Cleaning robot

Abstract

The embodiment of the utility model provides a cleaning robot. According to the cleaning robot, a mopping and washing assembly comprising a cleaning unit, a liquid supply mechanism and a dirt removing mechanism can integrally act relative to a cleaning robot body, it is guaranteed that the dirt removing mechanism can scrape dirt on the cleaning unit when the mopping and washing assembly is located at any position, the cleaning unit can conduct running water cleaning at any position, and working and self-cleaning are achieved at the same time. Besides, according to the scheme provided by the embodiment, whether the cleaning robot needs to walk along the edge or not is not judged, the cleaning unit is in the extending state when the cleaning robot executes the cleaning task, complex identification of the edge condition is omitted, the cleaning unit extends out in the normal state to execute the cleaning task, corresponding control logic is simple, and operation is convenient. The design difficulty is low, implementation is easy, and the effect is good.

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 2024-01-05 202410018264.3 Self-moving cleaning device, control method and cleaning system 2024-08-05 202411067857.5 Cleaning robot and mop-washing assembly 2023-11-20 202311550085.6 Self-moving robot and method of operation thereof Technical Field

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

[0005] Most existing sweeping and mopping robots clean floors by vacuuming first and then mopping. For example, they have a mop tray at the bottom of the robot that rotates to mop. However, mopping with a mop tray results in dirt accumulation because it lacks a self-cleaning function. Later, cleaning robots using roller mopping emerged. These robots have a roller, a water supply system, a squeegee, and a wastewater collection system. Each time the roller rotates, it receives water from the water supply system. After mopping, the squeegee performs self-cleaning while cleaning, achieving a continuous water cleaning process that improves the dirt accumulation problem.

[0006] In existing technologies, some cleaning robots with rollers employ solutions where a single roller or a roller and liquid supply mechanism can extend together to clean along edges or around obstacles. These robots only extend the roller when edge cleaning or cleaning around obstacles is required. During most of the cleaning process, the roller remains in its initial position within the projected area of ​​the main unit. However, the extended portion of the roller is not cleaned, still exhibiting a similar problem of dirt accumulation as the mop tray, resulting in poor cleaning performance. In other words, the roller can only achieve complete self-cleaning with running water in its initial position; when extended, it remains uncleaned. Therefore, these robots are only suitable for scenarios requiring occasional extension of the cleaning roller. In complex scenarios, such as those with many edges or multiple targets to clean, the cleaning roller theoretically needs to remain extended for extended periods. In such cases, the roller cannot effectively self-clean, leading to dirt accumulation and low cleaning efficiency.

[0007] In addition, there is another problem for the cleaning robot with the drum initial position within the main machine projection area. When the cleaning robot performs edge cleaning or target cleaning, the robot controls the drum to extend according to the distance threshold of the edge and the target. If the working scene of the cleaning robot is complex, when the edge or target position has an obstacle, the robot controls the drum to retract inward according to the distance threshold of the obstacle. If the environment of the edge or target position is complex and has many obstacles, the distance of the robot is between the distance threshold of the edge and the target and the distance threshold of the obstacle. The controller of the robot needs to continuously receive and calculate the threshold, which increases the number of switching between the retracted state and the extended state of the robot, seriously wastes the computing power of the robot, and affects the reliability of the extension and retraction driving device. Utility model content

[0008] In view of the above problems, the present application provides a cleaning robot capable of realizing self-cleaning of the drum at all times. Instead of determining whether the cleaning robot needs to perform edge cleaning, the cleaning robot directly adopts the mode of the mop-washing assembly in the extended state to perform the cleaning task when performing the cleaning task. Meanwhile, the liquid supply mechanism, the dirt removal mechanism and the drum as a whole can be swung outward together to meet the demand for self-cleaning of the drum under the condition of long-time extension of the drum.

[0009] In an embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0010] a body;

[0011] a mop-washing assembly comprising a cleaning unit motor and a cleaning unit, wherein the cleaning unit motor is connected with the cleaning unit to drive the cleaning unit to rotate relative to a rotating shaft;

[0012] a driving device arranged on the body and connected with the mop-washing assembly;

[0013] a control device arranged on the body and configured to control the driving device to drive the mop-washing assembly to extend from at least one side of the body in a width direction of the body so that part of the mop-washing assembly is exposed outside;

[0014] the mop-washing assembly has at least a first limit working position and a second limit working position, and the driving device can drive the mop-washing assembly to change between the first limit working position and the second limit working position;

[0015] in the first limit working position, the mop-washing assembly does not extend out of the edge projection area of the body, and in the second limit working position, the mop-washing assembly extends out of the edge projection area of the body;

[0016] The control device controls the mopping and washing assembly to be located at the second limit working position or at any position between the first limit working position and the second limit working position when the cleaning robot performs a cleaning task.

[0017] Optionally, the mopping and washing assembly further comprises a liquid supply mechanism and a dirt removal mechanism, the liquid supply mechanism is configured to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is configured to scrape off dirt on the cleaning unit; the liquid supply mechanism and / or the dirt removal mechanism can move along with the mopping and washing assembly.

[0018] Optionally, the mopping and washing assembly further comprises a mopping and washing support, the mopping and washing support has a drum mounting cavity with an opening facing downward, the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity, the cleaning unit is in contact with a surface to be cleaned through the opening, the liquid supply mechanism and the dirt removal mechanism are arranged on the mopping and washing support, and the power end of the driving device is connected to the mopping and washing support.

[0019] Optionally, the driving device comprises a power source and an action execution mechanism, the power input end of the action execution mechanism is connected to the power source, and the mopping and washing assembly is floatingly connected to the power output end of the action execution mechanism, so that the mopping and washing assembly can move along with the power output end in the width direction of the robot body and can also float up and down relative to the power output end.

[0020] Optionally, the mopping and washing assembly has a plurality of gears, the relative positions of the mopping and washing assembly and the robot body are different at different gears, the control device determines a target gear of the mopping and washing assembly according to detected environmental information, and controls the driving device to make the mopping and washing assembly be at the target gear.

[0021] Optionally, the driving device can also drive the mopping and washing assembly to retract relative to the robot body; or

[0022] The cleaning robot further comprises a rebound device, the mopping and washing assembly is connected to the rebound device, and the rebound device deforms under force when the mopping and washing assembly is in an extended state and receives external force in a retracting direction, so that the mopping and washing assembly is adaptively retracted.

[0023] Optionally, the cleaning robot further comprises a detection device, the control device is electrically connected to the detection device, is configured to measure an environment through the detection device, and drives the mopping and washing assembly to retract relative to the robot body based on a measurement result; or

[0024] The cleaning robot further comprises a force sensing unit, and the control device controls the mopping and washing assembly to retract relative to the robot body when the force sensing unit senses that the mopping and washing assembly is in an extended state and receives external force in a retracting direction.

[0025] Optionally, the driving device is further capable of driving the mop-washing assembly to move up and down relative to the body.

[0026] Optionally, the control device is further used for:

[0027] controlling a dwell position of the mop-washing assembly between the first limit working position and the second limit working position according to a distance between the body and an obstacle in the target environment, so as to dynamically adjust a cleaning distance between the mop-washing assembly and the obstacle in the target environment.

[0028] Optionally, the body is provided with a first detection unit and a second detection unit, and the cleaning robot is further provided with a trigger structure linked with the mop-washing assembly; when the mop-washing assembly moves to the first limit working position, the first detection unit is triggered by the trigger structure; when the mop-washing assembly moves to the second limit working position, the second detection unit is triggered by the trigger structure.

[0029] Optionally, the plurality of detection units further include a fourth detection unit; the cleaning robot is provided with a grating structure linked with the mop-washing assembly, and a length of the grating structure is equal to or less than a maximum stroke of the mop-washing assembly; when the gear position is adjusted, the fourth detection unit determines the gear position of the mop-washing assembly by recording a counting scale on the grating structure.

[0030] Optionally, the cleaning robot further includes a control device; the control device is electrically connected with the driving device, and is used for dynamically controlling the driving device according to behavior information of the body, so that the driving device drives the mop-washing assembly to move relative to the body, so as to change a position of the mop-washing assembly relative to the body.

[0031] In a second embodiment of the present application, a cleaning robot is provided. The cleaning robot includes:

[0032] a body;

[0033] a mop-washing assembly including a cleaning unit motor, a dirt-removing mechanism and a cleaning unit; the cleaning unit motor is connected with the cleaning unit, and is used for driving the cleaning unit to rotate relative to a rotating shaft; the dirt-removing mechanism is used for scraping dirt on the cleaning unit;

[0034] a driving device arranged on the body and connected with the mop-washing assembly;

[0035] a control device arranged on the body and controlling the driving device to drive the mop-washing assembly to extend from at least one side of the body in a width direction of the body, so that part of the mop-washing assembly is exposed;

[0036] The mop-washing assembly has at least two working positions, i.e., a first extreme working position and a second extreme working position, and the driving device can drive the mop-washing assembly to move between the first extreme working position and the second extreme working position;

[0037] In the first extreme working position, the mop-washing assembly does not project out of the projection area of the body edge, and in the second extreme working position, the mop-washing assembly projects out of the projection area of the body edge.

[0038] When the cleaning robot performs a cleaning task, the control device controls the mop-washing assembly to be located at the second extreme working position or at any position between the first extreme working position and the second extreme working position.

[0039] In a third embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0040] a body;

[0041] a mop-washing assembly comprising a cleaning unit motor and a cleaning unit, wherein the cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate relative to a rotation shaft;

[0042] a driving device arranged on the body and connected to the mop-washing assembly;

[0043] a control device arranged on the body and configured to control the driving device to drive the mop-washing assembly to project out of at least one side of the body in a width direction of the body so that part of the mop-washing assembly is exposed;

[0044] The mop-washing assembly has at least two working positions, i.e., a first extreme working position and a second extreme working position, and the driving device can drive the mop-washing assembly to move between the first extreme working position and the second extreme working position;

[0045] In the first extreme working position, the mop-washing assembly does not project out of the projection area of the body edge, and in the second extreme working position, the mop-washing assembly projects out of the projection area of the body edge.

[0046] The cleaning robot further comprises a sensing system. When the cleaning robot detects an obstacle through the sensing system, the control device controls the mop-washing assembly to be located at a parking position between the first extreme working position and the second extreme working position according to a distance between the body and the obstacle, so as to dynamically adjust a cleaning distance between the mop-washing assembly and the obstacle.

[0047] In the technical scheme provided in the embodiment of the present application, the mop-washing assembly including the cleaning roller, the liquid supply mechanism and the dirt removing mechanism can move relative to the robot body, so that the dirt removing mechanism can scrape off the dirt on the cleaning roller at any position, and the cleaning roller can perform the live water cleaning at any position, thereby realizing the self-cleaning while working. In addition, the scheme provided in the embodiment does not determine whether the cleaning robot needs to perform the edge walking, but lets the cleaning roller be in the extended state when the cleaning robot performs the cleaning task, so that the complicated edge condition recognition is removed, the cleaning roller is always extended to perform the cleaning task, the corresponding control logic is simple, the design difficulty is not high, and the scheme is easy to realize and has good effect. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0049] Figure 1a And 1b The schematic diagram of the edge cleaning in the state of the cleaning roller not being extended and the state of the cleaning roller being extended is shown.

[0050] Figure 1c The schematic diagram of the bottom surface of the dirt collecting box being higher than the bottom surface of the robot body is shown.

[0051] Figure 2 The structural schematic diagram of the cleaning robot provided in an embodiment of the present application is shown.

[0052] Figure 3a The internal schematic diagram of the cleaning robot provided in an embodiment of the present application after the upper cover is removed is shown.

[0053] Figure 3b The partial view of Figure 3a is shown.

[0054] Figure 4 The exploded schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application is shown.

[0055] Figure 5 The exploded diagram of the mop-washing assembly provided in an embodiment of the present application is shown.

[0056] Figure 6 The schematic diagram of the mop-washing assembly provided in an embodiment of the present application arranged on the cavity shell is shown.

[0057] Figure 7a The external structural view of the mop-washing assembly provided in an embodiment of the present application is shown.

[0058] Figure 7b A specific implementation structure diagram of the liquid supply mechanism in the embodiment of the application is shown;

[0059] Figure 8 A bottom view of the mop-washing support provided in the embodiment of the application is shown;

[0060] Figure 9a An exploded view of the mop-washing assembly provided in the embodiment of the application is shown;

[0061] Figure 9b A sectional view of the mop-washing assembly provided in the embodiment of the application is shown;

[0062] Figure 10a A state diagram of the cleaning robot along the edge cleaning provided in the embodiment of the application is shown;

[0063] Figure 10b A comparison diagram of the mop-washing assembly extended and not extended when the cleaning robot performs a cleaning task provided in the embodiment of the application is shown;

[0064] Figure 11 A diagram of the mop-washing assembly in the lifting state provided in the embodiment of the application is shown;

[0065] Figure 12 A diagram of the mop-washing assembly in the extended state provided in the embodiment of the application is shown;

[0066] Figure 13 A structure diagram of the driving device provided in the embodiment of the application is shown;

[0067] Figure 14 A perspective view of the action execution mechanism provided in the embodiment of the application is shown;

[0068] Figure 15 Another perspective view of the action execution mechanism provided in the embodiment of the application is shown;

[0069] Figure 16 A semi-sectional structure diagram of the mop-washing assembly provided in the embodiment of the application is shown;

[0070] Figure 17 A partial structure diagram of the action execution mechanism provided in the embodiment of the application is shown;

[0071] Figure 18 A slider structure diagram provided in the embodiment of the application is shown;

[0072] Figure 19 A partial sectional view of the action execution mechanism provided in the embodiment of the application is shown;

[0073] Figure 20aA partial sectional view of a cavity shell and a shell cover combination provided for an embodiment of the present application;

[0074] Figure 20b A structural schematic view of a shell cover provided for an embodiment of the present application;

[0075] Figure 21 A schematic view of a grating structure and a fourth photoelectric switch setting position in a cleaning robot provided for an embodiment of the present application;

[0076] Figure 22 A structural schematic view of a first connecting end and a second connecting end for connecting elastic members respectively provided on a sliding plate and a sliding block in an embodiment of the present application;

[0077] Figure 23 A structural schematic view showing that a hovering surface is provided at a top end of a lifting part;

[0078] Figure 24 A structural schematic view of a mop-washing assembly being lifted relative to a ground provided for an embodiment of the present application;

[0079] Figure 25 A front view of another mop-washing assembly provided for an embodiment of the present application;

[0080] Figure 26 A sectional view of another mop-washing assembly provided for an embodiment of the present application;

[0081] Figure 27a A perspective view of another mop-washing assembly in an initial state provided for an embodiment of the present application;

[0082] Figure 27b A front view of another mop-washing assembly in an initial state provided for an embodiment of the present application;

[0083] Figure 27c A sectional view of another mop-washing assembly in an initial state provided for an embodiment of the present application;

[0084] Figure 28a A perspective view of another mop-washing assembly in a lifted state provided for an embodiment of the present application;

[0085] Figure 28b A front view of another mop-washing assembly in a lifted state provided for an embodiment of the present application;

[0086] Figure 28c A sectional view of another mop-washing assembly in a lifted state provided for an embodiment of the present application;

[0087] Figure 29a A perspective view of another mop-washing assembly in an extended state provided for an embodiment of the present application;

[0088] Figure 29b Another mop-washing assembly provided by the embodiment of the present application is in the front view of the extended state;

[0089] Figure 29c Another mop-washing assembly provided by the embodiment of the present application is in the cross-sectional view of the extended state;

[0090] Figure 30 A perspective view of a mop-washing support provided by the embodiment of the present application;

[0091] Figure 31 A perspective view of a sliding plate provided by the embodiment of the present application;

[0092] Figure 32 A perspective view of a rotating support provided by the embodiment of the present application;

[0093] Figure 33 A perspective view of a cavity shell corresponding to another mop-washing assembly provided by the embodiment of the present application;

[0094] Figure 34 A cross-sectional view of a mop-washing assembly provided by the embodiment of the present application;

[0095] Figure 35a A cross-sectional view of a mop-washing support provided by the embodiment of the present application;

[0096] Figure 35b A schematic view of a front side of a dirt collection box in a mop-washing assembly provided by the embodiment of the present application has an inclined angle;

[0097] Figure 35c A structural schematic view of a cleaning robot provided by the embodiment of the present application;

[0098] Figure 36a And 36b A comparative schematic view of a dirt collection box arranged on the front side and the rear side of a cleaning roller is shown;

[0099] Figure 37 A cross-sectional view of another mop-washing assembly provided by the embodiment of the present application;

[0100] Figure 38 Another perspective cross-sectional view of another mop-washing assembly provided by the embodiment of the present application;

[0101] Figure 39a An exploded view of a scraper assembly provided by the embodiment of the present application;

[0102] Figure 39b A cross-sectional schematic view of a water guide plate provided by the embodiment of the present application;

[0103] Figure 39c A structural schematic view of a self-adaptive adjusting device arranged on a cleaning robot provided by the embodiment of the present application;

[0104] Figure 40 A perspective structural diagram of a scraper assembly provided in an embodiment of this application;

[0105] Figure 41 This is a schematic diagram illustrating the implementation structure of another driving device provided in an embodiment of this application;

[0106] Figure 42 It shows in Figure 41 The diagram shows the two states of the lower mopping assembly being raised and extended by the drive device of the structure shown.

[0107] Figure 43 A schematic diagram illustrating the implementation structure of another driving device provided in an embodiment of this application;

[0108] Figure 44a This is a schematic diagram showing the mopping component exposed on one side of the body in a cleaning robot provided in an embodiment of this application;

[0109] Figure 44b A schematic diagram showing the sludge collection box being removed from the mopping assembly according to an embodiment of this application;

[0110] Figure 44c A schematic diagram showing the release component in a locked state according to an embodiment of this application;

[0111] Figure 44d A schematic diagram showing the release component in the unlocked state according to an embodiment of this application;

[0112] Figure 44e This is a schematic diagram illustrating the disassembly process of the sludge collection box provided in an embodiment of this application;

[0113] Figure 44f An exploded view of the sludge collection box, release component, and filter component provided in the embodiments of this application. Detailed Implementation

[0114] The 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 application, but not to limit the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings, but not all the structures. In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal connection 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 application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include the direct contact of the first and second features, or it can include the contact of the first and second features through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature include the vertical and oblique above of the first feature to the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "lower", "lower" and "lower" of the first feature to the second feature include the vertical and oblique below of the first feature to the second feature, or only indicate 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 specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the application. In addition, the terms "first" and "second" are only used to distinguish in the description, and have no special meaning.

[0115] 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 01 and a roller 02 for mopping at the same time, the dust collection roller brush 01 is generally located at the front side of the roller 02, so that the cleaning robot can first collect dust and then mop during movement. In order to avoid obstacles and escape, the driving wheel of the cleaning robot is generally arranged at the maximum width position perpendicular to the forward 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, which causes the roller located at the rear of the body to be shorter, and the distance between the end of the roller and the outermost edge of the body in the width direction is farther, as shown in Figure 1a When the cleaning robot cleans along the wall or wardrobe, the cleaning robot cannot mop the corner area with a larger size d 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 to be extendable.

[0116] In order to make the cleaning robot function more comprehensive, the rollers of some cleaning robots are designed to be retractable, and the rollers are extended to clean along the wall or to realize the surrounding cleaning of obstacles. However, after the rollers are extended, although some robots can ensure the supply of clean water, the scraping strip is still located inside the main body, that is, the extended part of the roller can only receive clean water, and the dirt is always on the roller, which cannot be scraped off, the roller cannot be cleaned, and the problem of smearing dirt similar to the cloth disc still exists, and the cleaning effect is poor.

[0117] As shown in Figure 1b , the extension of the roller allows the roller to reach the corner area, and the coverage rate is improved. However, the single extension of the roller, the roller will be attached with dirt during the cleaning process, and the roller will become dirtier and dirtier, and the corner area (such as the area with a width d along the edge in Figure 1a ) cannot be cleaned well, but becomes dirtier and dirtier.

[0118] In order to make the roller have good cleaning effect after being extended, the roller needs to be self-cleaning in time when it is in the extended state, and the roll brush can have good cleanliness when it contacts the ground for wiping, so that the problem of smearing dirt does not occur.

[0119] In the prior art, some cleaning robots with rollers have a scheme in which the roller or the roller and the liquid supply mechanism can be extended alone in order to clean along the edge or to clean close to the obstacle. However, these robots only extend the roller when cleaning along the edge or cleaning around the obstacle is needed, and in most of the cleaning process, the roller is located in the initial position within the projection area of the main body. The sweeping robot with the initial position of the roller within the projection area of the main body controls the extension of the roller according to the distance threshold of the edge and the target when performing edge cleaning or cleaning around the target. When there are obstacles at the edge or target position, the robot controls the roller to retract inward according to the distance threshold of the obstacle. That is, if the environment at the edge or target position is complex and there are many obstacles, the distance of the robot is between the distance threshold of the edge and the target and the distance threshold of the obstacle, the controller of the robot needs to continuously receive and calculate the threshold, and frequently perform the actions of extension, retraction and re-extension, which seriously wastes the computing power of the robot, and affects the reliability of the extension and retraction driving device. In addition, the sweeping robot with the roller as the wiping unit has a certain distance between the left and right sides of the roller and the maximum width position in the walking direction of the robot, which is a cleaning blind area when performing traversal. When the robot traverses, the robot with the initial position within the projection area of the main body has two blind areas. When the roller is extended from one side to be parallel to or beyond the maximum width position in the walking direction of the robot, the robot only has one blind area. That is, if the robot with the roller in the extended state performs traversal, the blind area coverage of the traversal will be simpler.

[0120] This application provides a cleaning robot with a retractable cleaning unit that ensures a continuous supply of cleaning water at any position. The scraper continuously removes dirt from the cleaning unit, allowing it to clean and self-clean simultaneously from any location. If we consider the existing mop-based cleaning method—where cleaning fluid is continuously supplied to the mop, and the mop cleans the floor without being rinsed—this is called stagnant water cleaning. The solution provided in this application can be called active water cleaning. During cleaning (i.e., mopping the floor), there is a continuous supply of cleaning fluid, and the cleaning unit is continuously cleaned by a decontamination mechanism. After decontamination, the cleaning unit is replenished with clean cleaning fluid, allowing it to maintain cleanliness for a longer period and thus improving the cleaning effectiveness of the robot.

[0121] In various embodiments of this application, the cleaning unit can be, but is not limited to, a cleaning roller, a tracked cleaning component, etc. The cleaning roller can be a cylindrical roller with cleaning fibers on its surface. The tracked cleaning component, also called a tracked roller, includes two spaced-apart track wheels. A ring-shaped tracked wiping cloth is fitted onto the two track wheels, with cleaning fibers on its outward-facing side. One side of the tracked wiping cloth contacts the ground. As the track wheels rotate, the tracked wiping cloth moves relative to the ground, thus mopping the floor. Furthermore, 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 called a roller motor, which drives the cleaning roller to rotate and mop the floor. If the cleaning unit is a tracked roller, the corresponding cleaning unit motor can be called a pulley motor, which drives the track to rotate, thereby driving the tracked wiping cloth to mop the floor.

[0122] Before introducing the mopping assembly and drive device provided in the embodiments of this application, let's briefly describe the structure of the cleaning robot. The following embodiments will use a cleaning roller as an example for illustration.

[0123] See Figure 2 , 3a As shown in Figure 4, the cleaning robot includes, but is not limited to: body 1, vacuuming and cleaning system 3, mopping and washing system, propulsion system 8, sensing system 640, control system, and side brush assembly 7. The vacuuming and cleaning system 3, mopping and washing system, propulsion system 8, sensing system 640, and control system are all mounted on body 1. Figure 3a As shown, the vacuum cleaning system 3 may include, but is not limited to: dustbin 301, vacuum fan 302, roller brush (not shown in the figure), etc. The control system includes hardware and software components. The hardware components include, for example, the motherboard 2, etc. Figure 4The mainboard can be provided with a processor, a storage medium (such as a memory), and the like. The software part is a computer program stored in the storage medium. The processor executes these computer programs to control the components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, path planning, obstacle recognition, obstacle avoidance cleaning, edge cleaning, base station regression and docking, area recognition, cleaning mode switching (only dust collection, only mopping, or dust collection first and then mopping), and the like. The travel system 8 can include a drive wheel and a drive wheel motor; the drive motor outputs corresponding power under the control of the mainboard 2 to drive the drive wheel to rotate, realizing the forward movement, backward movement, stop, turning, and the like of the cleaning robot. Further, the travel system 8 can also include a universal wheel, which is a follow-up wheel and can be arranged at the front of the body 1. The edge brush assembly 7 can be one or two. As shown in the example, Figure 2 The body 1 has one edge brush assembly 7 on one side (such as the right side) of the front. If there are two edge brush assemblies 7, the two edge brush assemblies can be arranged on both sides (such as one on each of the left and right sides) of the front of the body 1.

[0124] The control system in the embodiment of the present application can include a control device, and the mainboard mentioned above can be referred to as the control device.

[0125] The mopping system can include but is not limited to a clean water tank 5, a dirty water tank 9, a mopping assembly 4, and the like. As shown in the example, Figure 5 The mopping assembly 4 can include but is not limited to a roller motor 41, a cleaning roller 42, a liquid supply mechanism 45, and a dirt removal mechanism 44. The roller motor 41 is used to drive the cleaning roller 42 to rotate. The liquid supply mechanism 45 is in communication with the clean water tank 5 through a clean water pipe. The dirt removal mechanism 44 is in communication with the dirty water tank 9 through a dirty water pipe. The cleaning robot further includes a driving device 10 arranged on the body 1 and connected with the mopping assembly. As shown in the example, Figure 6 As shown in the example, along the width direction of the body 1, the driving device 10 can drive the mopping assembly 4 to extend from at least one side of the body 1 so that part of the mopping assembly is exposed. Figure 6 The X direction in the reference coordinate system is the width direction of the body; the Y direction is the travel direction of the cleaning robot.

[0126] It needs to be supplemented here that from the components included in the mopping assembly 4, it can be known that the mopping assembly 4 in the embodiment can mop the object to be cleaned (such as the ground), and at the same time, can realize self-cleaning function by using the liquid supply mechanism 45 and the dirt removal mechanism 44 to maintain the cleaning roller at a better cleaning degree.

[0127] From the above, the scheme provided by the embodiments of the present application is that the driving device 10 can drive the mop-washing assembly to move relative to the body to extend a part of the mop-washing assembly outside the body. That is, the mop-washing assembly 4 can provide cleaning liquid for the cleaning roller and the dirt-removing mechanism 44 can scrape the dirt on the cleaning roller 42 at any position of the mop-washing assembly 4. The cleaning roller 42 can clean itself while working. When the cleaning roller 42 extends outward to clean the edge, the cleaning roller 42 will not be excessively dirty, and can still have good cleaning effect after a long time of cleaning, and the user experience is better.

[0128] In fact, the mop-washing assembly 4 in the embodiment can also be in the extended state normally. For example, when the cleaning robot is started, the main board 2 controls the driving device 10 to drive the mop-washing assembly 4 to move relative to the body to extend a part of the mop-washing assembly from one side of the body 1 to be in the extended state. When the cleaning robot is executing a cleaning task and traversing a to-be-cleaned area, the mop-washing assembly 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board 2 controls the driving device 10 to drive the mop-washing assembly 4 to retract to hide in the body 1, so as to facilitate obstacle avoidance or passing through a narrow space. In the extended state of the cleaning roller 42, the outer edge of the cleaning roller 42 can be flush with the edge of the widest part of the body 1, or the outer edge of the cleaning roller 42 can exceed the edge of the widest part of the body 1.

[0129] As shown in the example shown in Figure 5 , the mop-washing assembly 4 further comprises a mop-washing support 43. The mop-washing support 43 has a drum mounting cavity with an opening downward. The drum motor 41 and the cleaning roller 42 are arranged in the drum mounting cavity. The cleaning roller 42 is in contact with the to-be-cleaned surface through the opening. The liquid supply mechanism 45 and the dirt-removing mechanism 44 are arranged on the mop-washing support 43. The power end of the driving device 10 is connected with the mop-washing support 43.

[0130] Specifically, the mop-washing support 43 has a first opening downward and a second opening laterally. The lower part of the cleaning roller 42 passes through the first opening to contact the to-be-cleaned surface. The cleaning roller 42 can be detached through the second opening, and the second opening is located on the same side as the position of the body 1 for the mop-washing assembly to extend. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position of the body 1 for the mop-washing assembly to extend, and then detach the cleaning roller 42 at the second opening. When installing, the cleaning roller 42 can be inserted into the second opening. After the end of the cleaning roller 42 is connected with the drum motor 41, the other end of the cleaning roller 42 is connected at the second opening. That is, the direction of detaching and installing the cleaning roller 42 is the direction of the cylinder axis.

[0131] Referring to Figure 3a , the body 1 of the cleaning robot is provided with a clean water tank 5. As shown in Figure 7b , the mop-washing support 43 further has a drum support 421. The liquid supply mechanism 45 can be arranged on the drum support 421.Figure 7b One possible structure of the liquid supply mechanism 45 is shown, which includes a water distributor 452. The water distributor 452 has a main trunk, multiple branches and multiple liquid supply ports 453 (as shown in Figure 8 The multiple liquid supply ports 453 are directed towards the cleaning drum 42 and distributed along the drum axis of the cleaning drum 42. The main trunk of the water distributor 452 is connected to the fresh water tank 5 through a first flexible pipe 443, one end of which is connected to the water supply port 451 of the main trunk and the other end of which is connected to the fresh water tank 5. The multiple branches are in communication with the main trunk and the multiple liquid supply ports are respectively corresponding to the multiple branches.

[0132] As shown in Figure 5 The dirt removal mechanism 44 includes a scraping strip 441 and a dirt collection box 442. The end of the scraping strip 441 is in contact with the cleaning drum 42 and the dirt collection box 442 is located below the scraping strip 441. When the cleaning drum 42 rotates, the dirt scraped by the scraping strip 441 enters the dirt collection box 442. As shown in Figure 1c The bottom surface of the dirt collection box 442 can be higher than the bottom surface m of the machine body 1, for example, 1mm-5mm.

[0133] The disassembly direction of the cleaning drum 42 is along the drum axis. The disassembly direction of the dirt collection box 442 can be different from the disassembly direction of the cleaning drum 42. For example, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning drum 42. Since the cleaning drum 42 and the dirt collection box 442 are jointly arranged on the first opening of the mopping support 43 and are close to each other, the inventors find that if the disassembly directions of the two are the same, the positioning devices of the cleaning drum 42 and the dirt collection box 442 can interfere with each other, and when one component is disassembled alone, the two components can contact, rub and even drive each other to move. Therefore, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning drum 42, which ensures the separation of the fixing modes and the complementary interference during disassembly. Moreover, the downward disassembly of the dirt collection box makes it easy for the user to see and take out the dirt collection box by lifting the tail of the cleaning robot, which eliminates the risk of spilling the dirt in the dirt collection box. The content related to the disassembly of the dirt collection box 442 is described in detail below, which can be referred to the following content.

[0134] Referring to Figure 3a , the machine body 1 is provided with a dirty water tank 9. Correspondingly, Figure 3b and Figure 9aIn one implementation shown, the scraping strip 441 has an escape hole 446, and a dirt collection pipe 542 is arranged at the escape hole 446. One end of the dirt collection pipe 542 is in communication with the escape hole 446, and the other end is in communication with the dirt collection box 442. The dirt collection box 442 is in communication with the sewage tank 9 through the second flexible pipe 456. The dirt scraped off from the cleaning roller 42 by the scraping strip 441 enters the dirt collection pipe 542 through the escape hole 446, and then enters the dirt collection box 442 through the dirt collection pipe 542. In a specific implementation, the dirt removal mechanism 44 can further include a sewage pump (not shown in the figure), which is used to pump the dirt in the dirt collection box 442 into the sewage tank 9 through the second flexible pipe 456. The sewage pump can be set to work at a regular time to pump the dirt in the dirt collection box 442, or can be started to work when the amount of dirt in the dirt collection box 442 reaches a threshold value, and the present embodiment does not limit this. As shown in the figure, the second flexible pipe 456 further includes a second end pipe 457, the length of which is constant, one end of which is connected to the sewage pump 471, and the other end is connected to the sewage tank 9. Figure 3b As shown in the figure, the second flexible pipe 456 further includes a second end pipe 457, the length of which is constant, one end of which is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0135] Since the cleaning roller 42 and the dirt collection box 442 are arranged on the first opening of the mop and washing support 43 and are close to each other, the inventors find that if the two are disassembled in the same direction, the positioning devices of the cleaning roller 42 and the dirt collection box 442 can interfere with each other, and when one component is disassembled alone, the two can contact, rub and even drive each other to move. Therefore, the disassembly direction of the dirt collection box 442 can be perpendicular to the disassembly direction of the cleaning roller 42, which ensures the separation of the fixing mode and the disassembly complementary interference. Moreover, the downward disassembly of the dirt collection box makes the user only need to lift the tail of the cleaning robot to see the dirt collection box and conveniently take it out downward, which eliminates the risk of dirt pouring out of the dirt collection box.

[0136] Referring to Figure 3b , Figure 7a , Figure 8 and Figure 9aIn an embodiment provided in the present application, the clean water tank 5 is connected with the liquid supply mechanism 45 through the first flexible pipe 443, and the cleaning liquid stored in the clean water tank 5 can be delivered to the liquid supply mechanism 45 through the first flexible pipe 443, and the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42. The dirty water tank 9 is connected with the dirt removal mechanism 44 through the second flexible pipe 456, and the dirty water collected by the dirt removal mechanism 44 can be delivered to the dirty water tank 9 through the second flexible pipe 456. When the mop assembly 4 is extended outward, the first flexible pipe 443 and the second flexible pipe 456 will move with the mop assembly 4, and the bent first flexible pipe 443 and the bent second flexible pipe 456 will gradually extend, and the first flexible pipe 443 keeps the liquid supply mechanism 45 connected with the clean water tank 5, and the second flexible pipe 456 keeps the dirt removal mechanism 44 connected with the dirty water tank 9.

[0137] Referring to Figure 7a and Figure 7b , the liquid supply inlet 451 is connected with the first flexible pipe 443, and the dirt removal outlet 4410 is connected with the second flexible pipe 456. The liquid supply inlet 451 and the dirt removal outlet 4410 extend from the top of the mop support 43 to be connected with the first flexible pipe 443 and the second flexible pipe 456 respectively. Referring to Figure 6 , the first flexible pipe 443 and the second flexible pipe 456 are arranged transversely (i.e. in the negative direction of the X axis in the figure) below the cavity shell 46, and then extend upward from the gap 03 in Figure 6 to be connected with the clean water tank 5 and the dirty water tank 9 on the machine body 1. Referring to Figure 6 , the gap 03 is provided with a pipe space for accommodating the first flexible pipe 443 and the second flexible pipe 456. Since the mop assembly 4 is to move along the positive and negative directions of the X axis relative to the cavity shell 46, the first flexible pipe 443 and the second flexible pipe 456 can deform with the movement of the mop assembly 4 to provide cleaning liquid for the cleaning roller and to discharge the dirt in the dirt collection box in real time.

[0138] In order to avoid bending, the outer sides of the first flexible pipe 443 and the second flexible pipe 456 can be provided with springs (Fig. 9 and Figure 38(Not shown), so that bending or obstruction will not affect sewage discharge and liquid supply during the overall movement (lifting and / or extending) of the mopping assembly 4. In one specific embodiment, the first flexible pipe 443 and the second flexible pipe 456 are elastic pipes. When the mopping assembly 4 extends outward, the first flexible pipe 443 and the second flexible pipe 456 will be stretched and / or bent. When the mopping assembly 4 retracts, the first flexible pipe 443 and the second flexible pipe 456 will shrink and shorten and / or bend. In another embodiment, the first flexible pipe 443 and the second flexible pipe 456 can also be bendable plastic pipes. When the mopping assembly 4 is in the retracted state, the first flexible pipe 443 and the second flexible pipe 456 are in a bent state, but the first flexible pipe 443 and the second flexible pipe 456 are not blocked. In this bent state, both flexible pipes are unobstructed. When the mopping assembly 4 extends outward, the bent first flexible pipe 443 and the second flexible pipe 456 move together and gradually extend, thereby ensuring that the pipe connection is not interrupted.

[0139] One embodiment of this application provides a cleaning robot with a retractable mopping assembly 4 on its body 1. When the body 1 is on the ground performing a mopping task, the cleaning roller 42 in the mopping assembly 4 contacts the ground. Alternatively, the cleaning roller 42 not only contacts the ground but also exerts pressure on it, which helps improve the cleaning effect of the cleaning roller. Figure 3a As shown, the bottom of the body 1 is provided with a receiving cavity 101, and the mopping assembly 4 is disposed in the receiving cavity 101. The receiving cavity 101 extends along the width direction of the body 1. At least one end of the receiving cavity 101 is open in the width direction of the body 1.

[0140] It should be noted that, Figure 1b The X direction of the middle arrow can be considered as the length direction of the mopping component 4, or the width direction of the body 1.

[0141] Figure 3a The example shown is from Figure 3a From a certain angle, the right end of the accommodating cavity 101 is open. The mopping component 4 can extend outward through the opening at the open end, thus protruding part of it outside the body 1. In practice, both ends of the accommodating cavity 101 are open, so the mopping component 4 can extend outward from the opening on the right side of the body 1 or from the opening on the left side of the body 1. The cleaning robot can control the mopping component 4 to extend to the corresponding side according to the actual needs of the scenario.

[0142] The extension of the mopping assembly 4 can be driven by the drive unit 10. When the mopping assembly 4 extends outward, as viewed from the top view of the cleaning robot (e.g., Figure 10aAs shown), the outermost edge of the mopping component 4 extends beyond the edge of the body 1, so the cleaning roller 42 can clean objects close to their edges while maintaining a safe distance between the body 1 and the edges of walls, furniture, or other objects. Of course, in open spaces, the cleaning roller 42 can also extend, such as... Figure 10a The state shown indicates that a cleaning task is being performed. In one specific embodiment, Figure 10a The dashed box E represents a schematic diagram of the mopping component 4 in its retracted state (initial state), and the solid box F represents a schematic diagram of the mopping component 4 extended or swinging outwards. When the cleaning robot cleans along the edge of an object, the edge of the robot's body 1 remains within a safe distance from the object's edge. The distance by which the mopping component 4 extends outwards relative to the edge of the body 1 is D, where D ranges from 10mm to 0mm, for example, 5mm. Of course, to avoid the outer edge of the mopping component 4 directly colliding or scratching the object's edge, there is also a safe distance between the outer edge of the mopping component 4 and the object's edge, which is d, ranging from 10mm to 1mm, for example, 2mm. The travel distance of the mopping component 4 relative to the body 1 can be 40-60mm, such as an outward extension of 50mm.

[0143] The drive unit 10 can drive the mopping assembly 4 to extend outward from the lateral opening of the receiving cavity 101. The retraction of the mopping assembly 4 can be driven by the drive unit 10. Alternatively, the retraction of the mopping assembly 4 can be achieved without being driven by the drive unit 10, but through the cavity housing 46 (e.g., Figure 6 The elastic element provided between the housing 46 and the mopping assembly 4 (as shown) is driven to retract. For example, when the driving device 10 drives the mopping assembly 4 to extend outward, the elastic element provided between the housing 46 and the mopping assembly 4 deforms (e.g., is compressed). When the mopping assembly 4 needs to retract, the driving device 10 decouples from the mopping assembly 4, and the mopping assembly 4 is driven to retract under the restoring force of the elastic element. Of course, this is only one embodiment provided in this application. In other embodiments, the extension and retraction actions of the mopping assembly 4 are driven by the driving device 10. It should be added here that the housing 46 can be understood as part of the bottom wall of the base of the body 1, and this part of the bottom wall forms the receiving cavity 101. Alternatively, the base of the body 1 is provided with such Figure 6 The cavity shell 46 is shown.

[0144] The foregoing provided a brief overview of the structure of the cleaning robot provided in the embodiments of this application. The following will provide a more detailed description of the structure of the mopping component, the structure implementing the telescopic function of the mopping component (i.e., the specific implementation of the drive device), and so on. The key feature of the solutions provided in the embodiments of this application is the mopping component 4. The mopping component 4 can extend from at least one side of the cleaning robot's body, exposing a portion of the mopping component 4 so that it can self-clean and maintain good cleanliness in any position. The telescopic function of the mopping component 4 will be described in detail below. There are various structures for implementing the telescopic function of the mopping component, which will be described one by one below.

[0145] See Figure 6 , 11 to Figure 12 In one embodiment of this application, a driving device 10 is provided, which includes a first power source 102 and a first actuation mechanism 103. The first actuation mechanism 103 includes a power input end and a power output end. The power input end is connected to the first power source 102, and the first actuation mechanism 103 is used to convert the rotational power output by the power source into linear power. The power output end is connected to the mopping assembly 4.

[0146] The first power source 102 may include, but is not limited to, a first motor and a reducer. The first actuator 103 may include, but is not limited to, a first gear 13 and a first rack 14. Specifically, the first actuator 103 is in the initial position, such as... Figure 13 In the example shown, most of the teeth of the first rack 14 are located to the left of the first gear 13, a state that can be described as the rack being at its origin. At this time, the mopping assembly 4 is in its initial state, i.e. Figure 11 The state shown. Looking at the cleaning robot as a whole, Figure 11 In its current state, the mopping assembly 4 is concealed within the body 1. When the mopping assembly 4 needs to extend, the first motor of the first power source 102 rotates forward (from...). Figure 13 From the angle, the first motor outputs counterclockwise power to drive the first rack 14 along the first direction ( Figure 13 Move in the direction of the middle arrow (X). Figure 12 A schematic diagram is shown with the mopping assembly 4 in the extended state. When the mopping assembly 4 needs to retract, the first motor of the first power source 102 reverses (from...). Figure 13 (From the perspective of the angle, the first motor outputs power in a clockwise direction) to drive the first rack 14 to move in the opposite direction of the first direction (the second direction).

[0147] See Figure 13In one embodiment of the present application, the cavity shell 46 of the accommodating cavity 101 of the main body 1 is provided with at least one sliding rail 15. The first action executing mechanism 103 further comprises a sliding plate, and the first rack 14 is arranged on the sliding plate. The sliding plate is slidably connected to the sliding rail 15. The first power source 102 is arranged on the mounting position of the cavity shell 46, and the first gear 13 is arranged on the output shaft of the first power source 102 and is engaged with the first rack 14. After the first power source 102 outputs power, the sliding plate 20 can be driven to slide back and forth on the sliding rail 15 through the first gear 13 and the first rack 14. The sliding plate is connected with the mop-washing assembly 4 to drive the mop-washing assembly 4 to act. In addition, the first rack 14 and the sliding plate 20 can be an integral structure, or the first rack 14 and the sliding plate 20 can be fastened together.

[0148] As mentioned above, the sliding plate is arranged on the upper surface of the cavity shell 46. Referring to Figure 16 , the mop-washing assembly 4 is provided with a connecting column 241, and the mop-washing assembly 4 is connected with the sliding plate through the connecting column 241. In order to avoid interference between the connecting column 241 and the cavity shell 46, a slot hole 27 (as shown in Figure 14 ) is arranged on the cavity shell 46 corresponding to the movement range of the connecting column 241, and the connecting column 241 extends above the sliding plate 20 through the slot hole 27 and the through hole 23 on the sliding plate 20. The length of the slot hole 27 is greater than or equal to the maximum movement distance of the mop-washing assembly 4.

[0149] Further, as shown in Figure 20a and 20b , the main body 1 comprises a shell cover 47 which is connectable to the upper side of the cavity shell 46. When the shell cover 47 is connected to the cavity shell 46, a hollow cavity is formed, and the driving device 10 (i.e. the first power source 102 and the first action executing mechanism 103) is located in the hollow cavity. The shell cover 47 not only provides effective protection for the driving device 10 to prevent garbage and foreign matters from entering the driving device 10 and affecting the normal operation of the driving device 10. In addition, the bottom surface of the shell cover 47 is provided with a matching slot 471, and the top end of the second baffle 26 is in contact with the matching slot 461. During the sliding process of the sliding plate, the top end of the second baffle 26 can slide in the matching slot 461. The shell cover 47 can limit the second baffle 26, effectively preventing the sliding plate 20 from moving upward or protruding.

[0150] The mop-washing assembly 4 can be telescoped relative to the body 1. The mop-washing assembly 4 can have a first limit position in the retracted state and a second limit position in the extended state. In addition, the mop-washing assembly 4 can be parked at the first limit position and the second limit position, and can work at any position between the first limit position and the second limit position to adapt to various working scenarios. The main board 2 of the cleaning robot can determine the target position of the mop-washing assembly relative to the body based on the information detected by the sensing system 640, and then control the driving device to drive the mop-washing assembly to move to the target position. The main board 2 can realize the parking of the mop-washing assembly at any position by controlling the driving device.

[0151] In order to further improve the control accuracy, a plurality of detection units are added in the embodiment to detect the position information of the mop-washing assembly 4 relative to the body 1, so as to facilitate the main board of the cleaning robot to make corresponding control. As shown in the example of Figure 13 , the plurality of detection units can be arranged on the cavity shell 46. The plurality of detection units can be arranged at a plurality of positions within the stroke range of the mop-washing assembly 4, such as the first limit position in the retracted state, the second limit position in the extended state, and at least one intermediate position between the first limit position and the second limit position. The detection units can include but are not limited to photoelectric switches, micro switches, Hall elements, etc. The plurality of detection units can include a first detection unit and a second detection unit. The first detection unit can be located at the first limit position of the mop-washing assembly 4 in the retracted state, and the second detection unit can be located at the second limit position of the mop-washing assembly 4 in the extended state. Taking the photoelectric switch as an example, as shown in Figure 13 , the cavity shell 46 is provided with a first photoelectric switch 281 and a second photoelectric switch 282. The two photoelectric switches are arranged at different positions of the cavity shell 46. For example, the first photoelectric switch 281 and the second photoelectric switch 282 are respectively located at the first limit position of the mop-washing assembly 4 in the retracted state and the first limit position of the mop-washing assembly 4 in the extended state. The first photoelectric switch 281 and the second photoelectric switch 282 can be located on the same side of the first action execution mechanism 103, or can be located on different sides. Of course, at least one photoelectric switch for detecting the intermediate position can also be arranged between the first photoelectric switch 281 and the second photoelectric switch 282.

[0152] Correspondingly, the first action execution mechanism 103 can be provided with a triggering structure. When the first photoelectric switch 281 and the second photoelectric switch 282 are located on the same side of the first action execution mechanism 103, only one triggering structure is needed. If the first photoelectric switch 281 and the second photoelectric switch 282 are located on the two sides of the first action execution mechanism 103, respectively, two triggering structures, i.e., a first triggering structure 291 and a second triggering structure 292, are needed on the first action execution mechanism 103. More specifically, the first triggering structure 291 and the second triggering structure 292 can be provided on the sliding plate in the first action execution mechanism 103. When the mop assembly 4 is located at the first limit position in the retracted state, the first triggering structure 291 triggers the first photoelectric switch 281. The mop assembly 4 moves along the arrow X direction to the second limit position in the extended state, and the second triggering structure 292 can trigger the second photoelectric switch 282, which indicates that the mop assembly 4 is extended to the farthest distance. Figure 23

[0153] Although the second triggering structure 292 and the second photoelectric switch 282 can detect whether the mop assembly 4 reaches the second limit position in the extended state, the main board can control the first power source 102 to stop working based on the triggering signal of the second photoelectric switch 282, so that the mop assembly 4 stops at the second limit position. However, in order to improve safety, the cavity shell 46 can also be provided with a limiting structure. When the sliding plate 20 slides to the second limit position, the first action execution mechanism 103 abuts against the limiting structure (more specifically, the sliding plate of the first action execution mechanism 103 abuts against the limiting structure).

[0154] It is mentioned above that the mop assembly 4 has multiple gears when it is extended outward, and the position of the mop assembly 4 relative to the machine body is different at different gears. Of course, it can also be said that the distance of the mop assembly 4 extended outward is different at different gears. Referring to FIGS. 1 to 3, in order to achieve accurate gear adjustment, the scheme provided in the embodiment can further include a fourth detection unit and a fourth triggering structure. The fourth detection unit can be a fourth photoelectric switch, a fourth micro switch or a fourth Hall element. Taking the fourth detection unit as a fourth photoelectric switch and the fourth triggering structure as a grating structure as an example. The cavity shell 46 is further provided with a fourth photoelectric switch 284, and the first action execution mechanism 103 is provided with a grating structure 294, and the length of the grating structure 294 is equal to or less than the maximum stroke of the mop assembly 4. When the gear is adjusted, the fourth photoelectric switch 284 can accurately detect the counting scale on the grating structure 294, so as to determine the gear of the mop assembly 4 extended outward. Figure 13 Figure 14 Figure 21 The implementation process of the driving device 10 will be described in detail in combination with a use scenario.

[0155] The implementation process of the driving device 10 will be described in detail in combination with a use scenario.

[0156] ​​​Scenario one, mop-washing assembly of cleaning robot extends when it performs cleaning task, and retracts when it encounters obstacles and other special situations

[0157] The cleaning robot stops at the base station for replenishment (charging and / or water injection), sewage discharge (such as discharging garbage in the dust box and / or sewage in the sewage tank), self-cleaning (cleaning the cleaning roller), and the like when it does not perform the task. The user can start the cleaning robot to perform the cleaning task by touching the controls on the base station, or operating the interactive device on the base station, or through the APP of the intelligent device, or the controls on the cleaning robot, and the like. When the cleaning robot is in the base station, the mop-washing assembly is in the retracted state. When the cleaning robot drives out of the base station, the mainboard of the cleaning robot controls the driving device 10 to drive the mop-washing assembly to extend to a set position. The set position can be the second limit position mentioned above in the extended state, or a position between the first limit position in the retracted state and the second position in the extended state, which is not specifically limited in the embodiment. Then, the cleaning robot keeps the mop-washing assembly extended in the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0158] When the cleaning robot detects an obstacle through the sensing system during the cleaning process, the mainboard controls the driving device 10 to drive the mop-washing assembly to retract a certain distance. Here, the "certain distance" retracted can be calculated by the mainboard based on the information of the obstacle sensed by the sensing system; or the distance from the current extended state to the first limit position. After passing the obstacle, the mainboard controls the driving device to drive the mop-washing assembly to extend to continue performing the cleaning task.

[0159] It should be noted here that special situations can include but are not limited to: user instructs the mop-washing assembly to retract, passes through a narrow passage, and the like.

[0160] Scenario two, the mop-washing assembly of the cleaning robot is in the retracted state when it performs the cleaning task, and extends when it needs to clean along the edge

[0161] The cleaning robot plans a cleaning path according to the map of the current area to be cleaned, assuming that the cleaning path is to clean the open area first, and then clean along the edge, such as cleaning along the wall edge, cabinet edge, and the like. The mop-washing assembly of the cleaning robot is in the retracted state (such as the first limit position), and cleans the open area according to the arch-shaped travel path. After the open area is cleaned, the mainboard 2 of the cleaning robot controls the driving device to control the mop-washing assembly to extend (which can extend to a set length, or to the second limit position), and cleans along the edge according to the planned edge cleaning path. After the edge cleaning is completed, the cleaning robot retracts the mop-washing assembly (such as the first limit position), and goes to the next area to be cleaned, or returns to the base station for replenishment, sewage discharge, or self-cleaning, and the like.

[0162] Reference should be made to Figure 16As shown, the mop assembly 4 is floatingly connected to the first action executing mechanism 103. For example, assuming that Figure 16 As shown, the mop assembly 4 is in contact with the ground. Because the mop assembly 4 is floatingly arranged, the mop assembly 4 can float up and down according to the ground when the mop assembly travels on uneven ground. The first action executing mechanism 103 is connected to the mop assembly 4 through the connecting assembly 24. As shown, Figure 16 As shown, the connecting assembly 24 can include a connecting column 241 and a sliding block 242. The mop assembly 4 is provided with the connecting column 241 above the mop support 43. The first action executing mechanism 103 includes the sliding block 242 as shown. Figure 18 As shown, the sliding block 242 is provided with a mounting hole, and a screw passes through the mounting hole and enters the hole of the connecting column 241 to connect the sliding block 242 and the connecting column 241. In Figure 16 As shown, the upper portion of the mop assembly 4 has a gap with the cavity shell 46, which provides a space for the mop assembly 4 to float up and down.

[0163] In the above, only the driving device 10 can drive the mop assembly 4 to move in the width direction of the body 1, and in the technical solution provided in the embodiment, the mop assembly 4 can not only move in the width direction of the body, but also can be lifted up and down. The movement of the mop assembly in the width direction of the body and the lifting up and down can be respectively driven by two driving devices, or can be realized by only one driving device. That is, the driving device 10 can not only drive the mop assembly 4 to move in the width direction of the body 1 in the accommodating cavity 101, but also can be lifted up and down.

[0164] The mop assembly 4 is floatingly connected to the cavity shell 46, and within a certain range, the mop assembly 4 can move up and down in the vertical direction in the accommodating cavity 101. The cleaning roller 42 of the mop assembly 4 is pressed to the ground by its own gravity, and when the cleaning roller on the mop assembly 4 encounters uneven ground or protruding obstacles, the mop assembly 4 can be lifted up and down relative to the body 1 of the cleaning robot according to the ground. Regardless of whether the ground is flat or not, the mop assembly 4 is always pressed to the ground by its own gravity, and the force acting on the ground is relatively small and stable, so that the sudden increase of the force acting on the ground by the mop assembly 4 due to the uneven ground can be effectively avoided. For some wooden floors with soft material, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0165] It can be considered that the mop assembly 4 is floating relative to the cavity shell 46 at any position in the width direction of the body 1. The floating of the mop assembly 4 relative to the cavity shell is the floating of the mop assembly 4 relative to the body.

[0166] Referring to Figures 13 to 22The driving device 10 can move in multiple directions to drive the mop-washing assembly 4 to lift, lower, extend and retract relative to the body 1. The driving device 10 comprises a first power source 102 and a first action execution mechanism 103. Specifically, when the first power source 102 outputs power in a first direction, the mop-washing assembly 4 can be driven to extend outward relative to the body 1 along the X1 direction Figure 16 , and the mop-washing assembly 4 can also be driven to lift relative to the body 1 along the Z2 direction. When the first power source 102 outputs power in a second direction, the mop-washing assembly 4 can be driven to retract relative to the body 1 along the X2 direction Figure 16 , and the mop-washing assembly 4 can also be driven to lower relative to the body 1 along the Z1 direction. The first direction and the second direction are different directions. For example, one of the first direction and the second direction can be the clockwise direction, and the other can be the counterclockwise direction. Figure 16 Figure 16 The above can also be understood as follows: the first action execution mechanism 103 moves along the X1 direction to drive the mop-washing assembly 4 to extend; and the first action execution mechanism 103 moves along the X2 direction to drive the mop-washing assembly 4 to retract. When the mop-washing assembly 4 is in the first limit position and the second limit position, if the mop-washing assembly 4 is in the low position, the action execution mechanism 103 moves along the X2 direction to drive the mop-washing assembly 4 to lift; and if the mop-washing assembly 4 is in the high position, the action execution mechanism 103 moves along the X1 direction to drive the mop-washing assembly 4 to lower.

[0167] It should be noted that Figure 16 the arrow X1 and X2 directions can be considered as the length direction of the mop-washing assembly, or the width direction of the body 1; Figure 16 the arrow Z1 and Z2 directions can be considered as the height direction of the mop-washing assembly, or the height direction of the body 1.

[0168] Figure 16 Figure 16

[0169] Figure 6 FIG. 4 is a schematic view of the mop-washing assembly 4 in the first limit position in the retracted state and in the lowered state. Figure 11 FIG. 5 is a schematic view of the mop-washing assembly 4 in the first limit position in the retracted state and in the lifted state. Figure 12 FIG. 6 is a schematic view of the mop-washing assembly 4 in the second limit position in the extended state and in the lowered state. The driving device 10 provided by the present application will be described in more detail through more embodiments.

[0170] ​​​​During the lifting or lowering of the mop assembly 4, the cleaning mechanism 44 and the liquid supply mechanism 45 can be lifted or lowered simultaneously with the cleaning roller 42 and the roller motor 41. Alternatively, the cleaning mechanism 44 and the liquid supply mechanism 45 can be kept in a fixed position, and the cleaning mechanism 44 and the liquid supply mechanism 45 can be in contact with the cleaning roller only when the cleaning roller is in a lowered state. When the cleaning roller is in a lifted state, the cleaning mechanism 44 and the liquid supply mechanism 45 are not in contact with the cleaning roller. During the extension or retraction of the mop assembly 4, the cleaning mechanism 44 and the liquid supply mechanism 45 are extended or retracted simultaneously with the mop assembly 4 to ensure that the cleaning roller maintains a certain degree of cleanliness. In addition, the mop assembly 4 has multiple gears during the extension thereof, and the distance of the extension of the mop assembly 4 relative to the body 1 is different in different gears.

[0171] In combination with Figure 14 and Figure 15 , the sliding plate includes a main body portion 21 and at least one lifting portion 22. The first rack 14 is arranged on the main body portion 21, and the lifting portion 22 is arranged at an end of the main body portion 21. When the sliding plate has two lifting portions 22, the two lifting portions 22 are arranged at two ends of the main body portion 21, respectively. Specifically, the lifting portion 22 has an inclined slope that extends upwardly from the surface of the main body portion 21, as shown in Figure 15 In addition, the lifting portion 22 has a through hole 23 at a middle position thereof, and the connecting column 241 on the mop assembly 4 can extend from below the sliding plate to above the sliding plate through the through hole 23, and the connecting column 241 can be in contact with the sliding plate. When the sliding plate slides in the action execution mechanism 103, the connecting column 241 can be subjected to a force, so that the mop assembly 4 can be driven to perform actions such as lifting, lowering, extending, and retracting.

[0172] Referring to Figure 13 and Figure 16 , the connecting column 241 of the connecting assembly 24 is connected to the mop assembly 4 at one end and extends from below the sliding plate to above the sliding plate through the through hole 23 at the other end. The sliding block 242 is detachably connected to the connecting column 241 through a fastener such as a screw rod. The sliding block 242 is in contact with the sliding plate, and the size of the sliding block 242 is greater than the size of the through hole 23, so as to effectively prevent the connecting assembly 24 from being separated from the sliding plate. The detachable connection of the sliding plate to the connecting column 241 facilitates the installation of the mop assembly 4.

[0173] Referring to Figures 13 to 15 , each lifting portion 22 is provided with a first baffle 25. The area A between the first baffle 25 and the lowest point of the lifting portion 22 is used to place the sliding block 242. As shown in Figure 13As shown, when the sliding plate is slid along the arrow X direction from the first limit position of the retracted state, the first baffle 25 will be in contact with the side wall of the sliding block 242, and the sliding plate can push the sliding block 242 to slide along the arrow X direction, thereby driving the mop assembly 4 to extend outward. Further, as shown in Figure 19 , the side of the first baffle 25 abutting against the sliding block 242 is provided with a gap groove 251, and the cross-sectional shape of the first baffle 25 is “L” shape. The gap groove 251 can be used to store lubricating grease, so as to improve the smoothness of the up-and-down floating action of the connecting column 241.

[0174] As shown in Figure 16 , when the sliding plate is slid along the arrow X2 direction from the first limit position of the retracted state, one side of the mop assembly 4 in the retracted state abuts against the side wall shell 411 of the cavity shell 46, thereby limiting the further movement of the mop assembly 4 along the arrow X2 direction relative to the cavity shell 46. However, under the driving of the first power source 102, the sliding plate will continue to move along the arrow X2 direction relative to the cavity shell 46, and the side wall of the other side of the sliding block 242 will abut against the inclined surface of the lifting part 22, and with the movement of the sliding plate 20, the sliding block 242 will climb along the inclined surface, thereby driving the mop assembly 4 to lift upward. As shown in Figure 15 , in order to avoid the sliding block 242 climbing over the inclined surface, the top of the inclined surface is also provided with a second baffle 26; when the sliding block 242 climbs to the top of the inclined surface, the sliding block 242 will abut against the second baffle 26, and the mop assembly 4 is also at the highest position of the lifting. Further, at this time, if the sliding plate 20 slides along the arrow X2 direction in the opposite direction, the sliding block 242 can slide down along the inclined surface, and at this time, the mop assembly 4 is in a descending state, and the sliding block 242 slides down to the lowest point of the lifting part 22, and the mop assembly 4 also descends to the low position.

[0175] Further, in some cases, the mop assembly 4 also needs to be kept in the lifted state for a long time, in order to facilitate the sliding block 242 to hover at the top end of the lifting part 22, a horizontal hovering surface 220 is arranged at the top end of the lifting part 22, as shown in Figure 23 . When the sliding block 242 climbs to the top end of the lifting part 22 along the inclined surface, the sliding block 242 can stably stay on the hovering surface 220, so that the mop assembly 4 is kept in the lifted state.

[0176] In an embodiment provided in the present application, as shown in Figure 15 and 17 , the inclined surface of the lifting part 22 comprises a first slope surface 221 and a second slope surface 222, and the inclination angle of the first slope surface 221 is greater than that of the second slope surface 222. When the sliding block 242 climbs along the inclined surface of the lifting part 22, it first climbs on the first slope surface 221 with a greater inclination angle, and then climbs on the second slope surface 222. This technical solution will be beneficial to the rapid lifting of the mop assembly 4.

[0177] Further, in order to avoid too much sliding resistance of the slider 242 on the slope, referring to Figure 17 , the side of the slider 242 abutting against the slope of the lifting part 22 is provided with a cylindrical sliding part 2421, of course, the cylindrical sliding part 2421 can also roll when sliding on the slope. For example, referring to Figure 18 , the side of the slider 242 abutting against the slope of the lifting part 22 is provided with a circular arc structure 2422. That is, the part of the slider 242 contacting the lifting part 22 is the circular arc structure 2422.

[0178] When the sliding plate slides from the second limit position of the extended state of the mop assembly 4 to the first limit position of the retracted state, the slider 242 can have various states. For example, the mop assembly 4 has small resistance when retracted, and as the sliding plate slides, the slider 242 does not have enough force to climb the slope, at this time, the slider 242 will abut against the bottom of the slope, and then the sliding plate 20 pushes the mop assembly 4 to slowly retract. It can be understood that in this state, the mop assembly 4 does not have a lifting action when retracted, and the mop assembly 4 is always in contact with the ground when retracted. For example, the mop assembly 4 has large resistance when retracted, and as the sliding plate 20 slides, the slider 242 can climb the slope. At this time, the mop assembly 4 will be lifted upward, and at the same time, the sliding plate 20 will complete the retraction action. It can be understood that in this state, the mop assembly 4 first has a lifting action when retracted, and then retracts to the first limit position along with the sliding plate 20.

[0179] Referring to Figure 22 , in an embodiment provided by the present application, the sliding plate is provided with a first connecting end 211, and the slider 242 is provided with a second connecting end 2423, and the first connecting end 211 and the second connecting end 2423 can be used to set an elastic member. Specifically, one end of the elastic member is connected with the first connecting end 211, and the other end of the elastic member is connected with the second connecting end 2423. When the slider 242 climbs upward along the slope of the lifting part 22, the elastic member will be stretched. The elastic force of the elastic member can be used to assist the slider 242 to descend from the top end of the lifting part 22. In addition, during the retraction of the mop assembly 4, the pulling force provided by the elastic member can also make the slider 242 always contact the first baffle 25, so as to avoid the slider 242 from climbing the slope, and finally the mop assembly 4 will not be easily lifted when retracted.

[0180] Further, as shown in Figure 13 , in the scheme provided by the present embodiment, the detection unit provided on the cavity shell 46 can also include at least one detection unit for detecting the lifting state of the mop assembly. For example, Figure 13In the shown example, the third detection unit, such as the third photoelectric switch 283, is arranged on the cavity shell 46, and the third triggering structure 293 is arranged on the sliding plate of the first action execution mechanism 103. After the mop-washing assembly 4 is lifted, the third triggering structure 293 triggers the third photoelectric switch 283, so that the main board 2 can learn that the mop-washing assembly has been lifted, and can control the power source, the liquid supply mechanism and the dirt removal mechanism to stop working.

[0181] The first power source 102 drives the first gear 13 to rotate forward (e.g. clockwise or counterclockwise), and the sliding plate moves to the right. During the movement, the sliding plate contacts the connecting assembly 24 on the mop-washing assembly 4, and drives the mop-washing assembly 4 to extend outward through the connecting assembly 24. When the second photoelectric switch 282 is triggered, the first power source 102 stops rotating. At this time, the mop-washing assembly is in a fully extended state, and can perform edge cleaning on the object. After the mop-washing assembly 4 completes the edge cleaning, the power source drives the first gear 13 to rotate reversely, and the sliding plate moves to the left and drives the mop-washing assembly 4 to retract into the accommodating cavity 101 during the movement. When the first photoelectric switch 281 at the initial position (i.e. the first limit position) is triggered, the first power source 102 stops rotating, and at this time, the mop-washing assembly 4 is in a fully retracted state. In the next step, the cleaning robot needs to clean the carpet. In order to avoid secondary pollution, the mop-washing assembly needs to be switched to the lifted state. Subsequently, the first power source 102 reversely rotates, and the sliding plate moves to the left. The lifting part 22 on the sliding plate gradually lifts the connecting assembly 24. When the third photoelectric switch 283 is triggered, the first power source 102 stops rotating, and at this time, the mop-washing assembly 4 is switched to the lifted state, and then can clean the carpet. After the carpet is cleaned, the first power source 102 rotates forward, and the sliding plate moves to the right. The mop-washing assembly is lowered and reset to the initial state.

[0182] In the technical scheme provided in the present application, the driving device 10 has a simple structure, and only one power source is needed to drive the mop-washing assembly 4 to realize the four actions of extension, retraction, lifting and lowering, so that the use of the mop-washing assembly 4 under various working conditions is met, the performance requirement of the power source is low, the control logic is simple, and the production cost is also lower.

[0183] In the above-mentioned embodiments, the lifting process of the mop-washing assembly 4 is that the sliding plate slides, and then the lifting part 22 on the sliding plate drives the sliding block 242 on the mop-washing assembly 4 to move upward, so that the mop-washing assembly 4 is lifted upward. The lifting process of the mop-washing assembly 4 can be understood as that the mop-washing assembly 4 is integrally lifted.

[0184] After the mop-washing assembly 4 is lifted, the cleaning roller 42 can be stopped, and the liquid supply mechanism 45 and the dirt removal mechanism 44 can not work.

[0185] The cleaning robot can lift the mop-washing assembly under the following conditions, such as:

[0186] The cleaning robot travels onto the carpet to lift the mop-washing assembly;

[0187] The mop-washing assembly is lifted when needed to cross an obstacle;

[0188] The user instructs the mop-washing assembly to be lifted;

[0189] The mop-washing assembly is lifted when the cleaning robot works in the sweeping mode; and the like.

[0190] In another embodiment provided in the present application, the lifting process of the mop-washing assembly 4 can also be that one end of the mop-washing assembly 4 rotates around an axis, so that the cleaning roller 42 at the other end of the mop-washing assembly 4 is lifted relative to the ground. See Figure 24 The figure shows a schematic view of the structure of the mop-washing assembly 4 being lifted relative to the ground. Figure 24 In the embodiment, the mop-washing assembly 4 comprises the cleaning roller 42 and the mop-washing support 43, and the mop-washing support 43 is slidably connected to the rotating support 31. The rotating support 31 is rotatably connected to the base through the rotating shaft 4131, and the base can also be considered as the cavity shell 46 or the body 1 of the cleaning robot. The connecting assembly 24 is arranged on the mop-washing support 43, passes through the rotating support 31 through the avoiding slot on the rotating support 31, and extends to the outside of the rotating support 31. The base is further provided with the sliding plate 20, which is slidable relative to the base, and the sliding plate 20 has the lifting part 22. The sliding plate 20 can slide to the left or to the right relative to the base, so as to drive the mop-washing assembly 4 to be lifted or to be extended outward, respectively. Specifically, when the sliding plate 20 moves to the right relative to the base from the initial position, the connecting assembly 24 is in contact with the side wall of the sliding plate 20, and the sliding plate 20 can drive the connecting assembly 24 to move to the right at the same time, as shown by the arrow X direction in Figure 32 At this time, the mop-washing assembly 4 extends to the right relative to the rotating support 31, and it can be considered that the mop-washing assembly 4 is switched from the retracted state to the extended state. When the sliding plate 20 moves to the left relative to the base from the initial position, the connecting assembly 24 is in contact with the inclined surface of the lifting part 22, and with the leftward movement of the sliding plate 20, the connecting assembly 24 climbs up the inclined surface of the lifting part 22, and the connecting assembly drives the rotating support 31 and the mop-washing assembly 4 to rotate upward around the rotating shaft 4131 along the arrow a direction in Figure 32 When the mop-washing assembly 4 needs to be reset to the initial position, it is only needed to reset the sliding plate 20 to the initial position in the opposite direction, and the mop-washing assembly 4 can be reset from the lifted state or the extended state to the initial state. The initial state can be that the mop-washing assembly 4 is in the retracted state and is at the low position.

[0191] Based on the lifting and extending principle of the mop-washing assembly 4 described above, another driving device 10 provided in the present application will be described in detail in combination with specific embodiments.

[0192] See Figure 24, Figure 25 and Figure 26 In one embodiment of this application, a driving device 10 is provided, comprising a first power source 102 and a first actuation mechanism 103. The first actuation mechanism 103 is disposed on a cavity shell 46 and is movably connected to the cavity shell 46. The mopping assembly 4 is buoyantly connected to the first actuation mechanism 103 via a connecting assembly 24. When the first power source 102 drives the first actuation mechanism 103 to move in different directions, the first actuation mechanism 103 can drive the mopping assembly 4 to perform actions such as lifting, lowering, extending, or retracting via the connecting assembly 24.

[0193] In one specific embodiment, see Figure 25 and Figure 26 The first actuator 103 includes a sliding plate 20. The sliding plate 20 is slidably connected to the cavity shell 46. The first power source 102 outputs power to drive the sliding plate 20 relative to the cavity shell 46 along... Figure 25 The movement is directed in the directions of arrows X1 and X2. The cavity shell 46 is fixedly connected to the body 1, and the cavity shell 46 has a receiving cavity 101, in which the mopping assembly 4 and the rotating bracket 31 are located. The mopping bracket 43 is rotatably connected to the cavity shell 46 or the body 1 via a rotating shaft 4131.

[0194] See Figure 27a to 27c The diagrams above show the mopping assembly 4 in its initial state from different perspectives. The initial state refers to the mopping assembly 4 being in its retracted state (e.g., the first extreme position of the retracted state) with the cleaning roller 42 in contact with the ground. Referring to diagrams 28a to 28c, the diagrams above show the mopping assembly 4 in its raised state from different perspectives. In the retracted state (e.g., the first position of the retracted state), the distance between the lowest point of the cleaning roller 42 of the mopping assembly 4 and the ground in the raised state is H1. Referring to diagrams 29a to 29c, the diagrams above show the mopping assembly 4 in its extended state (e.g., the second extreme position of the extended state). In the extended state, the distance by which the outermost edge of the mopping assembly 4 extends relative to the body 1 is H2.

[0195] When the mopping assembly 4 needs to extend, the first power source 102 drives the sliding plate 20 from its initial position along... Figure 25 When the sliding plate 20 moves in the direction of arrow X1, the rotating bracket 31 remains stationary. The connecting component 24, which is in contact with the sliding plate 20, drives the roller bracket 421 to extend outward relative to the rotating bracket 31 in the direction of arrow X1. When the sliding plate 20 moves to its limit position in the X1 direction, the roller bracket 421 will extend outward to its maximum distance (e.g., ...). Figure 29b (As shown). When the mopping assembly 4 needs to retract, the first power source 102 drives the sliding plate 20 along... Figure 25The mop assembly 4 moves in the arrow X2 direction, and when it moves to the initial position, the roller support 421 completes the retraction.

[0196] The mop support 43 can include the roller support 421.

[0197] Referring to Figures 25 to 28c When the mop assembly 4 needs to be lifted, the first power source 102 drives the sliding plate 20 to move from the initial position along the arrow X2 direction. Figure 25 At this time, the rotating support 31 will rotate upward around the rotating shaft 4131 under the drive of the sliding plate 20, the mop support 43 remains unchanged in position with the rotating support 31, and the mop support 43 will rotate upward together with the rotating support 31, thereby realizing the rotating lifting of the mop assembly 4. When the sliding plate 20 moves to the limit position in the X2 direction, the height of the lifting of the mop assembly 4 is the largest, and the height of the lowest point of the cleaning roller 42 from the ground is also the largest (as shown in Figure 28c When the mop assembly 4 needs to be lowered, the first power source 102 drives the sliding plate 20 to move along the arrow X1 direction. Figure 25 At this time, the mop support 43 completes the lowering and returns to the initial state (as shown in Figure 27a

[0198] Referring to Figure 25 and Figure 26 In an embodiment provided in the present application, the first power source 102 and the first action execution mechanism 103 (such as the sliding plate 20) can be arranged inside the accommodating cavity 101, or both can be arranged outside the accommodating cavity 101, or one is arranged inside the accommodating cavity 101 and the other is arranged outside the accommodating cavity 101.

[0199] Hereinafter, the first power source 102 is arranged outside the accommodating cavity 101, and the sliding plate 20 is arranged inside the accommodating cavity 101. It should be noted that the action execution mechanism in each of the above embodiments includes but is not limited to: a lead screw motor device, a push rod motor device, a linear motor device, a hydraulic device, a cylinder piston device, a gear and rack device, etc.

[0200] In a specific embodiment, referring to Figure 25 and Figure 26 Taking the power source as a lead screw motor device as an example, the lead screw motor device includes a second motor 12, a lead screw 17, and a nut block 18. The lead screw 17 is connected with the output end of the second motor 12, and the second motor 12 can drive the lead screw 17 to rotate when it rotates. The nut block 18 is connected with the lead screw 17 in cooperation, and the nut block 18 can slide transversely along the axis direction of the lead screw 17 when the lead screw 17 rotates.

[0201] As shown in Figure 25 , the lead screw 17 is arranged along the length direction of the mop assembly 4 (for example Figure 25 ​When the second motor 12 outputs power in one direction (in the direction of the middle arrow X1), the lead screw 17 can drive the nut block 18 to move left (in the direction of the middle arrow X1) Figure 25 When the second motor 12 outputs power in the other direction (in the direction of the middle arrow X2), the lead screw 17 can drive the nut block 18 to move right (in the direction of the middle arrow X2) Figure 25 The second motor 12 can output clockwise power and counterclockwise power, one of the two directions of power can be clockwise power, and the other can be counterclockwise power.

[0202] Further, referring to Figure 25 and Figure 31 In an embodiment provided in the present application, the sliding plate 20 is provided with a driving portion 214, the driving portion 214 extends outwardly from the plate surface of the sliding plate 20, and the end portion of the driving portion 214 has a recess structure matched with the lead screw 17. The cavity shell 46 is further provided with a movable aperture 415, and the driving portion 214 on the sliding plate 20 can pass through the movable aperture 415 to be connected with the nut block 18. When the second motor 12 drives the lead screw 17 to rotate, the moving nut block 18 can drive the driving portion 214 to move together. In order to avoid the driving portion 214 from interfering with the cavity shell 46 during the movement, the length of the movable aperture 415 is greater than or equal to the maximum distance that the mopping assembly 4 can extend.

[0203] Referring to Figure 25 and Figure 26 The cavity shell 46 is arranged on the machine body 1, and can be fixedly connected to the machine body 1, or the cavity shell 46 and the machine body 1 are an integral structure. The rotating support 31 is rotatably connected to the machine body 1 or the cavity shell 46 through a rotating shaft 4131, the rotating support 31 is provided with a track groove 32, the mopping support 43 is provided with a sliding portion 33, and the sliding portion 33 is matched and connected in the track groove 32. The mopping support 43 has an installation cavity with an opening downward, the cleaning roller 42 is arranged in the installation cavity, and a plurality of sliding portions 33 are arranged on the top of the mopping support 43 and can be matched and connected in the sliding groove. Specifically, the sliding portion 33 is a sliding block, a ridge rib is arranged on the top of the mopping support 43, a plurality of sliding blocks are symmetrically arranged on the two sides of the ridge rib, and the plurality of sliding blocks can be clamped in the track groove 32, so that the mopping support 43 is suspended and installed below the rotating support 31.

[0204] Referring to Figure 26 , Figure 30 and Figure 32 In a specific embodiment, the top surface of the inner side of the rotating support 31 is provided with the track groove 32, the track groove 32 has a downward opening neck, and the sliding portion 33 can be connected in the track groove 32 through the neck. The outer wall surface of the rear side of the rotating support 31 is further provided with at least one rotating connecting arm 311, and the rotating connecting arm 311 is connected to the cavity shell 46 or the machine body 1 through the rotating shaft 4131.

[0205] Referring to Figure 26 and Figure 30 , the mop support 43 is provided with at least one connecting assembly 24, specifically, the connecting assembly 24 is a connecting rod 243, which is arranged on the front side wall of the mop support 43. Taking the example that two connecting rods 243 are arranged on the front side wall of the mop support 43, along the direction of the arrow M in Figure 26 , the connecting rod 243 extends forward and is connected to the sliding plate 20. In the process of sliding, the sliding plate 20 can drive the mop support 43 to move through the connecting rod 243, so as to realize the extension and retraction of the entire mop assembly 4.

[0206] The driving device provided by the embodiment of the present application can not only drive the mop assembly to extend and retract relative to the machine body, but also drive the mop assembly 4 to ascend and descend relative to the machine body. Specifically, referring to Figure 26 and Figure 31 , the sliding plate 20 has at least one hollow structure to form a lifting portion 22 on the sliding plate 20, the lifting portion 22 has an inclined slope, and a limiting portion 212 is arranged on the top of the slope and arranged along the horizontal direction. The sliding plate 20 further includes a connecting buckle 213, which is used to be connected to the cavity shell 46. Specifically, referring to Figure 33 , the cavity shell 46 has a through clamping groove 414, and the length of the clamping groove 414 is equal to or greater than the maximum distance that the mop assembly 4 can extend. The connecting buckle 213 on the sliding plate 20 can be connected to the clamping groove 414. When the power source drives the sliding plate 20 to slide, the connecting buckle 213 will slide in the clamping groove 414.

[0207] Further, referring to Figure 33 , in one embodiment provided by the present application, the cavity shell 46 is further provided with a guide groove 416, which includes a first groove 4161, a second groove 4162 and a third groove 4163. Among them, the setting direction of the second groove 4162 is the same as the length direction of the cavity shell 46 (such as the direction of the arrow X in Figure 33 ), the first groove 4161 and the third groove 4163 are respectively located at both ends of the second groove 4162 and are in communication with the second groove 4162. The first groove 4161 and the third groove 4163 respectively extend along the vertical direction, which can be understood as that the first groove 4161 and the third groove 4163 are perpendicular to the second groove 4162.

[0208] When the sliding plate 20 drives the connecting rod 243 to move, one end of the connecting rod 243 slides in the guide groove 416. The sliding groove not only can guide the sliding of the connecting rod 243, but also can make the mop assembly 4 and the cavity shell 46 be connected in multiple directions. Referring to Figure 27b, the connecting rod 243 is located at the leftmost end of the second groove 4162 and at the bottom end of the first groove 4161. As the power source drives the sliding plate 20 to move leftward, the connecting rod 243 can only climb upward along the slope of the lifting portion 22 since it cannot move leftward any more. At this time, the connecting rod 243 will move upward along the first groove 4161 and finally move to the top end of the first groove 4161 (as shown in Figure 28b Fig. 4B), at which time the mop assembly 4 is in the lifted state. In the initial state, when the power source drives the sliding plate 20 to move rightward, the connecting rod 243 will move from the leftmost end to the rightmost end of the second groove 4162, as shown in Figure 29b Fig. 4C, and the connecting rod 243 is also located at the bottom end of the third groove 4163. At this time, the mop assembly 4 is in the extended state, and the mop assembly 4 extends outward relative to the cavity 46 by a distance H2. Generally, the length of the second groove 4162 is equal to the maximum distance by which the mop assembly 4 can extend.

[0209] The arrangement of the first groove 4161 and the third groove 4163 also enables the mop assembly 4 to be connected to the cavity 46 in a floating manner, thereby being self-adaptive to the ground. Specifically, if the mop assembly 4 is cleaning on uneven ground or encounters a raised obstacle, since the distance between the cavity 46 and the ground is always constant or does not change greatly, if the mop assembly 4 is rigidly connected to the cavity 46, the mop assembly 4 will be subjected to a very severe impact and cannot adjust its height to adapt to the change in the ground. In the technical solution of the present application, as shown in Figure 27b Fig. 4B, in the initial state of the mop assembly 4, the connecting rod 243 is also located at the bottom end of the first groove 4161. At this time, if the mop assembly 4 is subjected to an impact, the mop assembly 4 will float upward under the action of the ground, thereby avoiding excessive force between the mop assembly 4 and the ground. In addition, when the mop assembly 4 is in the extended state, the connecting rod 243 is located at the bottom end of the third groove 4163. Similarly, when the extended mop assembly 4 is subjected to an impact from the ground, the connecting rod 243 will move upward along the third groove 4163 to float upward relative to the ground, thereby also avoiding excessive force between the mop assembly 4 and the ground.

[0210] When the mop-washing assembly 4 is in the extended state, it is easy to collide with obstacles during the movement of the cleaning robot. In order to avoid the damage caused by the collision between the mop-washing assembly 4 and the obstacles, in an embodiment of the present application, the mop-washing assembly 4 can automatically retract into the accommodating cavity 101 when it is subjected to an external force in the extended state. Specifically, a rebound device is arranged between the mop-washing support 43 and the rotating support 31. When the mop-washing assembly is in the initial state (e.g., the first limit position in the retracted state), the rebound device is in the compressed state. When the mop-washing assembly 4 in the extended state is retracted into the accommodating cavity 101 under the action of an external force, the rebound device will be compressed.

[0211] In a specific implementation, the rebound device includes but is not limited to a spring, a hydraulic cylinder, a pneumatic cylinder, an elastic block, etc. Taking the spring as an example, referring to Figure 30 , the ridge rib of the mop-washing support 43 is provided with a cavity 34, and the spring can be arranged in the cavity 34. Referring to Figure 32 , the track groove 32 of the rotating support 31 is provided with an elastic element mounting seat 312. When the ridge rib is connected with the track groove 32, one end of the elastic element is sleeved on the elastic element mounting seat 312, and the other end of the elastic element is in contact with the mop-washing support 43.

[0212] It is mentioned above that the power source is a lead screw motor device. If the driving part 214 on the sliding plate 20 is fixedly connected with the nut block 18, when the extended mop-washing assembly 4 is subjected to an impact, the nut block 18 will limit the movement of the driving part 214 because the lead screw 17 and the nut block 18 have a self-locking effect, so the sliding plate 20 will also be limited, and finally the mop-washing assembly 4 cannot be automatically retracted.

[0213] In the technical solution of the present application, the nut block 18 and the driving part 214 are not fixedly connected. When the mop-washing assembly 4 is automatically retracted under the action of an external force, the driving part 214 on the sliding plate 20 will be separated from the nut block 18, and the sliding plate 20 can freely move along the direction of the arrow X2 in Figure 25 In an embodiment provided in the present application, along the extension direction of the mop-washing assembly 4 (the direction of the arrow X1 in Figure 25 ), the driving part 214 is located on the left side of the nut block 18, and the driving part 214 is in contact with the nut block 18. It is mentioned above that the rebound device is arranged between the mop-washing support 43 and the rotating support 31. When the mop-washing assembly 4 is in the initial state, the rebound device is in the compressed state, and the direction of the elastic force of the rebound device is Figure 25The elastic force drives the mop-washing assembly 4 to extend outwards in the direction of the arrow X1. However, the nut block 18 contacts the right side of the driving portion 214, and the self-locking effect of the lead screw motor device limits the automatic rightward movement of the sliding plate 20. Only when the nut block 18 moves rightward with the rotation of the lead screw 17, the driving portion 214 can move rightward with the nut block 18. In simple terms, the power for the mop-washing assembly 4 to extend outwards is provided by the rebound device, and the nut block 18 can limit the free rightward movement of the sliding plate 20. Only when the nut block 18 moves rightward, the sliding plate 20 can move rightward. When the mop-washing assembly 4 changes from the extended state to the retracted state, or when the mop-washing assembly 4 changes from the low position (e.g., the state in which the cleaning drum contacts the ground) to the lifted state, the sliding plate 20 moves from right to left, and the moving direction of the sliding plate 20 is opposite to the direction of the arrow X1. Figure 25 The moving direction of the sliding plate 20 is the same as the direction of the arrow X2. The rightward movement of the sliding plate 20 is provided by the lead screw motor device. Specifically, the second motor 12 outputs power in one direction, the lead screw 17 drives the nut block 18 to move in the direction of the arrow X2, and since the driving portion 214 of the sliding plate 20 is located on the left side of the nut block 18, the nut block 18 can push the sliding plate 20 to move leftward during the movement. During this process, the rebound device is further compressed.

[0214] Further, in an embodiment provided in the present application, the mop-washing assembly 4 has multiple gears in the extended state and the lifted state. In different gears of the extended state, the mop-washing assembly 4 extends to different distances relative to the cavity shell 46. In different gears of the lifted state, the mop-washing assembly 4 is lifted to different distances relative to the ground. In order to realize the extension of the mop-washing assembly 4 in different gears, or the lifting of the mop-washing assembly 4 to different distances relative to the ground, the second motor 12 is further provided with a counting module. The counting module records the number of forward or reverse rotations of the second motor 12 or the lead screw 17. By recording the number of rotations of the second motor 12 or the lead screw 17, the moving distance of the nut block 18 on the lead screw 17 can be calculated, so as to determine the different gears of the mop-washing assembly 4 in the extended state and the lifted state.

[0215] For example, when the nut slider 18 is in the first position, after the second motor 12 or lead screw 17 rotates forward one hundred times, the nut slider 18 moves to the first extreme position. At this time, the mopping assembly 4 extends the maximum distance (i.e., it is in the second extreme position of the extended state). Dividing these one hundred rotations into ten parts, starting from the first position, every ten rotations of the second motor 12 or lead screw 17 in the forward direction indicates that the mopping assembly 4 has switched to one gear. Similarly, when the nut slider 18 is in the first position, after the second motor 12 or lead screw 17 rotates in the reverse direction twenty times, the nut slider 18 moves to another extreme position. At this time, the mopping assembly 4 is raised the highest distance. Similarly, dividing these twenty rotations into five parts, starting from the first position, every four rotations of the second motor 12 or lead screw 17 in the reverse direction indicates that the mopping assembly 4 has been raised one gear. During the adjustment of the lifting position of the mopping assembly 4, the self-locking function of the screw motor device restricts the displacement of the sliding plate 20 when the motor 12 stops, and the connecting rod 243 can also stay stably on the inclined surface of the lifting part 22, thereby ensuring that the lifting position of the mopping assembly 4 remains unchanged.

[0216] In another embodiment provided in this application, when adjusting the gear, as mentioned above, multiple detection units can be provided on the cavity shell 46. Different detection units can detect whether the nut slider 18 or the sliding plate 20 is in the first position, different extreme positions, and different positions corresponding to different gears.

[0217] The following describes the action process of the mopping component 4 in detail, based on the usage scenario.

[0218] After completing part of the cleaning task in its initial state (such as the first extreme position of the retracted state, with the cleaning roller in contact with the ground), the mopping assembly 4 needs to be switched to the extended state. Subsequently, the second motor 12 drives the lead screw 17 to rotate forward, and the nut slider 18 on the lead screw 17 moves to the right (see...). Figure 25 (From the perspective shown), under the action of the spring mechanism between the rotating bracket 31 and the mopping bracket 43, the mopping bracket 43 extends outward relative to the rotating bracket 31. As the nut slider 18 moves, the mopping component 4 extends outward to its maximum extent. During the outward extension of the mopping bracket 43, the sliding plate 20 moves synchronously to the right, and the drive part 214 on the sliding plate 20 remains in contact with the nut slider 18. The cleaning robot may also be equipped with a counter, which records the number of rotations of the second motor 12. Based on the number of rotations of the second motor 12 recorded by the counter, the mainboard 2 of the cleaning robot can calculate the position of the nut slider 18, and thus determine the position of the mopping component 4. If the mopping component 4 is already in the second limit position of the extended state, the mainboard 2 controls the second motor 12 to stop working, the mopping component 4 remains in the extended state, and the cleaning robot maintains the extended posture of the mopping component 4 to perform the cleaning task.

[0219] After the mop assembly 4 completes the task in the extended state, the main board 2 controls the second motor 12 to drive the lead screw 17 to output reverse power, and the nut block 18 moves to the left (see the view angle shown in Figure 25 The sliding plate 20 can drive the mop assembly 4 to retract into the accommodating cavity 101 during the movement. Similarly, the main board 2 can calculate the moving position of the nut block 18 based on the number of rotations of the second motor 12 outputting the reverse power, and then determine the retracted position of the mop assembly. If it is determined that the mop assembly has reached the first limit position in the retracted state, the main board 2 controls the second motor 12 to stop working.

[0220] Next, when the cleaning robot recognizes the floor paved with a carpet, the mop assembly 4 needs to switch to the lifted state to avoid secondary pollution. The main board 2 controls the second motor 12 to drive the lead screw 17 to rotate in a direction, and the nut block 18 moves to the left (see the view angle shown in Figure 25 At this time, the nut block 18 will drive the sliding plate 20 to move to the left. With the movement of the sliding plate 20, the lifting part 22 on the sliding plate 20 gradually lifts the connecting rod 243, and the mop support 43 will rotate and lift around the rotating shaft 4131. After the mop assembly 4 is in the lifted state, it can enter the carpet area to clean the carpet. After the carpet is cleaned, it will leave the carpet area. If the cleaning robot still needs to continue the cleaning task, the main board 2 can control the second motor 12 to drive the lead screw 17 to rotate in the other direction, and the sliding plate 20 moves to the right (see the view angle shown in Figure 25 The mop assembly is lowered.

[0221] Compared with the cleaning robot provided with a cleaning cloth or a mop disc, the cleaning robot provided with the mop assembly of the embodiment has better cleaning effect and higher cleaning efficiency. During the cleaning process of the cleaning roller, the cleaning roller can also be self-cleaned. The dirt removal mechanism 44 can scrape off the sewage on the cleaning roller 42, and the liquid supply mechanism 45 can provide clean cleaning liquid for the cleaning roller 42, and then the cleaning roller 42 can mop and wash the ground again. This cleaning method not only can bring better cleaning effect, but also has longer cleaning endurance of the mop assembly 4. In a cleaning task, the cleaning robot does not need to return to the base station for self-cleaning and maintenance frequently.

[0222] The cleaning robot needs to face various cleaning environments in the process of cleaning. For example, ceramic tile ground, floor ground, and carpet ground, etc. When cleaning the carpet ground, in order to avoid the wet cleaning roller from wetting the carpet, the cleaning roller needs to be lifted to avoid contact with the carpet. In addition, for some corner areas (wall side, home edge, etc.), due to the influence of the shape structure of the cleaning robot, the cleaning robot cannot achieve edge cleaning. In the technical scheme provided in the embodiments of the present application, the mop-washing assembly 4 with the cleaning roller 42 can not only be lifted and lowered, but also be stretched out from one side of the cleaning robot when edge cleaning is needed, so that the mop-washing assembly 4 can achieve edge cleaning while avoiding collision between the body of the cleaning robot and the wall or the home.

[0223] When the cleaning robot cleans a dirty ground, in order to reduce the number of switching between the retracted state and the stretched-out state, the mop-washing assembly 4 on the cleaning robot is preferentially used in the stretched-out state for ground cleaning (i.e. normal stretching or normal outward swinging). When avoiding obstacles, the mop-washing assembly 4 on the cleaning robot is retracted into the accommodating cavity 101 and is switched to the stretched-out state after completing obstacle avoidance in the retracted state. This working mode not only reduces the number of switching between the retracted state and the stretched-out state of the mop-washing assembly 4, but also reduces the total time of the cleaning task. Specifically, the mop-washing assembly 4 in the stretched-out state can also complete the cleaning of the regular ground (non-corner ground). Since the home ground has not only a large area of wall corner area, but also a plurality of corner areas of scattered home objects. If the mop-washing assembly 4 on the cleaning robot is preferentially cleaned in the retracted state, it is necessary to switch between the retracted state and the stretched-out state, and each time in the state switching process, a long time is needed for waiting or switching of the motion algorithm of the cleaning robot. This not only increases the total time of completing the cleaning of the cleaning robot, but also increases the calculation amount of the control calculation unit on the main board 2 for the motion algorithm. The working scene of the cleaning robot is very complex, in order to achieve a better overall cleaning effect, the cleaning robot needs to detect and judge in real time whether the mop-washing assembly 4 needs to be stretched out, the environment is complex, and the cleaning robot needs to judge many conditions, which cannot be exhausted, so the cleaning robot cannot control the mop-washing assembly 4 to be stretched out in time every time it needs to be stretched out.

[0224] Therefore, the scheme provided in the embodiments of the present application is that whether the cleaning robot needs to perform edge cleaning is not judged, and the mop-washing assembly 4 is directly in the stretched-out state mode to perform the cleaning task when the cleaning task is performed. This scheme removes the identification of complex edge conditions, and only needs to retract the mop-washing assembly 4 in a few simple scenes such as obstacle avoidance and turning, so the control logic is simple, the design difficulty is not high, and it is easy to implement. In addition, referring to Figure 10b, the left drawing (G) of the figure shows that the mop-washing assembly 4 is in the first position (such as the first limit position in the retracted state), and the right drawing (H) shows that the mop-washing assembly 4 is in the second position (such as the second limit position in the extended state). When the cleaning robot works according to the cleaning path shown in FIG. 10, it can be seen that when the mop-washing assembly 4 is in the first position, the edge of the mop-washing assembly 4 in the width direction is L3 away from the edge of the widest part of the robot body 1. If the cleaning robot cleans according to the "arch" cleaning path shown in the figure, there will be a shaded area in the path of the cleaning robot, which is the area that the mop-washing assembly 4 does not clean. In the case of the mop-washing assembly normally extended, the cleaning robot extends the mop-washing assembly 4 when performing the cleaning task, and cleans according to the "arch" cleaning path shown in the figure. Because the outer edge of the mop-washing assembly 4 is basically flush with the edge of the widest part of the robot body 1, there will be no situation that the shaded area in the left drawing (G) cannot be cleaned after the cleaning robot cleans. Although the cleaning path of the cleaning robot can be adjusted to make the cleaning robot turn around to cover the shaded area, it increases the complexity of software control. In the case of the mop-washing assembly normally extended in the right drawing (H), there is no need to consider the coverage of the shaded area, and the traversal algorithm of the cleaning robot is simpler.

[0225] That is, the working method of the cleaning robot provided in the embodiment can include the following steps:

[0226] S11, when performing a cleaning task in an open area, the mop-washing assembly performs the cleaning task in the extended state;

[0227] S12, when it is detected that the surrounding environment determines that the mop-washing assembly needs to be retracted, the mop-washing assembly is retracted, and the mop-washing assembly performs the cleaning task in the retracted state or the cleaning robot travels while the mop-washing assembly is in the retracted state.

[0228] In the extended state, the mop-washing assembly extends from one side of the robot body, and part of the mop-washing assembly is exposed. In the retracted state, the outer edge of the mop-washing assembly is located inside the outer edge of the robot body, or part of the outer edge of the mop-washing assembly is flush with the outer edge of the robot body.

[0229] In the above S12, "detecting that the surrounding environment determines that the mop-washing assembly needs to be retracted" can specifically include but is not limited to at least one of the following:

[0230] When it is detected that the cleaning robot needs to turn to avoid obstacles, it is determined that the mop-washing assembly needs to be retracted.

[0231] When it is detected that the cleaning robot is in a narrow space and needs to escape, it is determined that the mop-washing assembly needs to be retracted.

[0232] When the user issues a retraction instruction, it is determined that the mop-washing assembly needs to be retracted.

[0233] Further, the method provided by the embodiment further includes:

[0234] When the mop-washing assembly is in the extended state and performs a cleaning task, and it is detected that the surrounding environment needs to lift the mop-washing assembly, after the mop-washing assembly is retracted to the first limit position, the mop-washing assembly is lifted to have a gap with the ground.

[0235] When the mop-washing assembly is in the third position, the projection of the mop-washing assembly is located in the projection of the machine body; when the mop-washing assembly is in the fourth position, the edge of the mop-washing assembly extends out of the edge of the machine body, and the projection of the mop-washing assembly is located in the projection of the machine body. In the general cleaning mode, the mop-washing assembly is in the fourth position; in the special cleaning mode, the mop-washing assembly is in the third position to walk along the edge of an obstacle. The mainboard controls the driving device to realize that the mop-washing assembly is parked and works at any position. Wherein, the mop-washing assembly has a first limit position in the retracted state and a second limit position in the extended state; the any position is the first limit position, or the second limit position, or any position between the first limit position and the second limit position; the third position is the first limit position or any position between the first limit position and the second limit position; the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0236] The control method or working method of the cleaning robot provided by another embodiment of the application can be: the control device dynamically controls the driving device according to the behavior information of the machine body, so that the driving device drives the mop-washing assembly to move relative to the machine body to change the position of the mop-washing assembly relative to the machine body.

[0237] Wherein, the behavior information of the machine body can include: a traveling speed, a traveling direction, a turning radius when turning, acceleration, and the like. For example, when turning quickly, the control device controls the driving device to quickly recover the mop-washing assembly that is extended out; or when traveling along a straight line after turning, the control device controls the driving device to make the mop-washing assembly extended out again.

[0238] Additionally, it should be noted that the roller motor in the mopping assembly requires a continuous current supply while the mopping assembly is moving. Therefore, the cleaning robot in this embodiment is also equipped with a conductive groove assembly, which includes a conductive groove body and a connector. The connector is disposed within the conductive groove body and is movable within the conductive groove body. The connector is electrically connected to the electrical interface of the roller motor. When the mopping assembly moves, the connector moves within the conductive groove body to follow the mopping assembly, ensuring that the roller motor maintains a power supply while moving. The conductive groove assembly is not explicitly shown in the accompanying drawings of this application.

[0239] The specific structure of the mopping and washing components will be explained below.

[0240] like Figure 5 As shown in Figures 7, 8, and 9, in one embodiment provided in this application, the cleaning mechanism 44 and the liquid supply mechanism 45 in the mopping assembly 4 are respectively mounted on the mopping bracket 43, or are an integral part of the mopping bracket 43. The scraper on the cleaning mechanism 44 can contact the cleaning roller 42 and scrape away the sewage on the cleaning roller 42 during its rotation. Of course, the cleaning mechanism 44 does not simply scrape off the sewage; it also has the function of collecting sewage. After the scraper scrapes off the sewage, the sewage can directly enter the collection assembly. After the collection assembly filters the sewage, it can be transported to the sewage tank 9 through the pipe connected to the cleaning outlet 4410. In this embodiment, the mopping assembly 4 includes a cleaning mechanism 44 and a liquid supply mechanism 45, meaning that when the cleaning roller is raised and lowered and / or extended, the cleaning mechanism 44 and the liquid supply mechanism 45 also rise and lower and / or extend together.

[0241] The liquid supply mechanism 45 can provide cleaning fluid to the cleaning roller 42. For example, when the cleaning roller 42 is dry, the liquid supply mechanism 45 can evenly spray clean water onto the surface of the cleaning roller 42, fully wetting it and significantly improving its cleaning ability. Alternatively, when the cleaning roller 42 is heavily soiled, the liquid supply mechanism 45 can evenly spray a cleaning solution mixed with detergent onto its surface. The cleaning solvent dissolves the stains, making it easier for the stain removal mechanism 44 to remove them. Furthermore, when the cleaning roller 42 is in self-cleaning mode, the liquid supply mechanism 45 can spray a large amount of cleaning solution onto its surface. After dissolving the stains, the stain removal mechanism 44 can clean away the stains and wastewater, thus facilitating rapid and efficient self-cleaning of the cleaning roller 42.

[0242] The liquid supply mechanism 45 can be integrated with the mopping bracket 43. For example... Figure 7bIn the shown example, the outer surface of the mop support 43 is provided with a liquid supply inlet 451, which can be connected to the clean water tank 5 through a pipeline. The mop support 43 is also provided with a water distributor 452, which is arranged along the length direction of the mop support 43 and is in communication with a plurality of water outlets of the liquid supply mechanism 45. The water distribution channel can uniformly distribute the cleaning solution supplied by the liquid supply inlet 451 to the plurality of water outlets, and then the plurality of water outlets can uniformly sprinkle the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 is more evenly wet and dry.

[0243] Further, the liquid supply mechanism 45 also includes a liquid supply pump, which is arranged on the first flexible pipeline 443 and can generate a suction force to transport the cleaning liquid in the clean water tank 5 to the liquid supply mechanism 45.

[0244] When the mop assembly 4 on the cleaning robot is self-cleaning, there are mainly two processes, one is that the dirt removal mechanism 44 removes the dirt and water on the cleaning roller 42, and the other is that the liquid supply mechanism 45 provides clean cleaning liquid to the cleaning roller 42. As the dirt removal mechanism 44 continuously removes the dirt and water, the liquid supply mechanism 45 not only provides cleaning liquid, but also the mop assembly 4 can simultaneously perform self-cleaning during the process of mopping the floor, and the mop assembly 4 will always have good cleaning effect.

[0245] Referring to Figure 34 The mop support 43 has a roller mounting cavity 51, and the cleaning roller 42 is arranged in the roller mounting cavity 51. Specifically, the mop assembly 4 further includes a roller motor 41, and a motor mounting seat is arranged on one side of the roller mounting cavity 51. The roller motor 41 is arranged on the motor mounting seat, the cleaning roller 42 is sleeved outside the roller motor 41 and is drivingly connected with the roller motor 41, and the roller motor 41 can drive the cleaning roller 42 to rotate, thereby realizing the cleaning of the floor. The roller motor 41 and the cleaning roller 42 are both arranged in the roller mounting cavity 51, and the roller mounting cavity 51 has a downward opening and a lateral opening. The cleaning roller 42 can be in contact with the floor through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning roller 42.

[0246] The dirt removal mechanism 44 and the liquid supply mechanism 45 are both arranged on the mop support 43. Specifically, the dirt removal mechanism 44 is arranged in the roller mounting cavity 51 and is located on the cavity wall of the roller mounting cavity 51. The dirt removal mechanism 44 includes a scraper assembly 53, which extends towards the cleaning roller 42 and is inserted into the inside of the pile of the cleaning roller 42. When the roller motor 41 drives the cleaning roller 42 to rotate, the scraper assembly 53 can scrape the dirt and water on the cleaning roller 42. The scraper assembly 53 includes a scraper 441.

[0247] The liquid supply mechanism 45 is located above the mopping bracket 43. The liquid supply mechanism 45 has a water distributor 452 and multiple liquid supply ports 453. The water distributor 452 can evenly distribute the cleaning liquid to the multiple liquid supply ports 453, and then the cleaning liquid is evenly sprayed onto the cleaning roller 42 from the liquid supply ports 453. The liquid supply mechanism 45 also includes a first flexible pipe 443, which connects the clean water tank 5 and the liquid supply inlet 451.

[0248] Correspondingly, the wall of the roller mounting cavity 51 has openings, allowing multiple supply ports 453 of the liquid supply mechanism 45 above the mopping bracket 43 to supply cleaning liquid onto the cleaning roller 42 in the roller mounting cavity 51 through the openings. Alternatively, the liquid supply mechanism 45 can be directly installed inside the roller mounting cavity 51, positioned above or in direct contact with the cleaning roller 42, and can supply cleaning liquid directly to the cleaning roller 42 through multiple supply ports.

[0249] Figure 34 The Y-direction of the middle arrow indicates the width direction of the mopping component 4, which can also be considered as the direction of travel of the cleaning robot when performing cleaning tasks, or the direction of movement of the mopping component. Figure 34 The Z-direction of the middle arrow indicates the height direction of the mopping component 4; Figure 34 The direction of the middle arrow b indicates the rotation direction of the cleaning roller 42 when cleaning the floor. In one embodiment provided in this application, along... Figure 34 The liquid supply mechanism 45 is located in front of the decontamination mechanism 44, in the direction of the middle arrow Y; along Figure 34 The liquid supply mechanism 45 is located above the decontamination mechanism 44, in the direction of the center arrow Z.

[0250] With the cleaning roller 42 along Figure 34 When the center arrow b is rotated, the liquid supply mechanism 45 first sprays cleaning liquid onto the cleaning roller 42. After the wet cleaning roller 42 mops the floor, the stains dissolve in the wastewater of the cleaning roller 42 or adhere to the surface of the cleaning roller 42. Then the stain removal mechanism 44 scrapes off the wastewater and stains on the cleaning roller 42. Subsequently, the liquid supply mechanism 45 sprays cleaning liquid onto the surface of the cleaning roller 42 again.

[0251] In one specific embodiment, the angle α between the liquid supply mechanism 45 and the cleaning mechanism 44 ranges from 20 degrees to 120 degrees, for example, it can be 60 degrees. Typically, to prevent cleaning liquid from dripping onto the ground when the liquid supply mechanism 45 supplies cleaning liquid to the cleaning roller 42, the liquid supply mechanism 45 is positioned directly above the cleaning roller 42. This allows the cleaning liquid dripping from the supply port to be effectively absorbed by the cleaning roller 42, preventing leakage onto the ground.

[0252] Further, seeFigure 34 The contact angle between the end of the scraping strip assembly 53 on the dirt-removing mechanism 44 and the cleaning roller 42 is substantially through the center of the cleaning roller 42. It can be understood that the extension direction of the front end of the scraping strip assembly 53 is substantially in line with the center of the cleaning roller 42, and the tangent line at the contact point between the scraping strip assembly 53 and the cleaning roller 42 is substantially perpendicular. In this way, the scraping effect of the scraping strip assembly 53 on the cleaning roller 42 is the best, the force applied by the scraping strip assembly 53 on the cleaning roller 42 is smaller, and the wear rate of the scraping strip assembly 53 is also smaller.

[0253] Referring to Figure 34 In an embodiment provided in the present application, the liquid supply mechanism 45 is located above the cleaning roller 42 along the height direction of the mop-washing assembly 4. The dirt-removing mechanism 44 is located behind the contact point between the cleaning roller 42 and the surface to be cleaned along the width direction of the mop-washing assembly 4. When the cleaning roller 42 rotates clockwise, a certain area on the cleaning roller 42 sequentially passes through the liquid supply mechanism 45, the surface to be cleaned, and the dirt-removing mechanism 44, and finally returns to the liquid supply mechanism 45, so that the liquid supply mechanism 45 again delivers cleaning liquid to the surface of the cleaning roller 42.

[0254] Further, the liquid supply mechanism 45 is located directly above the first center line P along the vertical direction of the cleaning roller 42, or the liquid supply mechanism 45 is located at an angle of [-30 degrees to +30 degrees] with the first center line P with the center of rotation of the cleaning roller 42 as the vertex of the angle.

[0255] Further, the dirt-removing mechanism 44 is located above the second center line J along the transverse direction of the cleaning roller 42, or the dirt-removing mechanism 44 is located flush with the second center line J.

[0256] Referring to FIG. 9, Figures 34 to 35a In an embodiment provided in the present application, the mop-washing support 43 includes a mounting shell 4211 and a mounting cover 4212. The mounting shell 4211 has an inner cavity, and the dirt-removing mechanism 44 and the liquid supply mechanism 45 are arranged in the inner cavity. An opening communicating with the roller mounting cavity 51 is arranged in the inner cavity, and the dirt-removing mechanism 44 and the liquid supply mechanism 45 are arranged corresponding to the opening. The mounting cover 4212 is arranged above the mounting shell 4211 in a connected manner, so as to close the inner cavity. In a specific implementation, the mop-washing support 43 is substantially in an L-shaped structure, and the mounting shell 4211 is arranged on the left side of the cleaning roller 42 along the arrow Y direction. Figure 34 The left side of the cleaning roller 42 is provided with a square accommodating cavity along the arrow Y direction, and the dirt-removing mechanism 44 is arranged in the accommodating cavity.

[0257] As Figure 35bAs shown, the front bottom of the dust collecting box 442 can have a bevel as shown, which can also be called a chamfer, so that when the robot cleaner travels on a special surface, such as a carpet with long pile, the pile of the carpet can enter the bottom of the robot cleaner along the bevel, thus reducing the resistance of the robot cleaner when it travels on the carpet.

[0258] Further, as shown in Figure 35c , the front bottom of the robot cleaner 1 can also have a bevel 1005 as shown in Figure 35c , which can also be called a chamfer. Similarly, when the robot cleaner travels on a special surface, such as a carpet with long pile, the pile of the carpet can enter the bottom of the robot cleaner along the bevel, thus reducing the resistance of the robot cleaner when it travels on the carpet.

[0259] Of course, the bevel of the dust collecting box 442 and the bottom of the robot cleaner can also be an arc-shaped bevel, or a straight-line bevel as shown in the drawings, which is not limited in the present embodiment. The bevel of the dust collecting box 442 and the bottom of the robot cleaner is a bevel surface formed at the front bottom end of the dust collecting box 442. The included angle between the bevel surface on the dust collecting box 442 and the bevel surface on the robot cleaner and the horizontal surface (such as the ground) can be the same or different. The included angle between the bevel surface and the horizontal surface (such as the ground) can be an angle between 10 and 60 degrees.

[0260] The liquid supply opening of the liquid supply mechanism 45 is directly a liquid outlet hole facing the cleaning roller. Generally, the liquid discharged from the liquid outlet hole is under pressure. After the liquid under pressure is discharged from the liquid outlet hole, it spreads and some of it is sprayed onto the cleaning roller 42, and some of it is splashed onto the cavity wall. When the water droplets on the cavity wall coalesce into large water droplets, they will fall onto the cleaning roller 42 or fall along the cavity wall to the ground. This results in insufficient amount of cleaning liquid on the cleaning roller 42, and water droplets on the ground, which the user may mistake for a leak. If the amount of cleaning liquid on the cleaning roller is insufficient, the roller cannot be fully soaked, which not only fails to achieve the desired effect of mop washing, but also fails to achieve the desired effect of self-cleaning. If the amount of cleaning liquid supplied by the liquid supply mechanism 45 is increased to solve this problem, it may cause water to accumulate on the ground, which will directly affect the cleaning effect of the robot cleaner.

[0261] Therefore, the present embodiment improves the liquid supply mechanism. Specifically, one side of the liquid supply mechanism 45 corresponding to the inner cavity is an arc-shaped surface that matches the arc surface of the inner cavity, as shown in Figure 35a and 35b , the arc-shaped surface of the liquid supply mechanism 45 facing the cleaning roller matches the arc surface of the inner cavity in terms of curvature, and both match or are similar to the curvature of the cleaning roller 42. In addition, as shown in Figure 38 , the liquid supply opening 453 has a circular arc water guide surface 4531 to guide the cleaning liquid to the cleaning roller 42.

[0262] The outlet of the liquid supply port 453 is provided with a liquid outlet hole, and the periphery of the liquid outlet hole is provided with the circular arc water guide surface. The circular arc water guide surface has at least two levels of water guide surfaces with different radii, and the radii gradually increase in the water outlet direction. The mop support has a drum mounting cavity with an opening downward, and the periphery of the circular arc water guide surface protrudes from the drum mounting cavity and forms a step on the wall surface of the drum mounting cavity.

[0263] As shown in Figure 8 , the liquid supply port 453 is provided in a circular ring shape. In this way, the liquid sprayed by the liquid supply mechanism 45 can flow along the arc surface, pass through the circular ring-shaped liquid supply port 453 to supply liquid to the cleaning drum 42, and the liquid can smoothly drip down, and the liquid supply efficiency is high. The liquid supply port 453 is in a circular ring shape, and the center of the circular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is in communication with the branch in the liquid supply mechanism 45 for supplying liquid. As shown in Figure 38 , the inner ring wall of the circular ring-shaped liquid supply port is an arc surface.

[0264] In the liquid flow direction, the inner ring wall of the liquid supply port 453 is a stepped structure with gradually increasing opening size; the inner ring wall surface of each step is an arc surface for guiding the liquid flow to the cleaning drum 42. More specifically, as shown in the enlarged view in Figure 38 , the liquid supply port 453 is in a circular ring shape, and the center of the circular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is in communication with one of the branches. The inner ring wall of the liquid supply port 453 is a two-level stepped structure with gradually increasing opening size, and the inner wall of each level is an arc surface. The cleaning liquid coming out of the liquid outlet hole 4530 falls on the arc surface and also flows along the arc surface to the cleaning drum 42, so that the cleaning liquid coming out of the liquid outlet hole 4530 can basically be sprayed onto the cleaning drum 42, and will not splash onto the cavity wall outside the circular ring. The cleaning robot can more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenes, and with the appropriate amount of cleaning liquid supply, the cleaning drum 42 has a good dryness, and the mop washing effect is good; also because the cleaning drum 42 has a good dryness, the self-cleaning effect of the cleaning drum 42 by the dirt removal mechanism 44 is also good, which further promotes the mop washing effect.

[0265] In order to make the cleaning robot have better cleaning effect, the scheme provided in the embodiment also improves the liquid supply port 453, and a circular arc water guide surface is additionally arranged at the liquid supply port 453 to guide the cleaning liquid to the cleaning roller. Because of the circular arc water guide surface, the cleaning liquid provided by the liquid supply mechanism 45 can basically flow to the cleaning roller 42 and cannot splash to other places, and the cleaning robot can more accurately control the liquid supply amount of the liquid supply mechanism 45 in different scenes. With the appropriate amount of cleaning liquid supply, the cleaning roller 42 has better dryness and humidity, and the mopping effect is good. Also because the cleaning roller 42 has better dryness and humidity, the self-cleaning effect of the cleaning roller 42 by the dirt removal mechanism 44 is also good, which further promotes the mopping effect.

[0266] Further, as shown in Figure 38 The mopping bracket is provided with a water wiping structure 80 on the cavity wall facing the cleaning roller 42. The water wiping structure 80 is located on one side of the liquid supply port 453. If the scraping strip assembly is located on the front side of the cleaning roller 42, the water wiping structure 80 can be located on the rear side of the liquid supply port. If the scraping strip assembly is located on the rear side of the cleaning roller, the water wiping structure 80 can be located on the front side of the liquid supply port.

[0267] The included angle β between the line connecting the water wiping structure 80 and the center of the cross section of the cleaning roller and the line connecting the liquid supply port and the center can be 5-30 degrees. There can be a gap between the water wiping structure 80 and the cleaning roller 42, or there can be no gap, but the water wiping structure cannot apply force to the cleaning roller 42. The function of the water wiping structure 80 is to block the liquid floating on the surface of the cleaning roller that has not been absorbed by the cleaning roller from flowing to the ground. Because the cleaning roller rotates when working, if the cleaning liquid cannot be absorbed by the roller, the cleaning liquid floating on the cleaning roller will be thrown to the ground, causing the ground to be too wet.

[0268] Because it takes a certain amount of time for the cleaning liquid to spread evenly on the cleaning roller 42 after the liquid supply mechanism 45 supplies the cleaning liquid to the cleaning roller 42, in order to ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 mops the ground, the rotation speed of the cleaning roller 42 cannot be too fast. Secondly, if the rotation speed of the cleaning roller 42 is too fast, the scraping efficiency of the scraping strip assembly 53 on the cleaning roller 42 is also lower. In the technical scheme provided in the present application, the rotation speed of the cleaning roller 42 when mopping the ground is in the range of [100 rmp / min-300 rmp / min], specifically 200 rmp / min.

[0269] In the technical scheme provided in the present application, the rotation direction of the cleaning roller 42 is opposite to the rotation direction of the traveling wheel of the cleaning robot, which can improve the cleaning effect of the cleaning roller 42.

[0270] Referring to FIG. 9, Figures 34 to 35aIn one embodiment, the dirt removing mechanism 44 further comprises a dirt collecting assembly 54, which is arranged below the squeegee assembly 53. When the squeegee assembly 53 scrapes the dirty water on the cleaning roller 42, the dirt collecting assembly 54 can collect the dirty water and dirt to avoid secondary pollution.

[0271] Further, the dirt collecting assembly 54 comprises a dirt collecting box 442 and a dirt collecting pipe 542. The dirt collecting box 442 is arranged below the squeegee assembly 53. The dirty water and dirt scraped by the squeegee assembly 53 can directly fall into the dirt collecting box 442, which collects the dirty water and dirt. In the direction of the travel of the cleaning robot, the front side and the rear side are distinguished. The dirt collecting box 442 can be arranged at the front side of the cleaning roller 42, which can reduce the cleaning blind area. Most of the cleaning robots are circular. In order to make the cleaning roller in the mop-washing assembly longer, as shown in Figure 36a the left drawing (E) of FIG. 1, the mop-washing assembly can be arranged at a distance G from the center O of the robot body. Figure 36a The left drawing (E) of FIG. 1 shows that the dirt collecting box 442 is arranged at the front side of the cleaning roller 42, and the right drawing (F) shows that the dirt collecting box 442 is arranged at the rear side of the cleaning roller 42. As can be seen from the drawings, when the mop-washing assembly 4 is in the extended state and works, the distance D1 between the rear edge of the cleaning roller 42 in the mop-washing assembly 4 shown in the left drawing (E) and the center O is greater than the distance D2 between the rear edge of the cleaning roller 42 shown in the right drawing (F) and the center O. Therefore, the greater the size of the center O, the longer the front edge and the rear edge of the cleaning roller 42 extend out of the robot body 1, i.e., the longer the front edge and the rear edge of the cleaning roller 42 are exposed outside the robot body 1. Therefore, Figure 36a the area S1 of the cleaning roller 42 exposed outside the robot body 1 shown in the left drawing (E) is greater than Figure 36a the area S2 of the cleaning roller 42 exposed outside the robot body 1 shown in the right drawing (F).

[0272] The greater the area of the cleaning roller 42 exposed outside the robot body 1, the greater the cleaning coverage area, especially in the case of turning of the cleaning robot. The left Figure 36a drawing (E) shows that the dirt collecting box is arranged at the front side of the cleaning roller 42, the mop-washing assembly 4 is in the extended state and works, the cleaning coverage area is large, and the cleaning blind area is smaller than that of the right Figure 36a drawing (F) which shows that the dirt collecting box is arranged at the rear side of the cleaning roller 42. Further, as shown in Figure 36bAs shown, in the corner area, when the robot body keeps a safe distance from the corner of a wall or the edge of an obstacle, the left drawing (E') in 36b shows that the dirt collection box 442 is located at the front side of the cleaning roller 42, and the distance D3 between the cleaning roller 42 and the corner of a wall or the edge of an obstacle. The right drawing (F') in 36b shows that the dirt collection box 442 is located at the rear side of the cleaning roller 42, and the distance D4 between the cleaning roller 42 and the corner of a wall or the edge of an obstacle. It can be seen that D3 is less than D4, i.e., the cleaning roller in the left drawing (E') is closer to the corner of a wall or the edge of an obstacle, which means that the cleaning roller 42 is located at the rear side, and the cleaning coverage is larger and the cleaning blind area is smaller.

[0273] One end of the dirt collection pipe 542 is arranged in the dirt collection box 442, and the other end is connected to the sewage tank 9 of the cleaning robot through a pipe, so as to suck the sewage in the dirt collection box 442 into the sewage tank 9. Referring to Figure 35a As shown, the direction indicated by the arrow in the drawing is the flow path of the sewage scraped by the scraping strip assembly 53 into the dirt collection box 442 and sucked away by the dirt collection pipe 542. In order to be able to timely suck the sewage in the dirt collection box 442 into the sewage tank, a water pump and a pipe can be arranged on the dirt collection pipe 542, or a gas pump and a pipe are connected to the sewage tank, and the gas pump can provide negative pressure for the sewage tank. Under the action of the negative pressure, the sewage in the dirt collection box 442 can be sucked into the sewage tank through the pipe. Referring to Figure 9a Figure 9b In a specific embodiment, the decontamination mechanism 44 further comprises a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 through a pipe or directly. The negative pressure pump can suck negative pressure into the sewage tank 9 when working. The valve body 545 is arranged on the dirt collection pipe 542 and can be used to control the opening and closing of the dirt collection pipe 542. First, the negative pressure pump can suck negative pressure into the sewage tank 9, and then the valve body 545 is opened. The negative pressure in the sewage tank 9 can suck the sewage in the dirt collection box 442 into the sewage tank 9 through the second flexible pipe 456.

[0274] The dirt collection pipe 542, the scraping strip assembly 53 and the dirt collection box 442 are all distributed on the same side of the cleaning roller 42. For example, the dirt collection pipe 542, the scraping strip assembly 53 and the dirt collection box 442 are all on the front side of the cleaning roller 42.

[0275] Referring to Figure 9a Figure 9b ​​In one embodiment provided in the present application, the mop assembly 4 further comprises a joint assembly 455, which comprises a clean water pipe joint and a sewage pipe joint. The clean water pipe joint can be considered as the liquid supply inlet 451 mentioned above, and the sewage pipe joint can be considered as the sewage outlet 4410 mentioned above. One end of the clean water pipe joint is used to connect the first flexible pipe 443 (also referred to as a flexible clean water pipe), and the other end is connected to the liquid supply mechanism 45 through the first pipe 447. One end of the sewage pipe joint is used to connect the second flexible pipe 456 (also referred to as a flexible sewage pipe), and the other end is connected to the interface of the sewage collecting pipe 542 through the transverse pipe 546. The transverse pipe 546 is a fixed length pipe, which can also be a flexible pipe. As shown in Figure 9b the first pipe 447 and the transverse pipe 546, the joint assembly 455 can be offset to one side of the mop assembly 4, so that the first flexible pipe 443 and the second flexible pipe 456 are more convenient to connect to the joint assembly 455. If there is no first pipe 447, transverse pipe 546 and joint assembly 455, the first flexible pipe 443 and the second flexible pipe 456 will be directly connected to the liquid supply mechanism 45 and the joint of the sewage collecting pipe 542 at the middle position of the mop assembly 4, which not only requires longer first flexible pipe 443 and second flexible pipe 456, but also makes it difficult to effectively use the space above the mop assembly 4. Figure 7a As shown in the drawings, the interfaces of the flexible clean water pipe and the flexible sewage pipe, i.e. the joint assembly 455, contain the liquid supply inlet 451 and the sewage outlet 4410, which are distributed on the front side of the cleaning drum, i.e. above the sewage collecting box, and the flexible clean water pipe and the flexible sewage pipe are also located on the front side of the cleaning drum. In this way, the second flexible pipe 456 is closer to the sewage collecting box, so that the overall pipe of the sewage discharge is shorter, the number of curved pipes required is less, the sewage discharge efficiency is increased, the possibility of blockage is eliminated, and the first flexible pipe 443 is also arranged on the front side of the cleaning drum and adjacent to the second flexible pipe 456, so that the two flexible pipes can share a pipe space, and there is no need to specially arrange a pipe space for the second flexible pipe 456.

[0276] At present, the rotating direction of the cleaning device's roller is the same as that of the device driving wheel, which can help the device to move and reduce energy consumption. However, the cooperative working process of the cleaning roller, the scraping strip assembly and the liquid supply mechanism becomes: the cleaning roller is replenished with water by the liquid supply mechanism -> the liquid on the cleaning roller is scraped off by the scraping strip assembly -> the cleaning roller cleans the ground. There are also some cleaning devices whose rotating direction of the roller is different from that of the device driving wheel, but the pollution collection box and the scraping strip are arranged at the rear of the roller. At this time, the cooperative working process of the cleaning roller, the scraping strip assembly and the liquid supply mechanism also becomes: the cleaning roller is replenished with water by the liquid supply mechanism -> the liquid on the cleaning roller is scraped off by the scraping strip assembly -> the cleaning roller cleans the ground. It can be seen that the current cleaning device is immediately scraped off after replenishing clean water, and the cleaning roller cleans the ground again, which is not very reasonable. The scraped liquid contains the just replenished clean water, and this part of clean water is not involved in cleaning and is recycled.

[0277] The existing cleaning robot roller first performs a water replenishing step, i.e., the liquid supply mechanism delivers cleaning liquid to the surface of the cleaning roller, then the pollution removal mechanism scrapes off the dirt on the surface of the cleaning roller, and finally the cleaning roller cleans the ground. This execution step mainly has three problems.

[0278] Firstly, the liquid supply mechanism immediately scrapes off the mixture of clean water and sewage after replenishing water, and the stains on the surface of the cleaning roller may not be completely dissolved in the clean water, so most of the scraped off is clean water, not sewage, resulting in incomplete self-cleaning.

[0279] Secondly, after the pollution removal mechanism scrapes off the sewage on the surface of the cleaning roller, the water content of the roller before and after scraping is reduced by 90% due to the action of the scraping strip, and the water content of the cleaning roller is reduced, so the cleaning force of the cleaning roller on the ground is also reduced.

[0280] Thirdly, after the scraping strip of the cleaning robot scrapes water, the relatively dry roller needs to rotate 180° to enter the water replenishing position, and the dirt adhered to the too dry roller is easy to be thrown out during the long rotation process, finally falling into the ground, resulting in poor cleaning effect.

[0281] The technical scheme provided by the embodiment of the present application is different from the above-mentioned cleaning device. In the scheme provided by the embodiment of the present application, the cleaning roller is reversed (i.e. opposite to the rotation direction of the driving wheel), the scraping strip assembly is located at the front side of the cleaning roller, and the liquid supply mechanism is located above the cleaning roller. In this way, the working process of the cleaning roller, the scraping strip assembly and the liquid supply mechanism is: the cleaning roller is watered by the liquid supply mechanism -> the cleaning roller cleans the ground -> the scraping strip assembly scrapes the liquid on the cleaning roller. It can be seen that the scheme provided by the embodiment of the present application is more reasonable. The just-supplied clean water does not undergo the scraping effect of the scraping strip and directly participates in the ground cleaning. At this time, the uniformly wet scraping strip has a better wiping and adsorbing effect on the ground dirt, especially stubborn dirt. Then, the roller rotates a small angle (generally about 90°), and the dirt is scraped off by the scraping strip. The dirt is not easy to be thrown out, and at this time, most of the dirt scraped off is sewage, and the clean water is fully utilized. Specifically, in the rotation process of the cleaning roller, the liquid supply mechanism supplies cleaning liquid to a region of the cleaning roller, the region soaked with the cleaning liquid cleans the surface to be cleaned, and then the dirt removal mechanism acts on the region to scrape off the dirt and collect it. The region after the dirt is scraped off enters the liquid supply range of the liquid supply mechanism again. It can be understood that, when the cleaning roller cleans the ground, it first performs the water supply step. The surface of the cleaning roller is fully wetted, and the water content of the cleaning roller is also more. Then, the cleaning roller cleans the ground again. At this time, the cleaning force of the cleaning roller on the ground is also stronger, and more dirt can be dissolved. Finally, the dirt removal mechanism scrapes off the sewage and dirt on the cleaning roller, and then the liquid supply mechanism supplies liquid again. The process is repeated in turn. Because the liquid supply efficiency of the liquid supply mechanism and the dirt removal efficiency of the dirt removal mechanism are higher in the whole process, the cleaning liquid used by the cleaning roller in the self-cleaning process is also less, and the amount of sewage generated is also less. The cleaning endurance time of the cleaning robot is significantly improved.

[0282] At the same time, since the mop-washing assembly of the cleaning robot does not have suction, in order to improve the cleaning effect, when the rotation direction of the cleaning roller is opposite to the rotation direction of the driving wheel, the cleaning roller can push the dirt forward. The dirt that is not cleaned by the cleaning roller for the first time has a chance to be picked up by the cleaning roller again, so that multiple cleaning can be achieved.

[0283] In order to avoid the side leakage of sewage during the scraping process of the scraping strip assembly 53, the length of the dirt collection box 442 is greater than or equal to the length of the scraping strip assembly 53. Referring to Figure 35aThe dirt collecting box 442 is arranged in a direction substantially perpendicular to the arrangement direction of the wiper strip assembly 53, so that the dirt and water wiped off by the wiper strip assembly 53 can directly fall into the dirt collecting box 442 and is not easy to leak out. In addition, in order to ensure that the water wiped off by the wiper strip assembly 53 can enter the dirt collecting box 442, the end of the wiper strip assembly 53 is arranged in the dirt collecting box 442, so that the water wiped off by the wiper strip assembly 53 can directly enter the dirt collecting box 442 along the end of the wiper strip assembly 53.

[0284] When the wiper strip assembly 53 wipes off the water on the cleaning roller 42, dirt attached to the cleaning roller 42 is also easily wiped into the dirt collecting box 442, and the dirt collecting pipe 542 can be blocked by the dirt when sucking the water. In order to avoid this situation, see Figure 37 and Figure 38 In an embodiment provided by the present application, the dirt removing mechanism 44 further comprises a filter assembly 543 arranged in the dirt collecting box 442. The water wiped off by the wiper strip assembly 53 first passes through the filter assembly 543 and then enters the lower part of the dirt collecting box 442, and then is collected by the dirt collecting pipe 542 into the water tank.

[0285] In order to facilitate cleaning of the dirt collecting box 442, the dirt collecting box 442 can be detached from the mop and washing assembly 4 for cleaning. The filter assembly 543 in the dirt collecting box 442 can also be detached for cleaning. During the detaching process, the mop and washing assembly 4 is first switched to the extended state, then the cleaning roller 42 is detached from the lateral opening of the mop support 43, and finally the dirt collecting box 442 is detached from the roller mounting cavity 51. See Figure 9b As shown, the dirt collecting box 442 has a V-shaped bottom surface, i.e. the bottom surface of the dirt collecting box 442 is high at both ends and low in the middle along the direction of the cleaning roller axis. The low point of the V-shaped bottom surface is matched with the pipe opening of the dirt collecting pipe 542 to communicate with the dirt collecting pipe 542.

[0286] In order to avoid bending, the outer side of the second flexible pipe 456 and the first flexible pipe 443 can be provided with springs (not shown in FIG. 9 and Figure 38 so that the bending does not affect the drainage and liquid supply when the mop and washing assembly moves as a whole (lifts and / or extends).

[0287] See Figure 38 and 39aIn an embodiment, the wiper assembly 53 comprises a wiper plate 531 and a water guide plate 532. The end of the wiper plate 531 is the wiper strip 441. The wiper plate and the wiper strip can be made of the same material or different materials, which is not limited in the embodiment. The water guide plate 532 is connected to the lower part of the wiper plate 531. The distance of the end of the wiper plate 531 extending outward is greater than that of the end of the water guide plate 532. The end of the wiper plate 531, i.e. the wiper strip 441, is in contact with the cleaning roller 42. When the cleaning roller 42 rotates, the wiper plate 531 can scrape the sewage on the cleaning roller 42, and then the sewage is guided to the sewage collecting box 442 by the water guide plate 532. In a specific embodiment, as shown in Figure 35a , the cross section of the water guide plate 532 is wedge-shaped. This structure can form a water guide channel with a larger curvature on the surface of the water guide plate 532 after the water guide plate 532 is connected to the wiper plate 531.

[0288] Further, as shown in Figure 39a , the wiper plate 531 has a first plate segment 5311 and a second plate segment 5312. The first plate segment 5311 and the second plate segment 5312 are arranged at an obtuse angle. The length of the second plate segment 5312 is greater than that of the first plate segment 5311. The first plate segment 5311 is the end that plays a major role in scraping water. The second plate segment 5312 is used to connect to the water guide plate 532. Specifically, the water guide plate 532 is connected to the lower part of the second plate segment 5312. The leading end of the water guide plate 532 is close to the first plate segment 5311. The trailing end of the water guide plate 532 is close to the trailing end of the second plate segment 5312. The trailing end of the second plate segment 5312 extends into the sewage collecting box 442.

[0289] The water guide plate 532 is provided with a plurality of water guide grooves 5321. The plurality of water guide grooves 5321 are arranged at intervals. The arrangement direction of the water guide grooves 5321 is the same as the extension direction of the water guide plate 532. To ensure that the water guide grooves 5321 can guide the sewage to the sewage collecting box 442, as shown in Figure 8 , the number of liquid supply openings 453 on the liquid supply mechanism 45 is less than that of the water guide grooves 5321 on the water guide plate 532. The position of the water guide plate 532 acting on the cleaning roller is the water scraping position. As shown in Figure 39a , the water guide grooves 5321 at the water scraping position 53211 (i.e. near the end of the cleaning roller) can be through grooves (i.e. the groove opening is open) to facilitate water guiding. The trailing end position 53210 (i.e. the tail) of the water guide grooves 5321 is closed to facilitate water draining. The tail of the water guide grooves 5321 is located at the opening of the sewage collecting box. As shown in Figure 39bAs shown, the lower surface of the water guide plate 532 is an upwardly arched surface, which is the water guide surface 5322. Due to the downward bending of the squeegee 531, the water is guided by the centrifugal force of the drum to the upwardly arched surface of the water guide groove 5321 to overcome its own gravity. The extension line of the end of the squeegee assembly 53 passes through the center of the drum, and the squeegee assembly 53 has a bending portion, so that the water guide groove 5321 also has an upwardly arched surface. The water guide surface 5322 has two curved surfaces; from the water guide to the drainage direction of the water guide surface 5322, the curvature of the curved surface decreases. As shown in the P1 segment and the P2 segment, the P1 segment is a segment near the water guide side of the cleaning drum 42, and the P2 segment is a segment of the drainage side. As can be seen from the figure, the curvature of the P1 segment is greater than that of the P2 segment.

[0290] The water guide side of the squeegee assembly 52 is provided with a plurality of water guide grooves 5321, which extend at least to the collection port of the dirt collection assembly (dirt collection box 442). The water guide side (lower surface) refers to the side of the squeegee facing the rotation of the drum when the cleaning drum 42 rotates, and the drum contacts the squeegee from bottom to top when rotating; without suction, the prior art is that the drum contacts the squeegee from top to bottom, and the water flows down the squeegee without the need for a water guide groove.

[0291] As shown in the P1 segment and the P2 segment, the P1 segment is a segment near the water guide side of the cleaning drum 42, and the P2 segment is a segment of the drainage side. As can be seen from the figure, the curvature of the P1 segment is greater than that of the P2 segment. Figure 38 As shown, the lowest point 53220 of the P2 segment is lower than the highest point 4521 of the dirt collection box 442. As shown in the P1 segment and the P2 segment, Figure 8 As shown, the length of the water guide plate 532 is less than the actual length of the water collection of the dirt collection box 442. As shown, Figure 34 As shown, the vertical distance Q between the opening position of the dirt collection box 442 near the cleaning drum 42 and the squeegee assembly 53 is 3-5 mm.

[0292] In an embodiment provided in the present application, the water guide plate 532 and the squeegee 531 can be connected by a fastener 533, or the water guide plate 532 and the squeegee 531 are an integrated structure. When the water guide plate 532 and the squeegee 531 are separate structures, the water guide plate 532 and the squeegee 531 are made of different materials, for example, the squeegee 531 is made of metal, which has good rigidity and better wear resistance; and the water guide plate 532 is made of plastic, which is convenient to process, and complex water guide grooves 5321 can be processed on the surface of the water guide plate 532 by injection molding or stamping, which has lower cost.

[0293] The surface of the cleaning drum 42 has fluff, and the material and / or length of different models of fluff can be different. In the following cases, if the position of the squeegee assembly 53 is unchanged, the distance between the squeegee assembly 53 and the cleaning drum 42 can be too far to cause the squeegee assembly 52 not to work, or the distance can be too close to easily cause damage (such as damage to the squeegee assembly) or excessive resistance to the rotation of the drum, which can easily cause the drum motor to be abnormal:

[0294] changing the cleaning roller of different models; or

[0295] position deviation of the cleaning roller caused by some factors after long-term work; or

[0296] fuzz loss of the cleaning roller after long-term work, etc.

[0297] participate Figure 34 and Figure 35a As shown in FIG. 6, when the cleaning roller 42 rotates in the direction of arrow b, the scraping strip assembly 53 will be subjected to a force in the direction of arrow T. If the force is too large due to too close distance, the scraping strip assembly 53 can be damaged. In order to avoid problems caused by the above-mentioned situations, referring to FIG. 7, in an embodiment provided by the present application, the cleaning robot further comprises an adaptive adjusting device. The adaptive adjusting device comprises a swinging assembly. The scraping strip assembly 53 is connected with the mop support 43 through the swinging assembly, and the scraping strip assembly 53 can be adaptively adjusted in pose through the swinging assembly to have a relatively adaptive positional relationship with the cleaning roller 42, so as to continuously act on the cleaning roller 42 to scrape dirt thereon. Figure 39a and 40 As shown in FIG. 7, the swinging assembly 500 comprises a swinging seat 534, the swinging seat 534 is provided with a connecting hole 5342, and the swinging seat 534 is connected with the mop support 43 through a swinging shaft 535. Further, the swinging seat 534 is provided with a mounting hole 5341, and an elastic member 536 is arranged in the mounting hole 5341. One end of the elastic member 536 is connected with the swinging seat 534, and the other end is in contact with the mounting shell 4211 of the mop support 43. The elastic member 536 can make the contact force between the scraping strip assembly 53 and the cleaning roller 42 be an elastic force. When the scraping plate 531 is subjected to too large force, the scraping strip assembly 53 rotates around the swinging shaft 535 by a small amplitude, so as to increase the distance between the end of the scraping plate 531 and the cleaning roller 42, and then the contact force between the scraping plate 531 and the cleaning roller 42 becomes smaller. For example, when the scraping plate 531 is subjected to too large force, the scraping strip assembly 53 rotates along the swinging shaft 535, and the end of the scraping plate 531 moves upward in the direction of arrow T in the middle of FIG. 7, so that the contact force between the scraping plate 531 and the cleaning roller 42 becomes smaller, thereby realizing adaptive adjustment of the scraping strip assembly 53 and avoiding damage caused by too large force. For another example, the cleaning roller 42 has some positional deviation caused by long-term work, and the swinging assembly can adaptively act to make the scraping strip assembly 53 and the cleaning roller 42 keep a suitable positional relationship, and have a suitable (not too large or too small) interaction force therebetween, so that the scraping strip assembly can continuously act on the cleaning roller to scrape dirt thereon. Figure 32

[0298] It should be noted that the swinging assembly 500 can be an integral structure with the scraping strip assembly 53, or the swinging assembly and the scraping strip assembly can be two components connected together through connection. ​

[0299] Further, along the cleaning roller axis from one end of the cleaning roller to the other end, the surface of the cleaning roller is in contact with the end of the scraping strip assembly. In addition, referring to Figure 39c The adaptive adjustment device in the embodiment also includes an elastic mechanism 300. The mop assembly 4 is connected to the body 1 through the elastic mechanism 300. For example, one end of the elastic mechanism 300 can be connected to the cavity shell 46 of the body 1, and the other end can be connected to the mop assembly 4. The elastic mechanism 300 can be a spring or other elastic component. The scraping strip assembly 53 is adjusted in position by the adaptive adjustment device to continuously act on the cleaning roller to scrape dirt therefrom. That is, the adjustment of the position of the scraping strip assembly 53 is realized by the combined action of the elastic mechanism 300 and the swing assembly 500. The mop assembly 4 can be adaptively adjusted in relative position with the body 1 through the elastic mechanism 300, and the scraping strip assembly in the mop assembly 4 changes position together with the mop assembly. Inside the mop assembly 4, the scraping strip assembly 53 adjusts the phase position and attitude relationship with the cleaning roller 42 through the swing assembly 500 to be in a more appropriate position, so as to apply appropriate scraping force to the cleaning roller 42 to continuously act on the cleaning roller to scrape dirt therefrom.

[0300] It can be seen that by setting the adaptive adjustment device, the scraping strip assembly can float relative to the cleaning roller to keep the scraping strip always pressed against the roller. When the mop assembly moves relative to the body, the elastic mechanism moves with the mop assembly, or the mop assembly moves relative to the body and the elastic mechanism.

[0301] The above adaptive adjustment assembly can also be referred to as a biasing assembly. That is, the dirt removal mechanism also includes a biasing assembly that provides a biasing force, and under the action of the biasing force, the scraping strip assembly moves in the direction of pressing against the cleaning roller. Under the action of the biasing force provided by the biasing assembly, the scraping strip is inserted into the cleaning roller by a depth of 1-2 mm. The biasing assembly includes a swing seat and an elastic member, and the scraping strip assembly is rotatably mounted on the mop assembly or the body through the swing seat.

[0302] The above introduces a scheme of using one power source to realize the lifting and telescoping of the mop assembly. The present application here further supplements a scheme of using two motors to realize the lifting and telescoping functions of the mop assembly respectively. That is, the driving device 10 includes two power sources. For example, Figure 41As shown, the drive device 10 includes a first power source and a second power source. The first power source may include a first motor 60. The second power source includes a third motor 61. In specific implementations, both the first motor 60 and the third motor 61 can be connected to a reducer at their output ends to output power externally. The first power source is used to drive the extension and retraction of the mopping assembly, and its corresponding first action execution mechanism 103 has the same structure as mentioned in the embodiments above, namely, the first action execution mechanism 103 includes a first gear 13 and a first rack 14. The first action execution mechanism 103 may include a sliding plate, which is slidably connected to a slide rail 15. At least one slide rail 15 may be provided on the cavity shell 46. Furthermore, the first photoelectric switch 281, the first triggering structure on the sliding plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, and the grating structure 294, etc., all have the same function as in the embodiments above; for details, please refer to the above description, which will not be repeated here.

[0303] The second power source is used to drive the mopping and washing assembly 4 to rise and fall, and its corresponding second action actuator, such as Figure 41 As shown, it may include: a second gear 62 and a second rack 63. The arrangement of the second rack 63 differs from that of the first rack 14. See also Figure 41 The first rack 14 is horizontally set, and the second rack 63 is vertically set.

[0304] The specific implementation process is as follows: When the mopping assembly 4 is in the initial state (i.e., the first extreme position of the retracted state, with the cleaning roller in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate. Under the drive of the first gear 13, the first rack 14 moves horizontally to one side of the machine body. The first rack 14 pushes the mopping assembly outward through the connecting structure located on the slide rail 15, causing the mopping assembly to extend a portion of its body outside the machine body (e.g., Figure 42 (B) If the mopping assembly 4 extends to its second limit position, the first motor 60 stops working. When the mopping assembly needs to retract, the first motor 60 outputs reverse power to drive the first gear 13 to rotate in the opposite direction. Under the drive of the first gear 13, the first rack 14 moves inward into the machine body. The first rack 14 retracts the mopping assembly inward through the connecting structure located on the slide rail 15. After the mopping assembly 4 retracts to its initial state, the first motor 60 stops working. When the mopping assembly 4 needs to be raised, the second motor 61 outputs power to drive the second gear 62 to rotate. Under the drive of the second gear 62, the second rack 63 moves the mopping assembly 4 along the connecting post 241 (see...). Figure 16 As shown) rising upwards in the axial direction (as shown) Figure 42(A)). When the mop assembly 4 is lifted to the high position, the third photoelectric switch 283 is triggered, and the third motor 61 stops working. When the mop assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the second gear 62 to reverse, and the second rack 63 moves downward, and the mop assembly is lowered in the axial direction along the connecting column 241 (see Figure 16 In addition, by increasing the number of light-shielding pieces and the number of counting light couplings on this assembly, the mop assembly can also be extended step by step during the extension process. For details, please refer to the above content, which will not be repeated here.

[0305] Further, if the cleaning robot cleans a floor paved with a carpet, the cleaning robot will clean back and forth between the carpet area and the ordinary floor area multiple times, and the cleaning robot will need to switch back and forth between the lifted state and the lowered state multiple times, and even possibly, the mop assembly will be switched from the extended state to the retracted state, and then to the lifted state. Therefore, before the cleaning robot walks onto the carpet floor from the ordinary floor, it needs to pause and wait, and only after it is completely switched to the lifted state, it can walk onto the carpet floor to clean, which will inevitably consume too much waiting time.

[0306] To avoid this problem, in an embodiment provided in the present application, the mop assembly on the cleaning robot can be quickly switched to the lifted state in the retracted state and the extended state. For example, the mop assembly can be switched to the lifted state at the same time in the extended state or in different gears of the extended state. In this way, the mop assembly does not need to be retracted to the initial state before being switched to the lifted state in the extended state. The cleaning robot does not need to wait for too long before walking onto the carpet floor or crossing the obstacle, and even if the cleaning robot needs to cross the obstacle back and forth multiple times or go up and down the carpet floor multiple times, the cleaning robot will not consume too much waiting time, and the total cleaning time can be effectively reduced.

[0307] Here, the present application further supplements a scheme of using two motors to realize the lifting and extension functions of the mop assembly. That is, the driving device 10 includes two power sources. Unlike the structure shown in the above Figure 41 The difference is that the second power source and the corresponding second action execution mechanism winch structure are realized. See Figure 43The first power source, the slide rail 15, the first photoelectric switch 281, the first trigger structure on the slide plate for triggering the first photoelectric switch 281, the fourth photoelectric switch 284, the grating structure 294 and the like are the same as those in the above embodiment. The same parts are not described here. The difference is that the second action execution mechanism corresponding to the second power source is the reel 64 and the pull rope 65. That is, the third motor 61 is connected with the reel 64. The pull rope 65 is arranged on the reel 64.

[0308] The specific implementation process is as follows: the mop assembly 4 is the same as above. When the mop assembly 4 needs to be lifted, the third motor 61 outputs power to drive the reel 64 to rotate, and the pull rope 65 drives the mop assembly to rise axially along the connecting column 241 under the driving of the reel 64. When the mop assembly 4 rises to the high position and the third photoelectric switch 283 is triggered, the third motor 61 stops working. When the mop assembly 4 needs to be lowered, the third motor 61 outputs reverse power to drive the reel 64 to reverse, and the mop assembly 4 is lowered in the axial direction of the connecting column 241 under the action of gravity. When the reverse rotation time of the third motor 61 is equal to the forward rotation time (i.e. the time length for the third motor to drive the mop assembly to rise), the third motor 61 stops moving. In addition, by increasing a plurality of light-shielding pieces and counting photoelectric couplings on the assembly, the mop assembly can also be extended step by step during the extension process. The specific implementation can be referred to the above content, and is not described here.

[0309] The embodiments of the present application provide a single power source to realize the stretching and retracting and lifting of the mop washing assembly, and also provide a double power source to realize the stretching and retracting and lifting of the mop washing assembly (i.e., one power source realizes stretching, and the other realizes lifting). No matter which implementation scheme is adopted, there is a problem of how to control the power sources to make the mop washing assembly stretch and retract and lift at the right time. For example, the mop washing assembly stretches out while descending, or retracts while ascending, or retracts first and then lifts, or lifts first and then retracts, or descends first and then stretches out, and the like. In a specific scenario, for example, the mop washing assembly 1 of the cleaning robot is in the stretched-out state. The cleaning robot needs to enter a specific area (such as a designated area not to be mopped or a carpet area), and needs to lift the mop washing assembly 1 to have a certain distance from the ground. For another example, the cleaning robot drives into the kitchen from the living room, and there is a small step at the kitchen entrance, so the cleaning robot needs to overcome the obstacle to drive into the kitchen. At this time, in order to facilitate the obstacle overcoming, the mop washing assembly needs to be lifted up. The mop washing assembly is directly lifted up in the stretched-out state, or retracted to the innermost side (i.e., the first limit position) and then lifted up, which needs the cleaning robot to make a judgment through sensing the environmental information. If the current environment is open, there is no obstacle in height, and the mop washing assembly 1 in the stretched-out state can also be directly lifted up. However, if the current environment is relatively loaded, and the cleaning robot has limited detection information, at this time, the mop washing assembly 1 is directly lifted up in the stretched-out state, and it is very likely that the mop washing assembly 1 collides with an object during the lifting process, and if the lifting action does not stop, the mop washing assembly may be damaged. That is to say, the lifting of the outwardly protruding cleaning roller is a big risk to the main machine, and therefore the roller cannot participate in the cleaning at this time. In addition, the length of the projection of the roller from the main machine requires the cleaning robot to intelligently control the action of the mop washing assembly according to the real-time detected environmental information, which inevitably increases the calculation amount of the cleaning robot, consumes power, and affects the main task (i.e., the cleaning task) of the cleaning robot. Therefore, in order to simplify the control logic of the cleaning robot and reduce the complexity of the control, the embodiments of the present application provide a scheme that the mop washing assembly is retracted to a preset position (such as the first limit position in the retracted state) and then lifted up. Specifically, the scheme provided by the embodiments of the present application includes the following steps, and the execution subject of each of the following steps can be the mainboard 2 in the embodiments of the present application. For example, the mop washing assembly control scheme includes:

[0310] S1, when it is determined that the mop washing assembly needs to be lifted up, acquiring the current position of the mop washing assembly;

[0311] S2, if the mop washing assembly is in the first limit position, controlling the driving device to drive the mop washing assembly to lift up; if the mop washing assembly is in the stretched-out state, controlling the driving device to drive the mop washing assembly to retract to the first limit position first and then lift up.

[0312] When the mopping assembly is in the extended state, the mopping assembly can be located at any position between the first limit position and the second limit position, or at the second limit position.

[0313] After the above scheme is adopted, the cleaning robot does not need to detect environmental information based on a sensing system, and does not need to perform complex calculation to determine whether there is enough space to lift the mopping assembly in the current environment. The entire process does not need the participation of the sensing system, and the lifting safety of the mopping assembly can be ensured, which is simple and easy to implement.

[0314] During the cleaning process of the cleaning robot, the cleaning roller 42 can adsorb dirt on the ground, and the dirt on the roller can be scraped and collected by the dirt removal mechanism 44. After a long time of work, the dirt collection box 442 needs to be cleaned. At present, some cleaning robots need the user to turn the body upside down before the user can remove the detachable part (such as the sewage tank, the roller, etc.) at the bottom of the body, which is not good for the user experience.

[0315] As known from the above, the mopping assembly 4 in the embodiment of the present application includes the liquid supply mechanism 45, the dirt removal mechanism 44, and the cleaning roller 42. Although the dirt in the dirt collection box 442 in the dirt removal mechanism 44 can enter the sewage tank 9 through the sewage pump, if the dirt collection box 442 is not cleaned after a long time of work, there will still be deposited dirt, which is easy to breed bacteria and produce odor. Therefore, the dirt collection box 442 needs to be frequently disassembled for cleaning. In addition, although the cleaning roller 42 in the embodiment can be self-cleaned with water during the execution of the task, it also needs to be disassembled for manual cleaning after a long time of use, or the cleaning roller 42 needs to be disassembled and replaced with a new one due to wear. If the user needs to turn the body upside down to remove the dirt collection box 442 and the cleaning roller 42, it is not very convenient.

[0316] Therefore, one embodiment of the present application provides a scheme for easily disassembling the dirt collection box 442 in the mopping assembly without turning the body upside down, which improves the disassembly convenience and meets the ergonomic design. In addition, one embodiment of the present application also provides a scheme for easily disassembling the cleaning roller 42. The disassembly scheme of the dirt collection box will be introduced first, and then the disassembly scheme of the cleaning roller 42 will be introduced.

[0317] Referring to Figures 44a to 44f , at least one side of the mopping assembly 4 is exposed. As shown in one example of 44a, the mopping assembly 4 is exposed on one side of the body. With reference to the forward direction of the body 1, the mopping assembly 4 is exposed on the right side of the body. The dirt collection box 442 can be located on the front side or the rear side of the cleaning roller 42. Referring to Figure 44b c~44f, the exposed side of the dirt collection box corresponding to the mopping assembly is provided with a release assembly. The user can see and touch the release assembly on the exposed side without turning the body 1 upside down, and then operate the release assembly to disassemble the dirt collection box 442.

[0318] The release assembly has an operating handle; the operating handle is located at the bottom of the dirt collection box 442; when disassembling, the operating handle is actuated, the release assembly is in the unlocked state, the first end of the dirt collection box 442 is separated from the mop and washing support, and the dirt collection box 442 is pulled out from the bottom of the machine body; when installing, after the second end of the dirt collection box 442 is inserted into the machine body from the bottom, the first end of the dirt collection box 442 is moved upward to the locking position, and the release assembly is triggered to switch to the locked state at the locking position.

[0319] Specifically, as Figure 44b and 44c , along the length direction of the dirt collection box 442, the dirt collection box 442 has two ends, which are the first end 4421 and the second end 4422. It should be noted that the length direction of the dirt collection box 442 and the axis direction of the cleaning drum 42, the length of the dirt collection box 442 can be equal to or greater than the length of the cleaning drum 42. The mop and washing support 43 has a first fixed structure 431 and a second fixed structure 432 corresponding to the position of the dirt collection box 442. The second end 4422 of the dirt collection box 442 cooperates with the second fixed structure 432, for example, the second fixed structure 432 is a jack, and the second end 4422 of the dirt collection box 442 is a protruding block structure matched with the jack. The first end 4421 of the dirt collection box 442 is provided with a release assembly 70, which can include: an elastic operating part 71 and a fixed pin 72. The elastic operating part 71 is connected with the fixed pin 72. The first fixed structure 431 can be a pin hole matched with the fixed pin 72. The user operates the elastic operating part 71, and the elastic operating part 71 deforms to drive the fixed pin 72 to move, so that the fixed pin 72 is separated from the pin hole, and the dirt collection box 442 can be separated from the mop and washing support 73.

[0320] As Figure 44d shown, after the first end 4421 of the dirt collection box 442 is separated from the first fixed structure 431, the first end 4421 is lowered, and the user can hold the first end 4421 along the length direction of the dirt collection box 442 (or the axis direction of the cleaning drum) to take out the dirt collection box from the machine body 1.

[0321] More specifically, as Figure 44a , 44cAnd 44f, the elastic operating member 71 can include: release button and release spring 712. Wherein, the fixed pin 72 is provided with a sliding slot 722. Release button can be a knob, for example, the release button has a rotating shaft 714, the release button is rotatably connected to the dirt box 442 through the rotating shaft 714. The rotating shaft 714 is provided with: abutting structure 713 and operating handle 711 respectively on both sides. The user can rotate the operating handle 711, the direction of rotation is downward around the rotating shaft 714, which is exactly the same as the direction of taking off the dirt box. This setting, the user holds the operating handle 711 with his hand, and when the operating handle 711 rotates downward around the rotating shaft 714 to a certain angle, the fixed pin 72 is separated from the pin hole, and the dirt box 442 can be separated from the mop and wash support 73. At this time, the dirt box rotates downward around the second end as the center. Because the user's hand is always holding the operating handle 711, on the one hand, it prevents the sudden falling of the dirt box, and on the other hand, it can naturally continue to hold the operating handle 711 downward, and then take out the dirt box 442.

[0322] In another embodiment, the release button can be a push-pull member of linear motion. The abutting structure 713 of the release button is located in the sliding slot 722. The first end of the dirt box 442 is provided with a spring seat 4423, and the release spring 712 is arranged in the spring seat 4423. One end of the fixed pin 72 is provided with a plug 721 matched with the pin hole, and the other end is connected with the release spring 712. When the release button is a push-pull member, the user can drive the fixed pin to move by pushing and pulling the release button (such as pushing and pulling along the length direction of the fixed pin).

[0323] As shown in Figure 44e When the user wants to take off the dirt box 442, the user provides external force to the release button, such as rotating the release button. The abutting structure 713 on the release button abuts against the fixed pin 72 in the sliding slot. At this time, the plug 721 of the fixed pin 72 is separated from the pin hole, and the first end of the dirt box 442 falls downward. The user pulls here, and the second end of the dirt box 442 is separated from the mop and wash support. At this time, the dirt box 442 is completely taken off. When the user wants to install the dirt box 442, first, the second end of the dirt box 442 is installed (that is, the protruding block structure is inserted into the insertion hole), and the user holds the first end of the dirt box 442 and presses upward. The release spring deforms, the fixed pin 72 moves, and the plug is inserted into the pin hole. At this time, the installation of the dirt box 442 is completed.

[0324] In order to ensure the installation stability of the dirt collection box 442, the release button is further provided with a locking structure, and the corresponding position of the dirt collection box 442 is provided with a locking matching structure. After the installation of the dirt collection box 442 is completed, the user can rotate the release button, so that the locking structure cooperates with the locking matching structure to lock the position of the release button, so that the fixing pin 72 cannot be shaken out of the pin hole. The specific implementation of the locking structure on the release button and the locking matching structure on the dirt collection box 442 in the embodiment is not limited.

[0325] Further, referring to Figure 44f As shown in the figure, the dirt collection box 442 is further provided with a filter assembly 543, which is used to filter large particles of dirt in the dirt entering the dirt collection box 442. As Figure 44f As shown, the filter assembly 543 can be a filter piece provided with a plurality of filter holes, which can be placed and stabilized in the dirt collection box 442 through some matching structure. The filter piece is further provided with a through hole, and the dirt collection pipe 542 can pass through the through hole from above the filter piece to below the filter piece to be close to the bottom of the dirt collection box 442. After the user dismounts the dirt collection box 442, the user can take out the filter assembly 543 from the dirt collection box 442 to clean the dirt collection box and the filter assembly respectively. One end of the filter assembly 543 is provided with a handle 5431 for the user to take, and the user can pinch the handle 5431 with fingers when taking the filter assembly 543 to take it out of the dirt collection box 442. The handle 5431 can be a plate-shaped body with a certain bending radius.

[0326] In addition, the dirt collection box 442 is further provided with a detection piece 4425, which can be a detection magnet or the like. The corresponding position of the mop and washing support is provided with a sensing element (not shown in the drawings). The sensing element can detect whether the dirt collection box 442 is installed on the mop and washing support by sensing the detection piece on the dirt collection box 442. The purpose of setting this detection piece is to avoid the situation that the user forgets to install the dirt collection box 442 and starts the cleaning robot to work. If the sensing element senses that the dirt collection box 442 is not installed on the mop and washing support, the cleaning robot can remind the user to install the dirt collection box through voice and / or display. If the sensing element and the detection piece are not set, the cleaning robot may perform cleaning tasks without the dirt collection box, and the dirt scraped from the cleaning roller is discharged to the ground because the rear cannot collect dirt after cleaning. Therefore, it is necessary to set the sensing element and the detection piece, and the machine can only start to perform cleaning tasks after the dirt collection box is installed on the machine.

[0327] For dismounting the cleaning roller 42, refer to Figure 44aAs shown, the mop-washing assembly 4 is in a retracted state, i.e. the end of the mop-washing assembly 4 is located in the body 1. From above the body 1, i.e. when the cleaning robot is located on the ground, the user can see the cleaning robot, and the user cannot see the mop-washing assembly 4. If the user wants to disassemble the cleaning roller in the mop-washing assembly 4, the user needs to squat, tilt the head and look sideways at the position of the mop-washing assembly 4 in the body 1, and then reach up to disassemble the cleaning roller. During the disassembly process, the user may be blind disassembly, and during the installation, the user may also be blind installation, and the user may be pinched by hand. Obviously, this solution of not turning over the body to disassemble the cleaning roller is not very convenient. Embodiments of the present application provide a more convenient solution for disassembling and assembling the cleaning roller. Specifically,

[0328] The body of the cleaning robot is provided with an interactive device, which can be a key, a touch screen, a voice interaction unit, etc. The user can trigger the mop-washing assembly 4 to extend from one side of the body 1 through the interactive device, such as extending to a set position (which can be a second limit position in the extended state) or extending to the end of the mop-washing assembly to expose the outer edge of the body 1. For example, the user presses a key in the interactive device, and after the main board 2 receives the operation signal triggered by the key, the driving device 10 is controlled to drive the mop-washing assembly 4 to extend from one side of the body 1 to the set position or extend a set length so that the end of the mop-washing assembly is exposed. At this time, the user can disassemble the cleaning roller from the mop-washing assembly 4. After the user washes the cleaning roller or gets a new replacement roller, the user can install the roller back to the mop-washing assembly 4.

[0329] Referring to Figure 5 As shown, the first end of the mop-washing support 43 in the length direction (the arrow direction in the figure) is provided with the roller motor 41, and the second end is provided with an opening. The cleaning roller 42 can be inserted into the roller cavity of the mop-washing support 43 from the opening to be connected with the roller motor 41. The second end of the mop-washing support 43 is provided with a first structure 430, and correspondingly, the inner side of the end cover 420 of the cleaning roller 42 is provided with a second structure. The first structure 430 and the second structure can be a magnetic attraction assembly used in cooperation, for example, one of the first structure 430 and the second structure is a groove, and the other is a protrusion, and the groove and the protrusion are adapted; the protrusion is a magnet, and the groove is provided with a magnetic material; or the groove is provided with a magnet, and the protrusion is provided with a magnetic material, etc. The embodiments of the present application do not make specific limitations in this regard.

[0330] After the user triggers the mop-washing assembly 4 to extend through the key, voice or touch screen, as shown in Figure 12 As shown, the mop-washing assembly 4 extends out of the edge 1001 of the body 1. At this time, the user can see the mop-washing assembly when looking at the body from the upper part of the body, and can also see the end of the cleaning roller 42. As shown in Figure 12In the shown example, the end cover 420 of the cleaning roller 42 is similar to a whistle, and the user can easily pull out the cleaning roller along the pulling direction (i.e. the width direction of the body 1) by using one hand to pinch the end cover 420, and thus dismount it. When installing, because the mop assembly is in the extended state, i.e. Figure 12 In the shown state, the user can also see the opening of the roller cavity of the mop support, and the user inserts one end of the cleaning roller into the opening, and the end cover 420 of the cleaning roller is attracted to the first structure 430 on the mop support, and thus the end cover 420 is connected with the mop support. If the cleaning robot needs to perform a cleaning task after installation, the cleaning robot performs the cleaning task while keeping the current extended state of the mop assembly 4. If the cleaning robot needs to return to the base station after installation, the cleaning robot automatically retracts the mop assembly 4 after detecting that the cleaning roller is installed; or the user triggers the mainboard 2 of the cleaning robot through the interactive device to control the driving device to retract the mop assembly.

[0331] Further, the driving device 10 can also drive the mop assembly to ascend or descend relative to the body. Correspondingly, when the cleaning roller needs to be dismounted, the driving device 10 drives the mop assembly 4 to extend to expose the end cover of the cleaning roller 42, and also drives the mop assembly 4 to ascend to have a gap with the ground, so as to facilitate the user to dismount the cleaning roller 42. Because the cleaning roller has a gap with the ground, it is easier to pull out the cleaning roller.

[0332] In addition to triggering the mop assembly 4 to retract through the interactive device, the following scheme can also be adopted: after the cleaning roller 42 is installed on the mop support 43, the user pushes the mop assembly 4, and the driving device 10 is started to drive the mop assembly 4 to retract to the first limit position. The cleaning robot also comprises a sensing system and a mainboard 2; the mainboard 2 is electrically connected with the sensing system; the sensing system comprises a sensing unit for detecting the pushing force of the mop assembly 4; after the sensing unit detects the installation pushing force of the mop assembly 4, it sends a retraction signal to the mainboard 2, and the mainboard 2 controls the driving device 10 to start to drive the mop assembly 4 to retract to the first limit position.

[0333] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some 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 cleaning robot comprises: a body; a mop assembly comprising a cleaning unit and a cleaning unit motor; the cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate around the rotation shaft; a driving device arranged on the body and connected to the mop assembly; a control device arranged on the body and configured to control the driving device to drive the mop assembly to extend from at least one side of the body along the width direction of the body so that part of the mop assembly is exposed outside; the mop assembly has at least two working positions, i.e., a first extreme working position and a second extreme working position, and the driving device can drive the mop assembly to change between the first extreme working position and the second extreme working position; in the first extreme working position, the mop assembly does not extend out of the projection area of the body, and in the second extreme working position, the mop assembly extends out of the projection area of the body; when the cleaning robot performs a cleaning task to traverse a to-be-cleaned area, the control device controls the mop assembly to be located at the second extreme working position or at any position between the first extreme working position and the second extreme working position.

2. The cleaning robot according to claim 1, wherein, The mop assembly further comprises a liquid supply mechanism and a dirt removal mechanism, the liquid supply mechanism is configured to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is configured to scrape off dirt on the cleaning unit; the liquid supply mechanism and / or the dirt removal mechanism can move along with the mop assembly.

3. The cleaning robot according to claim 2, wherein, The mop assembly further comprises a mop support; the mop support has a drum mounting cavity with an opening downward, and the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity; the cleaning unit is in contact with a to-be-cleaned surface through the opening; the liquid supply mechanism and the dirt removal mechanism are arranged on the mop support; the power end of the driving device is connected to the mop support.

4. The cleaning robot according to claim 2, wherein, The driving device comprises a power source and an action execution mechanism; the power input end of the action execution mechanism is connected to the power source; the mop assembly is floatingly connected to the power output end of the action execution mechanism, and the mop assembly can move along with the power output end in the width direction of the body and can also float up and down relative to the power output end.

5. The cleaning robot according to claim 4, wherein, The mop assembly has multiple gears; in different gears, the relative position of the mop assembly to the body is different; the control device determines the target gear of the mop assembly according to detected environmental information; and controls the driving device to make the mop assembly be in the target gear.

6. The cleaning robot according to claim 2, wherein, The driving device can also drive the mop assembly to retract relative to the body; or The cleaning robot further comprises a rebound device, and the mop assembly is connected to the rebound device; when the mop assembly in the extended state is subjected to an external force in the retracting direction, the rebound device is deformed under the force, and the mop assembly is adaptively retracted.

7. The cleaning robot according to claim 2, wherein the cleaning robot further comprises a detection device, the control device is electrically connected to the detection device, is configured to measure the environment through the detection device, and is configured to drive the mop assembly to retract relative to the body based on the measurement result; or The cleaning robot further comprises a force sensing unit, and the control device controls the mop-washing assembly to retract relative to the body when the mop-washing assembly is sensed by the force sensing unit to be subjected to an external force in the retracting direction in the extended state.

8. The cleaning robot according to any one of claims 1 to 7, wherein, The driving device can further drive the mop-washing assembly to lift relative to the body.

9. The cleaning robot according to any one of claims 1 to 7, wherein, The control device is further configured to: According to the distance between the body and the obstacle in the target environment, the control device controls the stop position of the mop-washing assembly between the first limit working position and the second limit working position, so as to dynamically adjust the cleaning distance between the mop-washing assembly and the obstacle in the target environment.

10. The cleaning robot according to any one of claims 1 to 7, wherein, The body is provided with a first detection unit and a second detection unit, The cleaning robot is further provided with a trigger structure linked with the mop-washing assembly; the first detection unit is triggered by the trigger structure when the mop-washing assembly moves to the first limit working position; and the second detection unit is triggered by the trigger structure when the mop-washing assembly moves to the second limit working position. 11.The cleaning robot according to claim 10, wherein, Further comprising a fourth detection unit; the cleaning robot is provided with a grating structure linked with the mop-washing assembly, When the gear is adjusted, the fourth detection unit determines the position of the mop-washing assembly by recording the counting scale on the grating structure.

12. The cleaning robot according to any one of claims 1 to 7, wherein, Further comprising a control device; The control device is electrically connected with the driving device, and is configured to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mop-washing assembly to move relative to the body, so as to change the position of the mop-washing assembly relative to the body.

13. A cleaning robot, characterized in that, It comprises: a body; a mop-washing assembly comprising a cleaning unit motor, a dirt removing mechanism and a cleaning unit; the cleaning unit motor is connected with the cleaning unit to drive the cleaning unit to rotate relative to the rotating shaft; the dirt removing mechanism is used to scrape off dirt on the cleaning unit; a driving device arranged on the body and connected with the mop-washing assembly; a control device arranged on the body and configured to control the driving device to drive the mop-washing assembly to extend from at least one side of the body to make part of the mop-washing assembly exposed; The mop-washing assembly has at least a first limit working position and a second limit working position, and the driving device can drive the mop-washing assembly to change between the first limit working position and the second limit working position. In the first limit working position, the mop-washing assembly does not extend out of the projection area of the body edge, and in the second limit working position, the mop-washing assembly extends out of the projection area of the body edge. When the cleaning robot performs a cleaning task, the control device controls the mop-washing assembly to be located at the second limit working position, or at any position between the first limit working position and the second limit working position.

14. A cleaning robot, characterized in that, It comprises: a body; a mop-washing assembly comprising a cleaning unit motor and a cleaning unit; the cleaning unit motor is connected with the cleaning unit to drive the cleaning unit to rotate relative to the rotating shaft; a driving device arranged on the body and connected with the mop-washing assembly; A control device is arranged on the body and controls the driving device to drive the mop-washing assembly to extend from at least one side of the body along the width direction of the body so that part of the mop-washing assembly is exposed; The mop-washing assembly has at least two working positions, i.e. a first extreme working position and a second extreme working position, and the driving device can drive the mop-washing assembly to change between the first extreme working position and the second extreme working position; In the first extreme working position, the mop-washing assembly does not extend out of the edge projection area of the body, and in the second extreme working position, the mop-washing assembly extends out of the edge projection area of the body; The cleaning robot also has a sensing system, and when the cleaning robot detects an obstacle through the sensing system, the control device controls the stopping position of the mop-washing assembly between the first extreme working position and the second extreme working position according to the distance between the body and the obstacle, so as to dynamically adjust the cleaning distance between the mop-washing assembly and the obstacle.

Images