cleaning robot

Abstract

The present disclosure relates to the technical field of smart home, and provides a cleaning robot, the cleaning robot comprising: an appliance body and a cleaning system, the cleaning system is disposed on the appliance body, the cleaning system includes a cleaning head and an auxiliary cleaning head, the auxiliary cleaning head includes a wet auxiliary cleaning head, and an outer edge of the wet auxiliary cleaning head exceeds an outer edge of the appliance body.

Description

Related Applications

[0001] This disclosure claims priority to Chinese Patent Application No. 202210369898.4, filed on April 8, 2022, the entire disclosure of which is incorporated herein by reference as part of this disclosure. [Technical Field]

[0002] The present disclosure relates to the technical field of smart homes, and in particular to cleaning robots. [Background technology]

[0003] Most of the cleaning robots in the related art are floor cleaning robots, and during the process of the cleaning robot performing the cleaning task, the cleaning head of the cleaning robot realizes effective cleaning of the floor surface. Summary of the Invention

[0004] The present disclosure provides a cleaning robot for improving the performance of the cleaning robot, the cleaning robot comprising: an appliance body; and a cleaning system, the cleaning system being disposed on the appliance body and including a cleaning head and an auxiliary cleaning head, the auxiliary cleaning head including a wet auxiliary cleaning head, wherein an outer edge of the wet auxiliary cleaning head exceeds an outer edge of the appliance body.

[0005] In one embodiment of the present disclosure, the device body includes a front portion, the front portion is approximately rectangular, the auxiliary cleaning heads are provided at corner positions of the front portion, and the portion of the wet auxiliary cleaning heads extending beyond the device body is smaller than the portion of the wet auxiliary cleaning heads positioned below the device body.

[0006] In one embodiment of the present disclosure, the cleaning robot further comprises a drive system, the drive system including a first drive wheel module and a second drive wheel module, the first drive wheel module and the second drive wheel module are arranged along a horizontal axis of the device body, where the horizontal axis is perpendicular to the moving direction of the cleaning robot, and a predetermined included angle is formed between the cleaning head and the horizontal axis. In one embodiment of the present disclosure, the auxiliary cleaning head is arranged on a rearward inclined side of the cleaning head. In one embodiment of the present disclosure, the cleaning head is rotatably mounted about a first axis and the auxiliary cleaning head is rotatably mounted about a second axis, wherein the first axis is perpendicular to the second axis.

[0007] Book In one disclosed embodiment, the cleaning system further includes a liquid supply, the liquid supply supplying cleaning liquid to at least one of the cleaning head and the auxiliary cleaning head.

[0008] Book In one disclosed embodiment, the cleaning system further includes a water pump in communication with the liquid supply to supply cleaning liquid in the liquid supply to at least one of the cleaning head and the auxiliary cleaning head.

[0009] In one embodiment of the present disclosure, the device body includes a fixing bracket, the cleaning head is disposed within the fixing bracket, a liquid supply passage is provided in the fixing bracket, and the liquid supply unit supplies cleaning liquid to the cleaning head through the liquid supply passage.

[0010] In one embodiment of the present disclosure, the liquid supply passage has a liquid inlet and a liquid outlet, the liquid inlet communicating with the liquid supply and the liquid outlet supplying cleaning liquid to the cleaning head. provide wherein the liquid outlets are multiple and the multiple liquid outlets are spaced apart along a direction parallel to the cleaning head.

[0011] In one embodiment of the present disclosure, the cleaning robot further comprises a collection system, the collection system being provided on the device body, the collection system including a collection unit, the collection unit collecting residues on the cleaning head, the auxiliary cleaning head and at least one of the surfaces to be cleaned.

[0012] In one embodiment of the present disclosure, the collection system further includes a scraper, the scraper contacting the cleaning head, the scraper interacting with the cleaning head to remove residue on the cleaning head and collecting it in the collector, in one embodiment of the present disclosure, the scraper is parallel to the cleaning head. In one embodiment of the present disclosure, a water inlet is provided on the scraper, and the water inlet communicates with the collection section.

[0013] In one embodiment of the present disclosure, the recovery system further includes a power unit in air communication with the collection unit for collecting the residue in the collection unit. In one embodiment of the present disclosure, the collection unit includes an inlet and an outlet, and the cleaning robot further includes a sealing assembly provided on the device body, at least a portion of which is adjustable in position, for opening and closing the inlet and the outlet.

[0014] In one embodiment of the present disclosure, the sealing assembly includes a connecting rod, a first sealing member provided on the connecting rod, and a second sealing member provided on the connecting rod, wherein the connecting rod is movably provided relative to the device body, and the first sealing member and the second sealing member open and close the inlet and outlet, respectively.

[0015] In an embodiment of the present disclosure, the cleaning robot further comprises a detection system, the detection system being disposed on the device body, and at least a portion of the detection system extending from an outer edge of the device body. In an embodiment of the present disclosure, at least a portion of the detection system being disposed movably with respect to the device body. [Brief explanation of the drawings]

[0016] Various objects, features, and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, taken in conjunction with the accompanying drawings, which are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale, in which like reference numerals indicate the same or similar parts. [Figure 1] FIG. 1 is a structural schematic diagram of a cleaning robot in a first viewing angle according to an exemplary embodiment. [Figure 2] FIG. 10 is a structural schematic diagram of a second viewing angle of the cleaning robot according to an exemplary embodiment. [Figure 3] FIG. 10 is a structural schematic diagram of a second viewing angle of the cleaning robot according to an exemplary embodiment. [Figure 4] 1 is a structural schematic diagram of a liquid supply unit of a cleaning robot according to an exemplary embodiment; [Figure 5] 1 is a structural schematic diagram of a collection unit of a cleaning robot according to an exemplary embodiment; [Figure 6] 1 is a structural schematic diagram of a sealing assembly of a cleaning robot according to an exemplary embodiment; [Figure 7] 1 is a structural schematic diagram of an inlet and an outlet of a cleaning robot collection unit according to an exemplary embodiment; [Figure 8] 1 is a structural schematic diagram of one viewing angle of a fixing bracket of a cleaning robot according to an exemplary embodiment; FIG. [Figure 9] FIG. 10 is a structural schematic diagram of another viewing angle of the fixing bracket of the cleaning robot according to an exemplary embodiment. [Figure 10] 1 is a structural schematic diagram of one viewing angle of a scraper of a cleaning robot according to an exemplary embodiment; FIG. [Figure 11] FIG. 10 is a structural schematic diagram of another viewing angle of the scraper of the cleaning robot according to an exemplary embodiment; [Figure 12] 1 is a structural schematic diagram of a collection unit of a cleaning robot according to an exemplary embodiment; [Figure 13] 1 is a structural schematic diagram of a sealing assembly of a cleaning robot according to an exemplary embodiment; [Figure 14] FIG. 10 is a structural schematic diagram of a sealing assembly of a cleaning robot according to another exemplary embodiment. [Figure 15] FIG. 10 is a schematic view of a partial structure of a cleaning robot according to another exemplary embodiment from one viewing angle. [Figure 16] FIG. 10 is a schematic diagram of a partial structure of a cleaning robot according to another exemplary embodiment from another viewing angle. [Figure 17] 1 is a schematic diagram illustrating the structure of a liquid supply and collection unit of a cleaning robot according to an exemplary embodiment; [Explanation of symbols]

[0017] 10. Device body 11 Fixing bracket 111 Liquid inlet 112 Liquid outlet 113 Storage Room 114 Through hole 12 Front part 13 Rear part 20 Cleaning System 21 cleaning head 22 Liquid supply section 221 Water Inlet 23 Auxiliary cleaning head 231 Wet Auxiliary Cleaning Head 232 Main body 24 Water Pump 30 Drive System 31 First drive wheel module 32 Second drive wheel module 33 Driven wheels 40 Collection System 41 Collection Department 411 Entrance 412 Exit 413 Drain 414 Main Unit 415 Extension section 42 Scraper 421 Water intake 43 Power section 50 Sealing Assembly 51 Connecting rod 52 First sealing member 53 Second sealing member 54 Drive unit 55 Top Rod 56 Elastic member 57 Sealing material 60 Detection System 70 Sensing System 71 Positioning device 72 Buffer 80 Control System 90 Energy Systems 100 Man-machine interactive system DETAILED DESCRIPTION OF THE INVENTION

[0018] Representative examples embodying the features and advantages of the present disclosure are described in detail in the following description, and it should be understood that the present disclosure may incorporate various changes in different embodiments without departing from the scope of the present disclosure, and that the description therein and the accompanying drawings are intended to be illustrative in nature and not limiting.

[0019] Different exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which form a part of this disclosure and which illustratively show different exemplary structures, systems, and steps in multiple aspects by which the present disclosure can be implemented. It should be understood that other specific solutions of components, structures, exemplary devices, systems, and steps may be used, and structural and functional changes may be made without departing from the scope of the present disclosure. Furthermore, while terms such as "on," "between," and "within" are used herein to describe different exemplary features and elements of the present disclosure, these terms are used herein for convenience, e.g., according to the exemplary orientations in the accompanying drawings. Nothing in this specification should be understood as requiring a specific three-dimensional orientation of structures to fall within the scope of the present disclosure.

[0020] As shown in FIGS. 1 to 17 , the cleaning robot includes a device body 10, a cleaning system 20, a driving system 30, a recovery system 40, a sealing assembly 50, a detection system 60, a sensing system 70, a control system 80, an energy system 90, and a man-machine interactive system 100.

[0021] As shown in FIG. 1, device body 10 includes a front portion 12 and a rear portion 13 and has a generally circular shape (both the front and rear are circular), but may have other shapes, including, but not limited to, a generally D-shaped shape with a square front and a circular rear, and a rectangular or square shape with both the front and rear being square.

[0022] 1, the sensing system 70 includes a positioning device 71 on the device body 10, a collision sensor provided on a shock absorber 72 in the front part 12 of the device body 10, a short-distance sensor on the device body 10, a cliff sensor provided on the bottom of the device body, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the device body 10, and is used to provide various position information and movement status information of the device to the control system 80. The positioning device 71 includes, but is not limited to, a camera and a laser distance sensor (LDS).

[0023] As shown in FIG. 1 , a buffer 72 may be mounted on the front part 12 of the machine body 10. When the drive system 30 propels the cleaning robot to travel on the floor during the cleaning process, the buffer 72 detects one or more events in the travel path of the cleaning robot through a collision sensor provided thereon. Depending on the events detected by the buffer 72, such as an obstacle or a wall, the cleaning robot can control the drive system 30 to respond to the events, for example, to move away from the obstacle.

[0024] The control system 80 is mounted on the main circuit board within the device body 10 and includes computing processors such as a central processing unit (CPU) and an application processor, which communicate with non-transitory memory such as a hard disk, flash memory, or random access memory. The application processor uses a positioning algorithm, such as simultaneous localization and mapping (SLAM), to draw a real-time map of the cleaning robot's environment based on obstacle information fed back from the laser ranging device. This, combined with distance and speed information fed back from sensors on the buffer 72, such as cliff sensors, magnetometers, accelerometers, gyroscopes, and odometers, determines the cleaning robot's current operating status, position, and posture, such as whether it has crossed a threshold, climbed onto a carpet, reached a cliff, been caught on the top or bottom, the dustbin is full, or been lifted. The control system then provides specific next-step strategies according to different situations, improving the cleaning robot's cleaning performance and user experience.

[0025] As shown in FIGS. 2 and 3 , the drive system 30 controls the machine body 10 to move across a floor surface based on a drive command including distance and angle information (e.g., x, y, and θ components). The drive system 30 may include a first drive wheel module 31 and a second drive wheel module 32. The first drive wheel module 31 and the second drive wheel module 32 are arranged along a horizontal axis defined by the machine body 10. To enable the cleaning robot to move more stably across a floor surface or to have higher mobility, the cleaning robot may include one or more driven wheels 33, including, but not limited to, universal wheels. The drive wheel module includes a running wheel, a drive motor, and a control circuit for controlling the drive motor. The drive wheel module may be connected to a circuit for measuring drive current and an odometer. The drive wheel module may be detachably connected to the machine body 10 for attachment, detachment, and maintenance. The drive wheel may include an offset drop suspension system, which is movably fixed, for example, rotatably attached to the machine body 10, and receives a spring offset that is offset downwardly away from the machine body 10. The spring offset allows the drive wheels to maintain contact and traction with the floor surface with a constant floor adhesion force, while the cleaning elements of the cleaning robot also contact the floor surface with a constant pressure.

[0026] The device body 10 defines a horizontal axis and a vertical axis, which are perpendicular to each other and may be understood as the horizontal and vertical centerlines of the device body 10, respectively. The energy system 90 includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. A charging control circuit, a battery pack charging temperature detection circuit, and a battery low voltage monitoring circuit are connected to the rechargeable battery, and the charging control circuit, battery pack charging temperature detection circuit, and battery low voltage monitoring circuit are connected to a one-chip microcomputer control circuit. The cleaning robot may be connected to a charging pile for charging via charging electrodes provided on the body, for example, on the side, bottom, or top of the body.

[0027] The man-machine interaction system 100 includes keys on a host panel that allow a user to select functions, a display and / or indicator lights and / or a horn that indicate the current device status or function options to the user, and a mobile phone client program. In the case of the path navigation automatic cleaning device 10, the mobile phone client can display a map of the device's environment and the device's location to the user, providing the user with more abundant and user-friendly function options.

[0028] In the cleaning robot provided according to the embodiment of the present disclosure, the cleaning system 20 is mounted on the device body 10, and the cleaning system 20 includes a cleaning head 21, and the horizontal axis of the device body 10 forms a predetermined included angle with the cleaning head 21, which reduces the probability of the cleaning head 21 getting caught in the joint when the cleaning robot passes through a floor environment such as a tile joint during its forward movement, thereby improving the cleaning efficiency and usability of the cleaning robot. The predetermined included angle between the horizontal axis and the cleaning head 21 may be an acute angle, and the predetermined included angle may be in the range of 5 degrees to 70 degrees.

[0029] In an embodiment of the present disclosure, the cleaning system 20 may be a dry cleaning system, which may include a cleaning head 21, a dust box, a fan, an air outlet, etc. In an embodiment of the present disclosure, the cleaning head 21 may be a roller brush rotatable around an axis parallel to the floor surface. The roller brush, which has a certain interference with the floor surface, sweeps up dust on the floor surface and lifts it up in front of the dust suction port between the roller brush and the dust box. The dust is then sucked into the dust box via suction gas generated by the fan and passing through the dust box. The dust removal ability of a cleaning robot is characterized by its dust pickup efficiency (DPU). The cleaning efficiency DPU is affected by the structure and material of the roller brush, the wind power utilization rate of the air duct consisting of the dust suction port, dust box, fan, air outlet, and connecting members between the four, and the type and power of the fan, making it a complex system design issue.

[0030] In an embodiment of the present disclosure, the cleaning system 20 may be a wet cleaning system, and the cleaning head 21 may include a wet cleaning head. As shown in FIG. 4 , the cleaning system 20 may further include a liquid supply 22, which supplies cleaning liquid to the wet cleaning head. The cleaning head 21 may be disposed below the liquid supply 22, and the cleaning liquid in the liquid supply 22 may be transported to the cleaning head 21 via a water supply mechanism, and the cleaning head 21 may perform wet cleaning on the surface to be cleaned. In another embodiment of the present disclosure, the cleaning liquid in the liquid supply 22 may be sprayed directly onto the surface to be cleaned, and the cleaning head 21 may evenly apply the cleaning liquid to clean the surface.

[0031] In an embodiment of the present disclosure, the cleaning head 21 is provided at the bottom of the device body 10. For example, the cleaning head 21 may be a cleaning pad parallel to the surface to be cleaned. In this embodiment, the cleaning head 21 is used to clean the surface to be cleaned, and the drive system 30 drives the cleaning head 21 to move essentially back and forth along the target surface, which is a part of the surface to be cleaned. The cleaning head 21 moves back and forth along the surface to be cleaned, and a cleaning cloth or cleaning plate is provided on the contact surface of the cleaning head 21 with the surface to be cleaned, and high-frequency friction is generated between the cleaning head 21 and the surface to be cleaned by the reciprocating movement, thereby removing dirt on the surface to be cleaned.

[0032] The higher the friction frequency, the more friction occurs per unit time. High-frequency reciprocating motion, also known as reciprocating vibration, has a cleaning capability much higher than conventional reciprocating motions such as rotation and friction cleaning. Optionally, the friction frequency can be similar to sound waves, resulting in a cleaning effect much higher than that of rotation and friction cleaning at several tens of revolutions per minute. Meanwhile, the tufts on the surface of the cleaning head 21 are not subject to increased frictional force due to downward pressure alone under low-frequency rotation, but are neatly spread in the same direction under high-frequency vibration. This results in a more uniform cleaning effect overall. The tufts do not spread in a nearly uniform direction under downward pressure alone. Therefore, after cleaning with high-frequency vibration, the surface to be cleaned is more uniformly stained, and no chaotic stains remain. In other embodiments of the present disclosure, the cleaning head 21 may have a strip-like structure. In an embodiment of the present disclosure, the cleaning head 21 may be a roller brush rotatable around an axis parallel to the surface to be cleaned, as shown in FIG. 16 . The device body 10 includes a fixed bracket 11, the cleaning head 21 is located within the fixed bracket 11, a liquid supply passage is provided on the fixed bracket 11, and the liquid supply part 22 supplies cleaning liquid to the wet cleaning head through the liquid supply passage.

[0033] The liquid supply passage may be formed by a cavity formed inside the fixing bracket 11, for example by providing a hollow portion of the fixing bracket 11 to form a liquid supply passage through which the cleaning liquid flows. The liquid supply passage may be formed by a tube, which supplies the cleaning liquid in the liquid supply 22 onto the wet cleaning head, thereby enabling the cleaning head 21 to effectively clean the surface to be cleaned.

[0034] In an embodiment of the present disclosure, as shown in Figures 8 and 9, the liquid supply passage has a liquid inlet 111 and a liquid outlet 112, the liquid inlet 111 being in communication with the liquid supply 22 and the liquid outlet 112 being used to supply cleaning liquid to the cleaning head 21.

[0035] In an embodiment of the present disclosure, as shown in Figures 8 and 9, a liquid inlet 111 and a liquid outlet 112 are provided on the fixed bracket 11, one end of the liquid inlet 111 is located on the outer surface of the fixed bracket 11, and the liquid outlet 112 is located on the inner surface of the fixed bracket 11, and a main body portion of a liquid supply passage is provided between the liquid inlet 111 and the liquid outlet 112, and the main body portion is simultaneously connected to multiple liquid outlets 112, so that the liquid outlet 112 is used to supply cleaning liquid to the cleaning head 21.

[0036] In an embodiment of the present disclosure, a storage chamber 113 is formed in the fixed bracket 11, and a liquid outlet 112 is provided on the hollow wall of the storage chamber 113, and the liquid outlet 112 may be located at the top end of the storage chamber 113, or the liquid outlet 112 may be located on the side of the storage chamber 113, so that the cleaning liquid delivered from the liquid outlet 112 is reliably supplied to the cleaning head 21.

[0037] In an embodiment of the present disclosure, the liquid outlets 112 may be multiple, and the multiple liquid outlets 112 are spaced apart along a direction parallel to the cleaning head 21 so that cleaning liquid is supplied uniformly to each position of the wet cleaning head, and the wet cleaning head can reliably clean the surface to be cleaned.

[0038] The liquid supply passage may have one liquid inlet 111 , and the one liquid inlet 111 corresponds to all of the liquid outlets 112 .

[0039] In an optional embodiment of the present disclosure, the liquid supply passage may have at least two liquid inlets 111, each corresponding to a plurality of liquid outlets 112, to reliably supply cleaning liquid onto the wet cleaning head. The liquid inlets 111 may be formed by a columnar structure so as to be connected to a tubular structure that supplies cleaning liquid. The liquid outlets 112 may be rectangular, circular, or have other polygonal structures, and are not particularly limited herein. The plurality of liquid outlets 112 are arranged sequentially along a direction parallel to the cleaning head 21.

[0040] In an embodiment of the present disclosure, as shown in Figures 5 and 6, a collection system 40 is provided on the device body 10, and the collection system 40 includes a collection unit 41, which collects residues on the cleaning head 21 and / or the surface to be cleaned, thereby effectively cleaning the surface to be cleaned and ensuring the cleanliness of the surface to be cleaned.

[0041] During the cleaning robot's movement, the cleaning head 21 rotates to clean the surface to be cleaned, and during this process, residues on the surface to be cleaned are adsorbed onto the cleaning head 21, and the collecting unit 41 collects these residues to ensure the cleanliness of the cleaning head 21. Furthermore, by collecting the residues on the surface to be cleaned, the collecting unit 41 can cooperate with the cleaning head 21 to ensure reliable cleaning of the surface to be cleaned. The residues may be, but are not limited to, water, dirt, etc.

[0042] In an embodiment of the present disclosure, as shown in FIG. 3 , the recovery system 40 further includes a scraper 42, which contacts the cleaning head 21, and the scraper 42 removes residues on the cleaning head 21 through interference with the cleaning head 21, which are then collected by the collection unit 41, thereby ensuring the cleanliness of the cleaning head 21 and the effective cleaning of the surface to be cleaned.

[0043] Specifically, the scraper 42 may have a plate-like structure that interferes with the cleaning head 21, and during the rotation of the cleaning head 21, the plate-like structure removes residue on the cleaning head 21 and collects it in the collecting unit 41, ensuring that the residue adsorbed on the surface to be cleaned is collected by the collecting unit 41. The scraper 42 may be provided on the device body 10. The scraper 42 is detachably provided on the device body 10.

[0044] In the embodiment of the present disclosure, the scraper 42 is parallel to the cleaning head 21, which ensures that the scraper 42 removes any residue on the cleaning head 21 and allows for easy attachment of the structure.

[0045] Specifically, the length of the scraper 42 may be equal to the length of the cleaning head 21, and by ensuring that the scraper 42 can fully interfere with the cleaning head 21, the scraper 42 can avoid occupying space in the longitudinal direction and ensure the compactness of the structure.

[0046] In an alternative embodiment of the present disclosure, the lateral axis of the device body 10 is parallel to the cleaning head 21 and the lateral axis of the device body 10 is parallel to the scraper 42.

[0047] In an embodiment of the present disclosure, as shown in Figures 10 and 11, a water inlet 421 is provided on the scraper 42, the water inlet 421 is connected to the collection section 41, and the recovery system 40 ensures that the wastewater is collected in the collection section 41 through the water inlet 421.

[0048] Specifically, the water intake 421 may face the cleaning head 21, and after the scraper 42 scrapes off the dirty water on the cleaning head 21, the dirty water flows along the scraper 42 toward the water intake 421, and the recovery system 40 causes the dirty water to be sucked into the collection section 41 by the water intake 421.

[0049] As an optional embodiment of the present disclosure, the water intake 421 may be provided on the side of the scraper 42 away from the cleaning head 21, with a portion of the scraper 42 collecting wastewater and the water intake 421 sucking the collected wastewater into the collection section 41.

[0050] In an embodiment of the present disclosure, as shown in Fig. 7, the recovery system 40 further includes a power unit 43, which is in air communication with the collection unit 41 and collects residue in the collection unit 41. Negative pressure is generated between the power unit 43 and the collection unit 41 to suck residue on the surface to be cleaned and residue on the cleaning head 21 into the collection unit 41. Specifically, the negative pressure generated between the power unit 43 and the collection unit 41 sucks dirty water into the collection unit 41 through the water inlet 421. The power unit 43 may be a fan.

[0051] In the embodiment of the present disclosure, as shown in FIG. 9 , a storage chamber 113 is formed in the fixed bracket 11, the cleaning head 21 is located in the storage chamber 113, and the collecting section 41 is connected to the storage chamber 113, so that the residue enters the collecting section 41 after passing through the storage chamber 113.

[0052] Specifically, a through-hole 114 is provided on the fixed bracket 11, the through-hole 114 communicates with the collecting unit 41, and the through-hole 114 communicates with the storage chamber 113, so that residue scraped off from the cleaning head 21 by the scraper 42 is located in the storage chamber 113 of the fixed bracket 11, and the residue in the storage chamber 113 is sucked into the collecting unit 41 through the through-hole 114 due to the negative pressure generated between the power unit 43 and the collecting unit 41. As an alternative embodiment of the present disclosure, the storage chamber 113 of the fixed bracket 11 forms a space that is sealed relatively to the surface to be cleaned, so that the negative pressure generated between the power unit 43 and the collecting unit 41 causes the residue on the surface to be cleaned to be sucked into the collecting unit 41 through the through-hole 114.

[0053] 7 , the collecting unit 41 has an inlet 411 and an outlet 412, the inlet 411 being connected to the storage chamber 113, and the inlet 411 being connected to the through-hole 114, and the outlet 412 being connected to the power unit 43, which provides power via the outlet 412 of the collecting unit 41 to suck the residue from the through-hole 114 of the storage chamber 113 into the inlet 411 of the collecting unit 41 and cause it to enter the collecting unit 41. Here, when the airflow flows inside the collecting unit 41, the wastewater, debris, etc. carried by the airflow accumulate in the collecting unit 41 under the effect of gravity, and therefore, if the airflow path inside the collecting unit 41 is relatively long, the wastewater, debris, etc. can be separated from the airflow.

[0054] In an embodiment of the present disclosure, as shown in FIG. 12, the inlet 411 and outlet 412 of the collection section 41 may be provided on the same side of the collection section 41, for example, the inlet 411 and outlet 412 of the collection section 41 may both be located on the front side of the collection section 41, thereby effectively extending the airflow path within the collection section 41, and thereby more effectively separating sewage, garbage, etc. from the airflow.

[0055] In the embodiment of the present disclosure, as shown in FIGS. 5 and 6, the sealing assembly 50 of the cleaning robot is provided on the device body 10, and the position of at least a part of the sealing assembly 50 is adjustable, and the inlet 411 of the collecting section 41 and the outlet 412 of the collecting section 41 are opened. Close This prevents the dust in the collecting section 41 from being poured out from the inlet 411 or entering the power section 43 from the outlet 412.

[0056] Specifically, the sealing assembly 50 can close the inlet 411 and outlet 412 of the collecting unit 41 while the cleaning robot is not in operation, thereby avoiding the problem of residues being accidentally poured out due to manual movement of the cleaning robot. When the cleaning robot starts to operate, the sealing assembly 50 can open the inlet 411 and outlet 412 of the collecting unit 41, and the residues are sucked into the collecting unit 41 from the inlet 411.

[0057] In the embodiment of the present disclosure, the sealing assembly 50 may be controlled by an independent motor, and may realize the closing control of the inlet 411 and the outlet 412 of the collecting section 41 at any time, for example, may close the cleaning robot when the cleaning robot is not in operation. For example, the motor of the sealing assembly 50 may be electrically connected to the control system 80 of the cleaning robot, and the sealing assembly 50 may be controlled according to the movement state of the cleaning robot fed back from the control system 80. For example, when the control system 80 controls the cleaning robot to stop operating, it may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the cleaning robot is in a tilted state, it may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the cleaning robot is in an idle state for a long period of time, for example, when the cleaning robot is stuck in a fixed position during the cleaning process and cannot continue to move forward, it may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41; or when the control system 80 detects that the number of dust particles in the collecting section 41 reaches a certain height, it may control the sealing assembly 50 to close the entrance 411 and the exit 412 of the collecting section 41.

[0058] Furthermore, the user may use an application (app) to realize the control of the sealing assembly 50, etc., and flexibly control the closing of the inlet 411 and outlet 412 of the collecting section 41 to meet the requirements of use.

[0059] Furthermore, the user may use the app to realize the control of the sealing assembly 50, etc., and flexibly control the closing of the inlet 411 and outlet 412 of the collecting section 41 to meet the requirements of use.

[0060] Note that "approximately rectangular" refers not only to a rectangle, but also to a shape that is approximately rectangular but different from a rectangle. For example, the shape may be rounded, or may have some irregularities around the periphery for structural escape, or may have an included angle that differs from a right angle by ±5 degrees.

[0061] In an embodiment of the present disclosure, as shown in Figures 2 and 3, the cleaning system 20 further includes an auxiliary cleaning head 23, which is disposed on the device body 10. The auxiliary cleaning head 23 enables the cleaning robot to better clean areas such as wall edges and wall corners, thereby improving the cleaning effect of the cleaning system 20.

[0062] In an embodiment of the present disclosure, as shown in Figures 1 and 2, the auxiliary cleaning head 23 is disposed at a corner position of the device body 10, with a portion of the auxiliary cleaning head 23 extending beyond the device body 10, and the portion of the auxiliary cleaning head 23 extending beyond the device body 10 is smaller than the portion of the auxiliary cleaning head 23 below the device body 10, thereby ensuring the cleaning range of the cleaning head 23 and preventing the auxiliary cleaning head 23 from excessively increasing the area occupied by the cleaning robot.

[0063] The device body 10 includes a front portion 12 and a rear portion 13, and the front portion 12 is approximately a rectangular parallelepiped; that is, ignoring manufacturing errors, installation errors, etc., the circumferential outer surface of the rectangular parallelepiped may include rounded corner regions, and the rectangular parallelepiped here merely emphasizes the general structure of the front portion 12. The auxiliary cleaning heads 23 are provided at the corner positions of the front portion 12.

[0064] In an embodiment of the present disclosure, as shown in FIGS. 1 and 2, the auxiliary cleaning head 23 is located near the front part 12 of the device body 10, and a part of the auxiliary cleaning head 23 exceeds the mounting buffer 72. Even if the cleaning robot is blocked by an obstacle in front, the auxiliary cleaning head 23 can still clean areas such as gaps in front, thereby improving the cleaning ability of the cleaning robot.

[0065] In the embodiment of the present disclosure, a predetermined angle is formed between the horizontal axis of the device body 10 and the cleaning head 21, i.e., the cleaning head 21 is arranged at an angle, and the auxiliary cleaning head 23 is arranged on the rearward sloping side of the cleaning head 21, thereby increasing the area of ​​the auxiliary cleaning head 23, i.e., the area of ​​the auxiliary cleaning head 23 can be made relatively large without excessively increasing the portion of the auxiliary cleaning head 23 that protrudes from the device body 10, thereby ensuring a sufficient cleaning area for the cleaning system 20. The outer edge of the auxiliary cleaning head 23 is approximately circular, and by arranging the auxiliary cleaning head 23 on the rearward sloping side of the cleaning head 21, the auxiliary cleaning head 23 has a relatively large cleaning area and can overlap with the cleaning head 21.

[0066] In the embodiment of the present disclosure, the auxiliary cleaning head 23 overlaps with the cleaning head 21, and the combination of the auxiliary cleaning head 23 and the cleaning head 21 can increase the cleaning area, thereby avoiding the problem of missing cleaning between the auxiliary cleaning head 23 and the cleaning head 21 and improving the cleaning effect of the cleaning system 20.

[0067] In the embodiment of the present disclosure, the outer edge of the auxiliary cleaning head 23 extends beyond the outer edge of the appliance body 10, i.e., the auxiliary cleaning head 23 can clean areas outside the appliance body 10, such as wall edges and wall corners, thereby increasing the cleaning area of ​​the cleaning system 20 and improving the cleaning performance of the cleaning robot.

[0068] In an embodiment of the present disclosure, the auxiliary cleaning head 23 includes a wet auxiliary cleaning head 231, and the liquid supply unit 22 supplies cleaning liquid to the wet auxiliary cleaning head 231. The auxiliary cleaning head 23 may be disposed below the liquid supply unit 22, and the cleaning liquid in the liquid supply unit 22 is supplied to the auxiliary cleaning head 23 via a water supply mechanism, so that the auxiliary cleaning head 23 performs wet cleaning on the surface to be cleaned.

[0069] Specifically, the cleaning system 20 further includes an auxiliary liquid supply passage, and the liquid supply unit 22 supplies the cleaning liquid to the wet auxiliary cleaning head 231 through the auxiliary liquid supply passage. The auxiliary liquid supply passage may be a space formed inside the auxiliary cleaning head 23, and supplies the cleaning liquid to the wet auxiliary cleaning head 231 through a liquid outlet. The auxiliary liquid supply passage may be a liquid delivery pipe for supplying the cleaning liquid to the wet auxiliary cleaning head 231.

[0070] 15 and 16, in an embodiment of the present disclosure, the cleaning system 20 further includes a water pump 24 that is in communication with the liquid supply 22 to supply cleaning liquid in the liquid supply 22 to at least one of the cleaning head 21 and the auxiliary cleaning head 23. The water pump 24 supplies cleaning liquid in the liquid supply 22 to the cleaning head 21 via a liquid supply passage and / or supplies cleaning liquid in the liquid supply 22 to the auxiliary cleaning head 23 via an auxiliary liquid supply passage.

[0071] Generally, there may be one water pump 24, which is connected to both the liquid supply passage and the auxiliary liquid supply passage at the same time. There may be two water pumps 24, which are connected to both the liquid supply passage and the auxiliary liquid supply passage, respectively. The water pump 24 may be a gear pump, vane pump, piston pump, peristaltic pump, etc. The output / flow rate of the water pump 24 is adjustable. The water pump 24 can cooperate with devices such as valves to control the supply of cleaning liquid from the liquid supply unit 22 to the cleaning head 21 and the auxiliary cleaning head 23.

[0072] In an embodiment of the present disclosure, the cleaning head 21 is rotatably mounted around a first axis, and the auxiliary cleaning head 23 is rotatably mounted around a second axis, forming a certain angle between the first axis and the second axis. The cleaning head 21 may be a mopping roller brush. The auxiliary cleaning head 23 may include cloth or wool, and the cleaning liquid in the liquid supply section 22 is uniformly distributed over the auxiliary cleaning head 23 through penetration of the cloth or wool and centrifugal force. The auxiliary cleaning head 23 may also float vertically to some extent.

[0073] In embodiments of the present disclosure, the first axis is perpendicular to the second axis, i.e., the first axis may be parallel to the surface to be cleaned and the second axis may be perpendicular to the surface to be cleaned.

[0074] In an optional embodiment of the present disclosure, the auxiliary cleaning head 23 may be a side brush, the axis of rotation of which is at an angle to the floor surface, to move residues on the surface to be cleaned into the cleaning area of ​​the cleaning head 21.

[0075] In alternative embodiments of the present disclosure, the auxiliary cleaning head 23 may be in the form of a disc brush, a roller brush, or the like.

[0076] 4, the auxiliary cleaning head 23 may further include a body 232, on which the wet auxiliary cleaning head 231 is connected, and the body 232 is mounted on the device body 10. The body 232 may include a drive motor, which may be driven to rotate the wet auxiliary cleaning head 231. The wet auxiliary cleaning head 231 may include cloth or wool, and the body 232 may include a support structure, which may be a conical soft rubber support, which transmits greater torque and allows the wet auxiliary cleaning head 231 to float up and down to a certain extent, improving cleaning performance.

[0077] In the embodiment of the present disclosure, the liquid supply part 22 and the collection part 41 are stacked, which can improve the space utilization rate of the cleaning robot and avoid the problem of the cleaning robot becoming too large.

[0078] In an embodiment of the present disclosure, as shown in Figures 15 and 16, the liquid supply unit 22 is located above the collection unit 41. The liquid supply unit 22 may be a clean water tank, and the collection unit 41 may be a dirty water tank, with the clean water tank located above facilitating the liquid supply to the cleaning head 21 and the auxiliary cleaning head 23. The dirty water tank located below facilitating the collection of residue.

[0079] The clean water tank and the dirty water tank may be stacked one above the other, that is, as shown in Figures 15 and 16, the liquid supply unit 22 and the collection unit 41 may be stacked one above the other, and the clean water tank may be located above the dirty water tank. By positioning the clean water tank at the top, it is possible to easily supply liquid to the cleaning head 21 and the auxiliary cleaning head 23, and by positioning the dirty water tank at the bottom, it is possible to easily collect residue. By stacking the clean water tank and the dirty water tank one above the other, the center of gravity of the cleaning robot does not change much in the horizontal direction, so that the stability of the cleaning robot is ensured and large shaking during the cleaning process can be avoided.

[0080] The collection unit 41 may be located at an intermediate position of the device body 10, i.e., the collection unit 41 may be located on the side away from the mounting buffer 72 of the cleaning system 20, so that even if the amount of water in the collection unit 41 changes, the center of gravity of the cleaning robot does not change significantly, allowing the cleaning robot to stably clean the surface to be cleaned and avoiding the problem of the center of gravity becoming unstable during use.

[0081] 17 , the liquid supply unit 22 and the collection unit 41 are stacked one above the other, with a water inlet 221 provided on the liquid supply unit 22 and a drain outlet 413 provided on the collection unit 41. The water inlet 221 on the liquid supply unit 22 is used to inject clean water into the liquid supply unit 22, and the drain outlet 413 on the collection unit 41 is used to drain dirty water from the collection unit 41. The water inlet 221 may be provided on the side of the liquid supply unit 22, and the drain outlet 413 may be provided on the side of the collection unit 41. For example, two interfaces may be provided on the bottom or side of the device body 10. The two interfaces can facilitate connection between the clean water injection structure and the dirty water discharge structure, and the two interfaces need to be in a blocking state to avoid water leakage during normal use of the cleaning robot. Alternatively, the water inlet 221 and the drain port 413 may be blocked by a sealing member, so that when filling or draining water, the liquid supply unit 22 and the collection unit 41 can be simultaneously removed from the device body 10. Because the liquid supply unit 22 is connected to the collection unit 41, the liquid supply unit 22 and the collection unit 41 can be synchronously removed from the device body 10.

[0082] The liquid supply unit 22 and the collection unit 41 can be detached from the device body 10, allowing for liquid injection through the liquid supply unit 22 and wastewater discharge through the collection unit 41. As shown in FIG. 17 , the collection unit 41 may have an irregular structure, including a main body 414 and an extension 415 connected to the main body 414, where the main body 414 and the extension 415 form a chamber for collecting wastewater. The main body 414 is approximately rectangular, and the extension 415 has an irregular structure. For example, the extension 415 may be divided into a triangular or rectangular shape, or a semicircular or rectangular shape, etc., but is not particularly limited thereto. The wastewater storage space of the extension 415 is smaller than that of the main body 414. By providing a drain port 413 in the extension 415, wastewater can be concentrated in the extension 415 by tilting the collection unit 41 when discharging wastewater, ensuring maximum discharge of wastewater and preventing wastewater from accumulating in the collection unit 41.

[0083] In an embodiment of the present disclosure, multiple cliff sensors may be provided on the device body 10, and the multiple cliff sensors may be provided around the edge positions of the device body 10, and the auxiliary cleaning head 23 may be provided at the corner positions of the device body 10. A cliff sensor may be provided on the device body 10 near the auxiliary cleaning head 23, or at least two cliff sensors may be provided on the device body 10 near the auxiliary cleaning head 23. The cliff sensor can identify the surface to be cleaned and determine the physical characteristics of the surface to be cleaned, such as the surface material and cleaning level. The control system 80 can control the operating state of the auxiliary cleaning head 23 based on the identification result of the cliff sensor to ensure the cleaning function of the auxiliary cleaning head 23. For example, if the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect. Alternatively, if the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease the humidity to avoid wetting the carpet.

[0084] In the embodiment of the present disclosure, as shown in Fig. 1, the detection system 60 of the cleaning robot is provided on the device body 10, and at least a part of the detection system 60 can extend beyond the outer edge of the device body 10, thereby expanding the detection range of the detection system 60 and improving the flexible adjustment ability of the cleaning robot. The detection system 60 may be an ultrasonic sensor, an infrared sensor, or the like, and is used to detect changes in the material of the surface to be cleaned, changes in the horizontality of the surface to be cleaned, or detection of dirt, etc.

[0085] In the embodiment of the present disclosure, at least a part of the detection system 60 is movably provided with respect to the device body 10, so that the position of the detection system 60 can be reliably adjusted, thereby making it adaptable to different application environments. The detection system 60 may be driven by a driving mechanism to achieve the position adjustment, or the detection system 60 may include a flexible mechanism, and the position adjustment may be achieved by deforming the flexible mechanism.

[0086] Specifically, the detection system 60 is telescopically mounted on the device body 10, and has an extended state and a retracted state. When the detection system 60 extends to the front of the cleaning robot, it can detect the floor condition in front of the cleaning robot. For example, if the cleaning robot is D-shaped, the detection system 60 may be mounted near a corner of the cleaning robot, and the detection system 60 can easily detect the floor condition in front or to the side when it is in the extended state. If the cleaning robot is circular, the detection system 60 may be mounted at the front of the cleaning robot. In the embodiment of the present disclosure, at least a portion of the detection system 60 can extend from the outer edge of the device body 10, and the detection system 60 has a retracted state in which it is retracted into the device body 10 and an extended state in which it extends from the device body 10. The control system 80 can control the detection system 60 to move between the retracted state and the extended state, so that the detection system 60 can adjust in real time according to the operating state or operating path of the cleaning robot, and the detection system 60 can accurately determine the condition of the surface to be cleaned.

[0087] Specifically, the driving system 30 can drive the cleaning robot to operate on the work surface, and at this time, the control system 80 can drive the detection system 60 to move from the retracted state to the extended state, so that the detection system 60 can monitor the state of the work surface in real time. Furthermore, since the detection system 60 has a detection viewing angle facing the work surface, it can accurately detect the state of the work surface, such as changes in the material of the work surface, changes in the horizontality of the work surface, or detection of dirt.

[0088] In an embodiment of the present disclosure, as shown in Figures 1 to 3, the detection system 60 may be connected to a corner position of the device body 10, and the auxiliary cleaning head 23 may be located near the detection system 60 on the device body 10. The detection system 60 can quickly identify the surface to be cleaned and determine the physical characteristics of the surface to be cleaned, such as the surface material and cleaning level. The control system 80 controls the operating state of the auxiliary cleaning head 23 based on the identification result of the detection system 60 to ensure the cleaning function of the auxiliary cleaning head 23. For example, if the surface to be cleaned identified by the cliff sensor is a floor, the auxiliary cleaning head 23 can be controlled to increase the humidity to ensure the cleaning effect. Alternatively, if the surface to be cleaned identified by the cliff sensor is a carpet, the auxiliary cleaning head 23 can be controlled to decrease the humidity to avoid wetting the carpet.

[0089] In the embodiment of the present disclosure, the detection system 60 is retractably mounted on the front part 12 of the appliance body 10, so that the detection system 60 can determine the condition of the surface to be cleaned early and provide feedback to the control system 80, and the control system 80 can adjust the travel path and cleaning mode of the cleaning robot based on the information fed back from the detection system 60. The detection system 60 is mounted at a corner of the front part 12, so that the detection system 60 can be reasonably positioned to avoid the detection system 60 occupying a relatively large area, and the detection system 60 can reliably monitor the condition of the working surface at the corner of the appliance body 10, so that the cleaning robot can clean the working surface more efficiently.

[0090] In an embodiment of the present disclosure, as shown in Figures 1 and 4, at least one detection system 60 is provided adjacent to the auxiliary cleaning head 23, and at least a portion of the detection system 60 is located directly above the auxiliary cleaning head 23, thereby preventing the detection system 60 from interfering with the auxiliary cleaning head 23, making better use of the corner positions of the device body 10, and enabling the installation positions of the detection system 60 and the auxiliary cleaning head 23 to be rationally arranged.

[0091] In an embodiment of the present disclosure, the control system 80 may be connected to the detection system 60, and the control system 80 may control the extension / retraction state of the detection system 60. For example, when the cleaning robot operates, the control system 80 may control the detection system 60 to move from the retracted state to the extended state, or when the cleaning robot stops operating, the control system 80 may control the detection system 60 to move from the extended state to the retracted state. Alternatively, if the detection system 60 detects that there is a depression in the work surface or that the work surface material changes, the control system 80 may control the cleaning system 20 or control the drive system 30 to change the operating state, where the work surface is the surface to be cleaned. For example, if the detection system 60 detects that there is a depression in the work surface, the control system 80 may control the drive system 30 to decelerate, or the control system 80 may control the cleaning system 20 to rotate at a slower speed. For example, if the detection system 60 detects a change in the work surface material, such as from carpet to tile, the control system 80 may control the drive system 30 to accelerate, and the control system 80 may control the cleaning system 20 to accelerate and rotate.

[0092] The detection system 60 is used to detect changes in the surface material to be cleaned, changes in the horizontality of the surface to be cleaned, or dirt detection, and can provide feedback to the control system 80 to control the operating state of the cleaning robot. For example, if the detection system 60 detects that the surface to be cleaned is relatively dirty, the control system 80 controls the cleaning robot to slow down, so that the cleaning system 20 can clean the surface to be cleaned well. Alternatively, if the detection system 60 detects that the surface to be cleaned is a floor, the control system 80 controls the water pump 24 to increase the flow rate of the cleaning liquid supplied from the liquid supply unit 22 to the cleaning head 21 and the auxiliary cleaning head 23, so as to ensure that the floor is cleaned properly. Alternatively, the control system 80 can adjust the travel route and cleaning mode of the cleaning robot based on the information fed back from the detection system 60. For example, the detection system 60 is in the extended state, the detection system 60 may be disposed in front of the appliance body 10, and the detection system 60 may determine the condition of the surface to be cleaned early and provide feedback to the control system 80, and the control system 80 may adjust the travel path and cleaning mode of the cleaning robot based on the information fed back from the detection system 60; the detection system 60 may detect changes in the floor surface material early, for example, when the floor surface changes from floor to carpet, the detection system 60 may provide relevant information to the control system 80 in real time, and the control system 80 may immediately control the travel direction or cleaning mode of the cleaning robot, for example, when the floor surface changes from floor to carpet, the cleaning robot may be controlled to slow down, or when the floor changes from carpet, the cleaning robot may be controlled to reduce the amount of liquid supplied to the cleaning head 21 and the auxiliary cleaning head 23.

[0093] In the embodiment of the present disclosure, there may be multiple detection systems 60, which can effectively expand the detection range of the detection systems 60 and accurately assist in determining the operating status of the cleaning system 20 or the drive system 30. There may be two detection systems 60, and as shown in FIG. 1 , the two detection systems 60 are provided at two corner positions of the front portion 12, respectively.

[0094] In the cleaning robot provided by the embodiments of the present disclosure, a cleaning system is provided on the device body, and the cleaning system includes a cleaning head and an auxiliary cleaning head, and the auxiliary cleaning head includes a wet auxiliary cleaning head, and the outer edge of the wet auxiliary cleaning head extends beyond the outer edge of the device body, thereby expanding the cleaning range of the cleaning system, thereby improving the cleaning efficiency of the cleaning robot and the usability of the cleaning robot.

[0095] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the present disclosure. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure in accordance with the general principles of the present disclosure, including those within the general knowledge or customary technical means in the art that are not disclosed herein. The specification and example embodiments are considered to be exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

[0096] It should be understood that the present disclosure is not limited to the exact construction described above and illustrated in the accompanying drawings, and that various modifications and changes may be made thereto without departing from the scope thereof, which is to be defined solely by the appended claims.

Claims

1. An apparatus body (10), a cleaning head (21) and an auxiliary cleaning head (23) provided on the apparatus body (10), a recovery system (40) provided in the device body (10); a sealing assembly (50) provided on the device body (10) and having at least a portion thereof adjustable for opening and closing an inlet (411) and an outlet (412) of the recovery system (40), wherein the auxiliary cleaning head (23) includes a wet auxiliary cleaning head (231), and an outer edge of the wet auxiliary cleaning head (231) exceeds the outer edge of the device body (10).

2. 2. The cleaning robot of claim 1, wherein the device body (10) includes a front portion (12), the front portion (12) is substantially rectangular, the auxiliary cleaning heads (23) are provided at corner positions of the front portion (12), and a portion of the wet auxiliary cleaning heads (231) extending beyond the device body (10) is smaller than a portion of the wet auxiliary cleaning heads (231) below the device body (10).

3. 3. The cleaning robot of claim 1, further comprising a drive system (30), the drive system (30) including a first drive wheel module (31) and a second drive wheel module (32), the first drive wheel module (31) and the second drive wheel module (32) being arranged along a horizontal axis of the equipment body (10), the horizontal axis being perpendicular to the moving direction of the cleaning robot, and a predetermined included angle being formed between the cleaning head (21) and the horizontal axis.

4. The cleaning robot according to claim 3, wherein the auxiliary cleaning head (23) is provided on a rearwardly inclined side of the cleaning head (21).

5. 3. The cleaning robot of claim 1, wherein the cleaning head (21) is rotatable about a first axis, and the auxiliary cleaning head (23) is rotatable about a second axis, the first axis being perpendicular to the second axis.

6. The cleaning robot of claim 1 or 2, wherein the cleaning system (20) further comprises a liquid supply (22) that supplies cleaning liquid to at least one of the cleaning head (21) and the auxiliary cleaning head (23).

7. 7. The cleaning robot of claim 6, wherein the cleaning system further includes a water pump that communicates with the liquid supply and supplies cleaning liquid in the liquid supply to at least one of the cleaning head and the auxiliary cleaning head.

8. 7. The cleaning robot of claim 6, wherein the device body (10) includes a fixing bracket (11), the cleaning head (21) is disposed within the fixing bracket (11), a liquid supply passage is provided in the fixing bracket (11), and the liquid supply unit (22) supplies cleaning liquid to the cleaning head (21) via the liquid supply passage.

9. 9. The cleaning robot of claim 8, wherein the liquid supply passage has a liquid inlet (111) and a liquid outlet (112), the liquid inlet (111) is in communication with the liquid supply section (22), the liquid outlet (112) is used to supply cleaning liquid to the cleaning head (21), the liquid outlet (112) is multiple, and the multiple liquid outlets (112) are spaced apart along a direction parallel to the cleaning head (21).

10. A cleaning robot as described in claim 1 or 2, wherein the recovery system (40) includes a collection unit (41) that collects residues from the cleaning head (21), the auxiliary cleaning head (23) and at least one of the surfaces to be cleaned.

11. The cleaning robot of claim 10, wherein the recovery system (40) further includes a scraper (42) that contacts the cleaning head (21) and removes residue from the cleaning head (21) by interference with the cleaning head (21) and collects it in the collection section (41).

12. The cleaning robot according to claim 11, wherein the scraper (42) is parallel to the cleaning head (21).

13. The cleaning robot according to claim 11, wherein the scraper (42) is provided with a water inlet (421), the water inlet (421) communicating with the collection section (41).

14. The cleaning robot according to claim 10, wherein the recovery system (40) further comprises a power unit (43) in air communication with the collection unit (41) and configured to collect residues in the collection unit (41).

15. A cleaning robot as described in claim 10, wherein the entrance (411) and the exit (412) are located in the collection section (41).

16. 16. The cleaning robot of claim 15, wherein the sealing assembly (50) includes a connecting rod (51), a first sealing member (52) provided on the connecting rod (51), and a second sealing member (53) provided on the connecting rod (51), the connecting rod (51) being movably provided with respect to the device body (10), and the first sealing member (52) and the second sealing member (53) opening and closing the entrance (411) and the exit (412), respectively.

17. The cleaning robot according to claim 1 or 2, further comprising a detection system (60) provided on the device body (10) and at least a portion of which extends from an outer edge of the device body (10).

18. The cleaning robot according to claim 17, wherein at least a part of the detection system (60) is provided movably with respect to the device body (10).

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