Cleaning robot and cleaning robot system

Abstract

According to the cleaning robot and the cleaning robot system disclosed by the utility model, the audio component is arranged on the cover body, and the audio component is arranged adjacent to the pickup hole of the cover body, so that effective pickup of the audio component is ensured. According to the main technical scheme, the cleaning robot comprises a robot body used for moving and cleaning; the cover body is used for at least partially covering the robot main body, and at least one pickup through hole is formed in the cover body; and the at least one audio component is connected with the cover body and located on the side, opposite to the robot body, of the cover body, and the audio component is opposite to the at least one pickup through hole and used for pickup through the pickup through hole. The utility model is mainly used for voice control and cleaning.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent house technical field especially, a kind of cleaning robot and cleaning robot system. BACKGROUND

[0002] With the gradual popularization of intelligent cleaning robot, it makes daily cleaning work become more and more easy and timely, to provide better living environment, more and more market favor. Cleaning robot can be controlled in various ways, such as being controlled by the keys arranged on the cleaning robot body, or being remotely controlled by remote controller, but all need user to press button to operate, and the remote control signal of remote controller is sensitive to distance and whether there is shielding, leading to inconvenient control.

[0003] The sound-controlled cleaning robot can solve the drawbacks of the control mode of keys and remote control. The existing sound-controlled cleaning robot mainly includes a main body and an upper cover. The main body can walk and realize cleaning function. The upper cover covers part of the top surface of the main body to shield the exposed structure on the top surface of the main body, playing a protective and decorative role. The existing sound receiver for receiving sound is arranged on the main body. In order to seal the sound receiver, the sound receiver is arranged in the sealing member and receives sound through the opening. When the upper cover is connected with the main body, the opening of the sealing member is abutted, realizing the sealing of the sound receiver. However, due to the vibration caused by the movement of the main body for cleaning, relative displacement occurs between the upper cover and the main body, and the upper cover is easily deformed after long use, resulting in a gap between the upper cover and the sealing member, leading to sealing failure. The user's voice will leak out through the gap, and the noise of the main body working will enter through the gap, resulting in poor sound receiving effect of the sound receiver. SUMMARY

[0004] Therefore, the utility model provides a kind of cleaning robot and cleaning robot system, by setting audio assembly on cover body, audio assembly and the sound pickup hole of cover body are arranged in close proximity, ensure that audio assembly effective sound pickup.

[0005] In one aspect, the utility model provides a kind of cleaning robot, comprising:

[0006] Robot main body (100), robot main body (100) is used to move cleaning;

[0007] Cover body (200), cover body (200) at least partly covers robot main body (100), and cover body (200) is provided with at least one sound pickup through hole (210);

[0008] At least one audio component (300), the audio component (300) is connected with the cover (200), and is located on the side of the cover (200) opposite to the robot body (100), the audio component (300) is opposite to the sound pickup through hole (210) for sound pickup through the sound pickup through hole (210).

[0009] Wherein, the buffer sealing piece (500), the audio component (300) is connected with the cover (200) through the buffer sealing piece (500), and the buffer sealing piece (500) is provided with a sealing piece hole (510), and the sealing piece hole (510) is opposite to the sound pickup through hole (210).

[0010] Wherein, the buffer sealing piece (500) can be elastically deformed.

[0011] Wherein, the audio component (300) comprises a control substrate (310) and at least one sound pickup (320);

[0012] The control substrate (310) is provided with a substrate opening (311), the control substrate (310) is connected with the cover (200), and the substrate opening (311) is opposite to the sound pickup through hole (210);

[0013] The sound pickup (320) is connected with the side of the cover (200) opposite to the control substrate (310), and the sound pickup (320) is opposite to the substrate opening (311).

[0014] Wherein, the cleaning robot further comprises: an isolation sleeve (700), the isolation sleeve (700) is connected with the audio component (300) or the cover (200), so as to cover the outside of the sound pickup (320) of the audio component (300), and the isolation sleeve (700) is used for sound insulation.

[0015] Wherein, the cleaning robot further comprises:

[0016] The buffer piece (400) is connected with one of the cover (200) and the robot body (100), and the other of the cover (200) and the robot body (100) is used for abutting with the buffer piece (400).

[0017] Wherein, when the cover (200) covers the robot body (100), the buffer piece (400) is located at different sides of the audio component (300), and the interval between the buffer piece (400) and the audio component (300) is less than a preset distance.

[0018] The audio assembly (300) is annular, the buffer (400) comprises a first sub-buffer (410) and a second sub-buffer (420), the second sub-buffer (420) is an annular buffer, when the cover (200) covers the robot body (100), the audio assembly (300) surrounds the outer periphery of the first sub-buffer (410), and the second sub-buffer (420) surrounds the outer periphery of the audio assembly (300).

[0019] The robot body (100) comprises a main shell (110), and the cover (200) covers the main shell (110) at least partially.

[0020] The main shell (110) is provided with an opening and a containing groove (111) in communication with the opening, when the cover (200) covers the main shell (110), the audio assembly (300) is located in the containing groove (111), and the buffer (400) is connected to or abuts against the opening edge.

[0021] The cleaning robot further comprises a barrier film (600), the barrier film (600) is connected with the cover (200), the barrier film (600) covers the sound pickup through hole (210), and the barrier film (600) is a waterproof sound transmission film.

[0022] The audio assembly (300) comprises a first wireless module, the robot body (100) comprises a second wireless module, the audio assembly (300) and the robot body (100) are wirelessly connected through the first wireless module and the second wireless module to perform signal transmission.

[0023] Alternatively, the audio assembly (300) comprises a flat cable (330), the flat cable (330) is used for electrically connecting with the robot body (100) to electrically connect the audio assembly (300) and the robot body (100) to perform signal transmission.

[0024] The cover (200) is further provided with a limiting protrusion (220), the audio assembly (300) comprises a limiting hole (340), the limiting protrusion (220) is used for being inserted into the limiting hole (340) to limit the audio assembly (300).

[0025] In another aspect, the utility model also provides a kind of cleaning robot system, comprising the cleaning robot of any one of the foregoing, and base station, cleaning robot is selectively parked in base station.

[0026] The utility model discloses a cleaning robot and cleaning robot system, through setting up audio frequency subassembly on the cover, audio frequency subassembly and the pickup hole of cover are closely arranged, guarantee the effective sealing between audio frequency subassembly and pickup hole, guarantee audio frequency subassembly effective pickup. In the related art, the pickup device is arranged in the sealing element and picks up through the opening of the sealing element. When the upper cover is connected with the main body, the opening of the sealing element is abutted. The gap between the upper cover and the sealing element is prone to occur, which leads to sealing failure and poor sound test effect of the pickup device. In the technical scheme of the application, the audio frequency subassembly is arranged on the cover. Compared with being arranged on the robot main body, the audio frequency subassembly and the pickup hole on the cover are directly adjacent. The vibration or deformation of the cover will not affect the sealing effect of the audio frequency subassembly and the cover. The voice entering from the pickup hole can be received by the audio frequency subassembly more, and the influence of the noise of the robot main body on the audio frequency subassembly is reduced, achieving better pickup effect. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A sectional view structural schematic diagram of a cleaning robot is provided for the utility model embodiment;

[0028] Figure 2 A cover and audio frequency subassembly of a cleaning robot in the first visual angle structural schematic diagram is provided for the utility model embodiment;

[0029] Figure 3 A pickup device structural schematic diagram of a cleaning robot is provided for the utility model embodiment;

[0030] Figure 4 A cover and audio frequency subassembly of a cleaning robot in the second visual angle structural schematic diagram is provided for the utility model embodiment;

[0031] Figure 5 An audio frequency subassembly, buffer sealing element and barrier membrane structural schematic diagram of a cleaning robot is provided for the utility model embodiment;

[0032] Figure 6 A cover of a cleaning robot in the second visual angle structural schematic diagram is provided for the utility model embodiment;

[0033] Figure 7 A robot main body and buffer element structural schematic diagram of a cleaning robot is provided for the utility model embodiment;

[0034] The robot main body (100) is used for moving cleaning. DETAILED DESCRIPTION

[0035] To further clarify the technical means and effects taken by the utility model to achieve the predetermined utility model purposes and the effects, the following will combine the drawings and the preferred embodiments to specifically explain the specific embodiments, structure, features and effects of the cleaning robot according to the utility model, as follows.

[0036] As shown in Figures 1-2 The utility model embodiment provides a kind of cleaning robot, comprising:

[0037] Robot main body (100), robot main body (100) is used for moving cleaning;

[0038] Cover (200), cover (200) at least partly covers robot main body (100), cover (200) is provided with at least one pickup through-hole (210);

[0039] At least one audio assembly (300), audio assembly (300) is connected with cover (200), and it is located in the side of cover (200) relative to robot main body (100), audio assembly (300) is opposite at least one pickup through-hole (210), for pickup through pickup through-hole (210).

[0040] The robot body (100) comprises a main shell (110) and a plurality of functional units connected to the main shell (110), the main shell (110) can be divided into an upper shell and a lower shell, both of which comprise a plurality of hollows and grooves for installing functional units, and the upper shell and the lower shell are used for mutual splicing to limit the functional units and form a completed robot body (100). The functional units can be a moving unit mainly comprising a moving wheel and a driver, the moving wheel is rotatably connected to the main shell (110) and rolls under the driving of the driver to move the robot body (100); or the functional unit can be a mopping assembly comprising a mop plate and a water tank, both of which are detachably connected to the main shell (110), and the water tank can continuously water the mop plate. The functional unit can also be a sweeping unit, a dust collecting unit, an infrared detection unit, etc., which are common functional units in the prior art and will not be described here. The functional units of the robot body (100) enable the robot body (100) to independently complete the moving and cleaning work, the cover (200) covers the upper shell from above, the cover (200) can be directly connected with the robot body (100), such as detachably connected with the upper shell by clamping, when connected with the upper shell, it plays a covering role; or the cover (200) is always connected with the upper shell by a hinge and can be rotated to selectively cover or not cover the upper shell. Alternatively, the cover (200) can not be connected with the robot body (100), such as the cover (200) which can be separated from the robot body (100). The cover (200) is used to protect the functional units exposed on the upper shell and plays a decorative role. In some embodiments, the cover (200) can cover part or all of the upper shell, or the cover (200) can also cover at least part of the lower shell.

[0041] The audio assembly (300) is used to obtain voice information of a user, and convert mechanical vibration driven by the voice into an electrical signal and transmit the electrical signal to a main controller of the robot body (100). The main controller analyzes the electrical signal, and then controls the robot body (100) to perform operations such as stopping cleaning, starting cleaning, switching to a mopping mode, and the like according to an analysis result. The audio assembly (300) is fixed to a lower surface of the cover body (200), and is located between the cover body (200) and the robot body (100) when the cover body (200) is connected to the robot body (100). One side of the audio assembly (300) provided with a diaphragm is opposite to the cover body (200), and an audio hole (321) of the audio assembly (300) is aligned with the sound pickup through hole (210). The audio assembly (300) can be connected to the cover body (200) in various ways, such as by using a dispensing process, ultrasonic connection, or a connection mode with shock absorption to be provided below. Regardless of the connection mode, the connection between the audio assembly (300) and the cover body (200) is a sealed connection, that is, the audio assembly (300) is arranged close to the sound pickup through hole (210), and the opening of the sound pickup through hole (210) on the side opposite to the audio assembly (300) is sealed by the audio assembly (300), so that the voice entering the sound pickup through hole (210) can be received by the audio assembly (300), and noise is prevented from entering, thereby ensuring sound pickup effect.

[0042] The number of audio assemblies (300) can be one or more, such as three, and the audio assemblies (300) can be arranged at different positions of the cover body (200), such as being uniformly distributed at positions close to edges of different sides of the cover body (200), so as to achieve better sound pickup at various angles. The sound pickup through hole (210) is a through hole formed in the cover body (200), and any audio assembly (300) can correspond to one or more sound pickup through holes (210), and the sound pickup through hole (210) can correspond to one sound pickup device (320) on the audio assembly (300) in one-to-one correspondence.

[0043] The cleaning robot and the cleaning robot system provided in the embodiments of the present application have the following advantages. The audio assembly is arranged on the cover body, and the audio assembly and the sound pickup hole of the cover body are arranged close to each other, thereby ensuring effective sound pickup. In the related art, the sound pickup device is arranged in a sealing element and sound is picked up through an opening of the sealing element. When the upper cover is connected to the main body, a gap is easily formed between the upper cover and the sealing element, which leads to sealing failure and poor sound pickup effect of the sound pickup device. In the technical solution of the present application, the audio assembly is arranged on the cover body, and the audio assembly and the sound pickup hole of the cover body are arranged close to each other, compared with being arranged on the robot body. Vibration or deformation of the cover body does not affect the sealing effect of the audio assembly and the cover body, so that more voice entering the sound pickup hole can be received by the audio assembly, and the influence of noise of the robot body on the audio assembly is reduced, thereby achieving better sound pickup effect.

[0044] In an embodiment, the cleaning robot further comprises a buffer seal (500), the audio assembly (300) is connected to the cover (200) through the buffer seal (500), the buffer seal (500) is provided with a seal hole (510), and the seal hole (510) is opposite to the sound pickup through hole (210).

[0045] The buffer seal (500) is used for sealing the gap between the audio assembly (300) and the cover (200), the buffer seal (500) is uniform in thickness, the seal hole (510) is aligned with the sound pickup through hole (210), and the sound hole (321) of the audio assembly (300) is aligned with the seal hole (510).

[0046] Further, the buffer seal (500) can be elastically deformed, when the cover (200) is affected by the vibration of the robot body (100) and vibrates with the robot body (100), the deformation of the buffer seal (500) can buffer the vibration of the cover (200), and the vibration of the cover (200) affecting the sound pickup effect is reduced. More specifically, the buffer seal (500) can be a foam adhesive, which can effectively seal and buffer the vibration.

[0047] The audio assembly (300) can be in various forms, and is intended to convert sound into an electrical signal for transmission. In an embodiment, the audio assembly (300) comprises a control substrate (310) and at least one sound pickup (320). The control substrate (310) is provided with a substrate opening (311), the control substrate (310) is connected to the cover (200), and the substrate opening (311) is opposite to the sound pickup through hole (210). The sound pickup (320) is connected to the side of the cover (200) away from the control substrate (310), and the sound pickup (320) is opposite to the substrate opening (311).

[0048] For example, the sound pickup (320) can be a microphone, and the control substrate (310) can be a printed circuit board (PCB). Figure 4As shown, the pickup (320) adopts a back-pasted positive sound emitting microphone (Microphon, MIC), the pickup (320) includes a sound hole (321) and a pin (322) for welding, the sound hole (321) and the pin (322) are located on the same side of the pickup (320). The control substrate (310) can be a PLC circuit board, the pin (322) of the pickup (320) is welded on the back of the PCB board through a solder pad connection, and mechanical and electrical connections are realized at the same time, and the sound hole (321) of the pickup (320) is aligned with the substrate opening (311). The PCB board is connected to the cover body (200) from the front, the substrate opening (311) is aligned with the pickup through hole (210), and the voice is transmitted into the pickup (320) after passing through the pickup through hole (210) and the substrate opening (311). In the foregoing embodiment, the sealed connection of the audio assembly (300) and the cover body (200) refers to the sealed connection of the control substrate (310) and the cover body (200), which can be specifically achieved by bonding the buffer sealing element (500) on the cover body (200). The PCB board can further process the electrical signal of the pickup (320), such as amplification, wireless transceiving or preliminary data analysis, and then transmit the processed signal to the main controller in the robot main body (100) for further processing.

[0049] Further, as shown in the figure, Figures 2-3 As shown, the cover body (200) is further provided with a limiting protrusion (220), and the audio assembly (300) includes a limiting hole (340), the limiting protrusion (220) is used for inserting into the limiting hole (340) to limit the audio assembly (300).

[0050] The limiting protrusion (220) and the limiting hole (340) can each be three, the limiting holes (340) are distributed on the control substrate (310) at intervals, the limiting protrusions (220) are inserted into the limiting holes (340) one by one, the installation position of the control substrate (310) is ensured to be accurate and the control substrate (310) is limited, and transverse movement can be avoided. It can be understood that in the embodiment including the buffer sealing element (500), the buffer sealing element (500) is provided with a gap hole corresponding to the limiting protrusion (220).

[0051] In order to ensure the sealing between the pickup (320) and the control substrate (310), ensure that the voice entering the substrate opening (311) can be captured by the pickup (320) to the maximum extent, and avoid that the noise caused by the vibration of the robot main body (100) enters the pickup (320) through the gap between the pickup (320) and the control substrate (310), in one embodiment, the cleaning robot further includes an isolation sleeve (700), the isolation sleeve (700) is connected with the audio assembly (300) to cover the outside of the pickup (320) of the audio assembly (300), and the isolation sleeve (700) is used for sound insulation.

[0052] The isolation sleeve (700) can be a rubber sleeve, in a bottle cap structure, including a top opening and a containing cavity in communication with the top opening, the isolation sleeve (700) is sleeved on the outer periphery of the pickup (320), and the top opening edge is sealed and connected with the control substrate (310) by using an adhesive.

[0053] To further reduce the vibration of the cover body (200) and reduce the noise caused by the vibration of the robot body (100), in an embodiment, the cleaning robot further comprises a buffer member (400), the buffer member (400) is connected with one of the cover body (200) and the robot body (100), and the other of the cover body (200) and the robot body (100) is used to abut against the buffer member (400).

[0054] The buffer member (400) is provided, which can buffer the vibration of the robot body (100) on the one hand, so that the vibration of the cover body (200) is weakened, and the vibration noise is reduced; on the other hand, the noise caused by the vibration of the cover body (200) to collide with the robot body (100) is avoided, so as to reduce the noise input and ensure better pickup effect. The buffer member (400) is one or more, which can be fixedly connected with the cover body (200), when the cover body (200) is connected with the robot body (100), the buffer member (400) abuts against the robot body (100), or the buffer member (400) is fixedly connected with the robot body (100), when the cover body (200) is connected with the robot body (100), the buffer member (400) abuts against the cover body (200). When the main shell (110) is connected with the cover body (200), the buffer member (400) is located at different sides of the audio assembly (300), such as opposite sides, to achieve balanced damping effect. Further, the interval between the audio assemblies (300) is less than a preset distance, specifically less than the edge of the control substrate (310), to achieve better damping effect for the audio assembly (300), the preset distance can be 1 centimeter, 0.5 centimeter, etc. In the embodiment, the buffer member (400) is located at the opposite sides of the audio assembly (300), and the interval between the audio assemblies (300) is less than the preset distance, so that the buffer member (400) can effectively buffer the vibration of the robot body (100) and reduce the noise caused by the vibration of the robot body (100). Figure 4 、 Figure 7As shown, the buffer (400) is arranged on the robot body (100), for example, the buffer (400) includes a first sub-buffer (410) and a second sub-buffer (420), the audio assembly (300) is arranged in a ring shape, a loudspeaker is arranged in the middle area surrounded by the audio assembly (300), the shape of the first sub-buffer (410) is matched with the shape of the loudspeaker, the first sub-buffer (410) covers the loudspeaker and extends to the inner side edge close to the audio assembly (300), the second sub-buffer (420) is in a ring structure and is arranged close to the audio assembly (300) and one circle of the outer periphery of the audio assembly (300), and plays a buffering and damping effect on the audio assembly (300) from the opposite sides of the inner side and the outer side of the ring-shaped audio assembly (300). The first sub-buffer (410) and the second sub-buffer (420) can be made of soft rubber material.

[0055] In a more specific embodiment, as shown, Figure 7 The robot body (100) includes a main shell (110), the cover body (200) is used to be connected with the main shell (110), for example, detachable connection such as clamping or hinged connection, or the cover body (200) can not be connected with the main shell (110), and the cover body (200) is used to cover at least part of the area of the main shell (110). The main shell (110) is provided with an opening and a containing groove (111) in communication with the opening, when the cover body (200) covers the main shell (110), the audio assembly (300) is located in the containing groove (111), and the buffer (400) is connected or abuts to the opening edge.

[0056] When the buffer (400) is arranged on the robot body (100), the buffer (400) is fixedly connected to the edge of the containing groove (111). Specifically, a mounting boss can be arranged on the edge, and the buffer (400) is arranged on the mounting boss by using adhesive, so as to ensure that the position of the buffer (400) is stable and not easy to fall off. The containing groove (111) plays a role of providing space for the audio assembly (300), and the buffer (400) is arranged on the opening edge, so as to ensure that the buffer (400) is close to the audio assembly (300) and more effectively dampens.

[0057] In an embodiment, the cleaning robot further includes a barrier film (600), the barrier film (600) is connected with the cover body (200), the barrier film (600) covers the sound pickup through hole (210), and the barrier film (600) is a waterproof sound transmission film.

[0058] The barrier membrane (600) is used to prevent external fluids or dust impurities from entering and contaminating the audio component (300) through the pickup hole (210), thus avoiding any impact on the performance of the microphone (320). The barrier membrane (600) can be placed on the top surface of the cover (200) opposite to the audio component (300), or the barrier membrane (600) can be placed between the audio component (300) and the cover (200). During production, the barrier membrane (600) is first fixed to the bottom surface of the cover (200) at the position covering the pickup hole (210), and then foam adhesive is applied, with the foam adhesive covering an area beyond the edge of the barrier membrane (600). Then, the control board (310) of the audio component (300) is bonded to the foam adhesive, thereby fixing the barrier membrane (600) to the cover (200). In addition, to avoid the barrier film (600) affecting the adhesion between the foam and the cover (200), a barrier film mounting groove (230) can be provided on the back of the cover (200). The sound pickup hole (210) is located at the bottom of the barrier film mounting groove (230). The barrier film (600) is set in the barrier film mounting groove (230), and the bottom surface of the barrier film (600) is coplanar with the bottom surface of the cover (200).

[0059] The communication between the audio component (300) and the main controller of the robot body (100) can be wireless communication. The audio component (300) includes a first wireless module, and the robot body (100) includes a second wireless module. The audio component (300) and the robot body (100) are wirelessly connected through the first wireless module and the second wireless module for signal transmission.

[0060] Or, such as Figure 4 As shown, the audio component (300) includes a ribbon cable (330) for electrical connection with the robot body (100) to enable signal transmission between the audio component (300) and the robot body (100). The ribbon cable (330) is a flexible wire and electrical connector extending from the control board (310), which can be electrically connected to the main controller of the robot body (100) in a pluggable manner to realize wired signal transmission.

[0061] On the other hand, the present invention also provides a cleaning robot system, including the cleaning robot of any of the foregoing, and a base station, wherein the cleaning robot is used to selectively dock at the base station.

[0062] The cleaning robot system includes the features of any of the aforementioned cleaning robots, as well as the advantages of any of the aforementioned cleaning robots, which will not be elaborated here.

[0063] The above merely describes a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A cleaning robot, characterized in that, include: A robot body (100) for mobile cleaning; A cover (200) that covers at least the upper portion of the robot body (100) and has at least one sound pickup hole (210) on the cover (200); At least one audio component (300) and a buffer seal (500), the audio component (300) being connected to the cover (200) via the buffer seal (500) and located on the side of the cover (200) opposite to the robot body (100), the audio component (300) being opposite to at least one pickup hole (210) for picking up sound through the pickup hole (210).

2. The cleaning robot according to claim 1, characterized in that, The buffer seal (500) is provided with a sealing hole (510), which is opposite to the pickup through hole (210).

3. The cleaning robot according to claim 2, characterized in that, The buffer seal (500) is elastically deformable.

4. The cleaning robot according to claim 1, characterized in that, The audio component (300) includes a control board (310) and at least one microphone (320); The control substrate (310) is provided with a substrate opening (311), the control substrate (310) is connected to the cover (200), and the substrate opening (311) is opposite to the sound pickup through hole (210); The microphone (320) is connected to the control substrate (310) on the side opposite to the cover (200), and the microphone (320) is opposite to the opening (311) of the substrate.

5. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes: An isolation sleeve (700) is connected to the audio component (300) to cover the outside of the microphone (320) of the audio component (300), and the isolation sleeve (700) is used for sound insulation.

6. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes: A buffer (400) is connected to one of the cover (200) and the robot body (100), the other of the cover (200) and the robot body (100) being used to abut against the buffer (400).

7. The cleaning robot according to claim 6, characterized in that, When the cover (200) covers the robot body (100), the buffer (400) is located on a different side of the audio component (300), and the distance between the buffer (400) and the audio component (300) is less than a preset distance.

8. The cleaning robot according to claim 7, characterized in that, The audio component (300) is ring-shaped, and the buffer (400) includes a first sub-buffer (410) and a second sub-buffer (420). The second sub-buffer (420) is a ring-shaped buffer. When the cover (200) covers the robot body (100), the audio component (300) surrounds the outer periphery of the first sub-buffer (410), and the second sub-buffer (420) surrounds the outer periphery of the audio component (300).

9. The cleaning robot according to claim 6, characterized in that, The robot body (100) includes a main shell (110), and the cover (200) at least partially covers the main shell (110); The main housing (110) is provided with an opening and a receiving groove (111) communicating with the opening. When the cover (200) covers the main housing (110), the audio component (300) is located in the receiving groove (111), and the buffer (400) is connected to or abuts against the edge of the opening.

10. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes: A barrier membrane (600) is connected to the cover (200) and covers the sound pickup hole (210). The barrier membrane (600) is a waterproof and sound-permeable membrane.

11. The cleaning robot according to claim 1, characterized in that, The audio component (300) includes a first wireless module, and the robot body (100) includes a second wireless module. The audio component (300) and the robot body (100) are wirelessly connected through the first wireless module and the second wireless module to transmit signals. Alternatively, the audio component (300) may include a ribbon cable (330) for electrical connection to the robot body (100) to enable signal transmission between the audio component (300) and the robot body (100).

12. The cleaning robot according to claim 1, characterized in that, The cover (200) is also provided with a limiting protrusion (220), and the audio component (300) includes a limiting hole (340). The limiting protrusion (220) is used to be inserted into the limiting hole (340) to limit the audio component (300).

13. A cleaning robot system, characterized in that, Includes a cleaning robot as described in any one of claims 1-12, and a base station; The cleaning robot is used to selectively dock at the base station.

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