Cleaning robot

Abstract

The embodiment of the utility model provides a cleaning robot. The cleaning robot comprises a robot body, a mopping assembly and a driving device. The mopping assembly comprises a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid for the cleaning unit, and the dirt removal mechanism is used for scraping dirt on the cleaning unit; the driving device is arranged on the machine body and comprises a first power source and a second power source, and the first power source and the second power source are both connected with the mopping assembly. In the width direction of the machine body, the first power source can drive the mopping assembly to extend out of at least one side of the machine body relative to the machine body, so that part of the mopping assembly is exposed; the second power source can drive the mopping assembly to ascend and descend relative to the machine body in the height direction of the machine body. The first power source and the second power source can work independently or simultaneously, and the mopping assembly can move to any position relative to the robot body, so that the cleaning robot is suitable for more use scenes.

Description

[0001] Cross-references

[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 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] To make cleaning robots more versatile, some robots feature extendable rollers that can be extended to clean along walls or around obstacles. However, even when the roller is extended, although some robots can ensure a supply of clean water, the scraper remains inside the body. This means the extended part of the roller can only receive water, leaving dirt on the roller and unable to be scraped off. Consequently, the roller remains uncleaned, resulting in a problem similar to the dirt accumulation issue with the mop tray, leading to poor cleaning performance.

[0007] In addition, cleaning robots work in diverse and complex environments, requiring varying degrees of roller extension and retraction, while current technology offers only a single roller extension state. Utility Model Content

[0008] In view of the above problems, this application proposes a cleaning robot that can always achieve self-cleaning of the drum, so as to solve the above problems or at least partially solve the above problems.

[0009] In one embodiment of this application, a cleaning robot is provided. The cleaning robot includes:

[0010] Organism;

[0011] A mopping assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off dirt from the cleaning unit;

[0012] a driving device disposed on the body, the driving device comprising a first power source and a second power source, both of which are connected with the mop-washing assembly;

[0013] wherein, along the width direction of the body, the first power source can drive the mop-washing assembly to extend out of the body from at least one side of the body so that part of the mop-washing assembly is exposed; along the height direction of the body, the second power source can drive the mop-washing assembly to ascend and descend relative to the body;

[0014] the first power source and the second power source can work independently or simultaneously.

[0015] Optionally, the mop-washing assembly has multiple gears;

[0016] In different gears, the relative position of the mop-washing assembly to the body is different;

[0017] the body determines a target gear of the mop-washing assembly according to detected environmental information, and controls the driving device to make the mop-washing assembly be in the target gear;

[0018] wherein, the position of the mop-washing assembly relative to the body includes height and / or horizontal displacement.

[0019] Optionally, the driving device further comprises a first action execution mechanism and a second action execution mechanism;

[0020] the first power source is connected with the mop-washing assembly through the first action execution mechanism, and the first action execution mechanism converts the power output by the first power source into linear motion along the width direction of the body to drive the mop-washing assembly to horizontally displace relative to the body;

[0021] the second power source is connected with the mop-washing assembly through the second action execution mechanism, and the second action execution mechanism converts the power output by the second power source into linear motion along the height direction of the body to drive the mop-washing assembly to ascend and descend relative to the body.

[0022] Optionally, the first action execution mechanism comprises a first gear and a first rack;

[0023] the first gear is connected with the first power source;

[0024] the first gear and the first rack are engaged;

[0025] the first rack is slidingly disposed on the body;

[0026] the mop-washing assembly is connected with the first rack.

[0027] Optionally, the first action execution mechanism further comprises a sliding plate;

[0028] The first rack is arranged on the sliding plate;

[0029] The sliding plate is arranged on a sliding rail on the machine body;

[0030] The mop assembly is located below the sliding plate and is connected with the sliding plate;

[0031] The sliding plate is provided with a trigger structure, and the machine body is provided with a plurality of detection units;

[0032] The sliding plate moves, and the trigger structure triggers one of the plurality of detection units;

[0033] The machine body determines the position of the mop assembly based on the triggered detection unit.

[0034] Optionally, the second action execution mechanism comprises a second gear and a second rack; the second gear is connected with the second power source, the second gear is engaged with the second rack; the second rack is arranged vertically and can move relative to the height direction of the machine body; the mop assembly is connected with the second rack.

[0035] Optionally, the second action execution mechanism comprises a reel and a pull rope, the pull rope is wound on the reel, the reel is connected with the second power source, and one end of the pull rope is connected with the mop assembly.

[0036] Optionally, the mop assembly further comprises a mop support;

[0037] The mop support has a drum mounting cavity with an opening downward, the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity;

[0038] The cleaning unit is in contact with the surface to be cleaned through the opening;

[0039] The liquid supply mechanism and the dirt removal mechanism are arranged on the mop support;

[0040] The power end of the driving device is connected with the mop support.

[0041] Optionally, a first obstacle avoidance module is arranged on the machine body at the side of the mop assembly extending outward, and the first obstacle avoidance module is located in front of the mop assembly;

[0042] The monitoring range of the first obstacle avoidance module is a vertical area beside the machine body, which is used for detecting the height of the obstacle in front of the mop assembly extending outward;

[0043] The mop-washing assembly has multiple lifting gears, and the mop-washing assembly has different heights relative to the body at different lifting gears;

[0044] Based on the detection information of the first obstacle-avoiding module, a target gear of the mop-washing assembly is determined, and the second power source drives the mop-washing assembly to lift to the target gear when the lifting gear needs to be adjusted.

[0045] Optionally, when the mop-washing assembly needs to extend outward or retract inward, the second power source first drives the mop-washing assembly to lift relative to the body, and then the first power source drives the mop-washing assembly to perform the extending or retracting action.

[0046] Alternatively, the second power source drives the mop-washing assembly to lift relative to the body, and the first power source simultaneously drives the mop-washing assembly to perform the extending or retracting action.

[0047] Optionally, the body is provided with a second obstacle-avoiding module, which can detect a first distance between an obstacle on the outward extending side of the mop-washing assembly and the body.

[0048] Based on the first distance, a second distance of the mop-washing assembly extending outward is determined, and the first power source drives the mop-washing assembly to extend outward to the second distance, which is the distance between the mop-washing assembly and the obstacle, and the second distance is smaller than the first distance.

[0049] Optionally, the mop-washing assembly has a retracted state and an extended state; in the retracted state, the mop-washing assembly is at a first position relative to the body; and in the extended state, the mop-washing assembly is at a second position relative to the body.

[0050] When the cleaning robot is cleaning, the mop-washing assembly preferentially uses the extended state for cleaning.

[0051] When encountering an obstacle, the mop-washing assembly moves from the second position to the first position, or to a position between the second position and the first position, to avoid the obstacle.

[0052] Optionally, the cleaning robot further comprises a control device.

[0053] 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 to change the position of the mop-washing assembly relative to the body.

[0054] In another embodiment of the present application, a cleaning robot is provided, comprising: a body;

[0055] The mop-washing assembly comprises a cleaning unit motor, a cleaning unit and a dirt removing mechanism. The cleaning unit motor is connected with the cleaning unit, and the dirt removing mechanism is used for scraping off dirt on the cleaning unit.

[0056] The driving device is arranged on the machine body, and comprises a first power source and a second power source. The first power source and the second power source are both connected with the mop-washing assembly.

[0057] In the width direction of the machine body, the first power source can drive the mop-washing assembly to extend from at least one side of the machine body so that part of the mop-washing assembly is exposed. In the height direction of the machine body, the second power source can drive the mop-washing assembly to ascend and descend relative to the machine body.

[0058] The first power source and the second power source can work independently or simultaneously.

[0059] In the technical scheme provided in the embodiments of the present application, the mop-washing assembly moves relative to the cleaning robot machine body as a whole. In any position of the mop-washing assembly, the liquid supply mechanism can provide cleaning liquid for the cleaning roller, and the dirt removing mechanism can scrape off dirt on the cleaning roller. The cleaning roller can be self-cleaned while working. When the cleaning roller extends outward to perform edge cleaning, the cleaning roller will not be excessively dirty, and can still have good cleaning effect after long-time cleaning, and the use experience is better. In addition, in the scheme provided in the embodiments of the present application, two power sources are used to drive the mop-washing assembly to move in the width direction of the machine body and to ascend and descend in the height direction of the machine body, so that the roller can be in any horizontal position and / or height relative to the machine body, to adapt to various use scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0060] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or 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 creative labor.

[0061] Figure 1a and 1b The schematic diagram of edge cleaning in the state of no extension and extension of the roller is shown;

[0062] Figure 1c The left view of the cleaning robot provided in the embodiments of the present application is shown;

[0063] Figure 2 The structural schematic diagram of the cleaning robot provided in an embodiment of the present application is shown;

[0064] Figure 3aAn internal view of the cleaning robot after the upper cover is removed according to an embodiment of the present application;

[0065] Figure 3b A partial view of the cleaning robot according to an embodiment of the present application; Figure 3a

[0066] Figure 4 An exploded view of the cleaning robot structure according to an embodiment of the present application;

[0067] Figure 5 An exploded view of the mop-washing assembly according to an embodiment of the present application;

[0068] Figure 6 A view of the mop-washing assembly according to an embodiment of the present application arranged on the cavity shell;

[0069] Figure 7a An external structure view of the mop-washing assembly according to an embodiment of the present application;

[0070] Figure 7b A view of a specific implementation structure of the liquid supply mechanism according to an embodiment of the present application;

[0071] Figure 8 A bottom view of a mop-washing support according to an embodiment of the present application;

[0072] Figure 9a An exploded view of the mop-washing assembly according to an embodiment of the present application;

[0073] Figure 9b A sectional view of the mop-washing assembly according to an embodiment of the present application;

[0074] Figure 10a A view of the cleaning robot in an edge cleaning state according to an embodiment of the present application;

[0075] Figure 10b A view of the cleaning robot in an edge cleaning state according to an embodiment of the present application;

[0076] Figure 11 A view of the mop-washing assembly in a lifted state according to an embodiment of the present application;

[0077] Figure 12 A view of the mop-washing assembly in an extended state according to an embodiment of the present application;

[0078] Figure 13 A view of the driving device according to an embodiment of the present application;

[0079] Figure 14 A perspective view of the power actuator according to an embodiment of the present application;

[0080] ​Figure 15 Another perspective view of a power actuator according to an embodiment of the present application;

[0081] Figure 16 A half cutaway view of a mop-washing assembly according to an embodiment of the present application;

[0082] Figure 17 A partial view of a motion actuator according to an embodiment of the present application;

[0083] Figure 18 A schematic view of a slider structure according to an embodiment of the present application;

[0084] Figure 19 A partial cutaway view of a motion actuator according to an embodiment of the present application;

[0085] Figure 20a A partial cutaway view of a cavity shell and a shell cover combination according to an embodiment of the present application;

[0086] Figure 20b A schematic view of a shell cover according to an embodiment of the present application;

[0087] Figure 21 A schematic view of a grating structure and a fourth photoelectric switch according to an embodiment of the present application;

[0088] Figure 22 A schematic view of a first connecting end and a second connecting end according to an embodiment of the present application;

[0089] Figure 23 A schematic view of a hovering surface at a top end of a lifting portion according to an embodiment of the present application;

[0090] Figure 24 A cutaway view of a mop-washing assembly according to an embodiment of the present application;

[0091] Figure 25a A cutaway view of a mop-washing support according to an embodiment of the present application;

[0092] Figure 25b A cutaway view of another mop-washing support according to an embodiment of the present application;

[0093] Figure 25c A view of a driving wheel and a mop-washing assembly according to an embodiment of the present application;

[0094] Figure 26a A view of a dirt collection box according to an embodiment of the present application;

[0095] Figure 26bA simplified diagram showing the contrasting structures of the sludge collection box located on the front and rear sides of the cleaning roller is shown;

[0096] Figure 27 A cross-sectional view of another mopping assembly provided in an embodiment of this application;

[0097] Figure 28 Another cross-sectional view of another mopping assembly provided in an embodiment of this application;

[0098] Figure 29a An exploded view of a scraper assembly provided in an embodiment of this application;

[0099] Figure 29b This is a cross-sectional schematic diagram of the water guide plate provided in an embodiment of this application;

[0100] Figure 29c This is a schematic diagram of the structure of a cleaning robot equipped with an adaptive adjustment device according to an embodiment of this application;

[0101] Figure 30 A perspective structural diagram of a scraper assembly provided in an embodiment of this application;

[0102] Figure 31 This is a schematic diagram illustrating the implementation structure of another driving device provided in an embodiment of this application;

[0103] Figure 32 It shows in Figure 31 The diagram shows the two states of the lower mopping assembly being raised and extended by the drive device of the structure shown.

[0104] Figure 33 A schematic diagram illustrating the implementation structure of another driving device provided in an embodiment of this application;

[0105] Figure 34a This is a structural diagram of a cleaning device provided in one embodiment of this application;

[0106] Figure 34b A schematic diagram illustrating the disassembly of a sludge collection box on a mopping assembly, provided as an embodiment of this application;

[0107] Figure 34c A cross-sectional view of a mopping assembly and a sludge collection box provided in an embodiment of this application;

[0108] Figure 34d A cross-sectional view of a mopping assembly and a sludge collection box in a disassembled state, provided in an embodiment of this application;

[0109] Figure 34e A schematic diagram illustrating the disassembly steps of the sludge collection box on a mopping assembly, provided in one embodiment of this application;

[0110] Figure 34fAn explosion schematic diagram of the waste collecting box provided by an embodiment of the present application. DETAILED DESCRIPTION

[0111] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures. In the description of the present 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 communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In the present 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 direction of the first feature above and oblique above 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 direction of the first feature below and oblique below 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 present embodiment, 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 on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description, and have no special meaning.

[0112] 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 suction roller brush 01 and a roller 02 for mopping at the same time, the dust suction roller brush 01 is generally located at the front side of the roller 02, so that the cleaning robot can first suck dust and then mop during travel. In order to avoid obstacles and escape, the driving wheel of the cleaning robot with a circular shape 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 the whole 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, such as Figure 1aAs shown, when a cleaning robot needs to clean along a wall or wardrobe, after maintaining a minimum safe distance from the object, it cannot reach the corner area of ​​the object that is a larger dimension d away. To solve this problem, some cleaning robots have designed their rollers to be extendable.

[0113] To make cleaning robots more versatile, some robots feature extendable rollers that can be extended to clean along walls or around obstacles. However, even when the roller is extended, although some robots can ensure a supply of clean water, the scraper remains inside the body. This means the extended part of the roller can only receive water, leaving dirt on the roller and unable to be scraped off. Consequently, the roller remains uncleaned, resulting in a problem similar to the dirt accumulation issue with the mop tray, leading to poor cleaning performance.

[0114] like Figure 1b As shown, extending the roller allows it to reach corner areas, improving coverage. However, with only the roller extended, dirt will accumulate on it during cleaning, causing it to become increasingly dirty, especially in corner areas (such as...). Figure 1a The area along the edge width d does not achieve good results and instead becomes dirtier the more you drag it.

[0115] To ensure good cleaning performance even after the roller is extended, it needs to be able to self-clean in time while extended. This allows for better cleaning when the roller brush comes into contact with the ground and rubs it, preventing the roller from getting dirty.

[0116] In existing technologies, some cleaning robots with rollers can only perform single extension or lifting movements, limiting the roller's functionality. When extended, the roller cannot be raised or lowered. Furthermore, this method is not adaptable to diverse working environments; when encountering complex conditions, the cleaning robot's efficiency significantly decreases.

[0117] 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.

[0118] 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.

[0119] Furthermore, in the technical solution provided in this application, the cleaning robot includes two power sources on its body. These two power sources can operate independently or simultaneously. One power source can drive the cleaning roller to extend outwards and retract inwards, while the other power source can drive the cleaning roller to lift and lower. Through the coordinated operation of the two power sources, not only can the cleaning roller be lifted or lowered simultaneously in the retracted state, but it can also be lifted or lowered simultaneously in the extended state. The cleaning roller on the cleaning robot can perform multiple actions simultaneously, resulting in a rich variety of cleaning states. This not only allows it to easily cope with various complex environments but also improves the cleaning efficiency of the cleaning robot.

[0120] 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.

[0121] 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 located on the body 1. As shown in Figure 3, the vacuuming and cleaning system 3 may include, but is not limited to: dustbin 301, vacuum fan 302, and roller brush (not shown in the figure). The control system includes hardware and software components. Hardware components include, for example, motherboard 2, etc. Figure 4The mainboard assembly is also referred to as the mainboard 2 hereinafter. The mainboard 2 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 the computer program to control the components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, path planning, obstacle recognition, obstacle-avoiding cleaning, edge cleaning, base station returning and docking, area recognition, cleaning mode switching (only dust collection, only mopping, or dust collection followed by 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 to drive the drive wheel to rotate, so as to realize the forward movement, backward movement, stopping, 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. The edge brush assembly 7 can be one or two. As shown in the example of Figure 2 one edge brush assembly 7 is arranged at one side (such as the right side) of the front of the body 1. If the edge brush assembly 7 is two, the two edge brush assemblies can be arranged at the two sides (such as one on the left side and one on the right side) of the front of the body 1, respectively.

[0122] 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 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 Figure 6 the driving device 10 can drive the mopping assembly 4 to extend out of at least one side of the body 1 in the width direction 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.

[0123] It should be further explained here that, as can be seen from the components included in the mopping assembly 4, the mopping assembly 4 in this embodiment is capable of mopping the object to be cleaned (such as the floor), and can also achieve a self-cleaning function using its own liquid supply mechanism 45 and stain removal mechanism 44 to maintain the cleaning roller at a good level of cleanliness. In addition, the cleaning roller 42 on the mopping assembly 4 can be a cylindrical roller, that is, the surface of the cylindrical roller has cleaning fibers. The cleaning roller 42 can also be a tracked roller, which includes two spaced-apart tracked wheels, and a ring-shaped tracked wiping cloth is fitted on the two tracked wheels. The outward-facing side of the tracked wiping cloth has cleaning fibers, and one side of the tracked wiping cloth is in contact with the ground. As the tracked wheels rotate, the tracked wiping cloth will rotate relative to the ground simultaneously, thereby achieving mopping of the floor.

[0124] As can be seen from the above, in the solution provided by this application embodiment, the driving device 10 can drive the entire mopping assembly 4 to move relative to the machine body, so that a portion of it extends out of the machine body. That is, at any position of the mopping assembly 4, the liquid supply mechanism 45 can provide cleaning fluid to the cleaning roller, and the stain removal mechanism 44 can scrape away dirt from the cleaning roller 42, allowing the cleaning roller 42 to self-clean while working. When the cleaning roller 42 extends outward for edge cleaning, it will not become excessively dirty, and it can still maintain a good cleaning effect after prolonged cleaning, resulting in a better user experience.

[0125] In practice, the mopping component 4 in this embodiment can also be in the extended state normally. For example, when the cleaning robot starts, the main board controls the drive device 10 to move the mopping component 4 relative to the body, so that it extends from one side of the body 1 and is in the extended state. When the cleaning robot performs cleaning tasks and traverses the area to be cleaned, the mopping component 4 remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board controls the drive device 10 to retract the mopping component 4 to hide it inside the body 1, facilitating obstacle avoidance or passage through narrow spaces. When the cleaning roller 42 is in the extended state, the outer edge of the cleaning roller 42 can be flush with the widest edge of the body 1, or the outer edge of the cleaning roller 42 can extend beyond the widest edge of the body 1.

[0126] like Figure 5 In the example shown, the mopping assembly 4 also includes a mopping bracket 43; the mopping bracket 43 has a downward-facing roller mounting cavity. A roller motor 41 and the cleaning roller 42 are disposed in the roller mounting cavity. The cleaning roller 42 contacts the surface to be cleaned through the opening; a liquid supply mechanism 45 and a stain removal mechanism 44 are both disposed on the mopping bracket 43; the power end of the drive device 10 is connected to the mopping bracket 43.

[0127] Specifically, the mop 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 surface to be cleaned. The cleaning roller 42 is detachable through the second opening, and the second opening is located at the same side as the position on the body 1 where the mop assembly extends. For example, when the user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42 at the position on the body 1 where the mop assembly extends, and then detach the cleaning roller 42 at the second opening. When installing, the cleaning roller 42 can be inserted from the second opening, and after the end of the cleaning roller 42 is connected to the roller motor 41, the other end of the cleaning roller 42 is connected to the second opening. That is, the direction of disassembly and assembly of the cleaning roller 42 is the direction of the cylinder axis.

[0128] Referring to Figure 3a As shown, the body 1 of the cleaning robot is provided with a clean water tank 5. As Figure 7b As shown, the mop support 43 has a roller support 421. The liquid supply mechanism 45 can be arranged on the roller support 421. Figure 7b An implementable structure of the liquid supply mechanism 45 is shown, which includes a water distributor 452. The water distributor 452 has a main trunk, a plurality of branches and a plurality of liquid supply openings 453 (as Figure 8 As shown). The plurality of liquid supply openings 453 are directed towards the cleaning roller 42 and distributed along the cylinder axis of the cleaning roller 42. The main trunk of the water distributor 452 is connected to the clean water tank 5 through a first flexible pipe 443, one end of which is connected to the water supply opening 451 of the main trunk, and the other end is connected to the clean water tank 5. The plurality of branches are in communication with the main trunk, and the plurality of liquid supply openings correspond to the plurality of branches respectively.

[0129] As Figure 5 As shown, the stain removal mechanism 44 includes a scraping strip 441 and a stain collection box 442. The end of the scraping strip 441 is in contact with the cleaning roller 42, and the stain collection box 442 is located below the scraping strip 441. When the cleaning roller 42 rotates, the dirt scraped off by the scraping strip 441 enters the stain collection box 442. Figure 1c As shown, the bottom surface of the stain collection box 442 is higher than the bottom surface m of the body 1, for example, 1mm-5mm.

[0130] The dismounting direction of the cleaning roller 42 is along the cylinder axis direction. The dismounting direction of the dirt collection box 442 can be different from the dismounting direction of the cleaning roller 42. For example, the dismounting direction of the dirt collection box 442 can be perpendicular to the dismounting direction of the cleaning roller 42. Since the cleaning roller 42 and the dirt collection box 442 are arranged together on the first opening of the mopping support 43 arranged downward, and are close to each other, the inventors find that if the dismounting directions of the two are the same, the positioning devices of the cleaning roller 42 and the dirt collection box 442 can interfere with each other, and when one component is dismounted alone, the two can contact, rub and even drive each other to move. Therefore, in the present solution, the dismounting direction of the dirt collection box 442 can be perpendicular to the dismounting direction of the cleaning roller 42, so as to ensure the separation of the fixing modes and the complementary interference during dismounting. In addition, the dirt collection box is dismounted downward, so that the user can see the dirt collection box and conveniently take it out downward by lifting the tail of the cleaning robot, thereby eliminating the risk of dirt pouring out of the dirt collection box. The content about dismounting the dirt collection box 442 will be described in detail below, and can be referred to the content below.

[0131] Referring to Figure 3a , the body 1 is provided with a sewage tank 9. Correspondingly, as shown in Figure 3b and Figure 9a , one implementation solution is that the scraping strip 441 has an avoiding hole 446, and the avoiding hole 446 is provided with a dirt collection pipe 542. One end of the dirt collection pipe 542 is in communication with the avoiding 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 a second flexible pipeline 456. The dirt scraped off from the cleaning roller 42 by the scraping strip 441 enters the dirt collection pipe 542 through the avoiding hole 446, and enters the dirt collection box 442 through the dirt collection pipe 542. In 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 pipeline 456. The sewage pump can be set to work at a certain time to pump away 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 to pump away the dirt in the dirt collection box 442, which is not limited in the present embodiment. As shown in Figure 3b , the second flexible pipeline 456 further includes a second end pipeline 457, the length of the second end pipeline 457 is constant, one end of the second end pipeline 457 is connected to the sewage pump 471, and the other end is connected to the sewage tank 9.

[0132] Referring to Figure 3b , Figure 7a , Figure 8 and Figure 9aIn an embodiment, the clean water tank 5 is connected to the liquid supply mechanism 45 through a first flexible pipe 443, and the cleaning liquid stored in the clean water tank 5 is 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 to the dirt removal mechanism 44 through a second flexible pipe 456, and the dirty water collected by the dirt removal mechanism 44 is delivered to the dirty water tank 9 through the second flexible pipe 456. When the mop assembly 4 is extended outwards, 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 to the clean water tank 5, and the second flexible pipe 456 keeps the dirt removal mechanism 44 connected to the dirty water tank 9.

[0133] Referring to Figure 7a and Figure 7b , the liquid supply inlet 451 is connected to the first flexible pipe 443, and the dirt removal outlet 4410 is connected to the second flexible pipe 456. The liquid supply inlet 451 and the dirt removal outlet 4410 extend from above the mop support 43 to be connected to 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 drawing) below the cavity shell 46, and then extend upwards from the gap 03 in Figure 6 to be connected to 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 relative to the cavity shell 46 along the positive and negative directions of the X axis, 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 42 and to discharge the dirt in the dirt collection box 442 in real time.

[0134] To prevent bending, springs (not shown in Figure 9) can be provided on the outer sides of the first flexible pipe 443 and the second flexible pipe 456. This prevents bending and obstruction that could affect wastewater 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 / 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 they are not blocked. In this bent state, both flexible pipes remain unobstructed. When the mopping assembly 4 extends outward, the first flexible pipe 443 and the second flexible pipe 456 bend and move together, gradually extending to ensure that the pipe connection is not interrupted.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] The structure of the cleaning robot provided in the embodiments of the present application is briefly introduced above. The structure of the mop-washing assembly 4, the structure for realizing the telescopic function of the mop-washing assembly (i.e. the specific implementation of the driving device), and the like will be described in more detail below. The scheme provided in the embodiments of the present application focuses on the mop-washing assembly 4, which can be extended from at least one side of the body of the cleaning robot, so that part of the mop-washing assembly 4 is exposed, so that the mop-washing assembly 4 can be self-cleaned and maintain good cleanliness at any position. The telescopic function of the mop-washing assembly 4 will be described in detail below, and the structure for realizing the telescopic function of the mop-washing assembly 4 can be various, which will be introduced one by one below.

[0141] Referring to Figure 6 , 11 to Figure 12 , in an embodiment of the present application, a driving device 10 is provided, which comprises a first power source 102 and a first action execution mechanism 103. The first action execution mechanism 103 comprises a power input end and a power output end. The power input end is connected with the first power source 102, and the first action execution mechanism 103 is used for converting the rotary power output by the power source into linear power. The power output end is connected with the mop-washing assembly 4.

[0142] The first power source 102 can include but is not limited to a first motor and a speed reducer. The first action execution mechanism 103 can include but is not limited to a first gear 13 and a first rack 14. Specifically, in the initial position, as shown in the example, Figure 13 most of the teeth of the first rack 14 are located on the left side of the first gear 13, which can be referred to as the rack being in the original position. At this time, the mop-washing assembly 4 is in the initial state, i.e. the state shown in Figure 11 From the perspective of the whole cleaning robot, Figure 11 the mop-washing assembly 4 is hidden in the body 1. When the mop-washing assembly 4 needs to be extended, the first motor of the first power source 102 is turned in the forward direction (from the perspective of the first motor, the power output by the first motor is in the counterclockwise direction) to drive the first rack 14 to move in the first direction Figure 13 (the arrow X direction in the figure). Figure 13 When the mop-washing assembly 4 needs to be retracted, the first motor of the first power source 102 is reversed (from the perspective of the first motor, the power output by the first motor is in the clockwise direction) to drive the first rack 14 to move in the opposite direction of the first direction (the second direction). Figure 12 A schematic view showing that the mop-washing assembly 4 is in the extended state is shown in Figure 13 When the mop-washing assembly 4 needs to be retracted, the first motor of the first power source 102 is reversed (from the perspective of the first motor, the power output by the first motor is in the clockwise direction) to drive the first rack 14 to move in the opposite direction of the first direction (the second direction).

[0143] Referring to Figure 13In an 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 assembly 4 to drive the mop 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.

[0144] It is mentioned above that the sliding plate is arranged on the upper surface of the cavity shell 46. Referring to Figure 16 , the mop assembly 4 is provided with a connecting column 241, and the mop 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 assembly 4.

[0145] 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.

[0146] 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 4 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 4 at any position by controlling the driving device 10.

[0147] 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 assembly 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.

[0148] 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

[0149] 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 mainboard assembly 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).

[0150] 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 microswitch 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.

[0151] The implementation process of the driving device 10 will be described in detail in combination with a use scenario.

[0152] ​​​Scenario one, mop-washing assembly of cleaning robot extends when it performs cleaning task, and retracts when it encounters obstacles and other special situations

[0153] 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 a task. The user can start the cleaning robot to perform a cleaning task by touching the controls on the base station, or operating the interactive device on the base station, or through the APP of a smart 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 assembly 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.

[0154] When the cleaning robot detects an obstacle through the sensing system during the cleaning process, the mainboard assembly 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 assembly 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 assembly controls the driving device to drive the mop-washing assembly to extend to continue performing the cleaning task.

[0155] It should be noted here that special situations can include but are not limited to user instruction to retract the mop-washing assembly, passing through a narrow passage, and the like.

[0156] Scenario two, the mop-washing assembly of the cleaning robot is in the retracted state when it performs a cleaning task, and extends when it needs to clean along the edge

[0157] 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 clean 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.

[0158] ReferenceFigure 16 As 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] Compared with the cleaning robot provided with a mop or a mop disc, the cleaning robot provided with the mop-washing assembly has better cleaning effect and higher cleaning efficiency. During the cleaning process, the cleaning roller can be self-cleaned, the dirt removing mechanism 44 can scrape off the dirty water on the cleaning roller 42, the liquid supplying mechanism 45 can provide clean cleaning liquid for the cleaning roller 42, and then the cleaning roller 42 can mop and wash the ground. This cleaning method can not only bring better cleaning effect, but also has longer cleaning endurance. During a cleaning task, the cleaning robot does not need to return to the base station for self-cleaning and maintenance frequently.

[0163] During the cleaning process, the cleaning robot needs to face various cleaning environments. 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 the contact between the cleaning roller and the carpet. In addition, for some corner areas (wall side, home edge, etc.), due to the influence of the shape and structure of the cleaning robot, the cleaning robot cannot realize edge cleaning. In the technical solution provided in the embodiment of the application, the mop-washing assembly 4 with the cleaning roller 42 can not only be lifted and lowered, but also can be stretched out from one side of the cleaning robot when edge cleaning is needed, so that the mop-washing assembly 4 can realize edge cleaning while avoiding the collision between the body of the cleaning robot and the wall or the home.

[0164] In order to reduce the number of switching between the retracted state and the extended state, the mop-washing assembly 4 on the cleaning robot is preferentially used in the extended state for ground cleaning (i.e. normal extension or normal swing out) when the cleaning robot cleans a dirty ground. The mop-washing assembly 4 on the cleaning robot is retracted into the accommodating cavity 101 only when it avoids obstacles, and is switched to the extended state after completing obstacle avoidance in the retracted state. This working mode can not only reduce the number of switching between the retracted state and the extended state of the mop-washing assembly 4, but also reduce the total time of the cleaning task. Specifically, the mop-washing assembly 4 in the extended 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 scattered corner areas of household 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 extended 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 the cleaning robot to complete the cleaning, 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 extended. 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 extend in time when it needs to be extended every time.

[0165] Therefore, the scheme provided by the embodiment of the present application is that the cleaning robot does not determine whether it needs to perform edge cleaning, but directly uses the mode that the mop-washing assembly 4 is in the extended state to perform the cleaning task when the cleaning task is performed. This scheme removes the identification of complex edge conditions, and only retracts the mop-washing assembly 4 in a few simple scenes such as obstacle avoidance and turning, so that 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). The cleaning robot works according to the cleaning path shown in FIG. 10, and 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 4 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 and cover the shaded area, it increases the complexity of software control. In the case of the mop-washing assembly 4 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.

[0166] That is, the working method of the cleaning robot provided in the embodiment can include the following steps:

[0167] S11, when performing a cleaning task in an open area, the mop-washing assembly 4 performs the cleaning task in the extended state;

[0168] S12, when it is detected that the surrounding environment determines that the mop-washing assembly 4 needs to be retracted, the mop-washing assembly 4 is retracted, and the mop-washing assembly 4 performs the cleaning task in the retracted state or the cleaning robot travels while the mop-washing assembly 4 is in the retracted state;

[0169] In the extended state, the mop-washing assembly 4 extends from one side of the robot body, and the mop-washing assembly 4 is partially exposed; in the retracted state, the outer edge of the mop-washing assembly 4 is located inside the outer edge of the robot body, or part of the outer edge of the mop-washing assembly 4 is flush with the outer edge of the robot body.

[0170] In the above S12, "detecting the surrounding environment to determine that the mop-washing assembly needs to be retracted" can specifically include but is not limited to at least one of the following:

[0171] When it is detected that the cleaning robot needs to turn to avoid obstacles, it is determined that the mop-washing assembly 4 needs to be retracted;

[0172] 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 4 needs to be retracted;

[0173] When the user issues a retraction instruction, it is determined that the mop-washing assembly 4 needs to be retracted.

[0174] Further, the method provided by the embodiment further includes:

[0175] When the mop-washing assembly 4 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 4, the mop-washing assembly 4 is retracted to the first limit position, and then the mop-washing assembly 4 is lifted to have a gap with the ground.

[0176] When the mop-washing assembly 4 is in the third position, the projection of the mop-washing assembly 4 is located within the projection of the machine body; when the mop-washing assembly 4 is in the fourth position, the edge of the mop-washing assembly 4 extends out of the edge of the machine body, and the projection of the mop-washing assembly 4 is located within the projection of the machine body. In the general cleaning mode, the mop-washing assembly 4 is in the fourth position; in the special cleaning mode, the mop-washing assembly 4 is in the third position to walk along the edge of an obstacle. The mainboard 2 controls the driving device to realize that the mop-washing assembly is parked and works at any position. The mop-washing assembly 4 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; and the fourth position is the second limit position or any position between the first limit position and the second limit position.

[0177] The specific structure of the mop-washing assembly 4 will be described below.

[0178] As shown in Figure 5 , FIG. 7, Figure 8 and FIG. 9, in one embodiment provided by the present application, the dirt-removing mechanism 44 and the liquid-supplying mechanism 45 in the mop-washing assembly 4 are respectively arranged on the mop-washing support 43 or are integrated with the mop-washing support 43. The scraping strip on the dirt-removing mechanism 44 can be in contact with the cleaning roller 42 and can scrape the sewage on the cleaning roller 42 clean during the rotation of the cleaning roller 42. Of course, the dirt-removing mechanism 44 is not simply used to scrape the sewage, but also has the function of collecting the sewage. After the sewage is scraped by the scraping strip, the sewage can directly enter the collecting assembly, the collecting assembly can filter the sewage, and the filtered sewage can be transported to the sewage tank 9 through the pipeline connected with the dirt-removing water outlet 4410. In the embodiment, the mop-washing assembly 4 includes the dirt-removing mechanism 44 and the liquid-supplying mechanism 45, that is, when the cleaning roller is lifted and / or extended, the dirt-removing mechanism 44 and the liquid-supplying mechanism 45 are also lifted and / or extended.

[0179] The liquid supply mechanism 45 can supply cleaning liquid to the cleaning roller 42. For example, when the cleaning roller 42 is dry, the liquid supply mechanism 45 can evenly spray clean water on the surface of the cleaning roller 42, so that the cleaning roller 42 is sufficiently wetted and its cleaning ability is significantly improved. For another example, when the cleaning roller 42 is in a relatively dirty state, the liquid supply mechanism 45 can evenly spray cleaning solution mixed with cleaning agent on the surface of the cleaning roller 42, so that the cleaning agent dissolves the stains, thereby facilitating the stain removal mechanism 44 to remove the stains on the cleaning roller 42. For yet another example, when the cleaning roller 42 is in a self-cleaning mode, the liquid supply mechanism 45 can spray a large amount of cleaning solution on the surface of the cleaning roller 42, and after the stains are dissolved, the stain removal mechanism 44 can clean the stains and dirty water, thereby facilitating the cleaning roller 42 to be quickly and efficiently self-cleaned.

[0180] The liquid supply mechanism 45 can be integrated with the mop support 43. As shown in the example, the outer surface of the mop support 43 is provided with a liquid supply inlet 451, which can be connected to the 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 pipeline 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 evenly spray the cleaning solution on the cleaning roller 42, so that the surface of the cleaning roller 42 is more evenly wetted and dried. Figure 7b

[0181] Further, the liquid supply mechanism 45 further includes a liquid supply pump, which is arranged on the first flexible pipeline 443 and can generate suction force to transport the cleaning liquid in the water tank 5 to the liquid supply mechanism 45.

[0182] When the mop assembly 4 on the cleaning robot is self-cleaning, there are mainly two processes, one is that the stain removal mechanism 44 removes the dirty water on the cleaning roller 42, and the other is that the liquid supply mechanism 45 supplies clean cleaning liquid to the cleaning roller 42. With the stain removal mechanism 44 continuously removing the dirty water and stains, the liquid supply mechanism 45 not only supplies cleaning liquid, but also the mop assembly 4 can simultaneously perform self-cleaning during the process of mopping the floor, so that the mop assembly 4 always has good cleaning effect.

[0183] Referring to Figure 24 ​The mop-washing support 43 has a roller mounting cavity 51, and the cleaning roller 42 is arranged in the roller mounting cavity 51. Specifically, the mop-washing assembly 4 further comprises a roller motor 41, and a motor mounting seat is arranged on one side of the roller mounting cavity 51, and 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. The roller motor 41 can drive the cleaning roller 42 to rotate, so as to realize cleaning of the ground. The roller motor 41 and the cleaning roller 42 are arranged in the roller mounting cavity 51. The roller mounting cavity 51 has a downward opening and a lateral opening. The cleaning roller 42 can be in contact with the ground through the downward opening, and the lateral opening facilitates the user to disassemble and assemble the cleaning roller 42.

[0184] The dirt-removing mechanism 44 and the liquid-supplying mechanism 45 are arranged on the mop-washing support 43. Specifically, the dirt-removing 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-removing mechanism 44 comprises a scraping strip 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 scraping strip assembly 53 can scrape the dirt and stains on the cleaning roller 42. The scraping strip assembly 53 comprises a scraping strip 441.

[0185] The liquid-supplying mechanism 45 is arranged above the mop-washing support 43. The liquid-supplying mechanism 45 has a water distributor 452 and a plurality of liquid-supplying openings 453. The water distributor 452 can uniformly distribute the cleaning liquid to the plurality of liquid-supplying openings 453, and then the cleaning liquid is uniformly supplied to the cleaning roller 42 through the liquid-supplying openings 453. The liquid-supplying mechanism 45 further comprises a first flexible pipeline 443, which is connected with the clean water tank 5 and a liquid-supplying water inlet 451.

[0186] Correspondingly, the cavity wall of the roller mounting cavity 51 has a corresponding opening, so that the plurality of liquid-supplying openings 453 of the liquid-supplying mechanism 45 arranged above the mop-washing support 43 can supply the cleaning liquid to the cleaning roller 42 in the roller mounting cavity 51 through the opening. Of course, the liquid-supplying mechanism 45 can also be directly arranged in the roller mounting cavity 51. The liquid-supplying mechanism 45 is located above the cleaning roller 42 or directly contacts the cleaning roller 42. The liquid-supplying mechanism 45 can directly supply the cleaning liquid to the cleaning roller 42 through the plurality of liquid-supplying openings.

[0187] Figure 24 The arrow Y direction represents the width direction of the mop-washing assembly 4. It can also be considered as the advancing direction of the cleaning robot when the cleaning robot is performing a cleaning task, or the moving direction of the mop-washing assembly. Figure 24 The arrow Z direction represents the height direction of the mop-washing assembly 4. Figure 24The direction of arrow b indicates the rotation direction of the cleaning roller 42 when cleaning the floor. In one embodiment provided in this application, along the direction of arrow Y in Figure 34, the liquid supply mechanism 45 is located in front of the decontamination mechanism 44; along... Figure 24 The liquid supply mechanism 45 is located above the decontamination mechanism 44, in the direction of the center arrow Z.

[0188] With the cleaning roller 42 along Figure 24 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.

[0189] 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.

[0190] Further, see Figure 24 The scraper assembly 53 on the cleaning mechanism 44 is located above the centerline J of the mopping assembly 4, and the straight line F of the contact angle between the end of the scraper assembly 53 and the cleaning roller 42 roughly passes through the center of the cleaning roller 42. This can be understood as the extension direction of the front end of the scraper assembly 53 being roughly in a straight line with the center of the cleaning roller 42, and the tangent at the contact point between the scraper assembly 53 and the cleaning roller 42 being roughly perpendicular. This ensures the best scraping effect of the scraper assembly 53 on the cleaning roller 42, with less force applied by the scraper assembly 53 and less wear on the scraper assembly 53.

[0191] See Figure 24 In one embodiment provided in this application, the liquid supply mechanism 45 is located above the cleaning roller 42 along the height direction of the mopping assembly 4. Along the width direction of the mopping assembly 4, the stain removal mechanism 44 is located behind the contact point between the cleaning roller 42 and the surface to be cleaned. 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 stain removal mechanism 44, finally returning to the liquid supply mechanism 45, which then delivers cleaning liquid to the surface of the cleaning roller 42 again.

[0192] Furthermore, along the first centerline P in the vertical direction of the cleaning roller 42, the liquid supply mechanism 45 is located directly above the first centerline P, or, with the rotation center of the cleaning roller 42 as the vertex of the angle, the angle formed between the location of the liquid supply mechanism 45 and the first centerline P ranges from -30 degrees to +30 degrees.

[0193] Furthermore, along the second center line J in the transverse direction of the cleaning roller 42, the cleaning mechanism 44 is located above the second center line J, or the cleaning mechanism 44 is located at the same level as the second center line J.

[0194] See Figure 9. Figure 24 to Figure 25a In one embodiment provided in this application, the mopping bracket 43 includes a mounting shell 4211 and a mounting cover 4212. The mounting shell 4211 has an inner cavity, in which a cleaning mechanism 44 and a liquid supply mechanism 45 are disposed. The inner cavity has an opening communicating with the roller mounting cavity 51, and the cleaning mechanism 44 and the liquid supply mechanism 45 are respectively disposed at the opening positions. The mounting cover 4212 can be fitted and connected to the upper part of the mounting shell 4211, thereby closing the inner cavity. In a specific embodiment, the mopping bracket 43 is generally L-shaped, along... Figure 24 In the direction of the middle arrow Y, a square accommodating cavity is provided on the left side of the cleaning roller 42, and the dirt removal mechanism 44 is located in the accommodating cavity.

[0195] like Figure 25b As shown, the bottom front side of the dirt collection box 442 may have an angle as shown in the figure. This angled design can reduce the resistance of the robot when traveling on special surfaces, such as carpets with long pile. When the cleaning robot travels on the carpet, the carpet pile can enter the bottom of the robot along the angle.

[0196] Furthermore, such as Figure 25c As shown, the bottom front end of the robot body 1 can also have an angled angle 1005 as shown in the figure. Similarly, when traveling on special surfaces, such as carpets with long pile, this angled design can reduce the resistance of the robot body. When the cleaning robot travels on the carpet, the carpet pile can enter the bottom of the robot body along the angled angle.

[0197] Of course, the angle between the sludge collection box 442 and the bottom of the machine body can be an arc-shaped angle or a straight angle as shown in the figure; this embodiment does not specifically limit this. The angle between the sludge collection box 442 and the bottom of the machine body is an angled surface formed at the bottom front of the sludge collection box 442. The angle between the angled surface on the sludge collection box 442 and the angled surface on the machine body and the horizontal plane (such as the ground) can be the same or different. The angle between this angled surface and the horizontal plane (such as the ground) can be an angle between 10 and 60 degrees.

[0198] The liquid supply opening of the liquid supply mechanism 45 is directly an outlet hole facing the cleaning roller. Generally, the liquid discharged from the outlet hole is under pressure, and after the liquid under pressure is discharged from the outlet hole, it will spread and some of it will be sprayed onto the cleaning roller, and some of it will splash 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 to the ground along the cavity wall. This can result in insufficient amount of cleaning liquid on the cleaning roller 42, water droplets on the ground, and the user mistakenly thinking that there is a water leakage, etc. If the amount of cleaning liquid on the cleaning roller 42 is insufficient, the roller cannot be fully soaked, which not only fails to achieve the desired effect of mopping and washing, but also fails to achieve the desired effect of self-cleaning. If the amount of liquid supplied by the liquid supply mechanism 45 is increased to solve this problem, it can cause water to accumulate on the ground because too much cleaning liquid is supplied, which can directly affect the cleaning effect of the cleaning robot.

[0199] Therefore, the embodiment of the present application 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 is adapted to the arc surface of the inner cavity. As shown in Figure 25a and 25b , the arc-shaped surface of the liquid supply mechanism 45 facing the cleaning roller is consistent with the arc of the inner cavity, and both are consistent or similar to the arc of the cleaning roller 42. In addition, as shown in Figure 28 , the liquid supply opening 453 has a circular arc water guide surface 4531 for guiding the cleaning liquid to the cleaning roller 42.

[0200] As shown in Figure 8 , the liquid supply opening 453 is in the shape of a circular ring. In this way, the liquid sprayed by the liquid supply mechanism 45 can flow along the arc-shaped surface, pass through the circular ring-shaped liquid supply opening 453, and supply liquid to the cleaning roller 42, and the liquid can smoothly drip down, and the liquid supply efficiency is high. The liquid supply opening 453 is in the shape of a circular ring, and the center of the circular ring is an outlet hole 4530. The outlet hole 4530 is in communication with the branch for supplying liquid in the liquid supply mechanism 45. As shown in Figure 28 , the inner ring wall of the circular ring-shaped liquid supply opening is an arc surface.

[0201] In the direction of liquid outflow, the inner ring wall of the liquid supply opening 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 to flow to the cleaning roller 42. More specifically, as shown in Figure 28The local enlarged view in the figure shows that the liquid supply port 453 is annular, and the center of the annular ring is the liquid outlet hole 4530. The liquid outlet hole 4530 is in communication with one of the multiple branches. The inner ring wall of the liquid supply port 453 is a two-stage stepped structure with gradually increasing opening size, and the inner wall of each stage is an arc surface. The cleaning liquid discharged from the liquid outlet hole 4530 falls on the arc surface and flows along the arc surface to the cleaning roller 42, so that the cleaning liquid discharged from the liquid outlet hole 4530 can be basically sprayed onto the cleaning roller 42 without splashing onto the cavity wall outside the annular ring. The cleaning robot can also 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 good dryness and humidity, and the mopping effect is good. Because the cleaning roller 42 has good dryness and humidity, the self-cleaning effect of the cleaning roller 42 by the dirt removal mechanism 44 is also good, which positively promotes the mopping effect.

[0202] In order to make the cleaning robot have better cleaning effect, the liquid supply port 453 is improved in the scheme provided by the embodiment, 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 amount of cleaning liquid provided by the liquid supply mechanism 45 can basically flow to the cleaning roller 42 without splashing 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 good dryness and humidity, and the mopping effect is good. Because the cleaning roller 42 has good dryness and humidity, the self-cleaning effect of the cleaning roller 42 by the dirt removal mechanism 44 is also good, which positively promotes the mopping effect.

[0203] Further, as shown in Figure 28 The mopping 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 mopping 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 mopping structure 80 can be located on the front side of the liquid supply port.

[0204] The included angle β between the line connecting the mopping structure 80 and the cross-sectional center 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 mopping structure 80 and the cleaning roller 42, or there can be no gap, but the mopping structure cannot apply force to the cleaning roller 42. The function of the mopping structure 80 is to block the liquid floating on the surface of the cleaning roller that is not absorbed by the cleaning roller from flowing to the ground. Because the cleaning roller rotates when it works, if the cleaning liquid is not 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.

[0205] Since it takes some 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, the speed of the cleaning roller 42 cannot be too high to ensure that the cleaning liquid can spread more evenly before the cleaning roller 42 mops the floor. In addition, the scraping efficiency of the scraping strip assembly 53 on the cleaning roller 42 is lower when the speed of the cleaning roller 42 is too high. In the technical solution provided in the present application, the speed of the cleaning roller 42 during mopping is in the range of [100 rmp / min-300 rmp / min], specifically 200 rmp / min.

[0206] In the technical solution provided in the present application, the rotating direction of the cleaning roller 42 is opposite to the rotating direction of the traveling wheels of the cleaning robot, which can improve the cleaning effect of the cleaning roller 42.

[0207] Referring to FIGS. 9, 24 to Figure 25a In one embodiment provided in the present application, the stain removal mechanism 44 further comprises a stain collection assembly 54, which is arranged below the scraping strip assembly 53. When the scraping strip assembly 53 scrapes the sewage on the cleaning roller 42, the stain collection assembly 54 can collect the sewage and stains to avoid secondary pollution.

[0208] Further, the stain collection assembly 54 comprises a stain collection box 442 and a stain collection pipe 542. The stain collection box 442 is located below the scraping strip assembly 53, and the sewage and stains scraped by the scraping strip assembly 53 can directly fall into the stain collection box 442, which collects the sewage and stains. In the direction in which the cleaning robot travels, the front side and the rear side are distinguished. The stain collection box 442 can be located at the front side of the cleaning roller 42, which can reduce the cleaning blind area. Most cleaning robots are circular, and from the perspective of the layout of various components of the whole machine, in order to make the cleaning roller in the mopping assembly longer, as shown in FIG. 26, the mopping assembly can be arranged at a position with a distance G from the center O of the machine body. The left graph (E) in FIG. 26 shows the case where the stain collection box 442 is located at the front side of the cleaning roller 42, and the graph (F) shows the case where the stain collection box 442 is located at the rear side of the cleaning roller 42. As can be seen from the graph, when the mopping assembly 4 as a whole extends out of the machine body and works in the extended state (the extension length of the mopping assembly in the left and right graphs is L), the distance D1 from the center O to the rear edge of the cleaning roller 42 in the mopping assembly 4 shown in the graph (E) is greater than the distance D2 from the center O to the rear edge of the cleaning roller 42 shown in the graph (F). Therefore, the greater the size from the center O, the longer the front edge and the rear edge of the cleaning roller 42 extend out of the machine body 1, i.e., the length of the cleaning roller 42 exposed outside the machine body 1 is longer. Therefore, the area S1 of the cleaning roller 42 exposed outside the machine body 1 shown in the graph (E) is greater than the area S2 of the cleaning roller 42 exposed outside the machine body 1 shown in the graph (F).

[0209] The larger the area of ​​the cleaning roller 42 exposed above the body 1, the larger its cleaning coverage area, especially when the cleaning robot is turning. The structure shown in the left figure (E), where the sludge collection box is located at the front of the cleaning roller 42, allows the mopping assembly 4 to operate with its extended position, resulting in a larger cleaning coverage area and a smaller cleaning blind spot compared to the structure shown in the right figure (F), where the sludge collection box is located at the rear of the cleaning roller. Furthermore, as... Figure 26b As shown in the diagram, in the corner area, when the cleaning robot's body maintains a safe distance from the corner or obstacle edge, in the left diagram (E'), the sludge collection box 442 is located in front of the cleaning roller 42, and the distance between the cleaning roller 42 and the wall or obstacle edge is D3. In the right diagram (F'), the sludge collection box 442 is located behind the cleaning roller 42, and the distance between the cleaning roller 42 and the wall or obstacle is D4. It is clear that D3 is less than D4, meaning that in the left diagram (E'), the cleaning roller is closer to the wall or obstacle. This indicates that the rear-positioned cleaning roller 42 provides a larger cleaning coverage area and a smaller blind spot.

[0210] One end of the sludge collection pipe 542 is located in the sludge collection box 442, and the other end is connected to the wastewater tank 9 of the cleaning robot via a pipe, thereby drawing the wastewater in the sludge collection box 442 into the wastewater tank 9. See also Figure 25a As shown in the diagram, the arrows indicate the flow path of the wastewater scraped down by the scraper assembly 53 as it enters the collection box 442 and is then drawn away by the collection pipe 542. To ensure timely pumping of wastewater from the collection box 442 to the wastewater tank 9, a water pump and piping can be installed on the collection pipe 542. Alternatively, an air pump and piping can be connected to the wastewater tank 9. The air pump can provide negative pressure to the wastewater tank 9, allowing the wastewater in the collection box 442 to be pumped into the wastewater tank 9 through the piping. See also... Figure 9a and Figure 9b In one specific embodiment, the decontamination mechanism 44 further includes a negative pressure pump and a valve body 545. The negative pressure pump is connected to the sewage tank 9 via a pipe or directly, and can draw negative pressure into the sewage tank 9 when it is working. The valve body 545 is located on the sewage collection pipe 542 and can be used to control the opening and closing of the sewage collection pipe 542. First, the negative pressure pump draws negative pressure into the sewage tank 9, and then the valve body 545 opens, allowing the negative pressure in the sewage tank 9 to draw sewage from the sewage collection box 442 into the sewage tank 9 through the second flexible pipe 456.

[0211] See Figure 9a and Figure 9bIn 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.

[0212] Currently, the rotation direction of the cleaning roller 42 of some cleaning equipment is the same as that of the driving wheel of the equipment, which can help the equipment to move and reduce energy consumption. However, the cooperative working process of the cleaning roller 42, the scraping strip assembly 53, and the liquid supply mechanism 45 becomes: the cleaning roller 42 is supplied with water by the liquid supply mechanism 45—> the liquid on the cleaning roller 42 is scraped off by the scraping strip assembly 53—> the cleaning roller 42 cleans the ground. There are also some cleaning equipment whose rotation direction of the cleaning roller 42 is different from that of the driving wheel of the equipment, but the dirt collection box 442 and the scraping strip are arranged at the rear of the roller. At this time, the cooperative working process of the cleaning roller 42, the scraping strip assembly 53, and the liquid supply mechanism 45 also becomes: the cleaning roller 42 is supplied with water by the liquid supply mechanism 45—> the liquid on the cleaning roller 42 is scraped off by the scraping strip assembly 53—> the cleaning roller 42 cleans the ground. It can be seen that, in the current cleaning equipment, the water just supplied is immediately scraped off, and the cleaning roller 42 cleans the ground again, which is not reasonable. The scraped-off liquid contains the just-supplied clean water, and this part of clean water is recycled without participating in the cleaning.

[0213] At the same time, since the cleaning robot mop assembly cleaning roller 42 does not have suction, in order to improve the cleaning effect, when the rotation direction of the cleaning roller 42 is opposite to that of the driving wheel of the equipment, the roller can push the dirt forward, and the dirt that is not cleaned by the cleaning roller 42 the first time has a chance to be picked up by the cleaning roller 42 again, so that multiple cleaning can be achieved.

[0214] The existing cleaning robot cleaning roller 42 first performs a water supply step, that is, the liquid supply mechanism 45 supplies cleaning liquid to the surface of the cleaning roller 42, then the dirt on the surface of the cleaning roller 42 is scraped off by the dirt removal mechanism 44, and finally the cleaning roller 42 cleans the ground. This execution step mainly has three problems.

[0215] First, the liquid supply mechanism 45 immediately scrapes off the mixture of clean water and dirty water after water supply, and the stains on the surface of the cleaning roller 42 may not be completely dissolved in the clean water, so most of the scraped-off is clean water, not dirty water, resulting in incomplete self-cleaning.

[0216] Second, after the dirt removal mechanism 44 scrapes off the dirty water on the surface of the cleaning roller 42, due to the action of the scraping strip, the water content of the roller before and after scraping is reduced by 90%, the water content of the cleaning roller 42 is reduced, and the cleaning force of the cleaning roller 42 on the ground is also reduced.

[0217] Third, after the cleaning robot scraping strip scrapes water, the relatively dry roller needs to rotate 180° to enter the water supply position, and the dirt adhered to the excessively dry roller is easy to be thrown out during the long rotation process, and finally falls into the ground, resulting in poor cleaning effect.

[0218] 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 42 is reversed (i.e., opposite to the rotation direction of the driving wheel), the scraping strip assembly 53 is located at the front side of the cleaning roller 42, and the liquid supply mechanism 45 is located above the cleaning roller 42. In this way, the working process of the cleaning roller 42, the scraping strip assembly 53 and the liquid supply mechanism 45 is: the cleaning roller 42 is watered by the liquid supply mechanism 45 -> the cleaning roller cleans the ground -> the liquid on the cleaning roller 42 is scraped off by the scraping strip assembly 53. 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 water 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 then 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 42, the liquid supply mechanism 45 supplies cleaning liquid to a region of the cleaning roller 42, the region soaked with the cleaning liquid cleans the surface to be cleaned, and then the dirt removal mechanism 44 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 45 again. It can be understood that, when the cleaning roller 42 cleans the ground, it first performs a water supply step. The surface of the cleaning roller 42 is fully wetted, and the water content of the cleaning roller 42 is also more. Then, the cleaning roller 42 cleans the ground again. At this time, the cleaning force of the cleaning roller 42 on the ground is also stronger, and more dirt can be dissolved. Finally, the dirt removal mechanism 44 scrapes off the sewage and dirt on the cleaning roller 42, and then the liquid supply mechanism 45 supplies liquid again. The process is repeated in turn. Because the liquid supply efficiency of the liquid supply mechanism 45 and the dirt removal efficiency of the dirt removal mechanism 44 are higher in the whole process, the cleaning liquid used by the cleaning roller 42 in the self-cleaning process is less, and the amount of sewage generated is also less. The cleaning endurance time of the cleaning robot is significantly improved.

[0219] In order to avoid the side leakage of the sewage in the process of water scraping by 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 25a From the setting direction of the scraping strip assembly 53, the setting direction of the dirt collection box 442 is substantially perpendicular to the setting direction of the scraping strip assembly 53. In this way, the sewage and dirt scraped off by the scraping strip assembly 53 can directly fall into the dirt collection box 442 and is not easy to leak out. In addition, in order to ensure that the sewage scraped off by the scraping strip assembly 53 can enter the dirt collection box 442, the end of the scraping strip assembly 53 is located in the dirt collection box 442. In this way, the sewage scraped off by the scraping strip assembly 53 can directly enter the dirt collection box 442 along the end of the scraping strip assembly 53.

[0220] When the scraper assembly 53 scrapes the wastewater off the cleaning roller 42, it can easily scrape away dirt adhering to the cleaning roller 42, which may also be scraped into the dirt collection box 442. This dirt can then clog the dirt collection pipe 542 when it pumps out wastewater. To avoid this, see [link to relevant documentation]. Figure 27 and Figure 28 In one embodiment provided in this application, the cleaning mechanism 44 further includes a filter assembly 543, which is disposed in the sludge collection box 442. After the sewage scraped off by the scraper assembly 53 enters the sludge collection box 442, it is first filtered by the filter assembly 543 and then enters the bottom of the sludge collection box 442. Then it can be collected into the sewage tank through the sludge collection pipe 542.

[0221] To facilitate cleaning of the sludge collection box 442, it can be removed from the mopping assembly 4 for washing, and the filter assembly 543 within the sludge collection box 442 can also be removed for cleaning. During disassembly, first, the mopping assembly 4 is switched to the extended position, then the cleaning roller 42 is removed from the side opening of the mopping bracket 43, and finally, the sludge collection box 442 can be removed from the roller mounting cavity 51. See also... Figure 9b As shown, the sludge collection box 442 has a V-shaped bottom surface, that is, along the axis of the cleaning roller, the bottom surface of the sludge collection box 442 is high at both ends and low in the middle. The low point of the V-shaped bottom surface matches the opening of the sludge collection pipe 542 to communicate with the sludge collection pipe 542.

[0222] To prevent bending, springs (not shown in Figure 9) may be provided on the outer sides of the second flexible pipe 456 and the first flexible pipe 443, so that bending will not occur during the overall movement (lifting and / or extension) of the mopping assembly, thus affecting the drainage and liquid supply.

[0223] See Figure 28 and 29a In one embodiment provided in this application, the scraper assembly 53 includes a scraper 531 and a water guide plate 532. The end of the scraper 531 is a scraper strip 441. The scraper and scraper strip can be made of the same or different materials; this embodiment does not limit this. The water guide plate 532 is connected below the scraper 531, and the distance the end of the scraper 531 extends outward is greater than the end of the water guide plate 532. The scraper strip 441 at the end of the scraper 531 contacts the cleaning roller 42. When the cleaning roller 42 rotates, the scraper 531 can scrape off the wastewater on the cleaning roller 42, which is then guided by the water guide plate 532 into the sludge collection box 442. In a specific embodiment, such as... Figure 25a As shown, the cross-section of the water guide plate 532 is wedge-shaped. This structure allows the water guide plate 532 to form a larger arc guiding channel on its surface after it is connected to the scraper plate 531.

[0224] Furthermore, such as Figure 29a, the first plate segment 5311 and the second plate segment 5312 are arranged at an obtuse angle, and the length of the second plate segment 5312 is greater than the length of the first plate segment 5311. The first plate segment 5311 is an end that plays a major role in water scraping, and the second plate segment 5312 is used to be connected with the water guide plate 532. Specifically, the water guide plate 532 is connected below 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, and the trailing end of the second plate segment 5312 extends into the dirt collecting box 442.

[0225] 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, and the arrangement direction of the water guide grooves 5321 is the same as the extension direction of the water guide plate 532. In order to ensure that the water guide grooves 5321 can guide the sewage into the dirt collecting box 442, referring to Figure 8 , the number of liquid supply openings 453 on the liquid supply mechanism 45 is less than the number of 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. Referring to Figure 29a , 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), which facilitates water guiding. The trailing end position 53210 (i.e. the tail) of the water guide groove 5321 is closed, which facilitates water draining. The tail of the water guide groove 5321 is located at the opening of the dirt collecting box. Referring to Figure 29b , the lower surface of the water guide plate 532 is an upwardly arched arc surface, which is a water guide surface 5322. Since the scraper 531 itself is downwardly bent, water walks up the upwardly arched arc surface of the water guide groove 5321 by the centrifugal force of the roller to overcome its own gravity. The extension line of the trailing end of the scraper assembly 53 passes through the center of the roller, and the dirt scraping effect is the best, that is, the scraper assembly 53 has a bent portion, so that the water guide groove 5321 also has an upwardly arched arc surface. The water guide surface 5322 has two arc surfaces; from the water guide to the water draining direction of the water guide surface 5322, the curvature of the arc surface decreases. As shown in the figure, P1 segment and P2 segment, wherein P1 segment is a segment near the water guide side of the cleaning roller 42, and P2 segment is a segment on the water draining side. As can be seen from the figure, the curvature of the arc line of the P1 segment is greater than that of the P2 segment.

[0226] The water guide side of the scraper assembly 53 is provided with a plurality of water guide grooves 5321, and the water guide grooves 5321 extend at least to the collection opening of the dirt collecting assembly (dirt collecting box 442). The water guide side (lower surface) refers to the side of the scraper assembly 53 that is close to the rotating direction of the cleaning roller 42, and the roller rotates from bottom to top to contact the scraper assembly 53; in the absence of suction, the prior art is that the roller contacts the scraper assembly 53 from top to bottom, and water flows down the scraper assembly 53 without the need for a water guide groove.

[0227] like Figure 28 As shown, the lowest point 53220 of segment P2 is lower than the highest point 4521 of the sludge collection box 442. (As...) Figure 8 As shown in Figure 34, the length of the water guide plate 532 is less than the actual length of the sludge collection box 442 for receiving water. As shown in Figure 34, the vertical distance Q between the opening of the sludge collection box 442 near the cleaning roller 42 and the scraper assembly 53 is 3-5 mm.

[0228] In one embodiment provided in this application, the water guide plate 532 and the scraper 531 can be connected by fasteners 533, or the water guide plate 532 and the scraper 531 can be an integral structure. When the water guide plate 532 and the scraper 531 are separate structures, the water guide plate 532 and the scraper 531 are made of different materials. For example, the scraper 531 is made of metal, which has good rigidity and better wear resistance; while the water guide plate 532 is made of plastic, which is easy to process. Complex water guide grooves 5321 can be processed on its surface by injection molding or stamping, which is less costly.

[0229] The surface of the cleaning roller 42 has a fuzzy texture; the material and / or length of the fuzz may vary depending on the model. In the following situations, if the position of the scraper assembly 53 remains unchanged, the distance between the scraper assembly 53 and the cleaning roller 42 may be too great, causing the scraper assembly 53 to malfunction; or the distance may be too small, easily causing damage (such as damage to the scraper assembly); or the roller's rotational resistance may be too great, easily causing malfunction of the roller motor:

[0230] Replace with a different model of cleaning roller 42; or

[0231] The cleaning roller 42 may shift position due to various factors during long-term operation; or

[0232] Cleaning roller 42 experiences lint wear and tear from long-term operation, etc.

[0233] join Figure 24 and Figure 25a As shown, when the cleaning roller 42 rotates in the direction of arrow b, the scraper assembly 53 will be subjected to a force in the direction of arrow T. If this force is too large due to excessive distance, the scraper assembly 53 may be damaged. To avoid problems caused by the above situations, please refer to... Figure 29a and 30In an embodiment provided in the present application, the cleaning robot further comprises an adaptive adjustment device. The adaptive adjustment device comprises a swing assembly. The squeegee assembly 53 is connected to the mop support 43 through the swing assembly, and the squeegee assembly 53 can be adaptively adjusted in position through the swing assembly to have a relatively suitable positional relationship with the cleaning roller 42, so as to continuously act on the cleaning roller 42 to scrape dirt thereon. As shown in the drawings, the swing assembly 500 comprises a swing seat 534, the swing seat 534 is provided with a connecting hole 5342, and the swing seat 534 is connected to the mop support 43 through a swing shaft 535. Further, the swing 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 to the swing 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 squeegee assembly 53 and the cleaning roller 42 an elastic force, when the squeegee plate 531 is subjected to excessive force, the squeegee assembly 53 rotates around the swing shaft 535 by a small amplitude, thereby increasing the distance between the end of the squeegee plate 531 and the cleaning roller 42, and then the contact force between the squeegee plate 531 and the cleaning roller 42 becomes smaller. For example, when the squeegee plate 531 is subjected to excessive force, the squeegee assembly 53 will rotate along the swing shaft 535, the end of the squeegee plate 531 will move upward along the arrow T direction, and then the contact force between the squeegee plate 531 and the cleaning roller 42 will become smaller, so that the adaptive adjustment of the squeegee assembly 53 can be realized, and damage due to excessive force can be avoided. For another example, the cleaning roller 42 has some positional deviation due to long-term work, and the swing assembly will adaptively act to keep the squeegee assembly 53 and the cleaning roller 42 in a suitable positional relationship, and have a suitable (not too large or too small) interaction force therebetween, so that the squeegee assembly can continuously act on the cleaning roller to scrape dirt thereon. Figure 24

[0234] It should be noted here that the swing assembly 500 can be an integral structure with the squeegee assembly 53, or the swing assembly and the squeegee assembly can be two components connected together through connection.

[0235] Further, the surface of the cleaning roller is in contact with the end of the squeegee assembly from one end of the cleaning roller to the other end along the axial direction of the cleaning roller. In addition, referring to Figure 29c ​As shown, the adaptive adjustment device in the embodiment further comprises an elastic mechanism 300. The mop-washing 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-washing assembly 4. The elastic mechanism 300 can be a spring or other elastic component. The scraper 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 scraper assembly 53 is realized by the combined action of the elastic mechanism 300 and the swing assembly 500. The mop-washing assembly 4 can be adaptively adjusted in relative position with the body 1 through the elastic mechanism 300, and the scraper assembly is in the mop-washing assembly 4 and changes position together with the mop-washing assembly. Inside the mop-washing assembly 4, the scraper 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.

[0236] It can be seen that by setting the adaptive adjustment device, the scraper assembly can float relative to the cleaning roller to keep the scraper always pressed against the roller. When the mop-washing assembly moves relative to the body, the elastic mechanism moves with the mop-washing assembly, or the mop-washing assembly moves relative to the body and the elastic mechanism.

[0237] The above adaptive adjustment assembly can also be referred to as a biasing assembly. That is, the dirt-removing mechanism further comprises a biasing assembly that provides a biasing force, and under the action of the biasing force, the scraper assembly moves in the direction of pressing against the cleaning roller. Under the action of the biasing force provided by the biasing assembly, the scraper assembly is inserted into the cleaning roller by a depth of 1-2 mm. The biasing assembly comprises a swing seat and an elastic member, and the scraper assembly is rotatably mounted on the mop-washing assembly or the body through the swing seat.

[0238] The present application further supplements a scheme of using two motors to respectively realize the lifting and telescopic functions of the mop-washing assembly. That is, the driving device 10 comprises two power sources. For example, Figure 31As shown, the driving device 10 comprises a first power source and a second power source. The first power source can comprise a first motor 60. The second power source comprises a third motor 61. In specific implementation, the first motor 60 and the third motor 61 can be connected with a speed reducer at the output end to output power externally through the speed reducer. The first power source is used to drive the extension and retraction of the mop-washing assembly, and the corresponding first action execution mechanism 103 is the same as the structure mentioned in the above embodiment, i.e., the first action execution mechanism 103 comprises a first gear 13 and a first rack 14. The first action execution mechanism 103 can comprise a sliding plate which is slidably connected to a slide rail 15. At least one slide rail 15 can be arranged on the cavity shell 46. In addition, the first photoelectric switch 281, the first trigger structure on the sliding 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, and the specific content can be referred to the above, which will not be described herein.

[0239] The second power source is used to drive the lifting of the mop-washing assembly 4, and the corresponding second action execution mechanism, as shown, can comprise a second gear 62 and a second rack 63. The second rack 63 is arranged in a different manner from the first rack 14. As shown in Figure 31 , the first rack 14 is arranged horizontally, and the second rack 63 is arranged vertically. Figure 31

[0240] Specific implementation process is as follows: when the mop-washing assembly 4 is in an initial state (i.e., a first limit position of the retracted state, the cleaning roller is in contact with the ground), the first motor 60 outputs power to drive the first gear 13 to rotate, the first rack 14 is translated to the side of the machine body under the drive of the first gear 13, and the first rack 14 pushes the mop-washing assembly outward through the connecting structure on the slide rail 15 to make the mop-washing assembly extend out of the machine body by a part (e.g., as shown in Figure 32 (B)). If the mop-washing assembly 4 extends to a second limit position of the extended state, the first motor 60 stops working. When the mop-washing assembly 4 needs to be retracted, the first motor 60 outputs reverse power to drive the first gear 13 to rotate reversely, the first rack 14 is translated to the inside of the machine body under the drive of the first gear 13, and the first rack 14 retracts the mop-washing assembly 4 inward. After the mop-washing assembly 4 is retracted to the initial state, the first motor 60 stops working. When the mop-washing assembly 4 needs to be lifted, the second motor 61 outputs power to drive the second gear 62 to rotate, and the second rack 63 lifts the mop-washing assembly 4 upward along the axial direction of the connecting column 241 (as shown in Figure 16 Figure 32 ​​(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 adding a number of light-shielding pieces and counting photo-couplers 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.

[0241] 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.

[0242] 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. 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 shortened.

[0243] Here, the present application further supplements a scheme of using two motors to respectively realize the lifting and extension functions of the mop assembly 4. That is, the driving device 10 includes two power sources. Unlike the structure shown in the above Figure 31 The difference is that the second power source and the corresponding second action execution mechanism winch structure are realized. See Figure 33The 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.

[0244] 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.

[0245] The embodiments of the present application provide a scheme for realizing the extension and retraction of the mop-washing assembly by double power sources (i.e., one power source realizes extension and the other realizes retraction). No matter which implementation scheme is adopted, there is a problem of how to control the power sources to make the mop-washing assembly 4 extend and retract at the right time. For example, the mop-washing assembly 4 extends and retracts at the same time, or retracts and lifts at the same time, or retracts first and then lifts, or lifts first and then retracts, or lowers first and then extends, etc. In a specific scenario, for example, the mop-washing assembly 4 of the cleaning robot is in the extended 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 4 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 entrance of the kitchen. The cleaning robot needs to overcome the obstacle to drive into the kitchen. At this time, in order to facilitate obstacle crossing, the mop-washing assembly needs to be lifted up. Is the mop-washing assembly directly lifted up in the extended state, or retracted to the innermost side (i.e., the first limit position) and then lifted up? The cleaning robot needs to make a judgment by sensing the environmental information. If the current environment is open and there is no obstacle in height, the mop-washing assembly 4 in the extended state can also be directly lifted up. However, if the current environment is relatively loaded and the detection information of the cleaning robot is limited, the mop-washing assembly 4 is directly lifted up in the extended state, which may cause the mop-washing assembly 4 to collide with an object during the lifting process, and if the lifting action does not stop, the mop-washing assembly may be damaged. That is, lifting the outwardly protruding cleaning roller 42 is a big risk to the main machine, so the roller cannot participate in the cleaning action at this time. Because the length of the projection of the main machine, the cleaning robot needs to intelligently control the action of the mop-washing assembly 4 according to the real-time detected environmental information at all times, which inevitably increases the calculation amount of the cleaning robot, consumes power, and affects the execution of 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 control, the embodiments of the present application provide a scheme for retracting the mop-washing assembly 4 to a preset position (such as the first limit position in the retracted state) and then lifting it 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 main board 2 in the embodiments of the present application. As described above, the mop-washing assembly control scheme includes:

[0246] S1, when it is determined that the mop-washing assembly 4 needs to be lifted up, acquiring the current position of the mop-washing assembly 4;

[0247] S2, if the mop-washing assembly 4 is in the first limit position, controlling the driving device to drive the mop-washing assembly 4 to lift up; if the mop-washing assembly 4 is in the extended state, controlling the driving device 10 to drive the mop-washing assembly 4 to retract to the first limit position first and then lift up.

[0248] When the mop-washing assembly 4 is in the extended state, the mop-washing assembly 4 can be located at any position between the first limit position and the second limit position, or at the second limit position.

[0249] After the above scheme is adopted, the cleaning robot does not need to detect the environmental information based on the sensing system, and does not need to perform complex calculation to determine whether the current environment has enough space to lift the mop-washing assembly. The entire process does not need the participation of the sensing system, and the lifting safety of the mop-washing assembly can be ensured, which is simple and easy to implement.

[0250] When the mop-washing assembly 4 on the cleaning robot is extended for skirting cleaning, if a protruding obstacle such as a drain groove or a door sill appears beside the cleaning robot, the mop-washing assembly 4 cannot avoid the obstacle by retracting, and the mop-washing assembly 4 is easily damaged after colliding with the obstacle. Therefore, it is necessary to detect the obstacle on the extended side of the cleaning robot when the mop-washing assembly 4 on the cleaning robot is extended.

[0251] In an embodiment provided in the present application, the body of the cleaning robot is further provided with a first obstacle avoidance module, the first obstacle avoidance module is located on the body on the side where the mop-washing assembly 4 extends outward, and the first obstacle avoidance module is located in front of the mop-washing assembly 4. The monitoring range of the first obstacle avoidance module is a vertical area beside the body. The side of the body can be considered as the extended side of the mop-washing assembly 4 relative to the body. Taking the case that the mop-washing assembly 4 extends to the right side of the body as an example. The detection range of the first obstacle avoidance module is a vertical area on the right side of the body. When there is an obstacle on the right side of the body, the first obstacle avoidance module can detect the height of the obstacle. After confirming the height of the obstacle, the mop-washing assembly 4 can perform corresponding actions to avoid the obstacle.

[0252] For example, the cleaning robot can extend a roller (cleaning roller 42) to perform cleaning work. If the surface to be cleaned is a step parallel to the direction in which the cleaning robot moves, and there is a certain height difference between the step surface and the area where the body of the cleaning robot projects, at this time, the monitoring data of the first obstacle avoidance module can be introduced. When the height difference is within a first threshold range, for example, less than the maximum lifting height of the mop-washing assembly, at this time, the control system controls the second power source to lift the extended roller, so as to realize the cleaning of the step. If there is no intervention of the first obstacle avoidance module or the roller cannot be lifted alone, at this time, the body of the cleaning robot will be inclined on the step surface. It can be seen that the scheme of the embodiment expands the cleaning area of the cleaning robot, and can better clean the surfaces with a certain height difference such as steps and door sills.

[0253] For example, the cleaning robot cleans in the manner of extending the roller. When there is a suspended obstacle of a certain height, the cleaning robot can walk parallel to the suspended obstacle. The first obstacle avoidance module monitors the suspended height. If the distance from the suspended height to the ground is greater than the maximum lifting height of the mop-washing assembly, the cleaning robot does not need to worry about the collision of the roller with the obstacle. If the distance from the suspended height to the ground is not greater than the maximum lifting height of the mop-washing assembly, the cleaning robot needs to calculate the height that the mop-washing assembly can be lifted according to the suspended height when lifting the roller. Further, the height that the mop-washing assembly of the roller assembly can be lifted is, for example, the first height, and the second power source is controlled to lift the roller to the first height, and the bottom surface of the suspended obstacle can also be cleaned. Thus, the cleaning ability of the cleaning robot is expanded.

[0254] The first power source and the second power source can work independently of each other. That is, when the mop-washing assembly 4 is in the extended state, the second power source can still drive the mop-washing assembly 4 to lift and lower, so as to realize the lifting and lowering obstacle avoidance.

[0255] In addition, when the second power device drives the mop-washing assembly 4 to lift, the mop-washing assembly 4 has a plurality of lifting gears, and the height of the mop-washing assembly 4 relative to the body is different at different lifting gears. The second power source can work in cooperation with the first obstacle avoidance module. Specifically, when the first obstacle avoidance module detects the specific height of the obstacle, the second power source can drive the mop-washing assembly to lift according to the specific height of the obstacle, and the lifting height of the mop-washing assembly 4 is greater than or equal to the specific height of the obstacle. Since the mop-washing assembly 4 needs a certain waiting time and electric energy during lifting, in order to improve the obstacle avoidance efficiency of the cleaning robot and save energy, the lifting height of the mop-washing assembly 4 can be equal to the height of the obstacle or slightly greater than the height of the obstacle. Thus, it can be effectively avoided that the mop-washing assembly 4 is lifted too high to consume longer waiting time and more energy. When the first obstacle avoidance module detects that the height of the obstacle is greater than the maximum height that the mop-washing assembly 4 can be lifted, the cleaning robot will perform emergency braking or re-plan the moving path to avoid the obstacle.

[0256] When the mop assembly 4 is extended or retracted, the direction of the movement of the cleaning roller 42 relative to the ground is a transverse direction, and the cleaning roller 42 will inevitably be subjected to a greater frictional force in this state of movement, and the resistance of the mop assembly 4 to extension or retraction is also greater. The extension and retraction of the mop assembly 4 is more difficult, and long-term use can cause wear of the cleaning roller 42. In an embodiment provided in the present application, when the mop assembly 4 needs to be extended or retracted, the second power source first drives the mop assembly 4 to be lifted relative to the body, and then the first power source drives the mop assembly 4 to perform the extension or retraction action. In this way, when the mop assembly 4 is extended or retracted, the cleaning roller 42 is first lifted off the ground, and then the mop assembly 4 is extended or retracted, so that the mop assembly 4 will not be affected by the ground resistance when it is extended or retracted.

[0257] In addition, in another embodiment provided in the present application, in order to avoid the cleaning roller 42 from being lifted off the ground when the mop assembly 4 is extended, causing part of the ground to be missed, the mop assembly 4 does not perform lifting during the extension process, and the mop assembly 4 is always in contact with the ground when it is extended. In the retraction process of the mop assembly 4, the second power source first drives the mop assembly 4 to be lifted relative to the body, and then the first power source drives the mop assembly 4 to be retracted.

[0258] Of course, the cleaning robot cannot achieve omnidirectional obstacle avoidance only by using the first obstacle avoidance module. When the extension side of the cleaning robot exceeds the detection range of the first obstacle avoidance module, the cleaning robot cannot avoid obstacles by lifting the mop assembly 4. At this time, the mop assembly 4 can be retracted into the body to achieve obstacle avoidance. In an embodiment provided in the present application, a second obstacle avoidance module is arranged on the body, which can be arranged on the front side of the body or on the extension side of the body. The second obstacle avoidance module can detect the first distance between the obstacle on the extension side of the mop assembly 4 and the body. After the first distance is determined, the cleaning robot calculates a second distance of extension based on the first distance, the first power source drives the mop assembly to extend to the second distance, and the second distance is less than the first distance, so that the mop assembly 4 can achieve obstacle avoidance.

[0259] During the cleaning process of the cleaning robot, the cleaning roller 42 will adsorb dirt on the ground, and the dirt on the roller will 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 require the user to turn the body upside down with the bottom facing up before the user can remove the detachable components (such as the dirt tank, the roller, etc.) at the bottom of the body, which is not good for the user experience.

[0260] As known from the above, the mop-washing assembly 4 in the embodiment of the application comprises a liquid supply mechanism 45, a dirt removal mechanism 44 and a cleaning roller 42. The dirt in the dirt collection box 442 of the dirt removal mechanism 44 can enter the sewage tank 9 through the sewage pump. However, if the dirt collection box 442 is not cleaned after a long time of work, there will still be deposited dirt, which is prone to breed bacteria and produce odor. Therefore, the dirt collection box 442 needs to be disassembled more frequently for the user to clean. In addition, although the cleaning roller 42 in the embodiment can be self-cleaning with water during the execution of the task, it also needs to be disassembled for manual cleaning after a long time or replaced with a new cleaning roller 42 due to wear. If the user needs to turn the machine upside down to take it out, it is not very convenient.

[0261] Therefore, one embodiment of the application provides a solution for easily disassembling the dirt collection box 442 in the mop-washing assembly without turning the machine upside down, thereby improving the disassembly convenience and meeting the ergonomic design. In addition, one embodiment of the application also provides a solution for easily disassembling the cleaning roller 42. The disassembly solution of the dirt collection box 442 will be introduced first, and then the disassembly solution of the cleaning roller 42 will be introduced.

[0262] Referring to Figure 34a to 34f , at least one side of the mop-washing assembly 4 is exposed. As shown in one example in Figure 34a , the mop-washing assembly 4 is exposed on one side of the machine. With reference to the forward direction of the machine 1, the mop-washing assembly 4 is exposed on the right side of the machine. The dirt collection box 442 can be located on the front side or the rear side of the cleaning roller 42. Referring to Figure 34b c~34f, the side of the dirt collection box 442 corresponding to the exposed side of the mop-washing assembly is provided with a release assembly, so that the user can see and touch the release assembly on the exposed side without turning the machine 1 upside down, and then operate the release assembly to disassemble the dirt collection box 442.

[0263] The release assembly has an operation handle; the operation handle is located at the bottom of the dirt collection box 442; when disassembling, the operation handle is actuated, the release assembly is in an unlocked state, the first end of the dirt collection box 442 is separated from the mop-washing support, and the dirt collection box 442 is pulled out from the bottom of the machine; when installing, after the second end of the dirt collection box 442 is inserted into place from the bottom of the machine, the first end of the dirt collection box 442 is moved upward to a locking position, and the release assembly is triggered to switch to a locked state at the locking position.

[0264] Specifically, as Figure 34b and 34cThe mop box 442 has two ends, a first end 4421 and a second end 4422 along the length direction of the mop box 442. It is to be noted that the length of the mop box 442 can be equal to or greater than the length of the cleaning roller 42 along the axis direction of the cleaning roller 42. The mop box 442 corresponding to the mop box 442 is provided with a first fixed structure 431 and a second fixed structure 432 matched with the first end 4421 and the second end 4422 respectively. The second end 4422 of the mop box 442 is matched with the second fixed structure 432, for example, the second fixed structure 432 is a socket and the second end 4422 of the mop box 442 is a protruding block structure matched with the socket. The first end 4421 of the mop box 442 is provided with a release assembly 70, which can include an elastic operating member 71 and a fixed pin 72. The elastic operating member 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 member 71, and the elastic operating member 71 deforms to drive the fixed pin 72 to move, so that the fixed pin 72 is separated from the pin hole, and the mop box 442 can be taken out from the mop support 73.

[0265] As shown in Figure 34d , after the first end 4421 of the mop 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 to take out the mop box from the body 1 along the length direction of the mop box 442 (or the axis direction of the cleaning roller).

[0266] More specifically, as shown in Figure 34a , 34c and 34f, the elastic operating member 71 can include a release knob and a release spring 712. The fixed pin 72 is provided with a sliding groove 722. The release knob can be a rotary knob, for example, the release knob has a rotating shaft 714, and the release knob is rotatably connected to the mop box 442 through the rotating shaft 714. The two sides of the rotating shaft 714 are respectively provided with a top abutting structure 713 and an operating handle 711. Alternatively, the release knob is a linear motion push-pull member. The top abutting structure 713 of the release knob is located in the sliding groove 722. The first end of the mop box 442 is provided with a spring seat 4423, 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.

[0267] When the release knob is a rotary knob, the user can rotate the release knob to drive the fixed pin 72 to move through the top abutting sliding groove 722. When the release knob is a push-pull member, the user can drive the fixed pin to move through the top abutting sliding groove by push-pull operation (such as push-pull operation along the length direction of the fixed pin).

[0268] As shown in Figure 34eAs shown, when the user wants to remove the dirt collection box 442, the user provides an external force to the release button, such as rotating the release button, and the abutting structure 713 on the release button abuts against the fixed pin 72 in the sliding groove. At this time, the plug 721 of the fixed pin 72 is detached from the pin hole, the first end of the dirt collection box 442 is detached downward, the user pulls the second end of the dirt collection box 442 from the mop support, and at this time the dirt collection box 442 is completely removed. When the user wants to install the dirt collection box 442, the user first installs the second end of the dirt collection box 442 (i.e., the protruding block structure of the second end is inserted into the insertion hole), holds the first end of the dirt collection box 442 with the hand, and presses upward to deform the release spring. The fixed pin 72 moves to enable the fixed pin to enter the installation slot of the mop support. After the dirt collection box 442 is installed in place, the position of the fixed pin 72 corresponds to the position of the pin hole. Under the action of the elastic restoring force of the release spring, the fixed pin 72 moves, the plug is inserted into the pin hole, and at this time the installation of the dirt collection box 442 is completed.

[0269] In order to ensure the stability of the installation of the dirt collection box 442, the release button is further provided with a locking structure, and the dirt collection box 442 is provided with a locking matching structure at a corresponding position. After the installation of the dirt collection box 442 is completed, the user can rotate the release button to enable the locking structure to match with the locking matching structure to lock the position of the release button, so that the fixed pin 72 cannot be detached from the pin hole due to vibration or the like. In the embodiment, the specific implementation of the locking structure on the release button and the locking matching structure on the dirt collection box 442 is not limited.

[0270] Further, referring to Figure 34f As shown, the dirt collection box 442 is further provided with a filter assembly 543, which is used to filter large-particle dirt in the dirt entering the dirt collection box 442. As shown, Figure 34f The filter assembly 543 can be a filter piece provided with a plurality of filter holes. The filter piece can be placed and stabilized in the dirt collection box 442 through some matching structures. 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 removes 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 442 and the filter assembly 543 respectively. One end of the filter assembly 543 is provided with a handle 5431 for the user to take. When the user takes the filter assembly 543, the user can pinch the handle 5431 with the fingers to take out the filter assembly 543 from the dirt collection box. The handle 5431 can be a plate-shaped body with a certain bending radius.

[0271] In addition, the collecting box 442 is further provided with a detection member 4425, which can be a detection magnet or the like. A sensing element (not shown in the drawings) is arranged at a corresponding position on the mop-washing support. The sensing element can detect whether the collecting box 442 is installed on the mop-washing support by sensing the detection member on the collecting box 442. The detection member is arranged to avoid the situation that the user starts the cleaning robot without installing the collecting box 442. If the sensing element senses that the collecting box 442 is not installed on the mop-washing support 43, the cleaning robot can remind the user to install the collecting box 442 through voice and / or display. If the sensing element and the detection member 4425 are not arranged, the cleaning robot can perform the cleaning task without the collecting box 442, and the dirt scraped from the cleaning roller 42 can be discharged onto the ground because the dirt at the back of the cleaning robot cannot be collected. Therefore, it is necessary to arrange the sensing element and the detection member, and the cleaning robot can start the cleaning task only after the collecting box 442 is installed on the body.

[0272] For the disassembly of the cleaning roller 42, refer to Figure 34a As shown in FIG. 6, the mop-washing assembly 4 is in the retracted state, that is, the end of the mop-washing assembly 4 is located in the body 1. When the cleaning robot is located on the ground, the user cannot see the mop-washing assembly 4 from the perspective of the cleaning robot. 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 at the position of the mop-washing assembly 4 in the body 1 from the side, and then take the cleaning roller 42 out. During the disassembly, the user may be blind disassembly, and the same situation may occur during assembly, and the user may be pinched. Obviously, this solution of not turning the body to disassemble the cleaning roller 42 is not very convenient. Embodiments of the present application provide a more convenient solution for disassembling and assembling the cleaning roller 42. Specifically,

[0273] The body of the cleaning robot is provided with an interactive device, which can be a key, a touch screen, a voice interaction unit, or the like. 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 1 to expose the edge of the body 1. For example, the user presses a key in the interactive device, and the main board 2 receives the operation signal triggered by the key, and then controls the driving device 10 to drive the mop-washing assembly 4 to extend from one side of the body 1 to the set position or extend by a set length so that the end of the mop-washing assembly 4 is exposed. At this time, the user can disassemble the cleaning roller 42 from the mop-washing assembly 4. After the user washes the cleaning roller 42 or gets a new replacement roller, the user can install the roller back to the mop-washing assembly 4.

[0274] Refer to Figure 5As shown, the first end of the mop holder 43 in the length direction (the direction of the arrow in the figure) in this embodiment is provided with the drum motor 41, and the second end is provided with an opening. The cleaning drum 42 can be inserted into the drum cavity of the mop holder 43 from the opening to be connected with the drum motor 41. The second end of the mop holder 43 is provided with a first structure 430, and the inner side of the end cover 420 of the cleaning drum 42 is provided with a second structure. The first structure 430 and the second structure can be magnetic attraction components used in cooperation, for example, one of the first structure 430 and the second structure is a groove, and the other is a protrusion, the groove and the protrusion are matched; 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, and the like, which are not limited in this embodiment.

[0275] After the user triggers the mop assembly 4 to extend out through the button, voice or touch screen, Figure 12 As shown, the mop assembly 4 extends out of the edge 1001 of the body 1. At this time, the user can see the mop assembly when looking at the body from the upper part of the body, and can also see the end of the cleaning drum 42. As shown in the example, Figure 12 The end cover 420 of the cleaning drum 42 is similar to a whistle, the user holds the end cover 420 with one hand, and can easily pull out the cleaning drum along the pulling-out direction (i.e. the width direction of the body 1), so that the cleaning drum is disassembled. When installing, because the mop assembly is in the extended state, i.e. Figure 12 As shown, the user can see the opening of the drum cavity of the mop holder, inserts one end of the cleaning drum into the opening, and the end cover 420 of the cleaning drum is in contact with and attracted to the first structure 430 on the mop holder, so that the end cover 420 is connected with the mop holder. If the cleaning robot needs to perform a cleaning task after installation, the cleaning robot performs the cleaning task while maintaining the 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 drum is installed. Alternatively, the user triggers the mainboard 2 of the cleaning robot through the interactive device to control the driving device to retract the mop assembly 4.

[0276] Further, the driving device 10 can also drive the mop assembly 4 to lift relative to the body. Correspondingly, when the cleaning drum needs to be disassembled, the driving device 10 drives the mop assembly 4 to extend out to expose the end cover of the cleaning drum 42, and also drives the mop assembly 4 to lift to have a gap with the ground, so as to facilitate the user to disassemble the cleaning drum 42. Because the cleaning drum 42 has a gap with the ground, it is easier to pull out the cleaning drum 42.

[0277] In addition to triggering the mop assembly 4 to retract through the interaction device, the following scheme can also be used: after the cleaning drum 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 further 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 retracting force of the mop assembly 4; after the sensing unit detects the installation force of the mop assembly 4, a retracting signal is sent 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.

[0278] The control method or working method of the cleaning robot provided in another embodiment of the present application can be: the control device dynamically controls the driving device 10 according to the behavior information of the body 1, so that the driving device 10 drives the mop assembly 4 to move relative to the body 1 to change the position of the mop assembly 4 relative to the body 1.

[0279] The behavior information of the body 1 can include behavior actions of the body 1 and / or environmental information triggering the behavior actions. The behavior actions can include but are not limited to the traveling speed, the traveling direction, the turning radius when turning, the acceleration, etc. For example, when quickly turning, the control device 10 is controlled to quickly retract the mop assembly 4 that is expanded outward; or when traveling in a straight line after turning, the control device 10 is controlled to expand the mop assembly 4 that is retracted. The environmental information triggering the behavior actions includes position information of the behavior actions, surrounding environmental information (such as the position of an obstacle, the distance from the obstacle, the size of the obstacle, etc.).

[0280] In addition, it needs to be supplemented that the drum motor in the mop assembly 4 also needs to have a continuous power supply during the movement of the mop assembly 4. Therefore, the body of the cleaning robot in the embodiment of the present application is further provided with a conductive groove assembly, wherein the conductive groove assembly comprises a conductive groove body and an electric contact piece, the electric contact piece is arranged in the conductive groove body and can move in the conductive groove body; the electric contact piece is electrically connected with the electrical interface of the drum motor; when the mop assembly 4 moves, the electric contact piece moves in the conductive groove to follow the mop assembly 4, so that the drum motor can maintain the power supply state while moving. The conductive groove assembly is not explicitly shown in the drawings of the present application.

[0281] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning robot, characterized in that, The utility model relates to a mop, comprising: a body; a mop assembly, comprising a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; the cleaning unit motor is connected with the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid to the cleaning unit, and the dirt removal mechanism is used for scraping off dirt on the cleaning unit; a driving device is arranged on the body, the driving device comprises a first power source and a second power source, and the first power source and the second power source are connected with the mop assembly; wherein, along the width direction of the body, the first power source can drive the mop assembly to extend from at least one side of the body, so that part of the mop assembly is exposed; along the height direction of the body, the second power source can drive the mop assembly to ascend and descend relative to the body; the first power source and the second power source can work independently or simultaneously.

2. The cleaning robot according to claim 1, wherein, The mop assembly has multiple gears; under different gears, the relative position of the mop assembly and the body is different; the body determines the target gear of the mop assembly according to the detected environmental information, and makes the mop assembly be in the target gear through controlling the driving device.

3. The cleaning robot according to claim 1, wherein, The driving device further comprises a first action execution mechanism and a second action execution mechanism; the first power source is connected with the mop assembly through the first action execution mechanism, the first action execution mechanism converts the power output by the first power source into linear motion along the width direction of the body, so as to drive the horizontal displacement of the mop assembly relative to the body; the second power source is connected with the mop assembly through the second action execution mechanism, the second action execution mechanism converts the power output by the second power source into linear motion along the height direction of the body, so as to drive the mop assembly to ascend and descend relative to the body.

4. The cleaning robot according to claim 3, wherein, The first action execution mechanism comprises a first gear and a first rack; the first gear is connected with the first power source; the first gear and the first rack are engaged; the first rack is slidably arranged on the body; the mop assembly is connected with the first rack.

5. The cleaning robot according to claim 4, wherein, The first action execution mechanism further comprises a sliding plate; the first rack is arranged on the sliding plate; the sliding plate is arranged on the slide rail on the body; the mop assembly is located below the sliding plate and is connected with the sliding plate; the sliding plate is provided with a trigger structure, and the body is provided with two or more detection units; the sliding plate acts, and the trigger structure triggers one of the two or more detection units; the body determines the position of the mop assembly based on the triggered detection unit.

6. The cleaning robot according to claim 3, wherein, The second action execution mechanism comprises a second gear and a second rack; the second gear is connected with the second power source, the second gear is engaged with the second rack, the second rack is vertically arranged and can move relative to the height direction of the body, and the mop assembly is connected with the second rack.

7. The cleaning robot according to claim 3, wherein, The second action execution mechanism comprises a reel and a pull rope, the pull rope is wound on the reel, the reel is connected with the second power source, and one end of the pull rope is connected with the mop assembly.

8. The cleaning robot according to any one of claims 1 to 7, wherein, The mop-washing assembly further comprises a mop-washing support; The mop-washing support has a downwardly open drum mounting cavity, and the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity; The cleaning unit is in contact with the surface to be cleaned through the opening; The liquid supply mechanism and the dirt removal mechanism are arranged on the mop-washing support; The power end of the driving device is connected with the mop-washing support.

9. The cleaning robot according to any one of claims 1 to 7, wherein, A first obstacle avoidance module is arranged on the body on the side where the mop-washing assembly extends outwardly; The first obstacle avoidance module detects the height of the obstacle; The mop-washing assembly has multiple lifting gears, and the mop-washing assembly has different lifting heights relative to the body at different lifting gears; Based on the detection information of the first obstacle avoidance module, the target gear of the mop-washing assembly is determined, and when the lifting gear needs to be adjusted, the second power source drives the mop-washing assembly to lift to the target gear.

10. The cleaning robot according to any one of claims 1 to 7, wherein, When the mop-washing assembly needs to extend outwardly or retract inwardly, the second power source first drives the mop-washing assembly to lift relative to the body, and then the first power source drives the mop-washing assembly to perform the extending or retracting action. Alternatively, the second power source drives the mop-washing assembly to lift relative to the body, and the first power source simultaneously drives the mop-washing assembly to perform the extending or retracting action. 11.The cleaning robot according to claim 10, wherein A second obstacle avoidance module is arranged on the body, and the second obstacle avoidance module detects a first distance between the obstacle on the side where the mop-washing assembly extends outwardly and the body; Based on the first distance, a second distance at which the mop-washing assembly extends outwardly is determined, and the first power source drives the mop-washing assembly to extend outwardly to the second distance, the second distance being the distance between the outermost side of the mop-washing assembly and the obstacle, and the second distance being smaller than the first distance.

12. The cleaning robot of claim 1, wherein, The mop-washing assembly has a retracted state and an extended state; in the retracted state, the mop-washing assembly is in a first position relative to the body; in the extended state, the mop-washing assembly is in a second position relative to the body; When the cleaning robot is cleaning, the mop-washing assembly preferentially uses the extended state to clean; When an obstacle is encountered, the mop-washing assembly moves from the second position to the first position or to a position between the second position and the first position to perform cleaning along the obstacle. 13.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 used for dynamically controlling 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 to change the position of the mop-washing assembly relative to the body.

14. A cleaning robot, characterized in that, Comprise: A body; A mop-washing assembly comprising a cleaning unit motor, a cleaning unit and a dirt removal mechanism; The cleaning unit motor is connected with the cleaning unit, and the dirt removal mechanism is used for scraping off dirt on the cleaning unit; A driving device is arranged on the body, and the driving device comprises a first power source and a second power source, and the first power source and the second power source are both connected with the mop-washing assembly; The first power source drives the mop-washing assembly to extend from at least one side of the machine body along the width direction of the machine body, so that part of the mop-washing assembly is exposed; the second power source drives the mop-washing assembly to ascend or descend relative to the machine body along the height direction of the machine body. The first power source and the second power source can work independently or simultaneously.

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