Cleaning robot, base station and cleaning system

Abstract

Cleaning robot, characterized in that the cleaning robot comprises a movable part and a housing body, wherein a relative position of the movable part in relation to the housing body is changeable, so that the cleaning robot is switched between a first form state and a second form state.

Description

Technical field

[0001] The present application relates to the technical field of cleaning devices, in particular a cleaning robot, a base station and a cleaning system. State of the art

[0002] With the development of smart homes, various intelligent cleaning devices are already finding widespread use in households and play a helpful role in house cleaning. Of these, cleaning robots such as robotic vacuums, robotic mops, and the like are the most commonly used. A cleaning robot is typically used in a room. Since various pieces of furniture are arranged in the room, the space is divided into numerous smaller areas. However, the dimensions of the existing cleaning robot are not adjustable from the factory; that is, its ability to navigate these areas is fixed.Therefore, the cleaning robot cannot pass through some specific areas (for example, areas with a small width or low height) in the room, meaning that these specific areas cannot be covered by the cleaning robot and thus the overall cleaning effect in the room is impaired. Disclosure of the invention

[0003] The present application provides a cleaning robot to improve the cleaning robot's ability to cover areas in the room and thus the overall cleaning effect of the cleaning robot in the room.

[0004] To solve the above problem, the present application provides a cleaning robot. The cleaning robot comprises a movable part and a housing body, wherein the relative position of the movable part with respect to the housing body is changeable, so that the cleaning robot switches between a first form state and a second form state.

[0005] In its second form state, the cleaning robot can pass through an area that it cannot pass through in its first form state.

[0006] The present application further provides a base station. The base station is adapted for use with a cleaning robot according to one of the above embodiments, wherein the base station is used at least for coupling to the cleaning robot.

[0007] The present application further provides a cleaning system. The cleaning system comprises a cleaning robot according to one of the above embodiments and a base station, wherein the base station is adapted to the cleaning robot and is used at least for coupling to the cleaning robot.

[0008] In a technical solution of the present application, the cleaning robot comprises a movable part and a housing body, wherein the relative position of the movable part with respect to the housing body is changeable, allowing the cleaning robot to switch between a first and a second form state. The cleaning robot can switch between the first and second form states, enabling it to cover more areas in order to clean more areas and thus improve the overall cleaning effect in the room. Brief description of the characters Fig. Figure 1 shows a structural schematic view of a cleaning robot in a first form state and in a second form state in an embodiment of the present application; Fig. Figure 2 shows a schematic view of tangent lines and a center line in an embodiment of the present application; Fig. Figure 3 shows a structural schematic view of a cleaning robot in a first form state and in a second form state in a further embodiment of the present application; Fig. Figure 4 shows a structural schematic view of a cleaning robot in a first form state and in a second form state in a further embodiment of the present application; Fig. Figure 5 shows a structural schematic view of a cleaning robot in a first form state and in a second form state in a further embodiment of the present application; Fig. Figure 6 shows a structural schematic view of a base station in an embodiment of the present application; Fig. Figure 7 shows a structural schematic view of a cleaning system in an embodiment of the present application; Fig. Figure 8 shows a schematic flowchart of a first embodiment of a method for controlling a cleaning robot of the present application; Fig. Figure 9 shows a schematic flowchart of a second embodiment of a method for controlling a cleaning robot of the present application; Fig. Figure 10 shows a schematic flowchart of a third embodiment of a method for controlling a cleaning robot of the present application; Fig. Figure 11 shows a schematic flowchart of a fourth embodiment of a method for controlling a cleaning robot of the present application; Fig. Figure 12 shows a schematic flowchart of a fifth embodiment of a method for controlling a cleaning robot of the present application; Fig. Figure 13 shows a schematic flowchart of a sixth embodiment of a method for controlling a cleaning robot of the present application; and Fig. Figure 14 shows a schematic flowchart of a seventh embodiment of a method for controlling a cleaning robot of the present application. Detailed descriptions

[0009] The technical solutions in the embodiments of the application are described below in detail and in full with reference to the drawings in those embodiments. Naturally, the described embodiments represent not all, but only a subset of the embodiments in the application. All other embodiments that a person skilled in the art could obtain from the embodiments in the application without inventive steps are also within the scope of protection of the application.

[0010] The present application provides a cleaning robot 100. The cleaning robot 100 is used to clean a floor surface. The cleaning robot 100 includes a cleaning element 211. When the cleaning robot 100 cleans the floor surface, the cleaning element 211 comes into contact with the floor surface in order to clean it.

[0011] In some embodiments, such as in Fig. As shown in Figures 1 and 3 to 5, the cleaning robot 100 comprises a movable part 20 and a housing body 10, wherein the relative position of the movable part 20 with respect to the housing body 10 is changeable, allowing the cleaning robot 100 to switch between a first and a second form state. The housing body 10 represents an outer frame structure of the cleaning robot 100 and serves to protect internal arrangements and to define an overall outer contour. For example, electronic components of the cleaning robot 100 are arranged within the housing body 10, which not only protects the electronic components but also provides a space for their mounting. The movable part 20 is a component of the cleaning robot 100 other than the housing body 10.When the cleaning robot 100 cleans the floor area to be cleaned, the movable part 20 assists the cleaning robot 100 in performing a cleaning task. Alternatively, when the cleaning robot 100 creates a work map, the movable part 20 assists the cleaning robot 100 in the task of creating a work map. That is, the movable part 20 is arranged on the cleaning robot 100 to perform certain functions, which include, but are not limited to, cleaning, creating a work map, and the like.

[0012] In the second form state, the cleaning robot 100 can pass through an area that it cannot pass through in the first form state, so that the cleaning robot 100 can pass through more areas to clean more areas and thus improve the overall cleaning effect in the room.

[0013] Since areas (such as a narrow area, a low area, a door threshold, and the like) of the floor area 100 to be cleaned by the cleaning robot have a complex environment, the cleaning robot 100 cannot pass through these areas if it moves in an unchanged state. In an embodiment of the present application, the cleaning robot 100 can be changed by the relative position of the movable part 20 with respect to the housing body 10 in order to switch between the first state and the second state, so that in the second state the cleaning robot 100 can pass through the narrow area, the low area, the door threshold, and the like.In its initial configuration, the cleaning robot 100 cannot pass through narrow areas, low areas, door thresholds, and similar obstacles, meaning that areas on the other side of these obstacles cannot be cleaned. A narrow area refers to an area where the width is less than the width of the cleaning robot 100 in its initial configuration. A low area refers to an area where the height is less than the height of the cleaning robot 100 in its initial configuration. When cleaning areas that are neither low nor narrow, the cleaning robot 100 can perform its cleaning function in its initial configuration, ensuring that the function of the moving part 20 can be used correctly.When cleaning in low areas, narrow areas and the like, the cleaning robot 100 can perform the cleaning in the second form state, thus ensuring that the low area or the narrow area can be cleaned and thereby improving the overall cleaning effect in the room.

[0014] The movable part 20 comprises at least one cleaning module 21, one drive wheel 23, and one radar 22. That is, the relative position of the at least one cleaning module 21, drive wheel 23, and radar 22 with respect to the housing body 10 is changeable. This means that the change between the first and second forming states can involve a change in the relative position of the cleaning module 21 with respect to the housing body 10, or a change in the relative position of the drive wheel 23 with respect to the housing body 10, or a change in the relative position of the radar 22 with respect to the housing body 10, or a change in the relative position of the cleaning module 21 and the drive wheel 23 with respect to the housing body 10, or a change in the relative position of the cleaning module 21 and the drive wheel 23 as well as the radar 22 with respect to the housing body 10, etc.

[0015] In some embodiments, as in Fig. As shown in Figure 1, the movable part 20 can include a cleaning module 21. The cleaning module 21 includes at least one cleaning element 211, wherein the cleaning element 211 is extendable or retractable relative to the housing body 10 to improve the flexibility of the cleaning element 211 when cleaning the floor surface to be cleaned. The cleaning element 211 is extended beyond the housing body 10 to enable cleaning of an edge or corner area or to enlarge the cleaning area, thus improving cleaning efficiency. In the first configuration, the cleaning element 211 is at least partially extended beyond the housing body 10. The cleaning robot 100 is in the second configuration, in which the cleaning element 211, which was extended beyond the housing body 10, is retracted. The width of the housing body 10 remains unchanged.Because the cleaning element 211 extends beyond the housing body 10, the cleaning width of the cleaning module 21 can be increased, i.e., the overall width of the cleaning robot 100 is increased. In the second configuration of the cleaning robot 100, the cleaning width of the cleaning module 21 is reduced, and the overall width of the cleaning robot 100 is decreased, thus facilitating the movement of the cleaning robot 100 in narrow spaces and cleaning within them.

[0016] As in Fig. As shown in Figure 2, the housing body 10 has a widest outer edge which relates to two tangent lines of a projection of the cleaning robot onto a surface to be cleaned in a proper direction of travel of the cleaning robot, wherein the two tangent lines are symmetrical with respect to a center line, and wherein the cleaning element 211 of the cleaning robot 100 in the second form state is closer to the center line than the cleaning element 211 of the same in the first form state.

[0017] In some embodiments, the cleaning module 21 comprises two cleaning elements 211, the two cleaning elements 211 being arranged in the width direction of the cleaning robot 100. The width direction is perpendicular to the direction of travel of the cleaning robot 100. When the cleaning robot 100 is moving, the width of the two cleaning elements 211 refers to the cleaning width when the cleaning robot 100 is cleaning the floor surface to be cleaned. The two cleaning elements 211 work together to clean the floor surface. At least one of the two cleaning elements 211 is extendable or retractable relative to the housing body 10 in order to change the cleaning width of the cleaning module 21 and thus the width of the cleaning robot 100.

[0018] When the cleaning robot 100 is to perform cleaning or travel within a narrow area, it can operate in its second configuration. In this configuration, the cleaning element 211 is retracted relative to the housing 10 to facilitate cleaning or travel within the narrow area and thus increase the robot's traversable area. When cleaning or traveling within a wider area, the cleaning robot 100 operates in its first configuration. In this configuration, the cleaning element 211 is extended relative to the housing 10 and extends at least partially beyond the housing 10 to increase the cleaning width or to clean edges and corners.

[0019] The cleaning robot 100 is equipped with a rod mechanism and a drive mechanism. The rod mechanism, the drive mechanism, and the cleaning element 211 are connected sequentially. The drive mechanism powers the rod mechanism to extend and retract, thus extending or retracting the cleaning element 211 relative to the housing body 10. Because only one of the two cleaning elements 211 is extendable or retractable relative to the housing body 10, only one rod mechanism and one drive mechanism are required for extending or retracting the cleaning element 211, thus reducing the manufacturing costs of the cleaning robot 100.Since the cleaning elements are retractable, the maximum width of the achievable width of the cleaning cover is relatively large, the cleaning width that can be cleaned by the cleaning robot 100 is relatively large, or the cleaning elements 211 on both sides of the cleaning robot 100 can clean the edge or corner area, so that the cleaning robot 100 has a high degree of flexibility in cleaning.

[0020] In a further embodiment, the two cleaning elements 211 are extendable and retractable in the lateral direction relative to the housing body 10, and each of the two cleaning elements 211 can be extended in the lateral direction to both sides of the cleaning robot 100, so that the cleaning robot 100 is in its first configuration state. Two cleaning elements 211 can each be extended in the lateral direction to both sides of the cleaning robot 100 to perform cleaning in or move within the wider area. When the cleaning robot 100 is performing cleaning or moving within the narrow area, the two cleaning elements 211 can each be retracted in the lateral direction to both sides of the cleaning robot 100 to reduce the overall width of the cleaning robot 100 and thus facilitate cleaning or movement within the narrow area.

[0021] In some embodiments, the cleaning element 211 is a mop that wipes the floor surface to be cleaned. It is understood that the mop is moist when wiping the floor surface. The mop is extendable and retractable relative to the housing 10 to flexibly sweep the floor surface. When the cleaning robot 100 performs cleaning in a narrow area, the mop is retracted relative to the housing 10, reducing the width of the cleaning robot 100. This facilitates the robot's passage through the narrow area to clean the floor surface.

[0022] In some further embodiments, the cleaning element 211 is a side brush that sweeps the floor surface to be cleaned, removing dirt and dust. The cleaning robot 100 has a suction opening and a blower that communicate with each other. The blower is activated to create a vacuum at the suction opening. The side brush sweeps the dirt and dust from the floor surface to the suction opening, so that the dirt and dust are drawn in through the suction opening, thus cleaning the floor surface. The side brush is extendable and retractable relative to the housing body 10 to flexibly sweep the floor surface to be cleaned.When the cleaning robot 100 performs cleaning in the narrow area, the side brush is retracted relative to the housing body 10 and the width of the cleaning robot 100 is reduced, thus making it easier for the cleaning robot 100 to pass through the narrow area in order to sweep the floor area to be cleaned in the narrow area.

[0023] In some other embodiments, the cleaning element 211 is a mop or a side brush. The side brush sweeps the floor surface to be cleaned, removing debris and dust. The mop wipes the floor surface to clean it.

[0024] In some embodiments, such as in Fig. As shown in Figure 3, the housing body 10 comprises a chassis 11, the chassis 11 being a component at the bottom of the housing body 10. The movable part 20 comprises a liftable cleaning module 21, the cleaning module 21 being connected to the chassis 11 and being liftable relative to the chassis 11 to adjust the height of the chassis 11. When the cleaning robot 100 cleans the area to be cleaned, the cleaning module 21 is lowered until it makes contact with the area to be cleaned. When the cleaning robot 100 is moving and there is no area to be cleaned, the cleaning module 21 can be raised away from the area to prevent the movement of the cleaning robot 100 from being hindered by a frictional force generated by the contact of the cleaning module 21 with the area to be cleaned.Upon encountering an obstacle such as a door threshold, the cleaning module 21 lowers until it makes contact with the floor surface to be cleaned and continues to lower, raising the chassis 11. Increasing the height of the chassis 11 helps the cleaning robot 100 overcome obstacles, such as door thresholds. If the door threshold is higher than the chassis 11, the housing 10 may collide with it when the cleaning robot 100 crosses it, preventing it from clearing the threshold. Increasing the height of the chassis 11 prevents this collision. Furthermore, the chassis 11 is set to be equal to or higher than the door threshold, ensuring that the drive wheel 23 clears the threshold when the cleaning robot 100 crosses it.

[0025] The cleaning module 21 is lowered relative to the chassis 11 until it makes contact with a floor surface and lifts the chassis 11, thus placing the cleaning robot 100 in its second operating state. The second operating state referred to herein describes the lifting of the chassis 11. The first operating state refers to a state of proper driving and cleaning. Upon encountering an obstacle such as a door threshold, the cleaning robot 100 must cross it, lifting the chassis 11 and thus placing the cleaning robot 100 in its second operating state. The height of the chassis 11 in the second operating state of the cleaning robot 100 is equal to or greater than the height of the chassis 11 in its first operating state.It is understood that the cleaning robot 100 operates or performs cleaning in the first operating state when it does not need to cross any obstacles. In the first operating state of the cleaning robot 100, the chassis 11 has a height of H1. The cleaning robot 100 operates in the second operating state when it needs to cross an obstacle. In the second operating state of the cleaning robot 100, the chassis 11 has a height of H2, where H2 is greater than H1.

[0026] Further with reference to Fig. Figure 3 provides that a first drive assembly 30 is arranged between the cleaning module 21 and the chassis 11, wherein the first drive assembly 30 is connected to both the cleaning module 21 and the chassis 11, and wherein the first drive assembly 30 can adjust the relative position of the cleaning module 21 with respect to the chassis 11. The first drive assembly 30 comprises at least one cylinder assembly, one spindle assembly, and one rod assembly. When the chassis 11 is to be raised, the first drive assembly 30 extends, increasing the distance between the cleaning module 21 and the chassis 11, thus bringing the cleaning module 21 into contact with the ground surface. After the cleaning module 21 makes contact with the ground surface, its height cannot be lowered further while the first drive assembly 30 continues to extend, thus raising the chassis 11.

[0027] As in Fig. 3 and Fig. As shown in Figure 4, in some embodiments the cleaning robot 100 comprises a drive wheel 23, the drive wheel 23 being connected to the chassis 11, and the cleaning module 21 and the drive wheel 23 being arranged sequentially in the direction of travel of the cleaning robot 100. The cleaning module 21 can be positioned in front of the drive wheel 23. That is, when the cleaning robot 100 is moving, the cleaning module 21 is located in front of the drive wheel 23. When the cleaning robot 100 crosses an obstacle, the cleaning module 21 is lowered until it makes contact with the floor surface, and the chassis 11 is raised to a height equal to or greater than that of the obstacle. The chassis 11 can at least partially cross the obstacle or be located above the obstacle, with the cleaning module 21 folded to prevent it from obstructing the movement of the cleaning robot 100.After the cleaning module 21 is folded, the drive wheel 23 continues to move, so that the cleaning robot 100 crosses the obstacle.

[0028] As in Fig. As shown in Figure 4, in some embodiments the drive wheel 23 is designed to be liftable relative to the chassis 11, whereby the drive wheel 23 and / or the cleaning module 21 are lowered relative to the chassis 11 to raise the chassis 11. It is understood that the height of the chassis 11 is adjustable either by raising or lowering the drive wheel 23 or by raising or lowering the cleaning module 21. When the cleaning robot 100 crosses the obstacle, the cleaning module 21 is lowered until it makes contact with the floor surface, and a front half of the housing body 10 is raised to a height equal to or greater than that of the obstacle. Simultaneously, the drive wheel 23 is lowered relative to the chassis 11, so that a rear half of the housing body 10 is raised to a height equal to or greater than that of the obstacle.This allows the housing body 10 to be raised overall, making it easier for the cleaning robot 100 to cross the obstacle.

[0029] As in Fig. As shown in Figure 4, a second drive assembly 40 is arranged between the drive wheel 23 and the chassis 11, the second drive assembly 40 being connected to both the drive wheel 23 and the chassis 11, and the second drive assembly 40 being able to adjust the relative position of the drive wheel 23 with respect to the chassis 11. The second drive assembly 40 can exert a force on the drive wheel 23, thereby generating a counterforce that acts on the chassis 11 to raise the chassis 11. The second drive assembly 40 comprises at least one cylinder assembly, one spindle assembly, and one rod assembly to increase or decrease the distance between the drive wheel 23 and the chassis 11.

[0030] In some further embodiments, unlike one embodiment in which the height of the chassis 11 is adjusted only by raising or lowering the cleaning module 21, the movable part 20 comprises a drive wheel 23 that can be raised relative to the housing body 10, and the housing body 10 comprises a chassis 11. The drive wheel 23 is lowered relative to the chassis 11 to raise the chassis 11, so that the cleaning robot 100 is in its second forming state. In this embodiment, the height of the chassis 11 is adjustable by raising or lowering the drive wheel 23. Adjusting the height of the chassis 11 by the drive wheel 23 is the same as in the embodiment described above and will not be repeated here.

[0031] As in Fig. As shown in Figure 5, in some embodiments the movable part 20 comprises a liftable radar 22 arranged above the housing body 10. The housing body 10 is provided with a chamber 50 for receiving the radar 22. The radar 22 is lifted so that it extends beyond the chamber 50, and then lowered so that it is at least partially contained within the chamber 50. In the second configuration, the radar 22 is at least partially contained within the chamber 50 to reduce the height of the cleaning robot 100. The radar 22 is used for scanning to create a work map, for object detection, or the like. When the cleaning robot 100 is moving, the radar 22 can detect an object around or in front of the cleaning robot 100 to prevent the cleaning robot 100 from colliding with it.When operating in a non-low area, the radar 22 extends beyond chamber 50 to facilitate scanning around an object and thus the generation of a map by the radar 22. This means that when operating in a non-low area, the cleaning robot 100 performs cleaning or travels in its first state. When the cleaning robot 100 is to enter and travel or perform cleaning in a low area, the radar 22 is at least partially enclosed in chamber 50 to reduce the height of the cleaning robot 100, allowing it to enter the low area. This means that the cleaning robot 100 enters the low area in its second state. The low area could refer to the area under a cabinet or the area under a sofa.It is understood that in the first configuration of the cleaning robot 100, the radar 22 extends beyond chamber 50, and the cleaning robot 100 has a height of H3. In the second configuration of the cleaning robot 100, the radar 22 is at least partially retracted into chamber 50, and the cleaning robot 100 has a height of H4. H4 is less than H3. This means that in the second configuration, the radar 22 is at least partially located within chamber 50 to reduce the height of the cleaning robot 100.

[0032] In some embodiments, the width of the housing body 10 is adjustable. Because the housing body 10 forms an outer frame structure of the cleaning robot 100, the width of the cleaning robot 100 can be adjusted by adjusting the width of the housing body 10. When the cleaning robot 100 is moving or cleaning in the non-narrow area, the width of the housing body 10 is at its widest point, so that the cleaning robot 100 is in its first configuration state when moving or cleaning in the non-narrow area. When the cleaning robot 100 enters the narrow area, the width of the housing body 10 is reduced to accommodate the width of the cleaning robot 100, so that the cleaning robot 100 is in its second configuration state when entering the narrow area.

[0033] As in Fig. As shown in Figure 6, the present application further provides a base station 200. The base station 200 is adapted to a cleaning robot 100 according to one of the above embodiments and is used, at least for coupling to the cleaning robot 100.

[0034] For example, it is envisaged that when the cleaning robot 100 has a low charge level, the cleaning robot 100 will travel to the base station 200, and that a charging clamp of the cleaning robot 100 will be connected to a charging clamp of the base station 200 in order to recharge the cleaning robot.

[0035] In some embodiments, the cleaning robot 100 is cleaned in the base station 200. When the cleaning element 211 of the cleaning robot 100 becomes soiled by cleaning the floor surface to be cleaned, the cleaning robot 100 can travel to the base station 200 to be cleaned there.

[0036] As in Fig. As shown in Figure 7, the present application further provides a cleaning system 300. The cleaning system 300 comprises a cleaning robot 100 according to one of the above embodiments and a base station 200, wherein the base station 200 is adapted to the cleaning robot 100 and is used at least for coupling to the cleaning robot 100. The present application further provides a method for controlling a cleaning robot. As shown in Figure 7, the cleaning system 300 comprises a cleaning robot 100 according to one of the above embodiments and a base station 200, wherein the base station 200 is adapted to the cleaning robot 100 and is used at least for coupling to the cleaning robot 100. Fig. As shown in Figures 1 and 3 to 5, the cleaning robot can switch between different sized form states. This means that the robot's dimensions can be changed. The different sized form states comprise a first form state and at least one second form state. The first form state and the second form state are each used to clean a first and second area of ​​a workspace, respectively. The first area can be a regular area (such as a wide or open space, or similar) within the workspace—that is, an area that the cleaning robot can freely traverse in the first form state.The second area can be a specific area of ​​the work area, i.e., an irregular area (such as a narrow, low, or small area or the like in the room), i.e., an area that the cleaning robot cannot pass through (or enter) in its first state.

[0037] The first form state can be a regular form state of the cleaning robot, meaning its original form when its shape remains unchanged. The second form state can be a specific form state, where at least one form dimension (such as width, overall height, chassis height, or similar) may have been modified compared to the first form state. The cleaning robot can have one or more second form states. If the cleaning robot has multiple second form states, different second form states can each be used to clean specific sub-areas of different types within the second area.For example, the sub-areas of different types can include: a sub-area with a narrow width (such as the space between two pieces of furniture), a sub-area with a low height (such as the area under a bed or a cabinet), a sub-area where an obstacle on the floor is high (such as a door threshold or a stepped area at the intersection of two rooms), and so on. It should be understood that "small width," "small height," or "high height" refers to the robot's navigable environment in its first state (i.e., its regular state). The navigable environment includes the robot's width, height, and the height of any obstacles it can encounter, and so forth.

[0038] An end device for executing the method for controlling a cleaning robot according to the present application can be a cleaning robot or an electronic device. The electronic device can be a computing device such as a control board, a desktop computer, a laptop, a tablet, a server, or the like. Here, the end device for execution is taken as an example of a cleaning robot. The cleaning robot is equipped with a control unit for controlling the cleaning robot. The method for controlling a cleaning robot will be explained in more detail below.

[0039] It will be on Fig. 8 pointed out. Fig. Figure 8 shows a schematic flowchart of a first embodiment of a method for controlling a cleaning robot of the present application.

[0040] In this embodiment, the method for controlling a cleaning robot includes: Step S10: Controlling the cleaning robot to clean an initial area of ​​the workspace in an initial form state; and Step S20: Controlling the cleaning robot to clean a second area of ​​the workspace in a second form state.

[0041] In the method for controlling a cleaning robot in this embodiment, the control unit controls the cleaning robot to operate in the first operating state when the cleaning robot is to clean the first area of ​​the workspace. When the cleaning robot is to clean the second area of ​​the workspace, it is controlled to switch to the second operating state in order to clean the second area, since the cleaning robot cannot pass through the second area in the first operating state.

[0042] For example, if the cleaning robot is cleaning the floor of a bedroom, it should, in its first state, clean the open floor area before cleaning the lower area under the bed or wardrobe (i.e., the second area). Since the cleaning robot in its first state cannot go under the bed or wardrobe in this case, it is switched to its second state under control. In this second state, the robot's height is lower than in its first state, allowing it to go under the bed or wardrobe. The robot is then controlled to enter this area in its second state to perform the cleaning.If, for example, the cleaning robot is also supposed to clean a narrower area (i.e., the second area) between the objects in the room, the cleaning robot is switched to the second mode under control, since the cleaning robot in the first mode cannot enter the narrower area in this case. In the second mode, the width of the cleaning robot is less than the width of the cleaning robot in the first mode, so that the cleaning robot can enter the narrower area. The cleaning robot is then controlled so that it enters the narrower area in the second mode to perform cleaning there.

[0043] Compared to the second configuration, the cleaning robot in the first configuration has at least one of the following three differences: a greater width, a greater height, or a shorter chassis height. If the cleaning robot in the first configuration has a greater width than in the second configuration, the width of the cleaning module's cleaning cover can be increased. This allows the cleaning robot to complete the cleaning of the first area more quickly and with high cleaning efficiency when cleaning the first area (i.e., the free area) in the first configuration. If the cleaning robot in the first configuration has a greater height than in the second configuration, the robot can hold the radar in a raised position (since the radar may need to be partially or fully retracted into the machine body in the second configuration).When cleaning the first area, the cleaning robot in its initial state can utilize the radar for navigation detection, creating or updating the work map, and other functions, enabling more precise cleaning. If the cleaning robot has a lower obstacle clearance height in its initial state compared to its second state, a lower chassis height can be maintained during this initial cleaning phase. This allows for better contact between the cleaning module and the object's surface, ensuring effective cleaning of the first area, and also improves the robot's stability.

[0044] In the technical solution for controlling a cleaning robot in this embodiment, a cleaning robot is used that can switch between different form states (comprising the first form state and at least one of the second form states). Because the cleaning robot, under control, cleans the first area of ​​the work area in the first form state and, in the second form state, an area that the cleaning robot cannot traverse in the first form state—that is, the cleaning robot automatically switches to the appropriate form state for mobile cleaning depending on the type of area currently being cleaned (first area or second area)—the cleaning area of ​​the cleaning robot can cover more areas in the room, leading to an improvement in the overall cleaning effectiveness of the cleaning robot in the room.

[0045] It will be on Fig. 9 pointed out. Fig. Figure 9 shows a schematic flowchart of a second embodiment of a method for controlling a cleaning robot of the present application.

[0046] In this embodiment, the method for controlling a cleaning robot further comprises: Step S30: Determine the domain type of the area to be traversed.

[0047] The area to be traversed can be either an area the cleaning robot will reach shortly or an area that lies ahead in the cleaning robot's current direction of travel. The area type includes a first area and a second area. During operation, the cleaning robot determines the area type of the area to be traversed; that is, whether the area to be reached shortly is the first or the second area. The area type can be determined in real time or at regular intervals (e.g., with a period of 1 second). Alternatively, the process of determining the area type can be performed when it is detected that the cleaning robot has reached a predefined trigger condition.Examples: if it is determined that the cleaning robot has reached a boundary position between the two areas, the area type of the area to be traversed is determined; if it is determined that the cleaning robot travels until the distance to the next area is less than a distance threshold, the area type of the area to be traversed can be determined; etc.

[0048] In one implementation, a work map of the current work area can be stored in the control unit. In this case, the work map is labeled with the area type of each area; that is, the area type of each area and its adjacent areas can be known from the work map. Thus, in this implementation, the area type of the area to be traversed can be determined in step S30 based on the work map.

[0049] In a further embodiment, it is provided that in step S30, the predefined characteristic information of the area to be traversed is first acquired, and then the area type of the area to be traversed can be determined based on this acquired predefined characteristic information. This can be achieved using sensors (e.g., image sensors), whereby the predefined characteristic information includes at least one of the following: a passage width, a passage height, and an obstacle height on the ground surface. After the predefined characteristic information of the area to be traversed has been acquired, the area type to which the area belongs can be determined based on this predefined characteristic information.For example, if the characteristics of the area to be traversed meet at least one of the following conditions: that the passage width is less than a predefined width threshold, the passage height is less than a predefined first height threshold, and the obstacle height on the ground surface is greater than a predefined second height threshold, then the area to be traversed is determined to be the second area. If none of the above conditions are met, then the area to be traversed is determined to be the first area. When determining the area to be traversed as the second area, the type of the second area can also be determined based on the predefined characteristic information of the area to be traversed; that is, it will be determined which refined type of the second area it is. For example, the refined type could include: 1.1. A first type where only the passage width is less than the specified width threshold; 2. A second type where only the passage height is less than the specified first height threshold; 3. A third type where only the obstacle height on the ground is greater than the specified second height threshold; 4. A fourth type where the passage width is less than the specified width threshold and the passage height is less than the specified first height threshold; 5. A fifth type where the passage width is less than the specified width threshold and the obstacle height on the ground is greater than the specified second height threshold; 6. A sixth type where the passage height is less than the specified first height threshold and the obstacle height on the ground is greater than the specified second height threshold; 7.A seventh type exists where the passage width is less than the specified width threshold, the passage height is less than the specified first height threshold, and the obstacle height on the ground surface is greater than the specified second height threshold; and so on. It is understood that in the sixth or seventh type, the cleaning robot's radar can be controlled to lower itself, and the height of the cleaning robot's chassis can be adjusted to be greater than the second height threshold. Although the height of the cleaning robot's chassis is adjusted to be greater than the second height threshold, the robot's height remains lower than its height in the first state due to the lowered radar, and the robot is still able to pass through the area where the height is less than the specified first height threshold.

[0050] In some other versions, the determination of the area type of the area to be traversed can of course also be done in other ways.

[0051] Step S40: Controlling the cleaning robot when determining the area to be traversed as the second area, so that it enters the area to be traversed in the second form state according to the second area.

[0052] The control unit can store the individual second form states (the corresponding second form states) that correspond to each refined type for the second area, or a correspondence between the characteristic information (e.g., the passage width, passage height, and obstacle height on the floor surface) of the second area and the second form states. If the area to be traversed is determined as the second area, the second form state corresponding to the second area can be determined based on the refined type of the second area or the characteristic information in order to control the cleaning robot so that it changes into the second form state and enters the area to be traversed.In this embodiment, step S40 is performed when the area to be traversed is of a different area type or refined type than the current area of ​​the cleaning robot, such as when the current area of ​​the cleaning robot is the first area and the area to be traversed is the second area, or when the current area of ​​the cleaning robot is the second area of ​​a certain type (e.g., the first type above) and the area to be traversed is the second area of ​​a different type (e.g., the second type above). If the area to be traversed matches the refined type of the current area of ​​the cleaning robot, the cleaning robot can, of course, be made to enter the area to be traversed while maintaining its current second form state.

[0053] In the technical solution of the method for controlling a cleaning robot in this embodiment, the area type of the area to be traversed is determined during the operation of the cleaning robot, so that when the area to be traversed is determined as the second area, the cleaning robot is controlled in such a way that it is switched to the second form state corresponding to the area to be traversed, in order to ensure that the cleaning robot enters the area to be traversed for cleaning without hindrance, and again to ensure that the cleaning robot can move unhindered during operation to clean areas of all types in the work area.

[0054] It will be on Fig. 10. Fig. Figure 10 shows a schematic flowchart of a third embodiment of a method for controlling a cleaning robot of the present application.

[0055] In this embodiment, the method for controlling a cleaning robot further comprises, after the step of determining the area type of the area to be traversed (i.e., step S30): Step S50: Controlling the cleaning robot in determining the area to be traversed as the first area, so that it enters the area to be traversed in its current shape state.

[0056] The cleaning robot's current area of ​​operation is defined as two possible states: the first state and the second state. If the cleaning robot is currently in the second state when determining the first state, it cannot immediately switch to the first state because it is unable to enter the second state in the first state. To prevent the cleaning robot from being blocked in its current state or being unable to enter the next state, it must enter the next state while still in its current state.

[0057] Step S60: Maintaining the initial form state or switching to the initial form state of the cleaning robot after it has entered the area to be traversed.

[0058] Once the cleaning robot has entered the area to be traversed, it will switch to the first form state if its current form state is the second form state (i.e., if the robot was in the second form state before reaching the area to be traversed). However, if the robot's current form state is actually the first form state (i.e., if it was in the first form state before reaching the area to be traversed), the robot will be instructed to maintain the first form state.Since the first area is a section of the workspace whose passage width allows the cleaning robot to enter in its initial state, and since this first area corresponds to the first state with a larger width, the cleaning robot in this initial state has a wider cleaning coverage and improved cleaning efficiency. By operating the cleaning robot under control after reaching the first area in its initial state, the cleaning efficiency for the entire workspace can be improved.

[0059] In the technical solution for controlling a cleaning robot in this embodiment, the type of area to be traversed is determined during the robot's operation. When determining the area to be traversed as the first area, the cleaning robot is initially controlled to enter it in its current state. Subsequently, the cleaning robot is controlled to maintain or transition to this initial state. This ensures that the cleaning robot can move freely between the individual areas of the workspace to complete the cleaning of the entire workspace more efficiently.

[0060] Since the cleaning robot can also pass through the first area in the second form state, in some embodiments it is of course also possible that the cleaning robot, when determining the area to be passed through as the first area, enters the area to be passed through for cleaning directly, without performing any treatment on the cleaning robot.

[0061] In some embodiments, determining the area type of the area to be traversed may include: updating the area type of the area to be traversed when it is determined that the cleaning robot has reached a boundary position between two areas and is about to enter the next area to be traversed.

[0062] If the cleaning robot reaches the boundary position with the other area during operation, further movement of the cleaning robot results in a change of the area type of the current area being traversed. During operation of the cleaning robot before reaching the boundary position, the area type does not change, and thus no change of form state is required. Therefore, this embodiment provides that only when the cleaning robot reaches the boundary position between two areas during operation and is about to cross the boundary to the next area (i.e., the area to be traversed), is the area type of the area to be traversed updated and determined in order to control the cleaning robot based on the area type of the area to be traversed, in order to perform an appropriate treatment (to change or maintain the form state).This avoids the need to constantly or frequently perform the treatment step of determining the area type of the area to be traversed in real time, thereby reducing the amount of data to be processed by the system.

[0063] It will be on Fig. 11. Fig. Figure 11 shows a schematic flowchart of a fourth embodiment of a method for controlling a cleaning robot of the present application.

[0064] In this embodiment, the second area comprises a first sub-area with a passage width that is smaller than the first width, where the first width is the width of the cleaning robot in its first configuration. Step S40 of the method for controlling a cleaning robot comprises: Step S41: Adjusting the width of the cleaning robot, when determining the area to be traversed as the first sub-area, to a width that is less than or equal to the passage width of the first sub-area in order to enter the area to be traversed.

[0065] If the area to be traversed is defined as the first sub-area (a sub-area of ​​one of the types of the second area), meaning that the passage width of the area to be traversed is smaller than the width in the first form state, the cleaning robot cannot traverse the first sub-area in its first form state. In this case, the passage width of the first sub-area can be taken from the work map, detected by sensors, or determined by other means. The width of the cleaning robot is then adjusted to a width that is less than or equal to the passage width of the first sub-area, allowing the cleaning robot to enter the first sub-area (i.e., the area to be traversed) to perform the cleaning.If the passage width of the first section is smaller than the minimum width of the cleaning robot in the second form state, the cleaning robot stops accessing the first section and bypasses it.

[0066] As in Fig. As shown in Figure 1, in some embodiments the cleaning robot can comprise a housing body 10 and a cleaning module 21 with an adjustable cleaning cover width. In the first configuration, the cleaning module 21 has a cleaning cover width greater than the width of the housing body 10, for example, when the cleaning module 21 is partially extended beyond the housing body 10 in its lateral direction.In the above step S41 according to this embodiment, the step of adjusting the width of the cleaning robot to a width less than or equal to the passage width of the first sub-area may include: adjusting the width of the cleaning cover of the cleaning module 21 to a width less than or equal to the passage width of the first sub-area, so that the overall width of the cleaning robot is reduced, allowing the cleaning robot to enter the first sub-area.

[0067] In some embodiments, the cleaning robot may comprise a housing body with an adjustable width. In step S41 above, according to this embodiment, the step of adjusting the width of the cleaning robot to a width less than or equal to the passage width of the first sub-area may include: reducing the width of the housing body so that the width of the cleaning robot is less than or equal to the passage width of the first sub-area, allowing the cleaning robot to enter and pass through the first sub-area.

[0068] Of course, in some other embodiments, the width of the cleaning robot can also be adjusted in other ways.

[0069] In the technical solution of this embodiment, the width of the cleaning robot is adjusted to reduce its size when the area to be traversed is defined as the first sub-area with a passage width smaller than the width in the first configuration. This causes the cleaning robot to switch to the second configuration corresponding to the first sub-area, thus enabling access to and traversal of the first sub-area, allowing the cleaning robot to clean the first sub-area of ​​the work area.

[0070] It will be on Fig. 12. Fig. Figure 12 shows a schematic flowchart of a fifth embodiment of a method for controlling a cleaning robot of the present application.

[0071] In some embodiments, the second area comprises a second sub-area with a passage height that is lower than the first height, where the first height is the height of the cleaning robot in its first form state. In this embodiment, the above step S40 comprises: Step S42: Adjusting the height of the cleaning robot, when determining the area to be traversed as the second sub-area, to a height that is lower than the passage height of the second sub-area in order to enter the area to be traversed.

[0072] If the area to be traversed is defined as the second sub-area (a sub-area of ​​one of the types of the second area), meaning that the clearance height of the area to be traversed is less than the height in the first form state, the cleaning robot cannot traverse the second sub-area in the first form state. In this case, the clearance height of the second sub-area can be taken from the work map, detected by sensors, or determined by other means. The height of the cleaning robot is then adjusted to a height less than or equal to the clearance height of the second sub-area, allowing the cleaning robot to enter the second sub-area (i.e., the area to be traversed) and perform the cleaning there.If the clearance height of the second sub-area is less than the minimum height of the cleaning robot in the second form state, the cleaning robot stops accessing the second sub-area and bypasses this second sub-area.

[0073] As in Fig. As shown in Figure 5, in some embodiments the cleaning robot may include a liftable radar 22. In step S42 above, according to this embodiment, the step of adjusting the height of the cleaning robot to a height less than the clearance height of the second sub-area may include controlling the cleaning robot's radar 22 to lower it; and / or the step of adjusting the height of the cleaning robot to a height less than the clearance height of the second sub-area may include reducing the height of the cleaning robot's chassis.After the area to be traversed has been determined as the second sub-area, the radar 22 of the cleaning robot is lowered under control and / or the height of the chassis of the cleaning robot is reduced under control, so that the total height of the cleaning robot is reduced to a height that is less than or equal to the passage height of the second sub-area, so that the cleaning robot can enter and traverse the second sub-area.

[0074] Of course, in some other embodiments, the height of the cleaning robot can also be adjusted in other ways.

[0075] In the technical solution of this embodiment, the height of the cleaning robot is adjusted to reduce its height when the area to be traversed is defined as the second sub-area with a clearance height lower than the height in the first configuration. This changes the cleaning robot to the second configuration corresponding to the second sub-area, thus enabling access to and traversal of the second sub-area, allowing the cleaning robot to clean this second sub-area of ​​the work area.

[0076] It will be on Fig. 13 pointed out. Fig. Figure 13 shows a schematic flowchart of a sixth embodiment of a method for controlling a cleaning robot of the present application.

[0077] In some embodiments, the second area includes a third sub-area with an obstacle height on the floor surface that is greater than the second height, where the second height is the height of the cleaning robot's chassis in its first configuration. In this embodiment, the above step S40 includes: Step S43: Adjusting the height of the cleaning robot's chassis, when determining the area to be traversed as the third sub-area, to a height greater than the second height in order to enter the area to be traversed.

[0078] If the area to be traversed is defined as the third sub-area (a sub-area of ​​one of the types of the second area), meaning that the obstacle height on the floor surface in the area to be traversed is greater than the height the cleaning robot can overcome in the first operating state, the cleaning robot cannot traverse the third sub-area in the first operating state. In this case, the obstacle height on the floor surface in the third sub-area can be taken from the work map, or it can be detected by sensors or determined in some other way. The height of the cleaning robot's chassis is then adjusted to a height greater than the obstacle height on the floor surface in the third sub-area, so that the cleaning robot can overcome the obstacle height on the floor surface in the third sub-area and enter the third sub-area unimpeded.to enter the area to be traversed) and to be able to pass through this third sub-area unhindered in order to carry out cleaning there. If the obstacle height on the floor surface in the third sub-area is greater than the maximum height for the cleaning robot to overcome obstacles in the second form state, the cleaning robot stops accessing the third sub-area and bypasses it.

[0079] In the technical solution of this embodiment, the height of the cleaning robot's chassis is adjusted to increase its height when the area to be traversed is defined as the third sub-area with an obstacle height on the floor surface that is greater than the height the cleaning robot can overcome in its first operating state. This changes the cleaning robot to its second operating state corresponding to the third sub-area, thus enabling access to and traversal of this third sub-area, allowing the cleaning robot to clean this third sub-area of ​​the work area.

[0080] It should be noted that the above-mentioned steps S41, S42, S43 can be carried out individually or in combination with each other.

[0081] It will be on Fig. 14 pointed out. Fig. Figure 14 shows a schematic flowchart of a seventh embodiment of a method for controlling a cleaning robot of the present application.

[0082] In this embodiment, the method for controlling a cleaning robot after step S10 further comprises: Step S70: Controlling the cleaning robot to switch to the second form state according to the second area when it is determined that a second area occurs in the direction of travel of the cleaning robot, the distance of which to the cleaning robot is less than a specified distance value.

[0083] If the cleaning robot is moving within the first area in its first state and, in its direction of travel, encounters the second area, the distance of which to the cleaning robot is less than a predefined value, this means that the cleaning robot will soon enter the second area. However, since the cleaning robot cannot pass through the second area in its first state, the control system changes the cleaning robot to the second state corresponding to the second area to allow unimpeded access from the current first area to the second area. Furthermore, the cleaning robot can change its state while moving by transitioning to the second area at a predefined distance.This way, the cleaning robot doesn't have to stop at the boundary between the first and second areas to change its shape. The cleaning robot operates more smoothly and with higher cleaning efficiency.

[0084] It should be noted that in the solutions of all the above embodiments of the method for controlling a cleaning robot according to the present application, the above embodiments can be combined or linked to form a new embodiment, as long as they do not contradict each other.

[0085] As in Fig. As shown in Figures 8 to 10, in some embodiments the robot comprises a housing body 10 and a cleaning module 21 arranged on the housing body 10. The cleaning module 21 allows the width of the cleaning cover to be increased or decreased. In some embodiments, several cleaning modules 21 may be provided; for example, three cleaning modules 21 are provided, two of which are first cleaning elements (e.g., mops) that can be extended or retracted on two opposite sides of the housing body 10, and the other cleaning module (not shown) can be a second cleaning element (e.g., a roller brush) arranged on the underside of the housing body 10. The cleaning width of the combination of the two first cleaning elements and the second cleaning element represents the width of the cleaning cover of the cleaning robot.

[0086] As in Fig. 9 and Fig. As shown in Figure 10, in some embodiments the cleaning module 21 and the drive wheel 23 for moving the cleaning robot are adjustable for raising and lowering; and / or the liftable radar 22 is arranged on the housing body 10 of the cleaning robot. Controlling the adjustment for raising and lowering the cleaning module 21 and the drive wheel 23 for movement achieves the height adjustment of the chassis and the overall height adjustment of the cleaning robot, and controlling the adjustment for raising and lowering the radar 22 achieves the overall height adjustment of the cleaning robot.

[0087] Since the electronic device, the cleaning robot and the storage medium can be used to perform the steps of the method for controlling a cleaning robot, they exhibit at least all the advantageous effects achieved by the technical solutions of the above-mentioned embodiments of the method for controlling a cleaning robot, and a repeated description is unnecessary here.

[0088] In the embodiments described in this application, it is understood that the disclosed method and the disclosed apparatus can be implemented in other ways. For example, the embodiments of the apparatus described above serve only for illustration. For instance, the division of the modules represents only a logical division of functions, whereas other types of division can be used in the actual implementation, such as combining several modules or arrangements with one another or integrating them into a further apparatus, or omitting certain features or not implementing them. Furthermore, the indirect couplings or communication links between the apparatus or modules can be electrical and mechanical or take other forms.

[0089] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple modules. Some or all of these modules can be selected according to actual needs to achieve the purpose of the embodiments shown in these exemplary configurations.

[0090] Furthermore, in the embodiments described in this application, individual functional modules can be integrated into a treatment module or exist physically separately from one another. It is also possible to integrate two or more modules into a single module. The integrated module described above can be implemented either as a hardware or a software functional module.

[0091] The present invention thus discloses a cleaning robot. The cleaning robot comprises a movable part and a housing body, wherein the relative position of the movable part with respect to the housing body is changeable, so that the cleaning robot switches between a first and a second operating state. The cleaning robot can switch between the first and second operating states, allowing it to cover more areas in order to clean more areas and thus improve the overall cleaning effect in the room.

[0092] The above-mentioned embodiments are only some of the exemplary or preferred embodiments of the present application, and neither the text nor the accompanying drawings can therefore limit the scope of protection of the present application. Under the overall concept of the present invention, any equivalent structure made using the content of the description and the accompanying drawings of this application is used either directly or indirectly in other related technical fields, each of which is included in the scope of protection of the present application.

Claims

[1] Cleaning robot, characterized by in that the cleaning robot comprises a movable part and a housing body, wherein a relative position of the movable part with respect to the housing body is changeable so that the cleaning robot is changed between a first shape state and a second shape state. [2] Cleaning robot according to claim 1, characterized by that the cleaning robot in the second form state can pass through an area that it cannot pass through in the first form state. [3] Cleaning robot according to claim 1, characterized by that the movable part comprises at least one of a cleaning module, a drive wheel and a radar. [4] Cleaning robot according to claim 1, characterized byin that the movable part comprises a cleaning module, wherein the cleaning module comprises at least one cleaning element, wherein the cleaning element is extendable or retractable relative to the housing body, wherein in the first mold state the cleaning element is at least partially extended beyond the housing body, and wherein the cleaning robot is in the second mold state in that in the cleaning robot the cleaning element which is extended beyond the housing body is retracted. [5] Cleaning robot according to claim 4, characterized byin that the housing body has a widest outer edge which relates to two tangent lines of a projection of the cleaning device onto a surface to be cleaned in a proper direction of travel of the cleaning robot, wherein the two tangent lines are symmetrical with respect to a center line, and wherein the cleaning element of the cleaning robot in the second mold state is closer to the center line than the cleaning element thereof in the first mold state. [6] Cleaning robot according to claim 4, characterized by that the cleaning module comprises two cleaning elements, wherein the two cleaning elements are arranged in a width direction of the cleaning robot, and wherein at least one cleaning element of the two cleaning elements is extendable and retractable relative to the housing body. [7] Cleaning robot according to claim 6, characterized bythat the two cleaning elements are extendable and retractable in the width direction relative to the housing body, and that the two cleaning elements are each extendable in the width direction to both sides of the cleaning robot, so that the cleaning robot is in the first molding state. [8] Cleaning robot according to one of claims 4 to 7, characterized by that the cleaning element comprises at least one of a mop and a side brush. [9] Cleaning robot according to claim 1, characterized by that the housing body comprises a chassis, and that the movable part comprises a liftable cleaning module, wherein the cleaning module is connected to the chassis, and wherein the cleaning module is liftable relative to the chassis in order to adjust the height of the chassis. [10] Cleaning robot according to claim 9, characterized bythat a first drive arrangement is arranged between the cleaning module and the chassis, wherein the first drive arrangement is connected to the cleaning module and the chassis, respectively, and wherein the first drive arrangement can adjust a relative position of the cleaning module with respect to the chassis. [11] Cleaning robot according to claim 9, characterized by that the cleaning module is lowered relative to the chassis until the cleaning module comes into contact with a floor surface and the chassis is raised, so that the cleaning robot is in the second mold state. [12] Cleaning robot according to claim 11, characterized by that the cleaning robot comprises a drive wheel which is connected to the chassis, wherein the cleaning module and the drive wheel are arranged one after the other in the direction of travel of the cleaning robot. [13] Cleaning robot according to claim 12, characterized bythat the drive wheel is liftable relative to the chassis, wherein the drive wheel and / or the cleaning module are lowered relative to the housing body in order to lift the chassis. [14] Cleaning robot according to claim 1, characterized by that the movable part comprises a drive wheel which can be raised relative to the housing body and the housing body comprises a chassis, wherein the drive wheel is lowered relative to the chassis in order to raise the chassis, so that the cleaning robot is in the second molding state. [15] Cleaning robot according to claim 14, characterized by that a second drive arrangement is arranged between the drive wheel and the chassis, wherein the second drive arrangement is connected to the drive wheel and the chassis, respectively, and wherein the second drive arrangement can adjust a relative position of the drive wheel with respect to the chassis. [16] Cleaning robot according to claim 1, characterized bythat the movable part comprises a liftable radar arranged above the housing body, wherein the housing body is provided with a chamber for receiving the radar, wherein the radar is lifted so that the radar is at least partially extended beyond the chamber, wherein the radar is lowered so that the radar is at least partially received in the chamber; and wherein in the second molding state the radar is at least partially housed in the chamber to reduce the height of the cleaning robot. [17] Cleaning robot according to claim 1, characterized by that the housing body has an adjustable width. [18] Base station, characterized by that the base station is used adapted to a cleaning robot according to one of claims 1 to 17, wherein the base station is used at least for coupling to the cleaning robot. [19] Cleaning system, characterized bythat the cleaning system comprises a cleaning robot according to one of claims 1 to 17 and a base station, wherein the base station is used adapted to the cleaning robot, and wherein the base station is used at least for coupling to the cleaning robot.

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