Cleaning robot and mopping and washing assembly

Abstract

Provided in the embodiments of the present application are a cleaning robot and a mopping and washing assembly. The cleaning robot comprises: a body; a mopping and washing assembly comprising a cleaning unit electric motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism, wherein the cleaning unit electric motor is connected to the cleaning unit, the liquid supply mechanism is used for providing cleaning liquid to the cleaning unit, and the dirt removal mechanism is used for scraping off dirt on the cleaning unit; and a driving device arranged on the body and connected to the mopping and washing assembly. In the direction of width of the body, the driving device can drive the mopping and washing assembly to extend relative to the body from at least one side of the body, so that a part of the mopping and washing assembly is exposed. In the technical solution provided by the embodiments of the present application, the mopping and washing assembly moves as a whole relative to the body of the cleaning robot, and the mopping and washing assembly can self-clean at any position, thereby enabling the cleaning robot to have a better cleaning effect and high cleaning efficiency.

Description

Cleaning robots and mopping components

[0001] Cross-references

[0002] This application cites the Chinese patent applications in the table below, which are incorporated herein by reference in their entirety. Technical Field

[0003] The present application relates to the field of cleaning technology, and in particular to a cleaning robot and a mopping and washing component. Background Art

[0004] Most existing sweeping and mopping robots use a vacuuming-then-mopping method to clean the floor. For example, a rag tray is installed at the bottom of the cleaning robot, and the rag tray rotates to mop the floor. However, mopping with a rag tray can cause smearing because the rag tray does not self-clean when dirty. Later, cleaning robots that use a drum to mop the floor emerged. These cleaning robots include a drum, a water supply, a scraping bar, and a wastewater collection device. Each rotation of the drum receives fresh water from the water supply. After mopping, the scraping bar automatically cleans the floor while it cleans. This allows for live water mopping that simultaneously cleans and improves the smearing problem.

[0005] To make cleaning robots more versatile, some robots have retractable rollers, allowing them to clean along walls or around obstacles. However, when the roller is extended, the extended portion remains untouched, causing similar smearing issues as with rags, resulting in poor cleaning performance.

[0006] Application Contents

[0007] In view of the existing technology, the present application provides a self-moving cleaning device, a control method and a cleaning system to solve or improve the problems existing in the existing technology.

[0008] In a first embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0009] body;

[0010] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0011] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0012] Wherein, along the width direction of the machine body, the driving device can drive the mopping and washing assembly to extend from at least one side of the machine body relative to the machine body, so that part of the mopping and washing assembly is exposed.

[0013] Optionally, the mopping assembly further includes a mopping bracket; the mopping bracket has a drum mounting cavity with an opening facing downward, and the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity; the cleaning unit contacts the surface to be cleaned through the opening; the liquid supply mechanism and the dirt removal mechanism are both arranged on the mopping bracket; the power end of the driving device is connected to the mopping bracket.

[0014] Optionally, the mop-wash bracket is further provided with a second lateral opening, the cleaning unit is detachable through the second opening, and the second opening is located on the same side as the position on the machine body from which the mop-wash component extends.

[0015] Optionally, a clean water tank is provided on the machine body; the liquid supply mechanism includes a water distributor, which has a main line, multiple branches and multiple liquid supply ports; the multiple liquid supply ports are directed toward the cleaning unit and distributed along the cylinder axis of the cleaning unit; the main line of the water distributor is connected to the clean water tank through a flexible clean water pipe, the multiple branches are connected to the main line, and the multiple liquid supply ports correspond to the multiple branches respectively.

[0016] Optionally, the dirt removal mechanism includes a scraper bar assembly and a dirt collecting box; the end of the scraper bar assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper bar assembly; when the cleaning unit rotates, the dirt scraped by the scraper bar assembly enters the dirt collecting box.

[0017] Optionally, the dirt removal mechanism includes a scraper bar assembly and a dirt collecting box; the dirt collecting box and the cleaning unit have different disassembly and assembly directions.

[0018] Optionally, a sewage tank is provided on the machine body; the dirt removal mechanism includes a scraper bar assembly and a dirt collecting box; the sewage tank is connected to the mopping and washing assembly through a flexible sewage pipe, and the flexible sewage pipe can move with the mopping and washing assembly.

[0019] Optionally, the scraper bar is provided with an avoidance hole; the mopping and washing assembly is further provided with a sewage collecting pipe, one end of the sewage collecting pipe passes through the avoidance hole and is connected to the sewage collecting box; the other end of the sewage collecting pipe is connected to the sewage tank through the flexible sewage pipe.

[0020] Optionally, the cleaning robot further comprises a flexible clean water pipe for providing cleaning liquid to the mopping and washing component, wherein the flexible clean water pipe is connected to the mopping and washing component and can move along with the mopping and washing component.

[0021] Optionally, the flexible clean water pipe and the flexible sewage pipe are both distributed on the same side of the cleaning unit.

[0022] Optionally, the driving device includes a power source and an action executing mechanism; the power input end of the action executing mechanism is connected to the power source; the dragging and washing component is floatingly connected to the power output end of the action executing mechanism, and the dragging and washing component can move along the width direction of the body with the power output end, and can also float up and down relative to the power output end.

[0023] Optionally, the drag-washing component has more than two gears; in different gears, the relative position of the drag-washing component and the body is different; the body determines the target gear of the drag-washing component based on the detected environmental information; and controls the driving device so that the drag-washing component is at the target gear.

[0024] Optionally, the driving device can also drive the mopping and washing assembly to retract relative to the machine body; or

[0025] The cleaning robot also includes a rebound device, and the mopping and washing component is connected to the rebound device; when the mopping and washing component is in an extended state and is subjected to an external force in a retracting direction, the rebound device is deformed by the force, and the mopping and washing component adaptively retracts.

[0026] Optionally, the driving device can also drive the mopping and washing assembly to rise and fall relative to the machine body.

[0027] Optionally, the cleaning robot further includes a control device;

[0028] The control device is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

[0029] In a second embodiment of the present application, a mop-washing assembly is provided. The mop-washing assembly includes:

[0030] A mop-wash bracket having a drum mounting cavity with a downward opening;

[0031] a cleaning unit motor, disposed in the drum mounting cavity;

[0032] a cleaning unit connected to the cleaning unit motor and capable of contacting the surface to be cleaned through the opening;

[0033] a liquid supply mechanism, provided on the mop-wash bracket, for supplying cleaning liquid to the cleaning unit;

[0034] A dirt removal mechanism, provided on the mopping and washing bracket, for scraping dirt off the cleaning unit;

[0035] Wherein, the mopping and washing bracket is provided with a connecting structure for connecting to a driving device so that the mopping and washing assembly can be driven to move by the driving device.

[0036] In a third embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0037] body;

[0038] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, and a dirt removal mechanism. The cleaning unit is a rotating cleaning member. The cleaning unit motor is connected to the cleaning unit. The dirt removal mechanism is used to scrape dirt off the cleaning unit.

[0039] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0040] Wherein, along the width direction of the machine body, the driving device can drive the mopping and washing assembly to extend from at least one side of the machine body, so that part of the mopping and washing assembly is exposed.

[0041] In the technical solution provided by the embodiments of this application, the scrubbing assembly, including the cleaning unit, liquid supply mechanism, and dirt removal mechanism, can be moved relative to the cleaning robot body. This ensures that the dirt removal mechanism can scrape dirt off the cleaning unit at any position of the scrubbing assembly. The cleaning unit can also perform running water cleaning in any position, achieving simultaneous self-cleaning while working. When the cleaning unit extends outward for edge cleaning, it will not become excessively dirty, and even after long periods of cleaning, it can maintain a good cleaning effect, providing a better user experience.

[0042] In a fourth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0043] body;

[0044] A mopping and washing assembly, including a drum motor and a cleaning drum;

[0045] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0046] Wherein, along the width direction of the body, the driving device can drive the mopping and washing assembly to extend from at least one side of the body, so that part of the mopping and washing assembly is exposed;

[0047] The driving device drives the mopping and washing assembly to retract to the first working position, and then drives the mopping and washing assembly to move up and down.

[0048] Optionally, the first working position includes: the edge of the mopping and washing component is located within the projection area of ​​the edge of the machine body, or the mopping and washing component is in the first extreme position of the retracted state.

[0049] Optionally, after the mopping and washing assembly is retracted until the edge of the mopping and washing assembly is located within the projection area of ​​the edge of the machine body, the driving device drives the mopping and washing assembly to be vertically lifted.

[0050] Optionally, the mop-washing assembly has at least two working positions, a first working position and a second working position, and the driving device can drive the mop-washing assembly to move between the first working position and the second working position;

[0051] In the first working position, the mop-washing assembly does not extend or a portion of its edge is located outside the projected area of ​​the edge of the machine body; in the second working position, the length of the mop-washing assembly extending outside the projected area of ​​the edge of the machine body is greater than the length of the mop-washing assembly extending outside the projected area of ​​the edge of the machine body in the first working position;

[0052] When the cleaning robot performs a cleaning task, the mopping and washing component is normally in the second working position.

[0053] Optionally, the driving device includes a first power source and a first action execution mechanism, the first power source and the first power execution structure are connected, and the first power execution structure is connected to the mopping and washing component;

[0054] When the cleaning roller needs to be lifted, the first power execution structure, driven by the first power source, first performs a horizontal linear motion to drive the mopping and washing assembly to retract to the first position, and then performs a lifting motion to drive the mopping and washing assembly to lift;

[0055] When the cleaning roller needs to be lowered, the first power execution structure, driven by the first power source, first performs a descending motion to drive the mopping assembly to descend, and then performs a horizontal linear motion to drive the mopping assembly to extend.

[0056] Optionally, the driving device includes a first power source and a second power source;

[0057] The first power source is used to drive the mopping and washing assembly to move along the width direction of the machine body;

[0058] The second power source is used to drive the mopping and washing assembly to rise and fall along the height direction of the machine body;

[0059] When the cleaning roller needs to be lifted, the first power source first operates to drive the mopping assembly to retract to the first limit position, the first power source stops, and the second power source operates to drive the mopping assembly to lift;

[0060] When the cleaning roller needs to be lowered, the second power source first operates to drive the mopping assembly to descend, the second power source stops, and the first power source operates to drive the mopping assembly to extend.

[0061] In a fifth embodiment of the present application, a method for operating a cleaning robot is provided. The cleaning robot is provided with a mopping component, a driving unit, a sensing system, and a control component. Accordingly, the method includes:

[0062] When the sensing system detects that the mopping and washing component needs to be lifted, it sends a first signal to the control component;

[0063] The control component controls the driving unit to output a first-directional driving force based on a first signal, so that the mopping and washing component can move to a first working position.

[0064] Optionally, the sensing system further includes a third detection unit, and the mopping and washing assembly is provided with a third trigger structure cooperating with the third detection unit; when the cleaning robot is located at the maximum lifting position, the third trigger structure triggers the third detection unit.

[0065] Optionally, the method further includes:

[0066] When the third trigger structure triggers the third detection unit, the sensing system sends a second signal to the control component;

[0067] The control component controls the driving unit to stop outputting the first-directional driving force based on the second signal.

[0068] In a sixth embodiment of the present application, a working method of a cleaning robot is provided, which is applicable to the cleaning robots provided in the above embodiments. Specifically, the method includes:

[0069] The mopping and washing component is in an extended state to perform cleaning tasks;

[0070] When the mopping and washing component needs to be lifted, the control driving device drives the mopping and washing component to retract until the edge of the mopping and washing component is located within the projection of the edge of the machine body, and then drives the mopping and washing component to be lifted.

[0071] Optionally, the mop-washing assembly has at least two working positions, a first working position and a second working position, and the driving device can drive the mop-washing assembly to move between the first working position and the second working position;

[0072] In the first working position, the mop-washing assembly does not extend or a portion of its edge is located outside the projected area of ​​the edge of the machine body; in the second working position, the length of the mop-washing assembly extending outside the projected area of ​​the edge of the machine body is greater than the length of the mop-washing assembly extending outside the projected area of ​​the edge of the machine body in the first working position;

[0073] When the cleaning robot performs a cleaning task, the mopping and washing component is normally in the second working position.

[0074] In a seventh embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0075] body;

[0076] A mopping and washing assembly, including a drum motor and a cleaning drum;

[0077] a first power source and a first action execution mechanism, wherein the first power source and the first power execution structure are connected, and the first power execution structure is connected to the mopping and washing component;

[0078] When the cleaning roller needs to be lifted, the first power execution structure, driven by the first power source, first performs horizontal linear motion to drive the mopping assembly to retract to the first working position, and then performs lifting motion to drive the mopping assembly to lift.

[0079] Optionally, when the cleaning roller needs to be lowered, the first power execution structure, driven by the first power source, first performs a descending motion to drive the mopping assembly to descend until it contacts the ground, and then performs a horizontal linear motion to drive the mopping assembly to extend.

[0080] In an eighth embodiment of the present application, a method for operating a cleaning robot is provided. The cleaning robot includes a mopping and washing component and a driving device, and accordingly, the method includes:

[0081] The mopping and washing component is in an extended state to perform a cleaning task;

[0082] When the mopping and washing component needs to be lifted, the control driving device drives the mopping and washing component to retract until the edge of the mopping and washing component is located within the projection of the edge of the machine body, and then drives the mopping and washing component to be lifted to the target position.

[0083] In a ninth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0084] body;

[0085] The mopping and washing assembly includes a cleaning unit motor and a cleaning unit; the cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate relative to the rotating shaft;

[0086] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0087] a control device, disposed on the machine body, and controlling the driving device to drive the mopping and washing assembly to extend from at least one side of the machine body along the width direction of the machine body so that a portion of the mopping and washing assembly is exposed;

[0088] The mopping and washing assembly has at least two working positions, a first extreme working position and a second extreme working position, and the driving device can drive the mopping and washing assembly to change between the first extreme working position and the second extreme working position;

[0089] When in the first extreme working position, the mopping and washing assembly does not extend out of the projection area of ​​the edge of the machine body; when in the second extreme working position, the mopping and washing assembly extends out of the projection area of ​​the edge of the machine body;

[0090] It also has a sensing system. When the cleaning robot detects an obstacle through the sensing system, the control device controls the parking position of the mopping and washing component between the first extreme working position and the second extreme working position according to the distance between the body and the obstacle, so as to dynamically adjust the cleaning distance between the mopping and washing component and the obstacle.

[0091] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly, which includes the cleaning roller, the liquid supply mechanism, and the dirt removal mechanism, can move relative to the cleaning robot body as a whole, ensuring that the dirt removal mechanism can scrape off dirt on the cleaning roller at any position of the mopping and washing assembly, and that the cleaning roller can perform running water cleaning at any position, achieving self-cleaning while working. When the cleaning roller is extended outward for edge cleaning, it will not become excessively dirty, and it can still maintain a good cleaning effect after long periods of cleaning, providing a better user experience. In addition, the solution provided in this embodiment eliminates a situation with a high risk. The mopping and washing assembly is retracted first and then raised, which reduces the risk of collision during the lifting process of the mopping and washing assembly and eliminates the complex logic of determining the surrounding environment.

[0092] In a tenth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0093] body;

[0094] The mopping and washing assembly includes a cleaning unit motor and a cleaning unit; the cleaning unit motor is connected to the cleaning unit;

[0095] a first power source, disposed on the machine body, the first power source being connected to the mopping and washing assembly;

[0096] Along the width direction of the machine body, the first power source can drive the mopping and washing assembly to extend from at least one side of the machine body so that a portion of the mopping and washing assembly is exposed, and / or the first power source can drive the mopping and washing assembly to retract so that the exposed length of the mopping and washing assembly is reduced or not exposed;

[0097] and / or

[0098] Along the height direction of the machine body, the first power source can drive the mopping component from being in contact with the surface to be cleaned to having a gap therebetween, and / or the first power source can drive the mopping component from having a gap therebetween to being in contact with the surface to be cleaned.

[0099] Optionally, the mopping and washing assembly has a first extreme position in a retracted state and a second extreme position in an extended state;

[0100] The first power source outputs power in a first direction, and the direction of movement of the mopping and washing assembly is from the second extreme position to the first extreme position, so that the mopping and washing assembly retracts along the width direction of the machine body;

[0101] and / or

[0102] The first power source outputs power in a second direction, and the direction of movement of the mopping and washing assembly is from the first extreme position to the second extreme position, so that the mopping and washing assembly extends along the width direction of the machine body;

[0103] The first direction and the second direction are different directions.

[0104] Optionally, the mopping and washing assembly has a maximum lifting position, and when in the maximum lifting position, the cleaning unit has a gap with the surface to be cleaned and reaches a maximum;

[0105] When the mopping and washing assembly is located at the first extreme position, the first power source continues to output the first directional power, and the moving direction of the mopping and washing assembly is from the first extreme position to the maximum lifting position, so that the mopping and washing assembly is lifted along the height direction of the machine body;

[0106] and / or

[0107] When the mopping and washing component is located at the maximum lifting position, the first power source outputs the second direction power, and the moving direction of the mopping and washing component is from the maximum lifting position to the first limit position, so that the mopping and washing component descends along the height direction of the machine body.

[0108] Optionally, when the mopping and washing component is in the extended state, the first power source outputs power in a first direction, the mopping and washing component retracts, and the mopping and washing component retracts to a first extreme position and then lifts up;

[0109] When the mopping and washing assembly is in a raised state, the first power source outputs power in the second direction, and the mopping and washing assembly descends. After the mopping and washing assembly descends to a set distance, it extends from one side of the body along the width direction of the body to expose a portion.

[0110] Optionally, the mopping and washing assembly further includes a liquid supply mechanism and a dirt removal mechanism, wherein the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off dirt on the cleaning unit; the liquid supply mechanism and / or the dirt removal mechanism can move with the mopping and washing assembly.

[0111] Optionally, the dirt removal mechanism includes a scraper bar assembly and a dirt collecting box; the end of the scraper bar assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper bar assembly; when the cleaning unit rotates, the dirt scraped by the scraper bar assembly enters the dirt collecting box.

[0112] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly including the cleaning unit, the liquid supply mechanism, and the dirt removal mechanism can move relative to the cleaning robot body as a whole, ensuring that the dirt removal mechanism can scrape off the dirt on the cleaning unit at any position of the mopping and washing assembly, and the cleaning unit can perform running water cleaning at any position, achieving self-cleaning while working. When the cleaning unit is extended outward for edge cleaning, the cleaning unit will not become excessively dirty, and it can still maintain a good cleaning effect after a long period of cleaning, providing a better user experience. In addition, the solution provided in this embodiment provides a solution for realizing the extension and lifting of the mopping and washing assembly using a single power source, which has a simple structure and low cost. Because the structure is simplified, a lot of internal space can be saved, which is conducive to improving the rationality of the deployment of various components.

[0113] In an eleventh embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0114] body;

[0115] A driving device, the driving device comprising a first power source and a sliding plate connected to the first power source; the sliding plate having a lifting portion;

[0116] a mopping and washing assembly, the mopping and washing assembly being connected to the sliding plate via a connecting assembly, and the connecting assembly and the sliding plate being movable relative to each other;

[0117] When the first power source outputs a driving force in a first direction, the first power source drives the sliding plate to drive the connecting assembly to move from the first working position to the second working position, so that a portion of the mopping and washing assembly is exposed;

[0118] When the first power source outputs power in the second direction, the first power source drives the sliding plate to move relative to the connecting assembly from the second working position to the first working position, and after the connecting assembly reaches the first position, the connecting assembly climbs along the lifting portion of the sliding plate, driving the mopping assembly to move upward.

[0119] Optionally, the first power source is connected to the sliding plate through a gear rack structure; a first rack is provided on the sliding plate, and the lifting part is located at the end of the sliding plate; the first power source is connected to a first gear, and the first gear is engaged with the first rack; a through hole is provided at the middle position of the lifting part; the connecting component extends from the bottom of the sliding plate to the top of the sliding plate through the through hole, and is located on one side of the lifting surface of the lifting part.

[0120] Optionally, the connecting component includes a connecting column and a slider; one end of the connecting column is connected to the drag-washing component, and the other end extends from the bottom of the sliding plate through the through hole to the drag-washing component; the connecting column is suspended above the sliding plate through the slider.

[0121] Optionally, the machine body has at least one slide rail for the sliding plate to be slidably connected, and the length of the slide rail is greater than the maximum outward extension stroke of the mopping and washing assembly.

[0122] Optionally, a first baffle is provided on one side of the lifting surface of the lifting portion, and the area between the first baffle and the lowest point of the lifting portion is adapted to the size of the slider.

[0123] Optionally, a sliding friction member is provided on one side of the sliding block, and the contact position between the sliding friction member and the lifting portion is an arc structure.

[0124] Optionally, a first connecting end is provided on the sliding plate, and a second connecting end is provided on the sliding block; and an elastic member is connected between the first connecting end and the second connecting end.

[0125] Optionally, a horizontal hovering surface is provided at the top end of the lifting portion, and a second baffle is provided on one side of the hovering surface.

[0126] Optionally, from the bottom to the top of the lifting part, the inclined surface of the lifting part includes at least a first slope surface and a second slope surface, and the inclination angle of the first slope surface is greater than the inclination angle of the second slope surface.

[0127] Optionally, the machine body includes a cavity shell, the cavity shell is provided with a slot hole, and the length of the slot hole is greater than or equal to the maximum outward extension stroke of the mopping and washing component.

[0128] Optionally, the machine body further includes a shell cover, which can be fitted and connected to the top of the cavity shell, and a protrusion is provided on the shell cover.

[0129] Optionally, a matching groove that can contact the second baffle is provided on the bottom surface of the shell cover.

[0130] Optionally, at least one detection unit is provided on the machine body for detecting position information of the mopping and washing component; the machine body controls the operation of the driving device according to the position information.

[0131] Optionally, corresponding to the sliding plate being in the first position, the second position and the raised position relative to the body, the body is respectively provided with a first detection unit, a second detection unit and a third detection unit; the sliding plate is provided with a first trigger structure, a second trigger structure and a third trigger structure.

[0132] Optionally, a fourth detection unit is further provided on the body, and a fourth trigger structure is provided on the sliding plate. As the sliding plate moves, the position of the fourth trigger structure relative to the fourth detection unit changes to detect the sliding distance of the sliding plate.

[0133] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly including the cleaning roller, the liquid supply mechanism, and the dirt removal mechanism can move relative to the cleaning robot body as a whole, ensuring that the dirt removal mechanism can scrape off the dirt on the cleaning roller at any position of the mopping and washing assembly, and the cleaning roller can perform running water cleaning at any position, realizing self-cleaning while working. When the cleaning roller is extended outward for edge cleaning, the cleaning roller will not be excessively dirty, and it can still have a good cleaning effect after a long period of cleaning, providing a better user experience. In addition, the solution provided by this embodiment eliminates a situation with a large risk. The mopping and washing assembly is retracted and then lifted, which reduces the risk of collision during the lifting process of the mopping and washing assembly, and also eliminates the complex logic of judging the surrounding environment. In addition, the solution provided by this embodiment provides a solution for realizing the extension and lifting of the mopping and washing assembly using a single power source, which has a simple structure and low cost. Because the structure is simplified, a lot of internal space can be saved, which is conducive to improving the rationality of the deployment of various components.

[0134] In a twelfth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0135] body;

[0136] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt on the cleaning unit;

[0137] a driving device, disposed on the machine body and connected to the drag-washing assembly; along the width direction of the machine body, the driving device can drive the drag-washing assembly to extend from at least one side of the machine body, so that a portion of the drag-washing assembly is exposed;

[0138] A sewage tank is provided on the machine body, and the dirt collected by the dirt removal mechanism is transported to the sewage tank;

[0139] A second flexible pipe, wherein a first end of the second flexible pipe is connected to the sewage tank, and a second end of the second flexible pipe is connected to the mopping and washing component and can move along with the mopping and washing component.

[0140] Optionally, the cleaning robot further includes: a clean water tank and a first flexible pipe, the clean water tank being arranged on the body, and the cleaning liquid stored in the clean water tank being transported to the liquid supply mechanism; the first end of the first flexible pipe being connected to the clean water tank, and the second end of the first flexible pipe being connected to the mopping and washing component and being able to move along with the mopping and washing component.

[0141] Optionally, the dirt removal mechanism includes a scraper bar assembly and a dirt collecting box; the end of the scraper bar assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper bar assembly; when the cleaning unit rotates, the dirt scraped by the scraper bar assembly enters the dirt collecting box; the dirt removal mechanism also includes a dirt collecting pipe, the first end of the dirt collecting pipe is arranged in the dirt collecting box, and the second end of the dirt collecting pipe is connected to the sewage tank through the second flexible pipe.

[0142] Optionally, the mopping and washing assembly further includes a joint assembly, which includes a clean water pipe joint and a sewage pipe joint, and the clean water pipe joint and the sewage pipe joint are respectively connected to the first flexible pipe and the second flexible pipe.

[0143] Optionally, the sewage removal mechanism also includes a negative pressure pump and a valve body; the negative pressure pump is connected to the sewage tank for pumping negative pressure into the sewage tank; the valve body is provided on the sewage collecting pipe for controlling the on-off of the sewage collecting pipe; when the valve body is opened, the negative pressure in the sewage tank passes through the second flexible pipe to suck the sewage in the sewage collecting box into the sewage tank.

[0144] Optionally, the body is provided with a pipe space for accommodating the first flexible pipe and the second flexible pipe; the pipe space has a first opening and a second opening, and the first flexible pipe and the second flexible pipe both enter the pipe space from the first opening and pass through the second opening to be connected to the joint assembly.

[0145] Optionally, an opening direction of the first opening is substantially perpendicular to an opening direction of the second opening.

[0146] Optionally, the dirt removal mechanism further includes a filter assembly, which is disposed in the dirt collecting box to separate the inner cavity of the dirt collecting box into an upper space and a lower space; the first end of the dirt collecting pipe passes through the filter assembly and is located in the lower space of the inner cavity.

[0147] Optionally, springs are provided on the outsides of the first flexible pipe and the second flexible pipe.

[0148] Optionally, the first flexible pipe and the second flexible pipe are bendable pipes.

[0149] Optionally, the cleaning robot further includes a control device;

[0150] The control device is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

[0151] In the technical solution provided in the embodiments of the present application, the mopping and washing assembly as a whole moves relative to the cleaning robot body. Regardless of the position of the mopping and washing assembly, the liquid supply mechanism can provide cleaning liquid to the cleaning unit, and the dirt removal mechanism can scrape dirt off the cleaning unit. The cleaning unit can self-clean while working. When the cleaning unit extends outward to clean the edge, it will not become excessively dirty, and even after long periods of cleaning, it can still maintain a good cleaning effect, providing a better user experience. Furthermore, regardless of the state of the mopping and washing device, the first flexible conduit can always continuously supply cleaning liquid to the liquid supply mechanism, and the second flexible conduit can always continuously collect wastewater scraped off by the dirt removal mechanism. The liquid supply mechanism and the dirt removal mechanism can operate continuously.

[0152] In the thirteenth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0153] body;

[0154] The mopping and washing assembly comprises a cleaning unit motor and a cleaning unit; the cleaning unit and the cleaning unit motor are detachably connected;

[0155] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0156] A control component is provided on the machine body.

[0157] The cleaning robot is also provided with a disassembly mode. When the cleaning robot is in the disassembly mode, the control component receives a user instruction and controls the driving device to drive the mopping component along the width direction of the body, extending from at least one side of the body so that part of the mopping component is exposed, making it convenient for the user to disassemble the cleaning unit from the exposed side of the mopping component.

[0158] Optionally, an interactive device is provided on the body; the interactive device is used to respond to the user's disassembly and assembly instructions and transmit the instructions to the control component to trigger the driving device to operate and drive the mopping and washing component to extend from one side of the body.

[0159] Optionally, the disassembly direction of the cleaning unit is the same as the extension direction of the mopping assembly.

[0160] Optionally, the interaction device is arranged on the top surface of the body or inside the body, and the interaction device is one of: a button, a touch screen, and a voice interaction unit.

[0161] Optionally, the cleaning robot further includes a liquid supply mechanism and a dirt removal mechanism, and the mopping assembly further includes a mopping bracket; the mopping bracket has a drum mounting cavity with an opening facing downward, and the cleaning unit motor and the cleaning unit are arranged in the drum mounting cavity; the cleaning unit contacts the surface to be cleaned through the opening; the liquid supply mechanism and the dirt removal mechanism are both arranged on the mopping bracket; the power end of the driving device is connected to the mopping bracket.

[0162] Optionally, the cleaning unit motor is provided at the first end of the mopping bracket in the length direction, and a second opening is provided at the second end; a first structure is provided on the second end, and a second structure is provided on the end cover of the cleaning unit; when installing the cleaning unit, the cleaning unit can be inserted into the drum cavity of the mopping bracket from the second opening to be connected to the cleaning unit motor; the cleaning unit is connected to the mopping bracket through the first structure and the second structure.

[0163] Optionally, the first structure and the second structure are cooperatively used magnetic components or snap-on structures.

[0164] Optionally, one of the first structure and the second structure is a groove, and the other is a protrusion, and the groove matches the protrusion; the protrusion is a magnet, and magnetic material is provided in the groove; or a magnet is provided in the groove, and magnetic material is provided on the protrusion.

[0165] In a fourteenth embodiment of the present application, a method for disassembling and assembling a cleaning unit is provided, which is applicable to the cleaning robot provided in the above embodiments, and the method includes:

[0166] After receiving the disassembly instruction of the cleaning unit, the cleaning robot starts the disassembly mode of the cleaning unit;

[0167] The mopping and washing assembly is controlled to move toward a second extreme position, and the cleaning unit can be detached from the exposed side of the mopping and washing assembly.

[0168] Optionally, the cleaning robot is provided with a detection device, which is used to detect the specific position of the mopping and washing component relative to the body;

[0169] After receiving the disassembly instruction of the cleaning unit, the cleaning robot starts a cleaning unit disassembly mode, including:

[0170] The detection device detects the current position of the mopping and washing assembly relative to the machine body;

[0171] If the mopping and washing component is at the first limit position, the mopping and washing component moves from the first limit position to the second limit position.

[0172] In a fifteenth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0173] body;

[0174] The mopping assembly includes a drum motor, a cleaning drum and end covers; the cleaning drum is detachably connected to the drum motor, and the drum motor and end covers are located at both ends of the cleaning drum;

[0175] The cleaning robot also has a disassembled state. When the cleaning robot is in the disassembled state, part or all of the end cover extends out of the projection area of ​​the edge of the body.

[0176] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly including the cleaning unit, the liquid supply mechanism, and the dirt removal mechanism can move relative to the cleaning robot body as a whole, ensuring that the dirt removal mechanism can scrape off the dirt on the cleaning unit at any position of the mopping and washing assembly, and the cleaning unit can perform running water cleaning at any position, realizing self-cleaning while working. When the cleaning unit is extended outward for edge cleaning, the cleaning unit will not be excessively dirty, and it can still have a good cleaning effect after a long period of cleaning, providing a better user experience. In addition, the cleaning unit in this embodiment is in an extended state when the mopping and washing assembly is disassembled and assembled, completely avoiding the problem of the user's hands being pinched by the mopping assembly and the main body shell, making it easy for the user to operate, with a large operating space and less prone to bumps, etc., and the disassembly and assembly is simple, convenient and safe.

[0177] In the sixteenth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0178] body;

[0179] The mop-wash assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate; the mop-wash assembly also includes a liquid supply mechanism and a dirt removal mechanism, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0180] The dirt removal mechanism further includes a scraping bar assembly and a dirt collecting assembly, wherein the end of the scraping bar assembly contacts the surface of the cleaning unit; the dirt collecting assembly is arranged below the scraping bar assembly and is used to collect dirt scraped by the scraping bar assembly;

[0181] Wherein, a plurality of water guide grooves are provided on the lower surface of the scraper bar assembly.

[0182] Optionally, the mopping and washing assembly further includes a driving device, which is disposed on the body and connected to the mopping and washing assembly; along the width direction of the body, the driving device can drive the mopping and washing assembly to extend from at least one side of the body, so that part of the mopping and washing assembly is exposed.

[0183] Optionally, the lower surface of the scraper bar assembly is the water-facing side, the scraper bar assembly abuts against the cleaning unit, and the dirt scraped by the scraper bar assembly is drained from the water-facing side to the dirt collecting assembly.

[0184] Optionally, the lower surface of the scraper strip assembly has an upwardly arched arc surface, and the water guide groove is provided on the arc surface.

[0185] Optionally, the scraper assembly includes a water guide plate and a scraper; the end of the scraper abuts against the surface of the cleaning unit; the water guide plate is located below the scraper; the lower surface of the water guide plate has an upwardly arched arc surface, and more than two water guide grooves are located on the arc surface.

[0186] Optionally, the scraper has a first plate segment and a second plate segment, and the first plate segment and the second plate segment are arranged at an obtuse angle; the end of the first plate segment abuts against the surface of the cleaning unit, and the second plate segment is used to connect with the water guide plate.

[0187] Optionally, the water guide plate is connected below the second plate segment, the end of the water guide plate abuts against the first plate segment, and the first plate segment of the scraper protrudes from the end of the water guide plate.

[0188] Optionally, the liquid supply mechanism has a liquid supply port; the number of the liquid supply ports is less than the number of the water guide grooves on the water guide plate.

[0189] Optionally, the length of the scraping bar assembly is greater than or equal to the length of the cleaning unit, and the length of the dirt collecting assembly is greater than or equal to the length of the scraping bar assembly.

[0190] Optionally, the water guide plate and the scraper are connected by fasteners, or the water guide plate and the scraper are an integrated structure;

[0191] When the water guide plate and the scraper are separate structures, the water guide plate and the scraper are made of different materials.

[0192] In the seventeenth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0193] body,

[0194] A cleaning unit, rotatably connected to the machine body, for mopping the surface to be cleaned;

[0195] A dirt removal mechanism, provided on the machine body;

[0196] The dirt removal mechanism includes a scraping bar assembly and a dirt collecting assembly. The scraping bar assembly contacts the surface of the cleaning unit and is used to scrape dirt on the cleaning unit. The dirt collecting assembly is arranged below the scraping bar assembly and is used to collect the dirt scraped by the scraping bar assembly.

[0197] Wherein, a plurality of water guide grooves are provided on the lower surface of the scraper bar assembly.

[0198] Optionally, the scraper bar assembly has a bent portion, and the water-facing side of the scraper bar assembly is provided with an arc-shaped water-guiding surface, and the water-guiding groove is provided on the water-guiding surface.

[0199] Optionally, an end portion of the water guide groove is close to the cleaning unit, and the end portion of the water guide groove is a through groove, and an opening of the through groove faces an end portion of the scraper assembly.

[0200] Optionally, the end of the water guide groove faces away from the cleaning unit, the end opening of the water guide groove is closed, and the end of the water guide groove is located above the dirt collecting assembly.

[0201] Optionally, along the height direction of the dirt removal mechanism, the height of the wiping position where the scraper bar assembly contacts the cleaning unit is greater than the height of the tail end of the water guide groove.

[0202] Optionally, the sewage collecting assembly includes a sewage collecting box, which is arranged parallel to the bottom of the scraper assembly, and the sewage collecting box has a sewage collecting port facing the end of the water guide groove; the sewage collecting port has a central axis along the length direction, and along the width direction of the sewage collecting port, the end of the water guide groove is located behind the central axis.

[0203] Optionally, the arc-shaped water-guiding surface has an upwardly arched arc surface.

[0204] Optionally, the projection of the highest point of the arc surface on the horizontal plane is located inside the dirt collecting box of the dirt collecting assembly.

[0205] Optionally, the upper portion of the cleaning unit is located above the horizontal plane where the central axis of the cleaning unit is located, and the wiping position where the scraper assembly contacts the cleaning unit is located on the upper portion.

[0206] Optionally, the groove surface of the water guide groove is a water guide surface, and the water guide surface has two curved surfaces; from the water guide direction to the drainage direction of the water guide surface, the curvature of the corresponding arc of the curved surface decreases.

[0207] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly as a whole moves relative to the cleaning robot body. In any position of the mopping and washing assembly, the liquid supply mechanism can provide cleaning liquid to the cleaning unit, the dirt removal mechanism can scrape off the dirt on the cleaning unit, and the cleaning unit can self-clean while working. When the cleaning unit extends outward to clean the edge, the cleaning unit will not be excessively dirty, and it can still have a good cleaning effect after a long period of cleaning, providing a better user experience. In addition, the end of the scraping bar assembly contacts the surface of the cleaning unit, and when the cleaning unit rotates, it can scrape off the dirt on its surface. At the same time, a plurality of water guide grooves are provided on the lower surface of the scraping bar assembly. The water guide grooves can be used to guide the scraped dirt to the dirt collection assembly. The scraping bar assembly has a good scraping effect on the dirt on the surface of the cleaning unit, and the collection rate of the scraped dirt is also higher. The scraped dirt will not cause secondary pollution to the ground.

[0208] In the eighteenth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0209] body;

[0210] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate; the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0211] a driving device, disposed on the machine body and connected to the drag-washing assembly; along the width direction of the machine body, the driving device can drive the drag-washing assembly to extend from at least one side of the machine body, so that a portion of the drag-washing assembly is exposed;

[0212] The dirt removal mechanism further includes a scraper assembly and a biasing assembly. The biasing force provided by the biasing assembly acts on the scraper assembly. Under the action of the biasing force, the scraper assembly has a tendency to move in a direction of pressing against the cleaning unit.

[0213] Optionally, under the action of the biasing force provided by the biasing assembly, the scraper assembly is inserted into the cleaning unit to a depth of at least 1-2 mm.

[0214] Optionally, the mopping assembly further includes a mopping bracket; the power end of the driving device is connected to the mopping bracket; the mopping bracket has a roller mounting cavity with an opening facing downward, and the cleaning unit motor and the cleaning unit are arranged in the roller mounting cavity; the cleaning unit contacts the surface to be cleaned through the opening; the liquid supply mechanism is arranged on the mopping bracket; the scraper assembly is swingably connected to the mopping bracket through the biasing assembly.

[0215] Optionally, the biasing assembly includes a swing seat, and the scraper bar assembly is rotatably connected to the mopping bracket via the swing seat, and the scraper bar assembly can move with the mopping bracket.

[0216] Optionally, the biasing assembly further includes an elastic member; the swing seat is connected to the mopping bracket via a swing shaft, a mounting hole is provided on the swing seat, the elastic member is provided in the mounting hole, one end of the elastic member abuts against the mopping bracket, and the other end abuts against the swing seat; when the scraper assembly swings upward relative to the cleaning unit, the elastic member is compressed.

[0217] Optionally, along the length direction of the scraper strip assembly, at least two of the swing seats are connected to the scraper strip assembly.

[0218] Optionally, the length of the scraper bar assembly is greater than or equal to the length of the cleaning unit, and the contact surface between the scraper bar assembly and the cleaning unit is in a straight line area.

[0219] Optionally, the dirt removal mechanism further includes a dirt collecting box; the dirt collecting box is located below the scraper bar assembly; when the cleaning unit rotates, the dirt scraped off by the scraper bar assembly enters the dirt collecting box.

[0220] Optionally, the scraper assembly includes a scraper and a water guide plate, the water guide plate is in contact with the bottom of the scraper, a plurality of water guide grooves are provided on the water guide plate, and the tail of the water guide groove is located at the opening of the dirt collecting box.

[0221] Optionally, the swing seat in the biasing assembly is connected to the water guide plate via a fastener; or, the water guide plate and the swing seat are an integral structure.

[0222] Optionally, the scraper includes a first plate segment and a second plate segment, the first plate segment and the second plate segment are arranged at an obtuse angle, an end of the first plate segment contacts the cleaning unit, and the second plate segment is connected to the water guide plate.

[0223] Optionally, the dirt removal component further includes a dirt collecting pipe, one end of which is disposed in the dirt collecting box, and the other end of which is connected to the sewage tank of the cleaning robot through a flexible pipe;

[0224] The scraper is provided with a second avoidance hole, and the water guide plate is provided with a third avoidance hole; when the water guide plate is connected to the scraper, the second avoidance hole is aligned with the third avoidance hole for avoiding the sewage collecting pipe.

[0225] In the nineteenth embodiment of the present application, a mopping and washing assembly is provided. The mopping and washing assembly includes:

[0226] mop and wash bracket;

[0227] A cleaning unit rotatably mounted on the mopping and washing bracket;

[0228] A dirt removal mechanism and a dirt collection assembly, wherein the dirt removal mechanism includes a scraper assembly, the end of which contacts the surface of the cleaning unit, and a water guide groove is provided on the water-facing side of the scraper assembly to guide the scraped dirty water into the dirt collection assembly;

[0229] Wherein, the dirt removal mechanism further includes a biasing component, and the biasing force provided by the biasing component acts on the scraper bar component. Under the action of the biasing force, the scraper bar component has a tendency to move in a direction of pressing against the cleaning unit.

[0230] In the twentieth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0231] body;

[0232] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate; the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0233] a driving device, disposed on the machine body and connected to the drag-washing assembly; along the width direction of the machine body, the driving device can drive the drag-washing assembly to extend from at least one side of the machine body, so that a portion of the drag-washing assembly is exposed;

[0234] The dirt removal mechanism further includes a scraper assembly and a biasing assembly. The biasing force provided by the biasing assembly acts on the scraper assembly. Under the action of the biasing force, the scraper assembly has a tendency to move in a direction of pressing against the cleaning unit.

[0235] In the technical solution provided in the embodiments of the present application, the scrubbing assembly as a whole moves relative to the cleaning robot body. Regardless of the position of the scrubbing assembly, the liquid supply mechanism can provide cleaning liquid to the cleaning unit, and the dirt removal mechanism can scrape dirt off the cleaning unit. The cleaning unit can also self-clean while working. When the cleaning unit extends outward to clean the edges, it will not become excessively dirty, and even after long periods of cleaning, it can still maintain a good cleaning effect, providing a better user experience. Furthermore, the scraping bar assembly adaptively adjusts its position through an adaptive adjustment device to a more appropriate position, thereby applying an appropriate scraping force to the cleaning unit, thereby maintaining a continuous action on the cleaning unit to scrape off dirt.

[0236] In the twenty-first embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0237] body;

[0238] The mopping assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, and during the rotation of the cleaning unit, the liquid supply mechanism supplies cleaning liquid to the cleaning unit along the rotation direction. The cleaning unit soaked with the cleaning liquid cleans the surface to be cleaned, and then the dirt removal mechanism acts on the cleaning unit to scrape off and collect dirt;

[0239] A driving device is provided on the machine body and connected to the drag-washing assembly; along the width direction of the machine body, the driving device can drive the drag-washing assembly to extend from at least one side of the machine body, so that part of the drag-washing assembly is exposed.

[0240] Optionally, along the height direction of the mopping and washing assembly, the liquid supply mechanism is located above the cleaning unit; and the dirt removal mechanism is located between the liquid supply mechanism and the surface to be cleaned.

[0241] Optionally, the angle formed by the position of the liquid supply mechanism, the position of the dirt removal mechanism and the rotation center of the cleaning unit is in the range of [20 degrees to 120 degrees].

[0242] Optionally, along a first center line in the vertical direction of the cleaning unit, the liquid supply structure is located above the first center line, or, with the rotation center of the cleaning unit as the vertex of the angle, the angle formed by the position of the liquid supply structure and the first center line is in the range of [-30 degrees to +30 degrees];

[0243] Along a second center line in the transverse direction of the cleaning unit, the scraper bar assembly of the dirt removal mechanism is located above the second center line; or the scraper bar assembly of the dirt removal mechanism is located flush with the second center line.

[0244] Optionally, the dirt removal mechanism includes a scraper bar assembly and a dirt collecting box; the end of the scraper bar assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper bar assembly; when the cleaning unit rotates, the dirt scraped by the scraper bar assembly enters the dirt collecting box.

[0245] Optionally, the front bottom of the dirt collecting box has an angled surface, and the angle between the angled surface and the horizontal plane is between 10 and 60 degrees.

[0246] Optionally, a driving wheel is provided on the body; when the cleaning robot moves forward, the rotation direction of the cleaning unit is opposite to the rotation direction of the driving wheel.

[0247] Optionally, the cleaning robot further includes a water wiping structure; the water wiping structure is located between the liquid supply mechanism and the surface to be cleaned, and the angle β between the line connecting the water wiping structure and the center of the cross-section of the cleaning unit and the line connecting the liquid supply port and the center of the circle can be between 5 and 30 degrees.

[0248] Optionally, along a first center line in the vertical direction of the cleaning unit, the water wiping structure and the dirt removal mechanism are respectively located on both sides of the first center line.

[0249] In the technical solution provided in the embodiments of this application, the scrubbing assembly as a whole moves relative to the cleaning robot body. Regardless of the position of the scrubbing assembly, the liquid supply mechanism can supply cleaning liquid to the cleaning unit, and the dirt removal mechanism can scrape dirt off the cleaning unit. The cleaning unit can also self-clean while operating. When the cleaning unit extends outward to perform edge cleaning, it will not become excessively dirty, and even after prolonged cleaning, it can maintain a good cleaning effect, providing a better user experience.

[0250] In addition, when the cleaning unit rotates to clean the ground, cleaning liquid is first supplied to the cleaning unit. The cleaning liquid provided by the liquid supply mechanism first moistens the cleaning unit. As the cleaning unit rotates, the area soaked in the cleaning liquid cleans the ground again. Then, as the cleaning unit rotates, the dirt removal mechanism acts on the area of ​​the ground that has been cleaned to scrape off the dirt. Simply put, it is: first add water, then clean the ground, and then scrape off the dirty water, and repeat in sequence. The scraped clean roller is relatively dry, so water is added first. After the water is added, the cleaning unit is moist and clean. The moist and clean cleaning unit cleans the ground, and after cleaning the dirt, it is scraped off by the dirt removal mechanism. In this way, the liquid supply efficiency of the liquid supply mechanism and the dirt removal efficiency of the dirt removal mechanism are higher. Not only will it not affect the cleaning power of the cleaning unit, it will also save more water, and the cleaning robot's cleaning endurance will also be longer.

[0251] In the twenty-second embodiment of the present application, a cleaning robot is provided. The cleaning robot includes:

[0252] body;

[0253] The mop-wash assembly includes a mop-wash bracket, a cleaning unit motor, a cleaning unit, and a dirt removal mechanism; the mop-wash bracket has a downwardly opening drum mounting cavity, the cleaning unit motor is connected to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit. The cleaning unit motor, cleaning unit, and the dirt removal mechanism are arranged in the drum mounting cavity;

[0254] a driving device, disposed on the machine body and connected to the drag-washing assembly; along the width direction of the machine body, the driving device can drive the drag-washing assembly to extend from at least one side of the machine body, so that a portion of the drag-washing assembly is exposed;

[0255] Wherein, the dirt removal mechanism includes a dirt collecting box, and the dirt collecting box and the cleaning unit are detachably arranged on the mopping and washing bracket, and the dirt collecting box and the cleaning unit are detachable in different directions.

[0256] Optionally, the mopping and washing assembly further includes a liquid supply mechanism, which is used to provide cleaning liquid to the cleaning unit and can move along with the mopping and washing assembly.

[0257] Optionally, the disassembly direction of the cleaning unit is consistent with the extending direction of the mop and wash assembly, and the disassembly direction of the dirt collecting box is substantially perpendicular to the extending direction of the mop and wash assembly.

[0258] Optionally, along the length direction of the dirt collecting box, the dirt collecting box has a first end and a second end; the position of the mopping and washing bracket corresponding to the dirt collecting box is provided with a first fixing structure and a second fixing structure respectively cooperating with the first end and the second end; the second fixing structure is a socket, and the second end is a protrusion structure adapted to the socket.

[0259] Optionally, a release assembly is provided at the first end of the dirt collecting box; the release assembly has an operating handle; the operating handle is located at the bottom of the dirt collecting box; during disassembly, the operating handle is actuated, the release assembly is in an unlocked state, the first end of the dirt collecting box is detached from the drag and wash bracket, and the dirt collecting box is pulled out at the bottom of the machine body in a direction away from the bottom of the machine body; during installation, after the second end of the dirt collecting box is inserted into place from the bottom of the machine body, the first end of the dirt collecting box is moved upward to a locking position, and the release assembly is triggered at the locking position to switch to a locked state.

[0260] Optionally, the release assembly includes: an elastic operating member and a fixing pin; the elastic operating member is connected to the fixing pin, and the first fixing structure is a pin hole adapted to the fixing pin.

[0261] Optionally, the fixing pin is provided with a slide groove, one end of the fixing pin is provided with a plug adapted to the pin hole, and the other end is connected to the release spring; the release button is rotatably connected to the dirt collecting box through a rotating shaft; and on both sides of the rotating shaft are respectively provided: a top structure and the operating handle.

[0262] Optionally, the operating handle can rotate around the rotating shaft; the operating handle rotates around the rotating shaft to release the release assembly to put it into an unlocked state; wherein the rotation direction of the operating handle is the same as the direction of removing the dirt collecting box.

[0263] Optionally, the dirt removal mechanism includes a scraper assembly; the end of the scraper assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper assembly; when the cleaning unit rotates, the dirt scraped by the scraper assembly enters the dirt collecting box; a filter assembly is provided in the dirt collecting box, and the filter assembly separates the inner cavity of the dirt collecting box into an upper space and a lower space.

[0264] Optionally, the bottom surface of the dirt collecting box is a V-shaped bottom surface with high ends and a low middle.

[0265] Optionally, the dirt removal mechanism further includes a dirt collecting pipe, the pipe opening of which extends to the lowest point of the V-shaped bottom surface.

[0266] Optionally, the scraper assembly has an avoidance hole; one end of the sewage collecting pipe is connected to the avoidance hole, and the other end passes through the filter assembly and is arranged in the lower space of the inner cavity.

[0267] Optionally, a plate-shaped body with a curved arc is provided at one end of the filter assembly.

[0268] Optionally, a detection member is provided on the dirt collecting box; and a sensing element is provided on the drag-washing bracket and / or the machine body, and the sensing element identifies whether the dirt collecting box is installed on the drag-washing bracket by detecting the detection member.

[0269] Optionally, in the height direction of the machine body, the lowest point of the dirt collecting box is higher than the lowest point of the machine body.

[0270] In the technical solution provided in the embodiments of the present application, the mop-wash assembly as a whole moves relative to the cleaning robot body. Regardless of the position of the mop-wash assembly, the liquid supply mechanism can supply cleaning liquid to the cleaning roller, and the dirt removal mechanism can scrape dirt off the cleaning roller. The cleaning roller can also self-clean while operating. When the cleaning roller extends outward for edge cleaning, it will not become excessively dirty, and even after prolonged cleaning, it can still maintain a good cleaning effect, providing a better user experience. Furthermore, in this solution, the dirt collection box is detachably mounted on the mop-wash bracket of the mop-wash assembly; a release assembly is provided at the first end of the dirt collection box, corresponding to the exposed side of the mop-wash assembly. The user can operate the release assembly from the exposed side of the mop-wash assembly to remove the dirt collection box without turning the robot body over. This makes operation quick and convenient, and provides a good user experience.

[0271] In the twenty-third embodiment of the present application, a cleaning robot is provided. The cleaning robot includes:

[0272] body;

[0273] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0274] a driving device, disposed on the machine body and connected to the mopping and washing assembly; the driving device can drive the mopping and washing assembly to extend from at least one side of the machine body along the width direction of the machine body so that a portion of the mopping and washing assembly is exposed;

[0275] The control component is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing component to move, thereby changing the position of the mopping and washing component relative to the body.

[0276] Optionally, the dirt removal mechanism includes a scraper bar assembly and a dirt collecting box; the scraper bar assembly is arranged above the dirt collecting box, and one end of the scraper bar assembly is in interference contact with the cleaning unit for scraping dirt on the cleaning unit.

[0277] Optionally, the cleaning robot further includes a fourth detection unit and a grating structure; the fourth detection unit is arranged on the body; the grating structure is linked to the mopping and washing component; when the mopping and washing component moves, the grating structure follows the movement, and the fourth detection unit determines the position of the mopping and washing component by detecting the grating structure.

[0278] Optionally, the cleaning robot further includes a first detection unit and a second detection unit; the first detection unit is used to detect the first extreme position of the mopping and washing component in the retracted state; the second detection unit is used to detect the second extreme position of the mopping and washing component in the extended state.

[0279] Optionally, the control component is further used to dynamically control the driving device according to the behavior information of the body to drive the mopping and washing component to rise and fall.

[0280] In the twenty-fourth embodiment of the present application, a method for operating a cleaning robot is provided, comprising:

[0281] The control component determines the current position of the mop-wash component based on the first counting scale on the grating structure recorded by the fourth detection unit;

[0282] The control component determines a second counting scale corresponding to the expected extension distance of the mopping component according to the distance between the target object and the body, and controls the movement of the mopping component so that the fourth detection unit stays at the position of the second counting scale of the grating structure.

[0283] The technical solution provided by the embodiments of the present application comprises a cleaning robot including a body, a mopping and washing assembly mounted on the body, a drive device, and a control component. The mopping and washing assembly includes a cleaning unit for cleaning a work surface to be cleaned. The control component dynamically controls the drive device based on the body's behavioral information, causing the drive device to drive the mopping and washing assembly to move relative to the body (e.g., to extend or retract). This solution design enables the mopping and washing assembly to move (i.e., follow the body's movements) to ensure that no areas are missed. The specific movement control method is as follows: the robot's behavioral information is first determined, and then the drive device is dynamically controlled based on the determined behavioral information, causing the drive device to drive the mopping and washing assembly to follow the body's movements. For example, when the cleaning robot is normally moving along an edge (moving along an edge without turning to avoid obstacles), the distance between the mopping and washing assembly and a target object along the edge can be determined. Based on this distance, the mopping and washing assembly is controlled to move along its axis toward the target object to contact the target object. Since the mopping and washing assembly and the target object are in contact after movement, there is no gap between them, thus preventing missed areas (e.g., missing the edge of the target object).

[0284] Furthermore, in the technical solution provided by the embodiments of this application, the scrubbing assembly, including the cleaning unit, liquid supply mechanism, and dirt removal mechanism, can be moved relative to the cleaning robot body. This ensures that the dirt removal mechanism can scrape dirt off the cleaning unit at any position of the scrubbing assembly, and the cleaning unit can perform running water cleaning at any position, achieving simultaneous self-cleaning while working. When the cleaning unit extends outward for edge cleaning, it will not become excessively dirty, and even after long periods of cleaning, it can maintain a good cleaning effect, providing a better user experience.

[0285] In the twenty-fifth embodiment of the present application, a cleaning robot is provided, comprising:

[0286] body;

[0287] The mop-washing assembly includes a cleaning unit motor, a cleaning unit, and a liquid supply mechanism; the cleaning unit motor is connected to the cleaning unit, and the liquid supply mechanism includes a liquid supply port for supplying cleaning liquid to the cleaning unit;

[0288] a driving device, disposed on the machine body and connected to the drag-washing assembly; along the width direction of the machine body, the driving device can drive the drag-washing assembly to extend from at least one side of the machine body so that a portion of the drag-washing assembly is exposed;

[0289] Wherein, an arc water guide surface is provided on the periphery of the liquid supply port to guide the cleaning liquid downward to the cleaning unit.

[0290] Optionally, the mopping and washing component further includes a dirt removal mechanism, which is used to scrape off dirt on the cleaning unit and can move with the mopping and washing component.

[0291] Optionally, the outlet of the liquid supply port is provided with a liquid outlet hole, and the circular arc water guide surface is provided on the periphery of the liquid outlet hole.

[0292] Optionally, the arc water guide surface has at least two levels of water guide surfaces, and the radii of the at least two levels of water guide surfaces are different; and the radius increases step by step along the water outlet direction.

[0293] Optionally, the mopping and washing assembly includes a mopping and washing bracket; the mopping and washing bracket has a drum mounting cavity with an opening facing downward; the periphery of the arc water guide surface protrudes from the drum mounting cavity and forms a step on the wall surface of the drum mounting cavity.

[0294] Optionally, a clean water tank is provided on the machine body; the liquid supply mechanism includes a water distributor, which has a main line, branch lines and liquid outlets; the liquid outlets face the cleaning unit and are distributed along the cylinder axis of the cleaning unit; the main line of the water distributor is connected to the clean water tank through a flexible clean water pipe, the branch lines are connected to the main line, and the liquid outlets correspond to the branch lines respectively.

[0295] Optionally, the liquid supply port is located above the cleaning unit; and the dirt removal mechanism is located at the front side or the rear side of the cleaning unit.

[0296] Optionally, the dirt removal mechanism includes a scraper assembly and a dirt collecting box; the end of the scraper assembly contacts the surface of the cleaning unit; the dirt collecting box is arranged below the scraper assembly to collect the dirt scraped off by the scraper assembly; the scraper assembly includes a water guide plate and a scraper; the water guide plate is located below the scraper; the lower surface of the water guide plate is an upward arched arc surface, and the water guide groove is located on the arc surface.

[0297] In the twenty-sixth embodiment of the present application, a cleaning robot is provided, comprising:

[0298] body;

[0299] The mopping and washing assembly includes a drum mounting cavity, a cleaning unit motor, a cleaning unit, and a liquid supply mechanism; the cleaning unit motor and the cleaning unit are accommodated in the drum mounting cavity, and the liquid supply mechanism includes a liquid supply port for supplying cleaning liquid to the cleaning unit;

[0300] Wherein, a water guide groove is provided on the periphery of the liquid supply port, and the groove wall of the water guide groove protrudes from the inner wall of the drum installation cavity to guide the cleaning liquid downward to the cleaning unit.

[0301] In the twenty-seventh embodiment of the present application, a mopping and washing assembly is provided, comprising:

[0302] A mop-wash bracket having a drum mounting cavity with a downward opening;

[0303] a cleaning unit motor, disposed in the drum mounting cavity;

[0304] a cleaning unit connected to the cleaning unit motor and capable of contacting the surface to be cleaned through the opening;

[0305] a liquid supply mechanism, disposed on the mop-wash bracket, comprising a liquid supply port for supplying cleaning liquid to the cleaning unit; the liquid supply port having an arc-shaped water guide surface for guiding the cleaning liquid to the cleaning unit;

[0306] Wherein, the mopping and washing bracket is provided with a connecting structure for connecting to a driving device so that the mopping and washing assembly can be driven to move by the driving device.

[0307] In the technical solution provided by the embodiments of the present application, the mopping and washing assembly moves as a whole relative to the body of the cleaning robot. Regardless of the position of the mopping and washing assembly, the liquid supply mechanism can supply cleaning liquid to the cleaning unit, and the dirt removal mechanism can scrape dirt off the cleaning unit, allowing the cleaning unit to self-clean while operating. When the cleaning unit extends outward for edge cleaning, it does not become excessively dirty, and a good cleaning effect can be achieved even after prolonged cleaning. To achieve better cleaning results, the solution provided by the embodiments further improves the liquid supply port by adding a circular water guide surface to guide the cleaning liquid to the cleaning unit. Because of the circular water guide surface, the cleaning liquid supplied by the liquid supply mechanism essentially flows to the cleaning unit without splashing elsewhere. The cleaning robot can also more accurately control the liquid supply mechanism in different scenarios. With the appropriate amount of cleaning liquid supplied, the cleaning unit maintains a good dryness and wetness, resulting in a good mopping and washing effect. Because the cleaning unit maintains a good dryness and wetness, the dirt removal mechanism can self-clean the cleaning unit, achieving a better self-cleaning effect and positively promoting the mopping and washing effect.

[0308] In the twenty-eighth embodiment of the present application, a cleaning robot is provided, comprising:

[0309] body;

[0310] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0311] Wherein, along the traveling direction of the cleaning robot, the dirt removal mechanism is located at the front side of the cleaning unit;

[0312] Along the rotation direction of the cleaning unit, the cleaning unit is configured to clean the floor after the cleaning liquid is replenished by the liquid supply mechanism, and then the dirt is scraped off by the dirt removal mechanism.

[0313] Optionally, a driving wheel is provided on the machine body; and the rotation direction of the cleaning unit is opposite to the rotation direction of the driving wheel.

[0314] Optionally, the dirt removal mechanism includes a scraper assembly and a dirt collecting box; the end of the scraper assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper assembly; when the cleaning unit rotates, the dirt scraped by the scraper assembly enters the dirt collecting box.

[0315] Optionally, a chamfer is provided at the front end of the bottom of the dirt collecting box.

[0316] In the twenty-ninth embodiment of the present application, a mop-washing assembly is provided, comprising:

[0317] A mop-wash bracket having a drum mounting cavity with a downward opening;

[0318] a cleaning unit motor, disposed in the drum mounting cavity;

[0319] a cleaning unit connected to the cleaning unit motor and capable of contacting the surface to be cleaned through the opening;

[0320] A dirt removal mechanism, provided on the mopping and washing bracket, for scraping dirt off the cleaning unit;

[0321] The mopping and washing assembly is used to be installed on a cleaning robot, and along the moving direction of the cleaning robot, the dirt removal mechanism is located at the front side of the cleaning unit.

[0322] Optionally, the dirt removal mechanism includes a scraper assembly and a dirt collecting box; the end of the scraper assembly contacts the cleaning unit, and the dirt collecting box is located below the scraper assembly; when the cleaning unit rotates, the dirt scraped by the scraper assembly enters the dirt collecting box through the lower surface of the scraper assembly.

[0323] In the thirtieth embodiment of the present application, a cleaning robot is provided, comprising:

[0324] body;

[0325] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0326] Wherein, along the moving direction of the cleaning robot, the dirt removal mechanism is located at the front side of the cleaning unit.

[0327] In a thirty-first embodiment of the present application, a cleaning robot is provided, comprising:

[0328] body;

[0329] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0330] Wherein, along the moving direction of the cleaning robot, the dirt removal mechanism is located at the front side of the cleaning unit.

[0331] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly as a whole moves relative to the body of the cleaning robot. In any position of the mopping and washing assembly, the liquid supply mechanism can provide cleaning liquid to the cleaning unit, the dirt removal mechanism can scrape off dirt on the cleaning unit, and the cleaning unit can self-clean while working. When the cleaning unit is extended outward for edge cleaning, the cleaning unit will not be excessively dirty, and it can still have a good cleaning effect after a long period of cleaning, providing a better user experience. In addition, along the direction of travel of the cleaning robot, the dirt removal mechanism is arranged at the front side of the cleaning unit, and the rotation direction of the cleaning unit is opposite to the rotation direction of the drive wheel, so the cleaning effect of the cleaning unit is good. At the same time, for the cleaning robot, the dirt removal mechanism is arranged at the front side of the cleaning unit, and the cleaning blind spot is small.

[0332] In a thirty-second embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0333] body;

[0334] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, a liquid supply mechanism, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to provide cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0335] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0336] The rebound device is connected to the drag-washing component; when the drag-washing component is extended and subjected to an external force in a retracting direction, the rebound device is deformed by the force, and the drag-washing component retracts adaptively.

[0337] In the thirty-third embodiment of the present application, a mop-washing assembly is provided. The mop-washing assembly includes:

[0338] A mop-wash bracket having a drum mounting cavity with a downward opening;

[0339] a cleaning unit motor, disposed in the drum mounting cavity;

[0340] a cleaning unit connected to the cleaning unit motor and capable of contacting the surface to be cleaned through the opening;

[0341] a liquid supply mechanism, provided on the mop-wash bracket, for supplying cleaning liquid to the cleaning unit;

[0342] a dirt removal mechanism, provided on the mopping and washing bracket, for scraping dirt off the cleaning unit; and

[0343] a rebound device connected to the mopping and washing bracket;

[0344] Among them, the mopping and washing bracket is provided with a connecting structure for connecting to a driving device so that the mopping and washing component can be driven to move by the driving device; when the mopping and washing component is extended and subjected to an external force in a retracting direction, the rebound device is deformed by the force, and the mopping and washing component retracts adaptively.

[0345] In the thirty-fourth embodiment of the present application, a cleaning robot is provided. The cleaning robot comprises:

[0346] body;

[0347] The mopping and washing assembly includes a cleaning unit motor, a cleaning unit, and a dirt removal mechanism; the cleaning unit motor is connected to the cleaning unit, and the dirt removal mechanism is used to scrape dirt off the cleaning unit;

[0348] A driving device is provided on the machine body and connected to the mopping and washing assembly;

[0349] The rebound device is connected to the drag-washing component; when the drag-washing component is extended and subjected to an external force in a retracting direction, the rebound device is deformed by the force, and the drag-washing component retracts adaptively.

[0350] In the technical solution provided in the embodiment of the present application, the mopping and washing assembly including the cleaning unit, the liquid supply mechanism, and the dirt removal mechanism can move relative to the cleaning robot body as a whole, ensuring that the dirt removal mechanism can scrape off the dirt on the cleaning unit at any position of the mopping and washing assembly, and the cleaning unit can perform running water cleaning at any position, realizing self-cleaning while working. When the cleaning unit is extended outward for edge cleaning, the cleaning unit will not be excessively dirty, and it can still maintain a good cleaning effect after a long period of cleaning, providing a better user experience. In addition, the solution provided in this embodiment provides a solution in which a rebound device is added. When subjected to external force, the cleaning unit can adaptively rebound instead of hard collision, thereby improving safety in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0351] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0352] FIG1a is a bottom view of a conventional self-moving cleaning device according to an embodiment of the present application;

[0353] FIG1 b is a schematic diagram of a conventional self-moving cleaning device moving along an edge according to an embodiment of the present application;

[0354] FIG1c is a schematic structural diagram of a self-moving cleaning device according to an embodiment of the present application;

[0355] FIG1d is a schematic diagram of the turntable assembly provided in an embodiment of the present application moving along a set arc;

[0356] FIG1e is a partially enlarged schematic diagram of the turntable assembly provided in an embodiment of the present application moving along a set arc;

[0357] FIG2 a is a schematic diagram of the structure of a self-moving cleaning device according to an embodiment of the present application;

[0358] FIG2 b is a schematic diagram showing the extension and movement of a roller assembly on a self-moving cleaning device according to an embodiment of the present application;

[0359] FIG2c is a schematic diagram of a self-moving cleaning device walking along an edge according to an embodiment of the present application;

[0360] FIG2 d is a schematic diagram of a self-moving cleaning device walking along an edge, shown in another embodiment of the present application;

[0361] Figures 3 and 4 are schematic structural diagrams of self-moving cleaning devices shown in two other embodiments of the present application;

[0362] FIG5 is a schematic structural diagram of an electrical connector according to an embodiment of the present application;

[0363] FIG6 a is a schematic diagram of a scene in which a self-moving cleaning device performs a turn to avoid obstacles and walk along an edge, shown in one embodiment of the present application;

[0364] FIG6 b is a schematic diagram showing a principle for determining the movement amount of the roller assembly corresponding to the edge walking scenario shown in FIG6 a according to an embodiment of the present application;

[0365] FIG6c is a schematic diagram of a scene in which a self-moving cleaning device is normally moving along a sidewalk, shown in another embodiment of the present application;

[0366] FIG6 d is a schematic diagram showing a principle for determining the movement amount of the roller assembly corresponding to the edge walking scenario shown in FIG6 c according to an embodiment of the present application;

[0367] FIG7 is a flow chart of a method for controlling a self-moving cleaning device according to an embodiment of the present application;

[0368] FIG8 is a flow chart of a method for controlling a self-moving cleaning device according to another embodiment of the present application;

[0369] Figures 9a and 9b show schematic diagrams of edge cleaning with the roller in both the non-extended and extended states;

[0370] Figure 9c shows a schematic diagram in which the bottom surface of the dirt collecting box is higher than the bottom surface of the machine body;

[0371] FIG10 is a schematic structural diagram of a cleaning robot provided in one embodiment of the present application;

[0372] FIG11a is a schematic diagram of the interior of the cleaning robot provided by an embodiment of the present application after the upper cover is removed;

[0373] FIG11b is a partial view of FIG11a;

[0374] FIG12 is an exploded schematic diagram of the structure of a cleaning robot provided in one embodiment of the present application;

[0375] FIG13 is an exploded view of a mop-wash assembly provided in one embodiment of the present application;

[0376] FIG14 is a schematic diagram of a mop-wash assembly provided in an embodiment of the present application disposed on a cavity housing;

[0377] FIG15 a is a diagram showing the external structure of a mop-wash assembly according to an embodiment of the present application;

[0378] FIG15 b shows a schematic diagram of a specific implementation structure of the liquid supply mechanism in an embodiment of the present application;

[0379] FIG16 is a bottom view of a mop and wash bracket provided in an embodiment of the present application;

[0380] FIG17a is an exploded view of a mop-wash assembly provided in one embodiment of the present application;

[0381] FIG17 b is a cross-sectional view of a mop-wash assembly provided in one embodiment of the present application;

[0382] FIG18a is a schematic diagram of a cleaning robot cleaning along an edge according to an embodiment of the present application;

[0383] FIG18b is a comparative diagram of the cleaning robot according to an embodiment of the present application with the mopping and washing components extended and not extended when performing a cleaning task;

[0384] FIG19 is a schematic diagram of a mopping and washing assembly in a raised state provided by an embodiment of the present application;

[0385] FIG20 is a schematic diagram of a mop-wash assembly in an extended state provided by an embodiment of the present application;

[0386] FIG21 is a schematic structural diagram of a driving device provided in an embodiment of the present application;

[0387] FIG22 is a perspective view of an action execution mechanism provided in an embodiment of the present application;

[0388] FIG23 is a perspective view of an action execution mechanism provided by an embodiment of the present application from another perspective;

[0389] FIG24 is a schematic diagram of a half-section structure of a mop-wash assembly provided in an embodiment of the present application;

[0390] FIG25 is a schematic diagram of a partial structure of an action execution mechanism provided in an embodiment of the present application;

[0391] FIG26 is a schematic diagram of a slider structure provided in an embodiment of the present application;

[0392] FIG27 is a partial cross-sectional view of an action execution mechanism provided in an embodiment of the present application;

[0393] FIG28 a is a partial cross-sectional view of a cavity shell and housing cover combination provided by an embodiment of the present application;

[0394] FIG28 b is a schematic structural diagram of a housing cover provided in an embodiment of the present application;

[0395] FIG29 is a schematic diagram of the grating structure and the location of the fourth photoelectric switch in the cleaning robot according to an embodiment of the present application;

[0396] FIG30 is a schematic structural diagram of a first connecting end and a second connecting end for connecting to an elastic member, respectively, provided on a sliding plate and a slider in an embodiment of the present application;

[0397] FIG31 is a schematic diagram showing a structure in which a hovering surface is provided at the top end of the lifting portion;

[0398] FIG32 is a schematic diagram of a structure in which a mopping and washing assembly is lifted relative to the ground, provided in an embodiment of the present application;

[0399] FIG33 is a front view of another mop-wash assembly provided in an embodiment of the present application;

[0400] FIG34 is a cross-sectional view of another mop-wash assembly provided in an embodiment of the present application;

[0401] FIG35 a is a perspective view of another mop-wash assembly provided by an embodiment of the present application in an initial state;

[0402] FIG35 b is a front view of another mop-wash assembly provided by an embodiment of the present application in an initial state;

[0403] FIG35 c is a cross-sectional view of another mop-wash assembly provided by an embodiment of the present application in an initial state;

[0404] FIG36 a is a perspective view of another mop-wash assembly provided by an embodiment of the present application in a raised state;

[0405] FIG36 b is a front view of another mop-wash assembly provided by an embodiment of the present application in a raised state;

[0406] FIG36c is a cross-sectional view of another mop-wash assembly provided by an embodiment of the present application in a raised state;

[0407] FIG37 a is a perspective view of another mop-washing assembly provided by an embodiment of the present application in an extended state;

[0408] FIG37 b is a front view of another mop-wash assembly provided by an embodiment of the present application in an extended state;

[0409] FIG37c is a cross-sectional view of another mop-wash assembly provided by an embodiment of the present application in an extended state;

[0410] FIG38 is a perspective view of a mop and wash bracket provided in an embodiment of the present application;

[0411] FIG39 is a three-dimensional structural diagram of a sliding plate provided in an embodiment of the present application;

[0412] FIG40 is a three-dimensional structural diagram of a rotating bracket provided in an embodiment of the present application;

[0413] FIG41 is a three-dimensional structural diagram of a cavity shell corresponding to another mop-wash assembly provided in an embodiment of the present application;

[0414] FIG42 is a cross-sectional view of a mop-wash assembly provided in an embodiment of the present application;

[0415] FIG43 a is a cross-sectional view of a mop-washing bracket provided in an embodiment of the present application;

[0416] FIG43 b is a schematic diagram showing a mop-wash assembly provided in an embodiment of the present application, in which the front side of the dirt collecting box has an oblique angle;

[0417] FIG43c is a schematic diagram of the structure of the cleaning robot provided in an embodiment of the present application;

[0418] Figures 44a and 44b are comparative schematic diagrams showing that the dirt collecting box is arranged on the front side and the rear side of the cleaning roller;

[0419] FIG45 is a cross-sectional view of another mop-wash assembly provided in an embodiment of the present application;

[0420] FIG46 is a cross-sectional view from another perspective of another mop-washing assembly provided in an embodiment of the present application;

[0421] FIG47 a is an exploded view of a scraper assembly provided in an embodiment of the present application;

[0422] FIG47 b is a schematic cross-sectional view of a water guide plate provided in an embodiment of the present application;

[0423] FIG47c is a schematic diagram of the structure of an adaptive adjustment device provided on a cleaning robot according to an embodiment of the present application;

[0424] FIG48 is a perspective structural diagram of a scraper assembly provided in an embodiment of the present application;

[0425] FIG49 is a schematic diagram of the implementation structure of another driving device provided in one embodiment of the present application;

[0426] FIG50 is a schematic diagram showing the mopping and washing assembly in two states of being raised and extended under the driving device of the structure shown in FIG49;

[0427] FIG51 is a schematic diagram of the implementation structure of another driving device provided in one embodiment of the present application;

[0428] FIG52a is a schematic diagram of a cleaning robot provided by an embodiment of the present application, in which the mopping and washing components are exposed on one side of the robot body;

[0429] FIG52 b is a schematic diagram of the dirt collection box being removed from the mop-wash assembly according to an embodiment of the present application;

[0430] FIG52c is a schematic diagram of a release assembly in a locked state provided by an embodiment of the present application;

[0431] FIG52d is a schematic diagram of a release assembly in an unlocked state provided by an embodiment of the present application;

[0432] Figure 52e is a schematic diagram of the process of disassembling the dirt collection box according to an embodiment of the present application;

[0433] FIG52f is an exploded view of the dirt collection box, release assembly, and filter assembly provided in an embodiment of the present application;

[0434] FIG53 is a diagram showing the steps of a method for disassembling and assembling a cleaning roller according to an embodiment of the present application;

[0435] Figure 54 is another step diagram of a method for disassembling and assembling a cleaning roller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0436] At present, smart household cleaning appliances have been widely used, especially self-moving cleaning equipment, which are popular because they can automatically complete tasks such as sweeping, vacuuming, and mopping on the ground, freeing people's hands. Taking the self-moving cleaning equipment as an example, the sweeping robot includes a main body and cleaning components such as a roller brush and a mopping module arranged on the main body. When performing cleaning tasks, the sweeping robot mainly uses the mopping module at the bottom of its main body (fuselage) to clean the ground. The mopping module includes two turntables, which are used to place cleaning tools such as rags. The turntables are usually circular or nearly circular. The setting of the two turntables is to keep the working area seamless as much as possible, so that no part is missed. However, with this design, when the sweeping robot walks along an edge such as a wall, the turntable often cannot fit well with the wall, which will cause the ground area corresponding to the wall to be missed.

[0437] To address the problem of missed corners, there is a cleaning robot equipped with cleaning tools including a side brush and a roller brush for dry cleaning. For example, a roller brush is provided in the middle of the rear side of the cleaning robot body, and a side brush is provided on each side of the front end. The two side brushes can extend out of the body in opposite directions. The side brush that extends outward can contact corners such as the wall, thereby cleaning corner areas such as the wall. Although this scheme of extending the side brush outward solves the problem of missed corners to a certain extent, it will cause a new missed corner problem. For example, before the side brush is extended outward, the cleaning area corresponding to the side brush and the cleaning area corresponding to the roller brush are seamlessly connected and there is no gap. After the side brush is extended outward, since the roller brush is fixed, there will be a gap between the cleaning area corresponding to the side brush and the cleaning area corresponding to the roller brush, resulting in missed cleaning (the gap area cannot be cleaned). In addition, there is a cleaning robot that has two turntables with rags on them that can move in opposite directions to extend out of the cleaning robot body. However, like the aforementioned solution, this solution still has the problem of missed sweeping. For example, after the two turntables move in opposite directions, although at least one of the turntables can fit in contact with the wall, such as the wall, so that corners such as the wall are not missed, there will be a certain distance between the two turntables, so that there is a gap in the working areas (cleaning areas) corresponding to the two turntables, and there is still missed sweeping.

[0438] As shown in FIG1a , the sweeping robot has a roller brush 12a disposed at the front end of the bottom of the main body 10a. The roller brush 12a can also be disposed in the middle of the bottom of the main body (e.g., between the two wheel assemblies 13a). The roller brush 12a can remove dry debris, such as dust and small debris, from the ground, achieving dry cleaning of the ground. The mopping module includes a drive assembly disposed on the main body and a turntable assembly 11a connected to the drive assembly. The turntable assembly 11a includes a turntable and a cleaning tool, such as a rag (also known as a mop), disposed on the turntable. Driven by the drive assembly, the turntable assembly can rotate relative to the main body about its own axis (central axis) to perform floor cleaning tasks such as mopping. The turntable assembly is typically circular (or similar in shape). Cleaning liquid (e.g., water) in the sweeping robot's liquid supply tank can be applied to the rag on the turntable via a liquid dispensing device. As the sweeping robot moves, it can use the wet rag to mop the ground, achieving wet cleaning of the ground, leaving the ground cleaner. Continuing to refer to FIG1a, in an actual working scenario, the two turntable assemblies 11a are arranged at the rear end of the bottom of the main body and are often kept in contact with each other as much as possible, that is, the relatively adjacent edges of the two turntable assemblies (which can be called inner edges) are kept in contact with each other as much as possible. In this way, the sweeping robot can keep the two turntable assemblies 11a as seamless as possible in the working area during walking, without any gaps, so as to achieve no missed sweeping. However, this design will cause missed sweeping when the sweeping robot walks along the edge. As shown in FIG1b, the sweeping robot encounters an obstacle such as a wall and starts to walk along the wall. At this time, the edge of the turntable assembly 11a of the sweeping robot close to the wall facing the wall (which can be called the outer edge) is at a distance D from the wall and cannot fit into the wall. As a result, the ground area corresponding to this distance D cannot be swept during walking, resulting in missed sweeping.

[0439] To address the above problem, one existing solution is to allow the vertical axis of the turntable to swing, that is, the turntable can move horizontally (or in the width direction of the main body). After movement, part of the turntable will extend beyond the edge of the main body to contact (fit) with corresponding obstacles such as walls. In this way, the sweeping robot can also achieve mopping and sweeping of corner areas such as walls and corners. However, this solution still has the problem of missed sweeps. For example, after the turntable moves, although it can fit with obstacles, there will be a certain distance between the two turntables, resulting in a gap in the working area of ​​the two turntables, and the sweeping will still be missed.

[0440] To better address the aforementioned issues, the present application proposes a design approach whereby the mopping module, located at the bottom of the robot's main body, includes a roller assembly that can rotate along its own axis (i.e., self-rotate) and simultaneously move, thereby ensuring that the robot does not miss any areas when moving along the edge. Alternatively, the two turntables on the robot can simultaneously move toward the same side of the robot.

[0441] Based on the above design ideas, this application provides a self-propelled cleaning device, control method, and cleaning system. The cleaning robot can not only clean corners without missing any corners, but also ensure that the corresponding cleaning areas of the cleaning tools of the cleaning robot are seamlessly connected without any gaps.

[0442] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0443] In some processes described in the specification, claims and the above-mentioned figures of this application, multiple operations that appear in a specific order are included. These operations may not be executed in the order in which they appear in this document or may be executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit "first" and "second" to different types. In addition, the following embodiments are only some of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0444] Referring to Figures 2a and 1a, an embodiment of the present application provides a self-propelled cleaning device that can autonomously walk on the ground to perform cleaning tasks, with walking on the ground being achieved via a walking device thereon. The self-propelled cleaning device may be, but is not limited to, a household / commercial sweeping robot (such as a mopping robot, a sweeping and mopping robot, etc.). As shown in Figure 2a, the self-propelled cleaning device includes a main body 10a, a mopping module, and a control device, wherein the mopping module and the control device are disposed on the main body 10a. The mopping module includes a drive assembly and a cleaning assembly connected to the drive assembly. The control device is electrically connected to the drive assembly. The control device is configured to dynamically control the drive assembly based on behavioral information from the main body 10a, such that the cleaning assembly moves (changes position) relative to the main body (e.g., along its own axis l (which is the central axis)) under the influence of the drive assembly. Movement includes the cleaning assembly extending outward or retracting inward relative to the main body. The cleaning assembly extends outward, with one end edge extending beyond the widest edge of the main body or at least extending to a position aligned with the widest edge of the main body (i.e., on the same line, or overlapping). The cleaning component is retracted inwardly and does not extend beyond the widest edge of the main body.

[0445] The functional implementation of the control device will be described in detail in other embodiments given below.

[0446] Taking the travel direction (i.e., forward direction, travel direction) of the main body 10a as the first direction, the main body 10a has two side edges parallel to the travel direction. The widest edge of the main body mentioned above may refer to the two opposite edges of the main body 10a that are the farthest apart in a direction perpendicular to the first direction, but this is not a limitation. For example, referring to Figure 2b, if the main body 10a has a combined straight and curved structure, the widest edges are the two opposite straight edges of the main body parallel to the first direction, such as the straight edges of the main body 10a that coincide with dashed lines l1 and l2, respectively. For another example, if the main body 10a has a circular structure, the widest edges are the two opposite side edges of the main body 10a whose tangents are parallel to the first direction. The appearance of the main body 10a can be any shape, for example, it can be a shape combining straight edges and arc structures as shown in Figure 2a (as shown in the left figure) or a rectangular shape (as shown in the left figure), or it can also be a circular structure, etc. This embodiment does not limit the appearance of the main body.

[0447] In a specific implementation, the cleaning assembly's initial position is defined as the first position, and the position at which the cleaning assembly reaches its maximum movement is defined as the second position. The driving assembly then drives the cleaning assembly to move relative to the main body between the first and second positions. In the second position, or any third position between the position at the widest edge of one side of the main body and the second position, the edge of the cleaning assembly extends beyond the widest edge of the main body. In the first position, or a fourth position between the first position and the position at the widest edge of one side of the main body, the cleaning assembly does not extend, or the portion extending beyond the edge of the main body is reduced.

[0448] The cleaning assembly is disposed at the rear end of the main body (in the direction of travel of the main body). The cleaning assembly can be a roller assembly or a turntable assembly. Figures 1a to 1e illustrate an example of a turntable assembly 11a. Figures 2a to 4 illustrate an example of a roller assembly 15a. After movement, the position of the roller assembly 15a can be, but is not limited to, that shown in the dashed rectangle.

[0449] When the cleaning assembly extends outward, it will extend beyond the widest edge of the main body 10a on the side corresponding to the extension direction. For example, referring to FIG. 2b , the cleaning assembly is a roller assembly 15a. The roller assembly 15a extends horizontally to the right. After the extension, the position of the roller assembly 15a is changed to the position indicated by the dashed rectangle. At this time, the rightmost edge of the roller assembly extends beyond the right widest edge of the main body (i.e., the edge that coincides with the dashed line l2).

[0450] As shown in Figures 1a to 1e, the cleaning assembly is a turntable assembly 11a. This assembly includes a turntable, on which cleaning tools such as rags are placed for wet cleaning of the work surface. For details on wet cleaning, please refer to the following description of the roller. In practice, the turntable assembly 11a is driven by a corresponding drive assembly to move along a predetermined arc. This predetermined arc is determined by the size and position of certain components within the drive assembly.

[0451] For example, referring to FIG1c, the drive assembly 210a corresponding to the turntable assembly 11a includes: a rotating mechanism 211a, a variable mechanism 212a, and a transmission mechanism 213a. The transmission mechanism 213a is arranged between the rotating mechanism 211a and the variable mechanism 212a, and is connected to the turntable in the turntable assembly 11a through the rotating mechanism 211a, and is connected to the turntable assembly through the variable mechanism, so that the first drive motor of the rotating mechanism 211a drives the turntable to rotate (rotate) relative to the main body and the second drive motor of the variable mechanism drives the turntable assembly to move along a certain set arc relative to the main body to change its position. Specifically, as shown in FIG1c, the variable mechanism includes a gear 2122a and a sector tooth 2121a. Taking the turntable assembly located on the left side of the main body (referred to as the left turntable assembly) as an example, the movement process of the left turntable assembly driven by the corresponding variable mechanism can be seen in FIG1d. More specifically, referring to FIG1e , which illustrates a partially enlarged schematic diagram of the movement of the left turntable assembly, when the left turntable assembly extends outward under the corresponding variable mechanism, it simultaneously moves upward along a corresponding set arc and shifts to the left. This set arc is similar to the edge arc of sector teeth 2121a and is specifically related to the position and size of sector teeth 212a, gear 2122a, etc. The "cross" in FIG1d and FIG1e indicates the center of the turntable assembly. If the left turntable assembly retracts inward under the corresponding variable mechanism, it simultaneously moves downward along the corresponding set arc and shifts to the right.

[0452] It should be noted that for ease of observation and understanding in Figures 1c to 1d, a certain distance is maintained between the two turntable assemblies. In actual working scenarios, in order to avoid missing scans, the two turntable assemblies try to keep the working areas seamlessly connected (as shown in Figures 1a and 1b);

[0453] For the turntable assembly on the right side of the main body (called the right turntable assembly), there are two ways to move it:

[0454] Method 1: In the scenario where the right turntable assembly and the left turntable assembly are moving toward different sides of the main body, if the right turntable assembly is driven by the corresponding variable mechanism to extend outward, it will move upward along the corresponding set arc and simultaneously move to the right; if the right turntable assembly is driven by the corresponding variable mechanism to retract inward, it will move downward along the corresponding set arc and simultaneously move to the left.

[0455] Method 2: In the scenario where the right turntable assembly and the left turntable assembly move toward the same side of the main body, when the left turntable assembly moves upward and left along the set arc to extend outward, the right turntable assembly will move downward and left along the set arc to be retracted inward, thereby achieving the movement of both the left turntable assembly and the right turntable assembly toward the left side of the main body; and, when the left turntable assembly moves downward and right along the set arc to be retracted inward, the right turntable assembly will move upward and right along the set arc to extend outward, thereby achieving the movement of both the left turntable assembly and the right turntable assembly toward the right side of the main body.

[0456] In this embodiment, preferably, the right turntable assembly and the left turntable assembly are controlled to move toward the same side of the main body. This movement method can ensure that there is no gap between the two turntable assemblies during the entire movement process, and the working area is still kept seamlessly connected, which is more conducive to achieving no missed scanning.

[0457] From the above content, in a specific embodiment, the above-mentioned cleaning component is a turntable component; the turntable component moves along a set arc, specifically, moves simultaneously in two different directions perpendicular to each other, that is, the moving speed of the turntable assembly is decomposed into component speeds in two different directions, one component speed in the width direction of the main body, and the other component speed in the length direction of the main body.

[0458] In a specific implementation, there are two turntable assemblies, which are spaced apart and arranged on opposite sides of the main body, and the two turntable assemblies move toward the same side of the main body along different set arcs.

[0459] As another example, referring to Figures 2a to 4 , the cleaning assembly is a roller assembly 15a. Roller assembly 15a includes a roller, which is used to clean a surface to be cleaned (e.g., a wooden floor, tiled floor, etc.), specifically, to perform wet cleaning. A rag is sheathed around the outer periphery of the roller. Driven by a drive assembly, the roller can rotate (also known as spin) along its own axis. During this rotation, a cleaning liquid (e.g., water) is applied to the surface to wet the rag, thereby enabling wet cleaning of the surface to be cleaned.

[0460] In addition to being able to rotate, the roller assembly 15a can also move along its own axis (i.e., the extension and retraction movement described above). Specifically, it can be said that it can move laterally (horizontally) along the central axis of the roller (i.e., the rotational center axis), such as laterally to the left or laterally to the right. The axial direction of the central axis of the above-mentioned roller is actually consistent with the width direction of the main body 10a. Based on this, another way of stating it is that the roller assembly 15a can move along the width direction of the main body 10a. The roller assembly moves in a straight line. The axial direction of the central axis of the roller and the width direction of the main body are both perpendicular to the travel direction of the main body. Based on this, another way of stating it is that the roller assembly moves in a straight line along its own axis toward the target direction, wherein the target direction is perpendicular to the travel direction of the main body.

[0461] The advantage of the above-mentioned design that enables the roller assembly to move is that: since the length of the roller assembly is fixed and not infinitely long, specifically, the length of the roller assembly is generally smaller than the width of the main body corresponding to its position. If the roller assembly cannot move, the roller assembly can only sweep the ground area corresponding to its position (usually the ground area corresponding to the middle area of ​​the main body), so it is easy to miss something when walking along the edge; and if the roller assembly is designed to be movable, part of the roller assembly can be extended out of the main body, so that when walking along the edge, the roller assembly can be in contact with the corresponding edge (the edge of the obstacle), so that the roller assembly can also clean dead corners such as wall edges and corners, so as to achieve no missed sweeping.

[0462] In specific implementation, the self-moving cleaning device can control the driving component to drive the roller component 15a to move along its own axis (horizontally move) when it detects that it encounters an obstacle and needs to move along the edge. The moving direction is related to the direction of the obstacle, and the movement amount (i.e., the movement amplitude) is related to the distance between the end of the roller component 15a (the end close to the obstacle) and the widest edge of the main body.

[0463] For example, in conjunction with the left side figure in Figure 2c. When the self-mobile cleaning device is walking normally to perform the self-cleaning task, the roller assembly 15a can remain in the initial setting position (usually the middle position of the main body) to perform the cleaning work. When an obstacle W is detected on the walking path, such as a wall or a floor cabinet, the self-mobile cleaning robot will adjust the walking mode so that the body walks along the edge of the obstacle. At the same time, according to the distance between the end edge of the roller assembly closer to the obstacle and the widest edge of one side of the main body, such as the distance d1 between the right end edge of the roller assembly and the extension line of the widest edge of the right side of the main body shown in the left side figure in Figure 2c, the roller assembly 15a is driven by the driving assembly to move horizontally to the right by the distance d1. After the movement, the position of the roller assembly 15a is shown as the dotted rectangle. At this time, one end edge of the roller assembly 15a will coincide with the extension line of the widest edge of one side of the main body, and will also contact (fit) with the obstacle. In this way, there is no gap between the roller assembly 15a and the obstacle W, so there will be no problem of missing cleaning.

[0464] FIG2c shows an example of how the roller assembly's movement is determined when the main body of the self-propelled cleaning device is moving in close proximity to the edge of an obstacle. However, in actual operation, to avoid collisions and wear on the main body, the self-propelled cleaning device maintains a certain distance from the obstacle while moving along the edge. For example, the distance can be 1 cm or 2 cm. In this scenario, as shown in FIG2d , to avoid missing any objects, the distance the roller assembly 15a moves toward the obstacle (i.e., the distance it moves, which is also known as the extension amount) can be controlled to be: the distance d1 between the edge of the roller assembly 15a closest to the obstacle and the widest edge of the main body + the distance d2 between the widest edge of the main body and the obstacle. The distance d2 can be detected by an edge sensor on the main body. After movement, the roller assembly is positioned as shown in the dashed rectangle, where a portion of the roller assembly extends beyond the widest edge of the main body to contact the obstacle. In addition, when the self-moving cleaning device is no longer moving along the edge, the driving assembly can also drive the roller assembly to perform a recovery (retraction) action. The recovery amount can be different from or the same as the extension amount described above, as long as the roller assembly does not exceed the widest edge of the main body after recovery.

[0465] It should be noted that the roller assembly 15a can move by, but is not limited to, sliding. The roller assembly is disposed at the rear end of the main body. References to the rear end and front end of the main body in this application are all made in the direction of travel of the self-propelled cleaning device. The specific implementation of the drive assembly to move the roller assembly 15a will be described in detail below. Furthermore, the edge of the roller assembly may be, but is not limited to, the edge of the main structure of the roller assembly, and may also be the outer edge of a cleaning tool (e.g., a roller) contained in the roller assembly.

[0466] In one embodiment, as shown in Figure 3, the above-mentioned roller assembly 15a includes: a roller 150a, a liquid applying device 151a and a dirt collecting tray 152a. The shape of the roller 150a can be cylindrical. For detailed description of the roller 150a, please refer to the relevant content above. The liquid applying device 151a is used to apply cleaning liquid to the roller, and the application method can be spraying. The cleaning liquid can be clean water, detergent or a mixture of clean water and detergent. In specific implementation, the above-mentioned liquid applying device 151a has a plurality of liquid outlets, and the cleaning liquid is applied to the roller through the plurality of liquid outlets. The cleaning liquid applied by the liquid applying device can be provided by a liquid supply assembly, which includes: a liquid supply tank 17a and a liquid conveying member (not shown in the figure). The liquid supply tank 17a is used to store cleaning liquid. One end of the liquid conveying member is connected to the liquid supply tank 17a, and the other end is connected to the liquid applying device 151a. When performing cleaning tasks, the self-propelled cleaning robot can control the operation of the liquid conveying member to apply the cleaning liquid stored in the liquid supply tank 17a to the drum 150a through the liquid conveying member and the liquid applying device to wet the rag on the drum. The liquid conveying member can be, but is not limited to, a water pump. The water pump can be a centrifugal pump, which includes a water inlet and a water outlet. The water inlet of the water pump is connected to the liquid supply tank 17a through a corresponding pipe, and the water outlet of the water pump is connected to the liquid applying device 151a through a corresponding pipe. The dirt on the drum 150a will be drained into the dirt collecting tray 152a for temporary storage. In specific implementation, a corresponding guide member (such as a sheet-type guide member) can be used to drain the dirt flowing down from the drum into the dirt collecting tray 152a. The dirt drained into the dirt collecting tray 152a is mainly sewage, and of course, it can also include fine particulate matter. After detecting that the amount of dirt in the dirt collecting tray 152a reaches a set amount (such as being fully loaded), a prompt message can be output to prompt the user to manually clean up the dirt in the dirt collecting tray. However, considering that this method requires human participation and the user experience is poor, the method adopted in this embodiment is that the self-mobile cleaning device automatically sucks the dirt in the dirt collecting tray 152a into the recovery box 18a (which is a sewage tank). For example, the self-mobile cleaning device is also provided with a suction motor for the dirt collecting tray, and a recovery pipe connecting the dirt collecting tray 152a and the recovery box 18a. Under the action of the suction motor, the dirt in the dirt collecting tray 152a can be sucked into the recovery box 18a via the recovery pipe. The suction motor can be set in the recovery pipe. The amount of dirt in the dirt collecting tray 152a can be determined by analyzing, but not limited to, data detected by the liquid level sensor in the dirt collecting tray or image data collected by the image sensor for the dirt collecting tray, etc., which is not limited here.

[0467] Furthermore, the above-mentioned roller assembly 15a may also include: a scraper 153a, which is used to scrape off dirt (such as sewage) on the roller 150a. The scraped dirt will be drained into the collecting tray 152a, so that the collecting tray 152a is used to collect the dirt scraped from the roller for temporary storage. The above-mentioned scraper 153a can be a strip-shaped scraper, such as a rectangular scraper, and the scraper can be made of soft rubber. One end of the scraper 153a contacts the surface of the roller and is in interference contact (that is, there is a certain amount of interference between the scraper and the surface of the roller), so that the dirt on the surface of the roller (specifically the rag on the roller) can be scraped off during the rotation of the roller. The angle between the scraper 153a and the roller 150a can be fixed or automatically adjusted. For example, the scraping member may be connected to an actuator (a control mechanism), and the scraping member 153a may be driven to rotate by controlling the actuator to change the angle between the scraping member 153a and the drum.

[0468] The dirt scraping member 153a and the dirt collecting tray 152a are disposed on the same side of the drum 150a, and the dirt scraping member 153a is disposed above the dirt collecting tray 152a.

[0469] In another embodiment, as shown in FIG4 , the drum assembly 15a includes a drum 150a, a liquid dispensing device 151a, and a scraper 153a. The liquid dispensing device 151a is used to apply cleaning liquid to the drum 150a. The scraper 153a is used to scrape off dirt, such as sewage, from the drum 150a. A detailed description of the functions of the liquid dispensing device 151a and the scraper 153a can be found above and will not be repeated here. The scraper 153a and the recovery box 18a are both located on the same side of the drum, and the scraper 153a is located above the suction channel 181a described below.

[0470] Furthermore, the self-moving cleaning device is also provided with a recovery device for recovering dirt. The recovery device includes a recovery box 18a, a suction channel 181a, a suction motor, and the like. One end of the suction channel 181a is connected to the recovery box 18a, and the other end is directly connected to the drum cavity of the drum. This other end can be called a suction port. The suction motor is located in the suction channel 181a. During the cleaning process, whether it is dirt thrown out from the drum 150a or dirt scraped off, it will be sucked into the recovery box 18a through the suction channel under the suction force generated by the suction motor. In particular, during the cleaning process, the drum will rotate at high speed, and thus a large centrifugal force will be generated due to the high-speed rotation. Under the action of the centrifugal force, some of the dirt on the drum will often be thrown out.

[0471] In this embodiment, the suction channel 181a mentioned above can be a flexible soft pipe, such as a silicone hose, a transparent stretchable hose, etc., so that when the roller assembly 15a moves, the suction channel 181a can also move with the roller assembly 15a, thereby ensuring that even if the roller assembly moves through the suction channel 181a, it can still continue to suck the dirt thrown out from the roller 150a and / or the dirt scraped off.

[0472] Of the two embodiments given above for the roller assembly 15a, this application preferably adopts the embodiment described in conjunction with FIG. 3 .

[0473] The movement of the roller assembly 15a is driven by a drive assembly. The drive assembly includes a drive motor and a transmission mechanism. The transmission mechanism is connected to the roller assembly 15a, and the drive motor provides power to the transmission mechanism. The transmission mechanism may be, but is not limited to, a mechanism comprising a gear (such as the drive wheel 161a shown in Figures 3 or 4) and a rack. Furthermore, in other embodiments, the drive assembly can also drive the rollers in the roller assembly 15a to rotate. In other words, the rotation of the rollers and the movement of the roller assembly 15a can be achieved by the same drive assembly. In this scenario, the drive assembly may further include a rotation mechanism and a displacement mechanism, each connected to the transmission mechanism, for driving the transmission mechanism to respectively drive the rollers in the roller assembly to rotate (rotate) and to displace the entire roller assembly (i.e., move along its own axis). The transmission mechanism may be disposed between the rotation mechanism and the displacement mechanism, connected to the rollers via the rotation mechanism and to the roller assembly via the displacement mechanism, so that the first drive motor of the rotation mechanism drives the rollers to rotate relative to the main body, and the second drive motor of the displacement mechanism drives the roller assembly to displace along its own axis relative to the main body.

[0474] Of course, in other embodiments, the rotation of the roller and the movement of the roller assembly 15a can also be achieved by different drive assemblies. For example, the movement of the roller assembly 15a is achieved by being driven by the first drive assembly, while the rotation of the roller in the roller assembly 15a is achieved by being driven by the second drive assembly.

[0475] Driven by the driving assembly, the roller can be moved and rotated at the same time. Since the roller assembly moves during the cleaning process, the roller still needs to keep rotating, so the driving assembly for driving the roller to rotate needs to follow the movement and at the same time needs to keep the power supply state. More specifically, the driving motor contained in the driving assembly for driving the roller to rotate also needs to keep the power supply state. For the convenience of the following description, the driving assembly for driving the roller to rotate is referred to as driving assembly A. For the above-mentioned scenario, a conductive slot assembly (not shown in the figure) is also provided on the main body of the self-moving cleaning device. The conductive slot assembly includes a conductive slot body, specifically, it can include but is not limited to a long strip of conductive slot body with a U-shaped cross-section, and the conductive slot body can be a slide type (that is, an electric slide). In specific implementation, the conductive slot body can be made of any conductive material (such as copper), and the conductive slot body is electrically connected to the power supply device on the self-moving cleaning device through a corresponding circuit, that is, the power supply device supplies power to the conductive slot body. There is an electrical connection part (such as an electrical terminal) in the conductive slot body, which is used to electrically connect to the electrical interface of the drive component A (specifically, the electrical connection interface of the drive motor), and the above-mentioned electrical connection part can move (slide) in the conductive slot body, so that when the drive component A moves accordingly with the movement of the roller, the electrical interface of the drive component A will also move accordingly in the conductive slot body, so that the drive component A can always maintain the power supply state and continue to drive the roller to rotate. Alternatively, the conductive slot body may not have an electrical connection part, and the electrical interface of the drive component A is connected to an electrical connector, which is conductive, such as the electrical connector 20a shown in Figure 5. The electrical interface of the drive component A can be electrically connected to one electrical connection end (first electrical connection end 211a) of the electrical connector 20a, and the other electrical connection end (second electrical connection end 212a) of the electrical connector 20a can be inserted into the conductive slot body and establish an electrical connection with the conductive slot body, and can also slide in the conductive slot body and can maintain an electrical connection with the conductive slot during the sliding process.

[0476] As described above, the self-propelled cleaning device also includes a power supply device, which includes a battery receiving slot. The receiving slot can be provided at the bottom of the main body. For example, to balance the center of gravity of the main body and ensure more stable movement of the self-propelled cleaning device, the receiving slot can be provided between the two wheel assemblies 13a at the bottom of the main body. The battery can be used to power various components of the self-propelled cleaning device that require power (such as a drive motor, a control device, and sensors).

[0477] Furthermore, as shown in FIG3 or FIG4 , the self-propelled cleaning device may further include a roller brush assembly disposed at the front end of the main body. The roller brush assembly is used to perform dry cleaning on the surface to be cleaned. For example, when cleaning a surface to be cleaned that does not require wet cleaning, such as a carpet, dry cleaning can be performed using only the roller brush assembly.

[0478] The self-mobile cleaning device provided in this embodiment may include, in addition to the functional components described above, other functional components, such as a walking device, a side brush, a detection device, an interactive device (such as a voice interactive device, a display screen), a charging port, and the like. The functional components included in different types of self-mobile cleaning devices generally vary. For other functional components that may be included in the self-mobile cleaning device, please refer to the existing relevant content and will not be described in detail here.

[0479] The walking device includes a plurality of wheel assemblies spaced apart at the bottom of the main body. Preferably, there are two wheel assemblies, including a drive wheel.

[0480] The above-mentioned detection device includes a variety of sensors, which are mainly used to detect the behavior information of the main body. Behavioral information can be expanded to include all information related to the behavior of the main body. For example, behavioral information can include not only the behavioral actions (motion state) of the main body, such as normal straight-line walking, turning, stopping, and the motion information of the drive wheel (such as speed, turning angle, turning radius, etc.); it can also include behavioral environment information, such as the location where the behavior occurs, surrounding obstacle data (such as obstacle location, distance to the obstacle, obstacle size), etc. In specific implementations, the detection device may include at least one of the following sensors: a distance sensor (such as a radar) and a speed sensor. The distance sensor can be used to detect the distance between the main body and the obstacle. The speed sensor is used to detect the speed (rotational speed) of each wheel assembly rolling on the ground. The speed sensor can be, for example, a photoelectric encoder that can be used to detect the speed and position of the main body. It is coaxially connected to the drive motor of the drive wheel in the wheel assembly through a reducer and records the pulses corresponding to the rotation angle of the drive motor in an incremental encoding manner.

[0481] The control device in a self-propelled cleaning device is electrically connected to the mopping module, running device, and detection device, and is used to control these modules to perform corresponding actions. For example, the detection device transmits information about the main body's behavior to the control module in the form of an electrical signal. Based on this information, the control device can control the roller assembly in the mopping module to operate in the appropriate position; and / or control the wheel assembly in the running device to drive the main body to operate in a normal walking mode on the ground, or to drive the main body to operate in a sidewalk mode when encountering an obstacle, so that the main body avoids the obstacle and then walks along the edge of the obstacle, maintaining a sidewalk distance from the obstacle to avoid collision.

[0482] Based on the above, the host may walk along the edge in the following scenarios, but is not limited to:

[0483] Scenario 1: When traveling in a straight line, there is an obstacle a short distance (e.g., 2 cm) to one side of the traveling direction (first direction). However, there is no need to turn to avoid the obstacle; the self-propelled cleaning device can continue traveling in the original straight line and edge along the obstacle. For example, as shown in Figure 6c, when the self-propelled cleaning device travels from the starting point to point B according to the planned path, it detects a floor-standing cabinet a short distance to the left of the traveling direction. In this case, the self-propelled cleaning device can continue traveling in a straight line in the original traveling direction without turning, and will edge along the long edge 31a of the floor-standing cabinet as it continues traveling.

[0484] Scenario 2: Encountering an obstacle and turning to avoid it, thereby moving along the edge. For example, referring to Figure 6a, when the self-propelled cleaning device is traveling from its starting point to point A along the planned path, it detects an obstacle, a floor-standing cabinet, in its direction of travel. The self-propelled cleaning device then needs to turn to avoid the obstacle and move along the short edge 32a of the floor-standing cabinet.

[0485] When the main body needs to move along the edge, the control device needs to control the roller assembly thereon to move accordingly so as to extend beyond the edge of the main body. In different edge scenarios, the control device can use different control methods to control the drive assembly so that part of the roller assembly extends beyond the edge of the main body to contact the edge obstacle. For example, in the above scenario one, the movement amount can be directly determined based on the distance between the roller assembly and the edge obstacle, and the movement speed can be a set fixed value or determined based on the behavior information of the main body (such as the rotation speed of the drive wheel), so as to control the drive assembly based on the movement amount and movement speed. For another example, in the above scenario two, the drive assembly can be controlled based on the behavior information of the main body (more specifically, the differential information of the two drive wheels of the main body). The specific reasons for controlling the drive assembly based on the differential information of the two drive wheels will be described in detail in the method embodiment given below. Of course, the above scenario one can also be understood as controlling the drive assembly based on the behavior information of the main body.

[0486] Based on the above content, this application also provides two embodiments of a control method for a self-moving cleaning device. The two method embodiments are as follows:

[0487] FIG7 shows a flow chart of a control method for a self-moving cleaning device provided by an embodiment of the present application. This is mainly an embodiment of the control method provided for the above-mentioned scenario 1. The execution subject of the method is the self-moving cleaning device, more specifically, the control device in the self-moving cleaning device. The self-moving cleaning device has a drive component and a cleaning component connected to the drive component. For a detailed description of the structure of the self-moving cleaning device, please refer to the relevant content of other embodiments. As shown in FIG7, the control method provided by this embodiment includes:

[0488] 101a. Determine the walking mode of the self-propelled cleaning device;

[0489] 102a. When the walking mode is a sidewalk walking mode, determining a sidewalk target object;

[0490] 103a. Determine a movement amount based on a distance between a cleaning component on the self-moving cleaning device and the target object;

[0491] 104a. According to the movement amount, control the cleaning component to move along its own axis or a set arc toward the target object so as to contact the target object.

[0492] The cleaning assembly described in this embodiment is a roller assembly or a turntable assembly. A roller assembly moves along its own axis; a turntable assembly moves along a predetermined arc. The following description of steps 101a through 104a will primarily use the roller assembly as an example to illustrate the specific implementation of each step.

[0493] In the above 101a, the walking mode can be determined based on the monitored behavior information of the self-moving cleaning device, and the behavior information includes behavior actions (such as the rotation speed of two driving wheels) and behavior environment information.

[0494] When the self-mobile cleaning device is moving in a straight line, the rotational speeds of the two drive wheels are generally the same, and the differential speed is zero. In this case, the walking mode can be determined to be normal straight-line walking. When the main body turns, it is often only one drive wheel that is driven, and the other drive wheel is used as a fulcrum to turn left or right. The different rotational speeds of the two drive wheels will produce a certain differential speed. In this case, the walking mode can be determined to be a turning ( / turning) walking mode. If the two drive wheels move in opposite directions at equal speeds (i.e., one is moving forward and the other is moving backward), the self-mobile cleaning device will rotate in place but will not move. In this case, the walking mode can be determined to be rotating walking. Furthermore, in the normal straight-line walking mode, if it is determined based on the behavioral environment information that an obstacle appears not far away to one side of the self-mobile cleaning device, but there is no need to turn to avoid the obstacle, the self-mobile cleaning device can continue to walk along the original straight line, and will walk along the edge when continuing to walk. This walking mode in which walking along the edge does not require turning to avoid obstacles is called the normal side-by-side walking mode. The walking mode corresponding to turning to avoid obstacles and walking along the edge when encountering an obstacle is called the turning obstacle avoidance and side-by-side walking mode.

[0495] In the above 102a, when it is determined that the next step is to control the self-moving cleaning device to perform a normal walking mode along the edge, the target object along the edge can be determined to execute the above step 103a to directly control the cleaning component to extend outward according to the distance between the cleaning component and the target object.

[0496] The specific implementation description of controlling the cleaning component to extend outward when it is determined that the self-moving cleaning device is to be controlled to turn and avoid obstacles in the sidewalk mode will be described in detail in another method embodiment below.

[0497] The target object may refer to an obstacle encountered by the self-mobile cleaning device during its travel, such as a static obstacle such as a wall or a floor cabinet, or a dynamic obstacle. In this embodiment, the target object preferably refers to a static obstacle.

[0498] In one possible implementation, the above-mentioned step 103a of “determining the movement amount according to the distance between the cleaning component on the self-moving cleaning device and the target object” may specifically include:

[0499] 1031a. Obtain a first distance between an end of the cleaning component close to the target object and the widest edge of one side of the self-moving cleaning device;

[0500] 1032a. Obtain a second distance between the widest edge of one side of the self-moving cleaning device and the target object;

[0501] 1033a. Determine the movement amount according to the first distance and the second distance;

[0502] The widest edge on one side is an edge close to the target object among the two opposite edges of the self-moving cleaning device that are farthest apart in a direction perpendicular to the moving direction of the self-moving cleaning device.

[0503] The first distance can be calculated based on at least one of the current position of the cleaning assembly, the length of the cleaning assembly, and the width (maximum width) of the self-moving cleaning device. The second distance can be obtained, but is not limited to, based on data detected by a distance sensor (e.g., radar) mounted on the self-moving cleaning device. Alternatively, it can be obtained using image analysis methods, which are not limited here. The sum of the first and second distances can be determined as the required movement of the roller assembly.

[0504] For example, referring to Figures 6c and 6d, it is assumed that a distance sensor (such as a radar) is provided at point a of the self-moving cleaning device (on its widest left edge, l3 is the extension line of the widest left edge). When the self-moving cleaning device moves from the starting point to point B based on the planned path, the distance sensor detects that there is a floor-standing cabinet on the left side in front of it, and detects that the distance between the distance sensor and a corner point b on the floor-standing cabinet is Lab, which is the length of the hypotenuse of the right triangle abc; based on this distance Lab, the Pythagorean theorem of the right triangle can be used to calculate the distance Lac between point a and point c, which is the second distance d2 between the widest left edge of the self-moving cleaning device and the floor-standing cabinet, that is, the distance between the widest left edge and the extension line l4 of a long edge 31a of the floor-standing cabinet (close to the self-moving cleaning device). In addition, assuming that when the self-moving cleaning device moves to point B, the current position of the roller assembly is the middle position of the main body of the self-moving cleaning device (the initial setting position), then: the first distance d1 between the left end edge of the roller assembly close to the floor cabinet and the widest edge on the left side of the self-moving cleaning device is: (the maximum width of the self-moving cleaning device - the length of the roller assembly) ÷ 2, where the maximum width is the distance between the widest edge on the left and the widest edge on the right of the self-moving cleaning device. The first distance d1 and the second distance d2 are the corresponding movement amounts required to control the roller assembly to extend outward, and the extension direction (movement direction) is horizontally to the left (the opposite direction of the second direction). When controlling the roller assembly to extend outward, the corresponding movement speed can be a set fixed value, or determined according to the third distance of the roller assembly from the floor cabinet along the walking direction and the walking speed of the self-moving cleaning device. For example, when walking to point B, the distance between the edge of the roller assembly on the self-moving cleaning device along the walking direction and close to the floor-standing cabinet and a short edge 32a of the floor-standing cabinet is a third distance d3. The self-moving cleaning device maintains normal walking along a straight line at a uniform speed V, and the corresponding moving speed of the roller assembly extending outward can be: (d1+d2)÷(d3 / V). The outward movement of the roller assembly is controlled according to this moving speed, so that when the movement amount of the roller assembly reaches the sum of the first distance d1 and the second distance d2, the edge of the roller assembly along the walking direction and close to the floor-standing cabinet is just level with a short edge 32a of the floor-standing cabinet (on the same vertical line), thereby achieving contact between the roller assembly and the long edge 31a of the floor-standing cabinet without time gap, which is conducive to better cleaning without missing edges.

[0505] In the above 104a, in addition to controlling the movement of the cleaning component according to the determined movement amount, the control can also be combined with the corresponding movement speed. The movement speed can be a set fixed value; or, it can also be determined based on the distance between the edge of the cleaning component closer to the target object in the walking direction of the self-moving cleaning device and the target object, as well as the walking speed of the self-moving cleaning device. If the latter method is used to determine the movement speed, when the movement of the cleaning component is controlled according to the movement amount and the movement speed, the cleaning component can achieve synchronous follow-up in behavior and execution speed when executing position changes. For a specific detailed description of this movement speed, please refer to the relevant content in the example given in the above step 103a. Among them, the walking speed of the self-moving cleaning device can be determined according to the rotation speed of its driving wheel.

[0506] During specific control, the driving assembly corresponding to the roller assembly is controlled according to the movement amount and movement speed, so that the cleaning assembly is driven by the driving assembly to move accordingly.

[0507] The technical solution provided by this embodiment determines a target object along the edge when the self-propelled cleaning device is in the edge-walking mode. The distance between the cleaning component (e.g., the roller component) and the target object determines the movement amount. Based on this movement amount, the cleaning component is controlled to move along its own axis or along a predetermined arc toward the target object to contact the target object. Because the cleaning component and the target object are in contact after movement, there is no gap between them, and therefore, there is no problem of missed cleaning.

[0508] Furthermore, when the cleaning assembly is a roller assembly, the roller assembly includes: a roller and a dirt collecting tray, wherein the dirt collecting tray is used to collect dirt drained from the roller; and the method provided in this embodiment further includes:

[0509] When it is detected that the amount of dirt in the dirt collecting tray reaches a set amount, the dirt in the dirt collecting tray is sucked to a recycling box on the self-moving cleaning device; or a prompt message is output to prompt the user to clean the dirt in the dirt collecting tray.

[0510] The above prompt information may be, but is not limited to, one or a combination of voice, text, and graphics.

[0511] For the detailed description of each step in the method provided in the above embodiment, please refer to the relevant content in other embodiments. In addition to the above steps, the method provided in this embodiment may also include other steps. For the detailed description of other steps and the detailed implementation of the same steps, please refer to the relevant content in other embodiments.

[0512] FIG8 shows a control method for a self-propelled robot provided by another embodiment of the present application. The method is performed by a control device in a self-propelled cleaning device. The self-propelled cleaning device includes a drive assembly and a cleaning assembly connected to the drive assembly. For a detailed description of the structure of the self-propelled cleaning device, please refer to the relevant content of other embodiments. As shown in FIG8, the control method provided in this embodiment includes:

[0513] 201a. Determine behavioral information of a self-mobile cleaning device;

[0514] 202a. Dynamically control the driving component according to the behavior information, so that the driving component drives the cleaning component to move accordingly following the behavior of the self-moving cleaning device, thereby changing the position of the cleaning component relative to the self-moving cleaning device;

[0515] The cleaning assembly moves relative to the self-propelled cleaning device along its own axis or a predetermined arc. Specifically, the cleaning assembly moves relative to the main body of the self-propelled cleaning device along its own axis or a predetermined arc. The cleaning assembly can be a roller assembly or a turntable assembly. A roller assembly moves along its own axis, while a turntable assembly moves along a predetermined arc. The following describes the specific implementation of each step in detail, primarily using the roller assembly as an example.

[0516] In the above 201a, the behavior information can be obtained through detection information from at least one sensor on the mobile cleaning device. The behavior information may include: behavior action, behavior environment information, etc. For detailed description of the behavior information, please refer to the relevant content in other embodiments above.

[0517] Take the cleaning component as an example, the roller component. When the self-moving cleaning device performs the next walking action, it often determines the behavior information corresponding to the next action of the self-moving cleaning device based on the planned path, the currently collected environmental information and its own state information, such as: moving forward and maintaining the current speed; or turning, target direction and turning speed; etc. When the behavior information corresponding to the next action is determined, the position of the roller component can be dynamically adjusted according to the next behavior of the self-moving cleaning device, so that the roller component follows the behavior of the self-moving cleaning device. For example, if the behavior information corresponding to the next action is turning to avoid obstacles and walking along the edge, that is, if the behavior information corresponding to the next action represents that the next corresponding walking mode of the self-moving cleaning device is turning to avoid obstacles and walking along the edge, in order to better adapt to the changes in the behavior of the self-moving cleaning device caused by the actual environmental changes, the roller component needs to make corresponding changes in time, that is, in response to the posture change of the self-moving cleaning device, the roller component will also move accordingly to adjust its position. The action of controlling the movement of the roller component can be decomposed into controlling the movement amount and movement speed of the roller component. For example, when a self-moving cleaning device encounters an obstacle, it needs to turn quickly to avoid the obstacle and move along the edge. At this time, the roller assembly also needs to be extended and moved quickly, and the movement amount is controlled according to the relative distance between the main body and the obstacle fed back by the sensor; when the obstacle is far away from the main body, the roller assembly can be quickly controlled to retract and return to its original position. Similarly, in scenarios where slow and small extension and movement are required, the movement amount and speed of the roller assembly can be freely controlled. After the self-moving cleaning device encounters an obstacle, the roller assembly is extended and moved during the process of turning to avoid the obstacle, so as to extend beyond the edge of the main body, so that the roller assembly contacts the obstacle after the turn is completed, achieving no time gap and no missed sweeping. After bypassing the obstacle, the roller assembly can be retracted so as not to extend beyond the widest edge of the main body.

[0518] Based on the above content, in the above 201a, taking the roller component as an example, the specific performance of dynamic following can be: the specific movement amount and movement speed of the roller component are matched according to the behavior information of the self-moving cleaning device fed back according to the specific scene, and the behavior information includes behavioral actions, and the behavioral actions include but are not limited to the main body movement of the self-cleaning device (such as turning, going straight forward, backward, etc.), and the speed of the behavioral action (such as going straight forward or backward speed, turning speed, etc.). Specifically, it can be: the behavioral action is executed quickly, and the movement of the roller component is correspondingly fast; the behavioral action is executed slowly, and the movement of the roller component is correspondingly slow. Of course, it can also be other forms of dynamic following, for example, or it can also be: the behavioral action is executed quickly, and the movement of the roller component is correspondingly slow; the behavioral action is executed slowly, and the movement of the roller component is correspondingly fast. Such roller components dynamically follow the behavior of the self-moving cleaning device to perform actions. Actions include extending movements and retracting movements.

[0519] In the above-mentioned scenario where the self-moving robot turns to avoid obstacles and walk along the edge, since the differential speed of the two driving wheels of the self-moving cleaning equipment is not zero, its turning speed, turning radius, etc. can be represented. Therefore, the driving assembly of the roller assembly can be controlled according to the differential speed information of the two driving wheels, thereby driving the roller assembly to follow the behavior of the self-moving cleaning equipment.

[0520] That is, in one possible technical solution, the behavior information includes differential speed information of the two drive wheels of the self-propelled cleaning device, and the differential speed information can be determined based on the detected rotational speeds of the two drive wheels. Accordingly, in step 202a, "dynamically controlling the drive assembly based on the behavior information" can specifically include:

[0521] 2021a. Dynamically control the drive assembly based on the differential information of the two drive wheels.

[0522] The self-propelled cleaning device's running gear includes two wheel assemblies, each of which includes a drive wheel. The photoelectric encoders corresponding to the wheel assemblies can be used to determine the speed of the drive wheel, as well as the turning angle, travel speed, and so on of the self-propelled cleaning device. As shown in FIG3 or FIG4 , the self-propelled cleaning device includes a left wheel assembly and a right wheel assembly. The photoelectric encoder on the left wheel assembly can be used to obtain the speed V of the left drive wheel. L The speed V of the right driving wheel can be obtained through the photoelectric encoder on the right wheel assembly R ; According to the speed V R With speed V L The differential speed of the two drive wheels can be determined. Furthermore, the turning angle, turning speed, and turning radius of the self-mobile cleaning device can be determined based on the differential speed of the two drive wheels. Based on the information obtained above, when the self-mobile cleaning device is turning, the drive assembly corresponding to the roller assembly can be controlled to operate to drive the roller assembly to extend outward at a corresponding speed until a corresponding amount of movement is achieved. By controlling the self-cleaning device to turn while simultaneously controlling the roller assembly to extend, the roller assembly can be brought into contact with the corresponding obstacle immediately after the turn is completed, allowing it to immediately begin moving along the edge. This eliminates the need to spend additional time controlling the roller assembly to extend before starting to move along the edge, which helps shorten cleaning time. In this process, the turning speed and turning radius of the self-mobile cleaning device can determine the corresponding movement speed (extension speed) and amount of movement required when the roller assembly extends outward. For example, a faster turning speed and a larger turning radius require a faster movement speed and a slightly smaller amount of movement for the roller assembly.

[0523] Therefore, a specific implementation scheme of "dynamically controlling the drive assembly according to the differential information of the two drive wheels" in 2021a above can be implemented by the following steps:

[0524] 20211a. When the differential speed information is not zero (i.e., the differential speed information indicates that the behavior of the self-propelled cleaning device is turning to avoid obstacles), determining the turning speed and turning radius of the self-propelled cleaning device according to the differential speed information;

[0525] 20212a. Determine a moving speed and a moving amount of the cleaning component according to the turning speed and the turning radius;

[0526] 20213a. Control the driving component according to the moving speed and the moving amount.

[0527] In 2211a above, the differential speed information is non-zero, indicating that the self-propelled cleaning device is intended to be controlled to avoid obstacles while turning. In this case, the turning speed and turning radius of the self-propelled cleaning device can be determined based on the differential speed information. The turning radius can be further calculated based on the distance between the two drive wheels. For detailed calculations of the turning radius, please refer to existing related content. The differential speed of the two drive wheels can be used as the turning speed.

[0528] In the above 20212a, the moving speed can be specifically determined based on the turning radius and the turning speed, wherein the moving speed corresponding to a small turning radius and a high turning speed is greater than the moving speed corresponding to a large turning radius and a low turning speed. This is because the time required to complete the turn is relatively short when the turning radius is small and the turning speed is high. Therefore, in order to ensure that the control of the driving component is completed at the same time as the turn is completed, the cleaning component follows the turning action of the self-moving cleaning equipment and moves the determined movement amount, so the moving speed of the cleaning component needs to be relatively large.

[0529] In a specific implementation, the movement speed of the cleaning assembly can be determined in the following manner, but is not limited to the following: based on a large amount of measured data, a correspondence between the turning radius, turning speed, movement amount, and movement speed is pre-established. In this correspondence, each parameter, such as the turning radius, turning speed, movement amount, and movement speed, can be a specific value or a range of values, which is not specifically limited here. Then, based on the turning speed and turning radius, an appropriate target movement speed is selected from this correspondence, and the movement speed of the cleaning assembly is determined based on this target movement speed. For example, if the target movement speed is a range of values, any speed within the corresponding range can be determined as the movement speed of the roller assembly; if the target movement speed is a specific value, then the target movement speed can be directly determined as the movement speed of the roller assembly.

[0530] Furthermore, the amount of movement of the roller assembly can be determined based on the turning radius. In practice, the corresponding movement for a larger turning radius is smaller than for a smaller turning radius. This is because, when the turning radius is larger, the self-propelled cleaning device tends to be closer to the edge of the corresponding obstacle after completing the turn. Therefore, the cleaning assembly only needs to move a smaller amount to achieve immediate contact with the edge of the corresponding obstacle after completing the turn. Regarding the amount of extension from the edge of the self-propelled cleaning device beyond the edge of the self-propelled cleaning device, the extension for a larger turning radius is smaller than for a smaller turning radius.

[0531] For example, in conjunction with Figure 6a, taking the cleaning component as a roller component as an example, after the self-mobile cleaning device moves from the starting point to point A based on the planned path, it detects that there is a floor cabinet in front. The next action needs to turn to avoid obstacles so that it can walk along the short edge 32a of the floor cabinet after completing the turn. At this time, after determining the turning radius R according to the differential information of the two driving wheels corresponding to the next action, the amount of movement of the roller component that needs to be moved can be calculated based on the turning radius R and the currently detected distance between the front edge of the self-mobile cleaning device and the floor cabinet (such as the distance d3 shown in Figure 6a). For example, referring to Figure 6b, when the self-moving cleaning device turns with a turning center point O and a turning radius R, after the turn is completed, the widest edge of the outside of the self-moving cleaning device (the widest edge on the left) often coincides with the tangent L. Based on this, it is possible to: first determine the distance d5 between the widest edge of the outside of the self-moving cleaning device and point A after the turn is completed according to the turning radius, and the distance d5 = turning radius R - distance d4 between point A and the turning center point O; then, calculate the distance d2 between the widest edge of the outside of the self-moving cleaning device and the short edge 32a of the floor cabinet after the turn is completed according to the distance d5 and the originally detected distance d3, and the distance d2 = distance d3 - distance d5; finally, the sum of the calculated distance d2 and the distance d1 is determined as the amount of movement that the roller assembly needs to move following the next turning action of the self-moving cleaning device, wherein the distance d2 is the distance between the widest edge of one end of the current roller assembly and the widest edge of the outside of the self-moving cleaning device, and the one end of the roller assembly mentioned here is the end of the roller assembly closer to the widest edge of the outside of the self-moving cleaning device.

[0532] Of course, the method of determining the movement amount based on the turning radius is not limited to the method given in the above example, and other methods can also be used for calculation and determination. No specific limitation is made here. It is sufficient to ensure that when the turn is completed, the corresponding roller assembly is also extended outward at the same time, and after the movement, one end of the roller assembly is (or almost) in seamless contact with the edge of the corresponding obstacle (such as the short edge 32a of the floor cabinet shown in Figure 6b). As shown in the figure below Figure 6a, the dotted rectangle is the position of the roller assembly after movement.

[0533] After the self-propelled cleaning device completes its turn and moves along the edge, it can switch to normal movement. The drive assembly can be controlled to drive the roller assembly to retract so that the edge of the roller assembly does not exceed the widest edge of the self-propelled cleaning device. During the retracting movement, the corresponding movement speed can be a set fixed value or can be determined based on the travel speed of the self-propelled cleaning device. For example, a higher travel speed corresponds to a higher movement speed, while a lower travel speed corresponds to a lower movement speed. This is not specifically limited here.

[0534] In the above 2013a, during the turning process of the self-moving cleaning device, the driving component is controlled according to the determined moving speed and the moving amount, and the cleaning component can be driven to extend and move, thereby realizing the control of the self-moving cleaning device to turn while controlling the roller component to extend and move, and ensuring that the cleaning component can contact the corresponding obstacle edge after the turn is completed, so that it can immediately start walking along the edge.

[0535] Of course, in the scenario of turning to avoid obstacles and walking along the edge, in addition to using the method provided in the above step 2021a to determine the corresponding movement amount and movement speed, other methods can also be used to determine. For example, the self-moving cleaning device can be controlled to complete the turn first. After the turn is completed, it will not immediately walk along the edge. Instead, the self-moving cleaning device is controlled to temporarily stop walking. Then, the distance between the edge of one end of the cleaning component close to the obstacle and the obstacle is determined based on the information detected by the sensor, so as to determine the movement amount corresponding to the extended movement of the cleaning component based on the distance. The movement speed can be a set fixed value or can be determined based on the corresponding walking speed when walking along the edge in the next step. The cleaning component is controlled to extend and move according to the determined movement amount and movement speed. After the extended movement is completed, the self-moving cleaning device is controlled to start walking along the edge. For the specific implementation description of the movement amount and movement speed described in the above example, please refer to the relevant content described in other embodiments of this application in conjunction with Figure 6c. However, in order to ensure that no sweeping is missed, this control method of first controlling the turning and then controlling the cleaning component to extend and move cannot immediately control the self-moving cleaning device to move along the edge after the turning is completed. It takes a certain amount of time to complete the extension and movement control of the roller component before the self-moving cleaning device can be controlled to move along the edge. This will undoubtedly prolong the execution time of the cleaning task, resulting in low cleaning efficiency and easily bringing a poor experience to users.

[0536] In summary, in the scenario of turning to avoid obstacles and walking along the edge, this embodiment preferably adopts the method provided in the above step 2021a to determine the corresponding movement amount and movement speed to control the extension movement of the cleaning component.

[0537] In addition to the aforementioned turning and obstacle avoidance and edge walking scenarios, there is another edge walking scenario, namely, the normal edge walking scenario without obstacle avoidance as described in other embodiments. For example, FIG6c shows the edge walking scenario that will be performed when the self-mobile cleaning device reaches point B. In this scenario, the corresponding movement amount and movement speed of the roller assembly can be directly determined based on the behavior information. Based on this, in another possible technical solution, the above 202a "dynamically controlling the drive assembly based on the behavior information" may include:

[0538] 2021a', determining the movement amount and movement speed of the cleaning component according to the behavior information;

[0539] 2022a', controlling the driving component according to the movement amount and the movement speed.

[0540] In step 221a', when the behavior information indicates that the mobile cleaning device is in a normal sidewalk mode, the movement amount (also referred to as the movement amplitude) may be determined based on the distance between the roller assembly and the sidewalk target object. Thus, in one specific implementation, step 221a', "determining the movement amount and movement speed of the roller assembly based on the behavior information," may include the following steps:

[0541] S1. Determine a walking mode of the self-mobile cleaning device based on the behavior information;

[0542] S2. When the walking mode is a sidewalk walking mode, determining a sidewalk target object;

[0543] S3. determining a movement amount according to a distance between the cleaning component and the target object;

[0544] S4. Determine the moving speed of the cleaning component according to the behavior information.

[0545] For the specific implementation description of the above steps S1 to S4, please refer to the relevant content in other embodiments.

[0546] In addition to the above steps, the above embodiment may also include other steps. For other steps that may be included and the same specific implementations, please refer to the relevant content in the above other embodiments.

[0547] Furthermore, in addition to changing according to the behavior of the self-propelled cleaning device, the position of the roller assembly can also be controlled by the user. That is, the method provided in the embodiment of the present application can also include the following steps:

[0548] 203a. In response to an instruction triggered by the user through the interactive device on the self-mobile cleaning device, control the driving assembly to drive the roller assembly to move to the position indicated by the user.

[0549] Among them, the interactive device can be a voice interactive device, a touch screen, an operating control, etc. provided on the self-moving cleaning device.

[0550] For the detailed description of each step in the method provided in the above embodiment, please refer to the relevant content in other embodiments. In addition to the above steps, the method provided in this embodiment may also include other steps. For the detailed description of other steps and the detailed implementation of the same steps, please refer to the relevant content in other embodiments.

[0551] One embodiment of the present application further provides a cleaning system, which includes a base station and a self-moving cleaning device provided in other embodiments of the present application. The base station is used to provide docking services for the self-moving cleaning device. In addition, the base station can also provide charging, supply (such as liquid supply), discharge (such as sewage discharge) and other services for the self-moving cleaning device. The self-moving cleaning device can implement the functions corresponding to the steps in the method embodiments provided in the present application.

[0552] The self-moving cleaning device mentioned in each embodiment of the present application may be a cleaning robot, such as a mopping robot, a sweeping and mopping robot, etc., and the embodiments of the present application are not limited to this.

[0553] Finally, the technical solutions provided in the embodiments of this application are described in combination with specific application scenarios.

[0554] A user has a robot vacuum cleaner at home. The robot vacuum cleaner includes a drive assembly and a roller assembly connected to the drive assembly. The roller assembly can rotate along its own axis and move horizontally. The user turns on the robot vacuum cleaner's power switch to start cleaning the floor. During the floor cleaning process, the robot vacuum cleaner detects a wall through its sensors (such as radar) and adjusts its walking mode to begin walking along the edge of the wall. After the walking mode adjustment is completed, the robot vacuum cleaner also determines the distance between the end of the roller assembly closest to the wall and its widest edge, as well as the distance between its widest edge and the wall edge, as detected by its sensors. Based on these determined distances, the drive assembly is controlled to provide power, thereby driving the roller assembly to extend toward the wall. The roller assembly extends beyond the widest edge of the robot vacuum cleaner, achieving contact (adherence) with the wall. At this point, there is no gap between the roller assembly and the wall. During the robot vacuum cleaner's walking, the roller assembly cleans the wall edge, eliminating any missed cleaning areas and ensuring a cleaner floor. Furthermore, when it is detected that the edge walking mode ends and the sweeping robot changes to start normal walking, it can also drive the roller assembly to perform recovery (return) movement through the driving assembly. After the recovery movement, the roller assembly does not exceed the widest edge of the sweeping robot.

[0555] The present application also provides a computer-readable storage medium having a computer program stored therein, which, when executed by a mobile cleaning device, can implement the steps or functions of the control method provided in the above method embodiment.

[0556] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor (such as a processor (controller) in a self-propelled cleaning device), the processor is enabled to implement the steps or functions of the control methods provided in the above embodiments.

[0557] Many current cleaning robots have round bodies, which are more flexible and easier to get out of trouble. When a cleaning robot is equipped with both a vacuuming brush 01b and a mopping roller 02b, the brush 01b is typically located in front of the roller 02b, allowing the robot to vacuum first and then mop while in motion. To avoid obstacles and escape difficulties, the robot's round shape typically requires its drive wheels to be positioned at their maximum width, perpendicular to its forward direction. The roller is typically positioned behind the drive wheels, and its entire structure does not protrude beyond the projection of the circular body on the ground. This results in the roller being shorter at the rear of the robot, and the end of the roller being farther from the outermost edge of the robot's width, as shown in Figure 9a. When a cleaning robot is cleaning along a wall or wardrobe, while maintaining a minimum safe distance from the wall or wardrobe, it cannot reach a corner area with a larger dimension d from the object. To address this issue, some cleaning robots have designed their rollers to be extendable.

[0558] To make cleaning robots more versatile, some robots have retractable drums. Extending the drum allows them to clean along walls or around obstacles. However, while some robots maintain a supply of clean water after the drum is extended, the scraper bar remains internal, meaning the extended drum section only receives water. Dirt remains on the drum, preventing it from being scraped off. This results in poor cleaning performance, similar to the smearing problem with a dishcloth.

[0559] As shown in Figure 9b, extending the roller allows it to reach corners and improve coverage. However, if only the roller is extended, dirt will adhere to the roller during the cleaning process, making it increasingly dirty. The corners (the area along the edge width d in Figure 9a) are not effectively cleaned, and become increasingly dirty the more you mop.

[0560] In order to ensure that the roller has a better cleaning effect after being extended, the roller needs to be able to self-clean in time when it is in the extended state. When the roller brush contacts the ground and drags the ground, it can have a better cleanliness and will not cause smearing problems.

[0561] When the mop-wash assembly is swung outward, the self-cleaning components used for self-cleaning the drum (such as the liquid supply structure and the dirt removal mechanism) can be swung outward synchronously with the mop-wash assembly to achieve the effect of self-cleaning anytime and anywhere. When the mop-wash assembly is performing self-cleaning, the liquid supply assembly can provide cleaning liquid to the drum, which can dissolve the stains on the surface of the drum, making it easier for the dirt removal mechanism to scrape them off. The dirt removal mechanism can apply a force to the surface of the drum, and when the drum rotates, the dirt removal mechanism can scrape off the dirty water and stains on the surface of the drum. Usually, the liquid supply mechanism and the dirt removal mechanism both have a certain amount of internal storage space. The liquid supply mechanism can temporarily store a certain amount of cleaning liquid, and the dirt removal mechanism can store a certain amount of dirt. However, when the cleaning robot needs to swing outward for a long time, the liquid supply mechanism cannot continuously provide a large amount of cleaning liquid, and the dirt removal mechanism cannot continuously collect dirty water.

[0562] In the prior art, some cleaning robots with rollers have solutions that extend the roller alone or together with the liquid supply mechanism in order to clean along edges or around obstacles. However, these robots only extend the roller when cleaning along edges or around obstacles. During most cleaning processes, the roller is located at its initial position within the main unit's projected area. For such sweepers with the roller's initial position within the main unit's projected area, when performing edge cleaning or cleaning around a target object, the robot controls the roller to extend based on a distance threshold from the edge and the target. When an obstacle appears along the edge or at the target, the robot controls the roller to retract inward based on a distance threshold from the obstacle. In other words, if the environment along the edge or at the target is complex and there are many obstacles, the robot's distance is between the distance threshold from the edge and the target and the distance threshold from the obstacle. The robot's controller needs to continuously receive and calculate the thresholds and frequently execute the extension, retraction, and re-extension actions. This seriously wastes the robot's computing power and affects the reliability of the extension and retraction drive device. Furthermore, for sweeping robots that use a roller as their mopping unit, the left and right sides of the roller are a certain distance from the maximum width of the robot's travel direction. This distance acts as a blind spot during traversal. When the robot's initial position is within the main unit's projection area, it has two blind spots. However, when the roller extends from one side to a position parallel to or exceeding the maximum width of the robot's travel direction, the robot has only one blind spot. This means that if the robot traverses with the roller normally extended, blind spot coverage is much simpler.

[0563] Each embodiment of the present application provides a cleaning robot, the cleaning roller of the cleaning robot is retractable, and can ensure that the cleaning roller can have a continuous supply of clean water at any position, and the scraper can also continuously scrape off the dirt on the roller, so that the cleaning roller can be retracted to any position and can clean and clean itself at the same time. If the rag solution in the prior art: the cleaning liquid is continuously supplied to the rag, the rag cleans the ground, and the rag is not cleaned during work, it is called dead water cleaning. The solution provided by the embodiment of the present application can be called live water cleaning, that is, the cleaning roller is continuously supplied with active cleaning liquid when it is working (i.e., mopping the ground), and the roller can be continuously decontaminated and cleaned by the decontamination mechanism. After the cleaning roller is decontaminated, clean cleaning liquid is added. In this way, the cleaning roller can maintain its cleanliness for a longer period of time, thereby improving the cleanliness of the ground by the cleaning robot.

[0564] In the various embodiments of the present application, the cleaning unit may be, but is not limited to, a cleaning roller, a track-type cleaning element, or the like. The cleaning roller may be a cylindrical roller having a surface having cleaning bristles. The track-type cleaning element, also known as a track-type roller, includes two spaced-apart track wheels, each fitted with a track-type cleaning cloth in the shape of a circular runway. The outward-facing surface of the track-type cleaning cloth has cleaning bristles. One side of the track-type cleaning cloth contacts the ground surface, and as the track wheels rotate, the track-type cleaning cloth moves relative to the ground surface, thereby mopping the ground surface. Furthermore, the cleaning unit is driven by a cleaning unit motor. If the cleaning unit is a cleaning roller, the corresponding cleaning unit motor may be referred to as a drum motor, which drives the cleaning roller to rotate and mop the ground surface. If the cleaning unit is a track-type roller, the corresponding cleaning unit motor may be referred to as a pulley motor, which drives the track to rotate, thereby driving the track-type cleaning cloth to mop the ground surface.

[0565] The embodiments of the present application provide a cleaning robot with a retractable cleaning unit that ensures a continuous supply of clean water at any position. The scraper bar also continuously scrapes dirt off the drum, allowing the cleaning unit to be retracted to any position while simultaneously cleaning. The cleaning robot can not only clean the edges when needed, but also effectively avoid smearing.

[0566] Furthermore, to ensure that cleaning fluid can be supplied to the cleaning unit and that dirt can be continuously scraped off the cleaning unit regardless of whether the cleaning roller is extended or retracted, embodiments of the present application also incorporate a first flexible conduit and a second flexible conduit. These first and second flexible conduits are adaptable, ensuring that cleaning fluid is continuously supplied and dirt can be removed regardless of the cleaning unit's position. The first flexible conduit connects the liquid supply mechanism to a large-capacity fresh water tank on the cleaning robot's body, while the second flexible conduit connects the dirt removal mechanism to a large-capacity wastewater tank on the cleaning robot's body. As the mop-wash assembly swings outward, the curved first and second flexible conduits adaptably extend and / or fully extend, ensuring that the liquid supply mechanism and the fresh water tank are always connected, allowing the liquid supply mechanism to continuously draw cleaning fluid from the fresh water tank to supply the cleaning roller, and the dirt removal mechanism and the wastewater tank are always connected, allowing the dirt removal mechanism to continuously scrape wastewater off the cleaning roller and transfer it to the wastewater tank for storage. The cleaning robot boasts a long cleaning endurance, enabling users to complete cleaning tasks in a variety of environments.

[0567] Before introducing the mopping and washing assembly and the driving device provided in the embodiments of the present application, the structure of the cleaning robot is briefly introduced.

[0568] 10, 11a and 12, the cleaning robot includes but is not limited to: a body 1b, a dust collection and cleaning system 3b, a mopping and washing system, a traveling system 8b, a sensing system 640b, a control system and a side brush assembly 7b. Among them, the dust collection and cleaning system 3b, the mopping and washing system, the traveling system 8b, the sensing system 640b and the control system are all arranged on the body 1b. As shown in FIG11a, the dust collection and cleaning system 3b may include but is not limited to: a dust box 301b, a dust collection fan 302b, a roller brush (not shown in the figure), etc. The control system includes a hardware part and a software part. The hardware part is a main board, as shown in FIG11a. The main board may be provided with a processor, a storage medium (such as a memory), etc. The software part is a computer program stored in a storage medium. The processor executes these computer programs to control the various components of the cleaning robot, so that the cleaning robot has corresponding functions, such as mapping, path planning, obstacle identification, cleaning around obstacles, cleaning along the edge, returning to the base station and completing docking, area identification, cleaning mode switching (vacuuming only, mopping only, or vacuuming first and then mopping), etc. The travel system 8b may include a drive wheel and a drive wheel motor; the drive motor outputs corresponding power under the control of the main board to drive the drive wheel to rotate, so as to realize the forward, backward, parking, turning, etc. of the cleaning robot. Furthermore, the travel system 8b may also include a universal wheel, which is a follower wheel and can be set at the front of the body. The side brush assembly 7b can be one or two. As shown in the example of Figure 10, a side brush assembly 7b is provided on one side of the front of the body 1b (such as the right side). If there are two side brush assemblies 7b, the two side brush assemblies can be respectively arranged on both sides of the front of the body 1b (such as one on each side of the left and right sides).

[0569] The control system in the embodiment of the present application may include a control device, and the mainboard mentioned above can be called a control device.

[0570] The mopping and washing system may include, but is not limited to, a clean water tank 5b, a dirty water tank 9b, and a mopping and washing assembly 4b. As shown in Figure 13, the mopping and washing assembly 4b may include, but is not limited to, a drum motor 41b, a cleaning drum 42b, a liquid supply mechanism 45b, and a dirt removal mechanism 44b. The drum motor 41b is used to drive the cleaning drum 42b to rotate. The liquid supply mechanism 45b is connected to the clean water tank 5b via a clean water pipe. The dirt removal mechanism 44b is connected to the dirty water tank 9b via a dirty water pipe. The cleaning robot also includes a drive device 10b, which is mounted on the body 1b and connected to the mopping and washing assembly. As shown in Figure 14, along the width of the body 1b, the drive device 10b can drive the mopping and washing assembly 4b to extend from at least one side of the body 1b relative to the body 1b, thereby partially exposing the mopping and washing assembly. The X-axis in the reference coordinate system of Figure 14 represents the width of the body; the Y-axis represents the direction of travel of the cleaning robot.

[0571] It should be noted that: from the components included in the mopping and washing assembly 4b, it can be seen that the mopping and washing assembly 4b in this embodiment can mop the object to be cleaned (such as the ground), and can also use its own liquid supply mechanism and dirt removal mechanism to achieve a self-cleaning function to maintain the cleaning roller at a good cleanliness.

[0572] As can be seen from the above, the embodiment of the present application provides a solution in which the drive device 10b can drive the entire mop-wash assembly to move relative to the main body, extending a portion of the mop-wash assembly outside the main body. In other words, regardless of the position of the mop-wash assembly 4b, the liquid supply mechanism 45b can supply cleaning liquid to the cleaning roller, and the dirt removal mechanism 44b can scrape dirt off the cleaning roller 42b, allowing the cleaning roller 42b to self-clean while operating. When the cleaning roller 42b is extended outward for edge cleaning, it will not become excessively dirty, and even after prolonged cleaning, it can maintain a good cleaning effect, providing a better user experience.

[0573] In fact, the mop and wash assembly 4b in this embodiment can also be in an extended state normally. For example, when the cleaning robot is started, the main board 2b controls the drive device 10b to drive the mop and wash assembly 4b to move relative to the body so that a portion extends from one side of the body 1b and is in an extended state. When the cleaning robot is performing a cleaning task and traversing the area to be cleaned, the mop and wash assembly 4b remains in the extended state. If the cleaning robot encounters an obstacle or passes through a narrow space, the main board 2b controls the drive device 10b to drive the mop and wash assembly 4b to retract so that it is hidden inside the body 1b, making it easier to avoid obstacles or pass through narrow spaces. When the cleaning roller 42b is in the extended state, the outer edge of the cleaning roller 42b can be flush with the widest edge of the body 1b, or the outer edge of the cleaning roller 42b can extend beyond the widest edge of the body 1b.

[0574] As shown in Figure 13, the mop assembly 4b also includes a mop bracket 43b. The mop bracket 45b has a downwardly opening roller mounting cavity. A drum motor 41b and the cleaning roller 42b are located within the cavity. The cleaning roller 42b contacts the surface to be cleaned through the opening. A liquid supply mechanism 45b and a dirt removal mechanism 44b are both located on the mop bracket 43b. The power end of the drive device 10b is connected to the mop bracket 43b.

[0575] Specifically, the mopping bracket 43b has a first downward opening and a second lateral opening. The bottom of the cleaning roller 42b passes through the first opening and contacts the surface to be cleaned. The cleaning roller 42b is detachable through the second opening, and the second opening is located on the same side as the position on the body 1b where the mopping assembly extends. For example, when a user wants to clean or replace the cleaning roller, the user can see the cleaning roller 42b at the position on the body 1b where the mopping assembly extends, and can then remove the cleaning roller 42b at the second opening. During installation, the cleaning roller 42b can be inserted through the second opening. After the end of the cleaning roller 42b is connected to the drum motor 41b, the other end of the cleaning roller 42b is connected to the second opening. That is, the disassembly direction of the cleaning roller 42b is the direction of the drum axis.

[0576] As shown in Figure 11a, the cleaning robot's body 1b is provided with a clean water tank 5b. As shown in Figure 15b, the mopping and washing bracket 43b has a bracket cover 421b. A liquid supply mechanism 45b can be provided on the bracket cover 421b. Figure 15b shows a possible structure of the liquid supply mechanism 45, which includes a water distributor 452b. The water distributor 452b has a main trunk, multiple branch trunks, and multiple liquid supply ports 453b (as shown in Figure 16). The multiple liquid supply ports 453b face the cleaning roller 42b and are distributed along the axis of the cleaning roller 42b. The main trunk of the water distributor 452b is connected to the clean water tank 5b via a first flexible pipe 443b. One end of the first flexible pipe 443b is connected to the water supply port 451b of the main trunk, and the other end is connected to the clean water tank 5b. The multiple branch trunks are connected to the main trunk, and the multiple liquid supply ports correspond to the multiple branch trunks.

[0577] As shown in Figure 13, the dirt removal mechanism 44b includes a scraper bar 441b and a dirt collection box 442b. The end of the scraper bar 441b contacts the cleaning roller 42b, and the dirt collection box 442b is located below the scraper bar 441b. When the cleaning roller 42b rotates, the dirt scraped off by the scraper bar 441b enters the dirt collection box 442b. As shown in Figure 9c, the bottom surface of the dirt collection box 442b is higher than the bottom surface m of the machine body 1b, for example, by 1 mm to 5 mm.

[0578] The direction of assembly and removal of the cleaning roller 42b is aligned with the axis of the drum. The direction of removal of the dirt collection box 442b can be different from that of the cleaning roller 42b. For example, the direction of removal of the dirt collection box 442b can be perpendicular to the direction of removal of the cleaning roller 42b. Since the cleaning roller 42b and the dirt collection box 442b are located together in the downwardly disposed first opening of the mop and wash bracket 43b and are relatively close to each other, the inventors discovered that if the two are removed in the same direction, the positioning devices of the cleaning roller 42b and the dirt collection box 442b may interfere with each other. When removing one component separately, they may contact, rub, or even move the other component. Therefore, in this solution, the direction of removal of the dirt collection box 442b can be perpendicular to the direction of removal of the cleaning roller 42b, ensuring separation in the fixed arrangement and complementary interference in the removal. Furthermore, with the dirt collection box removed downward, the user can simply lift the rear end of the cleaning robot to access the dirt collection box and easily remove it downward, eliminating the risk of spillage. Details regarding the assembly and removal of the dirt collection box 442b are provided below.

[0579] Referring to Figure 11a, the machine body 1b is provided with a sewage tank 9b. Accordingly, as shown in Figures 11b and 17a, the scraper bar 441b has a clearance hole 446b, with a sewage collection pipe 542b located at the clearance hole 446b. One end of the sewage collection pipe 542b is connected to the clearance hole 446b, and the other end is connected to the sewage collection box 442b. The sewage collection box 442b is connected to the sewage tank 9b via a second flexible conduit 456b. Dirt scraped from the cleaning roller 42b by the scraper bar 441b enters the sewage collection pipe 542b through the clearance hole 446b. From there, it enters the sewage collection box 442b. In a specific implementation, the dirt removal mechanism 44b may further include a sewage pump (not shown in the drawings) configured to pump dirt from the sewage collection box 442b through the second flexible conduit 456b into the sewage tank 9b. The sewage pump can operate on a regular basis to pump out the dirt in the dirt collection box 442b, or can be activated to pump out the dirt in the dirt collection box 442b when the amount of dirt in the dirt collection box 442b reaches a threshold, which is not limited in this embodiment. As shown in Figure 11b, the second flexible pipe 456b also includes a second end pipe 457b. The second end pipe 457b has a constant length, one end of which is connected to the sewage pump 471b and the other end is connected to the sewage tank 9b.

[0580] Because the cleaning roller 42b and the dirt collection box 442b are both located on the first downward-facing opening of the mop and wash bracket 43b and are relatively close together, the inventors discovered that if they were disassembled in the same direction, the positioning devices of the cleaning roller 42b and the dirt collection box 442b could interfere with each other. Furthermore, when disassembling one component individually, they could contact, rub against, or even cause the other component to move. Therefore, this solution allows the dirt collection box 442b to be disassembled perpendicularly to the direction of removal of the cleaning roller 42b, ensuring separation in the fixed configuration and complementary interference during disassembly. Furthermore, with the dirt collection box disassembled downward, the user simply lifts the rear end of the cleaning robot to access the dirt collection box and conveniently remove it downward, eliminating the risk of spilling dirt from the box.

[0581] Referring to Figures 11b, 15a, 16, and 17a, in one embodiment provided herein, the clean water tank 5b is connected to the liquid supply mechanism 45b via a first flexible conduit 443b. The cleaning liquid stored in the clean water tank 5b can be transported to the liquid supply mechanism 45b via the first flexible conduit 443b, and then the liquid supply mechanism 45b supplies the cleaning liquid to the cleaning roller 42b. The dirty water tank 9b is connected to the dirt removal mechanism 44b via a second flexible conduit 456b. The dirty water collected by the dirt removal mechanism 44b can be transported to the dirty water tank 9b via the second flexible conduit 456b. When the mop-washing assembly 4b extends outward, the first flexible pipe 443b and the second flexible pipe 456b will move together with the mop-washing assembly 4b, and the bent first flexible pipe 443b and the bent second flexible pipe 456b will gradually extend. The first flexible pipe 443b ensures that the liquid supply mechanism 45b is always connected to the clean water tank 5b, and the second flexible pipe 456b ensures that the dirt removal mechanism 44b is always connected to the sewage tank 9b.

[0582] Referring to Figures 15a and 15b, the liquid supply inlet 451b is connected to the first flexible pipe 443b, and the sewage removal outlet 4410b is connected to the second flexible pipe 456b. The liquid supply inlet 451b and the sewage removal outlet 4410b extend from above the mop-wash bracket 43b to connect to the first flexible pipe 443b and the second flexible pipe 456b, respectively. Referring to Figure 14, the first flexible pipe 443b and the second flexible pipe 456b are arranged horizontally (i.e., in the negative direction of the X-axis in the figure) from below the cavity shell 46b, then emerge upward from the gap 03b in Figure 14 to connect to the clean water tank 5b and the sewage tank 9b on the body 1b. Referring to Figure 14, a pipe space is provided next to the gap 03b to accommodate the first flexible pipe 443b and the second flexible pipe 456b. Because the mopping assembly 4b is to move in the positive and negative directions along the X-axis relative to the cavity shell 46b, the first flexible pipe 443b and the second flexible pipe 456b can deform with the movement of the mopping assembly 4b to provide cleaning liquid to the cleaning roller and discharge the dirt in the dirt collecting box in real time.

[0583] Therefore, the first flexible conduit 443 and the second flexible conduit 456 enter the conduit space from the first opening in a generally horizontal direction, make a roughly 90-degree turn within the conduit space, and then extend from the second opening in a generally vertically downward direction. They connect to the upper end of the vertically upward L-shaped joint assembly. As the cleaning roller assembly extends and retracts horizontally, the joint assembly reciprocates horizontally, thereby driving the horizontal movement of the first flexible conduit 443 and the second flexible conduit 456 within the conduit space. This arrangement allows the first flexible conduit 443 and the second flexible conduit 456 to bend only once within the conduit space, without affecting the horizontal movement of the flexible conduits.

[0584] Considering other solutions, such as the solution of entering the pipe space from above, if the direction of the joint assembly is still vertical, in order to achieve horizontal movement of the drag-washing assembly, the flexible pipe needs to bend twice in the pipe space. This situation obviously reduces the flow rate of the pipe and increases the risk of pipe blockage; if the direction of the joint assembly is horizontal, in order to achieve horizontal movement of the drag-washing assembly, the flexible pipe is shrinked or stretched. When shrinking, the flexible pipes may be tangled together, resulting in a decrease in the flow rate of the pipe, which also increases the risk of pipe blockage. Therefore, it is set that the first flexible pipe 443 and the second flexible pipe 456 enter from the horizontal direction, and extend from the vertical direction below to connect with the vertical joint assembly. They only need to bend once in the pipe space. This arrangement is the best.

[0585] To prevent bending, springs can be installed on the outside of the first and second flexible pipes 443b, 456b (not shown in Figures 17a and 46). This prevents bending and blocking during the overall movement (lifting and / or extension) of the scrubbing assembly 4b, thereby preventing wastewater drainage and liquid supply from being affected. In one embodiment, the first and second flexible pipes 443b, 456b are elastic pipes. When the scrubbing assembly 4b extends outward, the first and second flexible pipes 443b, 456b are stretched and lengthened. When the scrubbing assembly 4b retracts, the first and second flexible pipes 443b, 456b contract and shorten. In another embodiment, the first and second flexible pipes 443b, 456b can be flexible plastic pipes. When the scrubbing assembly 4b is retracted, the first and second flexible pipes 443b, 456b are bent, but not blocked. In this bent state, both flexible pipes remain unobstructed. When the mopping and washing assembly 4b extends outward, the bent first flexible pipe 443b and the second flexible pipe 456b move along with it and gradually extend, thereby ensuring that the connection of the pipes is not interrupted.

[0586] A cleaning robot provided in one embodiment of the present application has a body 1b provided with a mopping assembly 4b that is retractable relative to the body. When the body 1b is on the ground to perform a mopping task, the cleaning roller 42b in the mopping assembly 4b is in contact with the ground. In other words, the cleaning roller 42b not only contacts the ground but also exerts a certain pressure on the ground, which helps to improve the cleaning effect of the cleaning roller on the ground. As shown in Figure 11a, a accommodating chamber 101b is provided at the bottom of the body 1b, and the mopping assembly 4b is arranged in the accommodating chamber 101b. The accommodating chamber 101b extends along the width direction of the body 1b. At least one end of the accommodating chamber 101b is open in the width direction of the body 1b.

[0587] It should be noted that the arrow X direction in FIG. 9 b can be considered as the length direction of the mopping and washing assembly 4 b , or the width direction of the machine body 1 b .

[0588] Figure 11a shows an example where, from the perspective of Figure 11a, the end of the accommodating chamber 101b, located on the right side of the body 1b, is open. The scrubbing assembly 4b can extend through the opening at this open end, partially exposing itself outside the body 1b. In practice, both ends of the accommodating chamber 101b are open. This allows the scrubbing assembly 4b to extend from either the right or left side of the body 1b. The cleaning robot can control the scrubbing assembly 4b to extend from the appropriate side based on the actual scenario.

[0589] The extension of the scrubbing assembly 4b can be driven by a drive device. When the scrubbing assembly 4b is extended, from a top view of the cleaning robot (as shown in FIG18a ), the outermost edge of the scrubbing assembly 4b extends beyond the edge of the body 1b. Therefore, if the body 1b maintains a safe distance from the edge of an object, such as a wall or furniture piece, the cleaning roller 42b can clean the object right alongside the edge. Of course, in open spaces, the cleaning roller 42b can also be extended, as shown in FIG18a , to perform cleaning tasks. In one specific embodiment, the dashed box E in FIG18a illustrates the scrubbing assembly 4b in its retracted (initial) state, while the solid box F illustrates the scrubbing assembly 4b in its extended or swung-out state. When the cleaning robot is cleaning right alongside the edge of an object, the edge of the body 1b of the cleaning robot maintains a safe distance from the edge of the object. The distance D that the scrubbing assembly 4b extends outward relative to the edge of the body 1b is denoted by D, with the value of D ranging from 10 mm to 0 mm, for example, 5 mm. Of course, to prevent the outer edge of the mop-washing assembly 4b from directly colliding or scraping against the edge of an object, a safety distance d is provided between the outer edge of the mop-washing assembly 4b and the edge of the object. The safety distance d ranges from 10 mm to 1 mm, for example, 2 mm. The travel of the mop-washing assembly 4b relative to the body 1b can be 40 to 60 mm, for example, with an outward travel of 50 mm.

[0590] The drive device 10b can drive the scrubbing assembly 4b to extend outward from the lateral opening of the accommodating chamber 101b. The retraction of the scrubbing assembly 4b can be driven by the drive device 10b. Alternatively, the retraction of the scrubbing assembly 4b can be driven not by the drive device 10b but by an elastic member disposed between the chamber housing 45b (as shown in FIG. 14 ) and the scrubbing assembly 4b. For example, when the drive device 10b drives the scrubbing assembly 4b to extend outward, the elastic member disposed between the chamber housing 46b and the scrubbing assembly 4b deforms (e.g., compresses). When the scrubbing assembly 4b needs to retract, the drive device 10b decouples from the scrubbing assembly 4b, and the restoring force of the elastic member drives the scrubbing assembly 4b to retract. Of course, this is only one embodiment provided herein. In other embodiments, both the extension and retraction of the scrubbing assembly 4b are driven by the drive device 10b. It should be noted that the cavity shell 46b can be understood as a portion of the bottom wall of the base of the housing 1b, which forms the accommodating cavity 101b. Alternatively, the base of the housing 1b is provided with a cavity shell 46b as shown in FIG14 .

[0591] The above is a brief introduction to the structure of the cleaning robot provided by the embodiment of the present application. The following will provide a more detailed description of the drag-washing component, the implementation structure of the telescopic function of the drag-washing component (i.e., the specific implementation of the drive device), etc. in the present application. The solutions provided by the various embodiments of the present application focus on the drag-washing component. The drag-washing component can extend from at least one side of the body relative to the body of the cleaning robot, so that part of the drag-washing component is exposed, so that the drag-washing component can self-clean and maintain a good cleanliness level in any position. The telescopic function of the drag-washing component is first described in detail below. There are many ways to implement the telescopic function of the drag-washing component, which are introduced one by one below.

[0592] Referring to Figures 14, 19, and 20, one embodiment of the present application provides a drive device 10b comprising a first power source 102b and a first actuator 103b. The first actuator 103b includes a power input terminal and a power output terminal. The power input terminal is connected to the first power source 102b, and the first actuator 103b is configured to convert the rotational power outputted by the power source into linear power. The power output terminal is connected to the mopping and washing assembly 4b.

[0593] The first power source 102b may include, but is not limited to, a first motor and a reducer. The first motion actuator 103b may include, but is not limited to, a first gear 13b and a first rack 14b. Specifically, in the initial position of the first motion actuator 103b, as shown in the example of Figure 13, the majority of the teeth of the first rack 14b are located to the left of the first gear 13b. This state can be referred to as the rack being in the origin position. At this point, the scrubbing assembly 4b is in its initial state, as shown in Figure 19. From the perspective of the cleaning robot as a whole, in the state shown in Figure 19, the scrubbing assembly 4b is concealed within the body 1b. When the scrubbing assembly 4b needs to be extended, the first motor of the first power source 102b rotates forward (outputting counterclockwise power from Figure 21) to drive the first rack 14b in the first direction (direction indicated by arrow X in Figure 21). Figure 20 shows a schematic diagram of the scrubbing assembly 4b in its extended state. When the mopping assembly 4b needs to be retracted, the first motor 12b of the first power source 102b is reversed (the first motor outputs clockwise power when viewed from FIG. 21 ) to drive the first rack 14b to move in the opposite direction (second direction) of the first direction.

[0594] Referring to Figure 21, in one embodiment provided in the present application, at least one slide rail 15b is provided on the cavity shell 46b of the accommodating cavity 101b of the body 1b. The first action execution mechanism 103b also includes a sliding plate, and the first rack 14b can be provided on the sliding plate. The sliding plate can be slidably connected to the slide rail 15b. The first power source 102b can be provided on the mounting position of the cavity shell 46b, and the first gear 13b is provided on the output shaft of the first power source 102b, and the first gear 13b is engaged with the first rack 14b. After the first power source 102b outputs power, it can drive the sliding plate 20b to slide back and forth on the slide rail 15b through the first gear 13b and the first rack 14b. The sliding plate is connected to the mopping and washing component 4b, driving the mopping and washing component 4b to move. In addition, the first rack 14b and the sliding plate 20b can be an integral structure, or the first rack 14b and the sliding plate 20b can be fastened together.

[0595] As mentioned above, the sliding plate is mounted on the upper surface of the chamber housing 46b. Referring to Figure 24 , the mop-wash assembly 4b is provided with a connecting post 241b, which connects the mop-wash assembly 4b to the sliding plate. To prevent interference between the connecting post 241b and the chamber housing 46b, a slot 27b (as shown in Figure 22 ) is provided in the chamber housing 46b, corresponding to the range of motion of the connecting post 241b. The connecting post 241b extends through the slot 27b and the through-hole 23b in the sliding plate 20b to the top of the sliding plate 20b. The length of the slot 27b is greater than or equal to the maximum range of motion of the mop-wash assembly 4b.

[0596] Furthermore, as shown in Figures 28a and 28b, the body 1b includes a shell cover 47b, which can be connected to the top of the cavity shell 46b. When the shell cover 47b is connected to the cavity shell 46b, a hollow cavity will be formed, and the drive device 10b (i.e., the first power source 102b and the first action actuator 103b) are located in the hollow cavity. The shell cover 47b can not only provide effective protection for the drive device 10b, but also prevent garbage and foreign objects from entering and affecting the normal operation of the drive device 10b. In addition, a matching groove 471b is provided on the bottom surface of the shell cover 47b, and the top of the second baffle 26b contacts the matching groove 461b. During the sliding process of the sliding plate, the top of the second baffle 26b can slide in the matching groove 461b. The shell cover 47b can limit the second baffle 26b, effectively preventing the sliding plate 20b from moving upward or protruding.

[0597] In this embodiment, the mop-washing assembly 4b is retractable relative to the body 1b, with a first, retracted, and second, extended position. Furthermore, the mop-washing assembly 4b can be parked at the first and second extreme positions, allowing it to operate at any position between them to accommodate a variety of operating scenarios. The mainboard 2b of the cleaning robot can determine a target position for the mop-washing assembly relative to the body based on information detected by the sensing system 640b, and then control the drive device to move the mop-washing assembly to the target position. The mainboard 2b can control the drive device to enable the mop-washing assembly to park and operate at any position.

[0598] To further improve control accuracy, this embodiment incorporates multiple detection units to detect the position of the scrubbing assembly 4b relative to the body 1b, facilitating appropriate control by the cleaning robot's mainboard. As shown in Figure 21 , multiple detection units can be installed on the chamber housing 46b. These detection units can be located at various positions within the range of travel of the scrubbing assembly 4b, such as the first extreme position in the retracted state, the second extreme position in the extended state, and at least one intermediate position between the first and second extreme positions. Detection units may include, but are not limited to, photoelectric switches, micro switches, Hall effect sensors, and the like. The multiple detection units may include a first detection unit and a second detection unit. The first detection unit may be located at the first extreme position in the retracted state, while the second detection unit may be located at the second extreme position in the extended state. For example, using photoelectric switches as the detection units, as shown in Figure 21 , the chamber housing 46b is provided with a first photoelectric switch 281b and a second photoelectric switch 282b. These two photoelectric switches are located at different positions on the chamber housing 46b. For example, the first photoelectric switch 281b and the second photoelectric switch 282b are located at the first extreme position of the retracted state and the first extreme position of the extended state of the mop-washing assembly 4b, respectively. The first photoelectric switch 281b and the second photoelectric switch 282b can be located on the same side of the first action actuator 103b or on different sides. Of course, at least one photoelectric switch for detecting an intermediate position can be provided between the first photoelectric switch 281b and the second photoelectric switch 282b.

[0599] Accordingly, the first action actuator 103b may be provided with a trigger structure. When the first photoelectric switch 281b and the second photoelectric switch 282b are located on the same side of the first action actuator 103b, only one trigger structure is required. If the first photoelectric switch 281b and the second photoelectric switch 282b are located on either side of the first action actuator 103b, two trigger structures are required on the first action actuator 103b, as shown in FIG22 , namely, a first trigger structure 291b and a second trigger structure 292b. More specifically, the first trigger structure 291b and the second trigger structure 292b may be provided on a sliding plate within the first action actuator 103b. When the scrubbing assembly 4b is in the first extreme position of the retracted state, the first trigger structure 291b triggers the first photoelectric switch 281b. When the scrubbing assembly 4b moves in the direction of arrow X in FIG31 to the second extreme position of the extended state, the second trigger structure 292b triggers the second photoelectric switch 282b, indicating that the scrubbing assembly 4b has been extended to its maximum distance.

[0600] Although the second trigger structure 292b and the second photoelectric switch 282b can detect whether the mop-wash assembly 4b has reached the second limit position of the extended state, the mainboard can control the first power source 102b to stop operation based on the trigger signal of the second photoelectric switch 282b, so that the mop-wash assembly 4b stops at the second limit position. However, to improve safety, a limit structure can also be provided on the cavity housing 46b. When the sliding plate 20b slides to the second limit position, the first action actuator 103b and the limit structure are abutted (more specifically, the sliding plate of the first action actuator 103b and the limit structure can be abutted).

[0601] As mentioned above, the scrubbing assembly 4b has multiple extension positions. In different extension positions, the position of the scrubbing assembly 4b relative to the machine body varies. Alternatively, the distance the scrubbing assembly extends outward varies in different extension positions. Referring to Figures 21, 22, and 29, to achieve precise adjustment of the extension position, the solution provided in this embodiment may also include a fourth detection unit and a fourth trigger structure. The fourth detection unit may be a fourth photoelectric switch, a fourth microswitch, or a fourth Hall effect element. For example, the fourth detection unit may be a fourth photoelectric switch, and the fourth trigger structure may be a grating structure. A fourth photoelectric switch 284b is also provided on the cavity housing 46b, and a grating structure 294b is provided on the first action actuator 103b. The length of the grating structure 294b is equal to or less than the maximum travel of the scrubbing assembly 4b. During adjustment of the extension position, the fourth photoelectric switch 284b accurately detects the counting scale on the grating structure 294b, thereby determining the extension position of the scrubbing assembly 4b.

[0602] The implementation process of the driving device 10b is described in detail below in conjunction with usage scenarios.

[0603] Scenario 1: The cleaning robot extends its mopping and washing components when performing cleaning tasks, and retracts them when encountering obstacles or other special circumstances.

[0604] When the cleaning robot is not performing a task, it docks at the base station for replenishment (charging and / or filling with clean water), sewage discharge (such as discharging garbage in the dust box and / or sewage in the sewage tank), self-cleaning (cleaning the cleaning drum), etc. The user can start the cleaning robot to perform cleaning tasks by touching the controls on the base station, operating the interactive device on the base station, or through the smart device APP, or the controls on the cleaning robot, etc. When the cleaning robot is in the base station, the drag and wash component is in a retracted state. When the cleaning robot drives out of the base station and detects that it has driven out of the base station, the main board of the cleaning robot controls the drive device 10b to drive the drag and wash component to extend to the set position. The set position can be the second extreme position of the extended state mentioned above, or it can be a position between the first extreme position of the retracted state and the second position of the extended state. This embodiment does not specifically limit this. Then, the cleaning robot maintains the posture of the drag and wash component extending at the set position, traverses the area to be cleaned, and cleans the area to be cleaned.

[0605] During the cleaning process, if the robot detects an obstacle through its sensing system, the mainboard controls the drive device 10b to retract the mop-wash assembly a certain distance. This "certain distance" can be calculated by the mainboard based on the obstacle information detected by the sensing system, or it can be the distance the mop-wash assembly needs to retract from its currently extended position to its first extreme position. After bypassing the obstacle, the mainboard controls the drive device again to extend the mop-wash assembly to resume cleaning.

[0606] It should be noted that special circumstances may include but are not limited to: the user instructs the mopping and washing component to retract, pass through a narrow passage, etc.

[0607] Scenario 2: When the cleaning robot is performing a cleaning task, the mopping component is in the retracted state. When cleaning along the edge, the mopping component is extended.

[0608] The cleaning robot plans the cleaning path based on the map of the current area to be cleaned. It is assumed that the cleaning path is to clean the open area first and then clean along the edge. For example, cleaning along the wall, cabinet edge, etc. The cleaning robot's mopping component is in a retracted state (such as the first extreme position), and cleans the open area according to a bow-shaped travel path. After the open area is cleaned, the main board of the cleaning robot controls the driving device to control the mopping component to extend (it can be extended to a set length or to the second extreme position) and clean along the edge according to the planned path. After the edge cleaning is completed, the cleaning robot retracts the mopping component (such as the first level position) to go to the next area to be cleaned, or return to the base station for replenishment, sewage discharge or self-cleaning, etc.

[0609] As shown in Figure 24 , the mop assembly 4b is connected to the first motion actuator 103b in a floating manner. For example, assume that the mop assembly 4b is in contact with the ground in the position shown in Figure 24 . Because the mop assembly 4b is designed to float, it can float up and down according to the surface conditions when it travels over uneven ground. The first motion actuator 103b is connected to the mop assembly 4b via a connecting assembly 24b. As shown in Figure 24 , the connecting assembly 24b may include a connecting post 241b and a slider 242b. The connecting post 241b is located above the mop bracket 43b of the mop assembly 4b. The first motion actuator 103b includes a slider 242b, as shown in Figure 26 . The slider 242b has a mounting hole, through which a screw enters the hole of the connecting post 241b, connecting the slider 242b to the connecting post 241b. In the position shown in Figure 24 , there is a gap between the top of the mop assembly 4b and the cavity housing 46b, providing space for the mop assembly 4b to float up and down.

[0610] While the above description only mentions that the drive device 10b can drive the scrubbing assembly 4b to move along the width of the machine body 1b, in reality, the scrubbing assembly 4b provided in this embodiment can not only move along the width of the machine body, but also be raised and lowered. The scrubbing assembly's movement along the width of the machine body and its vertical elevation can be achieved using two separate drive devices, or a single drive device. That is, the drive device 10b can not only drive the scrubbing assembly 4b to move along the width of the machine body 1b within the accommodating chamber 101b, but also to be raised and lowered.

[0611] The mop assembly 4b is floatingly connected to the cavity housing 46b. Within a certain range, the mop assembly 4b can move vertically up and down within the accommodating cavity 101b. The mop assembly 4b uses its own gravity to press the cleaning roller 42b against the ground. When the cleaning roller on the mop assembly 4b encounters uneven ground or raised obstacles, the mop assembly 4b can float up and down relative to the cleaning robot body 1b with the ground's undulations. Regardless of the flatness of the ground, the mop assembly 4b is always pressed against the ground by its own gravity, and the force exerted on the ground is relatively small and stable, effectively preventing the mop assembly 4b from suddenly increasing its force on the ground due to uneven terrain. For some soft wooden floors, this technical solution can effectively prevent the cleaning roller from scratching or wearing the ground.

[0612] It can be considered that the washing assembly 4b floats relative to the cavity shell 46b at any position of the washing assembly 4b in the width direction of the machine body 1b. The washing assembly 4b floats relative to the cavity shell, that is, the washing assembly 4b floats relative to the machine body.

[0613] Referring to Figures 21 to 30 , the drive device 10b can move in multiple directions to drive the mop-washing assembly 4b to elevate, descend, extend, and retract relative to the machine body 1b. The drive device 10b includes a first power source 102b and a first motion actuator 103b. Specifically, when the first power source 102b outputs power in a first direction, it can drive the mop-washing assembly 4b to extend outward relative to the machine body 1b in the direction X1 in Figure 24 , and can also drive the mop-washing assembly 4b to elevate relative to the machine body 1b in the direction Z2 in Figure 24 . When the first power source 102b outputs power in a second direction, it can drive the mop-washing assembly 4b to retract relative to the machine body 1b in the direction X2 in Figure 24 , and can also drive the mop-washing assembly 4b to descend relative to the machine body 1b in the direction Z1 in Figure 24 . The first and second directions are two different directions. For example, one of the first and second directions can be clockwise, and the other counterclockwise.

[0614] The above can also be understood as follows: the first actuator 103b moves in the direction X1 in Figure 24 to extend the scrubbing assembly 4b; the first actuator 103b moves in the direction X2 in Figure 24 to retract the scrubbing assembly 4b. When the scrubbing assembly 4b is in the first and second extreme positions, if the scrubbing assembly 4b is in the lower position, the actuator 103b moves in the direction X2 to raise the scrubbing assembly 4b; if the scrubbing assembly 4b is in the upper position, the actuator 103b moves in the direction X1 to lower the scrubbing assembly 4b.

[0615] It should be noted that the arrows X1 and X2 in FIG. 24 may be considered as the length direction of the mopping and washing assembly, or the width direction of the machine body 1 b ; the arrows Z1 and Z2 in FIG. 24 may be considered as the height direction of the mopping and washing assembly, or the height direction of the machine body 1 b .

[0616] Figure 14 is a schematic diagram of the mop-wash assembly 4b in its first, retracted position and lowered state. Figure 19 is a schematic diagram of the mop-wash assembly 4b in its first, retracted position and raised state. Figure 20 is a schematic diagram of the mop-wash assembly 4b in its second, extended position and lowered state. The following describes the drive device 10b provided by this application in detail using more embodiments.

[0617] During the raising or lowering of the mop-wash assembly 4b, the dirt removal mechanism 44b and the liquid supply mechanism 45b may be raised or lowered simultaneously with the cleaning roller 42b and the roller motor 41b. Alternatively, the dirt removal mechanism 44b and the liquid supply mechanism 45b may remain in a fixed position, and only come into contact with the cleaning roller when the cleaning roller is lowered. When the cleaning roller is raised, the dirt removal mechanism 44b and the liquid supply mechanism 45b do not come into contact with the cleaning roller. When the mop-wash assembly 4b is extended or retracted, to ensure that the cleaning roller maintains its self-cleaning capabilities and maintains a certain degree of cleanliness, the dirt removal mechanism 44b and the liquid supply mechanism 45b extend or retract simultaneously with the mop-wash assembly 4b. Furthermore, to accommodate different cleaning environments, the mop-wash assembly 4b has multiple extension positions. In different extension positions, the distance the mop-wash assembly 4b extends outward relative to the machine body 1b varies.

[0618] Referring to Figures 22 and 23 , the sliding plate includes a main body 21b and at least one lifting portion 22b. The first rack 14b is disposed on the main body 21b, and the lifting portion 22b is disposed at the end of the main body 21b. If the sliding plate has two lifting portions 22b, they are disposed at either end of the main body 21b. Specifically, the lifting portion 22b has an inclined surface that extends upward from the surface of the main body 21b, as shown in Figure 23 . Furthermore, a through-hole 23b is provided in the middle of the lifting portion 22b. A connecting post 241b on the mop and wash assembly 4b can pass through the through-hole 23b and extend from the bottom of the sliding plate to the top of the sliding plate, and the connecting post 241b can contact the sliding plate. The first power source 102b outputs rotational power. When the sliding plate in the action actuator 103b slides, a force is applied to the connecting post 241b, thereby driving the mop and wash assembly 4b to perform actions such as raising, lowering, extending, and retracting.

[0619] Referring to Figures 21 and 24 , taking the example of connecting assembly 24b comprising connecting post 241b and slider 242b, one end of connecting post 241b is connected to mop-wash assembly 4b, while the other end extends from the bottom of the sliding plate through through-hole 23b to the top of the sliding plate. Slider 242b is detachably connected to connecting post 241b via a fastener (e.g., a screw). Slider 242b contacts the sliding plate and is larger than through-hole 23b, effectively preventing separation of connecting assembly 24b from the sliding plate. Removably connecting the sliding plate to connecting post 241b facilitates installation of mop-wash assembly 4b.

[0620] Referring to Figures 21 to 23 , each lifting portion 22b is provided with a corresponding first baffle 25b. The area A between the first baffle 25b and the lowest point of the lifting portion 22b is used to accommodate the slider 242b. As shown in Figure 21 , when the sliding plate slides in the direction of arrow X from the first extreme position of the retracted state, the first baffle 25b will contact the side wall of the slider 242b. The sliding plate can push the slider 242b to slide along the direction of arrow X, thereby driving the mopping assembly 4b to extend outward. Furthermore, referring to Figure 27 , a clearance groove 251b is provided on the surface of the first baffle 25b that abuts the slider 242b. The cross-section of the first baffle 25b is L-shaped. The clearance groove 251b can be used to store grease to improve the smoothness of the up and down floating movement of the connecting column 241b.

[0621] As shown in Figure 24 , when the sliding plate moves from its retracted first limit position to the direction indicated by arrow X2, one side of the retracted scrubbing assembly 4b abuts against the sidewall 411b of the cavity housing 46b, limiting further movement of the scrubbing assembly 4b relative to the cavity housing 46b in the direction indicated by arrow X2. However, driven by the first power source 102b, the sliding plate continues to move relative to the cavity housing 46b in the direction indicated by arrow X2. The other sidewall of the slider 242b abuts against the inclined surface of the lifting portion 22b. As the sliding plate 20b moves, the slider 242b ascends along the inclined surface, thereby driving the scrubbing assembly 4b upward. Referring to Figure 23 , to prevent the slider 242b from climbing over the inclined surface, a second stopper 26b is provided at the top of the inclined surface. When the slider 242b reaches the top of the inclined surface, it abuts against the second stopper 26b, and the scrubbing assembly 4b is at its highest elevated position. Furthermore, if the sliding plate 20b slides in the direction opposite to the arrow X2, the slider 242b can slide down along the slope. At this time, the mopping assembly 4b is in a descending state, and the slider 242b slides down to the lowest point of the lifting part 22b, and the mopping assembly 4b also drops to a low position.

[0622] Furthermore, in some cases, the scrubbing assembly 4b needs to remain elevated for extended periods. To facilitate the slider 242b's suspension at the top of the lifting portion 22b, a horizontal suspension surface 220b is provided at the top of the lifting portion 22b, as shown in FIG31 . When the slider 242b ascends along the inclined surface to the top of the lifting portion 22b, it rests stably on the suspension surface 220b, thereby maintaining the scrubbing assembly 4b in the elevated position.

[0623] In one embodiment provided herein, as shown in Figures 23 and 25 , the inclined surface of the lifting portion 22b includes a first sloped surface 221b and a second sloped surface 222b. The inclination angle of the first sloped surface 221b is greater than the inclination angle of the second sloped surface 222b. When the slider 242b ascends along the inclined surface of the lifting portion 22b, it first ascends the first sloped surface 221b, which has a greater inclination angle, and then ascends the second sloped surface 222b. This technical solution facilitates rapid elevation of the mopping and washing assembly 4b.

[0624] Furthermore, to prevent excessive sliding resistance of the slider 242b on the inclined surface, as shown in FIG25 , a cylindrical sliding member 2421b is provided on the side of the slider 242b that contacts the inclined surface of the lift 22b. Of course, the cylindrical sliding member 2421b can also roll when sliding on the inclined surface. For another example, as shown in FIG26 , the side of the slider 242b that contacts the inclined surface of the lift 22b is formed as an arc structure 2422b. That is, the portion of the slider 242b that contacts the lift 22b is formed as an arc structure 2422b.

[0625] As the sliding plate slides from the second limit position (extended state) of the scrubbing assembly 4b to the first limit position (retracted state), the slider 242b can assume various states. For example, if the resistance to the scrubbing assembly 4b's retraction is low, the slider 242b lacks sufficient force to climb the inclined surface as the sliding plate slides. In this case, the slider 242b contacts the bottom of the inclined surface, and the sliding plate 20b then pushes the scrubbing assembly 4b to slowly retract. It can be understood that in this state, the scrubbing assembly 4b retracts without any lifting action; the scrubbing assembly 4b remains in contact with the ground during retraction. For another example, if the resistance to the scrubbing assembly 4b's retraction is high, the slider 242b can climb the inclined surface as the sliding plate 20b slides. In this case, the scrubbing assembly 4b is lifted upward and simultaneously retracts with the sliding plate 20b. It can be understood that in this state, the scrubbing assembly 4b first lifts during retraction and then retracts to the first limit position along with the sliding plate 20b.

[0626] Referring to Figure 30 , in one embodiment provided herein, a first connecting end 211b is provided on the sliding plate, and a second connecting end 2423b is provided on the slider 242b. The first and second connecting ends 211b, 2423b can be used to accommodate an elastic member. Specifically, one end of the elastic member is connected to the first connecting end 211b, and the other end is connected to the second connecting end 2423b. As the slider 242b ascends the inclined surface of the lifting portion 22b, the elastic member is stretched. The elastic force of the elastic member assists in lowering the slider 242b from the top of the lifting portion 22b. Furthermore, during the retraction of the scrubbing assembly 4b, the tension provided by the elastic member keeps the slider 242b in contact with the first baffle 25b, preventing it from climbing up the inclined surface. Ultimately, the scrubbing assembly 4b does not easily rise when retracted.

[0627] Furthermore, as shown in Figure 21, in the solution provided by this embodiment, the detection unit provided on the chamber housing 46b may also include at least one detection unit for detecting the raised or lowered status of the mop-wash assembly. For example, in the example shown in Figure 21, the chamber housing 46b is provided with a third detection unit, such as a third photoelectric switch 283b; and the sliding plate of the first action actuator 103b is provided with a third trigger structure 293b. When the mop-wash assembly 4b is raised, the third trigger structure 293b triggers the third photoelectric switch 283b, and the main board 2b is informed that the mop-wash assembly has been raised, thereby controlling the power source, liquid supply mechanism, and dirt removal mechanism to stop operation.

[0628] The first power source 102b drives the first gear 13b to rotate in the forward direction (e.g., clockwise or counterclockwise), causing the sliding plate to move to the right. During this movement, the sliding plate contacts the connecting assembly 24b on the mop assembly 4b, driving the mop assembly 4b outward through the connecting assembly 24b. When the second photoelectric switch 282b is triggered, the first power source 102b stops rotating. The mop assembly is now fully extended, enabling close cleaning of the edges of objects. After the mop assembly 4b completes close cleaning, the power source drives the first gear 13b to rotate in the reverse direction, causing the sliding plate to move to the left and, in doing so, retracting the mop assembly 4b into the accommodating chamber 101b. When the first photoelectric switch 281b, which is in the initial position (i.e., the first extreme position), is triggered, the first power source 102b stops rotating, fully retracting the mop assembly 4b. Next, the cleaning robot needs to clean the carpet. To prevent secondary contamination, the mop assembly needs to be raised. Subsequently, the first power source 102b rotates in the reverse direction, causing the sliding plate to move to the left. The lifting portion 22b on the sliding plate gradually lifts the connecting assembly 24b. When the third photoelectric switch 283b is triggered, the first power source 102b stops rotating, and the mopping assembly 4b switches to the raised position, allowing the carpet to be cleaned. After the carpet is cleaned, the first power source 102b rotates forward, the sliding plate moves to the right, and the mopping assembly descends and returns to its initial position.

[0629] In the technical solution provided in the present application, the driving device 10b has a simple structure, and only one power source is needed to drive the drag-washing component 4b to realize the four actions of extension, retraction, lifting, and lowering, thereby meeting the use of the drag-washing component 4b under various working conditions. The power source performance requirements are low, the control logic is simple, and the production cost is also lower.

[0630] For the embodiment of the cleaning robot with only one power source, the present application also provides a corresponding working method of the cleaning robot. The method may include the following steps:

[0631] The mopping and washing component of the cleaning robot is in an extended state to perform cleaning tasks;

[0632] When the mopping and washing component needs to be lifted, the first power source outputs power in a first direction, the mopping and washing component retracts, and the mopping and washing component is lifted after retracting to a first extreme position.

[0633] The mopping and washing component of the cleaning robot is in a raised state, and the method further comprises:

[0634] When the mopping and washing assembly needs to be lowered to perform a cleaning task, the first power source outputs power in the second direction, and the mopping and washing assembly is lowered. After the mopping and washing assembly is lowered to a set distance, it extends from one side of the machine body along the width direction of the machine body to expose a portion;

[0635] The first direction and the second direction are different directions.

[0636] The method provided in this embodiment may also include but is not limited to at least one of the following:

[0637] When the vehicle is about to enter a carpet area, it is determined that the mopping and washing components need to be raised;

[0638] When it is identified that an obstacle needs to be overcome, it is determined that the mopping and washing components need to be lifted;

[0639] When a lifting instruction from the user is monitored, it is determined that the mopping and washing component needs to be lifted.

[0640] The method provided in this embodiment may also include but is not limited to at least one of the following:

[0641] When it is recognized that the vehicle has left the carpet area, it is determined that the mopping and washing assembly needs to be lowered;

[0642] When it is recognized that the obstacle has been passed, it is determined that the mopping and washing component needs to be lowered;

[0643] When a descending instruction from the user is monitored, it is determined that the mopping and washing component needs to be descended.

[0644] Furthermore, the method provided in this embodiment may further include the following steps:

[0645] determining a target position of the mopping and washing component based on the detected environmental information;

[0646] determining a target direction for output power from the first power source according to the target position;

[0647] controlling the first power source to output power in the target direction;

[0648] A signal indicating that the detection unit at the target position is triggered is received, and the first power source is controlled to stop working.

[0649] Furthermore, the method provided in this embodiment may further include at least one of the following:

[0650] When it is necessary to return to the base station, the first power source outputs power in a first direction, the drag-washing assembly retracts, and the drag-washing assembly retracts to a first extreme position and then lifts up;

[0651] When the cleaning unit needs to be cleaned in the base station, the first power source outputs the second direction power, the drag-washing component descends, and after the drag-washing component descends to a set distance, the first power source stops working.

[0652] In the embodiment mentioned above, the lifting process of the drag-washing component 4b is achieved by sliding the sliding plate, and then the lifting portion 22b on the sliding plate drives the slider 242b on the drag-washing component 4b to move upward, thereby lifting the drag-washing component 4b upward. The lifting process of the drag-washing component 4b can be understood as the drag-washing component 4b being lifted up as a whole.

[0653] After the mopping and washing assembly 4b is lifted, the cleaning roller 42b can stop rotating, and the liquid supply mechanism 45b and the dirt removal mechanism 44b can stop working.

[0654] The cleaning robot can lift the mopping and washing components in the following situations, such as:

[0655] The cleaning robot moves onto the carpet and lifts the mopping component;

[0656] The mopping and washing components can be lifted when obstacles need to be overcome;

[0657] The user instructs to lift the mop and wash assembly;

[0658] The cleaning robot lifts the mopping and washing component when working in the sweeping mode; and so on.

[0659] In another embodiment provided herein, the lifting process of the mop and wash assembly 4b can also involve rotating one end of the mop and wash assembly 4b about an axis, thereby raising the cleaning roller 42b at the other end of the mop and wash assembly 4b relative to the ground. See Figure 32, which illustrates a schematic structural diagram of a mop and wash assembly 4b raised relative to the ground. In Figure 32, the mop and wash assembly 4b includes a cleaning roller 42b and a mop and wash bracket 43b, which is slidably connected to a rotating bracket 31b. The rotating bracket 31b is rotatably connected to the base via a rotating shaft 413b, which can also be considered as a chamber housing 46b or the body 1b of the cleaning robot. The mop and wash bracket 43b is provided with a connecting assembly 24b, which passes through the rotating bracket 31b through a clearance groove in the rotating bracket 31b and extends to the outside of the rotating bracket 31b. The base also includes a sliding plate 20b, which is slidable relative to the base and has a lifting portion 22b. The sliding plate 20b can slide leftward or rightward relative to the base, thereby respectively driving the mop assembly 4b to rise or extend. Specifically, when the sliding plate 20b moves rightward from its initial position relative to the base, the connecting assembly 24b contacts the sidewall of the sliding plate 20b, driving the connecting assembly 24b to simultaneously move rightward, as indicated by arrow X in Figure 41 . At this point, the mop assembly 4b extends rightward relative to the rotating bracket 31b, thus switching the mop assembly 4b from a retracted state to an extended state. When the sliding plate 20b moves leftward from its initial position relative to the base, the connecting assembly 24b contacts the inclined surface of the lifting portion 22b. As the sliding plate 20b moves leftward, the connecting assembly 24b climbs up the inclined surface of the lifting portion 22b, simultaneously driving the rotating bracket 31b and the mop assembly 4b to rotate and lift upward about the rotation axis 413b in the direction of arrow a in Figure 32 . When the washing assembly 4b needs to be reset to the initial position, the sliding plate 20b only needs to be reset to the initial position in the opposite direction, and the washing assembly 4b can be reset to the initial state from the raised state or the extended state. The initial state can be: the washing assembly is in the retracted state and is in the low position.

[0660] Based on the above-mentioned lifting and retracting principles of the mopping and washing component 4b, another driving device 10b provided in the present application will be described in detail below in conjunction with specific embodiments.

[0661] Referring to Figures 32, 33, and 34, one embodiment of the present application provides a drive device 10b comprising a first power source 102b and a first actuator 103b. The first actuator 103b is disposed on the cavity housing 46b and is movably connected thereto. The mop and wash assembly 4b is floatingly connected to the first actuator 103b via a connecting assembly 24b. When the first power source 102b drives the first actuator 103b in various directions, the first actuator 103b, via the connecting assembly 24b, can drive the mop and wash assembly 4b to raise, lower, extend, or retract.

[0662] In one specific embodiment, referring to Figures 33 and 34 , the first action actuator 103b includes a sliding plate 20b. The sliding plate 20b is slidably connected to the cavity housing 46b. The first power source 102b outputs power to drive the sliding plate 20b relative to the cavity housing 46b in the directions of arrows X1 and X2 in Figure 33 . The cavity housing 46b is fixedly connected to the housing 1b and defines a receiving chamber 101b. The mop-washing assembly 4b and the rotating bracket 31b are located within the receiving chamber 101b. The mop-washing bracket 43b is rotatably connected to the cavity housing 46b or the housing 1b via a rotating shaft 413b.

[0663] Referring to Figures 35a to 35c, schematic diagrams illustrating the mop-wash assembly 4b in its initial state, as viewed from different perspectives, are shown. The initial state refers to the mop-wash assembly 4b being in a retracted state (e.g., the first extreme position of the retracted state) and the cleaning roller 42b being in contact with the ground. Referring to Figures 36a to 36c, schematic diagrams illustrating the mop-wash assembly 4b in its raised state, as viewed from different perspectives, are shown. The mop-wash assembly 4b is in a retracted state (e.g., the first extreme position of the retracted state). In the raised state, the distance between the lowest point of the cleaning roller 42b of the mop-wash assembly 4b and the ground is H1. Referring to Figures 37a to 37c, schematic diagrams illustrating the mop-wash assembly 4b in its extended state (e.g., the second extreme position of the extended state), as viewed from different perspectives, are shown. In the extended state, the outermost edge of the mop-wash assembly 4b extends a distance H2 relative to the machine body 1b.

[0664] When the mop and wash assembly 4b needs to be extended, the first power source 102b drives the sliding plate 20b to move from its initial position in the direction of arrow X1 in Figure 33. The rotating bracket 31b does not move. The connecting assembly 24b, which is in contact with the sliding plate 20b, drives the roller bracket 421b to extend outward relative to the rotating bracket 31b in the direction of arrow X1. When the sliding plate 20b moves to the extreme position in the direction X1, the roller bracket 421b will extend outward to the maximum distance (as shown in Figure 37b). When the mop and wash assembly 4b needs to be retracted, the first power source 102b drives the sliding plate 20b to move in the direction of arrow X2 in Figure 33. When it moves to its initial position, the roller bracket 421b completes its retraction.

[0665] The mopping and washing bracket 43b may include a roller bracket 421b.

[0666] Referring to Figures 33 to 36c, when the scrubbing assembly 4b needs to be raised, the first power source 102b drives the sliding plate 20b from its initial position in the direction of arrow X2 in Figure 33. At this point, the rotating bracket 31b, driven by the sliding plate 20b, rotates and swings upward about the rotation axis 413b. The scrubbing bracket 43b and the rotating bracket 31b remain in position, and the scrubbing bracket 43b rotates and swings upward along with the rotating bracket 31b, thereby achieving the rotational raising of the scrubbing assembly 4b. When the sliding plate 20b reaches its extreme position in the direction X2, the scrubbing assembly 4b is raised to its maximum height, and the lowest point of the cleaning roller 42b is also at its maximum height above the ground (as shown in Figure 36c). When the scrubbing assembly 4b needs to be lowered, the first power source 102b drives the sliding plate 20b in the direction of arrow X1 in Figure 33. Upon reaching its initial position, the scrubbing bracket 43b completes its descent and returns to its initial position (as shown in Figure 35a).

[0667] Referring to Figures 33 and 34, in one embodiment provided in the present application, the first power source 102b and the first action execution mechanism 103b (such as the sliding plate 20b) can be arranged in the accommodating chamber 101b, or both can be arranged outside the accommodating chamber 101b, or one can be arranged in the accommodating chamber 101b and the other can be arranged outside the accommodating chamber 101b.

[0668] The following detailed description assumes that the first power source 102b is disposed outside the accommodating chamber 101b and the sliding plate 20b is disposed inside the accommodating chamber 101b. It should be noted that the actuating mechanisms in the above-mentioned embodiments include, but are not limited to, lead screw motors, push rod motors, linear motors, hydraulic systems, cylinder-piston systems, and rack-and-pinion systems.

[0669] In a specific embodiment, referring to Figures 33 and 34, taking the power source as a screw motor device as an example, the screw motor device includes: a second motor 12b, a screw 17b and a nut slider 18b, the screw 17b is connected to the output end of the second motor 12b, and when the second motor 12b rotates, it can drive the screw 17b to rotate, and the nut slider 18b is cooperatively connected to the screw 17b. When the screw 17b rotates, the nut slider 18b can slide horizontally along the axial direction of the screw 17b.

[0670] As shown in Figure 33, the lead screw 17b is arranged along the length of the mop and wash assembly 4b (for example, in the directions of arrows X1 and X2 in Figure 33). When the second motor 12b outputs power in one direction, the lead screw 17b can drive the nut slider 18b to move leftward (in the direction of arrow X2 in Figure 33). When the second motor 12b outputs power in the other direction, the lead screw 17b can drive the nut slider 18b to slide rightward (in the direction of arrow X1 in Figure 33). The second motor 12b can output power in both clockwise and counterclockwise directions, with one of the two directions of power being clockwise and the other being counterclockwise.

[0671] Furthermore, referring to Figures 33 and 39, in one embodiment provided herein, a driving portion 214b is provided on the sliding plate 20b. The driving portion 214b extends outward from the surface of the sliding plate 20b, and the end of the driving portion 214b has a recessed structure that cooperates with the lead screw 17b. The cavity housing 46b also has a movable opening 415b, through which the driving portion 214b on the sliding plate 20b can be connected to the nut slider 18b. When the second motor 12b drives the lead screw 17b to rotate, the moving nut slider 18b can drive the driving portion 214b to move along with it. To prevent the driving portion 214b from interfering with the cavity housing 46b during movement, the length of the movable opening 415b is greater than or equal to the maximum distance that the mopping and washing assembly 4b can extend.

[0672] Referring to Figures 33 and 34 , the chamber housing 46b is mounted on the housing 1b and can be fixedly connected to the housing 1b or integrally formed with the housing 1b. The rotating bracket 31b is rotatably connected to the housing 1b or the chamber housing 46b via a rotating shaft 413b. A slide 32b is provided on the rotating bracket 31b, and a sliding portion 33b is provided on the washing bracket 43b, which engages with the slide 32b. The washing bracket 43b has a downwardly opening mounting cavity, in which the cleaning roller 42b is located. Multiple sliding portions 33b are provided on the top of the washing bracket 43b, which engage with the sliding grooves. Specifically, the sliding portions 33b are sliders. A ridge is formed on the top of the washing bracket 43b, and multiple sliders are symmetrically distributed on either side of the ridge. These sliders engage with the slide 32b, allowing the washing bracket 43b to be suspended below the rotating bracket 31b.

[0673] Referring to Figures 34, 38, and 40, in one embodiment, a slide groove 32b is provided on the inner top surface of the rotating bracket 31b. The slide groove 32b has a downwardly facing constricted opening, through which the sliding portion 33b can be connected to the slide groove 32b. At least one rotating connecting arm 311b is also provided on the outer wall of the rear side of the rotating bracket 31b. The rotating connecting arm 311b is connected to the chamber housing 46b or the body 1b via a rotating shaft 413b.

[0674] Referring to Figures 34 and 38 , the mop and wash bracket 43b is equipped with at least one connecting assembly 24b. Specifically, the connecting assembly 24b is a connecting rod 243b, which is located on the front side wall of the mop and wash bracket 43b. For example, two connecting rods 243b are spaced apart on the front side wall of the mop and wash bracket 43b. The connecting rods 243b extend forward in the direction of arrow M in Figure 34 and connect to the sliding plate 20b. As the sliding plate 20b slides, the connecting rods 243b drive the mop and wash bracket 43b, thereby extending and retracting the entire mop and wash assembly 4b.

[0675] The drive device provided in this embodiment of the present application not only drives the mop and wash assembly to extend and retract relative to the machine body, but also drives it to rise and fall relative to the machine body. Specifically, referring to Figures 34 and 39 , the sliding plate 20b includes at least one hollow structure to form a lifting portion 22b on the sliding plate 20b. The lifting portion 22b has an inclined surface with a stopper 212b positioned at the top of the surface. The stopper 212b is positioned horizontally. The sliding plate 20b also includes a connecting buckle 213b for connecting to the cavity housing 46b. Specifically, referring to Figure 41 , the cavity housing 46b includes a through-hole 414b. The length of the slot 414b is equal to or greater than the maximum extension distance of the mop and wash assembly 4b. The connecting buckle 213b on the sliding plate 20b is adapted to engage with the slot 414b. When the power source drives the sliding plate 20b to slide, the connecting buckle 213b slides within the slot 414b.

[0676] Further, referring to FIG41 , in one embodiment provided herein, the cavity housing 46b is further provided with a guide groove 416b, which includes a first groove 4161b, a second groove 4162b, and a third groove 4163b. The second groove 4162b is arranged in the same direction as the length of the cavity housing 46b (as indicated by the arrow X in FIG41 ). The first groove 4161b and the third groove 4163b are located at opposite ends of the second groove 4162b and are both connected to the second groove 4162b. The first groove 4161b and the third groove 4163b extend in a vertical direction, respectively. Therefore, the first groove 4161b and the third groove 4163b are perpendicular to the second groove 4162b.

[0677] When the sliding plate 20b drives the connecting rod 243b to move, one end of the connecting rod 243b slides within the guide groove 416b. The sliding groove not only guides the connecting rod 243b but also allows the mop-wash assembly 4b to float with the housing 46b in multiple directions. Referring to Figure 35b, when the mop-wash assembly 4b is in its initial state (e.g., the retracted first limit position, with the cleaning roller in contact with the ground), the connecting rod 243b is located at the leftmost end of the second groove 4162b and also at the bottommost end of the first groove 4161b. As the power source drives the sliding plate 20b to move leftward, the connecting rod 243b cannot move further leftward and is forced to ascend along the inclined surface of the lifting portion 22b. At this point, the connecting rod 243b moves upward along the first groove 4161b, eventually reaching the top of the first groove 4161b (as shown in Figure 36b), at which point the mop-wash assembly 4b is in its raised state. In the initial state, when the power source drives the sliding plate 20b to the right, the connecting rod 243b moves along the second groove 4162b from its leftmost end to its rightmost end. As shown in Figure 37b, the connecting rod 243b is also located at the bottom end of the third groove 4163b. At this point, the mop-wash assembly 4b is extended, extending outward from the cavity housing 46b by a distance H2. Typically, the length of the second groove 4162b is equal to the maximum extension distance of the mop-wash assembly 4b.

[0678] The provision of the first groove 4161b and the third groove 4163b also allows the mop-wash assembly 4b to be connected to the cavity housing 46b in a floating manner, thereby adapting to the ground surface. Specifically, if the mop-wash assembly 4b is cleaning an uneven surface or encounters a raised obstacle, since the distance between the cavity housing 46b and the ground surface remains constant or varies only slightly, if the mop-wash assembly 4b is rigidly connected to the cavity housing 46b, the mop-wash assembly 4b will be subjected to severe impact, and its height will be unable to adjust to the changes in the ground surface. In the technical solution of the present application, referring to Figure 35b, in the initial state of the mop-wash assembly 4b, the connecting rod 243b is also located at the bottom of the first groove 4161b. In this case, if the mop-wash assembly 4b is impacted, it will float upward under the influence of the ground surface, thereby preventing excessive force between the mop-wash assembly 4b and the ground surface. In addition, when the mop-washing assembly 4b is in the extended state, the connecting rod 243b is located at the bottom end of the third groove 4163b. Similarly, when the extended mop-washing assembly 4b is impacted by the ground, the connecting rod 243b will move from bottom to top along the third groove 4163b to achieve upward floating relative to the ground, which can also avoid excessive force between the mop-washing assembly 4b and the ground.

[0679] After the drag-wash assembly 4b is extended, it can easily collide with obstacles during the movement of the cleaning robot. To prevent damage to the drag-wash assembly 4b from colliding with obstacles, in one embodiment of the present application, when the drag-wash assembly 4b is extended and subjected to an external force, it can automatically retract into the accommodating chamber 101b. Specifically, a rebound device is provided between the drag-wash bracket 43b and the rotating bracket 31b. When the drag-wash assembly is in its initial state (e.g., the first extreme position of the retracted state), the rebound device is compressed. When the drag-wash assembly 4b is extended, the rebound device is extended. When the extended drag-wash assembly 4b retracts into the accommodating chamber 101b under the action of an external force, the rebound device is compressed.

[0680] In one specific implementation, the rebound device includes, but is not limited to, a spring, a hydraulic cylinder, a pneumatic cylinder, an elastic block, etc. Taking the rebound device as an example, referring to Figure 38 , the ridge of the mopping and washing bracket 43b is provided with a cavity 34b, into which the spring can be mounted. Referring to Figure 40 , the slide 32b of the rotating bracket 31b is provided with an elastic member mounting seat 312b. When the ridge and slide 32b are mated, one end of the elastic member is sheathed on the elastic member mounting seat 312b, while the other end of the elastic member contacts the mopping and washing bracket 43b.

[0681] As mentioned above, the power source is a screw motor device. If the driving part 214b on the sliding plate 20b is fixedly connected to the nut slider 18b, then when the extended mopping assembly 4b is hit, since the screw 17b and the nut slider 18b have a self-locking effect, the nut slider 18b will limit the movement of the driving part 214b, and the sliding plate 20b will also be limited, and ultimately the mopping assembly 4b will not be able to automatically retract.

[0682] In the technical solution of this application, the nut slider 18b and the driving portion 214b are not fixedly connected. When the scrubbing assembly 4b automatically retracts due to an external force, the driving portion 214b on the sliding plate 20b separates from the nut slider 18b, allowing the sliding plate 20b to move freely in the direction of arrow X2 in Figure 33 . In one embodiment provided herein, the driving portion 214b is located to the left of the nut slider 18b in the extension direction of the scrubbing assembly 4b (the direction of arrow X1 in Figure 33 ), and the driving portion 214b contacts the nut slider 18b. As mentioned above, a rebound device is provided between the scrubbing bracket 43b and the rotating bracket 31b. When the scrubbing assembly 4b is in its initial state, the rebound device is compressed, and the elastic force of the rebound device is directed in the direction of arrow X1 in Figure 33 , driving the scrubbing assembly 4b outward. However, the nut slider 18b contacts the right side of the driving portion 214b, and due to the self-locking action of the screw motor assembly, the sliding plate 20b is restricted from automatically moving to the right. Only when the lead screw 17b rotates and the nut slider 18b moves rightward can the drive unit 214b move rightward with the nut slider 18b. Simply put, the power for the outward extension of the scrubbing assembly 4b is provided by the rebound mechanism. The nut slider 18b restricts the sliding plate 20b from freely moving rightward. Only when the nut slider 18b moves rightward can the sliding plate 20b move rightward. When the scrubbing assembly 4b transitions from an extended state to a retracted state, and when the scrubbing assembly 4b transitions from a lowered state (e.g., when the cleaning roller is in contact with the ground) to a raised state, the sliding plate 20b moves from right to left. The direction of movement of the sliding plate 20b is the same as the direction indicated by arrow X2 in Figure 33. The rightward movement of the sliding plate 20b is driven by the lead screw motor assembly. Specifically, the second motor 12b outputs power in one direction, which in turn drives the lead screw 17b to move the nut slider 18 in the direction of arrow X2. Because the driving portion 214b of the sliding plate 20b is located to the left of the nut slider 18b, the nut slider 18b pushes the sliding plate 20b leftward during its movement. During this process, the rebound device is further compressed.

[0683] Furthermore, in one embodiment provided herein, the scrubbing assembly 4b has multiple positions when in both the extended and raised positions. In different extended positions, the scrubbing assembly 4b extends by different distances relative to the housing 46b; in different raised positions, the scrubbing assembly 4b is elevated by different distances relative to the ground. To enable the scrubbing assembly 4b to be extended in different positions or elevated by different distances relative to the ground, the second motor 12b is further provided with a counting module. The counting module records the number of forward or reverse rotations of the second motor 12b or the lead screw 17b. By recording the number of rotations of the second motor 12b or the lead screw 17b, the travel distance of the nut slider 18b on the lead screw 17b can be calculated, thereby determining the different positions of the scrubbing assembly 4b in the extended and raised positions.

[0684] For example, when the nut slider 18b is in the first position, after the second motor 12b or the lead screw 17b rotates forward one hundred times, the nut slider 18b moves to an extreme position, at which point the mop and wash assembly 4b extends to its maximum distance (i.e., the second extreme position of the extended state). Dividing these one hundred rotations into ten, starting from the first position, each ten rotations of the second motor 12b or the lead screw 17b in the forward direction represents a shift in the mop and wash assembly 4b. Similarly, when the nut slider 18b is in the first position, after the second motor 12b or the lead screw 17b rotates in the reverse direction twenty times, the nut slider 18b moves to the other extreme position, at which point the mop and wash assembly 4b is lifted to its maximum distance. Similarly, dividing these twenty rotations into five, starting from the first position, each four rotations of the second motor 12b or the lead screw 17b in the reverse direction represents a shift in the mop and wash assembly 4b. During the process of adjusting the lifting gear of the mopping and washing assembly 4b, since the screw motor device has a self-locking function, when the motor 12b stops, the self-locking force can limit the displacement of the sliding plate 20b, and the connecting rod 243b can also stay stably on the inclined surface of the lifting part 22b, thereby ensuring that the lifting gear of the mopping and washing assembly 4b remains unchanged.

[0685] In another embodiment provided in the present application, when adjusting the gear, as mentioned above, multiple detection units can be set on the cavity shell 46b, and different detection units can respectively detect whether the nut slider 18b or the sliding plate 20b is in the first position, different extreme positions and different positions corresponding to different gears.

[0686] The following describes in detail the operation process of the mop-wash component 4b in combination with the usage scenario.

[0687] After completing a portion of the cleaning task in its initial state (e.g., in the retracted first extreme position, with the cleaning roller in contact with the floor), the scrubbing assembly 4b needs to be switched to the extended state. Subsequently, the second motor 12b drives the lead screw 17b in forward rotation, causing the nut slider 18b on the lead screw 17b to move to the right (see the perspective shown in FIG33 ). The rebound mechanism between the rotating bracket 31b and the scrubbing bracket 43b causes the scrubbing bracket 43b to extend outward relative to the rotating bracket 31b. As the nut slider 18b moves, the scrubbing assembly 4b extends outward to its maximum extent. As the scrubbing bracket 43b extends outward, the sliding plate 20b simultaneously moves to the right, and the driving portion 214b on the sliding plate 20b remains in contact with the nut slider 18b. The cleaning robot may also be equipped with a counter that records the number of rotations of the second motor 12b output power. Based on the number of rotations of the second motor 12b recorded by the counter, the cleaning robot's mainboard 2b can calculate the position of the nut slider 18b, and thus determine the position of the scrubbing assembly 4b. If the scrubbing component 4b is already in the second extreme position of the extended state, the main board 2b controls the second motor 12b to stop working, the scrubbing component 4b is in the extended state, and the cleaning robot maintains the scrubbing component 4b in the extended state to perform the cleaning task.

[0688] After the scrubbing assembly 4b completes its extended state, the mainboard 2b controls the second motor 12b to drive the lead screw 17b to output reverse force, causing the nut slider 18b to move leftward (see the perspective shown in Figure 33 ), and driving the sliding plate 20b to move leftward. During this movement, the sliding plate 20b drives the scrubbing assembly 4b to retract into the accommodating chamber 101b. Similarly, the mainboard 2b calculates the position of the nut slider 18b based on the number of revolutions during which the second motor 12b outputs reverse force, thereby determining the retracted position of the scrubbing assembly. If it is determined that the scrubbing assembly has reached the first limit of its retracted state, the mainboard 2b controls the second motor 12b to stop.

[0689] Next, when the cleaning robot recognizes a carpeted floor, the mopping assembly 4b needs to be switched to the raised state to avoid secondary contamination. The mainboard 2b controls the second motor 12b to drive the lead screw 17b to rotate in one direction, and the nut slider 18b moves to the left (see the perspective shown in Figure 33). At this time, the nut slider 18b will drive the sliding plate 20b to move to the left together. As the sliding plate 20b moves, the lifting portion 22b on the sliding plate 20b gradually lifts the connecting rod 243b, and the mopping bracket 43b rotates and lifts around the rotating shaft 413b. After the mopping assembly 4b is in the raised state, it can enter the carpet area and clean the carpet. After the carpet is cleaned, it drives out of the carpet area. If the cleaning robot needs to continue to perform the cleaning task, the mainboard 2b can control the second motor 12b to drive the lead screw 17b to rotate in the other direction, the sliding plate 20b moves to the right (see the perspective of Figure 33), and the mopping assembly descends.

[0690] Compared to cleaning robots equipped with rags or mopping discs, the cleaning robot equipped with the mopping and washing assembly provided in this embodiment has better cleaning effects and higher cleaning efficiency. While the cleaning drum is cleaning the floor, it can also perform self-cleaning. The dirt removal mechanism 44b scrapes away dirty water from the cleaning drum, and the liquid supply mechanism 45b provides clean cleaning liquid to the cleaning drum, which then mops the floor again. This cleaning method not only provides better cleaning results, but also extends the cleaning life of the mopping and washing assembly. During a cleaning task, the cleaning robot does not need to frequently return to the base station for self-cleaning maintenance.

[0691] During the cleaning process, the cleaning robot needs to face a variety of cleaning environments. For example, tile floors, wooden floors, carpet floors, etc. When cleaning carpet floors, in order to prevent the wet cleaning roller from wetting the carpet, the cleaning roller needs to be lifted to prevent the cleaning roller from contacting the carpet. In addition, for some corner areas (wall edges, edges of home furnishings, etc.), the cleaning robot cannot achieve edge cleaning due to the influence of the external structure of the cleaning robot. In the technical solution provided in the embodiment of the present application, the mopping assembly of the cleaning roller can not only be raised and lowered, but also extend from one side of the cleaning robot when edge cleaning is required, so that the mopping assembly can achieve edge cleaning while avoiding collision between the cleaning robot body and the wall or home furnishings.

[0692] When a cleaning robot is cleaning a dirty floor, to reduce the number of times it switches back and forth between the retracted and extended states, the mop-wash assembly on the cleaning robot prioritizes cleaning the floor in the extended state (i.e., normally extended or normally swung outward). When avoiding obstacles, the mop-wash assembly on the cleaning robot retracts into the accommodating cavity 101b, completes obstacle avoidance in the retracted state, and then switches to the extended state. This operating mode not only reduces the number of times the mop-wash assembly switches between the retracted and extended states, but also reduces the total cleaning time. Specifically, the mop-wash assembly can also complete cleaning of regular floors (non-corner floors) when in the extended state. Because household floors not only have large wall corners but also the corners of multiple scattered household objects, if the mop-wash assembly on the cleaning robot prioritizes cleaning in the retracted state, it will inevitably need to switch back and forth between the retracted and extended states. Each state switch requires a long wait or a change in the cleaning robot's motion algorithm. This not only increases the total time it takes for the cleaning robot to complete cleaning, but also increases the computational load on the motion algorithm of the control computing unit on the main board 2b. The cleaning robot's operating environment is complex. To achieve a good, comprehensive cleaning effect, the cleaning robot needs to detect and determine in real time whether to extend the mop-wash component 4b. In complex environments, the cleaning robot needs to determine numerous conditions, which are impossible to exhaust. Therefore, the cleaning robot cannot control the mop-wash component 4b to extend in a timely manner every time it is needed.

[0693] Therefore, the solution provided by the embodiments of the present application is to not determine whether the cleaning robot is to perform edge cleaning, but to directly perform the cleaning task with the drag-wash component in the extended position. This solution eliminates the complex identification of edge conditions and only retracts the drag-wash component in simple scenarios such as obstacle avoidance and turning. The control logic is simple, the design is not difficult, and it is easy to implement. Furthermore, referring to Figure 18b, the left figure 18b(G) shows the drag-wash component 4b in the first position (e.g., the first extreme position in the retracted state), and the right figure 18b(H) shows the drag-wash component 4b in the second position (e.g., the second extreme position in the extended state). When the cleaning robot operates according to the cleaning path shown in Figure 18, it can be seen that when the drag-wash component 4b is in the first position, the widthwise edge of the drag-wash component 4b is L3 away from the widest edge of the body 1b. If the cleaning robot cleans according to the "bow"-shaped cleaning path shown in the figure, a shaded area as shown in Figure 18b(G) will appear on the cleaning robot's path. This shaded area represents the area not cleaned by the drag-wash component 4b. With the drag-wash component normally extended, the cleaning robot extends the drag-wash component 4b during cleaning. As the cleaning robot follows the "bow"-shaped cleaning path shown in the figure, because the outer edge of the drag-wash component 4b is substantially flush with the widest edge of the body 1b, the robot will not miss the shaded area as shown in Figure 18b (G) on the left. While the robot's cleaning path can be adjusted to allow it to cover the shaded area after turning around, this increases the complexity of software control. With the drag-wash component normally extended (Figure 18b (H) on the right), the issue of covering the shaded area is eliminated, and the robot's traversal algorithm is simpler.

[0694] That is, the working method of the cleaning robot provided in this embodiment may include the following steps:

[0695] S11. When performing a cleaning task in an open area, the mop-wash component performs the cleaning task in an extended state;

[0696] S12. When it is detected that the surrounding environment requires the mop-wash component to be retracted, the mop-wash component is retracted, and the mop-wash component performs a cleaning task in the retracted state, or the cleaning robot moves in the retracted state.

[0697] In which, when in the extended state, the drag-washing component extends from one side of the body, and the drag-washing component is partially exposed; in the retracted state, the outer edge of the drag-washing component is located on the inner side of the outer edge of the body, or a partial area of ​​the outer edge of the drag-washing component is flush with the outer edge of the body.

[0698] The above-mentioned “detecting the surrounding environment and determining that the mop-wash component needs to be retracted” in S12 may specifically include but is not limited to at least one of the following:

[0699] When detecting that the cleaning robot needs to turn to avoid an obstacle, determining that the mopping and washing component needs to be retracted;

[0700] When detecting that the cleaning robot is in a narrow space and needs to escape, determining that the mopping and washing component needs to be retracted;

[0701] When it is detected that the user issues a retraction instruction, it is determined that the mop-wash component needs to be retracted.

[0702] Furthermore, the method provided in this embodiment may further include:

[0703] When the mop-washing assembly is in an extended state and performs a cleaning task, if it detects the surrounding environment and determines that the mop-washing assembly needs to be lifted, the mop-washing assembly retracts to a first extreme position and is lifted to have a gap with the ground.

[0704] When the mopping assembly is in the third position, the projection of the mopping assembly is within the projection of the machine body; when the mopping assembly is displaced to the fourth position, the edge of the mopping assembly extends beyond the edge of the machine body, and the projection of the mopping assembly is within the projection of the machine body. In normal cleaning mode, the mopping assembly is in the fourth position; in special cleaning mode, the mopping assembly is in the third position so as to move along the edge of an obstacle. The main board controls the drive device to enable the mopping assembly to stop at any position. The mopping assembly has a first extreme position in a retracted state and a second extreme position in an extended state; the arbitrary position is the first extreme position, the second extreme position, or any position between the first and second extreme positions; the third position is the first extreme position or any position between the first and second extreme positions; and the fourth position is the second extreme position or any position between the first and second extreme positions.

[0705] Another embodiment of the present application provides a control method or working method of a cleaning robot, which may be: the control device dynamically controls the driving device based on the behavior information of the body, so that the driving device drives the mopping and washing component to move relative to the body to change the position of the mopping and washing component relative to the body.

[0706] The machine's behavioral information may include: travel speed, travel direction, turning radius, acceleration, etc. For example, when turning quickly, the drive device is controlled to quickly retract the outward-extended mopping and washing components; or, when moving in a straight line after turning, the drive device is controlled again to retract the mopping and washing components and expand them outward.

[0707] Additionally, it should be noted that the drum motor in the mopping and washing assembly requires a continuous current supply even while the mopping and washing assembly is in motion. Therefore, the cleaning robot in the embodiments of this application is further provided with a conductive slot assembly. The conductive slot assembly comprises a conductive slot body and a power connector, which is disposed within the conductive slot body and is movable within the conductive slot body. The power connector is electrically connected to the electrical interface of the drum motor. When the mopping and washing assembly moves, the power connector moves within the conductive slot to follow the mopping and washing assembly, allowing the drum motor to maintain power while moving. The conductive slot assembly is not explicitly shown i...

Claims

1. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; The cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off the dirt on the cleaning unit; A driving device, arranged on the body and connected to the mopping and washing assembly; Wherein, along the width direction of the body, the driving device can drive the mopping and washing assembly to extend out of at least one side of the body relative to the body, so that part of the mopping and washing assembly is exposed.

2. The cleaning robot according to claim 1, wherein, The mopping and washing assembly further includes a mopping bracket; The mopping bracket has a roller installation cavity with an opening facing downwards, and the cleaning unit motor and the cleaning unit are arranged in the roller installation cavity; The cleaning unit contacts the surface to be cleaned through the opening; The liquid supply mechanism and the dirt removal mechanism are both arranged on the mopping bracket; The power end of the driving device is connected to the mopping bracket.

3. A cleaning robot, characterized in that, Comprising: A body; A mopping and washing assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a dirt removal mechanism; The cleaning unit motor is connected to the cleaning unit, the liquid supply mechanism is used to supply cleaning liquid to the cleaning unit, and the dirt removal mechanism is used to scrape off the dirt on the cleaning unit; Wherein, along the traveling direction of the cleaning robot, the dirt removal mechanism is located on the front side of the cleaning unit; Along the rotation direction of the cleaning unit, the cleaning unit is configured to clean the ground after replenishing cleaning liquid through the liquid supply mechanism, and then scrape off the dirt through the dirt removal mechanism.

4. The cleaning robot according to claim 3, wherein, The dirt removal mechanism includes a scraping strip assembly and a dirt collection box; The end of the scraping strip assembly contacts the cleaning unit, and the dirt collection box is located below the scraping strip assembly; When the cleaning unit rotates, the dirt scraped off by the scraping strip assembly enters the dirt collection box.

5. The cleaning robot according to claim 3, characterized in that, Further comprising: A driving device, arranged on the body and connected to the mopping and washing assembly; Along the width direction of the body, the driving device can drive the mopping and washing assembly to extend out of at least one side of the body, so that part of the mopping and washing assembly is exposed.

6. The cleaning robot according to claim 5, wherein Further comprising: The cleaning robot further includes a control device; The control device is electrically connected to the driving device and is used to dynamically control the driving device according to the behavior information of the body, so that the driving device drives the mopping and washing assembly to move relative to the body to change the position of the mopping and washing assembly relative to the body; the driving device can also drive the mopping and washing assembly to lift and lower relative to the body.

7. The cleaning robot according to claim 5, wherein, The driving device can also drive the mopping and washing assembly to retract relative to the body; Or The cleaning robot further includes a spring-back device, and the mopping and washing assembly is connected to the spring-back device; when an external force in the retracting direction is applied to the mopping and washing assembly in the extended state, the spring-back device is deformed by the force, and the mopping and washing assembly retracts adaptively.

8. A mopping and washing assembly, characterized in that, Comprising: A mopping bracket, having a roller installation cavity with an opening facing downwards; A cleaning unit motor, arranged in the roller installation cavity; A cleaning unit, connected to the cleaning unit motor and capable of contacting the surface to be cleaned through the opening; A liquid supply mechanism is provided on the mopping bracket for supplying cleaning liquid to the cleaning unit; A decontamination mechanism is provided on the mopping bracket for scraping off dirt on the cleaning unit; Wherein, the mopping assembly is for mounting on a cleaning robot. Along the traveling direction of the cleaning robot, the decontamination mechanism is located on the front side of the cleaning unit.

9. A cleaning robot, characterized in that, The cleaning robot includes: A body; A mopping assembly, including a cleaning unit motor and a cleaning unit; the cleaning unit is detachably connected to the cleaning unit motor; A driving device is provided on the body and is connected to the mopping assembly; A control component is provided on the body, The cleaning robot further has a disassembly mode. When the cleaning robot is in the disassembly mode, the control component receives a user instruction and controls the driving device to drive the mopping assembly to extend from at least one side of the body along the width direction of the body, so that a part of the mopping assembly is exposed, facilitating the user to disassemble the cleaning unit from the exposed side of the mopping assembly.

10. The cleaning robot according to claim 9, wherein, The cleaning robot further includes a liquid supply mechanism and a decontamination mechanism. The mopping assembly further includes a mopping bracket; the mopping bracket has a roller installation cavity with an opening facing downwards, and the cleaning unit motor and the cleaning unit are arranged in the roller installation cavity; The cleaning unit contacts the surface to be cleaned through the opening; both the liquid supply mechanism and the decontamination mechanism are arranged on the mopping bracket; the power end of the driving device is connected to the mopping bracket.

11. The cleaning robot according to claim 10, wherein, The first end in the length direction of the mopping bracket is provided with the cleaning unit motor, and the second end is provided with a second opening; a first structure is provided on the second end, and a second structure is provided on the end cover of the cleaning unit; when installing the cleaning unit, the cleaning unit can be inserted into the roller cavity of the mopping bracket from the second opening to be connected to the cleaning unit motor; the cleaning unit and the mopping bracket are connected through the first structure and the second structure.

12. A cleaning robot, characterized in that, The cleaning robot includes: A body; A mopping assembly, including a cleaning unit motor, a cleaning unit, a liquid supply mechanism and a decontamination mechanism; the cleaning unit motor is connected to the cleaning unit to drive the cleaning unit to rotate; the mopping assembly further includes a liquid supply mechanism and a decontamination mechanism, the liquid supply mechanism is for supplying cleaning liquid to the cleaning unit, and the decontamination mechanism is for scraping off dirt on the cleaning unit; The decontamination mechanism further includes a scraping strip assembly and a dirt collection assembly. The end of the scraping strip assembly contacts the surface of the cleaning unit; the dirt collection assembly is arranged below the scraping strip assembly for collecting the dirt scraped off by the scraping strip assembly; Wherein, a plurality of water guide grooves are provided on the lower surface of the scraping strip assembly.

13. The cleaning robot according to claim 12, wherein, The mopping assembly further includes a driving device, which is provided on the body and is connected to the mopping assembly; along the width direction of the body, the driving device can drive the mopping assembly to extend from at least one side of the body, so that a part of the mopping assembly is exposed.

14. The cleaning robot according to claim 12, wherein the squeegee assembly has a bent portion, an arc-shaped water guiding surface is provided on the water-facing side of the squeegee assembly, and the water guiding groove is provided on the water guiding surface.

15. The cleaning robot according to claim 14, characterized in that The end of the water guiding groove is close to the cleaning unit, the end of the water guiding groove is a through groove, and the opening of the through groove faces the end of the squeegee assembly; the end of the water guiding groove faces away from the cleaning unit, the opening at the end of the water guiding groove is closed, and the end of the water guiding groove is located above the sewage collection assembly.

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