Cleaning robot

Abstract

The utility model provides a cleaning robot, and relates to the technical field of cleaning equipment. The cleaning robot includes: a main body; the first cleaning disc and the second cleaning disc are arranged on the main body and are used for cleaning a to-be-cleaned surface; the negative pressure device is arranged on the main body; negative pressure cavities are formed in the first cleaning disc and the second cleaning disc; the negative pressure device is used for pumping negative pressure for the negative pressure cavity, so that the cleaning robot is adsorbed on the to-be-cleaned surface; the auxiliary cleaning device is arranged on the main body and located in a gap space formed between the first cleaning disc and the second cleaning disc; the auxiliary cleaning device is used for auxiliary cleaning of the to-be-cleaned face. Due to the existence of the auxiliary cleaning device, when the cleaning robot moves to the edge position of the to-be-cleaned surface, the area between the first cleaning disc and the second cleaning disc can be cleaned by the auxiliary cleaning device, and therefore the to-be-cleaned surface can be comprehensively cleaned, and the situation that the to-be-cleaned surface is not wiped is avoided.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more particularly to a cleaning robot. Background Technology

[0002] A window cleaning robot is a mechanical device used to clean glass, helping people solve the problems of cleaning windows on high-rise buildings and outdoors. Window cleaning robots can walk on glass and clean its surface. They offer advantages such as ease of operation, strong cleaning ability, and a high degree of automation.

[0003] The window cleaning robot consists of two cleaning discs. Besides propelling the machine, these discs also wipe the glass. However, during the wiping process, the edges of the window can obstruct the cleaning of areas between the two discs, resulting in missed spots and incomplete cleaning. Utility Model Content

[0004] The purpose of this application is to overcome the shortcomings of the prior art and provide a cleaning robot to solve the problems in the prior art.

[0005] To address the above problems, embodiments of this application provide a cleaning robot, comprising:

[0006] main body;

[0007] The first and second cleaning discs are disposed on the main body and are used to clean the surfaces to be cleaned.

[0008] A negative pressure device is installed on the main body; both the first cleaning tray and the second cleaning tray are provided with negative pressure chambers; the negative pressure device draws negative pressure into the negative pressure chambers, causing the cleaning robot to adhere to the surface to be cleaned;

[0009] An auxiliary cleaning device is disposed on the main body and located in the gap space formed between the first cleaning disc and the second cleaning disc; the auxiliary cleaning device is used to assist in cleaning the surface to be cleaned.

[0010] In one possible implementation, the auxiliary cleaning device is used to increase the cleaning area of ​​the cleaning robot to assist in cleaning the surface to be cleaned.

[0011] In one possible implementation, the auxiliary cleaning device is used to form a repeated wiping area with the first cleaning disc and the second cleaning disc to assist in cleaning the surface to be cleaned.

[0012] In one possible implementation, the auxiliary cleaning device is floatingly mounted on the main body to automatically adjust the force between itself and the surface to be cleaned.

[0013] In one possible implementation, the auxiliary cleaning device is provided with an auxiliary cavity; the negative pressure device draws negative pressure into the auxiliary cavity to provide auxiliary suction force for the cleaning robot.

[0014] In one possible implementation, the cleaning robot is used to adjust the degree of communication between the negative pressure device and the auxiliary chamber to change the magnitude of the auxiliary suction force provided to the cleaning robot.

[0015] In one possible implementation, an auxiliary roller is also included, disposed within the gap space, which follows the movement of the cleaning robot to identify the operating status of the cleaning robot.

[0016] In one possible implementation, when the rotational speed of the auxiliary roller is less than a preset rotational speed range, the cleaning robot is identified as slipping on the surface to be cleaned.

[0017] In one possible implementation, at least one end of the auxiliary roller is provided with a pressure sensing device; when the pressure sensed by the pressure sensing device exceeds the preset pressure range, it identifies that the cleaning robot has deviated from the preset running trajectory.

[0018] In one possible implementation, the pressure sensing device includes an elastomer and a pressure detection module, with one end of the elastomer abutting against the end of the auxiliary roller and the other end abutting against the pressure-sensitive element of the pressure detection module.

[0019] The beneficial effects of this application include:

[0020] The cleaning robot proposed in this application includes a main body, a first cleaning disc, a second cleaning disc, a negative pressure device, and an auxiliary cleaning device, wherein the first cleaning disc, the second cleaning disc, the negative pressure device, and the auxiliary cleaning device are all disposed on the main body. When the cleaning robot is working, the negative pressure device draws negative pressure into the negative pressure chambers in the first and second cleaning discs, allowing the cleaning robot to adhere to the surface to be cleaned.

[0021] The first and second cleaning discs are used to clean the surface to be cleaned. An auxiliary cleaning device is located in the space between the first and second cleaning discs, and this device assists in cleaning the surface between them. Because of the auxiliary cleaning device, when the cleaning robot moves to the edge of the surface, the area between the first and second cleaning discs is cleaned by the auxiliary cleaning device, thus achieving comprehensive cleaning of the surface and preventing any missed areas. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A bottom view of a cleaning robot is shown;

[0024] Figure 2 An exploded schematic diagram of some components of a cleaning robot is shown;

[0025] Figure 3 A first cross-sectional view of a cleaning robot is shown;

[0026] Figure 4 A second cross-sectional view of a cleaning robot is shown;

[0027] Figure 5 A schematic diagram showing the location of the wiping area corresponding to the auxiliary cleaning device is provided.

[0028] Figure 6 A schematic diagram showing the positions of the repeated wiping areas corresponding to the first cleaning disc, the second cleaning pad, and the auxiliary cleaning device is provided.

[0029] Figure 7 A schematic diagram showing the connection between an auxiliary roller and a pressure sensing device is provided.

[0030] Explanation of key component symbols:

[0031] 10-Surface to be cleaned; 100-Main body; 210-First cleaning disc; 220-Second cleaning disc; 230-Negative pressure chamber; 300-Auxiliary cleaning device; 301-Elastic material; 302-Mounting groove; 310-First side arm; 320-Second side arm; 330-Auxiliary chamber; 340-Air inlet; 350-Cover plate; 351-Micro motor; 400-Auxiliary roller; 410-Pressure sensing device; 411-Elastomer; 412-Pressure detection module. Detailed Implementation

[0032] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0033] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0034] Existing window cleaning robots have the following problems during operation:

[0035] 1. During the glass cleaning process, when the window cleaning robot moves to the edge of the window, it cannot continue to move in a straight line. As a result, the area between the two wheels cannot be cleaned, resulting in missed areas and incomplete glass cleaning. Even if the movement trajectory of the window cleaning robot is adjusted, the area near the edge of the window will still not be cleaned because the wheels cannot reach it.

[0036] 2. The window cleaning robot still experiences sudden falls during operation, especially near the frame, which can pose a safety hazard.

[0037] 3. During operation, the window cleaning robot may slide down due to dirt on the glass surface. At least the machine cannot move in a completely horizontal direction, resulting in some areas of the glass being missed during cleaning.

[0038] The cleaning robot proposed in this embodiment can effectively solve the above problems.

[0039] Example

[0040] See Figures 1-4 In this embodiment, a cleaning robot is proposed, comprising:

[0041] Main body 100;

[0042] The first cleaning disc 210 and the second cleaning disc 220 are disposed on the main body 100 and are used to clean the surface to be cleaned.

[0043] A negative pressure device is installed on the main body 100; a negative pressure chamber 230 is provided in both the first cleaning plate 210 and the second cleaning plate 220; the negative pressure device draws negative pressure from the negative pressure chamber 230 so that the cleaning robot can adhere to the surface to be cleaned.

[0044] An auxiliary cleaning device 300 is disposed on the main body 100 and located in the gap space formed between the first cleaning disc 210 and the second cleaning disc 220; the auxiliary cleaning device 300 is used to assist in cleaning the surface to be cleaned.

[0045] The first cleaning disc 210, the second cleaning disc 220, and the auxiliary cleaning device 300 are equipped with cleaning components such as cloths. The cleaning components come into contact with the surface to be cleaned. As the cleaning robot moves forward, the cleaning components rub against the surface to be cleaned, thereby wiping and cleaning the stains on the surface to be cleaned.

[0046] In the attached drawings, the negative pressure device, main control system, and outer casing are not shown.

[0047] The first cleaning disc 210, the second cleaning disc 220, and the auxiliary cleaning device 300 are detachably connected to their respective cleaning components.

[0048] Taking the auxiliary cleaning device 300 as an example, the auxiliary cleaning device 300 has a female Velcro fastener, and the cleaning component has a female Velcro fastener. The auxiliary cleaning device 300 and the cleaning component are connected by the mutual adhesion between the female and female fasteners. Alternatively, the first cleaning tray 210, the second cleaning tray 220, and the auxiliary cleaning device 300 can be detachably connected to their respective cleaning components via snap-fit ​​or other methods. The cleaning component is not shown in the attached drawings.

[0049] In this embodiment, the auxiliary cleaning device 300 has at least the following functions:

[0050] The auxiliary cleaning device 300 is used to increase the cleaning area of ​​the cleaning robot to assist in cleaning the surface to be cleaned.

[0051] The auxiliary cleaning device 300 is used to form a repeated wiping area with the first cleaning disc 210 and the second cleaning disc 220 to assist in cleaning the surface to be cleaned.

[0052] rely on Figure 5 Because of the presence of the auxiliary cleaning device 300, when the cleaning robot moves to the edge of the surface 10 to be cleaned, the area on the surface 10 to be cleaned located between the first cleaning disc 210 and the second cleaning disc 220 ( Figure 5 The shaded area can be cleaned by the auxiliary cleaning device 300, thereby achieving a thorough cleaning of the surface to be cleaned and avoiding any missed areas.

[0053] Additionally, refer to Figure 6 When cleaning the surface 10 to be cleaned, during the straight-line movement of the cleaning robot, two or three of the first cleaning disc 210, the second cleaning disc 220, and the auxiliary cleaning device 300 will repeatedly pass through some of the same areas. Figure 6(The shaded areas) allow for repeated wiping of these areas, thus improving the wiping effect. Figure 6 In the middle, the two dark areas, a and b, can only be wiped by the auxiliary cleaning device 300.

[0054] The auxiliary cleaning device 300 is floatingly mounted on the main body 100 to automatically adjust the force between itself and the surface to be cleaned. The auxiliary cleaning device 300 and the main body 100 can be connected by means of snap-fit ​​or other means, and there can be a gap between the auxiliary cleaning device 300 and the main body 100 so that the auxiliary cleaning device 300 can float relative to the main body 100.

[0055] The cleaning robot can be equipped with an elastic material 301, such as a sponge, which has a rapid rebound effect. By placing the elastic material 301 between the auxiliary cleaning device 300 and the main body 100, the auxiliary cleaning device 300 can adapt to the height between itself and the glass, ensuring that the auxiliary cleaning device 300 can fit more closely to the surface to be cleaned, so as to achieve a better cleaning effect.

[0056] like Figure 1 As shown, the auxiliary cleaning device 300 is located on the first cleaning tray 210 and the second cleaning tray 220. During assembly, the auxiliary cleaning device 300 is first connected to the main body 100, and then the first cleaning tray 210 and the second cleaning tray 220 are installed on the main body 100.

[0057] The auxiliary cleaning device 300 has a first side arm 310 and a second side arm 320 on both sides. Both the first side arm 310 and the second side arm 320 are arc-shaped.

[0058] The first side arm 310 corresponds to the first cleaning tray 210, and the first side arm 310 serves to position and limit the first cleaning tray 210; the second side arm 320 corresponds to the second cleaning tray 220, and the second side arm 320 serves to position and limit the second cleaning tray 220. After assembly, the first side arm 310 is located between the main body 100 and the first cleaning tray 210, and the second side arm 320 is located between the main body 100 and the second cleaning tray 220. Figure 1 As shown, after assembly, the auxiliary cleaning device 300 completely fills the gap between the first cleaning disc 210 and the second cleaning disc 220. The two straight ends of the auxiliary cleaning device 300 (the left and right ends of the auxiliary cleaning device 300 in the figure) are tangent to the first cleaning disc 210 and the second cleaning disc 220.

[0059] In this embodiment, the auxiliary cleaning device 300 is provided with an auxiliary cavity 330, wherein a negative pressure device draws negative pressure into the auxiliary cavity 330 to provide auxiliary suction force for the cleaning robot. Due to the presence of this auxiliary suction force, the cleaning robot can adhere more stably to the surface to be cleaned, reducing the risk of it falling off.

[0060] The outer end face of the auxiliary cleaning device 300 is provided with multiple air inlets 340, which are connected to the auxiliary chamber 330. When the negative pressure device draws negative pressure into the auxiliary chamber 330, the air inlets 340 will generate an adsorption force due to the presence of negative pressure.

[0061] In order to obtain a larger cleaning and wiping area and provide a greater adsorption capacity, the specific shape of the auxiliary cleaning device 300 can be set according to the external structure of the main body 100, the first cleaning disc 210 and the second cleaning disc 220. In this way, the cleaning robot can obtain a larger cleaning area and a stronger adsorption capacity while maintaining a certain external size.

[0062] Furthermore, the cleaning robot adjusts the connectivity between the negative pressure device and the auxiliary chamber 330 to change the magnitude of the auxiliary suction force provided to the cleaning robot. The negative pressure device includes a vacuum pump, an exhaust fan, etc.

[0063] like Figure 3 and Figure 4 As shown, a movable cover plate 350 is provided at the opening above the auxiliary chamber 330. The cover plate 350 can be driven by a power device such as a motor or cylinder to close or open the auxiliary chamber 330, so that the auxiliary chamber 330 is connected to or not connected to the negative pressure chamber 230, thereby adjusting the degree of connection between the negative pressure device and the auxiliary chamber 330. The air extraction part of the negative pressure device is directly connected to the negative pressure chamber 230.

[0064] exist Figure 3 In the middle, the cover plate 350 is in the closed state. At this time, the auxiliary chamber 330 and the negative pressure chamber 230 are not connected; Figure 4 In this configuration, the cover plate 350 is in the open state, at which time the auxiliary chamber 330 is connected to the negative pressure chamber 230. The cover plate 350 can be opened and closed by rotation or other means. In this embodiment, the cover plate 350 is driven by a micro motor 351. To increase the output torque of the micro motor 351, the output shaft of the micro motor 351 and the cover plate 350 can be connected by a torque-increasing device such as a reduction gearbox.

[0065] During use, the cleaning robot can change the airflow rate drawn from the auxiliary chamber 330 by adjusting the opening angle of the cover 350, thereby adjusting the magnitude of the auxiliary suction force generated by the auxiliary cleaning device 300.

[0066] After the negative pressure device is activated, the negative pressure chambers 230 in both the first cleaning tray 210 and the second cleaning tray 220 will be under negative pressure, allowing the cleaning robot to adhere to the surface to be cleaned. At this time, if the cover 350 is opened, the auxiliary chamber 330 connects to the negative pressure chamber 230. Thus, under the action of the negative pressure device, the auxiliary chamber 330 will also be vacuumed, providing additional suction force. When the cleaning robot encounters unfavorable conditions such as edges or various types of adhesive strips, the additional suction force provided by the auxiliary cleaning device 300 reduces the risk of the robot falling, effectively improving its safety and enabling it to adapt to more complex and harsher scenarios and working conditions.

[0067] By controlling the opening and closing of the cover 350, the cleaning robot can generate different levels of suction force. When wiping efficiency needs to be improved and the stains on the surface to be cleaned are not severe, the cover 350 can be closed. At this time, the suction force generated by the cleaning robot is relatively small, which allows the cleaning robot to complete the cleaning of the surface to be cleaned more quickly, thereby improving cleaning efficiency. When stubborn stains need to be removed, or in a harsh usage scenario where the robot is prone to falling off, the cover 350 can be fully opened. At this time, the cleaning robot obtains additional and greater suction force, making the cleaning robot and cleaning components adhere more tightly to the glass. In this case, the cleaning effect is optimal, and the safety is maximized.

[0068] In actual use, the opening angle of the cover 350 can be freely controlled. By selecting the appropriate adsorption force and wiping speed, optimal working conditions and states can be achieved, combining speed, safety, and wiping effect. In the event of danger or near-dangerous conditions, the cover 350 can be fully opened, thereby increasing machine safety and reducing the risk of falls.

[0069] like Figure 1 and Figure 7 As shown, in this embodiment, the cleaning robot also includes auxiliary rollers 400. The auxiliary rollers 400 are disposed within the gap space and follow the cleaning robot's movement to identify the cleaning robot's operating status.

[0070] Specifically, the auxiliary roller 400 is installed in the auxiliary cleaning device 300. The auxiliary cleaning device 300 has a mounting groove 302, in which the auxiliary roller 400 is installed, and part of the auxiliary roller 400 protrudes out of the mounting groove 302.

[0071] The auxiliary cleaning device 300 may be equipped with a connecting shaft, wherein the auxiliary rollers 400 are rotatably and slidably mounted on the connecting shaft. Each auxiliary roller 400 corresponds to one connecting shaft. The connecting shaft is not shown in the accompanying drawings.

[0072] The auxiliary roller 400 is cylindrical. The central axes of the first cleaning disc 210 and the second cleaning disc 220 are parallel to each other and located on a predetermined plane, wherein the rotation axis of the auxiliary roller 400 is parallel to this predetermined plane. Figure 1 In the diagram, the dashed line represents the projection of the preset plane onto this viewpoint, and the rotation axis of the auxiliary roller 400 is parallel to this dashed line. In this embodiment, there are two auxiliary rollers 400, symmetrically arranged on both sides of the preset plane.

[0073] Reference Figure 1 During operation, the cleaning robot typically moves horizontally left and right as shown in the diagram. Simultaneously, the auxiliary rollers 400 contact the surface to be cleaned and roll under the influence of static friction. When the rotational speed of the auxiliary rollers 400 is less than a preset speed range, the robot is detected to be slipping on the surface.

[0074] Due to the presence of the auxiliary roller 400, when the cleaning robot slides down, the auxiliary roller 400 and the surface to be cleaned will reduce the distance the cleaning robot slides down due to static friction or sliding friction.

[0075] like Figure 7 As shown, at least one end of the auxiliary roller 400 is equipped with a pressure sensing device 410. When the pressure sensed by the pressure sensing device 410 exceeds the preset pressure range, it identifies that the cleaning robot has deviated from the preset running trajectory.

[0076] In this embodiment, pressure sensing devices 410 are provided at both ends of the auxiliary roller 400.

[0077] The pressure sensing device 410 includes an elastic body 411 and a pressure detection module 412. One end of the elastic body 411 abuts against the end of the auxiliary roller 400, and the other end abuts against the pressure-sensitive element of the pressure detection module 412. The pressure detection module 412 is used to detect the pressure applied to it by the corresponding elastic body 411.

[0078] The pressure detection module 412 is fixedly connected to the auxiliary cleaning device 300.

[0079] The elastic body 411 is a spring, and the pressure detection module 412 includes a pressure sensor.

[0080] like Figure 7As shown, the pressure sensing device 410 includes two pressure detection modules 412 and two identical elastic bodies 411 (the length of natural elongation and the elastic modulus are the same or approximately the same). When the cleaning robot moves horizontally, the two elastic bodies 411 of the pressure sensing device 410 are at the same length (for example, both are in the state of natural elongation). At this time, the pressure detected by the upper and lower pressure detection modules 412 is basically the same, so it can be determined that the cleaning robot has not moved up or down.

[0081] When the cleaning robot moves vertically (i.e., moves upward or downward), friction exists between the auxiliary roller 400 and the surface to be cleaned. This causes deformation of both elastic bodies 411 of the pressure sensing device 410 (one side is compressed, and the other side is stretched). As a result, the pressure difference detected by the pressure detection module 412 corresponding to the two elastic bodies 411 exceeds a certain threshold. Thus, the main control system can determine the change in the cleaning robot's operating status, i.e., whether it has moved upward or downward. Based on the pressure received by the pressure detection module 412 and the duration of the pressure application, the operating angle and trajectory of the cleaning robot are adjusted to correct and compensate for upward or downward movement. This allows the cleaning robot's posture to be adjusted within a short operating distance and time, enabling it to maintain horizontal movement and thus avoiding missed areas or reducing the area of ​​missed areas.

[0082] Based on the above description of the cleaning robot, the cleaning robot proposed in this embodiment has at least the following advantages:

[0083] By setting up an auxiliary cleaning device 300, the cleaning robot is equipped with an auxiliary adsorption function, thereby effectively increasing the operational safety of the machine.

[0084] The auxiliary suction force of the auxiliary cleaning device 300 is adjustable, thereby adapting to surfaces with different levels of dirt.

[0085] The auxiliary cleaning device 300 is positioned between the first cleaning disc 210 and the second cleaning disc 220, effectively covering the cleaning blind spots and increasing the area to be wiped repeatedly. This reduces the chance of missed cleaning and improves the cleaning effect and efficiency.

[0086] It has slip detection and horizontal walking detection functions, which can detect in real time whether the cleaning robot is walking horizontally. This allows the main control system to correct and compensate for the walking posture based on the feedback information, so that the cleaning robot can maintain horizontal movement to avoid missing any areas or reduce the area of ​​missed areas.

[0087] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0088] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A cleaning robot, characterized in that, include: main body; The first and second cleaning discs are disposed on the main body and are used to clean the surfaces to be cleaned. A negative pressure device is installed on the main body; both the first cleaning tray and the second cleaning tray are provided with negative pressure chambers; the negative pressure device draws negative pressure into the negative pressure chambers, causing the cleaning robot to adhere to the surface to be cleaned; An auxiliary cleaning device is disposed on the main body and located in the gap space formed between the first cleaning disc and the second cleaning disc; The auxiliary cleaning device is used to assist in cleaning the surface to be cleaned.

2. The cleaning robot according to claim 1, characterized in that, The auxiliary cleaning device is used to increase the cleaning area of ​​the cleaning robot to assist in cleaning the surface to be cleaned.

3. The cleaning robot according to claim 1, characterized in that, The auxiliary cleaning device is used to form a repeated wiping area with the first cleaning disc and the second cleaning disc to assist in cleaning the surface to be cleaned.

4. The cleaning robot according to claim 1, characterized in that, The auxiliary cleaning device is floatingly mounted on the main body to automatically adjust the force between itself and the surface to be cleaned.

5. The cleaning robot according to claim 1, characterized in that, The auxiliary cleaning device is provided with an auxiliary cavity; the negative pressure device draws negative pressure into the auxiliary cavity to provide auxiliary suction force for the cleaning robot.

6. The cleaning robot according to claim 5, characterized in that, The cleaning robot is used to adjust the degree of connection between the negative pressure device and the auxiliary chamber to change the magnitude of the auxiliary suction force provided to the cleaning robot.

7. The cleaning robot according to claim 1, characterized in that, It also includes auxiliary rollers disposed within the gap space. The auxiliary rollers follow the cleaning robot as it moves to identify the operating status of the cleaning robot.

8. The cleaning robot according to claim 7, characterized in that, When the rotation speed of the auxiliary roller is less than the preset rotation speed range, the cleaning robot is detected to be slipping on the surface to be cleaned.

9. The cleaning robot according to claim 7, characterized in that, The auxiliary roller is equipped with a pressure sensing device at at least one end; when the pressure sensed by the pressure sensing device exceeds the preset pressure range, it identifies that the cleaning robot has deviated from the preset running trajectory.

10. The cleaning robot according to claim 9, characterized in that, The pressure sensing device includes an elastomer and a pressure detection module. One end of the elastomer abuts against the end of the auxiliary roller, and the other end abuts against the pressure-sensitive element of the pressure detection module.

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