Cleaning robot

Abstract

The embodiment of the utility model provides a cleaning robot which comprises a machine body, a cleaning device and a driving device. The driving assembly is arranged on the machine body corresponding to the transverse central axis and used for driving the machine body to advance; the outer swinging side brush assembly is located on one side of the front end of the machine body and can swing outwards relative to the machine body; the collision plate assembly is arranged on the front side of the machine body in a surrounding mode, a window is formed in the collision plate assembly and comprises windows, and the windows are asymmetrically distributed in the direction of the vertical central axis. According to the technical scheme, the sensor support is arranged towards one side of the vertical central axis, and the windows are asymmetrically arranged, so that the monitoring range of the sensor module is not affected, and the obstacle avoidance sensor assembly and the outer swing side brush assembly can be arranged at the front end of the machine body.

Description

[0001] Cross-referencing

[0002] This application references the Chinese patent applications listed in the table below, which are incorporated herein in their entirety by reference.

[0003] Filing date Application number Patent title 2024-08-05 202411068173.7 Cleaning robot Technical Field

[0004] This application relates to the field of cleaning equipment technology, and more particularly to cleaning robots. Background Technology

[0005] In order to achieve autonomous navigation and path planning, a sweeping and mopping robot with a roller is usually equipped with an obstacle avoidance sensor at the front of the robot. The obstacle avoidance sensor can not only identify obstacles in front of the robot, but also identify the boundary of the area to be cleaned, thereby creating a map of the area to be cleaned, which facilitates the robot's path planning.

[0006] Existing cleaning robots include external side brush assemblies to achieve edge cleaning. Meanwhile, to reduce the overall height, the robot's sensors are located inside the front of the robot, but the external side brush assembly is also located on the front, and space on the front of the robot body is limited. Therefore, finding a suitable location for the obstacle avoidance sensors and external side brush assembly on the robot body without affecting the detection range of the obstacle avoidance sensors is a problem that needs further development. Utility Model Content

[0007] In view of the above problems, this application is made to provide a cleaning robot and mopping assembly that solves or at least partially solves the above problems.

[0008] In one embodiment of this application, a cleaning robot is provided. The cleaning robot includes:

[0009] The body has a horizontal central axis and a vertical central axis;

[0010] A drive assembly, located on the body corresponding to the transverse central axis, is used to drive the body to move.

[0011] The outward-swinging side brush assembly is located on one side of the front end of the machine body and can swing outward relative to the machine body;

[0012] A ramming plate assembly is disposed on the front side of the body. The ramming plate assembly is provided with a window, which includes a viewing window and is asymmetrically distributed along the vertical central axis.

[0013] Optionally, the machine body of the cleaning robot has a center line of symmetry, along the center line of symmetry, the window is divided into a first window and a second window, the first window and the second window are respectively located on the left and right sides of the center line of symmetry.

[0014] Optionally, along the center line of symmetry, the machine body of the cleaning robot is divided into a skirting cleaning side and a non-skirting cleaning side, the first window and the outer swing side brush assembly are located on the skirting cleaning side, and the second window is located on the non-skirting cleaning side.

[0015] The length of the second window is greater than the length of the first window, and the field of view angle of the second window is greater than the window angle of the first window.

[0016] Optionally, the cleaning robot further comprises a mop-washing module and a dust cleaning system, the mop-washing module is arranged at the rear side of the dust cleaning system along the front-rear direction of the vertical central axis, the mop-washing module is movably connected with the machine body, and the mop-washing module can be extended outward from one side of the machine body along the transverse central axis.

[0017] Optionally, the cleaning robot further comprises an obstacle avoidance sensor assembly, comprising a sensor module and a sensor support, the sensor module is arranged on the sensor support, the sensor support is arranged at the front end of the machine body, the sensor support is provided with a recessed space deviated to one side of the vertical central axis, and the sensor module is located in the recessed space.

[0018] The sensor support and the outer swing side brush assembly are sequentially arranged from left to right along the transverse central axis.

[0019] Corresponding to the recessed space, the opening position of the recessed space corresponds to the position of the window, and the window is asymmetrically arranged along the vertical central axis.

[0020] Optionally, the sensor support is located at the front side of the dust cleaning system.

[0021] The sensor support is a semicircular shape conforming to the front end of the machine body.

[0022] Optionally, the sensor support is asymmetrically arranged on the upper side of the machine body along the vertical central axis.

[0023] The sensor support is divided into a left side portion and a right side portion, and the left side portion and the right side portion are asymmetric.

[0024] Optionally, the sensor module comprises a mapping sensor, the mapping sensor is arranged in the recessed space corresponding to the window, and the mapping sensor can map the ground environment in front of the machine body through the window.

[0025] Optionally, the window further comprises a sensor window, the sensor window and the window being in communication.

[0026] Optionally, the sensor window is a symmetrical structure based on a center line of symmetry of the cleaning robot body.

[0027] Optionally, the sensor module comprises an obstacle avoidance sensor, the obstacle avoidance sensor being arranged on the sensor support corresponding to the sensor window.

[0028] The detection range of the obstacle avoidance sensor is the area of the front side of the body.

[0029] Optionally, the collision plate assembly is provided with a connecting column spanning the window.

[0030] Optionally, the bottom of the recessed space is provided with a heat dissipation hole.

[0031] Optionally, the heat dissipation hole is arranged at a position corresponding to the second window of the window.

[0032] Optionally, the cleaning robot further comprises a drum obstacle avoidance assembly and / or an edge-following sensor, the drum obstacle avoidance assembly and / or the edge-following sensor being arranged on the edge-following cleaning side.

[0033] The technical scheme provided by the embodiment of the application, the sensor support is arranged to the left of the vertical center axis, the sensor support is provided with a recessed space, the sensor module is arranged in the recessed space, the collision plate assembly is provided with a window corresponding to the recessed space, the window is asymmetrically arranged and is arranged to the left of the vertical center axis, and the outer swing edge brush assembly is arranged to the right of the vertical center axis; this arrangement scheme does not affect the monitoring range of the sensor module, and the obstacle avoidance sensor assembly and the outer swing edge brush assembly can be arranged in the narrow area at the front end of the robot body at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1a The structural schematic diagram of the cleaning robot provided by an embodiment of the application;

[0036] Figure 1b The front view of the cleaning robot provided by an embodiment of the application

[0037] Figure 2An exploded view of FIG. 1;

[0038] Figure 3 An internal structure perspective view of a cleaning robot according to an embodiment of the present application;

[0039] Figure 4 An internal structure top view of a cleaning robot according to an embodiment of the present application;

[0040] Figure 5 An exploded view of a waterway system according to an embodiment of the present application;

[0041] Figure 6 A structure schematic view of a waterway system according to an embodiment of the present application;

[0042] Figure 7a A position schematic view of a dust cleaning system on a chassis according to an embodiment of the present application;

[0043] Figure 7b An exploded view of a dust cleaning system according to an embodiment of the present application;

[0044] Figure 8 An exploded view of a mop-washing module according to an embodiment of the present application;

[0045] Figure 9 An exploded view of a mop-washing assembly according to an embodiment of the present application;

[0046] Figure 10 A structure schematic view of a squeegee assembly according to an embodiment of the present application;

[0047] Figure 11 A sectional view of a mop-washing assembly according to an embodiment of the present application;

[0048] Figure 12 A position schematic view of an obstacle avoidance sensor assembly on a chassis according to an embodiment of the present application;

[0049] Figure 13 A structure schematic view of an out-swinging side brush assembly according to an embodiment of the present application;

[0050] Figure 14 A structure schematic view of an obstacle avoidance sensor assembly according to an embodiment of the present application;

[0051] Figure 15 An exploded view of Figure 5 ;

[0052] Figure 16 An exploded view of an obstacle avoidance sensor assembly and a collision plate according to an embodiment of the present application

[0053] Figure 17A top view of the obstacle avoidance sensor assembly provided by an embodiment of the present application on the chassis;

[0054] Figure 18a A cross-sectional view of the cleaning robot body provided by an embodiment of the present application;

[0055] Figure 18b A perspective view of the cleaning robot provided by an embodiment of the present application; Figure 19a An exploded view of the cleaning robot provided by an embodiment of the present application;

[0056] Figure 19a A schematic diagram of the monitoring of the drum obstacle avoidance assembly provided by an embodiment of the present application;

[0057] Figure 19b A perspective schematic diagram of the monitoring of the drum obstacle avoidance assembly provided by an embodiment of the present application;

[0058] Figure 20a A bottom view of another cleaning robot provided by an embodiment of the present application;

[0059] Figure 20b A cross-sectional view of another cleaning robot provided by an embodiment of the present application;

[0060] Figure 21a A bottom view of still another cleaning robot provided by an embodiment of the present application;

[0061] Figure 21b A cross-sectional view of still another cleaning robot provided by an embodiment of the present application;

[0062] Figure 22 A structural schematic diagram of the chassis of a cleaning robot provided by an embodiment of the present application;

[0063] Figure 23 A structural schematic diagram of a mop-washing assembly provided by an embodiment of the present application. DETAILED DESCRIPTION

[0064] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, rather than all the structures.

[0065] In the description of the application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrated; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances. In the present application, unless otherwise clearly specified and limited, the first feature is "on" or "below" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the embodiments, the terms "upper", "lower", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, which is only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0066] The existing sweeping and mopping integrated cleaning robot mostly adopts the mode of sweeping first and then mopping to clean the ground. For example, a mop tray is arranged at the bottom of the cleaning robot, and the mop tray is rotated to mop the ground. However, the mop tray has the problem of dirtying because the mop tray has no self-cleaning function after being dirty. Later, a cleaning robot using a roller to mop the ground appeared. This kind of cleaning robot can improve the problem of dirtying through the self-cleaning of the roller by a scraping strip while cleaning. At present, the body of many cleaning robots is circular, and the circular body is more flexible and easy to escape. When the cleaning robot is provided with a dust collection roller brush and a roller for mopping at the same time, the dust collection roller brush is generally located at the front side of the roller, so that the cleaning robot can first sweep and then mop while advancing. In order to move, avoid obstacles and escape, the driving wheel is generally arranged at the position of the maximum width of the body perpendicular to the advancing direction, and the roller is generally placed at the rear side of the driving wheel and does not protrude from the projection of the circular body on the ground as a whole, which causes the roller located at the rear of the body to be relatively short, and the distance between the end of the roller and the outermost edge of the body in the width direction is relatively far. When the cleaning robot cleans along the wall or wardrobe, the cleaning robot cannot mop the corner area of a larger size of the object after maintaining the minimum safety distance from the wall or wardrobe. In order to solve this problem, some cleaning robots design the roller as an extendable structure.

[0067] Compared with the mop tray, the structure of the roller is more complex, and it also needs to be provided with a component for self-cleaning. Due to the limited internal space of the body of the cleaning robot, in addition to the need to arrange cleaning execution components in the body, walking modules, water tank modules, obstacle avoidance modules, control modules and other components also need to be arranged. The complex structure of the roller will occupy more space, thereby affecting the arrangement position and structure of other modules in the body. This will bring more severe challenges to the body design of the cleaning robot, and it is an urgent problem to reasonably arrange the functional modules while not affecting the performance of the cleaning robot.

[0068] The structure of the cleaning robot will be briefly introduced.

[0069] Referring to FIGS. 1 to Figure 3 Some embodiments of the present application provide a cleaning robot, which includes but is not limited to: a chassis 1, an upper cover assembly 02, a bumper assembly 3, a rear cover assembly 01, a dust cleaning device 6, a mop-washing module 8, a waterway system 7, an outward swinging edge brush assembly 5, a driving wheel assembly 4, an obstacle avoidance sensor assembly 2 and a mainboard assembly 9. The chassis 1 can also be regarded as a body of the cleaning robot. Referring to FIGS. 1 to Figure 4 The chassis 1 has a transverse central axis N in the width direction of the chassis 1, and has a longitudinal central axis M in the length direction of the chassis 1. When the chassis 1 is approximately circular, the transverse central axis N and the longitudinal central axis M can be regarded as two diameters of the chassis 1, respectively.

[0070] If the advancing direction of the cleaning robot is defined as the front side, as shown in Figure 3 the arrow X direction, Figure 3 the arrow X direction can also be considered as the length direction of the cleaning robot body. Among them, the chassis 1 is a carrier for supporting the installation of other parts of the cleaning robot, and the driving wheel assembly 4 is located at the edge of the bottom end of the chassis 1, in contact with the surface to be cleaned, to drive the cleaning robot to advance, or to drive the cleaning robot to a specified position, which can be a cleaning base station, the starting position of the cleaning area, or other user input positions, and the various embodiments of the present application do not make specific limitations.

[0071] The obstacle avoidance sensor assembly 2 is located at the front end of the chassis 1 to identify obstacles. In this embodiment, the obstacle avoidance sensor assembly 2 is arranged at the front end of the chassis 1, rather than the top of the cleaning robot, which can effectively reduce the overall height of the cleaning robot, so that the cleaning robot can enter some low space, thereby improving the cleaning coverage of the cleaning robot. The bumper assembly 3 is located at the front end of the chassis 1, which can cover at least half of the outer contour of the chassis 1 at the front end. Specifically, the bumper assembly 3 can be a side stand, and the side stand can be provided with a perspective window or a hollow area at a position corresponding to the obstacle avoidance sensor assembly 2, so that the obstacle avoidance sensor 2 can collect surrounding environment information through the perspective window or the hollow area. The bumper assembly 3 and the obstacle avoidance sensor assembly 2 have a collision distance, so that the bumper assembly 3 can move in the direction of the collision force. When the cleaning robot inevitably collides with an obstacle, the bumper assembly 3 can absorb the collision to protect the cleaning robot and prevent the cleaning robot from being damaged.

[0072] The dust cleaning device 6 is located in the middle of the driving wheel assembly 4 and behind the obstacle avoidance sensor 211. The dust cleaning device 6 is equivalent to being located at a position in front of the center of the chassis 1, which is approximately the widest part of the cleaning robot, and can clean a larger area. The outer swing side brush assembly 5 is located at the front side of the right side or the front side of the left side of the bottom end of the chassis 1, and is located within the angle range of the dust cleaning device 6 and the obstacle avoidance sensor assembly 2. The outer swing side brush assembly 5 can extend outside the edge of the chassis 1 to clean the dead corners, or be retracted within the range of the chassis 1 to achieve storage. That is, as shown in Figure 3 the outer swing side brush assembly 5 is located in front of the dust cleaning device 6 and on the left side or the right side of the obstacle avoidance sensor assembly 2. Among them, the outer swing side brush assembly 5 can be one or two.

[0073] An example with one outer swing side brush assembly 5 is shown in the drawings of the present application. If the outer swing side brush assembly 5 is two, the two outer swing side brush assemblies 5 can be located on the left and right sides of the obstacle avoidance sensor assembly 2 respectively. The mop module 8 is located behind the dust cleaning device 6 and can perform the task of mopping the floor, thereby realizing the sweeping and mopping function of the cleaning robot.

[0074] At present, many cleaning robots have a circular body. The circular body is flexible and easy to get out of trouble. When the cleaning robot is provided with a dust collection roller brush and a mop roller at the same time, the dust collection roller brush is generally located at the front side of the mop roller, so that the cleaning robot can first collect dust and then mop the ground while moving. The circular shape of the cleaning robot causes the mop roller located at the rear part of the body to be relatively short, and the distance between the end of the mop roller and the outermost edge of the body in the width direction is relatively far. When the cleaning robot needs to clean along the wall or wardrobe, the mop roller on the cleaning robot is difficult to clean along the edge, and the cleaning robot has a large cleaning blind area.

[0075] In an embodiment provided in the present application, the mop-washing module 8 includes a cleaning roller 832, which can be extended outward from either the left side or the right side of the body in the width direction of the chassis 1, and the end of the extended end of the cleaning roller 832 exceeds the outermost edge of the cleaning robot. Therefore, when the cleaning robot needs to clean along the edge, the cleaning roller 832 can be extended outward, and then the cleaning along the edge can be performed.

[0076] It should be noted that the mop-washing module 8 mentioned above can also be regarded as a cleaning module. The cleaning module can be but is not limited to a cleaning roller, a track-type cleaning element, etc. The cleaning roller can be a cylindrical roller, i.e., the surface of the cylindrical roller has cleaning fluff. The track-type cleaning element, also known as a track-type roller, includes two track wheels arranged at intervals, and an annular racetrack-shaped track-type wiping cloth is sleeved on the two track wheels. The track-type wiping cloth has cleaning fluff on the outer side, and one side of the track-type wiping cloth is in contact with the ground. With the rotation of the track wheels, the track-type wiping cloth moves relative to the ground, thereby achieving mopping and washing of the ground. In addition, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor can be referred to as a roller motor, and the cleaning roller is driven to rotate by the roller motor to mop and wash the ground. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor can be referred to as a track wheel motor, and the track wheel motor drives the track to rotate to drive the track-type wiping cloth to move to mop and wash the ground.

[0077] The cleaning robot needs to face various cleaning environments during the cleaning operation. For example, ceramic tile floor, floor ground, and carpet ground, etc. When cleaning the carpet ground, in order to avoid the wet cleaning roller 832 from wetting the carpet, the cleaning roller 832 needs to be lifted to avoid contact with the carpet. The wet cleaning roller 832 can cause secondary pollution. In order to solve the problem that the cleaning robot can not cause secondary pollution when cleaning the carpet ground, in an embodiment provided in the present application, the cleaning roller 832 on the mop module 8 can also be lifted relative to the ground. When the cleaning robot is cleaning the general ground, the cleaning roller 832 is lowered, and the cleaning roller 832 can wet-wash the ground. When the cleaning robot needs to clean the carpet ground, before the cleaning robot goes onto the carpet, the cleaning roller 832 is lifted relative to the ground, the cleaning roller 832 is separated from the ground, and then the cleaning robot goes onto the carpet. The cleaning robot cleans the ground through the dust cleaning device 6, and the cleaning roller 832 does not contact the carpet, thereby effectively avoiding the pollution problem. In addition, the scheme provided in the embodiment of the present application can realize the extension and lifting of the cleaning roller 832, so that the cleaning robot can cover various types of working areas, and can realize self-extension and edge cleaning, and achieve high cleaning coverage.

[0078] In the above, in order to avoid the problem of dirtying, the cleaning roller 832 has a self-cleaning function, which can clean the ground and self-clean at the same time. In an embodiment provided in the present application, the mop module 8 also has a dirt removal mechanism 833 and a liquid supply structure. The dirt removal mechanism 833 can scrape and collect the dirt (sewage and stains) on the cleaning roller 832. The liquid supply mechanism can continuously provide cleaning liquid for the cleaning roller 832, which can not only wet the cleaning roller 832 and improve the cleaning ability of the cleaning roller 832, but also dissolve the stains adhered to the cleaning roller 832, thereby facilitating the scraping of the dirt removal mechanism.

[0079] In order to realize the continuous supply of cleaning liquid to the liquid supply mechanism and the continuous collection of the dirt scraped by the dirt removal mechanism 833, refer to Figure 3 In an embodiment provided in the present application, the waterway system 7 includes a clean water tank 71 and a sewage tank 72. The clean water tank 71 is used to store the cleaning liquid required by the cleaning roller 832, and the sewage tank 72 is used to store the sewage generated and collected by the cleaning roller 832.

[0080] The structure and position of each module on the cleaning robot chassis 1 will be described in more detail in the following embodiments.

[0081] Before implementing the embodiment of the present application, the inventor has found through research on some existing cleaning robots that in the prior art, the clean water tank and the dirty water tank of some cleaning robots are arranged on the rear side of the equipment body, resulting in that the clean water tank and the dirty water tank are relatively small. For example, the dirty water tank and the clean water tank of some equipment are arranged in parallel on the rear part of the equipment body, one clean water tank on the left side of the rear part of the equipment body and one dirty water tank on the right side, or one dirty water tank on the left side and one clean water tank on the right side. Through repeated measurement by the inventor of the present application, it is found that in fact, the clean water demand is relatively large when the robot performs a cleaning task. The moisture of the clean water tank is consumed during the cleaning process, so the amount of recovered dirty water is relatively small. In the prior art, the size of the clean water tank and the dirty water tank of many machines is equivalent, and the clean water tank and the dirty water tank are arranged in parallel on the rear side of the machine body in order to simplify the layout. This design results in that the clean water tank is too small in size, and the robot may need to be supplied with clean water after performing a small area, which causes the robot to frequently interrupt the cleaning task and the cleaning efficiency is relatively low.

[0082] In addition, in the prior art, some cleaning robots arrange the clean water tank in the main machine shell, for example, some rollers are designed to be retractable, the roller is extended to clean along the wall or to realize surrounding cleaning of obstacles. In order to prevent the roller from being blocked from moving, the clean water tank is arranged above the roller and is arranged in a non-detachable manner. However, since the roller has a certain height relative to the flat mop and the circular mop disc that rotates, arranging the water tank above the roller in the main machine shell will increase the height of the main machine, affecting the passability of the robot in low areas.

[0083] Therefore, the embodiment of the present application adopts the structure as shown in Figure 2 and Figure 3 The clean water tank 71 spans the driving wheel assembly 4 in the front-rear direction. It can be considered that the side where the cleaning roller 832 extends outward is the roller extension side, and the side where the clean water tank 71 is located is opposite to the roller extension side. In order to facilitate the extension and retraction of the cleaning roller 832, the upper part of the cleaning robot must be provided with an extension opening for the extension and retraction of the cleaning roller 832. Therefore, more space needs to be reserved on the roller extension side, and the clean water tank 71 is arranged on the side opposite to the roller extension side, which does not block the extension and retraction movement of the cleaning roller 832 outward, and can fully utilize the space on that side. The capacity of the water tank 71 can also be set larger, the cleaning robot can carry more cleaning liquid during cleaning, the cleaning endurance is longer, and the cleaning robot does not need to frequently return to the base station for cleaning liquid replenishment, and the overall height of the machine is not increased.

[0084] Referring to Figure 4As shown, in an embodiment provided by the present application, the clean water tank 71 is located at the end of the mopping assembly 8s and extends from the rear side to the front side of the chassis 1, the length of the clean water tank 71 crosses the connecting axis of the two driving wheels 41, and the clean water tank 71 is arranged on the front and rear sides of the cleaning robot, which is different from the prior art in which the clean water tank 71 is arranged at the tail. It can be understood that the clean water tank 71 is arranged along the length direction of the cleaning robot, and the length direction of the clean water tank 71 is the same as the length direction of the cleaning robot. Moreover, the shape of the tank structure of the lower half of the clean water tank 71 matches the shape of the edge of the chassis 1. Furthermore, the dust collection and cleaning device 6 comprises the dust box assembly 61 and the floating roller brush assembly 64 arranged in sequence from the rear side to the front side of the chassis 1; the clean water tank 71 extends from the rear side of the chassis 1 to the floating roller brush assembly 64 through one side (for example, the left side in Figure 4 the embodiment, the volume of the clean water tank 71 is significantly increased, which can effectively reduce the frequency of adding water during the cleaning task of the robot, and even achieve the effect of not needing to add water during one cleaning task.

[0085] Further, referring to Figure 4 , the dust collection fan assembly 62 and the clean water tank 71 are respectively arranged on the left and right sides of the dust box assembly 61, and the dust collection fan assembly 62 and the clean water tank 71 having a certain weight are arranged on the two sides in the width direction of the cleaning robot, and the clean water tank 71 is arranged on the side opposite to the roller extension side, and the clean water tank 71 and the mopping module 8 are arranged on the left and right sides of the main machine, so that the center of gravity of the cleaning roller 832 in the width direction is balanced.

[0086] When the cleaning robot is cleaning, the generated and collected sewage is stored in the sewage tank 72, and when the cleaning robot returns to the matching base station for maintenance, the sewage in the sewage tank 72 needs to be emptied. Under normal circumstances, since the mopping module 8 is located at the rear side of the cleaning robot, in order to facilitate the base station to clean the mopping module, the cleaning robot enters the base station in a backward manner, and the tail of the cleaning robot is docked with the base station.

[0087] In an embodiment provided by the present application, the sewage tank 72 is arranged at the rear side of the chassis 1. Specifically, the sewage tank 72 is located on the rear cover assembly 01, the rear cover assembly 01 is located at the rear side of the mopping module 8 and the chassis 1. Referring to Figure 3As shown, the sewage tank 72 can be located at the rear side of the chassis 1, and in the height direction, lower than the height of the clean water tank 71. The sewage tank 72 is connected to the mopping module 8 through a pipeline, and the sewage scraped by the cleaning mechanism can be transported to the sewage tank 72 through the pipeline. The clean water tank 71 and the mopping module 8 are connected through a pipeline, and the clean water tank 71 can provide clean water for the mopping module 8, and the sewage tank 72 can accommodate the sewage after the mopping module 8 mops the floor. The rear cover assembly 01, the bumper assembly 3 and the chassis 1 form an installation cabin with an upper opening, and the upper cover assembly 02 is buckled at the opening and can seal the opening.

[0088] The sewage tank 72 is arranged at the rear side of the chassis 1, which not only makes full use of the space at the rear side of the chassis 1, but also makes the mopping module 8 and the sewage tank 72 closer, so that the sewage generated by the mopping module 8 is more easily transported to the sewage tank 72, and the length of the pipeline can be reduced. In addition, when the cleaning robot enters the base station, the sewage tank 72 located at the rear side of the chassis 1 is more convenient to dock with the corresponding sewage discharge assembly on the base station, so as to facilitate the sewage tank 72 to discharge sewage, and the discharged sewage is also more convenient for the base station to collect.

[0089] Compared with the clean water tank 71, the sewage tank 72 is used to store sewage, and the sewage tank 72 is more likely to be dirty. Although the sewage tank 72 will be emptied and rinsed after each cleaning, it is difficult to avoid stains from adhering to the sewage tank 72 after a long period of use. If not cleaned in time, it is easy to smell, affecting the user's experience.

[0090] Please refer to Figures 5-6 As shown, in some embodiments of the present application, the rear side of the rear cover assembly 01 is provided with a containing groove for containing the sewage tank 72, and the sewage tank 72 can be detachably arranged in the containing groove. When the sewage tank 72 is full of sewage, the user can directly remove the sewage tank from the rear cover assembly 01 for pouring, which is convenient to operate. In addition, when the sewage tank 72 is relatively dirty, it can also be removed for careful cleaning.

[0091] Please refer to Figures 5-6 As shown, in some embodiments of the present application, the clean water tank 71 is above the drive wheel 41 located at one side of the chassis 1 in the left-right direction, and the clean water tank 71 crosses the two sides of the drive wheel 41 axis line, so as to maximize the volume of the clean water tank 71, increase the water capacity, and make the volume of the clean water tank 71 more than half of the capacity of the sewage tank 72. It should be noted that, in order to prevent the clean water tank 71 from interfering with the cleaning roller 832, the clean water tank 71 is located on the other side opposite to the cleaning roller 832 in the left-right direction of the cleaning robot body, which not only ensures the volume of the clean water tank 71, but also makes the cleaning roller 832 easy to be detached or installed from the side of the chassis 1 away from the clean water tank 71, facilitating the user to operate.

[0092] Further, as shown in Figure 3 The clean water tank 71 and the suction fan assembly 62 in the dust cleaning device 6 are respectively located on the left and right sides of the dust box assembly 61.

[0093] The waterway system 7 further comprises a clean water pump 73, an air pump 74 and a water inlet assembly 75. The clean water pump 73 is located on the path of the cleaning liquid flowing from the clean water tank 71 to the mop module 8, and can provide power for the clean water in the clean water tank 71 to flow to the cleaning roller 832. The sewage tank 72 is provided with a sewage inlet for sewage to enter and an air outlet. Corresponding to the sewage inlet and the air outlet, the rear cover assembly 01 is provided with a sewage through hole and an air outlet through hole, so that the sewage pipe for conveying sewage into the sewage tank 72 can be communicated with the sewage inlet through the sewage through hole. The air pump 74 and the air outlet are communicated with an air pipe, and the air pipe passes through the air outlet through hole to communicate the air outlet with the air pump 74. The air pump 74 can exhaust the gas in the sewage tank 72, so that a negative pressure is formed in the sewage tank 72. Under the action of the negative pressure, the suction force for absorbing sewage is formed in the sewage pipe, so that the sewage scraped off from the cleaning roller 832 can enter the sewage pipe as much as possible, and then enter the sewage tank 72, avoiding that the sewage cannot be absorbed in time and flows to the cleaned area during the movement of the cleaning robot, and ensuring good cleaning effect.

[0094] Generally, when the cleaning robot needs to supplement the cleaning liquid in the clean water tank 71, the cleaning robot moves into the base station, and then the liquid supplementing device provided on the base station is docked with the clean water tank 71 and supplements the cleaning liquid in the clean water tank 71. Generally, when the liquid supplementing device on the base station is docked with the clean water tank 71, a certain force will be generated. When the cleaning robot enters the base station in a reverse manner, the power direction of the cleaning robot when reversing is on the central axis of the body. If the force generated by the liquid supplementing device on the cleaning robot is not aligned with the power of the cleaning robot when reversing, the cleaning robot is likely to rotate, thereby causing position deviation, which will be not conducive to the docking of various interfaces on the cleaning robot with the base station.

[0095] In order to facilitate the docking of the liquid supplementing device on the base station with the clean water tank 71, the water inlet assembly 75 is provided on the rear cover assembly 01, and the water inlet assembly 75 is located on the central axis of the body of the cleaning robot. The water inlet assembly 75 is communicated with the water inlet on the clean water tank 71, and the liquid supplementing device can supplement the cleaning liquid in the clean water tank 71 through the water inlet assembly. Therefore, when the liquid supplementing device on the base station is docked with the water inlet assembly 75 on the clean water tank 71, the force generated is also on the central axis of the body. The force is aligned with the power of the cleaning robot when reversing, and the cleaning robot will not rotate and displace.

[0096] The water inlet assembly 75 can be directly connected to the clean water tank 71, or it can be connected to the clean water tank 71 via a pipeline. Besides being used to replenish the clean water tank 71 when the cleaning robot is at the base station, the water inlet assembly 75 can also be used by the user to directly connect external tap water to the water inlet assembly 75 to inject clean water into the clean water tank 71. Since a wastewater tank 72 is located at the rear of the rear cover assembly 01, a clearance groove for accommodating the water inlet assembly 75 can be provided below the front of the wastewater tank 72. The water inlet assembly 75 is located in the clearance groove, and the clean water replenishment port on the side of the water inlet assembly 75 facing away from the pipeline is located on the front of the wastewater tank 72 for easy replenishment of clean water. Of course, the water inlet assembly 75 can also be located at any position on the central axis of the rear cover assembly 01, as long as it does not interfere with other components.

[0097] See Figure 3 In one embodiment provided in this application, the location of the clean water tank 71 and the location of the outer side brush assembly 5 are not on the same side of the chassis 1. For example, along the width direction of the chassis 1 (e.g. Figure 3 (In the direction of the middle arrow Y), the water tank 71 is located on the left side of the chassis 1, and the outer-mounted side brush assembly 5 is located on the right side of the chassis 1. The water tank 71 has an arc-shaped structure. The outer side of the water tank 71 has an arc-shaped wall to adapt to the arc-shaped edge of the cleaning robot body, while the inner side of the water tank 71 has a straight wall. The dust box assembly 61 and the suction fan assembly 62 are located next to the straight wall. The lower inner side of the water tank 71 has an irregularly shaped wall, and the mopping assembly 83 is located next to the irregular wall.

[0098] The length of the clear water tank 71 is parallel to the length of the chassis 1. Figure 3 (In the same direction as the X-shaped arrow) along the length of the clean water tank 71, the front end of the clean water tank 71 is located below the sensor bracket 22, and the rear end of the clean water tank 71 extends to below the mopping assembly 83. The wastewater tank 71 is located at the center of the tail of the cleaning robot body. It can be considered that the wastewater tank 72 is located on the central axis of the cleaning robot body, and the wastewater tank 72 can be symmetrically distributed along the central axis.

[0099] Generally, the cleaning liquid in the clean water tank 71 supplies the cleaning roller 832, and the sewage recovery mechanism 833 recovers the sewage to the sewage tank 72 after the ground cleaning is completed. In this cleaning process, the cleaning liquid supplied by the clean water tank 71 cannot be completely recovered, and part of the cleaning liquid will evaporate or remain on the ground. Therefore, in the technical solutions provided in the present application, the capacity of the clean water tank 71 is greater than the capacity of the sewage tank 72, and the capacity of the clean water tank 71 is 1.2-2 times the capacity of the sewage tank 72. In a specific embodiment, the capacity of the clean water tank 71 is in the range of [110-120 ml], for example, the capacity of the clean water tank 71 is 120 ml, and the capacity of the sewage tank 72 is in the range of [70-80 ml], for example, the capacity of the sewage tank 72 is 80 ml. In the technical solutions provided in the present application, the tank body materials of the clean water tank 71 and the sewage tank 72 include but are not limited to plastic tank body, metal tank body, and soft package tank body. For example, the sewage tank 72 is a detachable plastic tank body, and the clean water tank 71 is located inside the machine body and does not need to be detached, so the clean water tank 71 can use a soft package tank body, which is similar to a water storage bag. It can be designed into an irregular shape according to the empty space inside the machine body, so as to fully fill the empty space inside the machine body and maximize the capacity of the clean water tank 71.

[0100] As described above, the arrangement scheme can not only realize the installation and accommodation of various parts of the cleaning robot, realize the combination of sweeping and mopping, clean the dead angle, and also can not increase the height of the cleaning robot, but also can as much as possible expand the accommodation volume of the clean water tank 71 and the sewage tank 72 to increase the loading capacity of the clean water and the sewage, reduce the frequency of the user adding cleaning water to the clean water tank 71 or detaching the sewage tank 72 to pour the sewage in the sewage tank 72, improve the user experience, and balance the center of gravity of the cleaning robot in the width direction.

[0101] The shape of the cleaning robot can be circular, rectangular or polygonal, and the embodiments of the present application do not make specific limitations. No matter what shape the cleaning robot is, the various parts in the cleaning robot can be arranged according to the above arrangement scheme.

[0102] Please refer to Figure 2As shown, in some embodiments of the present application, one of the structures that can be implemented for the driving wheel assembly 4 includes a plurality of driving wheels 41 arranged circumferentially and spaced apart along the bottom of the chassis 1, and a plurality of auxiliary wheels arranged spaced apart. The driving wheels 41 have driving members thereon, which can be self-driven to walk under the driving force of the driving members, while the auxiliary wheels can move in cooperation with the movement of the driving wheels 41 while supporting the chassis 1 in cooperation with the driving wheels 41. In some embodiments of the present application, there are two driving wheels 41, respectively located on the left and right sides of the center of the bottom end of the chassis 1, and one auxiliary wheel located on the front side of the bottom end of the chassis 1. The driving wheels 41 not only cooperate with the auxiliary wheel to form a triangular support shape, so that the chassis 1 obtains stable support, but also do not hinder the functions of dust collection and mopping of the cleaning robot.

[0103] The bumper assembly 3 is the last safeguard for the cleaning robot to avoid serious collision. When other obstacle avoidance modules fail to successfully avoid obstacles, the bumper assembly 3 will collide with the obstacles. After the bumper assembly 3 detects the collision, it can feed back to the cleaning robot in time, and the cleaning robot can brake in time, so as to avoid the chassis 1 of the cleaning robot colliding with the obstacles and causing more serious consequences.

[0104] Referring to Figure 2 In some embodiments of the present application, one of the structures that can be implemented for the bumper assembly 3 is that the bumper assembly 3 includes a collision plate 31, which is arranged around the front half of the chassis 1. Since the cleaning robot can collide not only in the front direction but also on the left and right sides during walking, the half-enclosed structure of the collision plate 31 can cover the collision area as much as possible to ensure that the cleaning robot will not be damaged when it is in danger of collision.

[0105] As mentioned above, in order to enable the mop-washing module 8 to achieve edge cleaning, the mop-washing module 8 can be extended outward relative to the body of the cleaning robot, so that the mop-washing module 8 can perform edge cleaning on the wall side or the edge of an object when the body of the cleaning robot is not close to the wall side or the edge of the object.

[0106] In some embodiments of the present application, one of the structures that can be implemented for the mop-washing module 8 is as follows: Figure 13As shown, the mop module 8 comprises a mop assembly 83, a cavity shell 82 and a driving device 82. The driving device 82 is located on the cavity shell 82, and the driving device 82 is in power connection with the mop assembly 83, so as to provide driving force for the mop assembly 83. The mop assembly 83 is located in the drum accommodating cavity of the cavity shell 82. Under the action of the driving force of the driving device 82, the mop assembly 83 can be raised to be separated from the surface to be cleaned, lowered to be in contact with the surface to be cleaned, swung out of the chassis 1 and recovered to the range of the chassis 1, so that the mop assembly 83 extending out can clean the sanitary dead angle and the edge of the wall root during the process that the cleaning robot walks along the edge. When the cleaning robot performs the cleaning task, the mop assembly 83 can be in the extended state, and be retracted when it is necessary to avoid obstacles. Alternatively, when the cleaning task is performed, the mop assembly 83 is in the retracted state, and is extended when it is necessary to clean along the edge. When the cleaning robot walks on the carpet, the mop assembly 83 can be raised to be separated from the carpet, so as to avoid wetting the carpet or increasing the walking resistance. When the cleaning robot leaves the carpet area, the mop assembly 83 is lowered to be in contact with the surface to be cleaned, and continues to perform the mopping task on the surface to be cleaned.

[0107] If the cleaning robot is circular, as shown in Figure 3 the end profile of the mop assembly 83 is arc-shaped, and the arc shape is matched with the outer surface arc of the cleaning robot when the mop module 8 is in the recovered state, so as to fit the circular body.

[0108] Further, along the length direction of the body of the cleaning robot, the mop assembly 83 is located behind the dust box assembly 61 and the suction fan assembly 62, the mop assembly 83 is located beside the clean water tank 71, and the sewage tank 72 is located in front of the mop assembly 83. In addition, the mop assembly 83 is also located at the rear side of the driving wheel assembly 4. It is mentioned above that, in one embodiment, the body of the cleaning robot is circular, the mop assembly 83 is linear, and along the width direction of the body of the cleaning robot, the mop assembly 83 is transversely arranged and located at the rear part of the body of the cleaning robot, so that the rear side of the mop assembly 83 is arc-shaped, and the sewage tank 72 is located in the arc-shaped body.

[0109] Referring to Figure 3 and Figure 4 in one embodiment of the present application, a cleaning robot with a mop assembly 83 is provided, the length of the mop assembly 83 is substantially equal to the length of the roller brush 641, the cleaning range of the mop assembly 83 is substantially the same as the cleaning range of the roller brush 641 when the mop assembly 83 is not extended, and during the cleaning operation of the cleaning robot, the roller brush 641 first sweeps the ground clean, and then the mop assembly 83 mops and washes the ground.

[0110] Referring to Figure 7a and Figure 7bIn one embodiment provided in this application, the vacuum cleaning device 6 further includes a floating roller brush assembly 64, a dust box assembly 61, and a vacuum fan assembly 62. The floating roller brush assembly 64 includes a roller brush 641, a roller brush drive wheel assembly 4, and a roller brush cover assembly. The dust box assembly 61 is located behind the roller brush assembly 64, and the roller brush assembly 64 is provided with a suction port that communicates with the dust box assembly 61.

[0111] Please refer to Figure 7a As shown, in some embodiments of this application, the cleaning roller 832 is biased towards one side of the chassis 1 along the lateral direction of the chassis 1. On the other side of the lateral direction (the side opposite to the location of the cleaning roller 832), a dust extraction channel assembly 63 of the vacuum cleaning device 6 is provided. The dust extraction channel assembly 63 is located at the circumferential angle formed by the cleaning roller 832 and the drive wheel 41, or in other words, it is located within the angle range between the mopping module 8 and the corresponding drive wheel 41. It is inclined, with the Y-axis as the direction of the cleaning robot's movement and the Z-axis as the direction perpendicular to the paper. The projection of the cleaning roller 83 in the YZ plane at least partially coincides with the projection of the dust extraction channel assembly 63 in the YZ plane, and the projection of the cleaning roller 83 in the YZ plane partially coincides with the projection of the drive wheel 41 in the YZ plane. One end of the dust extraction channel assembly 63 is connected to the dust box assembly 61, and the other end can communicate with the outside. The dust in the dust box assembly 61 can be sucked out through the dust extraction channel assembly 63, avoiding the need for the user to disassemble the dust box.

[0112] For example, when the cleaning robot returns to the base station, after the cleaning robot docks with the base station, the dust removal channel component 63 can dock with the dust collection port on the base station. The base station can then use the dust removal channel component 63 to suck the garbage in the dust box component 61 into the base station, thereby completing the emptying of the dust box component 61.

[0113] In the technical solution provided in the present application, along the width direction of the cleaning robot body, the dust suction fan assembly 62 is located on one side of the dust box assembly 61, and the dust discharge channel assembly 63 is located on the other side of the dust box assembly 61. It can be considered that the dust suction fan assembly 62 and the dust discharge channel assembly 63 are respectively located on the left and right sides of the dust box assembly 61. Thus, the space in the left-right direction on the chassis 1 can be fully utilized, and the space occupied by the dust suction fan assembly 62 on the rear side of the chassis 1 is not too much to affect the volume of the sewage tank 72. Further, the dust suction fan assembly 62 and the dust box assembly 61 have a suction port in communication therebetween. The suction generated by the dust suction fan assembly 62 causes a negative pressure in the dust box assembly 61. Under the action of the negative pressure, dust is sucked into the dust box assembly 61 from the dust suction port, so as to carry away the dust on the area to be cleaned and realize the collection of the dust. When the cleaning robot is sucking and collecting dust, the dust suction fan assembly 62 rotates forward to suck the garbage into the dust box assembly 61. When the cleaning robot is docked with the base station to empty the garbage in the dust box assembly 61, the dust suction fan assembly 62 will rotate reversely, so as to blow the garbage in the dust box assembly 61 out of the dust box assembly 61 to the base station through the dust discharge channel assembly 63. The airflow blown out of the dust suction fan assembly 62 flows along the transverse direction of the dust box assembly 61 and penetrates through the entire dust box, so as to easily empty the garbage in the dust box assembly 61.

[0114] It is mentioned above that, in order to avoid the problem of smearing caused by the cleaning roller 832 during the cleaning of the ground, the mop-washing assembly 83 can complete self-cleaning while cleaning the ground on one side during the cleaning of the ground.

[0115] Referring to Figure 8 and Figure 9 In an embodiment provided in the present application, the mop-washing assembly 83 comprises a mop-washing support 831, a cleaning roller 832, and a dirt removal mechanism 833. The mop-washing support 831 is connected below the power source 81, and the mop-washing support 831 is provided with a roller motor for driving the cleaning roller 832 to rotate. One end of the cleaning roller 832 has an operation handle, and the other end is detachably sleeved on the roller motor. The roller motor can drive the cleaning roller 832 to rotate, and the cleaning roller 832 can be detached from the mop-washing support 831 by pulling the operation handle, so as to maintain and clean the cleaning roller 832.

[0116] Compared with the cleaning robot provided with a mop or a mop disc, the cleaning robot provided with the mop-washing assembly 83 has better cleaning effect and higher cleaning efficiency. During the cleaning process, the cleaning roller 832 can also be self-cleaned. The dirt removing mechanism 833 can scrape the dirty water on the cleaning roller 832, and the liquid supply mechanism can supply clean cleaning liquid to the cleaning roller 832, and then the cleaning roller 832 can mop and wash the ground. This cleaning method can not only bring better cleaning effect, but also has longer cleaning endurance. During a cleaning task, the cleaning robot does not need to return to the base station for self-cleaning and maintenance frequently.

[0117] In an embodiment provided in the present application, in order to supply the cleaning liquid for wetting to the cleaning roller 832, the mop-washing support 831 has a water outlet in communication with the pipeline of the clean water tank 71. The water outlet is in a strip shape to cover the entire length of the cleaning roller 832. The clean water in the clean water tank 71 can wet the rotating cleaning roller 832 to make the water used for mopping always clean water, so as to achieve good cleaning effect on the cleaning area.

[0118] Along the width direction of the mop-washing assembly 83 (which can be considered as the length direction of the body of the cleaning robot), the dirt removing mechanism 833 can be arranged on the front side of the cleaning roller 832 or on the rear side of the cleaning roller 832. The dirt removing mechanism 833 has a scraping strip assembly 8331 and a dirt collecting box 8332. The scraping strip assembly 8331 is located above the dirt collecting box 8332, and the scraping strip assembly 8331 is in contact with the cleaning roller 832 to scrape the dirty water on the cleaning roller 832 into the dirt collecting box 8332. The dirt collecting box 8332 is in communication with the sewage tank 72 through a sewage discharge pipe. The dirty water in the dirt collecting box 8332 can enter the sewage tank 72 through the sewage discharge pipe, so as to avoid the dirty water on the cleaning roller 832 from adhering to the surface to be cleaned again during the rolling process of the cleaning roller 832, and also to clean the cleaning roller 832.

[0119] It should be noted that, along the direction of rotation of the cleaning roller 832, the dirt removing mechanism 833 is located upstream of the water outlet, that is, the cleaning roller 832 passes through the dirt removing mechanism 833 first to scrape the water, and then passes through the water outlet. The cleaning liquid is sprayed on the cleaning roller 832, so that the cleaning roller 832 is always kept wet, and there is enough clean water to clean the dirt on the surface to be cleaned, so as to obtain better cleaning effect. After cleaning the dirt on the surface to be cleaned, the cleaning water on the cleaning roller 832 becomes dirty water, and when the cleaning roller 832 rotates through the dirt removing mechanism 833, the dirty water is scraped by the scraping strip assembly 8331 into the dirt collecting box 8332. The relatively dry cleaning roller 832 is wetted by the cleaning water again, and the above operation is repeated to mop the ground.

[0120] Specifically, as shown in FIG. 8, the dirt removing mechanism 833 is arranged on the front side of the cleaning roller 832. The dirt removing mechanism 833 has a scraping strip assembly 8331 and a dirt collecting box 8332. The scraping strip assembly 8331 is located above the dirt collecting box 8332, and the scraping strip assembly 8331 is in contact with the cleaning roller 832 to scrape the dirty water on the cleaning roller 832 into the dirt collecting box 8332. The dirt collecting box 8332 is in communication with the sewage tank 72 through a sewage discharge pipe. The dirty water in the dirt collecting box 8332 can enter the sewage tank 72 through the sewage discharge pipe, so as to avoid the dirty water on the cleaning roller 832 from adhering to the surface to be cleaned again during the rolling process of the cleaning roller 832, and also to clean the cleaning roller 832. Figures 10-11As shown, one of the implementable structures of the scraping strip assembly 8331 includes a water guide plate 83311 and a scraping plate 83312, wherein the water guide plate 83311 is in the shape of an arc plate extending along the left-right direction of the chassis, the lower surface of the water guide plate 83311 is an arc surface, and a plurality of water guide grooves are arranged on the arc surface. The scraping plate 83312 is detachably connected above the water guide plate 83311, the end of the scraping plate 83312 is in contact with the surface of the cleaning roller 832, and the scraping plate 83312 is perpendicular to the surface of the cleaning roller 832 to ensure good water scraping effect. The rear side of the water guide plate 83311 is located above the opening of the dirt collecting box 8332, and the water guide plate 83311 with an arc bottom surface can not only block the splashing of the scraped sewage out of the mop washing assembly 83, but also guide the scraped sewage to flow along the arc-shaped scraping strip assembly 8331 to the dirt collecting box 8332. The side of the scraping plate 83312 away from the water guide plate 83311 has an inclined downward angle, so that the two sides of the scraping strip assembly 8331 in the front-rear direction are both downward arc surfaces, so that when the side of the scraping plate 83312 away from the water guide plate 83311 is in contact with the cleaning roller 832, the scraped sewage on the cleaning roller 832 can be better scraped. The scraping plate 83311 includes but is not limited to: a metal scraping plate, a rubber scraping plate, a plastic scraping plate, etc. Taking the scraping plate 83312 as a metal scraping plate as an example, the metal scraping plate is detachably connected with the water guide plate 83311. When the scraping plate 83312 is worn or has poor water scraping ability during long-term use, the scraping plate 83312 can be detached from the water guide plate 83311, and a new scraping plate 83312 can be replaced.

[0121] In some embodiments of the present application, the rotation direction of the cleaning roller 832 can be clockwise rotation, the water outlet is located above the cleaning roller 832, the dirt removal mechanism 833 is located at the rear side of the cleaning roller 832, and the sewage tank is located at the rear side of the mop assembly, so that the distance between the dirt collecting box 8332 and the sewage tank is the shortest, thereby shortening the length of the sewage discharge pipe and reducing the space occupied by the sewage discharge pipe on the chassis. At the same time, the sewage travels a short distance in the sewage discharge pipe, which is easy to be discharged from the dirt collecting box 8332 into the sewage tank.

[0122] In some embodiments of the present application, the closest distance between the cleaning roller 832 and the drive wheel 41 is between 5mm and 15mm. Since the cleaning roller 832 is in contact with the surface to be cleaned and rolls along the surface to be cleaned, the friction between the cleaning roller 832 and the surface to be cleaned can hinder the movement of the cleaning robot. Therefore, reducing the distance between the cleaning roller 832 and the drive wheel 41 as much as possible can reduce the friction torque on the rotation shaft of the drive wheel 41, so that the cleaning robot moves more easily and the power consumption is reduced.

[0123] Although the cleaning roller 832 can provide assistance when rotating clockwise (in the same direction as the drive wheel 41), in this case, the cleaning force of the cleaning roller 832 is not high, and it is difficult for the cleaning roller 832 to scrub stubborn stains on the ground. In order to improve the cleaning force of the cleaning roller 832, refer to Figures 20a-21b In an embodiment provided by the present application, along the length direction of the chassis 1, the stain removal mechanism 833 is arranged on the front side of the cleaning roller 832. When the cleaning robot moves forward, the rotation direction of the cleaning roller 832 is opposite to that of the drive wheel 41, so that the scrubbing force of the cleaning roller 832 on the ground is greater, and the cleaning force of the cleaning roller 832 is higher.

[0124] Refer to Figure 2 and Figure 12 As shown, the chassis 1 is provided with a first space for installing the drive wheel at a position corresponding to the drive wheel 41, which can be referred to as a drive wheel shell. The chassis 1 is provided with a second space for installing the mop module 8 on the rear side of the drive wheel 41. Based on the circular body, since the first space for installing the drive wheel occupies the largest width position of the body, in order to prevent the drive wheel from interfering with the roller and the need for the roller to swing outward, the mop module 8 is generally arranged behind the drive wheel. In order to realize a longer roller, the position of the mop module 8 is as close to the drive wheel shell as possible. That is, the limit position at which the mop module 8 can be installed is two shell distances away from the first space for installing the drive wheel. The two shell distances refer to the shell distance of the first space for installing the drive wheel and the shell distance of the space for installing the mop module 8. For example, the two shell distances are greater than 5mm and less than 7mm.

[0125] Please refer to Figure 7aAs shown, the Y-axis is the direction of the cleaning robot, and the Z-axis is the direction perpendicular to the paper. As mentioned above, in order to obtain a longer and outwardly extending cleaning roller, the mop module 8 is arranged as close as possible to the drive wheel housing in the Y-axis direction. In the same horizontal plane, in the X-axis direction perpendicular to the Y-axis, that is, in the width direction of the robot body, the main factor limiting the length of the cleaning roller is the docking position with the dust collection base station. In some embodiments of the present application, the cleaning roller 83 is biased to one side of the chassis 1 in the transverse direction of the chassis 1, and the dust discharge passage assembly 63 of the suction cleaning device 6 is arranged on the other side of the transverse direction (the opposite side of the position of the cleaning roller 832). That is, the dust discharge passage assembly 63 and the water tank 71 are both located on the opposite side of the outward extension of the cleaning roller, and do not hinder the extension movement of the cleaning roller. In the Z-axis direction, the water tank 71 and the dust discharge passage assembly 63 are arranged above and below, for example, the water tank 71 is arranged above the dust discharge passage assembly 63.

[0126] The dust discharge passage assembly 63 is located at the circumferential angle formed by the cleaning roller 832 and the drive wheel 41, or in other words, the dust discharge passage assembly 63 is located within the angle range between the mop module 8 and the corresponding side drive wheel 41. The dust discharge passage assembly 63 is arranged obliquely, and the projection of the cleaning roller 83 in the YZ plane at least partially overlaps the projection of the dust discharge passage assembly in the YZ plane. The projection of the cleaning roller 83 in the YZ plane partially overlaps the projection of the drive wheel 41 in the YZ plane. One end of the dust discharge passage assembly 63 communicates with the dust box assembly 61, and the other end can communicate with the outside. Dust in the dust box assembly 61 can be sucked out of the dust box through the dust discharge passage assembly 63, avoiding the user from disassembling the dust box.

[0127] It should be noted here that the roller brush 641 in the floating roller brush assembly 64 is used to clean dry dirt. The roller brush 641 can include a roller brush shaft and brush hairs arranged on the roller brush shaft. The dry dirt (such as dust, hair, small particles, etc.) is lifted up by the roller brush 641, and then sucked into the dust box assembly by the suction nozzle of the suction cleaning device of the cleaning robot. The roller in the cleaning roller 832 is used to wet mop the floor. The roller can include a roller shaft and a mop soft brush arranged on the roller shaft. The mop soft brush absorbs water to wet mop the floor to clean the floor.

[0128] In conclusion, in the technical scheme provided in the present application, when the cleaning robot needs to clean the edges of walls, household objects and the like, the mop-washing assembly 83 on the cleaning robot can be extended outward relative to the body of the cleaning robot, thereby facilitating the mop-washing assembly 83 to achieve the task of edge cleaning. When the cleaning robot needs to clean a carpet, the mop-washing assembly 83 can be lifted by the driving device 82, thereby avoiding the contact between the wet cleaning roller 832 and the carpet. In addition, whether the mop-washing assembly 83 is in the state of being extended or not, the dirt-removing mechanism 833 on the mop-washing assembly 83 can scrape the dirty water on the cleaning roller 832 clean when the cleaning roller 832 rotates. The liquid supply structure on the mop-washing assembly 83 can continuously supply cleaning liquid to the cleaning roller 832, thereby meeting the requirement that the mop-washing assembly 83 cleans the ground while being self-cleaned, and the mop-washing assembly 83 always has good cleaning effect.

[0129] As mentioned above, the dust-cleaning cleaning device 6 is arranged on the chassis 1, and when the dust is cleaned, at most, the ground covered by the chassis 1 can be cleaned, and it is difficult to clean other areas outside the chassis 1. Usually, when the cleaning robot cleans the ground in the home environment, in order to avoid the collision between the body and the edges of walls, household objects and the like, the body of the cleaning robot is often kept at a safe distance from the edges of walls, household objects and the like, but this will cause the cleaning blind area of the cleaning robot to be too large, and the cleaning robot cannot achieve edge cleaning.

[0130] In order to solve this problem, see Figure 1a , Figure 2 , Figure 3 and Figure 13As shown, when the cleaning robot drives to the wall root, the corner or the like along the edge or the cleaning dead angle area, in order to fully clean the to-be-cleaned area. In some embodiments of the present application, the outer swing edge brush assembly 5 includes an outer swing edge brush 51, a mechanical arm 52 and a rotary driving member 53, wherein the rotary driving member 53 is arranged on the chassis 1, the outer swing edge brush 51 is rotatably arranged at the free end of the mechanical arm 52, the end of the mechanical arm 52 away from the outer swing edge brush 51 is connected with the output end of the rotary driving member 53, and the rotary driving member 53 can provide rotary power to the mechanical arm 52 to drive the free end of the mechanical arm 52 to rotate around the output end of the rotary driving member 53, so as to swing the outer swing edge brush 51 out of the chassis 1 or back into the chassis 1. When the outer swing edge brush 51 is swung out of the chassis 1, the mechanical arm 52 can transmit the rotary power of the rotary driving member 53 to the outer swing edge brush 51, so that the outer swing edge brush 51 performs a rotary motion to stir up the dust on the to-be-cleaned surface at the wall root edge or the cleaning dead angle, so as to facilitate the dust to be sucked into the dust box assembly 61, thereby achieving cleaning at the wall root edge and the cleaning dead angle. In addition, in order to realize that when the mop washing assembly 83 is in the extended state, the cleaning robot still performs the process of sweeping first and then mopping when cleaning the ground. The outer swing edge brush assembly 5 is arranged at the same side as the outer swing direction of the mop washing assembly 83, for example, the extension directions of the outer swing edge brush assembly 5 and the mop washing assembly 83 are both the right side of the cleaning robot. When the mop washing assembly 83 is extended outward, the outer swing edge brush assembly 5 is also swung outward at the same side, so that the sweeping range of the outer swing edge brush assembly 5 can coincide with the mopping range of the mop washing assembly 83.

[0131] In the process of performing a cleaning task, the cleaning robot moves in an autonomous manner. Therefore, corresponding sensors are needed to detect the environment and obstacles during the movement of the cleaning robot, so as to avoid the cleaning robot being blocked during the movement.

[0132] Referring to Figure 1b , Figures 2-4 and Figures 14-17 As shown, in some embodiments of the present application, the obstacle avoidance sensor assembly 2 includes a sensor module 21 and a sensor bracket 22. The sensor bracket 22 is a semicircle shaped with the bumper assembly 3, the sensor bracket 22 is installed on the front side of the chassis 1, and the sensor module is located at the front end of the sensor bracket 22. It can be considered that the sensor module 21 is arranged on the front side of the body of the cleaning robot, which can detect the environment in front of the space in the direction of movement of the cleaning robot, so as to realize the identification of the cleaning area and the identification of the front obstacles, thereby assisting the cleaning robot to safely move forward.

[0133] The sensor module 21 can identify obstacles and boundary information of the cleaning environment to prevent the cleaning robot from colliding and establish a three-dimensional map of the cleaning robot's walking area to guide the cleaning robot's walking path. Specifically, in some embodiments of the present application, the sensor module 21 includes at least one of the following: an obstacle avoidance sensor 211, a mapping sensor 213, a vision sensor 212, and the like. The obstacle avoidance sensor 211 can emit and receive infrared light or laser to measure the distance of objects in close proximity and identify obstacles in front to perform obstacle avoidance operation according to the measured distance. The mapping sensor 213 can emit and receive infrared laser in the horizontal direction to identify obstacle and boundary position information to establish a map of the area to be cleaned to guide the cleaning robot's walking path. The vision sensor 212 identifies obstacles through visual judgment to assist in obstacle avoidance and reduce the risk of collision between the cleaning robot and obstacles during walking.

[0134] When the cleaning robot performs a cleaning task on the surface to be cleaned, it not only needs to clean the middle area of the surface to be cleaned, but also needs to clean the edge area of the surface to be cleaned. When cleaning the middle area of the surface to be cleaned, only the sensor module 21 located on the front side of the body needs to detect in real time whether there is an obstacle in front. When cleaning the edge of the surface to be cleaned, that is, so-called edge cleaning, the cleaning robot needs to detect not only whether there is an obstacle in front, but also whether the cleaning robot is walking along the edge of the object. Since the detection range and accuracy of the sensor module 21 on the front side of the body are limited, it cannot assist in detecting whether the cleaning robot is walking along the edge of the object.

[0135] Please refer to Figures 14-16 In some embodiments of the present application, the obstacle avoidance sensor assembly 2 further includes an edge-following sensor 24 and a bumper trigger structure 23. The edge-following sensor 24 is located on the sensor bracket 22 on the left and right sides of the sensor bracket 22, or is provided on the left and right sides of the chassis 1. The edge-following sensor 24 can sense whether the cleaning robot is in an edge-following state. If the cleaning robot is in an edge-following state, the edge-following sensor 24 transmits the walking information of the cleaning robot to the mainboard assembly 9, and the mainboard assembly 9 controls the outer swing brush assembly 5 and the mop module 8 to extend to clean the edge of the area to be cleaned. The bumper trigger structure 23 is fixed on the sensor bracket 22, and there is a bumper trigger structure 23 on both sides of the sensor module 21. The bumper trigger structure 23 is connected to the bumper assembly 3 in an elastic manner, so that when the bumper assembly 3 collides, the elastic member is compressed, and after the collision is eliminated, it can return to the original position.

[0136] The edge sensor 24 is arranged at a lateral position of the cleaning robot body. When the cleaning robot walks along the edge, the edge sensor 24 is closer to the object beside the cleaning robot, the monitoring range of the edge sensor 24 is opposite to the side of the cleaning robot (the left side or the right side of the cleaning robot body), and the detection accuracy of the edge sensor 24 is higher than that of the sensor module 21.

[0137] The mapping sensor 213 in the sensor module 21 generates a line laser including line lasers in multiple directions, such as line lasers in the horizontal direction and line lasers in the vertical direction, and the field of view angle of the sensor is 120 degrees * 60 degrees. The edge sensor 24 includes but is not limited to a line laser sensor, an infrared sensor, an ultrasonic sensor, and the like. Taking the edge sensor 24 as an ultrasonic sensor as an example, the edge sensor 24 can measure the distance between the edge sensor 24 and the edge of the object through ultrasonic waves, thereby assisting in path planning with the cleaning robot, and the cleaning robot can plan a path for walking along the edge.

[0138] An existing cleaning robot has the mapping sensor 213 arranged at the top of the cleaning robot body and the obstacle avoidance sensor 211 arranged at the front of the cleaning robot body. However, the mapping sensor 213 protruding from the top of the cleaning robot body increases the overall height of the cleaning robot, and in some scenarios, such as the bottom of a low sofa, the bottom of a bed, and the like, the cleaning robot cannot enter the cleaning area, thereby reducing the cleaning coverage of the entire house and affecting the user experience and the expectation of the product by the consumer.

[0139] Referring to Figure 1a , Figure 1b , Figures 2-4 and Figures 14-17 , in the technical solution provided in the present application, the obstacle avoidance sensor assembly 2 is arranged in the cleaning robot body, thereby avoiding the problem of the obstacle avoidance sensor assembly 2 protruding from the top of the cleaning robot and increasing the overall height of the cleaning robot.

[0140] In the technical solution of the present application, the obstacle avoidance sensor assembly 2 is arranged inside the cleaning robot body, and the obstacle avoidance sensor assembly 2 needs to monitor the environment outside the cleaning robot body, so a corresponding window or a corresponding structure needs to be arranged on the cleaning robot body, so that the obstacle avoidance sensor assembly 2 can monitor the environment outside the cleaning robot body.

[0141] Referring to Figure 3 , Figure 4 and Figure 16 and Figure 17In one embodiment provided in this application, a recessed space 100 is provided at the front end of the cleaning robot corresponding to the position of the sensor module 21. Specifically, a sensor bracket 22 is provided on the front side of the chassis 1, and a sensor mounting position 210 is provided on the sensor bracket 22. The sensor module 21 is located on the sensor mounting position 210, and the edge sensor 24 is also located on the sensor bracket 22. The obstacle avoidance sensor 211 and the vision sensor 212 in the sensor module 21 can be located within the recessed space 100. The mapping sensor 213 in the sensor module 21 can be located above the recessed space 100 and is approximately flush with the outer surface of the front end of the cleaning robot body. Referring to the example shown in Figure 1, the recessed space 100 is a recessed groove formed from the front end of the cleaning robot body to the rear. The inner wall of the recessed groove can be perpendicular to the direction of travel of the cleaning robot, or the side wall can be an inclined surface from the sensor module 21 to the rear to make the field of view of the sensor module 21 larger. A collision plate 31 is also provided in front of the sensor bracket 22. To ensure good signal reception of the sensor module 21, a window 32 is provided on the collision plate 31, and the sensor module 21 is located at the window 32. The window 32 includes a viewing window, which is asymmetrically distributed along the vertical central axis of the base or along the symmetrical center line of the cleaning robot body. The viewing window includes a first viewing window and a second viewing window, which are located on the left and right sides of the symmetrical center line of the body, respectively.

[0142] Along the symmetrical centerline, the cleaning robot's body is divided into an edge-cleaning side and a non-edge-cleaning side. The first viewing window and the outward-swinging side brush assembly 5 are located on the edge-cleaning side, while the second viewing window is located on the non-edge-cleaning side. The length of the second viewing window is greater than the length of the first viewing window, and the field of view of the second viewing window is greater than the viewing angle of the first viewing window. In the technical solution of this application, the edge-cleaning side has an outward-swinging side brush assembly 5, which will obstruct part of the viewing angle of the edge-cleaning side. Designing the first viewing window on the edge-cleaning side to be shorter and having a smaller viewing angle avoids the sensor's detection viewing angle being obstructed by the side brush assembly 5, thus preventing a waste of sensor function. By tilting the sensor's detection viewing angle towards the second viewing window, the sensor's detection viewing angle will be fully utilized. When setting up the sensor, it can be tilted so that the sensor's detection viewing angle faces the second viewing window, or the sensor can be set on the sensor bracket 22 corresponding to the second viewing window. It should be noted that the sensor mentioned here can be considered as the mapping sensor 213 in the sensor module 21 mentioned above.

[0143] The opening position of the recessed space 100 corresponds to the position of window 32. See also Figure 1b In the diagram, the dashed line represents the center line of symmetry A of the cleaning robot. Sensor module 21 is located on center line A. Relative to sensor module 21, the spaces on the left and right sides of the recessed space 100 are asymmetrical. Figure 1bThe space on the left side of the symmetry center line A is smaller than the space on the right side of the symmetry center line A. The left side of the symmetry center line A can be considered as Figure 1a Correspondingly, referring to FIG. 7, based on the symmetry center line A, the left and right sides of the window 32 on the collision plate 31 are also asymmetric, and the window 32 on the left side of the symmetry center line A is smaller than the window 32 on the right side of the symmetry center line A.

[0144] Further, referring to Figure 1b and Figure 16 , the window 32 includes an upper layer window 321 and a lower layer window 322, and the length of the upper layer window 321 is smaller than the length of the lower layer window 322. Among them, the upper layer window 321 is symmetrically distributed along the symmetry center line A, and the lower layer window 322 is asymmetrically distributed along the symmetry center line A, and the length of the window on the left side is smaller than the length of the window on the right side. The heat dissipation hole 101 is located on the bottom wall of the recessed space 100 corresponding to the lower layer window. In addition, in order to improve the structural strength of the collision plate 31, a connecting column 33 is also provided on the window 32. Among them, the upper layer window 321 and the lower layer window 322 can be provided with a dustproof transparent plate or a dustproof cover, or can not be provided with a dustproof transparent plate or a dustproof cover, so that the user can directly observe the internal heat dissipation hole through the upper layer window 321 and the lower layer window 322.

[0145] It should be noted that the upper layer window mentioned above can be considered as the window mentioned above, and the window includes a first window and a second window, and the lower layer window 322 can be considered as a sensor window. The sensor window is in communication with the window, and based on the symmetry center line of the cleaning robot body, the sensor window is a symmetric structure, and the obstacle avoidance sensor 211 and the visual sensor 212 in the sensor module 21 are arranged on the sensor bracket 22 corresponding to the sensor window.

[0146] As mentioned above, in order to enable the cleaning robot to realize edge cleaning, the outer swing brush assembly 5 is arranged on the cleaning robot, and the outer swing brush assembly 5 can swing outward relative to the body of the cleaning robot, and then clean the area such as the wall edge and the object edge. Referring to Figure 3 and Figure 4 , the outer swing brush assembly 5 is arranged on the front side of the chassis 1, and along the central axis of the chassis 1, the outer swing brush assembly 5 is located on one side of the front end of the chassis 1. Similarly, the sensor bracket 22 mentioned above is also located at the front end of the chassis 1, in order to avoid interference between the sensor bracket 22 and the outer swing brush assembly 5. In the technical solution of the present application, the sensor bracket 22 is a non-symmetric structure, and the sensor bracket 22 and the outer swing brush assembly 5 are arranged side by side on the front side of the chassis 1.

[0147] Specifically, referring to Figure 17, the chassis 1 has a longitudinal center axis M and a transverse center axis N, and the longitudinal center axis M of the chassis 1 is in the same longitudinal plane as the center line A of the cleaning robot. Based on the longitudinal center axis M, the sensor bracket 22 is also asymmetrically structured, and the structure of the sensor bracket 22 on the left side of the longitudinal center axis M is larger than that on the right side of the longitudinal center axis M.

[0148] In the technical solution of the present application, the sensor bracket 22 is asymmetrically structured, and the sensor bracket 22 is asymmetrically arranged on the chassis 1 along the longitudinal center axis M of the chassis 1. The asymmetrically recessed space 100 on the sensor bracket 22 can effectively avoid the monitoring blind area of the sensor. In addition, the asymmetrically arranged sensor bracket 22 can be arranged on the front side of the chassis 1 at the same time as the outer swing brush assembly 5, which can avoid interference between the two in structure, and also make full use of the space on the front side of the cleaning robot body, improve the utilization rate of the internal space of the cleaning robot, and make the structure of the cleaning robot more compact.

[0149] With the expansion of the functions of the cleaning robot, the motion algorithm of the cleaning robot is becoming more and more complex, and the obstacle avoidance sensor assembly 2 is becoming more and more powerful, and the computing power required by the cleaning robot is also increasing, so the core controller of the mainboard assembly 9 needs higher power to meet the computing power requirement, and the heat generation of the core controller increases sharply. However, the existing sweeping robots rarely pay attention to the demand for mainboard heat dissipation, lack of heat dissipation design, and the heat dissipation structure has low heat dissipation efficiency and long heat dissipation path, and can only be passively dissipated, which cannot fully and effectively meet the product demand. Some sweeping robots connect the mainboard assembly with a counterweight made of metal material, but the counterweight has no heat dissipation outlet, and can only guide part of the heat through the counterweight, so the heat dissipation effect is still not good. Other

[0150] The embodiment provides an active sweeping robot heat dissipation scheme, referring to Figure 1b , Figure 18a and Figure 18bThe bottom of the inner recessed space 100 is provided with a plurality of heat dissipation holes 101, which are located on the bottom wall of the right window of the lower layer window. It can also be considered that the heat dissipation holes 101 are located on the sensor bracket 22, and the heat dissipation holes 101 can communicate the inside and outside of the body of the cleaning robot, thereby facilitating heat dissipation of the core controller on the mainboard assembly 9. Specifically, the mainboard assembly 9 includes a core board 110, and the downward face of the core board 110 is provided with a fitted shielding cover 111, which can shield the interference of electronic radiation on the core board 110. The bottom surface of the shielding cover 111 is provided with heat-conducting silica gel 112, and the heat-conducting silica gel 112 is provided below the heat dissipation fins 113. When the core board 110 operates and generates heat, the heat can be conducted to the heat-conducting silica gel 112 through the shielding cover 111, and then conducted to the heat dissipation fins 113 through the heat-conducting silica gel 112. The heat dissipation fins 113 are arranged behind the heat dissipation holes 101 and connected to the bottom disc 1 through fasteners 116. Whether the cleaning robot is in a traveling state or a stationary state, external air can enter the inside of the body of the cleaning robot through the heat dissipation holes 101 and take away the heat on the heat dissipation fins 113, thereby achieving heat dissipation for the core board 110, so as to ensure that the temperature of the core board 110 is always controlled within a reasonable range, and the computing power of the core board 110 is stable.

[0151] In order to avoid dust from entering the inside of the body of the cleaning robot, dustproof foam 115 is arranged on the inward side of the heat dissipation holes 101, which can simply filter the airflow entering the inside of the body from the heat dissipation holes 101, thereby blocking the dust from entering the inside of the body. In addition, in order to improve the waterproof performance of the cleaning robot, waterproof material is arranged around the heat dissipation fins 113, which can avoid water vapor or water flow from entering the core board 110 through the heat dissipation fins 113.

[0152] Arranging the heat dissipation holes 101 at the bottom of the inner recessed space 100 is also beneficial to improve the air intake amount, referring to Figure 1a and Figure 1b , the inner recessed space 100 is similar to a horn shape, and when the cleaning robot travels forward, the inner recessed space 100 has a large windward surface, which will generate a large air pressure at the heat dissipation holes located at the bottom of the inner recessed space 100. This will make more airflow with a faster flow rate enter the inside of the body of the cleaning robot through the heat dissipation holes 101, and the heat dissipation effect of the heat dissipation fins 113 is also better.

[0153] In summary, the embodiment provides an active heat dissipation scheme for the cleaning robot. The air outside can pass through the front plate window of the cleaning robot and enter the body of the cleaning robot through the heat dissipation hole 101, so as to take away the heat on the heat dissipation fin 113, thereby dissipating heat for the core board 110, so as to ensure that the temperature of the core board 110 is always controlled within a reasonable range. When the cleaning robot moves forward, the wind dissipation can be realized. Even if the robot is in a stationary state, the heat dissipation hole can conduct most of the heat of the core board 110 to the heat dissipation port, and finally realize the convective heat exchange with the air.

[0154] The above-mentioned sensor module 21 is provided on the front side of the cleaning robot, and the sensor module 21 includes a plurality of different sensors, so as to realize the navigation and obstacle avoidance of the cleaning robot. Generally, the sensor module 21 algorithm is based on the body profile of the cleaning robot to realize obstacle avoidance, but when the mop and washing assembly 83 is stretched out from the body, the outermost edge of the mop and washing assembly 83 will exceed the outermost edge of the body of the cleaning robot. It can be understood that the mop and washing assembly 83 is protruded outward from the body of the cleaning robot. The sensor module 21 located on the front side of the body cannot take into account the obstacle avoidance of the mop and washing assembly 83. The stretched mop and washing assembly 83 may collide with obstacles or the edges of objects during edge cleaning. The collision causes the cleaning robot to shift, and the cleaning robot needs to be repositioned.

[0155] Referring to Figure 19a and Figure 19b In an embodiment provided in the present application, the cleaning robot is also provided with a roller obstacle avoidance assembly 26. One side of the mop and washing assembly 83 extending outward can be defined as the extending side of the body of the cleaning robot. The extending side can be the left side of the body of the cleaning robot, or the right side of the body of the cleaning robot. The roller obstacle avoidance assembly 26 is arranged on the sensor bracket 22 of the extending side, or directly arranged on the chassis 1 of the extending side, or arranged on the rear cover assembly 01.

[0156] Taking the right side of the body of the cleaning robot as the extending side as an example. The roller obstacle avoidance assembly 26 can monitor whether there is an obstacle in the space environment of the extending side, and can also measure the distance between the obstacle or the edge of the object and the roller obstacle avoidance assembly 26. Then the mainboard assembly 9 can calculate whether the mop and washing assembly 83 has a risk of collision.

[0157] As Figure 19aAs shown, the two dashed lines in the figure represent the monitoring range of the drum obstacle avoidance assembly 26 in the horizontal direction, and the included angle a of the monitoring range is in the range of [60 degrees-180 degrees], for example, 120 degrees. In the length direction of the cleaning robot, the drum obstacle avoidance assembly 26 is located in front of the mop-washing assembly 83, and the drum obstacle avoidance assembly 26 can detect the existence of the obstacle before the mop-washing assembly 83 collides with the obstacle. The drum obstacle avoidance assembly 26 can not only detect whether the edge of the obstacle or object is in the travel path of the mop-washing assembly 83, but also measure the distance between the object and the cleaning robot.

[0158] Although the sensor module 21 located in the front side of the body can detect the obstacle on the extended side in some cases, the accuracy and precision are incomparable compared with the drum obstacle avoidance assembly 26.

[0159] The upper part of the sensor support 22 mentioned above is also provided with an edge sensor 24, which can sense whether the cleaning robot is in the edge-following travel state. When the drum obstacle avoidance assembly 26 is provided on the extended side of the body of the cleaning robot, the edge sensor 24 can be selectively provided on the extended side because the drum obstacle avoidance assembly 26 can replace the edge sensor 24.

[0160] Generally, the edge sensor 24 cannot replace the drum obstacle avoidance assembly 26 because the edge sensor 24 can only simply detect whether the cleaning robot is located at the wall or the edge of the home. The obstacle avoidance of the mop-washing assembly 83 also needs to consider whether the collision with the obstacle occurs in the height direction.

[0161] Referring to Figure 19b , when the cleaning robot is in the edge-following cleaning, the edges of the obstacles such as walls and homes cannot be flat, for example Figure 19b , the obstacle has a convex part in the height direction, and the convex part has a certain height from the ground. At this time, in the travel process of the mop-washing assembly 83, the mop-washing assembly 83 can not collide with the lower half of the obstacle, but it can collide with the convex part, so the monitoring of the obstacle in the height direction is also important.

[0162] In an embodiment provided in the present application, the drum obstacle avoidance assembly 26 can detect the height of the obstacle in the vertical direction. As shown in Figure 19b , in the vertical direction, the drum obstacle avoidance assembly 26 has a monitoring range in the vertical direction, and the included angle β of the monitoring range is in the range of [90 degrees-180 degrees], for example, 120 degrees. Generally, as long as the detection range of the drum obstacle avoidance assembly 26 is greater than the height of the mop-washing assembly 83, the use needs can be met. Referring to Figure 17The field of view angle of the sensor module 21 on the right side is smaller, and the projection direction of the drum obstacle avoidance assembly 26 emitting linear laser light vertically to the ground can be biased to the front.

[0163] The drum obstacle avoidance assembly 26 includes but is not limited to a linear laser sensor, an ultrasonic sensor, an infrared sensor, a visual sensor, etc.

[0164] Next, a scenario is described below with the drum obstacle avoidance assembly 26 as a linear laser sensor.

[0165] Referring to Figure 19a The obstacle is a cabinet with a part protruding outward. When the cleaning robot needs to clean the cabinet edge, the mop-washing assembly 83 is controlled to protrude outward, and as the cleaning robot travels, the mop-washing assembly 83 gradually approaches the edge of the cabinet. During the approach, the drum obstacle avoidance assembly 26 emits linear laser light to monitor the distance between the mop-washing assembly 83 and the cabinet in real time. When the mop-washing assembly 83 is too close to the cabinet, the cleaning robot adjusts the travel path or adjusts the distance of the mop-washing assembly 83 protruding outward, so as to avoid collision with the cabinet. In addition, referring to Figure 19b When the mop-washing assembly 83 approaches the cabinet, the drum obstacle avoidance assembly 26 emits linear laser light to also detect the height of the part protruding outward on the cabinet in real time. When the height is detected to be too low, the cleaning robot is controlled to change the travel path and terminate the edge cleaning of the cabinet, or the mop-washing assembly 83 is controlled to retract, so as to effectively avoid collision between the mop-washing assembly 83 and the part protruding outward on the cabinet.

[0166] The larger the field of view angle of a single linear laser sensor, the higher the required computing power. When multiple such linear laser sensors are provided on the cleaning robot, it is difficult for the computing unit of the cleaning robot to provide sufficient computing power. This not only affects the performance of multiple linear laser sensors, but also requires the cleaning robot to be equipped with a more powerful computing unit, which will bring serious challenges in terms of energy consumption and cost. In addition, if the cleaning robot is equipped with multiple powerful linear laser sensors, it is also easy to cause performance redundancy, increased power consumption, and shorter endurance of the cleaning robot.

[0167] Referring to Figure 19bIn another embodiment provided in this application, the sensor module 21 and the roller obstacle avoidance assembly 26 located on the front side of the robot body can cooperate to identify obstacles. Specifically, the monitoring range of the sensor module 21 is horizontally downward, similar to looking down at the ground at an angle in the horizontal direction. The sensor module 21 can detect whether there are obstacles protruding from the ground in front of the cleaning robot. The sensor module 21 does not detect objects in the horizontal direction, thereby effectively reducing the computing power required. The monitoring range of the roller obstacle avoidance assembly 26 is vertical. The roller obstacle avoidance assembly 26 can detect obstacles in the vertical direction, such as the height of the obstacle and the distance of the obstacle from the cleaning robot. By using the sensor module 21 and the roller obstacle avoidance assembly 26, which are located at different positions, in cooperation, the range that the cleaning robot can monitor can be covered in both the horizontal and vertical directions around the robot body.

[0168] In the technical solution of this application, the monitoring range of the roller obstacle avoidance component 26 is only in the vertical direction, and the computing power required is less than that required by the sensor module 21. Compared with a line laser sensor with a comprehensive monitoring range, the roller obstacle avoidance component 26 and the sensor module 21 can be considered as low-end versions of line laser sensors, requiring less computing power. Therefore, the total computing power required by multiple similar line laser sensors set up in the cleaning robot is also less. In addition, the roller obstacle avoidance component 26 can also take into account the obstacle avoidance of the cleaning roller 832 when it is in the extended state.

[0169] Although the rotating roller brush 641 can sweep the floor, the main dust collection work is still done by using the negative pressure generated by the vacuum fan assembly 62 to suck the garbage into the dust box assembly 61. Therefore, the position of the suction port on the chassis 1 will affect the dust collection efficiency. When the position of the suction port is not reasonable, the suction efficiency of the vacuum cleaning device 6 is very low and it cannot effectively collect all the garbage on the floor.

[0170] like Figure 20a and Figure 20b In one embodiment provided in this application, a first dust suction port 65 is provided on the chassis 1. The first dust suction port 65 is provided corresponding to the roller brush 641. The roller brush 641 can contact the ground through the first dust suction port 65. When the roller brush 641 rotates, the garbage swept by the roller brush 641 and the dust kicked up by the roller brush 641 can be sucked into the dust box assembly 61 through the first dust suction port 65. Figure 20b The direction indicated by the dashed arrow is the direction of the suction airflow. In addition, along the length of the cleaning robot body, the first suction port 65 is located in front of the dust box assembly 61. The first suction port 65 is connected to the dust box assembly 61 through an inclined channel. This technical solution has the least impact on the suction force at the first suction port 65.

[0171] Further, in order to better achieve the dust collection work, and to collect as much dust on the cleaning area as possible in the dust box assembly 61, the roller brush 641 is in contact with the cleaning surface, and one end of the roller brush assembly 64 is detachably sleeved on the roller brush driving wheel assembly 4, and the roller brush cover plate assembly is detachably buckled on the lower end of the roller brush assembly 64, so as to clamp the roller brush assembly between the roller brush driving wheel assembly 4 and the roller brush cover plate assembly. When the roller brush assembly needs to be cleaned, the roller brush cover plate assembly is opened, and the roller brush assembly can be detached from the roller brush driving wheel assembly 4, so as to facilitate the cleaning of the roller brush assembly 64. The roller brush cover plate assembly has a roller brush hole in the left-right direction, which can be considered as the first dust suction port 65 described above. The bristles of the roller brush assembly 64 for lifting the dust on the cleaning surface are in contact with the cleaning surface through the roller brush hole. The roller brush driving wheel assembly 4 provides power for the rotation of the roller brush 641. When the cleaning robot is cleaning the cleaning area, the roller brush 641 can lift the dust in the cleaning area, and the lifted dust is closer to the dust suction port, so that the dust is more easily sucked into the dust box assembly 61 under the suction force of the dust suction fan assembly 62.

[0172] In summary, in the technical solution provided in the present application, by arranging the first dust suction port 65 at the corresponding position of the roller brush 641, the suction force generated at the first dust suction port 65 can suck all the garbage into the dust box assembly 61 after the garbage is swept by the roller brush 641. The dust suction port is reasonably arranged, the dust suction efficiency of the dust suction and cleaning device 6 is high, and the ground can also be sucked more cleanly.

[0173] The length of the cleaning roller 832 determines the cleaning range that can be covered by the cleaning roller 832. The longer the length of the cleaning roller 832, the higher the cleaning efficiency of the cleaning robot. If the length of the cleaning roller 832 is too short, it is possible that when the mop and washing assembly 83 is extended, the cleaning roller 832 can only cover a small part of the ground below the robot body, and the area that can be cleaned by the dust suction and cleaning device 6 and the area that can be cleaned by the cleaning roller 832 cannot effectively overlap, which will cause part of the ground area to be cleaned only by the dust suction and cleaning device 6, and cannot be mopped and washed by the cleaning roller 832.

[0174] Referring to Figures 20a-22In another embodiment of the present application, a cleaning robot is provided with a relatively long mopping assembly 83, the length of the mopping assembly 83 is greater than the length of the roller brush 641, the mopping assembly 83 extends from one side of the chassis 1 to the other side of the chassis 1, it can be considered that the mopping assembly 83 spans the entire chassis 1, thus maximizing the length of the mopping assembly 83. Along the width direction of the cleaning robot, the length of the mopping assembly 83 on the left side of the roller brush 641 is L1, and the length of the mopping assembly 83 on the right side of the roller brush 641 is L2. The cleanable range of the mopping assembly 83 is obviously larger than the cleanable range of the roller brush 641. The relatively long mopping assembly 83 can have a better cleaning effect, and when the mopping assembly 83 assembly extends to perform edge cleaning, the cleanable range of the mopping assembly 83 can still substantially cover the cleanable range of the roller brush 641. In addition, the length of the mopping assembly 83 is approximately equal to the distance between the two drive wheels 41, so that when the drive wheels 41 leave marks on the ground, the mopping assembly 83 can clean the marks well.

[0175] As mentioned above, the dust box assembly 61 is provided with a dust discharge passage assembly 63, when the cleaning robot completes the cleaning task, or the dust box assembly 61 is full, the cleaning robot can return to the base station, and then the dust discharge passage assembly 63 is docked with the garbage collection port on the base station, and the dust suction fan assembly 62 is reversed, so that all the garbage in the dust box assembly 61 is blown into the garbage collection port on the base station, and the garbage is collected by the larger dust collection box on the base station.

[0176] Referring to Figure 7a When the mopping assembly 83 does not span the entire body of the cleaning robot, the space on one side of the dust box assembly 61 can be fully utilized, that is, the dust discharge passage assembly 63 is arranged beside the mopping assembly 83. Referring to Figure 21a and Figure 21b , the mopping assembly 83 spans the entire body, and the mopping assembly 83 extends from the left edge of the chassis 1 to the right edge of the chassis 1. It can be considered that the mopping assembly 83 is the longest mopping assembly 83 that can be arranged on the second half of the chassis 1 of the cleaning robot. Then, this will cause that the dust discharge passage assembly 63 that spans the mopping assembly 83 cannot be arranged on the chassis 1. This will cause that after the cleaning robot is docked with the base station, the cleaning robot cannot perform the operation of emptying the dust box assembly 61.

[0177] Referring to Figure 21a and Figure 21bIn an embodiment of the present application, the bottom plate 1 is provided with a first dust suction port 65 and a dust discharge port 66. The first dust suction port 65 is arranged corresponding to the roller brush 641, and the roller brush 641 can be in contact with the ground through the first dust suction port 65. The dust discharge port 66 is arranged corresponding to the dust box assembly 61, and is located at the bottom of the dust box assembly 61. In addition, the dust discharge port 66 is located between the first dust suction port 65 and the mop washing module 8, and the length and width of the first dust suction port 65 are greater than those of the dust discharge port 66. The dust box assembly 61 is further provided with a filter assembly 67, which is arranged at the top of the dust box assembly 61. The filter assembly 67 is used to filter the airflow sucked into the dust box assembly 61, and then the filtered airflow is discharged from the air outlet of the dust suction fan assembly 62. The dust discharge port 66 is arranged opposite to the filter assembly 67, that is, the filter assembly 67 is arranged at the top of the dust box assembly 61, and the dust discharge port 66 is arranged at the bottom of the dust box assembly 61. When the dust suction fan assembly 62 reverses rotation, the airflow blown into the dust box assembly 61 by the dust suction fan assembly 62 can flow from top to bottom and be discharged from the dust discharge port 66, which helps the dust box assembly 61 to quickly discharge the garbage.

[0178] Generally, the dust discharge port 66 is in a closed state, and only when the cleaning robot is docked with the base station and the dust box assembly 61 needs to be emptied, the dust discharge port 66 is opened. In an embodiment, the dust discharge port 66 is provided with a one-way door structure. When the dust box assembly 61 is in a normal pressure and negative pressure state, the one-way door structure closes the dust discharge port 66. When the dust box assembly 61 is in a positive pressure state, the one-way door structure is opened by the air pressure, and the garbage in the dust box assembly 61 can be discharged through the dust discharge port 66.

[0179] In summary, in the technical solution of the present application, the length of the mop washing assembly 83 is greater than the length of the cleaning roller 832. Whether the mop washing assembly 83 is in the retracted state or the extended state, the cleaning range covered by the cleaning roller 832 will highly coincide with the cleaning range covered by the roller brush 641, and the situation that part of the ground area is only swept but not mopped will not occur. In addition, the dust discharge port 66 is arranged at the bottom of the dust box assembly 61, and the garbage in the dust box assembly 61 can be discharged through the dust discharge port 66, so that the dust discharge process is simple and convenient.

[0180] In combination with the above embodiments, reference is made to Figure 3 , Figure 6 , Figure 7a and Figure 23In an embodiment provided in the present application, a cleaning robot is also provided. The cleaning robot comprises a chassis 1, a housing, a drive wheel assembly 4, a suction cleaning device 6 and a mop module 8. The chassis 1 has a vertical central axis. The housing is connected to the chassis 1 to form a body of the cleaning robot, and the housing can be an outer shell composed of the upper cover assembly 02, the bumper assembly 3 and the rear cover assembly 01 mentioned above. When the housing is connected to the chassis 1, a body of the cleaning robot in the shape of a round cake can be formed. The drive wheel assembly 4 is connected to the chassis 1 for driving the chassis 1 to move. The suction cleaning device 6 is arranged on the chassis 1, and the suction cleaning device 6 comprises a dust box assembly 61, a suction fan assembly 62 and a dust discharge passage assembly 63. The first end of the dust discharge passage assembly 63 is connected to the dust box assembly 61, and the second end extends to the rear end of the chassis 1. The mop module 8 is arranged on the rear side of the dust box assembly 61 along the front-rear direction of the vertical central axis, and the mop module 8 is movably connected to the chassis 1. The mop assembly 83 in the mop module 8 can extend outward from one side of the chassis 1 relative to the chassis 1. The housing has an opening on one side, and the mop assembly 83 can extend outward from the opening. The outer shell of the extending end of the mop assembly 83 matches the shape of the housing on the side of the opening.

[0181] Further, the body of the cleaning robot is in the shape of a round cake, and an end cover 8321 is arranged on the extending end of the mop assembly 83. The shape of the rear side area (for example, area A in Figure 3 ) of the end cover 8321 matches the shape of the housing (for example, area C in Figure 3 ) on the rear side of the opening. The front side (for example, area B in Figure 23 ) of the end cover 8321 is provided with a circular arc chamfer. It should be noted that the area A in Figure 3 and the area A in Figure 23 represent the same area of the end cover 8321.

[0182] Generally, the end cover 8321 and a cleaning roller 832 are connected together. When the cleaning roller 832 is installed on the mop assembly 83, one end of the cleaning roller 832 is connected to a roller motor on the mop assembly 83, and the other end is connected to the mop assembly 83 through the end cover 8321. When a user needs to install or disassemble the cleaning roller 832, the user can disconnect the end cover 8321 from the mop assembly 83 by grabbing the end cover 8321, and then the entire cleaning roller 832 can be disassembled. Therefore, when the mop assembly 83 extends outward, the end cover 8321 is located at the outermost side. In some extreme working conditions, for example, after the extending end of the mop assembly 83 collides with a wall or an obstacle, the end cover 8321 can be disconnected from the mop assembly 83, and in this case, the cleaning roller 832 can fall off from the mop assembly 83.

[0183] In the technical scheme provided in the present application, the front side of the end cover 8321 is provided with a circular arc chamfer, so that when the end cover 8321 collides with an obstacle or a wall surface, the force acting on the end cover 8321 will not cause the end cover 8321 to separate from the mop and washing assembly 83, and the connection between the end cover 8321 and the mop and washing assembly 83 is more stable. In addition, the shape of the rear side area of the end cover 8321 is a circular arc shape that matches the shape of the opening rear side of the shell. In this way, when the cleaning robot retreats, the extended mop and washing assembly 83 collides with the obstacle, and the force acting on the end cover 8321 is not easily separated from the mop and washing assembly 83.

[0184] Application scenario two:

[0185] When the cleaning robot is walking along the cleaning path, the rolling brush continuously rolls to lift dust on the to-be-cleaned area that can be walked through, and the lifted dust is sucked into the suction port by the suction of the suction fan assembly 62 and enters the dust box assembly 61 from the suction port. At the same time, the cleaning roller 832 in the mop and washing module 8 is lowered to contact the to-be-cleaned surface under the action of the driving device, the water pump 73 works to pump the cleaning water in the water tank through the pipeline to be sprayed onto the cleaning roller 832 to wet the cleaning roller 832, and the cleaning roller 832 rotates to be able to take stubborn stains on the to-be-cleaned area away from the to-be-cleaned surface, and in the process of rotation, the sewage on the cleaning roller 832 is scraped into the sewage collection box 8332 under the action of the scraping strip assembly 8331, and the sewage in the sewage collection box 8332 is sucked into the sewage tank under the action of the air pump 74. When the cleaning robot is about to travel onto the carpet, the mainboard assembly 9 sends a rising instruction to the mop and washing module 8, so that the cleaning roller 832 is raised to be separated from the carpet under the driving of the mop and telescopic driving member, and when leaving the carpet area, the mainboard assembly 9 sends a lowering instruction to the mop and washing module 8, so that the cleaning roller 832 is lowered to contact the to-be-cleaned surface under the driving of the mop and telescopic driving member to continue to perform the mop task.

[0186] When the cleaning robot walks to the edge area such as the wall root, the mainboard assembly 9 sends an instruction to the driving outer swing edge brush assembly 5 to swing out to the outside of the chassis, and sends an instruction to the mop and washing module 8 to extend the cleaning roller 83 to the outside of the chassis, the outer swing edge brush assembly 5 lifts the dust on the edge area and the cleaning dead angle, so that the dust is sucked into the suction port and finally contained in the dust box assembly 61. At the same time, the mop and washing module 8 mops the edge area and the cleaning dead angle to ensure that the to-be-cleaned area can be completely cleaned.

[0187] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that, The application relates to a cleaning robot. The cleaning robot comprises a body, a driving assembly, an outward swinging side brush assembly and a baffle assembly. The body has a transverse center line and a vertical center line. The driving assembly is arranged on the body corresponding to the transverse center line and is used for driving the body to move. The outward swinging side brush assembly is arranged on one side of the front end of the body and can swing outward relative to the body.

2. The cleaning robot according to claim 1, wherein, The baffle assembly is arranged on the front side of the body.

3. The cleaning robot according to claim 2, wherein, The baffle assembly is provided with a window, and the window comprises a view window. The view window is asymmetrically distributed along the vertical center line.

4. The cleaning robot according to claim 1, wherein, The body of the cleaning robot has a symmetric center line.

5. The cleaning robot according to claim 1, wherein, Along the symmetric center line, the view window is divided into a first view window and a second view window. The first view window and the second view window are respectively arranged on the left and right sides of the symmetric center line. Along the symmetric center line, the body of the cleaning robot is divided into a side cleaning side and a non-side cleaning side.

6. The cleaning robot according to claim 5, wherein, The first view window and the outward swinging side brush assembly are arranged on the side cleaning side. The second view window is arranged on the non-side cleaning side.

7. The cleaning robot according to claim 6, wherein, The length of the second view window is greater than that of the first view window. The field angle of the second view window is greater than that of the first view window.

8. The cleaning robot according to claim 5, wherein, The cleaning robot further comprises a mop-washing module and a dust cleaning system.

9. The cleaning robot according to claim 5, wherein, Along the front-rear direction of the vertical center line, the mop-washing module is arranged on the rear side of the dust cleaning system. 10.The cleaning robot according to claim 9, wherein, The mop-washing module is movably connected to the body and can extend outward from one side of the body along the transverse center line. 11.The cleaning robot according to claim 10, wherein The cleaning robot further comprises an obstacle avoidance sensor assembly. The obstacle avoidance sensor assembly comprises a sensor module and a sensor support.

12. The cleaning robot of claim 1, wherein, The sensor module is arranged on the sensor support.

13. The cleaning robot of claim 5, wherein, The sensor support is arranged on the front end of the body. The sensor support is provided with a recessed space deviated to one side of the vertical center line. The sensor module is arranged in the recessed space. Along the transverse center line, the sensor support and the outward swinging side brush assembly are arranged from left to right. The opening position of the recessed space corresponds to the position of the window. Along the vertical center line, the window is asymmetrically arranged. The sensor support is arranged on the front side of the dust cleaning system. The sensor support is a semicircular arc shape corresponding to the front end of the body. Along the vertical center line, the sensor support is asymmetrically arranged on the body. The sensor support is divided into a left part and a right part. The left part and the right part are asymmetric. The sensor module comprises a mapping sensor. The mapping sensor is arranged in the recessed space corresponding to the view window. The mapping sensor can map the ground environment on the front side of the body through the view window. The window further comprises a sensor view window. The sensor view window and the view window are in communication. Based on the symmetric center line of the body of the cleaning robot, the sensor view window is a symmetric structure. The sensor module comprises an obstacle avoidance sensor. The obstacle avoidance sensor is arranged on the sensor support corresponding to the sensor view window. The detection range of the obstacle avoidance sensor is the area on the front side of the body. The baffle assembly is provided with a connecting column crossing the window. The bottom of the recessed space is provided with a heat dissipation hole.

14. The cleaning robot according to claim 13, wherein, The setting position of the heat dissipation hole corresponds to a second window of the window.

15. The cleaning robot according to claim 3, wherein, The cleaning robot further comprises a drum obstacle avoidance assembly and / or an edge-following sensor, which are arranged on the edge-following cleaning side.

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