, the movable member 33 can drive the main body 31 to move along the second direction Z, thereby enabling the cleaning module 30 to switch from the first state to the third state, or enabling the cleaning module 30 to switch from the second state to the third state.

[0108] Please refer to Figure 9 (a), in some embodiments, the matching member 21 includes a protrusion, and the protrusion includes a first surface 211 and a second surface 213 opposite to each other in a first direction (X1 / X2), and the first surface 211 and / or the second surface 213 are tilted, and the first surface 211 and / or the second surface 213 are used to guide the movement of the moving member 33 to be carried on the protrusion. Wherein, the first surface 211 and / or the second surface 213 are tilted, on the one hand, it is possible to improve the stability of the movement of the moving member 33 along the matching member 21, so that the moving member 33 can gradually climb onto the matching member 21, thereby improving the stability of the state switching process of the cleaning module 30; on the other hand, compared to the first surface 211 and / or the second surface 213 not being tilted, the power consumption required for the power module 40 to drive the moving member 33 to move along the matching member 21 in this embodiment is smaller. In addition, the first surface 211 and / or the second surface 213 are tilted to prevent the movable member 33 from getting stuck when contacting the mating member 21, thereby preventing the power module 40 from burning out and other faults, thereby improving the safety of the power module 40 and extending the service life of the power module 40. Specifically, in some embodiments, the direction from the first surface 211 to the second surface 213 is the same as the positive direction X1 of the first direction (X1 / X2). When the first surface 211 is tilted (as shown in Figure 9 (a)), along the positive direction X1 of the first direction (X1 / X2), the distance between the first surface 211 and the surface to be cleaned in the second direction Z gradually increases; when the second surface 213 is tilted (as shown in Figure 9 (b)), along the positive direction X1 of the first direction (X1 / X2), the distance between the second surface 213 and the surface to be cleaned in the second direction Z gradually decreases. In which, the protrusion can protrude and extend from the first side wall 233 toward the second side wall 235. When the movable part 33 moves relative to the body 10 along the first direction (X1 / X2) until it abuts the first surface 211 or the second surface 213, the movable part 33 can move along the first surface 211 or the second surface 213 toward the top of the protrusion (the side of the protrusion opposite to the second side wall 235) until the movable part 33 can be supported on the top of the protrusion, thereby enabling the cleaning module 30 to switch from the first state to the third state, or enabling the cleaning module 30 to switch from the second state to the third state.

[0109] In one example, as shown in Figure 9 (a), when the relative fuselage 10 of cleaning module 30 moves along the positive direction X1 of the first direction (X1 / X2), can switch between the first state and the third state, when moving along the reverse X2 of the first direction (X1 / X2), can switch between the first state and the second state under the situation that, first face 211 is tilted, that is, first face 211 can guide moving member 33 to move to be carried on the projection. In another example, as shown in Figure 9 (b), when the relative fuselage 10 of cleaning module 30 moves along the negative direction of the first direction (X1 / X2), can switch to the third state and the second state from the first state successively, first face 211 and second face 213 can all be tilted, that is, moving member 33 can move to the top of the projection along second face 213 from the first sidewall 233, and then move to the first sidewall 233 along the first face 211 from the top of the projection.

[0110] In some embodiments, the longitudinal section of the mating part 21 cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the first direction (X1 / X2) and a straight line extending along the second direction Z. The upper side of the trapezoid corresponds to the surface of the mating part 21 for supporting the moving part 33, the side sides of the trapezoid correspond to the first surface 211 and the second surface 213, and the upper side of the trapezoid is smaller than the lower side of the trapezoid.

[0111] Specifically, in some embodiments, the lower side of the trapezoid is connected to the first side wall 233. When the movable member 33 moves relative to the body 10 along the first direction (X1 / X2) until it abuts the side of the trapezoid, the movable member 33 can move along the side of the trapezoid to be supported on the upper side of the trapezoid, thereby enabling the cleaning module 30 to switch between the first state and the third state, or between the second state and the third state.

[0112] In other embodiments, the mating member 21 includes a projection, which includes a first surface 211 and a second surface 213 opposite to each other in a first direction (X1 / X2), and the first surface 211 and / or the second surface 213 are arc-shaped. Specifically, in some embodiments, the projection can protrude and extend from the first side wall 233 toward the second side wall 235. When the moving member 33 moves relative to the body 10 along the first direction (X1 / X2) until it abuts against the first surface 211 or the second surface 213, the moving member 33 can move along the first surface 211 or the second surface 213 toward the top of the projection (the side of the projection opposite to the second side wall) until the moving member 33 can be supported on the top of the projection, thereby enabling the cleaning module 30 to switch from the first state to the third state, or enabling the cleaning module 30 to switch from the second state to the third state.

[0113] For example, the mating member 21 can be spherical or hemispherical, and the moving member 33 can be spherical or hemispherical. When the moving member 33 moves on the mating member 21, the convex curved surface of the moving member 33 contacts the convex curved surface of the mating member 21. Guided by the convex curved surface of the mating member 21, the moving member 33 can climb to the top of the mating member 21, thereby switching the cleaning module 30 between the first state and the third state, or between the second state and the third state.

[0114] The structural description of the moving part 33 and the matching part 21 in the above embodiments of the present application is for example only and is not particularly limited in the present application. It is sufficient as long as the matching part 21 protrudes away from the direction of the surface to be cleaned and has a guiding surface for guiding the moving part 33 to climb.

[0115] In certain embodiments, moving member 33 can comprise pulley or roller, and when moving member 33 was pulley, the periphery of moving member 33 was convex cambered surface, and convex cambered surface contacts with fitting 21, and contact area is less, thereby can reduce the friction force that moving member 33 moves on fitting 21, make the motion process of moving member 33 smoother.And when moving member 33 was roller, the periphery of moving member 33 was convex cambered surface, and moving member 33 has the connecting shaft that is connected with cleaning module 30, and rotation is sleeved on the axle sleeve of connecting shaft, the periphery of axle sleeve is convex cambered surface, and axle sleeve can rotate around connecting shaft.In the process that moving member 33 moves, moving member 33 itself rotates, and is the form of pulley compared to moving member 33, and roller-type moving member 33 is owing to can rotate in the process of moving, therefore, the wearing and tearing of moving member 33 in the process that moves in guide module 20 can be less, is conducive to improving the service life of moving member 33, reduces maintenance cost.

[0116] See also Figure 4 , Figure 5(a), Figure 5(b) and Figure 6In some embodiments, the mounting housing 314 includes a first side 3141 and a second side 3143 opposite to each other in the width direction of the cleaning module 30. Two movable members 33 are provided on each of the first side 3141 and the second side 3143 of the mounting housing 314. The two movable members 33 are spaced apart along the first direction (X1 / X2). The mating members 21 are opposite to the movable members 33. The two mating members 21 opposite to the movable member 33 on the first side 3141 of the mounting housing 314 are spaced apart along the first direction (X1 / X2), and the two mating members 21 opposite to the movable member 33 on the second side 3143 of the mounting housing 314 are spaced apart along the first direction (X1 / X2). Therefore, compared with the case where only one movable part 33 is provided on the first side 3141 of the mounting shell 314 and the second side 3143 of the mounting shell 314, the movement of the movable part 33 relative to the fuselage 10 in this embodiment is more stable, which can prevent the cleaning module 30 from getting stuck during the movement relative to the fuselage 10, thereby improving the stability and reliability of the cleaning robot 100 and ensuring the cleaning effect of the cleaning robot 100.

[0117] See also Figure 4 In some embodiments, the body 10 is provided with an installation space 11. An opening 13 is provided on a side of the body 10 that communicates with the installation space 11. At least a portion of the cleaning module 30 is disposed within the installation space 11. When the cleaning module 30 is in the second state, at least a portion of the cleaning module 30 extends out of the installation space 11 through the opening 13. The provision of the installation space 11 can, on the one hand, reduce the space occupied by the cleaning module 30 and the body 10, thereby improving the space utilization of the cleaning robot 100 in the height direction (i.e., the second direction Z), thereby facilitating the miniaturization of the cleaning robot 100. On the other hand, it can facilitate the installation and positioning of the cleaning module 30 on the body 10, thereby improving assembly efficiency.

[0118] Specifically, in some embodiments, the installation space 11 may be recessed from the side of the body 10 facing the surface to be cleaned toward a direction away from the surface to be cleaned. The cross-sectional shape of the installation space 11 is substantially the same as the cross-sectional shape of the cleaning module 30. For example, if the cross-sectional shape of the installation space 11 is a rectangle, the cross-sectional shape of the cleaning module 30 is also substantially a rectangle, thereby ensuring that the cleaning module 30 can be installed in the installation space 11 and can move relative to the body 10 in the installation space 11. Specifically, when the cleaning module 30 is in the second state, at least a portion of the cleaning module 30 can extend from the opening 13 to the outside of the installation space 11, thereby enabling the cleaning module 30 to clean the corners of the surface to be cleaned, thereby improving the cleaning effect of the cleaning robot 100.

[0119] The following describes in detail how to drive the cleaning module 30 to move relative to the main body 10.

[0120] See also Figure 4 and Figure 6 In some embodiments, the power module 40 includes a driving member 41 and a transmission component 43. One end of the transmission component 43 is connected to the driving member 41, and the other end is connected to the cleaning module 30. The transmission component 43 is used to transmit the driving force of the driving member 41 to the cleaning module 30, so that the cleaning module 30 moves relative to the body 10.

[0121] Specifically, in some embodiments, when the driving member 41 is in stable motion, the driving force generated by the driving member 41 can be transmitted to the transmission component 43, and then transmitted to the cleaning module 30 through the transmission component 43. As a result, the driving member 41 can drive the cleaning module 30 to move relative to the body 10 along the first direction (X1 / X2) via the transmission component 43, thereby enabling the cleaning module 30 to switch between the first state, the second state, and the third state. It should be noted that in some embodiments, the driving member 41 can be a driving structure such as a motor or an electric push rod, wherein the motor includes but is not limited to a DC servo motor, an AC servo motor, and a stepper motor.

[0122] See also Figure 4 、 Figure 6 and Figure 10 In some embodiments, the body 31 is provided with a limiting slot 315. The transmission component 43 includes a connecting member 431 and a transmission member 433. At least a portion of the connecting member 431 is disposed within the limiting slot 315. One end of the transmission member 433 is connected to the driving member 41, and the other end is connected to the connecting member 431. The driving member 41 drives the connecting member 431 to move relative to the body 10 via the transmission member 433, thereby driving the body 31 to move relative to the body 10.

[0123] Specifically, in some embodiments, along the reverse direction X2 of the first direction (X1 / X2), the limiting groove 315 includes a first limiting side wall 3151 and a second limiting side wall 3153 in sequence. When the driving member 41 operates stably, the driving member 41 can drive the connecting member 431 to move relative to the fuselage 10 along the first direction (X1 / X2) through the transmission member 433, so as to drive the main body 31 to move relative to the fuselage 10. Among them, when the driving member 41 drives the connecting member 431 to move in the positive direction X1 of the first direction (X1 / X2) relative to the fuselage 10 through the transmission member 433, the connecting member 431 can cooperate with the first limiting side wall 3151, thereby driving the main body 31 to move in the positive direction X1 of the first direction (X1 / X2) relative to the fuselage 10; when the driving member 41 drives the connecting member 431 to move in the reverse direction X2 of the first direction (X1 / X2) relative to the fuselage 10 through the transmission member 433, the connecting member 431 can cooperate with the second limiting side wall 3153, thereby driving the main body 31 to move in the reverse direction X2 of the first direction (X1 / X2) relative to the fuselage 10.

[0124] It is worth noting that, in this embodiment, the connection member 431 cooperates with the first limiting side wall 3151, which only means that there is an interaction force between the connection member 431 and the first limiting side wall 3151, and does not require the connection member 431 to be in direct contact with the first limiting side wall 3151. Similarly, the connection member 431 cooperates with the second limiting side wall 3153, which only means that there is an interaction force between the connection member 431 and the second limiting side wall 3153, and does not require the connection member 431 to be in direct contact with the second limiting side wall 3153.

[0125] It should be noted that, in certain embodiments, when the body 31 moves relative to the body 10 along the first direction (X1 / X2) or the second direction Z, at least a portion of the connector 431 is always located in the limiting groove 315, thereby preventing the connector 431 from being separated from the limiting groove 315, thereby ensuring the stability of the power module 40 driving the cleaning module 30 to move relative to the body 10. Those skilled in the art can design specific structures for the limiting groove 315 and the connector 431 so that when the body 31 moves relative to the body 10 along the first direction (X1 / X2) or the second direction Z, at least a portion of the connector 431 is always located in the limiting groove 315. For example, the limiting groove 315 can be designed to be relatively high, and the thickness of the connecting member 431 can be slightly reduced, so that in the height direction of the cleaning robot 100, space can be reserved in the limiting groove 315 for the connecting member 431 to move relative to the limiting groove 315 in the height direction of the cleaning robot 100, that is, the cleaning module 30 can be allowed to move relative to the body 10 in the height direction of the cleaning robot 100. A limiting cover (not shown) can even be provided on the upper portion of the limiting groove 315 to prevent the connecting member 431 from falling out.

[0126] In some embodiments, the transmission member 433 and the connecting member 431 are integrally formed, that is, the transmission member 433 and the connecting member 431 are a single unitary structure, thereby improving the bonding strength between the transmission member 433 and the connecting member 431, preventing the connecting member 431 from falling off the transmission member 433 when the connecting member 431 drives the main body 31 to move relative to the body 10, thereby improving the stability and reliability of the cleaning robot 100. In other embodiments, the transmission member 433 and the connecting member 431 can be connected together using a non-detachable connection method or a detachable connection method, wherein the non-detachable connection method includes but is not limited to bonding or welding, and the detachable connection method includes but is not limited to a snap connection or a threaded connection.

[0127] Further, in certain embodiments, see Figure 4 and Figure 10The transmission member 433 includes a gear 4331 and a rack 4333. The gear 4331 is connected to the driving member 41, and the rack 4333 is connected to the connecting member 431. The gear 4331 cooperates with the rack 4333. When the driving member 41 drives the gear 4331 to rotate, the gear 4331 drives the rack 4333 to move, thereby driving the connecting member 431 to move relative to the body 10. Specifically, in some embodiments, when the driving member 41 drives the gear 4331 to rotate, the gear 4331 can drive the rack 4333 to move in the first direction (X1 / X2), so that the rack 4333 drives the connecting member 431 to move in the first direction (X1 / X2) relative to the body 10, thereby enabling the connecting member 431 to drive the body 31 to move in the first direction (X1 / X2).

[0128] See also Figure 4 and Figure 11 In other embodiments, the transmission component 43 includes a connecting member 435, which is wound around the output shaft of the driving member 41, and the opposite ends of the connecting member 435 are connected to the cleaning module 30. The driving member 41 drives the cleaning module 30 to move relative to the body 10 through the connecting member 435.

[0129] Specifically, in some embodiments, the connecting member 435 may be a steel wire, and the transmission component 43 may further include a steel wire receiving disk 437, which is connected to the output shaft of the driving member 41 and can rotate with the output shaft. The connecting member 435 is arranged in the steel wire receiving disk 437, and the opposite ends of the connecting member 435 extend from the steel wire receiving disk 437 and are connected to the cleaning module 30. Therefore, when the driving member 41 is operating stably, the output shaft of the driving member 41 can drive the steel wire receiving disk 437 to rotate so that the connecting member 435 can pull the cleaning module 30 to move relative to the body 10, so that the cleaning module 30 can switch between the first state, the second state and the third state.

[0130] It is understandable that in other embodiments, the transmission component 43 may also include but is not limited to one or more transmission structures such as a screw assembly, a gear assembly, a worm gear transmission assembly, a chain transmission assembly and a pulley transmission assembly, which are not described in detail here.

[0131] Please refer to Figure 5(b), Figure 6 、 Figure 11 or Figure 12 In some embodiments, the power module 40 may further include a buffer component 45. When the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the buffer component 45 is used to buffer the external force in the positive direction X1 along the first direction (X1 / X2) exerted on the cleaning module 30.

[0132] Specifically, in some embodiments, when the cleaning module 30 is in the second state, the cleaning module 30 can clean the area along the edge of the wall. Therefore, during the cleaning process, the cleaning module 30 may collide with the wall, causing the cleaning module 30 to be subjected to an external force in the positive direction X1 along the first direction (X1 / X2); or, when the cleaning module 30 is in the second state, the cleaning module 30 can clean the area along the edge of the wall, and since in this state, the end of the cleaning module 30 can be in contact with the wall or the distance between the end and the wall is very small, if the wall is not a straight wall but a non-straight wall, for example, the cross-sectional shape of the wall is curved (including but not limited to an arc or a wave shape, etc.), the cleaning module 30 will also collide with the wall, causing the cleaning module 30 to be subjected to an external force in the positive direction X1 along the first direction (X1 / X2).

[0133] Among them, when the cleaning module 30 is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), due to the reduction ratio of the driving component 41, the power module 40 cannot drive the cleaning module 30 to move in the positive direction X1 of the first direction (X1 / X2) in time to release the external force, which will cause the cleaning module 30 to be damaged under the action of the external force, affecting the normal operation of the cleaning robot 100. In the present application, when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move in the positive direction X1 of the first direction (X1 / X2), so that the buffer component 45 can buffer the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 30, that is, the buffer component 45 can absorb or disperse the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 30, thereby reducing the influence of the reduction ratio of the driving member 41, preventing the cleaning module 30 from being damaged, extending the service life of the cleaning module 30, and ensuring the normal operation of the cleaning robot 100. In addition, when the external force X1 in the positive direction along the first direction (X1 / X2) acting on the cleaning module 30 disappears, the buffer component 45 can also enable the cleaning module 30 to move in the reverse direction X2 of the first direction (X1 / X2) so that the cleaning module 30 can be moved again to basically fit with the wall. That is to say, the setting of the buffer component 45 enables the cleaning module 30 to move along the change of the cross-sectional shape of the wall, so that the cleaning module 30 maintains a basically fit state with the wall, thereby improving the cleaning effect of the cleaning robot 100.

[0134] In some embodiments, the buffer assembly 45 includes an elastic member 451. When the cleaning module 30 is in the second state and is subjected to an external force in a positive direction X1 along the first direction (X1 / X2), the elastic member 451 is in an elastically deformed state. It should be noted that in some embodiments, the elastic member 451 includes at least one of the following: a spring, a spring, or a rubber member.

[0135] Specifically, in some embodiments, when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move toward the positive direction X1 of the first direction (X1 / X2) and cause the elastic member 451 to undergo elastic deformation (including stretching, compression or deformation, etc.). In this case, the elastic member 451 can generate elastic force, and the elastic force can act on the cleaning module 30 so that the cleaning module 30 has a tendency to move in the reverse direction X2 of the first direction (X1 / X2). When the external force in the positive direction X1 of the first direction (X1 / X2) applied to the cleaning module 30 disappears, for example, when the buffer assembly 45 causes the cleaning module 30 to move in the positive direction X1 of the first direction (X1 / X2) to overcome an obstacle, the elastic force can cause the cleaning module 30 to move back in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 30 was in the second state, thereby ensuring the cleaning effect of the cleaning robot 100.

[0136] Please refer to Figure 5(b), Figure 6 and Figure 10 In some embodiments, along the direction X2 opposite to the first direction (X1 / X2), the limiting groove 315 includes a first limiting sidewall 3151 and a second limiting sidewall 3153. The elastic member 451 is disposed in the limiting groove 315 and is connected to both the connecting member 431 and the first limiting sidewall 3151, or to both the connecting member 431 and the second limiting sidewall 3153. Along the first direction (X1 / X2), the connecting member 431 is spaced apart from the second limiting sidewall 3153.

[0137] Specifically, in some embodiments, when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 451 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 30, that is, the elastic member 451 can produce elastic deformation to absorb the external force subjected to the cleaning module 30, thereby preventing the cleaning module 30 from being damaged and ensuring the stability and reliability of the cleaning robot 100.

[0138] In one example, Figure 6As shown, when the elastic member 451 includes a tension spring, the tension spring is fixedly connected to both the connecting member 431 and the first limiting side wall 3151. For example, a tension spring with greater rigidity can be selected. During the lateral movement of the cleaning module 30, that is, during the movement of the cleaning module 30 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 431 pulls the cleaning module 30 to move laterally via the tension spring. After the cleaning module 30 has moved laterally into place, the tension spring still has some stretch margin. In which, after the cleaning module 30 is moved sideways into position, the connecting member 431 is spaced from the second limiting side wall 3153 along the first direction (X1 / X2). In this way, when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 30. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 30 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 30 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 30 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, when the elastic member 451 includes a tension spring, the tension spring is fixedly connected to both the connecting member 431 and the first limiting side wall 3151. The fixed connection includes a detachable connection or a non-detachable connection.

[0139] In another example, as shown in FIG5( b ), when the elastic member 451 includes a compression spring, the compression spring is connected to both the connecting member 431 and the second limiting side wall 3153, and the compression spring is connected to at least one of the connecting member 431 and the second limiting side wall 3153 in abutting manner. For example, a compression spring with greater stiffness can be selected. During the lateral movement of the cleaning module 30, that is, during the movement of the cleaning module 30 in the opposite direction X2 of the first direction (X1 / X2), the compression spring can be compressed to a certain extent. The connecting member 431 pushes the cleaning module 30 to move laterally via the compression spring. After the cleaning module 30 has moved laterally into place, the compression spring still has some compression margin. Among them, after the cleaning module 30 moves sideways into position, along the first direction (X1 / X2), the connecting member 431 is spaced from the second limiting side wall 3153. In this way, when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the compression spring can continue to be compressed to absorb the external force applied to the cleaning module 30. When the external force applied to the cleaning module 30 in the positive direction X1 along the first direction (X1 / X2) disappears, the elastic force generated by the compression of the compression spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 30 is in the second state. That is, the elastic force generated by the compression of the compression spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 30 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100. It should be noted that, in some embodiments, when the elastic member 451 includes a compression spring, the compression spring and the connecting member 431 can be fixedly connected, and the compression spring and the second limiting side wall 3153 can be abutted without being fixedly connected, or, the compression spring and the connecting member 431 can be abutted, and the compression spring and the second limiting side wall 3153 can be fixedly connected, or, the compression spring and the connecting member 431 and the second limiting side wall 3153 can all abut against each other, so that the cleaning module 30 can be easily moved relative to the body 10 along the height direction of the cleaning robot 100.

[0140] See also Figure 4 and Figure 11 In other embodiments, when the transmission component 43 includes a connecting member 435 , the elastic member 451 is disposed on the connecting member 435 .

[0141] Specifically, referring to Figures 5(a) and 5(b), in some embodiments, the cleaning module 30 includes a first end 301 and a second end 303, which are opposite to each other, in the positive direction X1 of the first direction (X1 / X2). The elastic member 451 is disposed on the connecting member 435 and is close to the first end 301 of the cleaning module 30; or, the elastic member 451 is disposed on the connecting member 435 and is close to the second end 303 of the cleaning module 30. In which, when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move in the positive direction X1 of the first direction (X1 / X2). In this case, the elastic member 451 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) subjected to the cleaning module 30, that is, the elastic member 451 can produce elastic deformation to absorb the external force subjected to the cleaning module 30, thereby preventing the cleaning module 30 from being damaged and ensuring the stability and reliability of the cleaning robot 100.

[0142] In one example, when the elastic member 451 is disposed on the connecting member 435 and proximate to the second end 303 of the cleaning module 30, the elastic member 451 can be a tension spring. For example, a tension spring with relatively high stiffness can be selected. During the lateral movement of the cleaning module 30, that is, during the movement of the cleaning module 30 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 431 pulls the cleaning module 30 to move laterally via the tension spring. After the cleaning module 30 has moved laterally into place, the tension spring still has some stretch margin. When the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 30. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 30 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 30 to move back to the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 30 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 30 to move back to the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 30 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0143] Please continue reading Figure 4 and Figure 11 In some embodiments, the cleaning robot 100 further includes a moving module 50 cooperating with the cleaning module 30 , and the driving member 41 is used to drive the moving module 50 to move relative to the body 10 , thereby driving the cleaning module 30 to move relative to the body 10 .

[0144] Specifically, in some embodiments, the mobile module 50 is movably disposed on the fuselage 10 and can be connected to the transmission component 43 of the power module 40. Among them, when the driving member 41 is in stable operation, the driving force generated by the driving member 41 can drive the mobile module 50 to move relative to the fuselage 10 along the first direction (X1 / X2) through the transmission component 43, so as to drive the cleaning module 30 to move relative to the fuselage 10, so that the cleaning robot 100 can adjust the state in the cleaning module 30 according to the specific working conditions of the surface to be cleaned, thereby improving the applicability of the cleaning robot 100 and ensuring the cleaning effect of the cleaning robot 100. For example, when the driving member 41 drives the mobile module 50 to move relative to the fuselage 10 along the first direction (X1 / X2) through the transmission component 43, the cleaning module 30 can switch to the second state to clean the corners of the surface to be cleaned.

[0145] Please combine Figure 12 and Figure 13 In some embodiments, the buffer assembly 45 may further include an anti-collision member 453, which is disposed on the fuselage 10 and can move relative to the fuselage 10, at least a portion of the movable module 50 is disposed on the anti-collision member 453 and can move relative to the anti-collision member 453, the opposite ends of the connecting member 435 are connected to the anti-collision member 453, and the elastic member 451 of the buffer assembly 45 is connected between the anti-collision member 453 and the movable module 50 along the first direction (X1 / X2).

[0146] Specifically, in some embodiments, the movable module 50 includes a first end 51 and a second end 53 in sequence in the positive direction X1 of the first direction (X1 / X2), and the first end 51 of the movable module 50 and the second end 53 of the movable module 50 are opposite to each other. If the anti-collision member 453 is not provided, that is, the opposite ends of the connecting member 435 are directly connected to the first end 51 of the movable module 50 and the second end 53 of the movable module 50, then when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 can move in the positive direction X1 of the first direction (X1 / X2), but the driving member 41 does not work, which will cause the connecting member 435 (steel wire) close to the second end 53 of the movable module 50 to bend and deform, or even to coil, thereby affecting the normal operation of the power module 40. And if Figure 12 and Figure 13In the illustrated embodiment, when the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the movable module 50 can move along with the cleaning module 30 relative to the anti-collision member 453 in the positive direction X1 toward the first direction (X1 / X2). At the same time, the elastic member 451 can undergo elastic deformation to achieve buffering of the external force in the positive direction X1 along the first direction (X1 / X2) exerted on the cleaning module 30, that is, the elastic member 451 can produce elastic deformation to absorb the external force exerted on the cleaning module 30. In this case, the anti-collision member 453 does not move relative to the fuselage 10, thereby preventing the connecting member 435 from bending and deforming, thereby ensuring the stability and reliability of the operation of the power module 40.

[0147] It can be understood that when the driving member 41 drives the anti-collision member 453 to move along the first direction (X1 / X2) through the connecting member 435, the anti-collision member 453 can drive the movable module 50 to move along the first direction (X1 / X2) to drive the cleaning module 30 to move relative to the body 10, thereby enabling the cleaning module 30 to switch between the first state, the second state and the third state.

[0148] In one example, one end of the elastic member 451 is connected to the first end 51 of the movable module 50, and the other end is connected to the anti-collision member 453 at a position opposite to the first end 51 of the movable module 50. In this case, the elastic member 451 can be a tension spring. For example, a tension spring with greater rigidity can be selected. During the lateral movement of the cleaning module 30, that is, during the movement of the cleaning module 30 in the opposite direction X2 of the first direction (X1 / X2), the tension spring can be stretched to a certain extent. The connecting member 435 pulls the movable module 50 to move via the tension spring, thereby driving the lateral movement of the cleaning module 30. After the cleaning module 30 has moved to its proper position, the tension spring still has a certain amount of stretch. When the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 and the moving module 50 can move together in the positive direction X1 of the first direction (X1 / X2). At this time, the tension spring can continue to be stretched to absorb the external force exerted on the cleaning module 30. When the external force in the positive direction X1 of the first direction (X1 / X2) exerted on the cleaning module 30 disappears, the elastic force generated by the stretching of the tension spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 30 is in the second state. That is, the elastic force generated by the stretching of the tension spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 30 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0149] In another example, one end of the elastic member 451 is connected to the second end 53 of the movable module 50, and the other end is connected to the position of the anti-collision member 453 opposite to the second end 53 of the movable module 50. In this case, the elastic member 451 can be a compression spring. For example, a compression spring with a relatively large stiffness can be selected. During the lateral movement of the cleaning module 30, that is, during the movement of the cleaning module 30 in the opposite direction X2 of the first direction (X1 / X2), the compression spring can be compressed to a certain extent. The connecting member 435 pushes the movable module 50 to move via the compression spring, thereby driving the lateral movement of the cleaning module 30. After the cleaning module 30 has moved into place, the compression spring still has a compression margin. When the cleaning module 30 is in the second state and is subjected to an external force in the positive direction X1 along the first direction (X1 / X2), the cleaning module 30 and the movable module 50 can move together in the positive direction X1 of the first direction (X1 / X2). At this time, the compression spring can continue to be compressed to absorb the external force applied to the cleaning module 30. When the external force applied to the cleaning module 30 in the positive direction X1 along the first direction (X1 / X2) disappears, the elastic force generated by the compression of the compression spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to the position where the cleaning module 30 is in the second state. That is, the elastic force generated by the compression of the compression spring can enable the cleaning module 30 to move back to the position in the reverse direction X2 of the first direction (X1 / X2) to which the cleaning module 30 is basically in contact with the wall, thereby ensuring the cleaning effect of the cleaning robot 100.

[0150] In addition, in some embodiments, the anti-collision member 453 is provided with an anti-collision groove 4531, and at least a portion of the movable module 50 is disposed in the anti-collision groove 4531. The elastic member 451 can be disposed between the sidewall of the anti-collision groove 4531 and the movable module 50. The provision of the anti-collision groove 4531 can, on the one hand, reduce the space occupied by the anti-collision member 453 and the movable module 50, thereby facilitating the miniaturization of the cleaning robot 100. On the other hand, it can facilitate the installation and positioning of the movable module 50 on the anti-collision member 453, thereby improving the assembly efficiency of the cleaning robot 100.

[0151] See also Figure 4 14(a), 14(b), and 14(c), in some embodiments, the cleaning robot 100 may further include a detection module 60, which is used to detect the current state of the cleaning module 30, including a first state, a second state, and a third state. It should be noted that, in some embodiments, the detection module 60 may include but is not limited to a code disk, a laser detection sensor, a collision detection sensor, a distance sensor, and a pressure sensor.

[0152] The provision of the detection module 60 enables the cleaning robot 100 to obtain the current state of the cleaning module 30, thereby facilitating the timely and accurate adjustment of the state of the cleaning module 30 by the cleaning robot 100. In addition, the provision of the detection module 60 also enables the cleaning robot 100 to restrict the movement of the cleaning module 30 relative to the body 10, thereby preventing the cleaning robot 100 from making an error in the movement of the cleaning module 30 relative to the body 10 during the process of adjusting the state of the cleaning module 30, thereby preventing the cleaning module 30 from colliding with the body 10 or an external structure and being damaged, thereby ensuring the normal operation of the cleaning robot 100.

[0153] 3 , in some embodiments, the detection module 60 includes a code disk, which is disposed on the driving member 41 of the power module 40 and is used to detect the number of rotations of the driving member 41 to determine the current state of the cleaning module 30 .

[0154] Specifically, in some embodiments, a code disk may be provided on the output shaft of the driver 41, whereby the code disk can detect the number of rotations of the output shaft of the driver 41 and determine the current state of the cleaning module 30 based on the number of rotations. For example, when the cleaning module 30 is in the first state and the driver 41 starts working, the code disk can detect the number of rotations of the output shaft of the driver 41 to determine the current state of the cleaning module 30. For example, if the cleaning module 30 can switch from the first state to the second state when the output shaft of the driver 41 rotates a preset number of times, then when the code disk detects that the output shaft of the driver 41 has rotated the preset number of times, the code disk can determine that the current state of the cleaning module 30 is the second state.

[0155] In other embodiments, the detection module 60 includes a transmitter and a receiver, one of which is disposed on the main body 31 and the other is disposed on the fuselage 10, the transmitter is used to transmit a detection signal, and the receiver is used to receive the detection signal and indicate the current status of the cleaning module 30 based on the received detection signal.

[0156] Specifically, in some embodiments, the transmitter can continuously transmit a detection signal (e.g., infrared light or laser light). When the receiver changes from not receiving the detection signal transmitted by the transmitter to receiving the detection signal transmitted by the transmitter, it indicates that the transmitter and the receiver correspond. At this time, the receiver can determine the current state of the cleaning module 30. For example, the transmitter may include a first transmitter, a second transmitter, and a third transmitter, and the receiver may include a first receiver, a second receiver, and a third receiver. When the cleaning module 30 is in the first state, the first transmitter corresponds to the first receiver; when the cleaning module 30 is in the second state, the second transmitter corresponds to the second receiver; and when the cleaning module 30 is in the third state, the third transmitter corresponds to the third receiver.

[0157] See also Figures 4 to 6 The cleaning robot 100 of certain embodiments of the present application includes a body 10, a guide module 20, a cleaning module 30 and a power module 40. The guide module 20 is provided on the body 10 and includes a matching member 21. The cleaning module 30 includes a main body 31 and a moving member 33 provided on the main body 31. The main body 31 includes a wiping assembly 310. The wiping assembly 310 is used to clean the surface to be cleaned. The cleaning module 30 is movably provided on the body 10 through the cooperation of the moving member 33 and the guide module 20. The power module 40 is provided on the body 10, and the power module 40 is used to drive the cleaning module 30 to move along the first direction (X1 / X2). When the power module 40 drives the cleaning module 30 to move along the first direction (X1 / X2), the moving member 33 and the mating member 21 can generate relative motion until the moving member 33 is supported on the mating member 21, thereby moving the cleaning module 30 from the first position to the second position; wherein, when the cleaning module 30 is in the first position, the cleaning module 30 is in contact with the surface to be cleaned, and when the cleaning module 30 is in the second position, the cleaning module 30 is spaced apart from the surface to be cleaned. It should be noted that in some embodiments, the first direction (X1 / X2) is parallel to the surface to be cleaned.

[0158] Please refer to Figure 9 (a) and Figure 9 (b). In some embodiments, the first position and the second position are both the relative positions between the cleaning module 30 and the surface to be cleaned during the process in which the power module 40 drives the cleaning module 30 to move along the first direction (X1 / X2). It can be understood that when the relative position between the moving member 33 and the matching member 21 is at "A", and the relative position between the moving member 33 and the matching member 21 is at "B", the cleaning module 30 is in the first position; when the relative position between the moving member 33 and the matching member 21 is at "C", the cleaning module 30 is in the second position. Among them, when the cleaning module 30 is in the first position, the cleaning module 30 can contact the surface to be cleaned, so that the cleaning robot 100 can achieve a cleaning function (such as a mopping function); when the cleaning module 30 is in the second position, the cleaning module 30 can be spaced from the surface to be cleaned, so that the cleaning robot 100 can achieve an obstacle crossing function.

[0159] In the cleaning robot 100 of the embodiment of the present application, the cleaning module 30 is connected to the body 10 of the cleaning robot 100 through the guide module 20, and the power module 40 can drive the cleaning module 30 to move along the first direction (X1 / X2), and the cleaning module 30 cooperates with the moving member 33 of the cleaning module 30 through the matching member 21 of the guide module 20, so that when the cleaning module 30 moves along the first direction (X1 / X2), the moving member 33 of the cleaning module 30 can move to be carried on the matching member 21, thereby allowing the cleaning module 30 to move from the first position to the second position, that is, the cleaning module 30 can move from a position in contact with the ground to a raised position during the movement along the first direction (X1 / X2). In this way, it is relatively simple to switch the cleaning module 30 of the cleaning robot 100 between a normal cleaning state and a state separated from the surface to be cleaned, thereby ensuring the cleaning effect of the cleaning robot 100, and the cleaning module 30 can be lifted off the ground to improve the obstacle crossing ability.

[0160] In addition, the cleaning robot provided in the embodiment of the present application can switch the cleaning module 30 between three states by cooperating with a drive member 41 and a transmission component. In addition to the drive motor that drives the cleaning module 30 to rotate relative to the surface to be cleaned, the driving of the cleaning module 30 between the normal cleaning state, the side-movement cleaning state, and the raised state in the present application can be achieved with only a single power source, such as a motor. This can effectively reduce production costs, and because the number of power sources is small, the space occupied by the entire machine can be minimized, which is conducive to the miniaturization of the cleaning robot.

[0161] It can be understood that the specific structure of the cleaning robot 100 (including the body 10, the guide module 20, the cleaning module 30 and the power module 40, etc.) in the embodiment of the present application is exactly the same as the specific structure of the cleaning robot 100 in the above embodiment, and will not be repeated here.

[0162] Please combine Figure 15 The embodiment of the present application provides a base station 200 for use with the cleaning device 100 described in any of the above embodiments. Specifically, the base station 200 includes a docking position 2001 for accommodating the cleaning device 100.

[0163] The embodiment of the present application further provides a cleaning system 1000 , comprising the cleaning device 100 as described in any of the above embodiments and a base station 200 used in conjunction with the cleaning device 100 , wherein the base station 200 comprises a docking position 2001 for accommodating the cleaning device 100 .

[0164] The technical features of the above-described embodiments may be combined in any manner. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there are no conflicts in the combination of these technical features, they should be considered to be within the scope of this specification. Furthermore, other implementations can be derived from the above-described embodiments, allowing for structural and logical substitutions and changes without departing from the scope of this disclosure.

[0165] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that: include: body; A guide module, the guide module is arranged on the fuselage and includes a matching part; A cleaning module, the cleaning module comprising a main body and a moving member disposed on the main body, the main body comprising a wiping assembly, the wiping assembly being used to clean the surface to be cleaned, the cleaning module being disposed on the body through cooperation between the moving member and the guide module; and a power module, the power module being disposed on the fuselage and connected to the main body, the power module being used to drive the cleaning module to move relative to the fuselage so as to switch the cleaning module between a first state, a second state, and a third state; When the cleaning module is in the first state and the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is farther away from the center line of the cleaning robot in the width direction in the second state than in the first state; When the cleaning module is in the third state, the movable part is carried on the mating part so that the cleaning module is spaced apart from the surface to be cleaned; wherein, the target end of the cleaning module is the side of the cleaning module close to the obstacle when the cleaning robot moves along the obstacle; the width direction of the cleaning robot is perpendicular to the moving direction of the cleaning robot.

2. The cleaning robot according to claim 1, characterized in that: When the cleaning module is in the first state, the cleaning module is in contact with the surface to be cleaned, and the cleaning module is located in the widest area of ​​the body; When the cleaning module is in the second state, the cleaning module is in contact with the surface to be cleaned, and the target end of the cleaning module is located outside the widest area of ​​the body, or the target end of the cleaning module is flush with the edge of the widest area of ​​the body; The widest area is an area formed by two tangent lines of the projection of the body on the surface to be cleaned along the moving direction of the cleaning robot.

3. The cleaning robot according to claim 1, characterized in that: The cleaning module includes a crawler-type cleaning element or a drum-type cleaning element.

4. The cleaning robot according to claim 1, characterized in that: The power module is used to drive the moving part to move along the first direction in the guide module so that the cleaning module switches between the first state and the second state; when the moving part abuts against the mating part, the power module is also used to drive the cleaning module to continue to move along the first direction, and drive the cleaning module to move along the second direction through the cooperation between the moving part and the mating part, so that the cleaning module switches between the first state and the third state, or switches between the second state and the third state, and the first direction intersects with the second direction.

5. The cleaning robot according to claim 4, characterized in that: The first direction is parallel to the width direction of the cleaning robot.

6. The cleaning robot according to claim 4, characterized in that: The second direction includes a height direction of the cleaning robot.

7. The cleaning robot according to claim 1, characterized in that: The guide module further includes a guide member, the matching member is arranged on the guide member, and the guide member is used to guide the moving member to move relative to the fuselage, so as to drive the main body to move relative to the fuselage.

8. The cleaning robot according to claim 7, characterized in that: The guide members include two, and the two guide members are arranged on two opposite sides of the cleaning module in the width direction; Alternatively, the guide member includes one, and the guide member is provided on the top of the cleaning module and is located in the middle position in the width direction of the cleaning module; Wherein, the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot.

9. The cleaning robot according to claim 7, characterized in that: A guide groove is provided on the body, the guide groove forms the guide member, the length direction of the guide groove is a first direction, and the matching member is arranged in the guide groove; or The guide member is installed on the fuselage, a guide groove is provided on the guide member, the length direction of the guide groove is the first direction, and the matching member is arranged in the guide groove.

10. The cleaning robot according to claim 9, characterized in that: The guide groove includes a first side wall and a second side wall opposite to each other in the second direction, and in the second direction, the first side wall is closer to the surface to be cleaned than the second side wall; The matching piece is arranged on the first side wall. When the moving piece is in contact with the matching piece, the moving piece can move along the matching piece until it is supported on the matching piece.

11. The cleaning robot according to claim 7, characterized in that: The mating part includes a protrusion, which includes a first surface and a second surface opposite to each other in a first direction, the first surface and / or the second surface are arranged at an angle, and the first surface and / or the second surface are used to guide the moving part to move to be supported on the protrusion.

12. The cleaning robot according to claim 7, characterized in that: The matching piece includes a convex block, and the convex block includes a first surface and a second surface opposite to each other in a first direction, and the first surface and / or the second surface are arc-shaped.

13. The cleaning robot according to claim 11, characterized in that: The longitudinal section of the mating part cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the first direction and a straight line extending along the second direction. The upper side of the trapezoid corresponds to the surface of the mating part for supporting the moving part, the side sides of the trapezoid correspond to the first surface and the second surface, and the upper side of the trapezoid is smaller than the lower side of the trapezoid.

14. The cleaning robot according to claim 7, characterized in that: The moving member includes a pulley or a roller.

15. The cleaning robot according to claim 4, characterized in that: The body includes a first side and a second side opposite to each other in a width direction of the cleaning module, two movable members are provided on the first side of the body and the second side of the body, and the two movable members are spaced apart along the first direction; the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot; The mating parts are opposite to the moving parts, the two mating parts opposite to the moving parts on the first side of the body are spaced apart along the first direction, and the two mating parts opposite to the moving parts on the second side of the body are spaced apart along the first direction.

16. The cleaning robot according to claim 1, characterized in that The body is provided with an installation space, and the side of the body is provided with an opening connected to the installation space. At least part of the cleaning module is arranged in the installation space. When the cleaning module is in the second state, at least part of the cleaning module extends from the opening to the outside of the installation space.

17. The cleaning robot according to claim 1, characterized in that: The power module includes: driving member; and A transmission component, one end of which is connected to the driving component and the other end of which is connected to the cleaning module. The transmission component is used to transmit the driving force of the driving component to the cleaning module so that the cleaning module moves relative to the body.

18. The cleaning robot according to claim 17, characterized in that: The power module further includes: The buffer assembly is used for buffering the positive external force along the first direction applied to the cleaning module when the cleaning module is in the second state and is applied with a positive external force along the first direction.

19. The cleaning robot according to claim 18, characterized in that: The buffer assembly comprises: an elastic member, wherein when the cleaning module is in the second state and is subjected to a positive external force along the first direction, the elastic member is in an elastically deformed state; The elastic member includes at least one of the following: a spring, a spring sheet, and a rubber member.

20. The cleaning robot according to any one of claims 17 to 19, characterized in that: The body is provided with a limiting groove; the transmission component includes: a connecting member, at least a portion of which is disposed in the limiting groove; and A transmission member, one end of which is connected to the driving member, and the other end of which is connected to the connecting member. The driving member drives the connecting member to move relative to the fuselage through the transmission member, thereby driving the main body to move relative to the fuselage.

21. The cleaning robot according to claim 20, characterized in that: The transmission member includes a gear and a rack. The gear is connected to the driving member, and the rack is connected to the connecting member. The gear cooperates with the rack. When the driving member drives the gear to rotate, the gear drives the rack to move, thereby driving the connecting member to move relative to the fuselage.

22. The cleaning robot according to claim 20, characterized in that: In the opposite direction of the first direction, the limit groove includes a first limit side wall and a second limit side wall in sequence; the elastic part of the buffer assembly of the power module is arranged in the limit groove, and the elastic part is connected to the connecting part and the first limit side wall, or the elastic part is connected to the connecting part and the second limit side wall.

23. The cleaning robot according to claim 22, characterized in that: In the case where the elastic member includes a tension spring, the tension spring is fixedly connected to the connecting member and the first limiting side wall; In the case where the elastic member includes a compression spring, the compression spring is connected to both the connecting member and the second limiting side wall, and the compression spring is connected to at least one of the connecting member and the second limiting side wall in an abutment manner.

24. The cleaning robot according to claim 17, characterized in that The transmission components include: A connecting member is wound around the output shaft of the driving member, and both opposite ends of the connecting member are connected to the cleaning module. The driving member drives the cleaning module to move relative to the body through the connecting member.

25. The cleaning robot according to claim 24, wherein: The elastic member of the buffer assembly of the power module is arranged on the connecting member.

26. The cleaning robot according to claim 24, characterized in that The cleaning robot further includes a moving module cooperating with the cleaning module, and the driving member is used to drive the moving module to move relative to the body, so as to drive the cleaning module to move relative to the body; The buffer component of the power module includes an anti-collision part, which is arranged on the fuselage and can move relative to the fuselage. At least a part of the movable module is arranged on the anti-collision part and can move relative to the anti-collision part. The opposite ends of the connecting part are connected to the anti-collision part. The elastic part of the buffer component is connected between the anti-collision part and the movable module along a first direction.

27. The cleaning robot according to claim 1, characterized in that The cleaning robot also includes: A detection module is used to detect a current state of the cleaning module, where the current state includes the first state, the second state, and the third state.

28. The cleaning robot according to claim 27, characterized in that: The detection module includes a code disk, which is arranged on the driving member of the power module and is used to detect the number of rotations of the driving member to determine the current state of the cleaning module.

29. The cleaning robot according to claim 27, characterized in that The detection module includes a transmitter and a receiver, one of which is arranged on the main body, and the other is arranged on the fuselage, the transmitter is used to transmit a detection signal, and the receiver is used to receive the detection signal and indicate the current status of the cleaning module according to the received detection signal.

30. A cleaning robot, characterized in that: include: body; A guide module, the guide module is arranged on the fuselage and includes a matching part; A cleaning module, the cleaning module comprising a main body and a movable member disposed on the main body, the main body comprising a wiping assembly, the wiping assembly being used to clean the surface to be cleaned, the cleaning module being movably disposed on the body through cooperation between the movable member and the guide module; a power module, the power module being disposed on the body and configured to drive the cleaning module to move along a first direction; In the process of the power module driving the cleaning module to move along the first direction, the moving part and the matching part can generate relative movement until the moving part is supported on the matching part, so that the cleaning module moves from the first position to the second position; wherein, when the cleaning module is in the first position, the cleaning module is in contact with the surface to be cleaned, and when the cleaning module is in the second position, the cleaning module is spaced from the surface to be cleaned.

31. The cleaning robot according to claim 30, characterized in that The first direction is parallel to the width direction of the cleaning robot.

32. The cleaning robot according to claim 30, characterized in that The guide module further includes a guide member, the matching member is arranged on the guide member, and the guide member is used to guide the moving member to move relative to the fuselage along the first direction to drive the main body to move relative to the fuselage along the first direction.

33. The cleaning robot according to claim 32, characterized in that: The guide members include two, and the two guide members are arranged on two opposite sides of the cleaning module in the width direction; Alternatively, the guide member includes one, and the guide member is provided on the top of the cleaning module and is located in the middle position in the width direction of the cleaning module; Wherein, the width direction of the cleaning module is substantially perpendicular to the first direction.

34. The cleaning robot according to claim 32, characterized in that A guide groove is provided on the body, the guide groove forms the guide member, the length direction of the guide groove is a first direction, and the matching member is arranged in the guide groove; or The guide member is installed on the fuselage, a guide groove is provided on the guide member, the length direction of the guide groove is the first direction, and the matching member is arranged in the guide groove.

35. The cleaning robot according to claim 34, characterized in that The guide groove includes a first side wall and a second side wall opposite to each other in a second direction, wherein in the second direction, the first side wall is closer to the surface to be cleaned than the second side wall, and the second direction intersects with the first direction; The matching piece is arranged on the first side wall. When the moving piece abuts against the matching piece, the moving piece can move along the matching piece to be supported on the matching piece, so that the cleaning module moves from the first position to the second position.

36. The cleaning robot according to claim 32, characterized in that The mating part includes a protrusion, and the protrusion includes a first surface and a second surface opposite to each other in the first direction. The first surface and / or the second surface are arranged at an angle, and the first surface and / or the second surface are used to guide the moving part to move to be supported on the protrusion.

37. The cleaning robot according to claim 34, characterized in that The matching piece includes a convex block, and the convex block includes a first surface and a second surface opposite to each other in the first direction, and the first surface and / or the second surface are arc-shaped.

38. The cleaning robot according to claim 36, characterized in that The longitudinal section of the mating part cut by a plane is trapezoidal, and the plane is formed by a straight line extending along the first direction and a straight line extending along the second direction. The upper side of the trapezoid corresponds to the surface of the mating part for supporting the moving part, and the side sides of the trapezoid correspond to the first surface and the second surface of the mating part. The upper side of the trapezoid is smaller than the lower side of the trapezoid.

39. The cleaning robot according to claim 30, characterized in that The body includes a first side and a second side opposite to each other in a width direction of the cleaning module, two movable members are provided on the first side and the second side of the body, and the two movable members are spaced apart along the first direction; the width direction of the cleaning module is substantially perpendicular to the width direction of the cleaning robot; The mating parts are opposite to the moving parts, the two mating parts opposite to the moving parts on the first side of the body are spaced apart along the first direction, and the two mating parts opposite to the moving parts on the second side of the body are spaced apart along the first direction.

40. The cleaning robot according to claim 30, characterized in that The cleaning module includes a crawler-type cleaning element or a drum-type cleaning element.

41. The cleaning robot according to claim 30, characterized in that The moving member includes a pulley or a roller.

42. The cleaning robot according to claim 30, characterized in that The power module includes: driving member; and A transmission component, one end of which is connected to the driving component, and the other end of which is connected to the cleaning module, wherein the transmission component is used to transmit the driving force of the driving component to the cleaning module so that the cleaning module moves relative to the body along the first direction.

43. The cleaning robot according to claim 42, characterized in that The power module further includes: The buffer assembly is used to buffer the positive external force along the first direction applied to the cleaning module when the cleaning module is in the first position and is applied with a positive external force along the first direction.

44. The cleaning robot according to claim 43, characterized in that The buffer assembly comprises: an elastic member, wherein when the cleaning module is in the first position and is subjected to a positive external force along a first direction, the elastic member is in an elastically deformed state; The elastic member includes at least one of the following: a spring, a spring sheet, and a rubber member.

45. The cleaning robot according to any one of claims 42 to 44, characterized in that: The body is provided with a limiting groove; the transmission component includes: a connecting member, at least a portion of which is disposed in the limiting groove; and A transmission member, one end of which is connected to the driving member, and the other end of which is connected to the connecting member. The driving member drives the connecting member to move relative to the fuselage through the transmission member, thereby driving the main body to move relative to the fuselage.

46. ​​The cleaning robot according to claim 45, characterized in that In the opposite direction of the first direction, the limiting groove includes a first limiting side wall and a second limiting side wall in sequence; the elastic part of the buffer assembly of the power module is arranged in the limiting groove, and the elastic part is connected to both the connecting part and the first limiting side wall, or the elastic part is connected to both the connecting part and the second limiting side wall.

47. The cleaning robot according to claim 46, characterized in that In the case where the elastic member is a tension spring, the tension spring is fixedly connected to the connecting member and the first limiting side wall; In the case that the elastic member is a compression spring, the compression spring is connected to both the connecting member and the second limiting side wall, and the compression spring is connected to at least one of the connecting member and the second limiting side wall in an abutment manner.

48. The cleaning robot according to claim 42, characterized in that The transmission components include: A connecting member is wound around the output shaft of the driving member, and both opposite ends of the connecting member are connected to the cleaning module. The driving member drives the cleaning module to move relative to the body through the connecting member.

49. The cleaning robot according to claim 48, characterized in that The elastic member of the buffer assembly of the power module is arranged on the connecting member; or The cleaning robot also includes a movable module cooperating with the cleaning module, and the driving member is used to drive the movable module to move relative to the fuselage to drive the cleaning module to move relative to the fuselage; the buffer assembly includes an anti-collision member, which is arranged on the fuselage and can move relative to the fuselage, at least a part of the movable module is arranged on the anti-collision member and can move relative to the anti-collision member, the opposite ends of the connecting member are connected to the anti-collision member, and the elastic member is connected between the anti-collision member and the movable module along the first direction.

50. A base station for use with the cleaning robot according to any one of claims 1-29, 30-49, the base station comprising a docking position for accommodating the cleaning robot.

51. A cleaning system comprising: The cleaning robot according to any one of claims 1 to 29 and 30 to 49; and A base station is used in conjunction with the cleaning robot according to any one of claims 1 to 29 and 30 to 49, the base station comprising a docking position for accommodating the cleaning robot.

Images